def __init__(self, params=None):
pygame.init()
if params is not None:
self.SCREEN_HEIGHT, self.SCREEN_WIDTH = int(float(params['display']['height']) * SCALE), \
int(float(params['display']['width']) * SCALE)
self.FIELD_LIMITS = int(float(params['field_top_left_x']) * SCALE), \
int(float(params['field_top_left_y']) * SCALE), \
int(float(params['field_bottom_right_x']) * SCALE), \
int(float(params['field_bottom_right_y']) * SCALE)
self.FIELD_SIZE = self.FIELD_LIMITS[2] - self.FIELD_LIMITS[
0], self.FIELD_LIMITS[3] - self.FIELD_LIMITS[1]
self.GRID_SIZE = int(float(params['cell']['width']) * SCALE), int(
float(params['cell']['height']) * SCALE)
# zoom and centering
self.offset = 0, 0
self.zoom_factor = 1.0
self._old_screen = self.SCREEN_WIDTH, self.SCREEN_HEIGHT
# setup the screen and the box field of play
self.initialize_screen()
# agents
self.agents = pygame.sprite.Group()
self.agent_image = pygame.image.load(
'assets/blueagent.bmp').convert_alpha()
self.controller = SocialForceController(self)
# self.controller = RandomController(self)
# time related items
self.clock = pygame.time.Clock()
self.paused = False
self.simulation_timer = Timer(10, self.simulation_update)
# create the grid
self.setup_grid()
# additional options (remove this)
self.options = dict(draw_grid=True)
# setup objects (waypoints, obstacles)
self.waypoints = dict()
self.obstacles = []
self._agent_count = 0
# initialize the time
self.time_passed = 0
def __init__(self, params=None):
pygame.init()
if params is not None:
self.SCREEN_HEIGHT, self.SCREEN_WIDTH = int(float(params['display']['height']) * SCALE), \
int(float(params['display']['width']) * SCALE)
self.FIELD_LIMITS = int(float(params['field_top_left_x']) * SCALE), \
int(float(params['field_top_left_y']) * SCALE), \
int(float(params['field_bottom_right_x']) * SCALE), \
int(float(params['field_bottom_right_y']) * SCALE)
self.FIELD_SIZE = self.FIELD_LIMITS[2] - self.FIELD_LIMITS[0], self.FIELD_LIMITS[3] - self.FIELD_LIMITS[1]
self.GRID_SIZE = int(float(params['cell']['width']) * SCALE), int(float(params['cell']['height']) * SCALE)
# zoom and centering
self.offset = 0, 0
self.zoom_factor = 1.0
self._old_screen = self.SCREEN_WIDTH, self.SCREEN_HEIGHT
# setup the screen and the box field of play
self.initialize_screen()
# agents
self.agents = pygame.sprite.Group()
self.agent_image = pygame.image.load('assets/blueagent.bmp').convert_alpha()
self.controller = SocialForceController(self)
# self.controller = RandomController(self)
# time related items
self.clock = pygame.time.Clock()
self.paused = False
self.simulation_timer = Timer(10, self.simulation_update)
# create the grid
self.setup_grid()
# additional options (remove this)
self.options = dict(draw_grid=True)
# setup objects (waypoints, obstacles)
self.waypoints = dict()
self.obstacles = []
self._agent_count = 0
# initialize the time
self.time_passed = 0
class Simulation(object):
"""
The main simulation entry point
"""
# basic defaults
SCREEN_WIDTH, SCREEN_HEIGHT = 700, 700
GRID_SIZE = 20, 20
FIELD_SIZE = 500, 500
FIELD_LIMITS = 0, 0, 600, 600
field_bgcolor = SIM_COLORS['white']
def __init__(self, params=None):
pygame.init()
if params is not None:
