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Commit cd65cfb9 authored by Benedikt Zoennchen's avatar Benedikt Zoennchen
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new robust computation of the target direction for the BHM which is enabled if... 

new robust computation of the target direction for the BHM which is enabled if a target potential is available. New TimeCostFunction to compute a target potential repulsive at obstacles.
parent d1d0a432
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VadereModelTests/TestBHM/scenarios/floor_field_navigation_test_displaced_ok.scenario
View file @ cd65cfb9
......@@ -64,7 +64,7 @@
"stepLengthIntercept" : 0.4625,
"stepLengthSlopeSpeed" : 0.2345,
"stepLengthSD" : 0.036,
"stepLengthDeviation" : false,
"stepLengthDeviation" : true,
"navigationCluster" : false,
"navigationFollower" : false,
"directionWallDistance" : false,
......@@ -72,7 +72,7 @@
"sidewaysEvasion" : false,
"onlyEvadeContraFlow" : false,
"makeSmallSteps" : false,
"followerProximityNavigation" : true,
"followerProximityNavigation" : false,
"differentBehaviour" : false,
"differentEvasionBehaviourPercentage" : [ ],
"varyingBehaviour" : false,
......@@ -86,8 +86,8 @@
"followerDistance" : 10.0,
"smallStepResolution" : 5,
"plannedStepsAhead" : 5,
"obstacleRepulsionReach" : 1.0,
"obstacleRepulsionMaxWeight" : 0.5,
"obstacleRepulsionReach" : 0.5,
"obstacleRepulsionMaxWeight" : 6.0,
"distanceToKeep" : 0.5,
"backwardsAngle" : 1.5707963267948966,
"reconsiderOldTargets" : false,
......@@ -103,22 +103,24 @@
"targetAttractionStrength" : 1.0,
"timeCostAttributes" : {
"standardDeviation" : 0.2,
"type" : "UNIT",
"obstacleDensityWeight" : 3.5,
"type" : "DISTANCE_TO_OBSTACLES",
"obstacleDensityWeight" : 1.0,
"pedestrianSameTargetDensityWeight" : 3.5,
"pedestrianOtherTargetDensityWeight" : 3.5,
"pedestrianWeight" : 3.5,
"queueWidthLoading" : 1.0,
"pedestrianDynamicWeight" : 6.0,
"loadingType" : "CONSTANT"
"loadingType" : "CONSTANT",
"width" : 0.4,
"height" : 5.0
}
}
},
"attributesSimulation" : {
"finishTime" : 200.0,
"finishTime" : 500.0,
"simTimeStepLength" : 0.4,
"realTimeSimTimeRatio" : 0.0,
"writeSimulationData" : true,
"writeSimulationData" : false,
"visualizationEnabled" : true,
"printFPS" : false,
"digitsPerCoordinate" : 2,
......@@ -138,15 +140,6 @@
"bounded" : true
},
"obstacles" : [ {
"shape" : {
"x" : 75.0,
"y" : 77.0,
"width" : 26.1,
"height" : 20.0,
"type" : "RECTANGLE"
},
"id" : -1
}, {
"shape" : {
"x" : 63.5,
"y" : 99.5,
......@@ -155,13 +148,31 @@
"type" : "RECTANGLE"
},
"id" : -1
}, {
"shape" : {
"type" : "POLYGON",
"points" : [ {
"x" : 105.1,
"y" : 76.69999999999999
}, {
"x" : 76.4,
"y" : 77.39999999999999
}, {
"x" : 76.0,
"y" : 95.1
}, {
"x" : 107.70000000000002,
"y" : 95.19999999999999
} ]
},
"id" : -1
} ],
"stairs" : [ ],
"targets" : [ {
"id" : 1,
"absorbing" : true,
"shape" : {
"x" : 76.0,
"x" : 67.0,
"y" : 107.0,
"width" : 15.0,
"height" : 5.0,
......@@ -187,7 +198,7 @@
},
"interSpawnTimeDistribution" : "org.vadere.state.scenario.ConstantDistribution",
"distributionParameters" : [ 1.0 ],
"spawnNumber" : 100,
"spawnNumber" : 500,
"maxSpawnNumberTotal" : -1,
"startTime" : 0.0,
"endTime" : 0.0,
......
