def steer(self, desired):
# steer = vector((0, 1))
if norm(desired) > self.maxspeed:
desired = normalize(desired) * self.maxspeed
self.desired = desired
steer = desired - self.velocity
steer = normalize(steer) * self.maxforce
# steer.normalize()
self.apply(steer)
def separate(self, vehicles):
radius = self.size * 2
sum_vel = vector((0.0, 0.0))
n = 0
for other in vehicles:
d = dist(self.position, other.position)
if 0 < d < radius:
n += 1
diff = normalize(self.position - other.position) / d
sum_vel += diff
if n > 0:
sum_vel /= n
sum_vel = normalize(sum_vel) * self.maxspeed
self.steer(sum_vel)
def wander(self, d=50, r=25, change=0.5):
center = normalize(self.velocity) * d + self.position
self.theta += random() * 2 * change - change
randrad = vector((sin(self.theta), cos(self.theta))) * r
desired = center + randrad
self.steer(desired - self.position)
def __init__(self, path, resolution=None):
resolution = resolution or path.raduis / 1.5
super().__init__(resolution=resolution)
for i in range(self.cols):
for j in range(self.rows):
center = vector((int((i + 0.5) * self.resolution),
int((j + 0.5) * self.resolution)))
self.field[i][j] = normalize(path.get_normal(center) -
center) # * 0.2
def align(self, vehicles):
sum_vel = vector((0.0, 0.0))
n = 0
for other in vehicles:
if other is not self:
sum_vel += other.velocity
n += 1
if n > 0:
sum_vel /= n
sum_vel = normalize(sum_vel) * self.maxspeed
# print(self.velocity, sum_vel)
self.steer(sum_vel)
def track(self, path, scr=None, debug=False):
prediction_rate = 25
future_loc = self.position + normalize(self.velocity) * prediction_rate
# future_loc = vector((0, 1))
normal_loc = path.get_normal(future_loc)
if debug:
pygame.draw.circle(scr, (255, 128, 255),
(int(normal_loc[0]), int(normal_loc[1])), 10)
pygame.draw.circle(scr, (255, 230, 255),
(int(future_loc[0]), int(future_loc[1])), 10)
if dist(future_loc, normal_loc) > path.raduis:
self.seek(normal_loc)
def follow(self, field):
# desired = field.lookup(self.position + self.velocity)
desired = normalize(field.lookup(self.position)) * self.maxspeed
self.steer(desired)