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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 } from './pkg/pi_orca.js';
const temp = 100;
const num = 50;
const remove_id = num / 2;
const maxSpeed = 5;
let lastpotion = [];
let is_remove = false;
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);
}
mul_number(other) {
return Vector2.new(this.x * other, this.y * other);
}
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);
}
}
// 0
function setup_scenario(sim, goals, divs, agents) {
sim.set_time_step(0.25);
sim.set_agent_defaults(15, 10, 10.0, 10.0, 2.5, maxSpeed, 0.0, 0.0);
// for (let i = 0; i < num; i++) {
let x = 50;
let y = 50;
divs[0] = document.createElement("div");
divs[0].style.left = Math.floor(x + temp) + "px";
divs[0].style.top = Math.floor(y + temp) + "px";
divs[0].style.width = "4px";
divs[0].style.height = "4px";
divs[0].style.borderRadius = "50%";
divs[0].style.backgroundColor = "rgb(1, 0, 0)";
// console.log(Math.floor(1 / num * 256));
divs[0].style.position = "absolute";
divs[0].id = "div" + 0;
document.body.appendChild(divs[0]);
agents[0] = sim.add_agent(100, 0, maxSpeed);
// console.log("-sim.getAgentPosition(i): ", sim.get_agent_position(i).neg());
sim.set_agent_goal(agents[0], 0, 0);
// sim.set_agent_velocity(agents[0], -5, 0);
divs[1] = document.createElement("div");
divs[1].style.left = Math.floor(x + temp) + "px";
divs[1].style.top = Math.floor(y + temp) + "px";
divs[1].style.width = "4px";
divs[1].style.height = "4px";
divs[1].style.borderRadius = "50%";
divs[1].style.backgroundColor = "rgb(1, 0, 0)";
// console.log(Math.floor(1 / num * 256));
divs[1].style.position = "absolute";
divs[1].id = "div" + 1;
document.body.appendChild(divs[1]);
agents[1] = sim.add_agent(120, 0, maxSpeed);
// console.log("-sim.getAgentPosition(i): ", sim.get_agent_position(i).neg());
sim.set_agent_goal(agents[1], -20, 0);
// divs[2] = document.createElement("div");
// divs[2].style.left = Math.floor(x + temp) + "px";
// divs[2].style.top = Math.floor(y + temp) + "px";
// divs[2].style.width = "4px";
// divs[2].style.height = "4px";
// divs[2].style.borderRadius = "50%";
// divs[2].style.backgroundColor = "rgb(1, 0, 0)";
// // console.log(Math.floor(1 / num * 256));
// divs[2].style.position = "absolute";
// divs[2].id = "div" + 2;
// document.body.appendChild(divs[2]);
// agents[2] = sim.add_agent(-100, 0, maxSpeed);
// // console.log("-sim.getAgentPosition(i): ", sim.get_agent_position(i).neg());
// sim.set_agent_goal(agents[2], 100, 0);
// divs[3] = document.createElement("div");
// divs[3].style.left = Math.floor(x + temp) + "px";
// divs[3].style.top = Math.floor(y + temp) + "px";
// divs[3].style.width = "4px";
// divs[3].style.height = "4px";
// divs[3].style.borderRadius = "50%";
// divs[3].style.backgroundColor = "rgb(1, 0, 0)";
// // console.log(Math.floor(1 / num * 256));
// divs[3].style.position = "absolute";
// divs[3].id = "div" + 3;
// document.body.appendChild(divs[3]);
// agents[3] = sim.add_agent(100, 0, maxSpeed);
// // console.log("-sim.getAgentPosition(i): ", sim.get_agent_position(i).neg());
// sim.set_agent_goal(agents[3], -100, 0);
// }
}
let last_position = [];
function update_visualization(sim, divs, agents) {
console.log("", sim.get_global_time());
let result = true;
for (let i = 0; i < agents.length; i++) {
if (i == remove_id && is_remove) {
continue;
}
let position = sim.get_agent_position(agents[i]);
// lastpotion[i] = position;
let velocity = sim.get_agent_velocity(agents[i]);
let pref_velocity = sim.get_agent_pref_velocity(agents[i]);
let x = Math.floor(position.x) + temp;
let y = Math.floor(position.y) + temp;
// console.log("Agent2: " + i + "; x: " + x + "; y: " + y);
divs[i].style.left = x + "px";
divs[i].style.top = y + "px";
// console.log("divs[i]: ", divs[i]);
// console.log("Agent: " + i + "; x: " + position.x + "; y: " + position.y);
let goal = sim.get_agent_goal(agents[i]);
console.log("当前位置： ", position);
console.log("目标位置: ", goal);
console.log("期望速度：", pref_velocity)
if (last_position.length != agents.length) {
last_position[i] = position;
} else {
let v_x = position.x - last_position[i].x;
let v_y = position.y - last_position[i].y;
console.log("当前速度：", { x: v_x, y: v_y })
// if (v_x == 0 && v_y == 0) {
// debugger
// }
last_position[i] = position;
}
if (goal) {
let max_speed = sim.get_agent_max_speed(agents[i]);
// console.log("max_speed: ", max_speed);
let custom_speed = sim.get_agent_custom_speed(agents[i]);
// console.log("custom_speed: ", custom_speed);
let speed = max_speed > custom_speed ? custom_speed : max_speed;
// console.log("speed: ", speed);
let position = sim.get_agent_position(agents[i]);
// console.log("position: ", position);
let dist_pos = Vector2.new(goal.x, goal.y).sub(Vector2.new(position.x, position.y));
// console.log("dist_pos: ", dist_pos);
let dist_sq = Vector2.abs_sq(dist_pos);
let velocity = Vector2.normalize(dist_pos).mul_number(speed * sim.get_time_step());
// console.log("velocity: ", velocity);
// console.log("Vector2.abs_sq(velocity): ", Vector2.abs_sq(velocity));
if (dist_sq > 0.001) {
// pref_velocity = velocity;
// 还未到达目标点
result = false;
} else {
// sim.set_agent_goal(agents[i], null, null);
}
}
console.log("");
}
if (result) {
console.log("到达目标点");
}
return result;
}
// function reached_goal(sim, goals) {
// /* Check if all agents have reached their goals. */
// for (let i = 0; i < num; i++) {
// if (i == remove_id && is_remove) {
// continue;
// }
// let position = sim.get_agent_position(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();
let goals = [];
let divs = [];
let agents = [];
setup_scenario(sim, goals, divs, agents);
let begin = performance.now();
let r = 0;
let id = setInterval(() => {
let begin = performance.now();
if (update_visualization(sim, divs, agents)) {
clearInterval(id);
}
let res = sim.do_step();
// console.log("======= time: ", performance.now() - begin, " res: " + res);
}, 16)
});
</script>
</body>
</html>