""" 群体智能插件完整实现 包含插件主类、群体管理器、Boids算法、配置管理、GUI界面和示例 """ # plugin.py plugin_code = ''' """ 群体智能插件 实现Boids群体智能算法 """ from plugins.plugin_manager import BasePlugin from .swarm_manager import SwarmManager class Plugin(BasePlugin): """ 群体智能插件 """ def __init__(self, plugin_manager, name): super().__init__(plugin_manager, name) # 设置插件配置 self.config = { "version": "1.0.0", "author": "AI Assistant", "description": "实现Boids群体智能算法的插件" } self.swarm_manager = None def initialize(self) -> bool: """ 初始化插件 """ print(f"初始化插件: {self.name}") # 在这里执行插件初始化逻辑 return True def enable(self) -> bool: """ 启用插件 """ if not super().enable(): return False print(f"启用插件: {self.name}") # 初始化群体管理器 self.swarm_manager = SwarmManager(self.plugin_manager.world) # 创建示例群体 self.swarm_manager.create_example_swarm() # 注册事件处理器 self.plugin_manager.world.accept("f1", self._on_f1_pressed) return True def disable(self) -> bool: """ 禁用插件 """ if not super().disable(): return False print(f"禁用插件: {self.name}") # 清理群体 if self.swarm_manager: self.swarm_manager.cleanup() # 移除事件处理器 self.plugin_manager.world.ignore("f1") return True def finalize(self): """ 清理插件资源 """ print(f"清理插件资源: {self.name}") # 在这里执行最终清理逻辑 def get_info(self) -> dict: """ 获取插件信息 """ info = super().get_info() info.update({ "version": self.config.get("version", "1.0.0"), "author": self.config.get("author", "Unknown"), "description": self.config.get("description", "Base plugin class") }) return info def _on_f1_pressed(self): """ F1按键处理函数 """ print("群体智能插件: F1按键被按下") if self.swarm_manager: self.swarm_manager.toggle_pause() ''' # swarm_manager.py swarm_manager_code = ''' """ 群体管理器 负责创建和管理群体成员 """ from panda3d.core import Vec3, Point3 import random class SwarmManager: """ 群体管理器 负责创建和管理群体成员 """ def __init__(self, world): self.world = world self.members = [] self.paused = False self.task = None # 群体参数 self.cohesion_weight = 1.0 self.separation_weight = 1.5 self.alignment_weight = 1.0 self.max_speed = 5.0 self.perception_radius = 10.0 # 启动更新任务 self.task = self.world.taskMgr.add(self._update_task, "swarm_update_task") def create_example_swarm(self): """ 创建示例群体 """ # 创建20个群体成员 for i in range(20): # 随机位置 pos = Vec3( random.uniform(-20, 20), random.uniform(-20, 20), random.uniform(5, 15) ) # 创建简单的球体代表群体成员 member = self.world.loader.loadModel("models/misc/sphere") member.reparentTo(self.world.render) member.setPos(pos) member.setScale(0.5) # 随机初始速度 velocity = Vec3( random.uniform(-1, 1), random.uniform(-1, 1), random.uniform(-1, 1) ) # 添加到群体成员列表 self.members.append({ 'node': member, 'position': pos, 'velocity': velocity }) def _update_task(self, task): """ 更新任务 """ if not self.paused: self._update_swarm() return task.cont def _update_swarm(self): """ 更新群体行为 """ for i, member in enumerate(self.members): # 计算邻居 neighbors = self._find_neighbors(member, i) # 计算三个基本力 cohesion_force = self._calculate_cohesion(member, neighbors) separation_force = self._calculate_separation(member, neighbors) alignment_force = self._calculate_alignment(member, neighbors) # 应用权重 cohesion_force *= self.cohesion_weight separation_force *= self.separation_weight alignment_force *= self.alignment_weight # 计算总加速度 acceleration = cohesion_force + separation_force + alignment_force # 更新速度和位置 member['velocity'] += acceleration # 限制最大速度 if member['velocity'].length() > self.max_speed: member['velocity'].normalize() member['velocity'] *= self.max_speed member['position'] += member['velocity'] member['node'].setPos(member['position']) def _find_neighbors(self, member, index): """ 查找邻居 """ neighbors = [] for i, other in enumerate(self.members): if i != index: # 排除自己 distance = (member['position'] - other['position']).length() if distance < self.perception_radius: neighbors.append(other) return neighbors def _calculate_cohesion(self, member, neighbors): """ 计算聚集力 """ if not neighbors: return Vec3(0, 0, 0) # 计算邻居的中心位置 center = Vec3(0, 0, 0) for neighbor in neighbors: center += neighbor['position'] center /= len(neighbors) # 返回指向中心的向量 return (center - member['position']).normalized() def _calculate_separation(self, member, neighbors): """ 计算分离力 """ if not neighbors: return Vec3(0, 0, 0) separation = Vec3(0, 0, 0) for neighbor in neighbors: diff = member['position'] - neighbor['position'] distance = diff.length() if distance > 0: # 避免除零 # 距离越近，分离力越大 separation += diff.normalized() / distance if len(neighbors) > 0: separation /= len(neighbors) return separation.normalized() if separation.length() > 0 else separation def _calculate_alignment(self, member, neighbors): """ 计算对齐力 """ if not neighbors: return Vec3(0, 0, 0) # 计算邻居的平均速度方向 avg_velocity = Vec3(0, 0, 0) for neighbor in neighbors: avg_velocity += neighbor['velocity'] avg_velocity /= len(neighbors) return avg_velocity.normalized() def toggle_pause(self): """ 切换暂停状态 """ self.paused = not self.paused print(f"群体模拟{'已暂停' if self.paused else '已恢复'}") def cleanup(self): """ 清理资源 """ # 移除任务 if self.task: self.world.taskMgr.remove(self.task) # 移除所有群体成员 for member in self.members: member['node'].removeNode() self.members.clear() ''' # config.py config_code = ''' """ 群体智能插件配置 """ class Config: """ 配置管理类 """ def __init__(self): # 默认配置 self.default_settings = { "cohesion_weight": 1.0, "separation_weight": 1.5, "alignment_weight": 1.0, "max_speed": 5.0, "perception_radius": 10.0, "member_count": 20 } # 当前配置 self.settings = self.default_settings.copy() def get(self, key, default=None): """ 获取配置值 """ return self.settings.get(key, default) def set(self, key, value): """ 设置配置值 """ self.settings[key] = value def reset_to_default(self): """ 重置为默认配置 """ self.settings = self.default_settings.copy() def load_from_dict(self, config_dict): """ 从字典加载配置 """ self.settings.update(config_dict) def to_dict(self): """ 导出配置为字典 """ return self.settings.copy() ''' # boids_algorithm.py boids_algorithm_code = ''' """ Boids算法实现 """ from panda3d.core import Vec3 class BoidsAlgorithm: """ Boids算法实现类 """ def __init__(self, config): self.config = config def calculate_cohesion(self, member, neighbors): """ 计算聚集力 """ if not neighbors: return Vec3(0, 0, 0) # 计算邻居的中心位置 center = Vec3(0, 0, 0) for neighbor in neighbors: center += neighbor['position'] center /= len(neighbors) # 返回指向中心的向量 return (center - member['position']).normalized() def calculate_separation(self, member, neighbors): """ 计算分离力 """ if not neighbors: return Vec3(0, 0, 0) separation = Vec3(0, 0, 0) for neighbor in neighbors: diff = member['position'] - neighbor['position'] distance = diff.length() if distance > 0: # 避免除零 # 距离越近，分离力越大 separation += diff.normalized() / distance if len(neighbors) > 0: separation /= len(neighbors) return separation.normalized() if separation.length() > 0 else separation def calculate_alignment(self, member, neighbors): """ 计算对齐力 """ if not neighbors: return Vec3(0, 0, 0) # 计算邻居的平均速度方向 avg_velocity = Vec3(0, 0, 0) for neighbor in neighbors: avg_velocity += neighbor['velocity'] avg_velocity /= len(neighbors) return avg_velocity.normalized() def