def cohesion(self, neighbor_center):
"""
Function to move the agent towards the center of mass of its neighbors
:param neighbor_rotation: np.array(x,y)
"""
force = neighbor_center - self.pos
return helperfunctions.normalize(force - self.v)
def avoid_obstacle(self, obstacle_center, obstacle_outside):
"""
Function to avoid obstacles
need to take into account whether agents inside/outside the obstacle
moves the agent away from the boarder by distance equivalent to its size
:param obstacle_center: tuple (int,int), the center coordinates of the obstacle
:param obstacle_outside: boolean, defines whether the agents are inside or outside of the obstacle
"""
x, y = self.mask.get_size() #get the size of the boid
x_ob, y_ob = obstacle_center
if obstacle_outside: #agents outside the obstacle
if self.pos[0] >= x_ob:
self.pos[0] += x
else:
self.pos[0] -= x
if self.pos[1] >= y_ob:
self.pos[1] += y
else:
self.pos[1] -= y
else: #agents inside the obstacle:
if self.pos[0] <= x_ob:
self.pos[0] += x
else:
self.pos[0] -= x
if self.pos[1] <= y_ob:
self.pos[1] += y
else:
self.pos[1] -= y
#adjust the velocity by rotating it around
self.v = (helperfunctions.rotate(helperfunctions.normalize(self.v)) *
helperfunctions.norm(self.v))
def avoid_obstacle(self):
"""
Function to avoid obstacles
need to take into account whether agents inside/outside the obstacle
moves the agent away from the boarder by distance equivalent to its size
"""
#adjust the velocity by rotating it around
self.v = (helperfunctions.rotate(helperfunctions.normalize(self.v)) *
helperfunctions.norm(self.v))
self.pos += self.v * 1.5
def wander(self, wander_dist, wander_radius, wander_angle):
"""
Function to make the agents to perform random movement
"""
rands = 2 * np.random.rand() - 1
cos = np.cos(self.wandering_angle)
sin = np.sin(self.wandering_angle)
n_v = helperfunctions.normalize(self.v)
circle_center = n_v * wander_dist
displacement = np.dot(np.array([[cos, -sin], [sin, cos]]),
n_v * wander_radius)
wander_force = circle_center + displacement
self.wandering_angle += wander_angle * rands
return wander_force
def align(self, neighbor_force):
"""
Function to align the agent in accordance to neighbor velocity
:param neighbor_force: np.array(x,y)
"""
return helperfunctions.normalize(neighbor_force - self.v)