pi_orca 0.3.2

A* Path Finding Algorithm
Documentation 
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<!DOCTYPE html>
<html>

<head>
  <title>我的网页</title>
</head>

<body>
  <script type="module">
    const PI = 3.141592653589793238;

    import init from './pkg/pi_orca.js';
    import { RVOSimulator, Vector2, Vertices } from './pkg/pi_orca.js';

    const temp = 200;
    const num = 100;
    const maxSpeed = 2.0;
    const RAND_MAX = 0x7fff;

    let lastpotion = [];

    function setup_scenario(sim, goals, divs, obstacles_div, agents) {


      /* Specify the global time step of the simulation. */
      sim.set_time_step(0.25);

      /* Specify the default parameters for agents that are subsequently added. */
      sim.set_agent_defaults(5.0, 10, 5.0, 5.0, 2.5, 2.0, Vector2.default());

      /*
       * Add agents, specifying their start position, and store their goals on the
       * opposite side of the environment.
       */
      let row = 5;
      let cout = 5;
      let id = 0;
      for (let i = 0; i < row; ++i) {
        for (let j = 0; j < cout; ++j) {
          let x = 55.0 + i * 10.0;
          let y = 55.0 + j * 10.0;

          agents.push(sim.add_agent(Vector2.new(x, y)));
          goals.push(Vector2.new(-x, -y));

          divs[id] = document.createElement("div");
          divs[id].id = id;
          divs[id].style.left = Math.floor(x * 2 + temp) + "px";
          divs[id].style.top = Math.floor(y * 2 + temp) + "px";
          divs[id].style.width = "4px";
          divs[id].style.height = "4px";
          divs[id].style.borderRadius = "50%";
          divs[id].style.backgroundColor = "rgb(255, 0, 0)";
          divs[id].style.position = "absolute";
          document.body.appendChild(divs[id]);
          id += 1;

          x = -55.0 - i * 10.0;
          y = 55.0 + j * 10.0;
          agents.push(sim.add_agent(Vector2.new(x, y)));
          goals.push(Vector2.new(-x, -y));

          divs[id] = document.createElement("div");
          divs[id].id = id;
          divs[id].style.left = Math.floor(x + temp) + "px";
          divs[id].style.top = Math.floor(y + temp) + "px";
          divs[id].style.width = "4px";
          divs[id].style.height = "4px";
          divs[id].style.borderRadius = "50%";
          divs[id].style.backgroundColor = "rgb(255, 0, 255)";
          divs[id].style.position = "absolute";
          document.body.appendChild(divs[id]);
          id += 1;

          x = 55.0 + i * 10.0;
          y = -55.0 - j * 10.0;
          agents.push(sim.add_agent(Vector2.new(x, y)));
          goals.push(Vector2.new(-x, -y));
          divs[id] = document.createElement("div");
          divs[id].id = id;
          divs[id].style.left = Math.floor(x + temp) + "px";
          divs[id].style.top = Math.floor(y + temp) + "px";
          divs[id].style.width = "4px";
          divs[id].style.height = "4px";
          divs[id].style.borderRadius = "50%";
          divs[id].style.backgroundColor = "rgb(0, 255, 255)";
          divs[id].style.position = "absolute";
          document.body.appendChild(divs[id]);
          id += 1;

          x = -55.0 - i * 10.0;
          y = -55.0 - j * 10.0;
          agents.push(sim.add_agent(Vector2.new(x, y)));
          goals.push(Vector2.new(-x, -y));
          divs[id] = document.createElement("div");
          divs[id].id = id;
          divs[id].style.left = Math.floor(x + temp) + "px";
          divs[id].style.top = Math.floor(y + temp) + "px";
          divs[id].style.width = "4px";
          divs[id].style.height = "4px";
          divs[id].style.borderRadius = "50%";
          divs[id].style.backgroundColor = "rgb(0, 255, 0)";
          divs[id].style.position = "absolute";
          document.body.appendChild(divs[id]);
          id += 1;
        }
      }

      /*
       * Add (polygonal) obstacles, specifying their vertices in counterclockwise
       * order.
       */
      let obstacle1 = Vertices.new();
      let obstacle2 = Vertices.new();
      let obstacle3 = Vertices.new();
      let obstacle4 = Vertices.new();

      obstacle1.add(Vector2.new(-10.0, 40.0));
      obstacle1.add(Vector2.new(-40.0, 40.0));
      obstacle1.add(Vector2.new(-40.0, 10.0));
      obstacle1.add(Vector2.new(-10.0, 10.0));

      obstacle2.add(Vector2.new(10.0, 40.0));
      obstacle2.add(Vector2.new(10.0, 10.0));
      obstacle2.add(Vector2.new(40.0, 10.0));
      obstacle2.add(Vector2.new(40.0, 40.0));

      obstacle3.add(Vector2.new(10.0, -40.0));
      obstacle3.add(Vector2.new(40.0, -40.0));
      obstacle3.add(Vector2.new(40.0, -10.0));
      obstacle3.add(Vector2.new(10.0, -10.0));

      obstacle4.add(Vector2.new(-10.0, -40.0));
      obstacle4.add(Vector2.new(-10.0, -10.0));
      obstacle4.add(Vector2.new(-40.0, -10.0));
      obstacle4.add(Vector2.new(-40.0, -40.0));

