def my_constructor(
self,
SCENEGRAPH=None,
START_MATRIX=avango.gua.make_identity_mat(),
):
### parameters ###
self.fall_velocity = 0.003 # in meter/sec
self.pick_length = 1.0 # in meter
self.pick_direction = avango.gua.Vec3(0.0, -1.0, 0.0)
### variables ###
self.fall_vec = avango.gua.Vec3()
self.lf_time = time.time()
## init internal sub-classes
self.gravity_intersection = Intersection()
self.gravity_intersection.my_constructor(SCENEGRAPH, self.sf_mat,
self.pick_length,
self.pick_direction)
## init field connections
self.mf_pick_result.connect_from(
self.gravity_intersection.mf_pick_result)
## set initial state
self.sf_modified_mat.value = START_MATRIX
def model_for_sensitivity(p_spawn=0.1, max_speed_horizontal=10, max_speed_vertical=10, intersection_type=0):
t_traffic_light_cycle = 5
p_bend = 0.33
p_u_turn = 0.01
p_left = p_bend
p_right = p_bend
p_straight = p_bend
t_from_north = t_traffic_light_cycle
t_from_west = t_traffic_light_cycle
t_from_east = t_traffic_light_cycle
t_from_south = t_traffic_light_cycle
intersection_type = int(intersection_type)
intersections = ['Fourway', 'Traffic lights', 'Equivalent', 'Smart lights']
intersection = intersections[intersection_type]
parameter_set = {
"max_speed_horizontal": int(max_speed_horizontal),
"max_speed_vertical": int(max_speed_vertical),
"seed": 1337,
"bmw_fraction": 0.1,
"intersection_type": intersection,
"t_from_north": t_from_north,
"t_from_west": t_from_west,
"t_from_east": t_from_east,
"t_from_south": t_from_south,
"p_car_spawn_north": p_spawn,
"p_north_to_north": p_u_turn,
"p_north_to_west": p_right,
"p_north_to_east": p_left,
"p_north_to_south": p_straight,
"p_car_spawn_west": p_spawn,
"p_west_to_north": p_left,
"p_west_to_west": p_u_turn,
"p_west_to_east": p_straight,
"p_west_to_south": p_right,
"p_car_spawn_east": p_spawn,
"p_east_to_north": p_right,
"p_east_to_west": p_straight,
"p_east_to_east": p_u_turn,
"p_east_to_south": p_left,
"p_car_spawn_south": p_spawn,
"p_south_to_north": p_straight,
"p_south_to_west": p_left,
"p_south_to_east": p_right,
"p_south_to_south": p_u_turn,
}
model = Intersection(parameters = parameter_set, parameters_as_dict=True)
datawriter = DataWriter(model)
datawriter.run()
data = datawriter.get_runs_by_parameters(parameter_set)
flow = data['results']['throughput'][-1]
crossover = data['results']['mean_crossover_time'][-1]
av_speed = data['results']['average_speed'][-1]
out = np.array([flow,crossover,av_speed])
return out[0]
def my_constructor(
self,
SCENEGRAPH,
PARENT_NODE,
MF_NAV_DOF,
POINTER_STATION_NAME,
POINTER_TRACKING_NAME,
TRACKING_TRANSMITTER_OFFSET,
):
self.scenegraph = SCENEGRAPH
self.parent_node = PARENT_NODE
### parameters ###
self.ray_length = 100.0 # in meters
self.ray_thickness = 0.01 # in meters
self.intersection_point_size = 0.025 # in meters
self.navidget_duration = 10.0 # in seconds
self.navidget_sphere_size = 0.5 # in meters
### variables ###
self.navigation_mode = 0 # 0 = steering mode, 1 = maneuvering mode, 3 = Navidget target-mode, 4 = Navidget animation-mode
self.navidget_start_pos = None
self.navidget_target_pos = None
self.navidget_start_quat = None
self.navidget_target_quat = None
