Obstacles.append(Coral2)
Ships = []
position_ship1 = [(0, 0, 0)]
Ship1 = Target(position_ship1[0])
Ship1.setVelocity((2, 2, 0))
Ships.append(Ship1)
OPF = ObstaclePotentialField(1, 1, 10)
TPF = TargetPotentialField(1, 1, 1)
for i in range(0, 100):
print('------- ITERATION ', i, '-----------')
obstacle1_forces = OPF.calculate_obstacle_forces(Drones, Coral)
obstacle2_forces = OPF.calculate_obstacle_forces(Drones, Coral2)
Drone1.ObstaclePotentialForce = obstacle1_forces[Drone1.index]
Drone2.ObstaclePotentialForce = obstacle1_forces[Drone2.index]
Drone1.TargetPotentialForce = TPF.calculate_target_force(
Drone1.index, 0, Drones, Ships)
Drone2.TargetPotentialForce = TPF.calculate_target_force(
Drone2.index, 0, Drones, Ships)
print('Drone1 TPF = ', Drone1.TargetPotentialForce, '\n')
print('Drone1 OPF = ', Drone1.ObstaclePotentialForce, '\n')
print('Drone1 Total Force = ', Drone1.calculate_total_force(), '\n')
print(Drone1.calculateVelocity(Drone1.calculate_total_force()))
print('Drone1 Velocity', Drone1.velocity)
Drone1.move()
print('Drone1 Position', Drone1.position)
