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a_star.html
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<!DOCTYPE html>
<html>
<head>
<title>我的网页</title>
</head>
<body>
<div>
<script type="module">
const PI = 3.141592653589793238;
import init from './pkg/wasm_engine.js';
import { RVOSimulator, TileMap, TileObstacle, AStar, } from './pkg/wasm_engine.js';
const DefaultMaxSpeed = 2.0;
const RAND_MAX = 0x7fff;
const mapwidth = 10;
const mapHeight = 10;
const scaling = 20;
let paths = [];
let goals = [];
let divs = [];
let agents = [];
let lastpotion = [];
let velocitys = [];
class Vector2 {
constructor(obj) {
this.x = obj.x;
this.y = obj.y;
}
static new(x, y) {
return new Vector2({ x, y });
}
add(other) {
return Vector2.new(this.x + other.x, this.y + other.y);
}
sub(other) {
return Vector2.new(this.x - other.x, this.y - other.y);
}
mul_number(other) {
return Vector2.new(this.x * other, this.y * other);
}
static abs_sq(other) {
return other.x * other.x + other.y * other.y;
}
static normalize(other) {
let length = Math.sqrt(Vector2.abs_sq(other));
return Vector2.new(other.x / length, other.y / length);
}
}
class Path {
constructor(path) {
this.path = path;
this.index = 0;
this.lengths = [];
for (let i = 0; i < path.length - 1; i++) {
this.lengths.push(Vector2.abs_sq(path[i].sub(path[i + 1])));
}
}
next() {
return this.path[this.index++];
}
reset() {
this.index = 0;
}
surplusLengthSq() {
let length = 0;
for (let i = this.index; i < this.lengths.length; i++) {
let inedx = i - 1;
if (inedx < 0) {
inedx = 0;
}
length += this.lengths[inedx];
}
return length;
}
}
function update_divs(sim, divs) {
console.log("{}", sim.get_global_time());
for (let i = 0; i < agents.length; i++) {
let position = sim.get_agent_position(agents[i]);
// console.log("Agent: " + i + "; x: " + position.x + "; y: " + position.y);
let x = Math.floor(position.x);
let y = Math.floor(position.y);
// console.log("Agent2: " + i + "; x: " + x + "; y: " + y);
divs[agents[i]].style.left = x + "px";
divs[agents[i]].style.top = y + "px";
}
}
function set_preferred_velocities(sim, goals) {
let goal_vectors = [];
/*
* Set the preferred velocity to be a vector of unit magnitude (speed) in the
* direction of the goal.
*/
for (let i = 0; i < agents.length; i++) {
let goal_vector = goals[agents[i]].sub(sim.get_agent_position(agents[i]));
let temp = Vector2.abs_sq(goal_vector);
goal_vectors.push(temp);
if (temp > 1) {
goal_vector = Vector2.normalize(goal_vector);
}
sim.set_agent_pref_velocity(agents[i], new Float32Array([goal_vector.x, goal_vector.y]));
velocitys[agents[i]] = goal_vector;
}
}
function reached_goal(sim, a_star, map) {
/* Check if all agents have reached their goals. */
let reached_goal = true;
for (let i = 0; i < agents.length; ++i) {
// console.log("agent" + i + "距离目标: " + Vector2.abs_sq(sim.get_agent_position(i).sub(goals[i])));
let cur_postion = new Vector2(sim.get_agent_position(agents[i]));
if (Vector2.abs_sq(cur_postion.sub(goals[agents[i]])) > 2.0 * 2.0) {
reached_goal = false;
reset_path(sim, a_star, map, cur_postion, agents[i]);
} else {
let path = paths[agents[i]].next();
if (path) {
console.log("end_pos" + agents[i] + ": " + path.x + " " + path.y);
goals[agents[i]] = path;
reached_goal = false;
}
}
let v = sim.get_agent_velocity(agents[i]);
console.log("agent" + i + "速度: " + v.x + " " + v.y);
}
return reached_goal;
}
function reset_path(sim, a_star, map, cur_postion, i) {
let dist_sq = Vector2.abs_sq(cur_postion.sub(lastpotion[i][0]));
if (dist_sq < 0.0001) {
if (lastpotion[i][1] < 10) {
lastpotion[i][1] += 1;
} else {
lastpotion[i][1] = 0;
let start_pos = cur_postion.div(scaling);
let start_index = Math.floor(start_pos.y) * mapHeight + Math.floor(start_pos.x);
let end_index;
while (true) {
let end_pos = paths[i].next();
if (end_pos) {
end_index = end_pos.y * mapHeight + end_pos.x;
} else {
break;
}
}
// goals 中的目标点就是最后一个
if (!end_index) {
let end_pos = goals[i].div(scaling);