self.navidget_start_time = None
### navigation variables
self.rotation_center = None
self.first_pick_result = None
self.rot_x_accum_value = 0.0
self.rot_y_accum_value = 0.0
self.manu_distance = 0.0
self.offset_trans_mat = avango.gua.make_identity_mat()
self.offset_rot_mat = avango.gua.make_identity_mat()
self.navidget_trans_mat = avango.gua.make_identity_mat()
self.navidget_rot_mat = avango.gua.make_identity_mat()
self.animation_state = "start"
### resources ###
# init pointer sensors
self.pointer_tracking_sensor = avango.daemon.nodes.DeviceSensor(
DeviceService=avango.daemon.DeviceService())
self.pointer_tracking_sensor.Station.value = POINTER_TRACKING_NAME
self.pointer_tracking_sensor.ReceiverOffset.value = avango.gua.make_identity_mat(
)
self.pointer_tracking_sensor.TransmitterOffset.value = TRACKING_TRANSMITTER_OFFSET
self.pointer_device_sensor = avango.daemon.nodes.DeviceSensor(
DeviceService=avango.daemon.DeviceService())
self.pointer_device_sensor.Station.value = POINTER_STATION_NAME
# init nodes and geometries
_loader = avango.gua.nodes.TriMeshLoader()
self.offset_node = avango.gua.nodes.TransformNode(Name="offset_node")
self.offset_node.Transform.value = avango.gua.make_trans_mat(
0.0, 0.0, 0.0)
SCENEGRAPH.Root.value.Children.value.append(self.offset_node)
self.proxy_geo = _loader.create_geometry_from_file(
"proxy_geo", "data/objects/sphere.obj",
avango.gua.LoaderFlags.DEFAULTS)
self.proxy_geo.Transform.value = avango.gua.make_scale_mat(0.2)
SCENEGRAPH.Root.value.Children.value.append(self.proxy_geo)
self.proxy_geo.Material.value.set_uniform(
"Color", avango.gua.Vec4(0.0, 0.5, 1.0, 1.0))
self.rot_helper = avango.gua.nodes.TransformNode(Name="rot_helper")
self.offset_node.Children.value.append(self.rot_helper)
#self.proxy_geo.Tags.value = [] # set geometry invisible
self.ray_transform = avango.gua.nodes.TransformNode(
Name="ray_transform")
PARENT_NODE.Children.value.append(self.ray_transform)
self.ray_geometry = _loader.create_geometry_from_file(
"ray_geometry", "data/objects/cylinder.obj",
avango.gua.LoaderFlags.DEFAULTS)
self.ray_transform.Children.value.append(self.ray_geometry)
self.ray_geometry.Material.value.set_uniform(
"Color", avango.gua.Vec4(1.0, 0.0, 0.0, 1.0))
self.ray_geometry.Transform.value = avango.gua.make_trans_mat(0.0,0.0,self.ray_length * -0.5) * \
avango.gua.make_scale_mat(self.ray_thickness,self.ray_thickness,self.ray_length)
self.intersection_point_geometry = _loader.create_geometry_from_file(
"intersection_point_geometry", "data/objects/sphere.obj",
avango.gua.LoaderFlags.DEFAULTS)
SCENEGRAPH.Root.value.Children.value.append(
self.intersection_point_geometry)
self.intersection_point_geometry.Tags.value = [
"invisible"
] # set geometry invisible
self.maneuvering_point_geometry = _loader.create_geometry_from_file(
"maneuvering_point_geometry", "data/objects/sphere.obj",
avango.gua.LoaderFlags.DEFAULTS)
SCENEGRAPH.Root.value.Children.value.append(
self.maneuvering_point_geometry)
self.maneuvering_point_geometry.Material.value.set_uniform(
"Color", avango.gua.Vec4(1.0, 0.0, 0.0, 0.25))
self.maneuvering_point_geometry.Tags.value = [
"invisible"
] # set geometry invisible