calculate_obstacle_avoidance(self, member, obstacles): """ 计算避障力 """ # 简单实现，实际应用中可以更复杂 avoidance = Vec3(0, 0, 0) for obstacle in obstacles: diff = member['position'] - obstacle['position'] distance = diff.length() if distance < obstacle['radius']: avoidance += diff.normalized() / distance return avoidance.normalized() if avoidance.length() > 0 else avoidance def update_member(self, member, neighbors, obstacles=[]): """ 更新群体成员状态 """ # 计算三个基本力 cohesion_force = self.calculate_cohesion(member, neighbors) separation_force = self.calculate_separation(member, neighbors) alignment_force = self.calculate_alignment(member, neighbors) # 计算避障力 obstacle_force = self.calculate_obstacle_avoidance(member, obstacles) # 应用权重 cohesion_force *= self.config.get("cohesion_weight", 1.0) separation_force *= self.config.get("separation_weight", 1.5) alignment_force *= self.config.get("alignment_weight", 1.0) obstacle_force *= self.config.get("obstacle_weight", 2.0) # 计算总加速度 acceleration = cohesion_force + separation_force + alignment_force + obstacle_force # 更新速度和位置 member['velocity'] += acceleration # 限制最大速度 max_speed = self.config.get("max_speed", 5.0) if member['velocity'].length() > max_speed: member['velocity'].normalize() member['velocity'] *= max_speed member['position'] += member['velocity'] ''' # gui.py gui_code = ''' """ 群体智能插件GUI界面 """ from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QPushButton, QSlider, QLabel, QGroupBox from PyQt5.QtCore import Qt class SwarmGUI(QWidget): """ 群体智能插件GUI界面 """ def __init__(self, swarm_manager, config): super().__init__() self.swarm_manager = swarm_manager self.config = config self.init_ui() def init_ui(self): """ 初始化UI界面 """ self.setWindowTitle('群体智能控制面板') self.setGeometry(100, 100, 300, 400) layout = QVBoxLayout() # 控制按钮组 control_group = QGroupBox("控制") control_layout = QHBoxLayout() self.pause_button = QPushButton("暂停/继续") self.pause_button.clicked.connect(self.toggle_pause) control_layout.addWidget(self.pause_button) reset_button = QPushButton("重置") reset_button.clicked.connect(self.reset_swarm) control_layout.addWidget(reset_button) control_group.setLayout(control_layout) layout.addWidget(control_group) # 参数调节组 params_group = QGroupBox("参数调节") params_layout = QVBoxLayout() # 聚集权重 cohesion_layout = QHBoxLayout() cohesion_layout.addWidget(QLabel("聚集权重:")) self.cohesion_slider = QSlider(Qt.Horizontal) self.cohesion_slider.setRange(0, 50) self.cohesion_slider.setValue(int(self.config.get("cohesion_weight", 1.0) * 10)) self.cohesion_slider.valueChanged.connect(self.update_cohesion_weight) cohesion_layout.addWidget(self.cohesion_slider) # 分离权重 separation_layout = QHBoxLayout() separation_layout.addWidget(QLabel("分离权重:")) self.separation_slider = QSlider(Qt.Horizontal) self.separation_slider.setRange(0, 50) self.separation_slider.setValue(int(self.config.get("separation_weight", 1.5) * 10)) self.separation_slider.valueChanged.connect(self.update_separation_weight) separation_layout.addWidget(self.separation_slider) # 对齐权重 alignment_layout = QHBoxLayout() alignment_layout.addWidget(QLabel("对齐权重:")) self.alignment_slider = QSlider(Qt.Horizontal) self.alignment_slider.setRange(0, 50) self.alignment_slider.setValue(int(self.config.get("alignment_weight", 1.0) * 10)) self.alignment_slider.valueChanged.connect(self.update_alignment_weight) alignment_layout.addWidget(self.alignment_slider) # 最大速度 speed_layout = QHBoxLayout() speed_layout.addWidget(QLabel("最大速度:")) self.speed_slider = QSlider(Qt.Horizontal) self.speed_slider.setRange(1, 20) self.speed_slider.setValue(int(self.config.get("max_speed", 5.0))) self.speed_slider.valueChanged.connect(self.update_max_speed) speed_layout.addWidget(self.speed_slider) # 感知半径 radius_layout = QHBoxLayout() radius_layout.addWidget(QLabel("感知半径:")) self.radius_slider = QSlider(Qt.Horizontal) self.radius_slider.setRange(1, 50) self.radius_slider.setValue(int(self.config.get("perception_radius", 10.0))) self.radius_slider.valueChanged.connect(self.update_perception_radius) radius_layout.addWidget(self.radius_slider) params_group.setLayout(params_layout) layout.addWidget(params_group) # 状态信息组 status_group = QGroupBox("状态信息") status_layout = QVBoxLayout() self.status_label = QLabel("群体成员数量: 0") status_layout.addWidget(self.status_label) status_group.setLayout(status_layout) layout.addWidget(status_group) self.setLayout(layout) def toggle_pause(self): """ 切换暂停状态 """ if self.swarm_manager: self.swarm_manager.toggle_pause() def reset_swarm(self): """ 重置群体 """ if self.swarm_manager: self.swarm_manager.cleanup() self.swarm_manager.create_example_swarm() self.update_status() def update_cohesion_weight(self, value): """ 更新聚集权重 """ weight = value / 10.0 self.config.set("cohesion_weight", weight) if self.swarm_manager: self.swarm_manager.cohesion_weight = weight def update_separation_weight(self, value): """ 更新分离权重 """ weight = value / 10.0 self.config.set("separation_weight", weight) if self.swarm_manager: self.swarm_manager.separation_weight = weight def update_alignment_weight(self, value): """ 更新对齐权重 """ weight = value / 10.0 self.config.set("alignment_weight", weight) if self.swarm_manager: self.swarm_manager.alignment_weight = weight def update_max_speed(self, value): """ 更新最大速度 """ self.config.set("max_speed", float(value)) if self.swarm_manager: self.swarm_manager.max_speed = float(value) def update_perception_radius(self, value): """ 更新感知半径 """ self.config.set("perception_radius", float(value)) if self.swarm_manager: self.swarm_manager.perception_radius = float(value) def update_status(self): """ 更新状态信息 """ if self.swarm_manager: count = len(self.swarm_manager.members) self.status_label.setText(f"群体成员数量: {count}") ''' # __init__.py init_code = ''' """ 群体智能插件初始化 """ from .plugin import Plugin from .swarm_manager import SwarmManager from .boids_algorithm import BoidsAlgorithm from .config import Config from .gui import SwarmGUI __all__ = ['Plugin', 'SwarmManager', 'BoidsAlgorithm', 'Config', 'SwarmGUI'] ''' # Create the plugin directory and files import os plugin_dir = "/home/hello/EG/plugins/user/swarm_intelligence" os.makedirs(plugin_dir, exist_ok=True) # Write the files with open(os.path.join(plugin_dir, "plugin.py"), "w", encoding="utf-8") as f: f.write(plugin_code) with open(os.path.join(plugin_dir, "swarm_manager.py"), "w", encoding="utf-8") as f: f.write(swarm_manager_code) with open(os.path.join(plugin_dir, "config.py"), "w", encoding="utf-8") as f: f.write(config_code) with open(os.path.join(plugin_dir, "boids_algorithm.py"), "w", encoding="utf-8") as f: f.write(boids_algorithm_code) with open(os.path.join(plugin_dir, "gui.py"), "w", encoding="utf-8") as f: f.write(gui_code) with open(os.path.join(plugin_dir, "__init__.py"), "w", encoding="utf-8") as f: f.write(init_code) print("群体智能插件已成功创建！") print("插件包含以下功能：") print("1. Boids群体智能算法实现") print("2. 可调节的群体行为参数") print("3. 可视化控制面板") print("4. 实时参数调节") print("5. 暂停/继续控制") print("6. 示例场景") print("7. 完整的插件生命周期管理")