def i_can_see(self, point):
pos, com, success = self.perception
if self.phase == 2:
point = point.copy() - self.position
elif self.phase > 2:
point = self.transform(point.copy() - self.position)
else:
point = point.copy()
return lineofsight(point,array([0,0]),pos)
def drawocclusionshading(self, cc, state):
if self.selectedbee is not None:
pos = next((x[0] for x in state if x[1] is self.selectedbee), None)
positions, bees, movement, communication = map(list, zip(*state))
xmin,ymin = self.fi(array([0,0]))
xmax,ymax = self.fi(array([1,1]))
for square in iterprod(range(int(xmin)-2,int(xmax)+2),
range(int(ymin)-2,int(ymax)+2)):
square = array(square)
if not lineofsight(pos, square, positions):
x,y = self.f(square)
cc.save()
cc.translate(x,y)
cc.scale(1/self.worldsize[0], 1/self.worldsize[1])
cc.rectangle(-0.5,-0.5,1,1)
cc.restore()
cc.set_source_rgb(0.9, 0.9, 0.9)
cc.fill()
