class LineInterceptionCalculatorTest(TestCase):
def setUp(self):
self.lineCalculator = LineInterceptionCalculator()
def test_twoLineWithoutIntersection(self):
intersection = self.lineCalculator.findInterception((0,0), (100,0), (100,100), (200,100))
self.assertEqual(intersection, False)
def test_twoLineWithIntersection(self):
intersection = self.lineCalculator.findInterception((0,0), (-10,-10), (0,0), (-10,10))
theTrueIntersection = (0,0)
self.assertEqual(intersection[0], theTrueIntersection[0])
self.assertEqual(intersection[1], theTrueIntersection[1])
class LineInterceptionCalculatorTest(TestCase):
def setUp(self):
self.lineCalculator = LineInterceptionCalculator()
def test_twoLineWithoutIntersection(self):
intersection = self.lineCalculator.findInterception(
(0, 0), (100, 0), (100, 100), (200, 100))
self.assertEqual(intersection, False)
def test_twoLineWithIntersection(self):
intersection = self.lineCalculator.findInterception((0, 0), (-10, -10),
(0, 0), (-10, 10))
theTrueIntersection = (0, 0)
self.assertEqual(intersection[0], theTrueIntersection[0])
self.assertEqual(intersection[1], theTrueIntersection[1])
def __init__(self, graph):
self.lineInterceptionCalculator = LineInterceptionCalculator()
self.graph = graph
class LineOfSightCalculator:
def __init__(self, graph):
self.lineInterceptionCalculator = LineInterceptionCalculator()
self.graph = graph
def tryStraightLine(self, goodPaths):
for compteurPath in range(0, goodPaths.__len__()):
currentPath = goodPaths[compteurPath]
nodesToBeRemoved = []
compteurNode = 0
while compteurNode < currentPath.__len__():
currentNode = currentPath[compteurNode]
compteurFinalNode = currentPath.__len__() - 1
lineOfSight = False
while compteurFinalNode > compteurNode + 1:
finalNode = currentPath[compteurFinalNode]
lineOfSight = self.__nodesHasLineOfSight(
currentNode, finalNode, lineOfSight)
if lineOfSight == True:
for compteurRemoved in range(compteurNode + 1,
compteurFinalNode):
nodesToBeRemoved.append(
currentPath[compteurRemoved])
compteurNode = compteurFinalNode - 1
compteurFinalNode += -1
compteurNode += 1
for compteurToBeRemoved in range(0, nodesToBeRemoved.__len__()):
currentPath.remove(nodesToBeRemoved[compteurToBeRemoved])
def __nodesHasLineOfSight(self, currentNode, finalNode, lineOfSight):
topResult = True
botResult = True
leftResult = True
rightResult = True
for compteurObstacle in range(0, self.graph.obstaclesList.__len__()):
currentObstacle = self.graph.obstaclesList[compteurObstacle]
pointA1 = (currentNode.positionX, currentNode.positionY)
pointA2 = (finalNode.positionX, finalNode.positionY)
topResult = self.__hasCollisionWithTopSideOfObstacle(
topResult, currentObstacle, pointA1, pointA2)
botResult = self.__hasCollisionWithBottomSideOfObstacle(
botResult, currentObstacle, pointA1, pointA2)
leftResult = self.__hasCollisionWithLeftSideOfObstacle(
currentObstacle, leftResult, pointA1, pointA2)
rightResult = self.__hasCollisionWithRightSideOfObstacle(
currentObstacle, pointA1, pointA2, rightResult)
if topResult == True and botResult == True and leftResult == True and rightResult == True:
lineOfSight = True
return lineOfSight
def __hasCollisionWithRightSideOfObstacle(self, currentObstacle, pointA1,
pointA2, rightResult):
pointB1 = (currentObstacle.positionX + self.graph.SAFE_MARGIN,
currentObstacle.positionY - self.graph.SAFE_MARGIN)
pointB2 = (currentObstacle.positionX + self.graph.SAFE_MARGIN,
currentObstacle.positionY + self.graph.SAFE_MARGIN)
sortedAPoints = [pointA1, pointA2]
sortedAPoints.sort(key=lambda pointA: pointA[1])
intersection = self.lineInterceptionCalculator.findInterception(
pointA1, pointA2, pointB1, pointB2)
if intersection != False:
if self.__isInYRange(intersection, sortedAPoints[0],
sortedAPoints[1], pointB1, pointB2):
rightResult = False
return rightResult
