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phwitte
DataScienceSWP
Commits
5123a30d
Commit
5123a30d
authored
7 years ago
by
phwitte
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from
graphics
import
*
import
time
import
random
import
math
# -------------------------------------------------------------------
# help functions
# Distance function betwen points xi, xii and yj,yii
def
distance
(
xi
,
xii
,
yi
,
yii
):
sq1
=
(
xi
-
xii
)
*
(
xi
-
xii
)
sq2
=
(
yi
-
yii
)
*
(
yi
-
yii
)
return
math
.
sqrt
(
sq1
+
sq2
)
#abs of a vector
def
absvec
(
a
,
b
):
m
=
math
.
sqrt
(
a
*
a
+
b
*
b
)
if
m
==
0
:
m
=
0.001
return
m
# angle between vectors x= (x1,y1) and y= (x2,y2), in degrees
def
calc_angle
(
x1
,
y1
,
x2
,
y2
):
skalar
=
x1
*
x2
+
y1
*
y2
abs1
=
absvec
(
x1
,
y1
)
abs2
=
absvec
(
x2
,
y2
)
erg
=
skalar
/
(
abs1
*
abs2
)
if
erg
>
1
:
#print erg
erg
=
1
elif
erg
<
-
1
:
#print erg
erg
=-
1
return
math
.
degrees
(
math
.
acos
(
erg
))
# -------------------------------------------------------------------
# -------------------------------------------------------------------
# couzin
# returns three lists, one for each zone,
# contaning all other agent in the zone.
# ignores al egents ind the angle behind the current agent defined by blind.
def
neigbour_in_zones
(
a
,
aas
,
zoo_r
):
zoo
=
[]
for
agent
in
aas
:
dis
=
absvec
(
agent
[
0
].
getX
()
-
a
[
0
].
getX
()
,
agent
[
0
].
getY
()
-
a
[
0
].
getY
()
)
if
dis
<=
zoo_r
:
zoo
.
append
(
agent
)
#print len(zoo)+len(zor)+len(zoa)
return
zoo
#update Velocity
def
updateV_vicsek
(
a
,
zoo
,
noise
):
"""
sum_i_from_1_to_N sin(a[i])
a = arctangent ---------------------------
sum_i_from_1_to_N cos(a[i])
Nullrichtung: (1,0)
"""
dx
=
0
dy
=
0
for
agent
in
zoo
:
dx
+=
agent
[
1
]
/
absvec
(
agent
[
1
],
agent
[
2
])
dy
+=
agent
[
2
]
/
absvec
(
agent
[
1
],
agent
[
2
])
dx
+=
a
[
1
]
/
absvec
(
a
[
1
],
a
[
2
])
dy
+=
a
[
2
]
/
absvec
(
a
[
1
],
a
[
2
])
#dx = 1 * math.cos(avgTheta) - 0 * math.sin(avgTheta)
#dy = 1 * math.sin(avgTheta) + 0 * math.cos(avgTheta)
# randomness factor / error
dx
+=
random
.
uniform
(
-
(
noise
>>
1
),
noise
>>
1
)
dy
+=
random
.
uniform
(
-
(
noise
>>
1
),
noise
>>
1
)
return
[
dx
,
dy
]
# check for window boundaries and move agents
def
checkBoundary
(
agent
,
winWidth
,
winHeight
):
point
=
agent
[
0
]
point
.
move
(
agent
[
1
],
agent
[
2
])
x
=
point
.
getX
()
y
=
point
.
getY
()
if
x
>
0
and
y
<
winHeight
and
x
<
winWidth
and
y
>
0
:
agent
[
0
]
=
point
elif
x
<=
0
or
x
>=
winWidth
:
#agent[1] = agent[1] % winWidth
x
=
agent
[
0
].