self.SCREEN_HEIGHT, self.SCREEN_WIDTH = int(float(params['display']['height']) * SCALE), \
int(float(params['display']['width']) * SCALE)
self.FIELD_LIMITS = int(float(params['field_top_left_x']) * SCALE), \
int(float(params['field_top_left_y']) * SCALE), \
int(float(params['field_bottom_right_x']) * SCALE), \
int(float(params['field_bottom_right_y']) * SCALE)
self.FIELD_SIZE = self.FIELD_LIMITS[2] - self.FIELD_LIMITS[
0], self.FIELD_LIMITS[3] - self.FIELD_LIMITS[1]
self.GRID_SIZE = int(float(params['cell']['width']) * SCALE), int(
float(params['cell']['height']) * SCALE)
# zoom and centering
self.offset = 0, 0
self.zoom_factor = 1.0
self._old_screen = self.SCREEN_WIDTH, self.SCREEN_HEIGHT
# setup the screen and the box field of play
self.initialize_screen()
# agents
self.agents = pygame.sprite.Group()
self.agent_image = pygame.image.load(
'assets/blueagent.bmp').convert_alpha()
self.controller = SocialForceController(self)
# self.controller = RandomController(self)
# time related items
self.clock = pygame.time.Clock()
self.paused = False
self.simulation_timer = Timer(10, self.simulation_update)
# create the grid
self.setup_grid()
# additional options (remove this)
self.options = dict(draw_grid=True)
# setup objects (waypoints, obstacles)
self.waypoints = dict()
self.obstacles = []
self._agent_count = 0
# initialize the time
self.time_passed = 0
def initialize_screen(self):
self.screen = pygame.display.set_mode(
(self.SCREEN_WIDTH, self.SCREEN_HEIGHT),
HWSURFACE | DOUBLEBUF | RESIZABLE, 32)
self.field_rect_outer = Rect(
self.FIELD_LIMITS[0], self.FIELD_LIMITS[1],
int(self.FIELD_SIZE[0] * self.zoom_factor),
int(self.FIELD_SIZE[1] * self.zoom_factor))
self.field_box = Box(surface=self.screen,
rect=self.field_rect_outer,
background_color=self.field_bgcolor)
self.field_rect = self.field_box.get_internal_rect()
def setup_grid(self):
self.grid_nrows = self.FIELD_SIZE[1] / int(
self.GRID_SIZE[0] * self.zoom_factor)
self.grid_ncols = self.FIELD_SIZE[0] / int(
self.GRID_SIZE[1] * self.zoom_factor)
def get_agent_neighbors(self, agent, dist_range):
neighbors = []
for other in self.agents:
if not agent.id == other.id:
dist = agent.position.get_distance(other.position)
if dist <= dist_range:
neighbors.append(other)
return neighbors
def draw_grid(self):
for y in range(self.grid_nrows + 1):
pygame.draw.line(
self.screen, SIM_COLORS['light gray'],
(self.field_rect.left, self.field_rect.top +
y * int(self.GRID_SIZE[1] * self.zoom_factor) - 1),
(self.field_rect.right - 1, self.field_rect.top +
y * int(self.GRID_SIZE[1] * self.zoom_factor) - 1))
for x in range(self.grid_ncols + 1):
pygame.draw.line(
self.screen, SIM_COLORS['light gray'],
(self.field_rect.left +
x * int(self.GRID_SIZE[0] * self.zoom_factor) - 1,
self.field_rect.top),
(self.field_rect.left +
x * int(self.GRID_SIZE[0] * self.zoom_factor) - 1,
self.field_rect.bottom - 1))
def xy2coord(self, pos):
""" Convert a (x, y) pair to a (nrow, ncol) coordinate
"""
x, y = (pos[0] - self.field_rect.left, pos[1] - self.field_rect.top)
return int(y) / self.GRID_SIZE[1], int(x) / self.GRID_SIZE[0]
def coord2xy_mid(self, coord):
""" Convert a (nrow, ncol) coordinate to a (x, y) pair,
where x,y is the middle of the square at the coord
"""
nrow, ncol = coord
