Class SidewalkAgentPath

PythonAPI/examples/gamma_crowd.py:498–567

        return np.rad2deg(math.atan2(next_pos.y - pos.y, next_pos.x - pos.x))

class SidewalkAgentPath:
    def __init__(self, route_points, route_orientations, min_points, interval):
        self.min_points = min_points
        self.interval = interval
        self.route_points = route_points
        self.route_orientations = route_orientations

    @staticmethod
    def rand_path(sidewalk, min_points, interval, cross_probability, segment_map, rng=None):
        if rng is None:
            rng = random
    
        spawn_point = sidewalk.get_nearest_route_point(segment_map.rand_point())

        path = SidewalkAgentPath([spawn_point], [rng.choice([True, False])], min_points, interval)
        path.resize(sidewalk, cross_probability)
        return path

    def resize(self, sidewalk, cross_probability, rng=None):
        if rng is None:
            rng = random

        while len(self.route_points) < self.min_points:
            if rng.random() <= cross_probability:
                adjacent_route_point = sidewalk.get_adjacent_route_point(self.route_points[-1], 50.0)
                if adjacent_route_point is not None:
                    self.route_points.append(adjacent_route_point)
                    self.route_orientations.append(rng.randint(0, 1) == 1)
                    continue

            if self.route_orientations[-1]:
                self.route_points.append(
                        sidewalk.get_next_route_point(self.route_points[-1], self.interval))
                self.route_orientations.append(True)
            else:
                self.route_points.append(
                        sidewalk.get_previous_route_point(self.route_points[-1], self.interval))
                self.route_orientations.append(False)

        return True

    def cut(self, sidewalk, position):
        cut_index = 0
        min_offset = None
        min_offset_index = None
        for i in range(int(len(self.route_points) / 2)):
            route_point = self.route_points[i]
            offset = position - sidewalk.get_route_point_position(route_point)
            offset = offset.length()
            if min_offset is None or offset < min_offset:
                min_offset = offset
                min_offset_index = i
            if offset <= 1.0:
                cut_index = i + 1
        
        # Invalid path because too far away.
        if min_offset > 1.0:
            self.route_points = self.route_points[min_offset_index:]