## init Navidget nodes
self.navidget_node = avango.gua.nodes.TransformNode(
Name="navidget_node")
SCENEGRAPH.Root.value.Children.value.append(self.navidget_node)
self.navidget_node.Tags.value = ["invisible"]
self.navidget_sphere = avango.gua.nodes.TransformNode(
Name="navidget_sphere")
self.navidget_node.Children.value.append(self.navidget_sphere)
self.navidget_sphere_geometry = _loader.create_geometry_from_file(
"navidget_sphere_geometry", "data/objects/sphere.obj",
avango.gua.LoaderFlags.DEFAULTS
| avango.gua.LoaderFlags.MAKE_PICKABLE)
self.navidget_node.Children.value.append(self.navidget_sphere_geometry)
self.navidget_sphere_geometry.Material.value.set_uniform(
"Color", avango.gua.Vec4(0.0, 1.0, 1.0, 0.25))
self.navidget_sphere_geometry.Transform.value = avango.gua.make_scale_mat(
self.navidget_sphere_size)
self.navidget_stick = avango.gua.nodes.TransformNode(
Name="navidget_stick")
self.navidget_node.Children.value.append(self.navidget_stick)
self.navidget_stick_geometry = _loader.create_geometry_from_file(
"navidget_stick_geometry", "data/objects/cylinder.obj",
avango.gua.LoaderFlags.DEFAULTS)
self.navidget_stick.Children.value.append(self.navidget_stick_geometry)
self.navidget_stick_geometry.Material.value.set_uniform(
"Color", avango.gua.Vec4(1.0, 0.0, 1.0, 1.0))
self.navidget_stick_geometry.Transform.value = avango.gua.make_scale_mat(
0.015, 0.015, self.navidget_sphere_size * 2.0)
self.navidget_camera_geometry = _loader.create_geometry_from_file(
"navidget_camera_geometry", "data/objects/cam.obj",
avango.gua.LoaderFlags.DEFAULTS)
self.navidget_node.Children.value.append(self.navidget_camera_geometry)
#self.navidget_camera_geometry.Material.value.set_uniform("Color", avango.gua.Vec4(1.0,0.0,0.0,1.0))
self.navidget_camera_geometry.Transform.value = avango.gua.make_trans_mat(0.0,0.0,self.navidget_sphere_size * 2.0) * \
avango.gua.make_scale_mat(3.0)
# init ray intersection for target identification
self.intersection = Intersection(SCENEGRAPH=SCENEGRAPH)
self.navidget_intersection = Intersection(SCENEGRAPH=SCENEGRAPH)
self.navidget_intersection.white_list = ["navidget_sphere"]
self.navidget_intersection.black_list = [""]
self.frame_trigger = avango.script.nodes.Update(
Callback=self.frame_callback, Active=True)
# init field connections
self.mf_dof.connect_from(MF_NAV_DOF)
self.sf_pointer_button0.connect_from(
self.pointer_device_sensor.Button0)
self.sf_pointer_button1.connect_from(
self.pointer_device_sensor.Button1)
self.ray_transform.Transform.connect_from(
self.pointer_tracking_sensor.Matrix)
'p_east_to_north':
from_0_to_1,
'p_east_to_west':
from_0_to_1,
'p_east_to_east':
from_0_to_1,
'p_east_to_south':
from_0_to_1,
'p_car_spawn_south':
p_spawn,
'p_south_to_north':
from_0_to_1,
'p_south_to_west':
from_0_to_1,
'p_south_to_east':
from_0_to_1,
'p_south_to_south':
from_0_to_1
}
parameter_space = [
dict(zip(parameters, v)) for v in product(*parameters.values())
]
print('Generating {} intersections'.format(len(parameter_space)))
for parameter_set in parameter_space:
intersection = Intersection(parameters=parameter_set,
parameters_as_dict=True)
datawriter = DataWriter(intersection)
datawriter.run(10)
