Demo vypthon : systeme à agents avec les abeilles
Description
Ce petit script montre comment on peut coder un système à base d'agents (ici des abeilles). Seuls les aspects 3D sont traités, pas le comportement (qui ici est très frustre). Vpython est suffisamment puissant pour la gestion de millier d'éléments graphique simultanés sans ralentissement.
Pour augmenter la vitesse sur l'aspect des collision, il faut utiliser un moteur physique comme Pyode (binding ver Open Dynamic Engine).
Source / Exemple :
#-------------------------------------------------------------------------------
# Name: Bee.pyw
# Purpose:
#
# Author: Zorg724
#
# Created: 03/11/2007
# Copyright: (c) Zorg724 2007
# Licence: <your licence>
#-------------------------------------------------------------------------------
#!/usr/bin/env python
# -*- coding: ISO-8859-15 -*-
# <<tierces>>
from visual import *
# <<Built in>>
from random import Random
# <<project>>
class Object3D:
"""
this class is a 3d Object abstract class
"""
sourceRandom = Random()
OBJECT_NUMBER = 0
def __init__(self):
self.idName = "obj ID: " +str(Object3D.OBJECT_NUMBER) + " / "
self.form = frame() # frame from VISUAL to design the form of the animat
self.internObjectList =[] # contain all the primitive object of the form
# use to change visibility, etc ..
self.scale = 0 # relative scale of the form to draw it
self.i = 0 # X poisiton into the Matrix 3D
self.j = 0 # Y poisiton into the Matrix 3D
self.k = 0 # Z poisiton into the Matrix 3D
Object3D.OBJECT_NUMBER += 1 # count of object
def addObjectInForm(self,anObject):
"""
addObjectInForm(anObject) : use to add to the frame (form) a primitive visual object
and complete self.internObjectList list
"""
anObject.frame = self.form
self.internObjectList.append(anObject)
def setPositionInMatrix3D(self,i,j,k):
"""
set the i,j,k value in the 3d Matrix with correspond to the x,y,z values
"""
self.i = i
self.j = j
self.k = k
def getPositionInMatrix3D(self):
"""
get the i,j,k value in the 3d Matrix with correspond to the x,y,z values
return a tuple (i,j,k)
"""
return (self.i, self.j , self.k)
def setPosition(self, position = array([0,0,0])):
"""
setPosition(self, position=array([0,0,0]): set the forme at the place position
default : 0,0,0
"""
self.form.pos = position
def getPosition(self):
"""
getPosition : return the current object position
"""
return self.form.pos
def setvisibility(self,visibilityState):
"""
setvisibility(self,visibilityState): modify the visibility State
visibilityState = 0 : form not visibile
visibilityState = 1 : form visibile
"""
if visibilityState == 0 :
for object in self.form.objects:
object.visible = 0
else:
for obj in self.internObjectList:
obj.visible = 1
def draw(self,scale = 1):
"""
Draw the form with primitive of Visual or others (complete the self.form attribute)
scale =1 (default), if change, the form dimension are multiply by 'scale'
"""
self.scale = scale
#default form: a sphere
self.addObjectInForm( sphere(radius = 0.5, color = color.red) )
def redraw(self):
"""
redraw the form if needed (change color,position ..)
"""
self.moveInternForm()
def moveInternForm(self):
"""
move intern form of the object ( like legs or wings ... )
"""
#~ print "move Intern Form"
pass
def getId(self):
"""
return the idName of the object
"""
return str(self.idName)
class Animat(Object3D):
"""
this class represents an abstract animat
it accept an behaviour in order to know its own behaviour
"""
ANIMAT_NUMBER = 0
def __init__(self):
"""
Init an animat
"""
Object3D.__init__(self)
Animat.ANIMAT_NUMBER += 1 #count of animat
#Name of the class and id
self.idName += " " +" animat : " + str(Animat.ANIMAT_NUMBER) + " / " #name for Animat's identifier
self.fieldOfView = 1 #by default the fiel of view is one ceil around the animat
#local view if fieldOfView = 1, no view if fieldOfView = 0,
#global view if fieldOfView = max of the 3d Matrix
self.trajectory = curve(radius = 0 ,color = color.white) #trajectory associated to the animat
self.behaviour = None
def changeDirection(self,direction):
"""
move the axe of the form to turn to the direction of the motion
"""
self.form.axis = direction
def move(self,**args):
"""
move : move in the world.Change position, interaction management ...
