def computeLocationAsLine(j): #STEP 0: Compute jointB's unit vector inv = j.jointA.copy() locA = j.jointA.copy() locB = j.jointB.copy() inv.negative() locB.add(inv) l = locB.findLength(location(0,0,0)) #STEP 1: Multiply new span length times the unit vector locD = location(locA.x + locB.x * j.spanA.l/l, locA.y + locB.y * j.spanA.l/l, locA.z + locB.z * j.spanA.l/l) return locD
def solvePointToLine(xe,ye,ze,x1,y1,z1,x2,y2,z2,r,debugPrint=False): a = (x1*x1-2*x1*x2+x2*x2) + (y1*y1-2*y1*y2+y2*y2) + (z1*z1-2*z1*z2+z2*z2) b = 2.0*(x1*x2-x1*xe-x2*x2+x2*xe + y1*y2-y1*ye-y2*y2+y2*ye + z1*z2-z1*ze-z2*z2+z2*ze) c = x2*x2-2*x2*xe+xe*xe + y2*y2-2*y2*ye+ye*ye + z2*z2-2*z2*ze+ze*ze - r*r if debugPrint: print 'x1:%f,x2:%f,y1:%f,y2:%f,z1:%f,z2:%f,xe:%f,ye:%f,ze:%f,r:%f,a:%f,b:%f,c:%f'%(x1,x2,y1,y2,z1,z1,xe,ye,ze,r,a,b,c) #It's possible for A to become nearly zero but not quite, giving totally bad solutions as things are divided by a very small number if jgh.isEssentiallyZero(a) or jgh.tolerantSqrt(b*b - 4.0*a*c,handleExceptions=True) == 'NULL': if debugPrint: print "Endpts: Unable to make ptA or ptB" return ['NULL','NULL'] na = (-b + jgh.tolerantSqrt(b*b - 4.0*a*c))/(2.0*a) nb = (-b - jgh.tolerantSqrt(b*b - 4.0*a*c))/(2.0*a) #STEP 2: ptA = location(na*(x1-x2)+x2,na*(y1-y2)+y2,na*(z1-z2)+z2) ptB = location(nb*(x1-x2)+x2,nb*(y1-y2)+y2,nb*(z1-z2)+z2) return ptA,ptB
def create_next_locations(currentlocation, next_location_names,
distance_directory):
next_locations = []
for city in next_location_names:
#print 'adding '+city+'with previous city - '+currentlocation.city
next_location = location(city, currentlocation, distance_directory)
next_locations.append(next_location)
currentlocation.state = 'explored'
#print next_locations
return next_locations
def explore_child_nodes(self, node):
destination = None
for option in node.next_location_names:
#print 'Exploring option: '+option+' - from parent node: '+ node.city
option_node = location(option, node, self.distance_directory)
if super(Depth_First_Finder,
self).checkIsDestination(option_node.city):
return option_node
elif not super(Depth_First_Finder, self).is_dead_end(option_node):
return self.explore_child_nodes(option_node)
def getDisplayCoordinates(self,structDisp,loc): newLoc = loc.copy() #Center it -- We don't center it first because the center is computed based on the perspective #newLoc.add(location(-self.xCenter,-self.yCenter,-self.zCenter)) #Rotate it newLoc.rotateY(self.yRotate*math.pi*2.0) newLoc.rotateX(-self.xRotate*math.pi*2.0) #Resize it for display newLoc.add(location(-self.xCenter,-self.yCenter,0.0))#This z part doesn't matter since we already rotated newLoc.x = self.internal_sizeAndPlaceForDisplay(newLoc.x,structDisp.imageResize,True) newLoc.y = self.internal_sizeAndPlaceForDisplay(newLoc.y,structDisp.imageResize,False) return newLoc
def searchRoute(self):
if super(Depth_First_Finder, self).checkIsDestination(self.origin):
print('origin is destination')
super(Depth_First_Finder, self).printRoute(None)
else:
origin_node = location(self.origin, None, self.distance_directory)
#search_tree = [origin_node]
destination = None
if not super(Depth_First_Finder, self).is_dead_end(origin_node):
destination = self.explore_child_nodes(origin_node)
super(Depth_First_Finder, self).printRoute(destination)
else:
print('you are in island')
return self.route
def explore_child_nodes(self, node, depth, limit):
destination = None
for option in node.next_location_names:
#print 'Exploring option: '+option+' - from parent node: '+ node.city + ' Index - '+str(depth)+'limit - '+str(limit)
option_node = location(option, node, self.distance_directory)
if int(depth) >= int(limit):
return None
elif super(Iterative_Depth_Finder,
self).checkIsDestination(option_node.city):
return option_node
elif (not super(Iterative_Depth_Finder,
self).is_dead_end(option_node)):
destination = self.explore_child_nodes(option_node, depth + 1,
limit)
if destination != None:
return destination
def searchRoute(self):
#print 'inside bfs finder'
if super(Breadth_First_Finder, self).checkIsDestination(self.origin):
print('origin is destination')
super(Breadth_First_Finder, self).printRoute(None)
else:
origin_node = location(self.origin, None, self.distance_directory)
search_tree = [origin_node]
destination = None
if not super(Breadth_First_Finder, self).is_dead_end(origin_node):
#print 'have frontiers'
#print origin_node.next_location_names
for node in search_tree:
#print node.city
if super(Breadth_First_Finder,
self).checkIsDestination(node.city):
destination = node
break
else:
search_tree.extend(
create_next_locations(node,
node.next_location_names,
self.distance_directory))
#print len(search_tree)
#print 'Destination is:'
#print destination.city
"""self.route = [destination.city]
parent_city = destination.prev_city
while parent_city.prev_city != None:
self.route.append(parent_city.city)
parent_city = parent_city.prev_city
else:
self.route.append(parent_city.city)
self.route = list(reversed(self.route))
print self.route"""
super(Breadth_First_Finder, self).printRoute(destination)
else:
print('you are in island')
return self.route
def searchRoute(self):
#print 'inside ids finder'
if super(Iterative_Depth_Finder, self).checkIsDestination(self.origin):
print('origin is destination')
super(Iterative_Depth_Finder, self).printRoute(None)
else:
origin_node = location(self.origin, None, self.distance_directory)
destination = None
#first_iter = True
if not super(Iterative_Depth_Finder,
self).is_dead_end(origin_node):
depth = 0
while destination == None:
destination = self.explore_child_nodes(
origin_node, 0, depth + int(self.depthlimit))
depth += int(self.depthlimit)
super(Iterative_Depth_Finder, self).printRoute(destination)
else:
print('you are in island')
return self.route
def solveForXY(locA,lenA,locB,lenB):
Lab = locB.x - locA.x #Right here, we don't know the distance between the old points, we rely on them having been computed correctly.
Lal = lenA
Lpmax = lenB
Y = tolerantSqrt(math.pow(Lpmax,2.0) - math.pow((Lal*Lal - Lab*Lab - Lpmax*Lpmax)/(-2.0*Lab),2.0))
#By definition of the directions chose, this point is always above the line
locC = location(0.0,0.0,0.0)
locC.y = -Y #Because of the rotation we did, the Y is always in the negative in this space
if(Lpmax*Lpmax >= (Lab*Lab + Lal*Lal)): #The angle on point 1 is going to be obtuse
try:
locC.x = -tolerantSqrt(Lal*Lal - Y*Y)
except:
print "ERROR: Lal:%f, Y:%f"%(Lal,Y)
raise
else: #The angle on point 1 is acute
try:
locC.x = tolerantSqrt(Lal*Lal - Y*Y)
except:
print "ERROR: Lal:%f, Y:%f"%(Lal,Y)
raise
#print "Lpmax: %f, Lal:%f, Lab:%f, NewX:%f"%(Lpmax,Lal,Lab,locC.x)
return locC.x, locC.y
def computeLocationAs2D(j): #STEP 0: Copy initial points so they never drift with repeated transformations #STEP 1: Translate to make point 1 the origin #STEP 2: Rotate around Y axis till point 2 lies in Z=0 plane #STEP 3: Rotate around Z axis till point 2 lies in Y=0 plane (now must be on the X-axis) #STEP 4: Rotate around X axis till point 3 lies in Z=0 plane #STEP 4: Solve for X and Y #STEP 5: Build the solution #STEP 6: Back out all transformations #STEP 0: locA,locB,locC = copyAllJoints(j) #STEP 1: step1Inverse = jgh.moveToOrigin(locA,[locA,locB,locC]) #STEP 2: step2Inverse = jgh.rotateYToXYPlane(locB,[locA,locB,locC]) #STEP 3: step3Inverse = jgh.rotateZToXZPlane(locB,[locA,locB,locC]) #STEP 4: if(j.farOrNear == 'n'): yIsPositive = False else: yIsPositive = True step4Inverse = jgh.rotateXToXYPlane(locC,[locA,locB,locC],yIsPos=yIsPositive) #STEP 5: x,y = jgh.solveForXY(locA,j.spanA.l,locB,j.spanB.l) #BUILD SOLUTION locD = location(x,y,0) #STEP 4-inverse: jgh.rotateXToXYPlane_reverse(locD,step4Inverse) #STEP 3-inverse: jgh.rotateZToXZPlane_reverse(locD,step3Inverse) #STEP 2-inverse: jgh.rotateYToXYPlane_reverse(locD,step2Inverse) #STEP 1-inverse: jgh.moveToOrigin_reverse(locD,step1Inverse) #RETURN: The main function will set this object to have the location of locD return locD