return (self.field_rect.left + ncol * self.GRID_SIZE[0] +
self.GRID_SIZE[0] / 2, self.field_rect.top +
nrow * self.GRID_SIZE[1] + self.GRID_SIZE[1] / 2)
def draw_background(self):
pygame.draw.rect(self.screen, SIM_COLORS['light gray'],
[0, 0, self.SCREEN_WIDTH, self.SCREEN_HEIGHT])
def draw(self):
self.draw_background()
self.field_box.draw()
if self.options['draw_grid']:
self.draw_grid()
for waypoint in self.waypoints:
self.waypoints[waypoint].draw()
for obstacle in self.obstacles:
obstacle.draw()
for agent in self.agents:
agent.draw()
def demo_populate_scene(self):
# agents
self.agents.add(
Agent(agent_id=0,
screen=self.screen,
game=self,
agent_image=self.agent_image,
field=self.field_rect,
init_position=(3, 1),
init_direction=(1, 1),
max_speed=1.8,
waypoints=[self.waypoints['stop'], self.waypoints['start']]))
self.agents.add(
Agent(agent_id=1,
screen=self.screen,
game=self,
agent_image=self.agent_image,
field=self.field_rect,
init_position=(3, 5),
init_direction=(1, 1),
max_speed=1.8,
waypoints=[self.waypoints['start'], self.waypoints['stop']]))
self.agents.add(
Agent(agent_id=2,
screen=self.screen,
game=self,
agent_image=self.agent_image,
field=self.field_rect,
init_position=(2, 2),
init_direction=(1, 1),
max_speed=1.14,
waypoints=[self.waypoints['start'], self.waypoints['stop']]))
def simulation_update(self):
for agent in self.agents:
agent.update(0.1)
self.controller.drive_single_step(agent, delta_time=0.1)
agent.draw()
self.draw()
def _process_events(self):
for event in pygame.event.get():
if event.type == pygame.QUIT:
self.quit()
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_SPACE:
self.paused = not self.paused
elif event.key == pygame.K_g:
if pygame.key.get_mods() & pygame.KMOD_CTRL:
self.options[
'draw_grid'] = not self.options['draw_grid']
elif event.key == pygame.K_PLUS or event.key == pygame.K_EQUALS:
#self.zoom_factor += 0.1
self.initialize_screen()
self.setup_grid()
elif event.key == pygame.K_MINUS:
#self.zoom_factor -= 0.1
self.initialize_screen()
self.setup_grid()
elif event.type == pygame.MOUSEBUTTONDOWN and event.button == 1:
pass
elif event.type == VIDEORESIZE:
self._old_screen = self.SCREEN_WIDTH, self.SCREEN_HEIGHT
self.SCREEN_WIDTH, self.SCREEN_HEIGHT = event.dict['size']
self.offset = self.SCREEN_WIDTH - self._old_screen[
0], self.SCREEN_HEIGHT - self._old_screen[1]
#self.FIELD_LIMITS = self.FIELD_LIMITS[0]+self.offset[0], self.FIELD_LIMITS[1]+self.offset[1], \
# self.FIELD_LIMITS[2], self.FIELD_LIMITS[3]
#fx = (self.SCREEN_WIDTH / 2) - (self.FIELD_SIZE[0] / 2)
#fy = (self.SCREEN_HEIGHT / 2) - (self.FIELD_SIZE[1] / 2)
#self.FIELD_LIMITS = fx, fy, self.FIELD_LIMITS[2], self.FIELD_LIMITS[3]
self.initialize_screen()
self.setup_grid()
_total_time = 0
def run(self):
# initialize modules
pygame.init()
while True:
self.time_passed = self.clock.tick()
# self._total_time += self.time_passed
# if self._total_time < 1000:
# continue
# handle any events
self._process_events()
if not self.paused:
self.simulation_timer.update(self.time_passed)
# update the game surface
pygame.display.flip()
def add_agents(self, agent_dict):
for agent in agent_dict:
dx, dy = float(agent['dx']), float(agent['dy'])
x, y = float(agent['x']), float(agent['y'])