VadereModelTests/TestBHM/scenarios/floor_field_navigation_test_ok.scenario
View file @ cd65cfb9
......@@ -64,15 +64,15 @@
"stepLengthIntercept" : 0.4625,
"stepLengthSlopeSpeed" : 0.2345,
"stepLengthSD" : 0.036,
"stepLengthDeviation" : false,
"stepLengthDeviation" : true,
"navigationCluster" : false,
"navigationFollower" : false,
"directionWallDistance" : false,
"tangentialEvasion" : true,
"sidewaysEvasion" : true,
"tangentialEvasion" : false,
"sidewaysEvasion" : false,
"onlyEvadeContraFlow" : false,
"makeSmallSteps" : true,
"followerProximityNavigation" : true,
"makeSmallSteps" : false,
"followerProximityNavigation" : false,
"differentBehaviour" : false,
"differentEvasionBehaviourPercentage" : [ ],
"varyingBehaviour" : false,
......@@ -86,8 +86,8 @@
"followerDistance" : 10.0,
"smallStepResolution" : 5,
"plannedStepsAhead" : 5,
"obstacleRepulsionReach" : 1.0,
"obstacleRepulsionMaxWeight" : 0.5,
"obstacleRepulsionReach" : 0.5,
"obstacleRepulsionMaxWeight" : 6.0,
"distanceToKeep" : 0.5,
"backwardsAngle" : 1.5707963267948966,
"reconsiderOldTargets" : false,
......@@ -102,22 +102,24 @@
"obstacleGridPenalty" : 0.1,
"targetAttractionStrength" : 1.0,
"timeCostAttributes" : {
"standardDeviation" : 0.7,
"type" : "OBSTACLES",
"standardDeviation" : 0.2,
"type" : "DISTANCE_TO_OBSTACLES",
"obstacleDensityWeight" : 1.0,
"pedestrianSameTargetDensityWeight" : 3.5,
"pedestrianOtherTargetDensityWeight" : 3.5,
"pedestrianWeight" : 3.5,
"queueWidthLoading" : 1.0,
"pedestrianDynamicWeight" : 6.0,
"loadingType" : "CONSTANT"
"loadingType" : "CONSTANT",
"width" : 0.4,
"height" : 5.0
}
}
},
"attributesSimulation" : {
"finishTime" : 200.0,
"simTimeStepLength" : 0.4,
"realTimeSimTimeRatio" : 0.0,
"realTimeSimTimeRatio" : 0.2,
"writeSimulationData" : true,
"visualizationEnabled" : true,
"printFPS" : false,
......@@ -139,8 +141,8 @@
},
"obstacles" : [ {
"shape" : {
"x" : -2.5,
"y" : 43.5,
"x" : -2.6,
"y" : 44.3,
"width" : 23.9,
"height" : 3.6,
"type" : "RECTANGLE"
......@@ -157,8 +159,8 @@
"id" : -1
}, {
"shape" : {
"x" : 0.4,
"y" : 36.7,
"x" : 0.3,
"y" : 36.5,
"width" : 29.9,
"height" : 1.9,
"type" : "RECTANGLE"
......@@ -166,13 +168,22 @@
"id" : -1
}, {
"shape" : {
"x" : 1.6,
"y" : 33.0,
"width" : 33.4,
"x" : 2.9,
"y" : 34.1,
"width" : 34.4,
"height" : 1.9,
"type" : "RECTANGLE"
},
"id" : -1
}, {
"shape" : {
"x" : 20.1,
"y" : 43.4,
"width" : 3.3,
"height" : 4.6,
"type" : "RECTANGLE"
},
"id" : -1
} ],
"stairs" : [ ],
"targets" : [ {
......
VadereSimulator/src/org/vadere/simulator/control/Simulation.java
View file @ cd65cfb9
......@@ -6,6 +6,7 @@ import org.vadere.simulator.control.factory.SourceControllerFactory;
import org.vadere.simulator.models.DynamicElementFactory;
import org.vadere.simulator.models.MainModel;
import org.vadere.simulator.models.Model;
import org.vadere.simulator.models.bhm.BehaviouralHeuristicsModel;
import org.vadere.simulator.models.osm.PedestrianOSM;
import org.vadere.simulator.models.potential.PotentialFieldModel;
import org.vadere.simulator.models.potential.fields.IPotentialField;
......@@ -111,6 +112,11 @@ public class Simulation {
IPotentialField pt = null;
if(mainModel instanceof PotentialFieldModel) {
pft = ((PotentialFieldModel) mainModel).getPotentialFieldTarget();
} else if(mainModel instanceof BehaviouralHeuristicsModel) {
pft = ((BehaviouralHeuristicsModel) mainModel).getPotentialFieldTarget();
}
if(pft != null) {
pt = (pos, agent) -> {
if(agent instanceof PedestrianOSM) {
return ((PedestrianOSM)agent).getPotential(pos);
......