def checkForCollisionEdgeCylinder(line,otherLine,minDistance,debugPrint=False): #debugPrint = True #STEP 1: Copy joints #STEP 2: Move so that plane orig is 0,0,0 #STEP 3: Rotate around Y axis till line is in XY-plane #STEP 4: Rotate around Z axis till line is the X-axis # -- Span/span collision -- (if the other line penetrates the cylinder around this line, it will be caught here. But it can still come in through the ends...) #STEP 5: Check X1 and Y1 to assure it's square is not zero-zero. If it is, the quad formula we'll use wont work so we'll need to give it just a quick translation #STEP 6: Find the two possible collision points (care for the 1-point case) #STEP 7: Check each point to see if it's actually on the other line #STEP 8: Check each point to see if it's actually on line la,lb,ola,olb = jgh.copyPoints(line[0],line[1],otherLine[0],otherLine[1]) allPoints = [la,lb,ola,olb] if(debugPrint): print "step 1" for pt in allPoints: print pt.toString() #STEP 2 step2Inverse = jgh.moveToOrigin(la,allPoints) if(debugPrint): print "step 2" for pt in allPoints: print pt.toString() #STEP 3: step3Inverse = jgh.rotateYToXYPlane(lb,allPoints) if(debugPrint): print "step 3" for pt in allPoints: print pt.toString() #STEP 4: step4Inverse = jgh.rotateZToXZPlane(lb,allPoints) if(debugPrint): print "step 4" for pt in allPoints: print pt.toString() #STEP 5: if ola.z*ola.z+ola.y*ola.y == 0.0: jgh.movePoints(location(0,1,1),allPoints) if debugPrint: print "step 5: had to move points" #STEP 6: z1 = ola.z y1 = ola.y x1 = ola.x z2 = olb.z y2 = olb.y x2 = olb.x ye = la.y #could pick either A or B since they should now be equal ze = la.z #Move everything onto x=0 since we're not acting like line is a point ptA,ptB = solvePointToLine(0,ye,ze,0,y1,z1,0,y2,z2,minDistance,debugPrint=debugPrint) if ptA == 'NULL' and ptB == 'NULL': if debugPrint: print "step 6: there's no point to be found here" return False else: if debugPrint: print "step 6: found points: %s\t%s"%(ptA.toString(),ptB.toString()) # Fill in the X values we ignored earlier if y1 != y2: ptA.x = ((ptA.y-y2)/(y1-y2))*(x1-x2)+x2 ptB.x = ((ptB.y-y2)/(y1-y2))*(x1-x2)+x2 elif z1 != z2: #if y is parallel, use z ptA.x = ((ptA.z-z2)/(z1-z2))*(x1-x2)+x2 ptB.x = ((ptB.z-z2)/(z1-z2))*(x1-x2)+x2 else: #Only ever get here if it's a perfect hit on a parallel line, which will also get picked up by the end caps if debugPrint: print "step 6: no solution for x" return False #STEP 7: if (ola.findLength(ptA) > ola.findLength(olb) or olb.findLength(ptA) > olb.findLength(ola)): ptA = 'NULL' if debugPrint: print "step 7: eliminating pta" if (ola.findLength(ptB) > ola.findLength(olb) or olb.findLength(ptB) > olb.findLength(ola)): ptB = 'NULL' if debugPrint: print "step 7: eliminating ptb" #STEP 8: if ptA != 'NULL': if (ptA.x < 0.0 or ptA.x > lb.x): if debugPrint: print "step 8: eliminating pta" ptA = 'NULL' if ptB != 'NULL': if (ptB.x < 0.0 or ptB.x > lb.x): if debugPrint: print "step 8: eliminating ptb" ptB = 'NULL' #RETURN if ptA != 'NULL' or ptB != 'NULL': if debugPrint: print "found an edge point that collides" return True return False
if answer == "N":
break
while True:
isExist = input("Exist? T/F: ").upper()
if isExist in ("T", "F"):
break
isExist = {"T": True, "F": False}[isExist]
while True:
isCompleted = input("Completed? T/F: ").upper()
if isCompleted in ("T", "F"):
break
isCompleted = {"T": True, "F": False}[isCompleted]
locationObj = location(building, roomNumber)
courseObj = course(CRN, subj, courseNumber, title, locationObj, credits,
attributes, grades, days, isExist, isCompleted)
courseDict[courseObj.getCRN()] = courseObj
print(courseDict[courseObj.getCRN()])
del courseObj
del locationObj
while True:
answer = input("Add more courses? T/F: ").upper()
if answer in ("T", "F"):
break
if not {"T": True, "F": False}[answer]:
print(str(i) + " course(s) added.")
