In "selfcategorization/.../OSMBehaviorController", implemented "changeTargetToSafeZone()"

Scenarios/ModelTests/TestPsychology/Stimuli/MiscStimuli/scenarios/08-Bang-SelfCatThreatModel.scenario

@@ -212,6 +212,23 @@
         "deletionDistance" : 0.1,
         "startingWithRedLight" : false,
         "nextSpeed" : -1.0
+      }, {
+        "id" : 3,
+        "absorbing" : true,
+        "shape" : {
+          "x" : 0.6,
+          "y" : 1.0,
+          "width" : 0.5,
+          "height" : 14.0,
+          "type" : "RECTANGLE"
+        },
+        "waitingTime" : 0.0,
+        "waitingTimeYellowPhase" : 0.0,
+        "parallelWaiters" : 0,
+        "individualWaiting" : true,
+        "deletionDistance" : 0.1,
+        "startingWithRedLight" : false,
+        "nextSpeed" : -1.0
       } ],
       "targetChangers" : [ ],
       "absorbingAreas" : [ ],
@@ -256,7 +273,51 @@
         "groupSizeDistribution" : [ 1.0 ],
         "dynamicElementType" : "PEDESTRIAN"
       } ],
-      "dynamicElements" : [ ],
+      "dynamicElements" : [ {
+        "attributes" : {
+          "id" : 3,
+          "radius" : 0.2,
+          "densityDependentSpeed" : false,
+          "speedDistributionMean" : 1.34,
+          "speedDistributionStandardDeviation" : 0.26,
+          "minimumSpeed" : 0.5,
+          "maximumSpeed" : 2.2,
+          "acceleration" : 2.0,
+          "footstepHistorySize" : 4,
+          "searchRadius" : 1.0,
+          "walkingDirectionCalculation" : "BY_TARGET_CENTER",
+          "walkingDirectionSameIfAngleLessOrEqual" : 45.0
+        },
+        "source" : null,
+        "targetIds" : [ ],
+        "nextTargetListIndex" : 0,
+        "isCurrentTargetAnAgent" : false,
+        "position" : {
+          "x" : 22.2,
+          "y" : 4.6
+        },
+        "velocity" : {
+          "x" : 0.0,
+          "y" : 0.0
+        },
+        "freeFlowSpeed" : 1.5462627717320168,
+        "followers" : [ ],
+        "idAsTarget" : -1,
+        "isChild" : false,
+        "isLikelyInjured" : false,
+        "psychologyStatus" : {
+          "mostImportantStimulus" : null,
+          "perceivedThreat" : null,
+          "selfCategory" : "TARGET_ORIENTED"
+        },
+        "groupIds" : [ ],
+        "groupSizes" : [ ],
+        "trajectory" : {
+          "footSteps" : [ ]
+        },
+        "modelPedestrianMap" : null,
+        "type" : "PEDESTRIAN"
+      } ],
       "attributesPedestrian" : {
         "radius" : 0.195,
         "densityDependentSpeed" : false,
@@ -288,4 +349,4 @@
       } ]
     } ]
   }
-}
+}
\ No newline at end of file

VadereSimulator/src/org/vadere/simulator/models/psychology/selfcategorization/locomotion/OSMBehaviorController.java

@@ -7,14 +7,13 @@ import org.vadere.simulator.models.osm.OptimalStepsModel;
 import org.vadere.simulator.models.osm.PedestrianOSM;
 import org.vadere.simulator.models.potential.combinedPotentials.CombinedPotentialStrategy;
 import org.vadere.simulator.models.potential.combinedPotentials.TargetAttractionStrategy;
+import org.vadere.simulator.models.potential.combinedPotentials.TargetRepulsionStrategy;
 import org.vadere.state.attributes.scenario.AttributesAgent;
 import org.vadere.state.psychology.cognition.SelfCategory;
 import org.vadere.state.psychology.perception.types.Bang;
 import org.vadere.state.psychology.perception.types.ChangeTarget;
 import org.vadere.state.psychology.perception.types.Stimulus;
-import org.vadere.state.scenario.Pedestrian;
-import org.vadere.state.scenario.Target;
-import org.vadere.state.scenario.Topography;
+import org.vadere.state.scenario.*;
 import org.vadere.state.simulation.FootStep;
 import org.vadere.util.geometry.shapes.VPoint;
 import org.vadere.util.geometry.shapes.Vector2D;
@@ -23,6 +22,7 @@ import org.vadere.util.logging.Logger;
 import java.util.LinkedList;
 import java.util.List;
 import java.util.stream.Collectors;
+import java.util.stream.Stream;
 