      sim.add_obstacle(obstacle1);
      obstacles_div[0] = document.createElement("div");
      obstacles_div[0].style.left = Math.floor(-40 + temp + 1) + "px";
      obstacles_div[0].style.top = Math.floor(11 + temp) + "px";
      obstacles_div[0].style.width = "30px";
      obstacles_div[0].style.height = "30px";
      obstacles_div[0].style.backgroundColor = "rgba(0, 0, 0, 0.5)";
      obstacles_div[0].style.position = "absolute";
      document.body.appendChild(obstacles_div[0]);

      sim.add_obstacle(obstacle2);
      obstacles_div[1] = document.createElement("div");
      obstacles_div[1].style.left = Math.floor(10 + temp + 1) + "px";
      obstacles_div[1].style.top = Math.floor(11 + temp) + "px";
      obstacles_div[1].style.width = "30px";
      obstacles_div[1].style.height = "30px";
      obstacles_div[1].style.backgroundColor = "rgba(0, 0, 0, 0.5)";
      obstacles_div[1].style.position = "absolute";
      document.body.appendChild(obstacles_div[1]);

      sim.add_obstacle(obstacle3);
      obstacles_div[2] = document.createElement("div");
      obstacles_div[2].style.left = Math.floor(11 + temp + 1) + "px";
      obstacles_div[2].style.top = Math.floor(-41 + temp) + "px";
      obstacles_div[2].style.width = "30px";
      obstacles_div[2].style.height = "30px";
      // obstacles_div[0].style.borderRadius = "50%";
      obstacles_div[2].style.backgroundColor = "rgba(0, 0, 0, 0.5)";
      obstacles_div[2].style.position = "absolute";
      document.body.appendChild(obstacles_div[2]);

      sim.add_obstacle(obstacle4);
      obstacles_div[3] = document.createElement("div");
      obstacles_div[3].style.left = Math.floor(-40 + temp + 1) + "px";
      obstacles_div[3].style.top = Math.floor(-41 + temp) + "px";
      obstacles_div[3].style.width = "30px";
      obstacles_div[3].style.height = "30px";
      // obstacles_div[0].style.borderRadius = "50%";
      obstacles_div[3].style.backgroundColor = "rgba(0, 0, 0, 0.5)";
      obstacles_div[3].style.position = "absolute";
      document.body.appendChild(obstacles_div[3]);

    }

    function update_visualization(sim, divs, agents) {
      // console.log("{}", sim.get_global_time());
      for (let i = 0; i < agents.length; i++) {

        let position = sim.get_agent_position(agents[i]);
        // console.log("Agent: " + i + "; x: " + position.x() + "; y: " + position.y());

        let x = Math.round(position.x()) + temp;
        let y = Math.round(position.y()) + temp;
        // console.log("Agent2: " + i + "; x: " + x + "; y: " + y);

        divs[i].style.left = x + "px";
        divs[i].style.top = y + "px";
      }
    }

    function set_preferred_velocities(sim, goals, agents) {
      /*
       * Set the preferred velocity to be a vector of unit magnitude (speed) in the
       * direction of the goal.
       */

      for (let i = 0; i < agents.length; i++) {
        let goal_vector = goals[i].sub(sim.get_agent_position(agents[i]));

        if (Vector2.abs_sq(goal_vector) > 1) {
          goal_vector = Vector2.normalize(goal_vector);
        }
        // console.log("========= goal_vector", goal_vector.x(), goal_vector.y());
        sim.set_agent_pref_velocity(agents[i], goal_vector);

        /*
        * Perturb a little to avoid deadlocks due to perfect symmetry.
        */
        // let angle = Math.random() * RAND_MAX * 2.0 * PI / RAND_MAX;
        // let dist = Math.random() * RAND_MAX * 0.0001 / RAND_MAX;
        // // console.log("angle: " + angle + "; dist: " + dist);
        // let v = Vector2.new(Math.cos(angle), Math.sin(angle)).mul_number(dist).add(sim.get_agent_pref_velocity(agents[i]))
        // // console.log("v.x: " + v.x() + "; v.y" + v.y());

        // sim.set_agent_pref_velocity(i, v);
      }
    }

    function reached_goal(sim, goals, agents) {
      /* Check if all agents have reached their goals. */
      for (let i = 0; i < agents.length; ++i) {
        if (Vector2.abs_sq(sim.get_agent_position(agents[i]).sub(goals[i])) > 20.0 * 20.0) {
          return false;
        }
      }

      return true;
    }

    init().then(module => {
      // 在这里调用 Rust 函数
      console.log(module)


      let sim = RVOSimulator.default(2000); // 2000 为障碍物的最大顶点个数，实际传入的定点数必须小于等于此数 
      let goals = [];
      let agents = [];
      let divs = [];
      let divs2 = [];
      setup_scenario(sim, goals, divs, divs2, agents);


      let r = 0;
      let id = setInterval(() => {
        // let begin = performance.now();
        // console.log("num: ", r++);
        update_visualization(sim, divs, agents);

        set_preferred_velocities(sim, goals, agents);
        sim.do_step();
        // console.log("======= time: ", performance.now() - begin);
        if (reached_goal(sim, goals, agents)) {
          clearInterval(id);
        }
      }, 16)
    });


  </script>
</body>

</html>