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Merge pull request 'Add ant behavior' (#54) from dev-mrkbear into master

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Reviewed-on: http://git.mrkbear.com/MrKBear/living-together/pulls/54
This commit is contained in:
MrKBear 2022-05-12 20:23:20 +08:00
commit ac0fef2901
9 changed files with 554 additions and 19 deletions
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6
source/Behavior/Behavior.ts
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@ -10,6 +10,9 @@ import { DelayAssimilate } from "@Behavior/DelayAssimilate";
import { Avoidance } from "@Behavior/Avoidance";
import { DirectionCluster } from "@Behavior/DirectionCluster";
import { CentralCluster } from "@Behavior/CentralCluster";
import { Manufacture } from "@Behavior/Manufacture";
import { Wastage } from "@Behavior/Wastage";
import { SampleTracking } from "@Behavior/SampleTracking";
const AllBehaviors: IAnyBehaviorRecorder[] = [
new BehaviorRecorder(Template),
@ -23,6 +26,9 @@ const AllBehaviors: IAnyBehaviorRecorder[] = [
new BehaviorRecorder(Avoidance),
new BehaviorRecorder(DirectionCluster),
new BehaviorRecorder(CentralCluster),
new BehaviorRecorder(Manufacture),
new BehaviorRecorder(Wastage),
new BehaviorRecorder(SampleTracking),
]
/**

14
source/Behavior/BoundaryConstraint.ts
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@ -48,11 +48,17 @@ class BoundaryConstraint extends Behavior<IBoundaryConstraintBehaviorParameter,
if (ox || oy || oz) {
let currentFLen = individual.vectorLength(rx, ry, rz);
const backFocus: number[] = [0, 0, 0];
if (ox) backFocus[0] = rx - rx * rangeList[i].radius[0] / Math.abs(rx);
if (oy) backFocus[1] = ry - ry * rangeList[i].radius[1] / Math.abs(ry);
if (oz) backFocus[2] = rz - rz * rangeList[i].radius[2] / Math.abs(rz);
let currentFLen = individual.vectorLength(backFocus);
if (currentFLen < fLen) {
fx = rx;
fy = ry;
fz = rz;
fx = backFocus[0];
fy = backFocus[1];
fz = backFocus[2];
fLen = currentFLen;
}

139
source/Behavior/Brownian.ts
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@ -7,7 +7,9 @@ type IBrownianBehaviorParameter = {
maxFrequency: "number",
minFrequency: "number",
maxStrength: "number",
minStrength: "number"
minStrength: "number",
dirLimit: "boolean",
angle: "number"
}
type IBrownianBehaviorEvent = {}
@ -28,9 +30,88 @@ class Brownian extends Behavior<IBrownianBehaviorParameter, IBrownianBehaviorEve
maxFrequency: { type: "number", name: "$Max.Frequency", defaultValue: 5, numberStep: .1, numberMin: 0 },
minFrequency: { type: "number", name: "$Min.Frequency", defaultValue: 0, numberStep: .1, numberMin: 0 },
maxStrength: { type: "number", name: "$Max.Strength", defaultValue: 10, numberStep: .01, numberMin: 0 },
minStrength: { type: "number", name: "$Min.Strength", defaultValue: 0, numberStep: .01, numberMin: 0 }
minStrength: { type: "number", name: "$Min.Strength", defaultValue: 0, numberStep: .01, numberMin: 0 },
dirLimit: { type: "boolean", name: "$Direction.Limit", defaultValue: false },
angle: {
type: "number", name: "$Angle", defaultValue: 180, numberStep: 5,
numberMin: 0, numberMax: 360, condition: { key: "dirLimit", value: true }
}
};
private randomFocus360(): number[] {
let randomVec = [
Math.random() * 2 - 1,
Math.random() * 2 - 1,
Math.random() * 2 - 1
];
let randomVecLen = (randomVec[0] ** 2 + randomVec[1] ** 2 + randomVec[2] ** 2) ** 0.5;
return [randomVec[0] / randomVecLen, randomVec[1] / randomVecLen, randomVec[2] / randomVecLen];
