Я работаю над проектом алгоритмов роя и пытаюсь создавать сложные формы, используя консенсус роя.Тем не менее, математика для достижения этого кажется мне довольно сложной.
Мне удалось создать фигуры, такие как звезды, круги и треугольники, но сделать другие сложные фигуры кажется сложнее.Было бы очень полезно, если бы я получил представление об использовании массивов numpy для построения этих сложных фигур с использованием скоплений ....................................................
# general function to reset radian angle to [-pi, pi)
def reset_radian(radian):
while radian >= math.pi:
radian = radian - 2*math.pi
while radian < -math.pi:
radian = radian + 2*math.pi
return radian
# general function to calculate next position node along a heading direction
def cal_next_node(node_poses, index_curr, heading_angle, rep_times):
for _ in range(rep_times):
index_next = index_curr + 1
x = node_poses[index_curr][0] + 1.0*math.cos(heading_angle)
y = node_poses[index_curr][1] + 1.0*math.sin(heading_angle)
node_poses[index_next] = np.array([x,y])
index_curr = index_next
return index_next
##### script to generate star #####
filename = 'star'
swarm_size = 30
node_poses = np.zeros((swarm_size, 2))
outer_angle = 2*math.pi / 5.0
devia_right = outer_angle
devia_left = 2*outer_angle
# first node is at bottom left corner
heading_angle = outer_angle / 2.0 # current heading
heading_dir = 0 # current heading direction: 0 for left, 1 for right
seg_count = 0 # current segment count
for i in range(1,swarm_size):
node_poses[i] = (node_poses[i-1] +
np.array([math.cos(heading_angle), math.sin(heading_angle)]))
seg_count = seg_count + 1
if seg_count == 3:
seg_count = 0
if heading_dir == 0:
heading_angle = reset_radian(heading_angle - devia_right)
heading_dir = 1
else:
heading_angle = reset_radian(heading_angle + devia_left)
heading_dir = 0
print(node_poses)
with open(filename, 'w') as f:
pickle.dump(node_poses, f)
pygame.init()
# find the right world and screen sizes
x_max, y_max = np.max(node_poses, axis=0)
x_min, y_min = np.min(node_poses, axis=0)
pixel_per_length = 30
world_size = (x_max - x_min + 2.0, y_max - y_min + 2.0)
screen_size = (int(world_size[0])*pixel_per_length, int(world_size[1])*pixel_per_length)
# convert node poses in the world to disp poses on screen
def cal_disp_poses():
poses_temp = np.zeros((swarm_size, 2))
# shift the loop to the middle of the world
middle = np.array([(x_max+x_min)/2.0, (y_max+y_min)/2.0])
for i in range(swarm_size):
poses_temp[i] = (node_poses[i] - middle +
np.array([world_size[0]/2.0, world_size[1]/2.0]))
# convert to display coordinates
poses_temp[:,0] = poses_temp[:,0] / world_size[0]
poses_temp[:,0] = poses_temp[:,0] * screen_size[0]
poses_temp[:,1] = poses_temp[:,1] / world_size[1]
poses_temp[:,1] = 1.0 - poses_temp[:,1]
poses_temp[:,1] = poses_temp[:,1] * screen_size[1]
return poses_temp.astype(int)
disp_poses = cal_disp_poses()
# draw the loop shape on pygame window
color_white = (255,255,255)
color_black = (0,0,0)
screen = pygame.display.set_mode(screen_size)
screen.fill(color_white)
for i in range(swarm_size):
pygame.draw.circle(screen, color_black, disp_poses[i], 5, 0)
for i in range(swarm_size-1):
pygame.draw.line(screen, color_black, disp_poses[i], disp_poses[i+1],2)
pygame.draw.line(screen, color_black, disp_poses[0], disp_poses[swarm_size-1], 2)
pygame.display.update()