VadereSimulator/src/org/vadere/simulator/models/bhm/BehaviouralHeuristicsModel.java
View file @ cd65cfb9
......@@ -62,6 +62,10 @@ public class BehaviouralHeuristicsModel implements MainModel {
this.pedestrianEventsQueue = new PriorityQueue<>(100, new ComparatorPedestrianBHM());
}
public IPotentialFieldTarget getPotentialFieldTarget() {
return potentialFieldTarget;
}
@Override
public void initialize(List<Attributes> modelAttributesList, Topography topography,
AttributesAgent attributesPedestrian, Random random) {
......
VadereSimulator/src/org/vadere/simulator/models/bhm/DirectionAddendObstacleTargetPotential.java
View file @ cd65cfb9
......@@ -3,11 +3,21 @@ package org.vadere.simulator.models.bhm;
import org.jetbrains.annotations.NotNull;
import org.vadere.state.attributes.models.AttributesBHM;
import org.vadere.state.scenario.Obstacle;
import org.vadere.util.geometry.GeometryUtils;
import org.vadere.util.geometry.shapes.IPoint;
import org.vadere.util.geometry.shapes.VCircle;
import org.vadere.util.geometry.shapes.VPoint;
import org.vadere.util.geometry.shapes.VShape;
import java.util.List;
import java.util.Optional;
/**
* Computes a vector to add to the target direction such that collisions with obstacles
* will be avoided.
*
* @author Benedikt Zoennchen
*/
public class DirectionAddendObstacleTargetPotential implements DirectionAddend {
private final AttributesBHM attributesBHM;
......@@ -22,15 +32,74 @@ public class DirectionAddendObstacleTargetPotential implements DirectionAddend {
public VPoint getDirectionAddend(@NotNull final VPoint targetDirection) {
VPoint addend = VPoint.ZERO;
Optional<Obstacle> closeObstacles = me.detectClosestObstacleProximity(me.getPosition(), me.getRadius());
VPoint footStep = targetDirection.scalarMultiply(me.getStepLength());
// compute the next position without changing the target direction.
VPoint nextPosition = (me.getPosition().add(footStep));
// get the obstacle closest to the nextPosition causing a collision
Optional<Obstacle> closeObstacles = me.detectClosestObstacleProximity(nextPosition, me.getRadius() + GeometryUtils.DOUBLE_EPS);
// if there is none, there is no need to change the target direction
if(closeObstacles.isPresent()) {
closeObstacles = me.detectClosestObstacleProximity(me.getPosition(), me.getRadius() + footStep.distanceToOrigin() + GeometryUtils.DOUBLE_EPS);
Obstacle obstacle = closeObstacles.get();
// compute the point of the obstacle shape closest to the pedestrian position
VPoint closestPoint = obstacle.getShape().closestPoint(me.getPosition());
// compute the normal of the closest line (here we assume the obstacle is in fact a polygon!)
VPoint normal = closestPoint.subtract(me.getPosition());
// project the target direction onto the normal
IPoint p = GeometryUtils.projectOnto(targetDirection.getX(), targetDirection.getY(), normal.x, normal.y);
// if the target direction points away from the obstacle don't adjust it
if(!p.equals(VPoint.ZERO)/* && p.norm().distance(normal.norm()) < GeometryUtils.DOUBLE_EPS*/) {
// if the target direction points in the opposite direction
if(targetDirection.subtract(p).distanceToOrigin() < GeometryUtils.DOUBLE_EPS) {
VPoint lastFootStep = me.getPosition().subtract(me.getLastPosition());
addend = lastFootStep.norm();
}
else {
addend = new VPoint(p.scalarMultiply(-1.0));
}
}
}
VPoint newTargetDirection = targetDirection.add(addend).norm();
VPoint newFootStep = newTargetDirection.scalarMultiply(me.getStepLength());
closeObstacles = me.detectClosestObstacleProximity(me.getPosition().add(newFootStep), me.getRadius());
if(closeObstacles.isPresent()) {
VPoint lastFootStep = me.getPosition().subtract(me.getLastPosition());
addend = targetDirection.scalarMultiply(-1.0).add(lastFootStep.norm());
}
return addend;
}
private VPoint getClosestPoint(VShape shape, VPoint start, VPoint end) {
boolean contains = shape.contains(end);
VPoint closestPoint;
if(contains) {
Optional<VPoint> closestIntersectionPoint = shape.getClosestIntersectionPoint(start, end, start);
// this should never happen!