}
private rotateWithVec(vec: number[], r: number[], ang: number) {
const cos = Math.cos(ang); const sin = Math.sin(ang);
const a1 = r[0] ?? 0; const a2 = r[1] ?? 0; const a3 = r[2] ?? 0;
return [
(cos + (1 - cos) * a1 * a1) * (vec[0] ?? 0) +
((1 - cos) * a1 * a2 - sin * a3) * (vec[1] ?? 0) +
((1 - cos) * a1 * a3 + sin * a2) * (vec[2] ?? 0),
((1 - cos) * a1 * a2 + sin * a3) * (vec[0] ?? 0) +
(cos + (1 - cos) * a2 * a2) * (vec[1] ?? 0) +
((1 - cos) * a2 * a3 - sin * a1) * (vec[2] ?? 0),
((1 - cos) * a1 * a3 - sin * a2) * (vec[0] ?? 0) +
((1 - cos) * a2 * a3 + sin * a1) * (vec[1] ?? 0) +
(cos + (1 - cos) * a3 * a3) * (vec[2] ?? 0)
]
}
private angle2Vector(v1: number[], v2: number[]): number {
return Math.acos(
(v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2]) /
(
(v1[0] ** 2 + v1[1] ** 2 + v1[2] ** 2) ** 0.5 *
(v2[0] ** 2 + v2[1] ** 2 + v2[2] ** 2) ** 0.5
)
) * 180 / Math.PI;
}
private randomFocusRange(dir: number[], angle: number): number[] {
// 计算 X-Z 投影
let pxz = [dir[0] ?? 0, 0, dir[2] ?? 0];
// 通过叉乘计算垂直向量
let dxz: number[];
// 如果投影向量没有长度，使用单位向量
if (pxz[0] ** 2 + pxz[2] ** 2 === 0) {
dxz = [0, 0, 1];
}
// 通过叉乘计算垂直轴线
else {
dxz = [
dir[1] * pxz[2] - pxz[1] * dir[2],
dir[2] * pxz[0] - pxz[2] * dir[0],
dir[0] * pxz[1] - pxz[0] * dir[1]
];
let lenDxz = (dxz[0] ** 2 + dxz[1] ** 2 + dxz[2] ** 2) ** 0.5;
dxz = [dxz[0] / lenDxz, dxz[1] / lenDxz, dxz[2] / lenDxz];
}
// 航偏角 360 随机旋转
let randomH = this.rotateWithVec(dxz, dir, Math.random() * Math.PI * 2);
// 俯仰角 180 * R 随机旋转
let randomP = this.rotateWithVec(dir, randomH, (Math.random() - 0.5) * 2 * angle * Math.PI / 180);
return randomP;
}
public effect = (individual: Individual, group: Group, model: Model, t: number): void => {
const {maxFrequency, minFrequency, maxStrength, minStrength} = this.parameter;
@ -41,11 +122,49 @@ class Brownian extends Behavior<IBrownianBehaviorParameter, IBrownianBehaviorEve
currentTime += t;
if (currentTime > nextTime) {
let randomDir: number[];
// 开启角度限制
if (this.parameter.dirLimit) {
// 计算当前速度大小
const vLen = individual.vectorLength(individual.velocity);
// 随机旋转算法
if (vLen > 0) {
randomDir = this.randomFocusRange(
[
individual.velocity[0] / vLen,
individual.velocity[1] / vLen,
individual.velocity[2] / vLen
],
this.parameter.angle / 2
);
if (isNaN(randomDir[0]) || isNaN(randomDir[1]) || isNaN(randomDir[2])) {
randomDir = this.randomFocus360()
}
}
else {
randomDir = this.randomFocus360()
}
}
// 随机生成算法
else {
randomDir = this.randomFocus360()
}
const randomLength = minStrength + Math.random() * (maxStrength - minStrength);
individual.applyForce(
minStrength + (Math.random() * 2 - 1) * (maxStrength - minStrength),
minStrength + (Math.random() * 2 - 1) * (maxStrength - minStrength),
minStrength + (Math.random() * 2 - 1) * (maxStrength - minStrength)
randomDir[0] * randomLength,
randomDir[1] * randomLength,
randomDir[2] * randomLength
);
nextTime = minFrequency + Math.random() * (maxFrequency - minFrequency);
currentTime = 0;
}
@ -78,7 +197,15 @@ class Brownian extends Behavior<IBrownianBehaviorParameter, IBrownianBehaviorEve
"$Min.Strength": {
"ZH_CN": "最小强度",
"EN_US": "Minimum strength"
}
},
"$Direction.Limit": {
"ZH_CN": "开启角度限制",
"EN_US": "Enable limit angle"
},
"$Angle": {
"ZH_CN": "限制立体角 (deg)",
"EN_US": "Restricted solid angle (deg)"
}
};
}

22
source/Behavior/ContactAssimilate.ts
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@ -6,6 +6,7 @@ import { Model } from "@Model/Model";