end_index = Math.floor(end_pos.y) * mapHeight + Math.floor(end_pos.x);
}
let res = a_star.find_path(map, 2000, start_index, end_index);
window.astar = { result: [] };
paths[i] = a_star.result(res, map);
goals[i] = paths[i].next().mul_number(scaling).add(Vector2.new(scaling / 2, scaling / 2));
}
}
lastpotion[i][0] = cur_postion;
}
function setObstacle(map, sim, ctx, min, max) {
for (let i = min.x; i < max.x; i++) {
for (let j = min.y; j < max.y; j++) {
let index = j * mapHeight + i;
map.set_obstacle(index, TileObstacle.Center);
}
}
let min1 = min.mul_number(scaling);
let max1 = max.mul_number(scaling);
sim.add_obstacle(new Float32Array([min1.x, min1.y, max1.x, min1.y, max1.x, max1.y, min1.x, max1.y]));
ctx.fillRect(min.x * scaling, min.y * scaling, (max.x - min.x) * scaling, (max.y - min.y) * scaling);
}
function find_path(a_star, map, sim, start, end) {
let start_index = start.y * mapHeight + start.x;
let end_index = end.y * mapHeight + end.x;
let res = a_star.find_path(map, 1000, start_index, end_index);
let begin = end_index;
if (!res) {
throw Error("no path!!! start: " + start_index + " end: " + end_index + "");
}
if (res != end_index) {
console.error("node number not enough!!!");
begin = res;
}
window.astar = { result: [] };
a_star.bufferData(begin, map);
return window.astar.result
}
function addAgent(a_star, map, sim, start, end,) {
let path_u32array = find_path(a_star, map, sim, start, end);
let path_arr = [];
for (let i = path_u32array.length - 2; i >= 0; i -= 2) {
let p = Vector2.new(path_u32array[i], path_u32array[i + 1]);
if (p) {
path_arr.push(p.mul_number(scaling).add(Vector2.new(scaling / 2, scaling / 2)));
} else {
break;
}
}
let path = new Path(path_arr);
let p = path.next();
console.log("addAgent, path_arr:", path_arr, p);
let id = sim.add_agent(new Float32Array([p.x / 2, p.y / 2]));
console.log("addAgent, id:", id);
agents.push(id);
goals[id] = path.next();
lastpotion[id] = [p, 0];
paths[id] = path;
let div = document.createElement("div")
div.id = id;
div.style.left = Math.floor(p.x) + "px";
div.style.top = Math.floor(p.y) + "px";
div.style.width = "4px";
div.style.height = "4px";
div.style.borderRadius = "50%";
div.style.backgroundColor = "rgb(255, 0, 0)";
div.style.position = "absolute";
document.body.appendChild(div);
divs[id] = div;
}
init().then(module => {
let map = TileMap.new(mapwidth, mapHeight);
let a_star = AStar.new(mapwidth, mapHeight, 1000);
let sim = RVOSimulator.default(2000, // note: 此参数为障碍物的最大顶点个数，实际传入的定点数必须小于等于此数
);
sim.set_time_step(0.25);
sim.set_agent_defaults(10.0, 10, 5.0, 5.0, 1.5, DefaultMaxSpeed, new Float32Array([0.0, 0.0]));
let canvas = document.createElement("canvas");
canvas.width = mapwidth * scaling;
canvas.height = mapHeight * scaling;
document.body.appendChild(canvas);
let ctx = canvas.getContext('2d');
ctx.strokeStyle = 'rgb(255,0,0)';
ctx.fillStyle = "rgba(100, 100, 100, 0.5)";
ctx.lineWidth = 1;
for (let i = 0; i <= canvas.width; i += scaling) {
ctx.beginPath();
ctx.moveTo(i, 0);
ctx.lineTo(i, canvas.height);
ctx.stroke();
}
for (let j = 0; j <= canvas.height; j += scaling) {
ctx.beginPath();
ctx.moveTo(0, j);
ctx.lineTo(canvas.width, j);
ctx.stroke();
}
setObstacle(map, sim, ctx, Vector2.new(4, 0), Vector2.new(6, 4));
setObstacle(map, sim, ctx, Vector2.new(4, 5), Vector2.new(6, 10));
addAgent(a_star, map, sim, Vector2.new(9, 9), Vector2.new(1, 9));
// addAgent(a_star, map, sim, Vector2.new(8, 9), Vector2.new(0, 9));
// addAgent(a_star, map, sim, Vector2.new(9, 8), Vector2.new(1, 8));
// addAgent(a_star, map, sim, Vector2.new(8, 8), Vector2.new(0, 8));
let r = 0;
let id = setInterval(() => {
// console.log("num: ", r++);
update_divs(sim, divs);
set_preferred_velocities(sim, goals);
sim.do_step();
// console.log("======= time: ", performance.now() - begin);
if (reached_goal(sim, a_star, map)) {
clearInterval(id);
}
}, 16)
});
</script>
</body>
<style>
canvas {
position: absolute;
left: 0px;
top: 0px;
}
</style>
</html>