def set_dest(self):
exits = self._tunnel.exits[:]
dest = None
while dest is None and len(exits) > 0:
nearest_exit = utils.find_nearest_segment(self._position,
exits)
exit_dest = nearest_exit.start \
+ utils.vmiddle(nearest_exit.end - nearest_exit.start)
if self._check_exit_blockage(exit_dest):
exits.remove(nearest_exit)
else:
dest = exit_dest
if len(exits) == 0 and dest is None:
nearest_exit = utils.find_nearest_segment(self._position,
self._tunnel.exits)
dest = nearest_exit.start + utils.vmiddle(nearest_exit.end
- nearest_exit.start)
dest_vec = utils.vnormalize(dest - self._position)
self._dest = dest + dest_vec * self.DEST_GAP
self._find_nearest_end()
self._find_checkpoint()
def set_dest(self):
exits = self._tunnel.exits[:]
dest = None
while dest is None and len(exits) > 0:
nearest_exit = utils.find_nearest_segment(self._position, exits)
exit_dest = nearest_exit.start \
+ utils.vmiddle(nearest_exit.end - nearest_exit.start)
if self._check_exit_blockage(exit_dest):
exits.remove(nearest_exit)
else:
dest = exit_dest
if len(exits) == 0 and dest is None:
nearest_exit = utils.find_nearest_segment(self._position,
self._tunnel.exits)
dest = nearest_exit.start + utils.vmiddle(nearest_exit.end -
nearest_exit.start)
dest_vec = utils.vnormalize(dest - self._position)
self._dest = dest + dest_vec * self.DEST_GAP
self._find_nearest_end()
self._find_checkpoint()
def _find_checkpoint(self):
if self._nearest_end is None:
return None
end_vector = self._nearest_end - self.position
end_dir = utils.vnormalize(end_vector)
self._checkpoint = self._nearest_end + self.CHECKPOINT_GAP \
* end_dir
def _find_checkpoint(self):
if self._nearest_end is None:
return None
end_vector = self._nearest_end - self.position
end_dir = utils.vnormalize(end_vector)
self._checkpoint = self._nearest_end + self.CHECKPOINT_GAP \
* end_dir
def _calculate_wall_rep_potential(self, closest):
target_vector = closest - self._agent.position
dist = utils.vlen(target_vector)
target_dir = utils.vnormalize(target_vector)
target_dir = self._rotate_direction_vetor(target_dir, closest)
return np.exp(-dist / self._agent.radius) * target_dir
def _calculate_wall_rep_potential(self, closest):
target_vector = closest - self._agent.position
dist = utils.vlen(target_vector)
target_dir = utils.vnormalize(target_vector)
target_dir = self._rotate_direction_vetor(target_dir,
closest)
return np.exp(-dist / self._agent.radius) * target_dir
def _calculate_soc_rep_potential(self, agent):
target_vector = agent.position - self._agent.position
dist = utils.vlen(target_vector)
target_dir = utils.vnormalize(target_vector)
target_dir = self._rotate_direction_vetor(target_dir,
agent.position)
return np.exp(agent.radius + self._agent.radius - dist
/ self.SOCIAL_DIST_COEFF) * target_dir
def _calculate_soc_rep_potential(self, agent):
target_vector = agent.position - self._agent.position
dist = utils.vlen(target_vector)
target_dir = utils.vnormalize(target_vector)
target_dir = self._rotate_direction_vetor(target_dir,
agent.position)
return np.exp(agent.radius + self._agent.radius -
dist / self.SOCIAL_DIST_COEFF) * target_dir
def _calculate_desired_direction(self):
"""
"""
if self._agent.checkpoint is not None:
destination = self._agent.checkpoint
else:
destination = self._agent.dest
dest_vector = destination - self._agent.position
return utils.vnormalize(dest_vector)
def _calculate_desired_direction(self):
"""
"""
if self._agent.checkpoint is not None:
destination = self._agent.checkpoint
else:
destination = self._agent.dest
dest_vector = destination - self._agent.position
return utils.vnormalize(dest_vector)