num = int(agent['n'])
a_type = int(agent['type'])
# spawn an agent in a random direction and position(within dx, dy)
direction = (randint(-1, 1), randint(-1, 1))
position = random_position(x, y, dx, dy)
waypoints = [awp['id'] for awp in agent['addwaypoint']]
rd = 0.3
for _ in xrange(num):
self.agents.add(
Agent(agent_id=self._agent_count,
atype=a_type,
screen=self.screen,
game=self,
agent_image=self.agent_image,
field=self.field_rect,
init_position=position,
init_direction=direction,
max_speed=normalvariate(1.34, 0.26),
radius=rd,
waypoints=[self.waypoints[wp] for wp in waypoints]))
self._agent_count += 1
# we are done here
# TODO - move the velocity stuff to a neat function
# TODO - find a suitable fatness distribution
def add_waypoints(self, waypoint_dict):
for waypoint in waypoint_dict:
w_id = waypoint['id']
radius = float(waypoint['radius'])
wtype = waypoint['type']
x, y = float(waypoint['x']), float(waypoint['y'])
self.waypoints.update({
w_id:
Waypoint(screen=self.screen,
wid=w_id,
wtype=wtype,
position=(x, y),
radius=radius)
})
def add_obstacles(self, obstacle_dict):
for obstacle in obstacle_dict:
o_id = obstacle['id']
p1 = float(obstacle['p1'])
p2 = float(obstacle['p2'])
p3 = float(obstacle['p3'])
p4 = float(obstacle['p4'])
o_type = obstacle['type'].title()
self.obstacles.append(
Obstacle(screen=self.screen,
oid=o_id,
otype=o_type,
params=(p1, p2, p3, p4)))
def quit(self):
sys.exit()
class Simulation(object):
"""
The main simulation entry point
"""
# basic defaults
SCREEN_WIDTH, SCREEN_HEIGHT = 700, 700
GRID_SIZE = 20, 20
FIELD_SIZE = 500, 500
FIELD_LIMITS = 0, 0, 600, 600
field_bgcolor = SIM_COLORS['white']
def __init__(self, params=None):
pygame.init()
if params is not None:
self.SCREEN_HEIGHT, self.SCREEN_WIDTH = int(float(params['display']['height']) * SCALE), \
int(float(params['display']['width']) * SCALE)
self.FIELD_LIMITS = int(float(params['field_top_left_x']) * SCALE), \
int(float(params['field_top_left_y']) * SCALE), \
int(float(params['field_bottom_right_x']) * SCALE), \
int(float(params['field_bottom_right_y']) * SCALE)
self.FIELD_SIZE = self.FIELD_LIMITS[2] - self.FIELD_LIMITS[0], self.FIELD_LIMITS[3] - self.FIELD_LIMITS[1]
self.GRID_SIZE = int(float(params['cell']['width']) * SCALE), int(float(params['cell']['height']) * SCALE)
# zoom and centering
self.offset = 0, 0
self.zoom_factor = 1.0
self._old_screen = self.SCREEN_WIDTH, self.SCREEN_HEIGHT
# setup the screen and the box field of play
self.initialize_screen()
# agents
self.agents = pygame.sprite.Group()
self.agent_image = pygame.image.load('assets/blueagent.bmp').convert_alpha()
self.controller = SocialForceController(self)
# self.controller = RandomController(self)
# time related items
self.clock = pygame.time.Clock()
self.paused = False
self.simulation_timer = Timer(10, self.simulation_update)
# create the grid
self.setup_grid()
# additional options (remove this)
self.options = dict(draw_grid=True)
# setup objects (waypoints, obstacles)
self.waypoints = dict()
self.obstacles = []
self._agent_count = 0
# initialize the time
self.time_passed = 0
def initialize_screen(self):
self.screen = pygame.display.set_mode((self.SCREEN_WIDTH, self.SCREEN_HEIGHT),
HWSURFACE | DOUBLEBUF | RESIZABLE, 32)