if(!closestIntersectionPoint.isPresent()) {
return end;
}
closestPoint = closestIntersectionPoint.get();
} else {
closestPoint = shape.closestPoint(end);
}
return closestPoint;
}
}
VadereSimulator/src/org/vadere/simulator/models/bhm/NavigationProximity.java
View file @ cd65cfb9
package org.vadere.simulator.models.bhm;
import org.jetbrains.annotations.NotNull;
import org.vadere.state.attributes.models.AttributesBHM;
import org.vadere.state.scenario.Obstacle;
import org.vadere.state.scenario.Pedestrian;
import org.vadere.util.geometry.GeometryUtils;
import org.vadere.util.geometry.shapes.VPoint;
import org.vadere.util.geometry.shapes.VShape;
import org.vadere.util.logging.Logger;
import java.util.ArrayList;
import java.util.List;
import java.util.Optional;
import java.util.Random;
public class NavigationProximity implements Navigation {
......@@ -23,17 +28,75 @@ public class NavigationProximity implements Navigation {
this.attributesBHM = me.getAttributesBHM();
}
private VPoint findSmallerStep(List<Obstacle> collideObstacles, VPoint currentNextPosition) {
VPoint newNextPosition = currentNextPosition;
for(Obstacle obstacle : collideObstacles) {
newNextPosition = findCollisionFreePosition(obstacle, me.getPosition(), newNextPosition);
}
return newNextPosition;
}
private VPoint findCollisionFreePosition(@NotNull final Obstacle obstacle, VPoint start, VPoint end) {
VPoint direction = end.subtract(start);
VShape shape = obstacle.getShape();
boolean contains = shape.contains(end);
VPoint closestPoint;
if(contains) {
Optional<VPoint> closestIntersectionPoint = shape.getClosestIntersectionPoint(start, end, start);
// this should never happen!
if(!closestIntersectionPoint.isPresent()) {
return end;
}
closestPoint = closestIntersectionPoint.get();
} else {
closestPoint = shape.closestPoint(end);
}
double distance = contains ? -closestPoint.distance(end) : closestPoint.distance(end);
double diff = me.getRadius() - distance + 0.1;
assert diff > 0;
VPoint normal = end.subtract(closestPoint);
if(contains) {
normal = normal.scalarMultiply(-1.0);
}
VPoint q1 = end.add(normal.setMagnitude(diff));
VPoint q2 = q1.add(normal.rotate(Math.PI * 0.5));
VPoint newEnd = GeometryUtils.lineIntersectionPoint(q1, q2, start, end);
VPoint newDirection = newEnd.subtract(start);
// the new end generates a shorter step in the same direction?
if(newDirection.distanceToOrigin() < direction.distanceToOrigin() && direction.subtract(newDirection).distanceToOrigin() < direction.distanceToOrigin()) {
return newEnd;
} else {
return end;
}
//return newEnd;
}
@Override
public VPoint getNavigationPosition() {
me.action = 1; // LOGGING
VPoint result = me.computeTargetStep();
boolean targetDirection = true;
// this is a problem since the ped will never move!
List<Obstacle> collideObstacles = me.detectObstacleProximity(result, me.getRadius());
if(attributesBHM.isMakeSmallSteps() && !collideObstacles.isEmpty()) {
collideObstacles = me.detectObstacleProximity(result, me.getRadius());
result = findSmallerStep(collideObstacles, result);
}
if (me.evadesTangentially()) {
Pedestrian collisionPed = me.findCollisionPedestrian(result, false);
if (collisionPed != null) {
targetDirection = false;
// walk away if currently in a collision
if (me.collidesWithPedestrian(me.getPosition(), attributesBHM.getSpaceToKeep())
......@@ -55,6 +118,7 @@ public class NavigationProximity implements Navigation {
if (angleBetween > attributesBHM.getOnlyEvadeContraFlowAngle()) {
result = evadeCollision(collisionPed);
}
} else {
result = evadeCollision(collisionPed);
......@@ -62,10 +126,18 @@ public class NavigationProximity implements Navigation {
}
}
if (me.collidesWithPedestrianOnPath(result) || me.collidesWithObstacle(result) ||
// make sure that more distance is kept for numerical stability with step or wait heuristic
(!me.evadesTangentially() &&
me.collidesWithPedestrian(result, 2 * attributesBHM.getSpaceToKeep()))) {
/*
* Make no step if:
* 1) there would be a collision with another pedestrian
* 2) there would be a collision with an obstacle and me does not walk in the origin target direction.
* Remark: if we would not allow collisions me would never move again
* 3) me does not evade tangentially and there is a collision with another pedestrian in a larger area.
* Remark: this is for numerical stability of the step or wait heuristic
*/
if (me.collidesWithPedestrianOnPath(result) ||
(me.collidesWithObstacle(result) && !targetDirection) ||
(!me.evadesTangentially() && me.collidesWithPedestrian(result, 2 * attributesBHM.getSpaceToKeep()))) {
/*if( me.collidesWithObstacle(result) ) {
System.out.println("obs collision " + me.getId());
......