def __hasCollisionWithLeftSideOfObstacle(self, currentObstacle, leftResult,
pointA1, pointA2):
pointB1 = (currentObstacle.positionX - self.graph.SAFE_MARGIN,
currentObstacle.positionY - self.graph.SAFE_MARGIN)
pointB2 = (currentObstacle.positionX - self.graph.SAFE_MARGIN,
currentObstacle.positionY + self.graph.SAFE_MARGIN)
sortedAPoints = [pointA1, pointA2]
sortedAPoints.sort(key=lambda pointA: pointA[1])
intersection = self.lineInterceptionCalculator.findInterception(
pointA1, pointA2, pointB1, pointB2)
if intersection != False:
if self.__isInYRange(intersection, sortedAPoints[0],
sortedAPoints[1], pointB1, pointB2):
leftResult = False
return leftResult
def __hasCollisionWithBottomSideOfObstacle(self, botResult,
currentObstacle, pointA1,
pointA2):
pointB1 = (currentObstacle.positionX - self.graph.SAFE_MARGIN,
currentObstacle.positionY + self.graph.SAFE_MARGIN)
pointB2 = (currentObstacle.positionX + self.graph.SAFE_MARGIN,
currentObstacle.positionY + self.graph.SAFE_MARGIN)
sortedAPoints = [pointA1, pointA2]
sortedAPoints.sort(key=lambda pointA: pointA[0])
intersection = self.lineInterceptionCalculator.findInterception(
pointA1, pointA2, pointB1, pointB2)
if intersection != False:
if self.__isInXRange(intersection, sortedAPoints[0],
sortedAPoints[1], pointB1, pointB2):
botResult = False
return botResult
def __hasCollisionWithTopSideOfObstacle(self, topResult, currentObstacle,
pointA1, pointA2):
pointB1 = (currentObstacle.positionX - self.graph.SAFE_MARGIN,
currentObstacle.positionY - self.graph.SAFE_MARGIN)
pointB2 = (currentObstacle.positionX + self.graph.SAFE_MARGIN,
currentObstacle.positionY - self.graph.SAFE_MARGIN)
intersection = self.lineInterceptionCalculator.findInterception(
pointA1, pointA2, pointB1, pointB2)
sortedAPoints = [pointA1, pointA2]
sortedAPoints.sort(key=lambda pointA: pointA[0])
if intersection != False:
if self.__isInXRange(intersection, sortedAPoints[0],
sortedAPoints[1], pointB1, pointB2):
topResult = False
return topResult
def __isInXRange(self, intersection, pointA1, pointA2, pointB1, pointB2):
return (intersection[0] <= pointB2[0] and intersection[0] >= pointB1[0]
) and (intersection[0] <= pointA2[0]
and intersection[0] >= pointA1[0])
def __isInYRange(self, intersection, pointA1, pointA2, pointB1, pointB2):
return (intersection[1] <= pointB2[1] and intersection[1] >= pointB1[1]
) and (intersection[1] <= pointA2[1]
and intersection[1] >= pointA1[1])
def setUp(self):
self.lineCalculator = LineInterceptionCalculator()
def setUp(self):
self.lineCalculator = LineInterceptionCalculator()
def __init__(self, graph):
self.lineInterceptionCalculator = LineInterceptionCalculator()
self.graph = graph
class LineOfSightCalculator:
def __init__(self, graph):
self.lineInterceptionCalculator = LineInterceptionCalculator()
self.graph = graph
def tryStraightLine(self, goodPaths):
for compteurPath in range(0, goodPaths.__len__()):
currentPath = goodPaths[compteurPath]
nodesToBeRemoved = []
compteurNode = 0
while compteurNode < currentPath.__len__():
currentNode = currentPath[compteurNode]
compteurFinalNode = currentPath.__len__()-1
lineOfSight = False
while compteurFinalNode > compteurNode+1:
finalNode = currentPath[compteurFinalNode]
lineOfSight = self.__nodesHasLineOfSight(currentNode, finalNode, lineOfSight)
if lineOfSight == True:
for compteurRemoved in range(compteurNode+1, compteurFinalNode):
nodesToBeRemoved.append(currentPath[compteurRemoved])
compteurNode = compteurFinalNode -1
compteurFinalNode += -1
compteurNode += 1
for compteurToBeRemoved in range(0, nodesToBeRemoved.__len__()):
currentPath.remove(nodesToBeRemoved[compteurToBeRemoved])
def __nodesHasLineOfSight(self, currentNode, finalNode, lineOfSight):
topResult = True
botResult = True
leftResult = True
rightResult = True
for compteurObstacle in range(0, self.graph.obstaclesList.__len__()):