type IContactAssimilateBehaviorParameter = {
target: "CLG",
assimilate: "CG",
self: "CG",
success: "number",
range: "number"
}
@ -27,15 +28,13 @@ class ContactAssimilate extends Behavior<IContactAssimilateBehaviorParameter, IC
public override parameterOption = {
target: { type: "CLG", name: "$Target" },
assimilate: { type: "CG", name: "$Assimilate" },
self: { type: "CG", name: "$Self" },
range: { type: "number", name: "$Range", defaultValue: .05, numberMin: 0, numberStep: .01 },
success: { type: "number", name: "$Success", defaultValue: 90, numberMin: 0, numberMax: 100, numberStep: 5 }
};
public effect = (individual: Individual, group: Group, model: Model, t: number): void => {
let assimilateGroup = this.parameter.assimilate.objects;
if (!assimilateGroup) return;
for (let i = 0; i < this.parameter.target.objects.length; i++) {
const targetGroup = this.parameter.target.objects[i];
@ -50,7 +49,18 @@ class ContactAssimilate extends Behavior<IContactAssimilateBehaviorParameter, IC
// 成功判定
if (Math.random() * 100 < this.parameter.success) {
targetIndividual.transfer(assimilateGroup!);
// 同化目标
let assimilateGroup = this.parameter.assimilate.objects;
if (assimilateGroup) {
targetIndividual.transfer(assimilateGroup);
}
// 同化目标
let selfGroup = this.parameter.self.objects;
if (selfGroup) {
individual.transfer(selfGroup);
}
}
}
});
@ -70,6 +80,10 @@ class ContactAssimilate extends Behavior<IContactAssimilateBehaviorParameter, IC
"ZH_CN": "到哪个群...",
"EN_US": "To group..."
},
"$Self": {
"ZH_CN": "自身同化到...",
"EN_US": "Self assimilate to..."
},
"$Range": {
"ZH_CN": "同化范围 (m)",
"EN_US": "Assimilate range (m)"

14
source/Behavior/ContactAttacking.ts
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@ -6,7 +6,8 @@ import { Model } from "@Model/Model";
type IContactAttackingBehaviorParameter = {
target: "CLG",
success: "number",
range: "number"
range: "number",
assimilate: "CG",
}
type IContactAttackingBehaviorEvent = {}
@ -26,7 +27,8 @@ class ContactAttacking extends Behavior<IContactAttackingBehaviorParameter, ICon
public override parameterOption = {
target: { type: "CLG", name: "$Target" },
range: { type: "number", name: "$Range", defaultValue: .05, numberMin: 0, numberStep: .01 },
success: { type: "number", name: "$Success", defaultValue: 90, numberMin: 0, numberMax: 100, numberStep: 5 }
success: { type: "number", name: "$Success", defaultValue: 90, numberMin: 0, numberMax: 100, numberStep: 5 },
assimilate: { type: "CG", name: "$Assimilate"}
};
public effect = (individual: Individual, group: Group, model: Model, t: number): void => {
@ -46,6 +48,10 @@ class ContactAttacking extends Behavior<IContactAttackingBehaviorParameter, ICon
// 成功判定
if (Math.random() * 100 < this.parameter.success) {
targetIndividual.die();
if (this.parameter.assimilate?.objects) {
individual.transfer(this.parameter.assimilate.objects);
}
}
}
});
@ -72,6 +78,10 @@ class ContactAttacking extends Behavior<IContactAttackingBehaviorParameter, ICon
"$Intro": {
"ZH_CN": "攻击进入共进范围的目标群个体",
"EN_US": "Attack the target group and individual entering the range"
},
"$Assimilate": {
"ZH_CN": "同化",
"EN_US": "Assimilate"
}
};
}

83
source/Behavior/Manufacture.ts Normal file
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@ -0,0 +1,83 @@
import { Behavior } from "@Model/Behavior";
import { Group } from "@Model/Group";
import { Individual } from "@Model/Individual";
import { Model } from "@Model/Model";
