simulation_loop.py

import initialize_simulation
import calculate_nearpoint_farpoint
import two_point_steering_model
import calculate_visual_angles


def simulation(time_array,agent_object,simulation_object,road_object):
# instantiate dictionary
    magical_dictionary = {}

    for i in range(0,len(time_array)):
# for first and second frame (0 & 1)
        if i <= 1:
            # Set delta_alpha, alpha, and phi for dictionary
            delta_alpha = simulation_object.init_delta_alpha
            alpha = simulation_object.init_alpha
            phi = simulation_object.init_phi 

           # Calculate position of agent, nearPoint, and farPoint for ith frame
            agent_x,agent_y = initialize_simulation.initial_calculate_x_y(agent_object,simulation_object,phi)
            nearPoint_x,nearPoint_y = calculate_nearpoint_farpoint.get_point(agent_x,agent_y,road_object,"nearpoint")
            farPoint_x,farPoint_y = calculate_nearpoint_farpoint.get_point(agent_x,agent_y,road_object,"farpoint")

        # Calculate visual angles for ith frame
            nearPoint_angle = initialize_simulation.init_visual_angle(simulation_object,agent_object,agent_x,agent_y,nearPoint_x,nearPoint_y)
            farPoint_angle = initialize_simulation.init_visual_angle(simulation_object,agent_object,agent_x,agent_y,farPoint_x,farPoint_y)

# for rest of the simulation
        else:
            # Calculate delta_alpha, alpha, and phi
            delta_alpha = two_point_steering_model.control_law(i,magical_dictionary,agent_object,simulation_object)
            alpha = two_point_steering_model.calculate_alpha(i,magical_dictionary,simulation_object,delta_alpha)
            phi = two_point_steering_model.calculate_phi(i,magical_dictionary,agent_object,simulation_object,alpha)

            # Calculate position of agent, nearPoint, and farPoint for ith frame
            agent_x, agent_y = two_point_steering_model.calculate_x_y(i,magical_dictionary,simulation_object,agent_object,phi)
            nearPoint_x,nearPoint_y = calculate_nearpoint_farpoint.get_point(agent_x,agent_y,road_object,"nearpoint")
            farPoint_x,farPoint_y = calculate_nearpoint_farpoint.get_point(agent_x,agent_y,road_object,"farpoint")

            # Calculate visual angles for ith frame
            nearPoint_angle = calculate_visual_angles.calculate_visual_angle(i,magical_dictionary,agent_x,agent_y,nearPoint_x, nearPoint_y)
            farPoint_angle = calculate_visual_angles.calculate_visual_angle(i,magical_dictionary,agent_x,agent_y,farPoint_x, farPoint_y)
    # Add dictionary for f = i
        magical_dictionary[i] = {"agent_x_loc":agent_x,"agent_y_loc":agent_y,
                                "delta_alpha":delta_alpha,"alpha":alpha,"phi":phi,
                                "nearPoint_angle":nearPoint_angle,"farPoint_angle":farPoint_angle,
                                "nearPoint_x":nearPoint_x,"nearPoint_y":nearPoint_y,"farPoint_x":farPoint_x,"farPoint_y":farPoint_y}

    return(magical_dictionary)