currentObstacle = self.graph.obstaclesList[compteurObstacle]
pointA1 = (currentNode.positionX, currentNode.positionY)
pointA2 = (finalNode.positionX, finalNode.positionY)
topResult = self.__hasCollisionWithTopSideOfObstacle(topResult, currentObstacle, pointA1, pointA2)
botResult = self.__hasCollisionWithBottomSideOfObstacle(botResult, currentObstacle, pointA1, pointA2)
leftResult = self.__hasCollisionWithLeftSideOfObstacle(currentObstacle, leftResult, pointA1, pointA2)
rightResult = self.__hasCollisionWithRightSideOfObstacle(currentObstacle, pointA1, pointA2, rightResult)
if topResult == True and botResult == True and leftResult == True and rightResult == True:
lineOfSight = True
return lineOfSight
def __hasCollisionWithRightSideOfObstacle(self, currentObstacle, pointA1, pointA2, rightResult):
pointB1 = (
currentObstacle.positionX + self.graph.SAFE_MARGIN, currentObstacle.positionY - self.graph.SAFE_MARGIN)
pointB2 = (
currentObstacle.positionX + self.graph.SAFE_MARGIN, currentObstacle.positionY + self.graph.SAFE_MARGIN)
sortedAPoints = [pointA1, pointA2]
sortedAPoints.sort(key=lambda pointA: pointA[1])
intersection = self.lineInterceptionCalculator.findInterception(pointA1, pointA2, pointB1, pointB2)
if intersection != False:
if self.__isInYRange(intersection, sortedAPoints[0], sortedAPoints[1], pointB1, pointB2):
rightResult = False
return rightResult
def __hasCollisionWithLeftSideOfObstacle(self, currentObstacle, leftResult, pointA1, pointA2):
pointB1 = (
currentObstacle.positionX - self.graph.SAFE_MARGIN, currentObstacle.positionY - self.graph.SAFE_MARGIN)
pointB2 = (
currentObstacle.positionX - self.graph.SAFE_MARGIN, currentObstacle.positionY + self.graph.SAFE_MARGIN)
sortedAPoints = [pointA1, pointA2]
sortedAPoints.sort(key=lambda pointA: pointA[1])
intersection = self.lineInterceptionCalculator.findInterception(pointA1, pointA2, pointB1, pointB2)
if intersection != False:
if self.__isInYRange(intersection, sortedAPoints[0], sortedAPoints[1], pointB1, pointB2):
leftResult = False
return leftResult
def __hasCollisionWithBottomSideOfObstacle(self, botResult, currentObstacle, pointA1, pointA2):
pointB1 = (
currentObstacle.positionX - self.graph.SAFE_MARGIN, currentObstacle.positionY + self.graph.SAFE_MARGIN)
pointB2 = (
currentObstacle.positionX + self.graph.SAFE_MARGIN, currentObstacle.positionY + self.graph.SAFE_MARGIN)
sortedAPoints = [pointA1, pointA2]
sortedAPoints.sort(key=lambda pointA: pointA[0])
intersection = self.lineInterceptionCalculator.findInterception(pointA1, pointA2, pointB1, pointB2)
if intersection != False:
if self.__isInXRange(intersection, sortedAPoints[0], sortedAPoints[1], pointB1, pointB2):
botResult = False
return botResult
def __hasCollisionWithTopSideOfObstacle(self, topResult, currentObstacle, pointA1, pointA2):
pointB1 = (currentObstacle.positionX - self.graph.SAFE_MARGIN, currentObstacle.positionY - self.graph.SAFE_MARGIN)
pointB2 = (currentObstacle.positionX + self.graph.SAFE_MARGIN, currentObstacle.positionY - self.graph.SAFE_MARGIN)
intersection = self.lineInterceptionCalculator.findInterception(pointA1, pointA2, pointB1, pointB2)
sortedAPoints = [pointA1, pointA2]
sortedAPoints.sort(key=lambda pointA: pointA[0])
if intersection != False:
if self.__isInXRange(intersection, sortedAPoints[0], sortedAPoints[1], pointB1, pointB2):
topResult = False
return topResult
def __isInXRange(self,intersection, pointA1, pointA2, pointB1, pointB2):
return (intersection[0] <= pointB2[0] and intersection[0] >= pointB1[0]) and (
intersection[0] <= pointA2[0] and intersection[0] >= pointA1[0])
def __isInYRange(self,intersection, pointA1, pointA2, pointB1, pointB2):
return (intersection[1] <= pointB2[1] and intersection[1] >= pointB1[1]) and (
intersection[1] <= pointA2[1] and intersection[1] >= pointA1[1])