type IManufactureBehaviorParameter = {
maxFrequency: "number",
minFrequency: "number",
genTarget: "CG",
}
type IManufactureBehaviorEvent = {}
class Manufacture extends Behavior<IManufactureBehaviorParameter, IManufactureBehaviorEvent> {
public override behaviorId: string = "Manufacture";
public override behaviorName: string = "$Title";
public override iconName: string = "ProductionFloorManagement";
public override describe: string = "$Intro";
public override category: string = "$Initiative";
public override parameterOption = {
genTarget: { type: "CG", name: "$Gen.Target" },
maxFrequency: { type: "number", name: "$Max.Frequency", defaultValue: 5, numberStep: .1, numberMin: 0 },
minFrequency: { type: "number", name: "$Min.Frequency", defaultValue: 0, numberStep: .1, numberMin: 0 }
};
public effect = (individual: Individual, group: Group, model: Model, t: number): void => {
const {genTarget, maxFrequency, minFrequency} = this.parameter;
if (genTarget.objects) {
let nextTime = individual.getData("Manufacture.nextTime") ??
minFrequency + Math.random() * (maxFrequency - minFrequency);
let currentTime = individual.getData("Manufacture.currentTime") ?? 0;
if (currentTime > nextTime) {
// 生成个体
let newIndividual = genTarget.objects.new(1);
newIndividual.position = individual.position.concat([]);
nextTime = minFrequency + Math.random() * (maxFrequency - minFrequency);
currentTime = 0;
}
currentTime += t;
individual.setData("Manufacture.nextTime", nextTime);
individual.setData("Manufacture.currentTime", currentTime);
}
}
public override terms: Record<string, Record<string, string>> = {
"$Title": {
"ZH_CN": "生产",
"EN_US": "Manufacture"
},
"$Intro": {
"ZH_CN": "在指定的群创造新的个体",
"EN_US": "Create new individuals in a given group"
},
"$Gen.Target": {
"ZH_CN": "目标群",
"EN_US": "Target group"
},
"$Max.Frequency": {
"ZH_CN": "最大频率",
"EN_US": "Maximum frequency"
},
"$Min.Frequency": {
"ZH_CN": "最小频率",
"EN_US": "Minimum frequency"
}
};
}
export { Manufacture };

160
source/Behavior/SampleTracking.ts Normal file
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@ -0,0 +1,160 @@
import { Behavior } from "@Model/Behavior";
import { Group } from "@Model/Group";
import { Individual } from "@Model/Individual";
import { Model } from "@Model/Model";
type ISampleTrackingBehaviorParameter = {
target: "CLG",
key: "string",
strength: "number",
range: "number",
angle: "number",
accuracy: "number"
}
type ISampleTrackingBehaviorEvent = {}
class SampleTracking extends Behavior<ISampleTrackingBehaviorParameter, ISampleTrackingBehaviorEvent> {
public override behaviorId: string = "SampleTracking";
public override behaviorName: string = "$Title";
public override iconName: string = "Video360Generic";
public override describe: string = "$Intro";
public override category: string = "$Initiative";
public override parameterOption = {
target: { type: "CLG", name: "$Target" },
key: { type: "string", name: "$Key"},
range: { type: "number", name: "$Range", defaultValue: 4, numberMin: 0, numberStep: .1 },
angle: { type: "number", name: "$Angle", defaultValue: 180, numberMin: 0, numberMax: 360, numberStep: 5 },
strength: { type: "number", name: "$Strength", defaultValue: 1, numberMin: 0, numberStep: .1 },
accuracy: { type: "number", name: "$Accuracy", defaultValue: 5, numberMin: 0, numberMax: 180, numberStep: 1 }
};
private angle2Vector(v1: number[], v2: number[]): number {
return Math.acos(
(v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2]) /