self.field_rect_outer = Rect(self.FIELD_LIMITS[0],
self.FIELD_LIMITS[1],
int(self.FIELD_SIZE[0]*self.zoom_factor),
int(self.FIELD_SIZE[1]*self.zoom_factor))
self.field_box = Box(surface=self.screen,
rect=self.field_rect_outer,
background_color=self.field_bgcolor
)
self.field_rect = self.field_box.get_internal_rect()
def setup_grid(self):
self.grid_nrows = self.FIELD_SIZE[1] / int(self.GRID_SIZE[0]*self.zoom_factor)
self.grid_ncols = self.FIELD_SIZE[0] / int(self.GRID_SIZE[1]*self.zoom_factor)
def get_agent_neighbors(self, agent, dist_range):
neighbors = []
for other in self.agents:
if not agent.id == other.id:
dist = agent.position.get_distance(other.position)
if dist <= dist_range:
neighbors.append(other)
return neighbors
def draw_grid(self):
for y in range(self.grid_nrows + 1):
pygame.draw.line(
self.screen,
SIM_COLORS['light gray'],
(self.field_rect.left, self.field_rect.top + y * int(self.GRID_SIZE[1]*self.zoom_factor) - 1),
(self.field_rect.right - 1, self.field_rect.top + y * int(self.GRID_SIZE[1]*self.zoom_factor) - 1))
for x in range(self.grid_ncols + 1):
pygame.draw.line(
self.screen,
SIM_COLORS['light gray'],
(self.field_rect.left + x * int(self.GRID_SIZE[0]*self.zoom_factor) - 1, self.field_rect.top),
(self.field_rect.left + x * int(self.GRID_SIZE[0]*self.zoom_factor) - 1, self.field_rect.bottom - 1))
def xy2coord(self, pos):
""" Convert a (x, y) pair to a (nrow, ncol) coordinate
"""
x, y = (pos[0] - self.field_rect.left, pos[1] - self.field_rect.top)
return int(y) / self.GRID_SIZE[1], int(x) / self.GRID_SIZE[0]
def coord2xy_mid(self, coord):
""" Convert a (nrow, ncol) coordinate to a (x, y) pair,
where x,y is the middle of the square at the coord
"""
nrow, ncol = coord
return (
self.field_rect.left + ncol * self.GRID_SIZE[0] + self.GRID_SIZE[0] / 2,
self.field_rect.top + nrow * self.GRID_SIZE[1] + self.GRID_SIZE[1] / 2)
def draw_background(self):
pygame.draw.rect(self.screen, SIM_COLORS['light gray'], [0, 0, self.SCREEN_WIDTH, self.SCREEN_HEIGHT])
def draw(self):
self.draw_background()
self.field_box.draw()
if self.options['draw_grid']:
self.draw_grid()
for waypoint in self.waypoints:
self.waypoints[waypoint].draw()
for obstacle in self.obstacles:
obstacle.draw()
for agent in self.agents:
agent.draw()
def demo_populate_scene(self):
# agents
self.agents.add(
Agent( agent_id = 0,
screen = self.screen,
game = self,
agent_image = self.agent_image,
field = self.field_rect,
init_position = ( 3, 1),
init_direction = (1, 1),
max_speed = 1.8,
waypoints = [self.waypoints['stop'], self.waypoints['start']]
)
)
self.agents.add(
Agent( agent_id = 1,
screen = self.screen,
game = self,
agent_image = self.agent_image,
field = self.field_rect,
init_position = ( 3, 5),
init_direction = (1, 1),
max_speed = 1.8,
waypoints = [self.waypoints['start'], self.waypoints['stop']]
)
)
self.agents.add(
Agent( agent_id = 2,
screen = self.screen,
game = self,
agent_image = self.agent_image,
field = self.field_rect,
init_position = ( 2, 2),
init_direction = (1, 1),
max_speed = 1.14,
waypoints = [self.waypoints['start'], self.waypoints['stop']]
)
)
def simulation_update(self):
for agent in self.agents:
agent.update(0.1)
self.controller.drive_single_step(agent, delta_time=0.1)