the animat is not redraw. It move only in the world representation
"""
args['animat'] = self
if(self.behaviour != None):
self.behaviour.execute(args) #delegation to behaviour to compute the action to do
def setBehaviour(self,abehaviour):
"""
setBehaviour: set the behaviour to know how to interact with others objects
"""
self.behaviour = abehaviour
class Bee(Animat):
"""
Represente une abeille num?rique
"""
#wings attributes
WingsState_In = 0
WingsState_Out = 1
WingsState_Stop = 2
BeeId = 0
def __init__( self,
iD = 0,
drawLabel = 0,
drawVelocityVector = 0,
drawTrajectoryTrace = 0):
Animat.__init__(self)
self.wingsState = Bee.WingsState_In
self.idName += str(self.__class__) + " : " + str(Bee.BeeId)
self.form.name = self.idName
#~ print "--Bee: self.idName : " + self.idName
Bee.BeeId += 1
#~ print "self.forme.name " + self.forme.name
self.Direction = (Animat.sourceRandom.random(),Animat.sourceRandom.random(),Animat.sourceRandom.random())
def getId(self):
"""
return the id of the animal
"""
return str(self.idName)
def draw(self,scale = 1):
colorBee =[Animat.sourceRandom.random(),Animat.sourceRandom.random(),Animat.sourceRandom.random()]
#body
b1 = sphere( pos = (0.28, 0, 0), radius = 0.2, color = color.yellow)
b2 = sphere( pos = (0.6, 0, 0), radius = 0.2, color = color.black)
b3 = sphere( pos = (0.7, 0, 0), radius = 0.2, color = color.yellow)
b4 = sphere( pos = (0.8, 0, 0), radius = 0.2, color = color.black)
#eye
e1 = sphere( pos = (0, 0.05, -0.08), radius = 0.20, color = color.black)
e2 = sphere( pos = (0, 0.05, 0.07), radius = 0.20, color = color.black)
#Wing_IN
self.wing1 = curve( pos=[(0.25,0,0), (0.7,0.3,-0.7), (2,0.5,-0.9),(0.7,0.3,0),(0.25,0,0) ], color = color.black)
self.wing2 = curve( pos=[(0.25,0,0), (0.7,0.3,0.7), (2,0.5,0.9),(0.7,0.3,0),(0.25,0,0) ], color = color.black)
#Wing_OUT
self.wing3 = curve( pos=[(0.25,0,0), (0.7,0.3,-0.3), (2,0.5,-0.6),(0.7,0.3,0),(0.25,0,0) ], color = color.black)
self.wing4 = curve( pos=[(0.25,0,0), (0.7,0.3,0.3), (2,0.5,0.6),(0.7,0.3,0),(0.25,0,0) ], color = color.black)
self.addObjectInForm(b1); self.addObjectInForm(b2);
self.addObjectInForm(b3); self.addObjectInForm(b4);
self.addObjectInForm(e1); self.addObjectInForm(e2);
self.addObjectInForm(self.wing1); self.addObjectInForm(self.wing2);
self.addObjectInForm(self.wing3); self.addObjectInForm(self.wing4);
#definition du vecteur vitesse
def setVelocity(self,vx,vy,vz):
self.form.velocity = vector(vx,vy,vz)
#la fourmis est dirig?e le long de son vecteur vitesse
self.form.axis = self.form.velocity
def moveInternForm(self):
self.moveWings()
def moveWings(self):
#deux mouvements: \/ = out puis || = init
#~ O O
if self.wingsState == Bee.WingsState_In:
#~ print "IN"
self.wing1.visible = false
self.wing2.visible = false
self.wing3.visible = true
self.wing4.visible = true
self.wingsState = Bee.WingsState_Out
elif self.wingsState == Bee.WingsState_Out :
#~ print "OUT"
self.wing1.visible =true
self.wing2.visible =true
self.wing3.visible =false
self.wing4.visible =false
self.wingsState = Bee.WingsState_In
else:
#arret pas de mouvement
pass
def move2(self,g = 9.81, dt =0.01):
self.moveInternForm()
limitWorld =50
self.form.pos += vector(0.2*sin(self.Direction[0]+ self.Direction[2]),
0.2*cos(self.Direction[1]+ self.Direction[2]),
self.Direction[2])
if self.form.y < 1 or self.form.y > limitWorld:
self.form.velocity.y = - self.form.velocity.y
if self.form.x< -limitWorld or self.form.x >limitWorld:
self.form.velocity.x = - self.form.velocity.x
if self.form.z< -limitWorld or self.form.z >limitWorld:
self.form.velocity.z = - self.form.velocity.z
self.form.axis = self.form .velocity
if __name__ == '__main__':
scene.background =color.white
scene.fullscreen =1
scene.autoscale = 0
sourceRandom = Random()
longueurMonde = 50
theGround = box(pos=(0,0,0), length = 2*longueurMonde, height=0.01, width = 2* longueurMonde, color =[0,0.5,0])
LongueurMaxHerbe = 10
for numCylindre in range(1,longueurMonde* 50):
cylinder(pos =(longueurMonde *Animat.sourceRandom.random()*Animat.sourceRandom.choice([-1,1]),
0,
longueurMonde*Animat.sourceRandom.random()*Animat.sourceRandom.choice([-1,1])),
axis = (LongueurMaxHerbe*Animat.sourceRandom.random(),
LongueurMaxHerbe*Animat.sourceRandom.random(),
LongueurMaxHerbe*Animat.sourceRandom.random()),
color = [0 ,Animat.sourceRandom.random(),0],
radius =0.1* Animat.sourceRandom.random())
listAbeille = []
nbAbeilles = 100
for abeil in range (0,nbAbeilles):
abeille = Bee()
abeille.draw()
abeille.setPosition(array([2*Animat.sourceRandom.random()*Animat.sourceRandom.choice([-1,1]),
2*Animat.sourceRandom.random(),
3*Animat.sourceRandom.random()*Animat.sourceRandom.choice([-1,1])]))
abeille.setVelocity(-0.005*Animat.sourceRandom.random()*Animat.sourceRandom.choice([-1,1]),
-0.03*Animat.sourceRandom.random()*Animat.sourceRandom.choice([-1,1]),
0.1*Animat.sourceRandom.random()*Animat.sourceRandom.choice([-1,1]))
listAbeille.append(abeille)
while(1):
rate(200)
for abeil in listAbeille:
abeil.move2()
Conclusion :
Pour augmenter la vitesse sur l'aspect des collision, il faut utiliser un moteur physique comme Pyode (binding ver Open Dynamic Engine).
Codes Sources
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