getX
()
%
winWidth
agent
[
0
]
=
Point
(
x
,
y
)
#agent[0].move(agent[1],agent[2])
elif
y
<=
0
or
y
>=
winHeight
:
#agent[2] = agent[2] % winHeight
#agent[0].move(agent[1],agent[2])
y
=
agent
[
0
].
getY
()
%
winHeight
agent
[
0
]
=
Point
(
x
,
y
)
return
agent
def
main
():
L
=
500
#size
agentNum
=
20
#number agents
speed
=
8
# constant speed
noise
=
2
zoo_r
=
200
winWidth
=
L
winHeight
=
L
window
=
GraphWin
(
"
Window
"
,
winWidth
,
winHeight
)
maxTime
=
4000
# radii of zones
# swarm: 10, 20, 200
# torus: 5, 60, 200
# dynamic parallel group: 5, 100, 200
# highly parallel group: 5, 180, 200
maxV
=
8
# maxVelocity
blind
=
100
# angle of blindness
maxTurn
=
80
radTurn
=
math
.
radians
(
maxTurn
)
negRadTurn
=
math
.
radians
(
360
-
maxTurn
)
#generate agent
# 0 Point
# 1 XVelocity
# 2 YVelocity
# 3 Line
# 4 temp. VelocityPoint
agents
=
[[
0
for
x
in
range
(
5
)]
for
y
in
range
(
agentNum
)]
for
agent
in
agents
:
agent
[
0
]
=
Point
(
random
.
uniform
(
0
,
winWidth
),
random
.
uniform
(
0
,
winHeight
))
agent
[
1
]
=
random
.
uniform
(
-
2
,
2
)
agent
[
2
]
=
random
.
uniform
(
-
2
,
2
)
agent
[
0
].
draw
(
window
)
agent
[
3
]
=
Line
(
agent
[
0
],
Point
(
agent
[
0
].
getX
()
+
agent
[
1
],
agent
[
0
].
getY
()
+
agent
[
2
]))
agent
[
3
].
setArrow
(
"
last
"
)
agent
[
3
].
draw
(
window
)
"""
for testing
agentA = [Point(200, 200) , 0, 0,None,[0,0]]
agentB = [Point(205, 200) , 0, 0,None,[0,0]]
agentC = [Point(210, 200) , 0, 0,None,[0,0]]
agentA[0].draw(window)
agentB[0].draw(window)
agentC[0].draw(window)
agents = [agentA, agentB, agentC]
"""
#main loop
for
i
in
range
(
maxTime
):
# Velocity update
for
agent
in
agents
:
zoo
=
neigbour_in_zones
(
agent
,
agents
,
zoo_r
)
agent
[
4
]
=
updateV_vicsek
(
agent
,
zoo
,
noise
)
#print str(i) + " zor: " + str(len(neigh_matrix[0]))
#print str(i) + " zoo: " + str(len(neigh_matrix[1]))
#print str(i) + " zoa: " + str(len(neigh_matrix[2]))
# move, draw
for
agent
in
agents
:
# normalise diection vector to 1, and multiply by constant speed
agent
[
1
]
=
agent
[
4
][
0
]
agent
[
2
]
=
agent
[
4
][
1
]
agent
[
1
]
=
1
/
absvec
(
agent
[
1
],
agent
[
2
])
*
agent
[
1
]
*
speed
agent
[
2
]
=
1
/
absvec
(
agent
[
1
],
agent
[
2
])
*
agent
[
2
]
*
speed
agent
=
checkBoundary
(
agent
,
winWidth
,
winHeight
)
# draw arrow
agent
[
3
].
undraw
()
agent
[
3
]
=
Line
(
agent
[
0
],
Point
(
agent
[
0
].
getX
()
+
agent
[
1
],
agent
[
0
].
getY
()
+
agent
[
2
]))
agent
[
3
].
setArrow
(
"
last
"
)
agent
[
3
].
draw
(
window
)
time
.
sleep
(
0.01
)
window
.
getMouse
()
window
.
close
()
main
()
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