pi_orca 0.4.4

A* Path Finding Algorithm
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314

<!DOCTYPE html>
<html>

<head>
  <title>我的网页</title>
</head>

<body>
  <script type="module">
    class Vector2 {
      constructor(obj) {
        this.x = obj.x;
        this.y = obj.y;
      }
      static new(x, y) {
        return new Vector2({ x, y });
      }

      sub(other) {
        return Vector2.new(this.x - other.x, this.y - other.y);
      }

      static abs_sq(other) {
        return other.x * other.x + other.y * other.y;
      }

      static normalize(other) {
        let length = Math.sqrt(Vector2.abs_sq(other));
        return Vector2.new(other.x / length, other.y / length);
      }
    }

    const PI = 3.141592653589793238;

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

    const temp = 200;
    const num = 100;
    const maxSpeed = 0.25;
    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(1.0);
      let time = performance.now();
      console.log("time: ", time);
      // 初始化随机数种子
      sim.set_rng_seed(time * 1000);

      /* Specify the default parameters for agents that are subsequently added. */
      sim.set_agent_defaults(15.0, 10000, 10.0, 10.0, 2.5, maxSpeed, 0.0, 0.0);

      /*
       * 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(x, y, maxSpeed));
          sim.set_agent_goal(agents[agents.length - 1], -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, 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(x, y, maxSpeed));
          sim.set_agent_goal(agents[agents.length - 1], -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(x, y, maxSpeed));
          sim.set_agent_goal(agents[agents.length - 1], -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(x, y, maxSpeed));
          sim.set_agent_goal(agents[agents.length - 1], -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(new Float32Array([-10.0, 40.0, -40.0, 40.0, -40.0, 10.0, -10.0, 10.0]));
      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(new Float32Array([10.0, 40.0, 10.0, 10.0, 40.0, 10.0, 40.0, 40.0]));
      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(new Float32Array([10.0, -40.0, 40.0, -40.0, 40.0, -10.0, 10.0, -10.0]));
      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(new Float32Array([-10.0, -40.0, -10.0, -10.0, -40.0, -10.0, -40.0, -40.0]));
      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++) {
        // if (i === 98) {
          console.log("Agent: " + i + "; id: " + agents[i]);
          let position = sim.get_agent_position(agents[i]);
          console.log("Agent pos: ", position);

          let velocity = sim.get_agent_velocity(agents[i]);
          console.log("实际速度：", velocity)

          let pref_velocity = sim.get_agent_pref_velocity(agents[i]);
          console.log("期望速度：", pref_velocity)

          let goal = sim.get_agent_goal(agents[i]);
          console.log("期望目标: {:?}", goal);
          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.x, goal_vector.y);

      /*
      * 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(goals[i].sub(sim.get_agent_position(agents[i]))) > 2) {
          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 global_time = 0;
      let num = 0
      let id = setInterval(() => {
        // if (num++ > 1000) {
        //   clearInterval(id);
        //   console.log("======= global_time: ", global_time);
        // }
        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);
        // }
        global_time += performance.now() - begin;
      }, 16)

    });


  </script>
</body>

</html>