VadereSimulator/src/org/vadere/simulator/models/bhm/PedestrianBHM.java
View file @ cd65cfb9
......@@ -22,10 +22,8 @@ import org.vadere.state.scenario.Target;
import org.vadere.state.scenario.Topography;
import org.vadere.state.simulation.FootStep;
import org.vadere.util.geometry.GeometryUtils;
import org.vadere.util.geometry.shapes.VCircle;
import org.vadere.util.geometry.shapes.VLine;
import org.vadere.util.geometry.shapes.VPoint;
import org.vadere.util.geometry.shapes.VShape;
import org.vadere.util.geometry.shapes.Vector2D;
import org.vadere.util.logging.Logger;
......@@ -46,7 +44,7 @@ public class PedestrianBHM extends Pedestrian {
private VPoint targetDirection;
private final transient Navigation navigation;
private final List<DirectionAddend> directionAddends;
private final transient List<DirectionAddend> directionAddends;
protected int action;
......@@ -54,6 +52,7 @@ public class PedestrianBHM extends Pedestrian {
private boolean evadesSideways;
private int remainCounter;
private transient @Nullable IPotentialFieldTarget potentialFieldTarget;
private transient TargetDirection targetDirectionStrategy;
public PedestrianBHM(Topography topography, AttributesAgent attributesPedestrian,
AttributesBHM attributesBHM, Random random) {
......@@ -105,8 +104,17 @@ public class PedestrianBHM extends Pedestrian {
}
setNextTargetListIndex(0);
setEvasionStrategy();
setTargetDirectionStrategy();
}
private void setTargetDirectionStrategy() {
if(isPotentialFieldInUse()) {
TargetDirection base = new TargetDirectionGeoGradient(this, potentialFieldTarget);
targetDirectionStrategy = new TargetDirectionClose(this, potentialFieldTarget, base);
} else {
targetDirectionStrategy = new TargetDirectionEuclidean(this);
}
}
private boolean isPotentialFieldInUse() {
......@@ -238,7 +246,7 @@ public class PedestrianBHM extends Pedestrian {
// target direction methods...
VPoint computeTargetStep() {
return UtilsBHM.getTargetStep(this, this.getPosition(), this.getTargetDirection());
return UtilsBHM.getTargetStep(this, getPosition(), getTargetDirection());
}
/**
......@@ -256,28 +264,16 @@ public class PedestrianBHM extends Pedestrian {
}
if (hasNextTarget()) {
VShape targetShape = topography.getTarget(getNextTargetId()).getShape();
if (!targetShape.contains(getPosition())) {
Target target = topography.getTarget(getNextTargetId());
if (!target.getShape().contains(getPosition())) {
// use just euklid direction to the target
if(potentialFieldTarget == null) {
VPoint targetPoint = targetShape.closestPoint(getPosition());
targetDirection = targetPoint.subtract(getPosition()).norm();
}
else {
Vector2D vec = new Vector2D(computeTargetDirectionByGradient());
if(vec.getLength() < GeometryUtils.DOUBLE_EPS) {
targetDirection = VPoint.ZERO;
}
else {
targetDirection = vec.norm();
}
}
targetDirection = targetDirectionStrategy.getTargetDirection(target);
for (DirectionAddend da : directionAddends) {
targetDirection = targetDirection.add(da.getDirectionAddend(targetDirection));
}
//TODO: if this happens it might cause problems dependent on the heuristics choose.
if(targetDirection.distanceToOrigin() < GeometryUtils.DOUBLE_EPS) {
targetDirection = VPoint.ZERO;
}
......@@ -288,33 +284,6 @@ public class PedestrianBHM extends Pedestrian {
}
}
private VPoint computeTargetDirectionByGradient() {
return potentialFieldTarget.getTargetPotentialGradient(getPosition(), this).multiply(-1.0);
}
private VPoint computeTargetDirectionByOptimaization() {
Vector2D gradient = potentialFieldTarget.getTargetPotentialGradient(getPosition(), this).multiply(-1.0);
double angle = GeometryUtils.angleTo(gradient, new VPoint(1, 0));
List<VPoint> possibleNextPositions = GeometryUtils.getDiscDiscretizationPoints(
random,
false,
new VCircle(getPosition(), stepLength),
1,
15,
angle,
2*Math.PI);
VPoint nextOptimalPos = possibleNextPositions.stream()
.filter(p -> !collidesWithObstacle(p))
.min(