def _get_force(self):
forces = np.zeros((self.peds.size(), 2))
vision_angle = self.config("fov_phi", 100.0)
directions, _ = stateutils.desired_directions(self.peds.state)
if self.peds.has_group():
for group in self.peds.groups:
group_size = len(group)
# 1-agent groups don't need to compute this
if group_size <= 1:
continue
member_pos = self.peds.pos()[group, :]
member_directions = directions[group, :]
# use center of mass without the current agent
relative_com = np.array(
[
stateutils.center_of_mass(member_pos[np.arange(group_size) != i, :2])
- member_pos[i, :]
for i in range(group_size)
]
)
com_directions, _ = stateutils.normalize(relative_com)
# angle between walking direction and center of mass
element_prod = np.array(
[np.dot(d, c) for d, c in zip(member_directions, com_directions)]
)
com_angles = np.degrees(np.arccos(element_prod))
rotation = np.radians(
[a - vision_angle if a > vision_angle else 0.0 for a in com_angles]
)
force = -rotation.reshape(-1, 1) * member_directions
forces[group, :] += force
return forces * self.factor
def _get_force(self):
forces = np.zeros((self.peds.size(), 2))
directions, dist = stateutils.desired_directions(self.peds.state)
if self.peds.has_group():
for group in self.peds.groups:
group_size = len(group)
# 1-agent groups don't need to compute this
if group_size <= 1:
continue
member_pos = self.peds.pos()[group, :]
member_directions = directions[group, :]
member_dist = dist[group]
# use center of mass without the current agent
relative_com = np.array(
[
stateutils.center_of_mass(member_pos[np.arange(group_size) != i, :2])
- member_pos[i, :]
for i in range(group_size)
]
)
com_directions, com_dist = stateutils.normalize(relative_com)
# angle between walking direction and center of mass
element_prod = np.array(
[np.dot(d, c) for d, c in zip(member_directions, com_directions)]
)
force = (
com_dist.reshape(-1, 1)
* element_prod.reshape(-1, 1)
/ member_dist.reshape(-1, 1)
* member_directions
)
forces[group, :] += force
return forces * self.factor
def _get_force(self):
forces = np.zeros((self.peds.size(), 2))
if self.peds.has_group():
for group in self.peds.groups:
threshold = (len(group) - 1) / 2
member_pos = self.peds.pos()[group, :]
com = stateutils.center_of_mass(member_pos)
force_vec = com - member_pos
vectors, norms = stateutils.normalize(force_vec)
vectors[norms < threshold] = [0, 0]
forces[group, :] += vectors
return forces * self.factor
def _get_force(self):
forces = np.zeros((self.peds.size(), 2))
if self.peds.has_group():
for group in self.peds.groups:
threshold = (len(group) - 1) / 2
member_pos = self.peds.pos()[group, :]
com = stateutils.center_of_mass(member_pos)
force_vec = com - member_pos
norms = stateutils.speeds(force_vec)
softened_factor = (np.tanh(norms - threshold) + 1) / 2
forces[group, :] += (force_vec.T * softened_factor).T
return forces * self.factor