 /**
  * A class to encapsulate the behavior of a single {@link PedestrianOSM}.
@@ -120,10 +120,6 @@ public class OSMBehaviorController {
         pedestrian.setTimeOfNextStep(pedestrian.getTimeOfNextStep() + timeStepInSec);
     }
 
-    // Watch out: A bang event changes only the "CombinedPotentialStrategy".
-    // I.e., a new target is set for the agent. The agent does not move here!
-    // Therefore, trigger only a single bang event and then use "ElapsedTime" afterwards
-    // to let the agent walk.
     public void maximizeDistanceToThreatAndIncreaseSpeed(PedestrianOSM pedestrian, Topography topography) {
         Stimulus perceivedThreat = pedestrian.getPerceivedThreat();
 
@@ -148,7 +144,43 @@ public class OSMBehaviorController {
         }
     }
 
-    public void reactToTargetChange(PedestrianOSM pedestrian, Topography topography) {
+    /**
+     * In dangerous situation humans tend to escape to familiar places (safe zones).
+     * A pedestrian selects the target which is closest to its source as safe zone.
+     * Or if pedestrian has no target, select closest target as safe zone.
+     */
+    public void changeTargetToSafeZone(PedestrianOSM pedestrian, Topography topography) {
+        if (pedestrian.getCombinedPotentialStrategy() instanceof TargetRepulsionStrategy) {
+
+            ScenarioElement searchPosition = (pedestrian.getSource() == null) ? pedestrian : pedestrian.getSource();
+            Target closestTarget = findClosestTarget(topography, searchPosition, (Bang) pedestrian.getPerceivedThreat());
+
+            assert closestTarget != null;
+
+            if (closestTarget != null) {
+                pedestrian.setSingleTarget(closestTarget.getId(), false);
+            }
+
+            pedestrian.setCombinedPotentialStrategy(CombinedPotentialStrategy.TARGET_ATTRACTION_STRATEGY);
+        }
+    }
+
+    private Target findClosestTarget(Topography topography, ScenarioElement scenarioElement, Bang bang) {
+        VPoint sourceCentroid = scenarioElement.getShape().getCentroid();
+
+        List<Target> sortedTargets = topography.getTargets().stream()
+                .filter(target -> target.getId() != bang.getOriginAsTargetId())
+                .sorted((target1, target2) -> Double.compare(
+                        sourceCentroid.distance(target1.getShape().getCentroid()),
+                        sourceCentroid.distance(target2.getShape().getCentroid())))
+                .collect(Collectors.toList());
+
+        Target closestTarget = (sortedTargets.isEmpty()) ? null : sortedTargets.get(0);
+
+        return closestTarget;
+    }
+
+    public void changeTarget(PedestrianOSM pedestrian, Topography topography) {
         Stimulus mostImportantStimulus = pedestrian.getMostImportantStimulus();
 
         if (mostImportantStimulus instanceof ChangeTarget) {

VadereSimulator/src/org/vadere/simulator/models/psychology/selfcategorization/locomotion/UpdateSchemeEventDriven.java

@@ -65,7 +65,7 @@ public class UpdateSchemeEventDriven implements DynamicElementAddListener, Dynam
 				osmBehaviorController.makeStepToTarget(pedestrian, topography);
 			}
 		} else if (pedestrian.getSelfCategory() == SelfCategory.OUTSIDE_THREAT_AREA) {
-			// TODO: Change target to safe zone (i.e., use closest target) and "makeStepToTarget()".
+			osmBehaviorController.changeTargetToSafeZone(pedestrian, topography);
 			osmBehaviorController.makeStepToTarget(pedestrian, topography);
 		} else if (pedestrian.getSelfCategory() == SelfCategory.WAIT) {
 			osmBehaviorController.wait(pedestrian, timeStepInSec);
@@ -73,7 +73,7 @@ public class UpdateSchemeEventDriven implements DynamicElementAddListener, Dynam
 			osmBehaviorController.maximizeDistanceToThreatAndIncreaseSpeed(pedestrian, topography);
 			osmBehaviorController.makeStepToTarget(pedestrian, topography);
 		} else if (pedestrian.getSelfCategory() == SelfCategory.CHANGE_TARGET) {
-			osmBehaviorController.reactToTargetChange(pedestrian, topography);
+			osmBehaviorController.changeTarget(pedestrian, topography);
 			// Set time of next step. Otherwise, the internal OSM event queue hangs endlessly.
 			pedestrian.setTimeOfNextStep(pedestrian.getTimeOfNextStep() + pedestrian.getDurationNextStep());
 		}