(
(v1[0] ** 2 + v1[1] ** 2 + v1[2] ** 2) ** 0.5 *
(v2[0] ** 2 + v2[1] ** 2 + v2[2] ** 2) ** 0.5
)
) * 180 / Math.PI;
}
public effect = (individual: Individual, group: Group, model: Model, t: number): void => {
const dirArr: number[][] = []; const valArr: number[] = [];
for (let i = 0; i < this.parameter.target.objects.length; i++) {
const targetGroup = this.parameter.target.objects[i];
targetGroup.individuals.forEach((targetIndividual) => {
// 计算距离
let dis = targetIndividual.distanceTo(individual);
if (dis > this.parameter.range) return;
// 计算方向
let targetDir = [
targetIndividual.position[0] - individual.position[0],
targetIndividual.position[1] - individual.position[1],
targetIndividual.position[2] - individual.position[2]
];
// 计算视线角度
let angle = this.angle2Vector(individual.velocity, targetDir);
// 在可视角度内
if (angle < (this.parameter.angle ?? 360) / 2) {
// 采样
let isFindNest = false;
for (let i = 0; i < valArr.length; i++) {
// 计算采样角度
let sampleAngle = this.angle2Vector(dirArr[i], targetDir);
// 小于采样精度，合并
if (sampleAngle < this.parameter.accuracy ?? 5) {
dirArr[i][0] += targetDir[0];
dirArr[i][1] += targetDir[1];
dirArr[i][2] += targetDir[2];
valArr[i] += targetIndividual.getData(this.parameter.key) ?? 0;
isFindNest = true;
}
}
if (!isFindNest) {
// 保存
dirArr.push(targetDir);
valArr.push(targetIndividual.getData(this.parameter.key) ?? 0);
}
}
});
}
// 计算最大方向
let maxVal = -1; let maxDir: number[] | undefined;
for (let i = 0; i < valArr.length; i++) {
if (valArr[i] > maxVal) {
maxVal = valArr[i];
maxDir = dirArr[i];
}
}
if (maxDir) {
const dir = individual.vectorNormalize(maxDir);
individual.applyForce(
dir[0] * this.parameter.strength,
dir[1] * this.parameter.strength,
dir[2] * this.parameter.strength
);
}
}
public override terms: Record<string, Record<string, string>> = {
"$Title": {
"ZH_CN": "采样追踪",
"EN_US": "Sample tracking"
},
"$Target": {
"ZH_CN": "追踪目标",
"EN_US": "Tracking target"
},
"$Key": {
"ZH_CN": "计算键值",
"EN_US": "Calculate key value"
},
"$Accuracy": {
"ZH_CN": "采样精度",
"EN_US": "Sampling accuracy"
},
"$Range": {
"ZH_CN": "追踪范围 (m)",
"EN_US": "Tracking range (m)"
},
"$Strength": {
"ZH_CN": "追踪强度系数",
"EN_US": "Tracking intensity coefficient"
},
"$Intro": {
"ZH_CN": "个体将主动向目标个体较多的方向发起追踪",
"EN_US": "Individuals will actively initiate tracking in the direction of more target individuals"
},
"$Interactive": {
"ZH_CN": "交互",
"EN_US": "Interactive"
},
"$Angle": {
"ZH_CN": "可视角度",
"EN_US": "Viewing angle"
}
};
}
export { SampleTracking };

35
source/Behavior/Tracking.ts
View File

@ -7,6 +7,7 @@ type ITrackingBehaviorParameter = {
target: "CLG",
strength: "number",
range: "number",
angle: "number",
lock: "boolean"
}
@ -28,12 +29,23 @@ class Tracking extends Behavior<ITrackingBehaviorParameter, ITrackingBehaviorEve
target: { type: "CLG", name: "$Target" },
lock: { type: "boolean", name: "$Lock", defaultValue: false },
range: { type: "number", name: "$Range", defaultValue: 4, numberMin: 0, numberStep: .1 },
angle: { type: "number", name: "$Angle", defaultValue: 180, numberMin: 0, numberMax: 360, numberStep: 5 },
strength: { type: "number", name: "$Strength", defaultValue: 1, numberMin: 0, numberStep: .1 }
};
private target: Individual | undefined = undefined;
private currentDistant: number = Infinity;
private angle2Vector(v1: number[], v2: number[]): number {
return Math.acos(
(v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2]) /
(