agent.draw()
self.draw()
def _process_events(self):
for event in pygame.event.get():
if event.type == pygame.QUIT:
self.quit()
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_SPACE:
self.paused = not self.paused
elif event.key == pygame.K_g:
if pygame.key.get_mods() & pygame.KMOD_CTRL:
self.options['draw_grid'] = not self.options['draw_grid']
elif event.key == pygame.K_PLUS or event.key == pygame.K_EQUALS:
#self.zoom_factor += 0.1
self.initialize_screen()
self.setup_grid()
elif event.key == pygame.K_MINUS:
#self.zoom_factor -= 0.1
self.initialize_screen()
self.setup_grid()
elif event.type == pygame.MOUSEBUTTONDOWN and event.button == 1:
pass
elif event.type == VIDEORESIZE:
self._old_screen = self.SCREEN_WIDTH, self.SCREEN_HEIGHT
self.SCREEN_WIDTH, self.SCREEN_HEIGHT = event.dict['size']
self.offset = self.SCREEN_WIDTH - self._old_screen[0], self.SCREEN_HEIGHT - self._old_screen[1]
#self.FIELD_LIMITS = self.FIELD_LIMITS[0]+self.offset[0], self.FIELD_LIMITS[1]+self.offset[1], \
# self.FIELD_LIMITS[2], self.FIELD_LIMITS[3]
#fx = (self.SCREEN_WIDTH / 2) - (self.FIELD_SIZE[0] / 2)
#fy = (self.SCREEN_HEIGHT / 2) - (self.FIELD_SIZE[1] / 2)
#self.FIELD_LIMITS = fx, fy, self.FIELD_LIMITS[2], self.FIELD_LIMITS[3]
self.initialize_screen()
self.setup_grid()
_total_time = 0
def run(self):
# initialize modules
pygame.init()
while True:
self.time_passed = self.clock.tick()
# self._total_time += self.time_passed
# if self._total_time < 1000:
# continue
# handle any events
self._process_events()
if not self.paused:
self.simulation_timer.update(self.time_passed)
# update the game surface
pygame.display.flip()
def add_agents(self, agent_dict):
for agent in agent_dict:
dx, dy = float(agent['dx']), float(agent['dy'])
x, y = float(agent['x']), float(agent['y'])
num = int(agent['n'])
a_type = int(agent['type'])
# spawn an agent in a random direction and position(within dx, dy)
direction = (randint(-1, 1), randint(-1, 1))
position = random_position(x, y, dx, dy)
waypoints = [awp['id'] for awp in agent['addwaypoint']]
rd = 0.3
for _ in xrange(num):
self.agents.add(Agent(
agent_id = self._agent_count,
atype = a_type,
screen = self.screen,
game = self,
agent_image = self.agent_image,
field = self.field_rect,
init_position = position,
init_direction = direction,
max_speed = normalvariate(1.34, 0.26),
radius = rd,
waypoints = [self.waypoints[wp] for wp in waypoints]
))
self._agent_count += 1
# we are done here
# TODO - move the velocity stuff to a neat function
# TODO - find a suitable fatness distribution
def add_waypoints(self, waypoint_dict):
for waypoint in waypoint_dict:
w_id = waypoint['id']
radius = float(waypoint['radius'])
wtype = waypoint['type']
x, y = float(waypoint['x']), float(waypoint['y'])
self.waypoints.update({w_id : Waypoint(screen=self.screen, wid=w_id, wtype=wtype, position=(x, y), radius=radius)})
def add_obstacles(self, obstacle_dict):
for obstacle in obstacle_dict:
o_id = obstacle['id']
p1 = float(obstacle['p1'])
p2 = float(obstacle['p2'])
p3 = float(obstacle['p3'])
p4 = float(obstacle['p4'])
o_type = obstacle['type'].title()
self.obstacles.append(Obstacle(screen=self.screen, oid=o_id, otype=o_type, params=(p1, p2, p3, p4)))
def quit(self):
sys.exit()
