def think(self, dt, view, debugsurface):
if self.waypoint_len() == 0:
a = random.random() * math.pi * 2
step = random.gauss(self.step_mean, self.step_mean / 3)
self.waypoint_push(self.position + Vec2d(math.cos(a) * step, math.sin(a) * step))
for o in view.obstacles: # avoid obstacles
if line_distance2(self.position, self.waypoint().position, o.p1, o.p2) <= self.radius ** 2:
self.waypoint_clear()
return
def line_is_traversable(self, p1, p2):
"""Check if line is collision free with static obstacles
Returns True if a straight path between p1 and p2 is possible without
colliding into static obstacles
"""
for o in self.view.obstacles:
if line_distance2(p1, p2, o.p1, o.p2) < self.min_distance2:
return False
return True
def think(self, dt, view, debugsurface):
if self.waypoint_len() == 0:
a = random.random() * math.pi * 2
step = random.gauss(self.step_mean, self.step_mean / 3)
self.waypoint_push(self.position + Vec2d(math.cos(a) * step, math.sin(a) * step))
direction = self.waypoint().position - self.position
for p in view.pedestrians: # stop if any pedestrians are in the way
if direction.angle(p.position - self.position) < math.pi / 2:
self.waypoint_clear()
return
for o in view.obstacles: # avoid obstacles
if line_distance2(self.position, self.waypoint().position, o.p1, o.p2) <= self.radius ** 2:
self.waypoint_clear()
return
def freeprob_line(self, p1, p2, view, starttime):
""" Free probability for moving from p1 to p2 starting on starttime """
if p1 == p2:
return self.freeprob_pedestrians(p1, view, starttime)
for o in view.obstacles:
if line_distance2(o.p1, o.p2, p1, p2) < (self.radius + self.FREEMARGIN) ** 2:
return 0
diff = p2 - p1
length = diff.length()
v = diff / length
resolution = self.radius * 2
numsegments = int(math.ceil(length / resolution))
segmentlen = length / numsegments
timediff = segmentlen / self.speed
freeprob = 1.0
for i in xrange(numsegments + 1):
freeprob *= self.freeprob_pedestrians(p1 + v * i * segmentlen, view, starttime + i * timediff)
return freeprob
def line_safeness(self, p1, p2, view, starttime):
""" Free probability for moving from p1 to p2 starting on starttime
"""
if p1 == p2:
return self.static_safeness(p1, view, starttime)
safedist2 = (self.radius + self.FREEMARGIN) ** 2
for o in view.obstacles:
if line_distance2(o.p1, o.p2, p1, p2) < safedist2:
return 0
diff = p2 - p1
length = diff.length()
v = diff * self.speed / length
t = length / self.speed
return self.line_pedestrian_safeness(
position=p1,
velocity=v,
start_time=starttime,
end_time=starttime + t,
view=view
)
def line_is_traversable(self, p1, p2):
"""Check if traversing in p1-p2 on a straight path is possible without colliding into static obstacles"""
for o in self.view.obstacles:
if line_distance2(p1, p2, o.p1, o.p2) < self.min_distance2:
return False
return True