(v1[0] ** 2 + v1[1] ** 2 + v1[2] ** 2) ** 0.5 *
(v2[0] ** 2 + v2[1] ** 2 + v2[2] ** 2) ** 0.5
)
) * 180 / Math.PI;
}
private searchTarget(individual: Individual) {
for (let i = 0; i < this.parameter.target.objects.length; i++) {
@ -46,8 +58,21 @@ class Tracking extends Behavior<ITrackingBehaviorParameter, ITrackingBehaviorEve
let dis = targetIndividual.distanceTo(individual);
if (dis < this.currentDistant && dis <= this.parameter.range) {
this.target = targetIndividual;
this.currentDistant = dis;
// 计算目标方位
const targetDir = [
targetIndividual.position[0] - individual.position[0],
targetIndividual.position[1] - individual.position[1],
targetIndividual.position[2] - individual.position[2]
];
// 计算角度
const angle = this.angle2Vector(individual.velocity, targetDir);
if (angle < (this.parameter.angle ?? 360) / 2) {
this.target = targetIndividual;
this.currentDistant = dis;
}
}
});
@ -150,7 +175,11 @@ class Tracking extends Behavior<ITrackingBehaviorParameter, ITrackingBehaviorEve
"$Interactive": {
"ZH_CN": "交互",
"EN_US": "Interactive"
}
},
"$Angle": {
"ZH_CN": "可视角度",
"EN_US": "Viewing angle"
}
};
}

100
source/Behavior/Wastage.ts Normal file
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@ -0,0 +1,100 @@
import { Behavior } from "@Model/Behavior";
import { Group } from "@Model/Group";
import { Individual } from "@Model/Individual";
import { Model } from "@Model/Model";
type IWastageBehaviorParameter = {
key: "string",
value: "number",
speed: "number",
threshold: "number",
kill: "boolean",
assimilate: "CG"
}
type IWastageBehaviorEvent = {}
class Wastage extends Behavior<IWastageBehaviorParameter, IWastageBehaviorEvent> {
public override behaviorId: string = "Wastage";
public override behaviorName: string = "$Title";
public override iconName: string = "BackgroundColor";
public override describe: string = "$Intro";
public override category: string = "$Initiative";
public override parameterOption = {
key: { type: "string", name: "$Key" },
value: { type: "number", name: "$Value", defaultValue: 100, numberStep: 1 },
speed: { type: "number", name: "$Speed", defaultValue: 1, numberStep: .1 },
threshold: { type: "number", name: "$Threshold", defaultValue: 0, numberStep: 1 },
kill: { type: "boolean", name: "$Kill", defaultValue: true },
assimilate: { type: "CG", name: "$Assimilate", condition: { key: "kill", value: false } }
};
public effect = (individual: Individual, group: Group, model: Model, t: number): void => {
const key = this.parameter.key;
if (!key) return;
let currentValue = individual.getData(`Wastage.${key}`) ?? this.parameter.value;
currentValue -= this.parameter.speed * t;
// 超过阈值
if (currentValue < this.parameter.threshold) {
currentValue = undefined;
// 杀死个体
if (this.parameter.kill) {
individual.die();
}
// 开启同化
else if (this.parameter.assimilate.objects) {
individual.transfer(this.parameter.assimilate.objects);
}
}
individual.setData(`Wastage.${key}`, currentValue);
}
public override terms: Record<string, Record<string, string>> = {
"$Title": {
"ZH_CN": "流逝",
"EN_US": "Wastage"
},
"$Intro": {
"ZH_CN": "随着时间流逝",
"EN_US": "As time goes by"
},
"$Key": {
"ZH_CN": "元数据",
"EN_US": "Metadata"
},
"$Value": {
"ZH_CN": "默认数值",
"EN_US": "Default value"
},
"$Speed": {
"ZH_CN": "流逝速度 (c/s)",
"EN_US": "Passing speed (c/s)"
},
"$Threshold": {
"ZH_CN": "阈值",
"EN_US": "Threshold"
},
"$Kill": {
"ZH_CN": "死亡",
"EN_US": "Death"
},
"$Assimilate": {
"ZH_CN": "同化",
"EN_US": "Assimilate"
}
};
}
export { Wastage };