def distance(x1, y1, x2, y2):
"""
Returns the distance between the twoo points
"""
p1 = vector(x1, 0, y1)
p2 = vector(x2, 0, y2)
return (p1 - p2).length()
def overlaps(x1, y1, r1, x2, y2, r2):
"""
Returns the amount the two circles overlap
"""
# print "do " + str(agent1) + " and " + str(agent2) + " overlap?"
p1 = vector(x1, 0, y1)
p2 = vector(x2, 0, y2)
distance = (p1 - p2).get_length()
distanceThreshold = (r1 + r2)
# print "distanceTreshold: " + str(distanceThreshold) + " distance: " + str(distance)
overlaps = distanceThreshold - distance
if overlaps > 0:
return overlaps
else:
return 0
def randPositionInWithoutColisions(self, xmin, xmax, zmin, zmax, radius):
"""
Returns a vector with position inside bounds
"""
tryTimes = 1000
xmin = xmin + radius
xmax = xmax - radius
zmin = zmin + radius
zmax = zmax - radius
agents = self.getAgents()
agent = Agent()
agent.set_radius(0.5)
badLoc = False
# random.seed(seed)
for i in range(tryTimes):
tmp_v = vector(random.uniform(xmin, xmax), 0,
random.uniform(zmin, zmax))
# print tmp_v
agent.set_position(tmp_v)
for tmp_agent in agents:
if agent.overlaps(tmp_agent):
# agent overlaps another generate a new position
badLoc = True
break
if badLoc:
badLoc = False
continue
else:
# made it though test with other agents so no overlapping
break
if i >= (tryTimes - 1):
print "Gave up trying to find a placement without collisions"
return tmp_v
def hallway_one_way(args, samples=1):
pillars = chunks(args, 2)
# print "args to hallway " + str(args)
# print "pillars " + str(pillars)
numAgents = 50
vec1 = vector(1, 0, 0)
axis = vector(0, 1, 0)
box = AxisAlignedBox(0, 30, 0, 1, -5, 5)
# this is almost more like radius
# scale = float(30)
scenarios = []
seed = 10
random.seed(seed)
for i in range(samples):
scenario = TestCase()
# print map_meta_data
xmax = float(100) / 2
zmax = float(100) / 2
version = 1.0
scenario.addHeader("hallway one way", 1.0, -xmax, xmax, 0, 0, -zmax,
zmax)
add_noise = True
seed = sample_agents(scenario, box, numAgents)
# for vec in positions:
# print vec
scenario.addObstacle(box.get_xmin() - 20,
box.get_xmax() + 20, 0, 1,
box.get_zmin() - 5, box.get_zmin())
scenario.addObstacle(box.get_xmin() - 20,
box.get_xmax() + 20, 0, 1, box.get_zmax(),
box.get_zmax() + 5)
for pillar in pillars:
# print "pillar is " + str(pillar)
scenario.addCircleObstacle(pillar[0], 0, pillar[1], 0.65, 1)
scenarios.append(scenario)
# print scenario.getAgents()
return scenarios
def randPositionIn(self, xmin, xmax, zmin, zmax, radius):
"""
Returns a vector with position inside bounds
"""
xmin = xmin + radius
xmax = xmax - radius
zmin = zmin + radius
zmax = zmax - radius
tmp_v = vector(random.uniform(xmin, xmax), 0,
random.uniform(zmin, zmax))
return tmp_v
def sample_agents(scenario, box, numAgents, seed=10):
radius = 0.5
target = vector(-15, 0, 0)
for i in range(numAgents):
vectmp = scenario.randPositionInWithoutColisions(
box.get_xmin(), box.get_xmax(), box.get_zmin(), box.get_zmax(),
radius)
scenario.addAgent(name="agent" + str(i),
radius=radius,
agentPos=vectmp,
directionV=[1, 0, 0],
speed=0,
targetLocationV=target,
desiredSpeed=1.33,
timeDuration=1000.0)
def convertElementToAgent(self, element):
agent = Agent()
ic = element.find("./" + self._xmlns + "initialConditions")
position = ic.find("./" + self._xmlns + "position")
px = float(position.find("./" + self._xmlns + "x").text)
py = float(position.find("./" + self._xmlns + "y").text)
pz = float(position.find("./" + self._xmlns + "z").text)
direction = ic.find("./" + self._xmlns + "direction")
dx = float(direction.find("./" + self._xmlns + "x").text)
dy = float(direction.find("./" + self._xmlns + "y").text)
dz = float(direction.find("./" + self._xmlns + "z").text)
radius = float(ic.find("./" + self._xmlns + "radius").text)
speed = float(ic.find("./" + self._xmlns + "speed").text)
pos = vector(px, py, pz)
dir = vector(dx, dy, dz)
agent.set_position(pos)
agent.set_direction(dir)
agent.set_radius(radius)
agent.set_speed(speed)
return agent
def __init__(self, position=vector(), direction=vector(), radius=0.5,
speed=1.33):
self._position=position
self._direction=direction
self._radius=radius
self._speed=speed
from numpy import *
import sys
import random
sys.path.append("../../")
from steersuite.TestCase import TestCase
sys.path.append("../")
from tools.gameobjects.vector3 import Vector3 as vector
# sudo apt-get install python-visual
# http://vpython.org/contents/docs/vector.html
agents = 240
vec1 = vector(1, 0, 0)
axis = vector(0, 1, 0)
thetaPart = float(360) / agents
# this is almost more like radius
# scale = float(30)
extra_space = 1.1
noise_amount = 0.05
scale = (agents * extra_space) / (
2 * pi) # calculates circumference and gives %15 extra space
scenario = TestCase()
# print map_meta_data
xmax = float(100) / 2
zmax = float(100) / 2
version = 1.0
scenario.addHeader("concentric circles", 1.0, -xmax, xmax, 0, 0, -zmax, zmax)
add_noise = True