def check(i,j):
'''
Checks the endpoints and returns two that don't already exist in the
structure. If they do already exist, then it returns two endpoints that
don't. It does this by changing the j-endpoint. This function also takes
into account making sure that the returned value is still within the
robot's tendency to build up. (ie, it does not return a beam which would
build below the limit angle_constraint)
'''
# There is already a beam here, so let's move our current beam slightly to
# some side
if not self.structure.available(i,j):
# Create a small disturbace
lim = variables.random
f = random.uniform
disturbance = (f(-1*lim,lim),f(-1*lim,lim),f(-1*lim,lim))
# find the new j-point for the beam
new_j = helpers.beam_endpoint(i,helpers.sum_vectors(j,disturbance))
return check(i,new_j)
else:
# Calculate the actual endpoint of the beam (now that we now direction
# vector)
return (i,helpers.beam_endpoint(i,j))
def acceptable_support(angle,coord):
# Find beam endpoints
beam_endpoint = helpers.beam_endpoint(pivot,coord)
# Calculate angle from vertical of beam we wish to construct based on the
# information we've gathered
from_vertical = (angle_from_vertical + angle if beam_endpoint[2] <=
endpoint[2] else angle_from_vertical - angle)
simple = not (from_vertical < min_constraining_angle or from_vertical >
max_constraining_angle)
# On the ground
if self.beam is None:
return simple
# On a beam, so check our support_angle_difference
else:
beam_vector = helpers.make_vector(self.beam.endpoints.i,
self.beam.endpoints.j)
support_vector = helpers.make_vector(self.location,coord)
angle = helpers.smallest_angle(beam_vector,support_vector)
real_angle = abs(90-angle) if angle > 90 else angle
return simple and real_angle > construction.beam['support_angle_difference']
def support_beam_endpoint(self):
'''
Returns the endpoint for a support beam
'''
#pdb.set_trace()
# Get broken beam
e1,e2 = self.structure.get_endpoints(self.memory['broken_beam_name'],
self.location)
# Direction
v = helpers.make_unit(helpers.make_vector(e1,e2))
# Get pivot and repair beam midpoint
pivot = self.location
midpoint1 = helpers.midpoint(e1,e2)
# Upper midpoint to encourate upward building
midpoint = helpers.midpoint(e2,midpoint1)
# Add an offset to mimick inability to determine location exactly
offset = helpers.scale(random.uniform(-1*variables.random,variables.random),v)
midpoint = (helpers.sum_vectors(midpoint,offset) if random.randint(0,4) == 1
else midpoint)
# Calculate starting beam_endpoint
endpoint = helpers.beam_endpoint(pivot,midpoint)
# Calculate angle from vertical
angle_from_vertical = helpers.smallest_angle(helpers.make_vector(pivot,
endpoint),(0,0,1))
# Get angles
sorted_angles = self.local_angles(pivot,endpoint)
min_support_angle,max_support_angle = self.get_angles()
min_constraining_angle,max_constraining_angle = self.get_angles(
support=False)
# Defining here to have access to min,max, etc.
def acceptable_support(angle,coord):
# Find beam endpoints
beam_endpoint = helpers.beam_endpoint(pivot,coord)
# Calculate angle from vertical of beam we wish to construct based on the
# information we've gathered
from_vertical = (angle_from_vertical + angle if beam_endpoint[2] <=
endpoint[2] else angle_from_vertical - angle)
simple = not (from_vertical < min_constraining_angle or from_vertical >
max_constraining_angle)
# On the ground
if self.beam is None:
return simple
# On a beam, so check our support_angle_difference
else:
beam_vector = helpers.make_vector(self.beam.endpoints.i,
self.beam.endpoints.j)
support_vector = helpers.make_vector(self.location,coord)
angle = helpers.smallest_angle(beam_vector,support_vector)
real_angle = abs(90-angle) if angle > 90 else angle
return simple and real_angle > construction.beam['support_angle_difference']
return_coord = None
for coord,angle in sorted_angles:
if acceptable_support(angle,coord) and helpers.on_line(e1,e2,coord):
self.memory['broken_beam_name'] = ''
return coord
elif acceptable_support(angle,coord):
return_coord = coord
if return_coord is not None:
return return_coord
else:
# Otherwise, do default behaviour
return super(Repairer,self).support_beam_endpoint()