break
def getanswer(msg,query,orig_query):
if msg == "<train status>":
ans = train(query)
elif msg == "<weather status>":
ans = weather(query)
elif msg == "<cricinfo module>":
ans = cric_info(orig_query)
elif msg == "<festival module>":
ans = festival(orig_query)
elif msg == "<tennis module>":
ans = tennis(orig_query)
elif msg == "<car module>":
ans=car(orig_query)
elif msg == "<tank module>":
ans=tank(orig_query)
elif msg == "<disease module>":
ans=disease(orig_query)
elif msg == "<flight module>":
ans = flight(orig_query)
elif msg == "<recipe module>":
ans = recipe(orig_query)
elif msg=="<discography module>":
ans=discography(orig_query)
elif msg=="<electronic module>":
ans=electronic(orig_query)
elif msg == "<wiki module>":
ans = wiki_module(orig_query)
elif msg == "<bank module>":
ans = bank_module(orig_query)
#elif msg == "<restaurant module>":
#ans = restaurant(orig_query)
#elif msg == "<website module>":
# ans = get_website(orig_query)
elif msg == "<stock status>":
ans = stock(query)
elif msg == "<mineral status>":
ans = mineral(query)
elif msg == "<sports status>":
ans = sports(query)
elif msg == "<movie review>":
ans = movie(query,orig_query)
elif msg == "<exam status>":
ans = exam(query)
elif msg == "<locationcentric module>":
ans = location(query)
elif msg == "<highway module>":
ans = highway(query)
elif msg == "<differences module>":
ans = differences(orig_query)
elif msg == "<currency module>":
ans = currency(query)
elif msg == "<meanings module>":
ans= meanings(orig_query)
elif msg == "<theatre module>":
ans= theatre(orig_query)
elif msg == "<minister module>":
ans= minister(orig_query)
elif msg == "<std module>":
ans= std(query)
elif msg == "<bday module>":
ans= [{"bday":[]}]
elif msg == "<highcourt module>":
ans = highcourt(orig_query)
#print "here"
return ans
def checkForCollisionPlane(lineA,lineB,colLine,minDistance,debugPrint=False): if lineA == 'NULL' or lineB == 'NULL' or colLine == 'NULL': return False #STEP 1: Copy joints #STEP 2: Move so that plane orig is 0,0,0 #STEP 3: Rotate around Y axis till plane pointA is in XY-plane #STEP 4: Rotate around Z axis till plane pointA in X-axis #STEP 5: Rotate around X axis till plane pointB is in XY-plane #STEP 6: Near edge: For each line end, check distance to Z, if less than min distance, check the point there #STEP 7: Clear cross: If the line begins and end on opposite sides of Z=0, solve for Z=0 and get the X,Y #STEP 8: Check if the angle from origin to this new point is smaller than the angle to plane pointB #STEP 9: Check if the angle from planePointA to this new point is smaller than the angle from plane pointA to plane pointB #STEP 1 plo,pla,plb,la,lb = jgh.copyPoints(lineA[0],lineA[1],lineB[1],colLine[0],colLine[1]) allPoints = [plo,pla,plb,la,lb] #STEP 2 step2Inverse = jgh.moveToOrigin(plo,allPoints) if(debugPrint): print "step 2" for pt in allPoints: print pt.toString() #STEP 3: step3Inverse = jgh.rotateYToXYPlane(pla,allPoints) if(debugPrint): print "step 3" for pt in allPoints: print pt.toString() #STEP 4: step4Inverse = jgh.rotateZToXZPlane(pla,allPoints) if(debugPrint): print "step 4" for pt in allPoints: print pt.toString() #STEP 5: step5Inverse = jgh.rotateXToXYPlane(plb,allPoints,yIsPos=True) if(debugPrint): print "step 5" for pt in allPoints: print pt.toString() ptsToCheck = [] #STEP 6: if (math.fabs(la.z)-minDistance) < 0.0: #No need to handle near-miss/hit with a fluff factor since we already have the standoff distance. tmp = la.copy() tmp.z = 0.0 ptsToCheck.append(tmp) if debugPrint: print "end point was close to plane" if (math.fabs(lb.z)-minDistance) < 0.0: #No need to handle near-miss/hit with a fluff factor since we already have the standoff distance. tmp = lb.copy() tmp.z = 0.0 ptsToCheck.append(tmp) if debugPrint: print "end point was close to plane" #STEP 7: if (la.z < 0.0 and lb.z > 0.0) or (la.z > 0.0 and lb.z < 0.0): #N(X1-X2)+X2 = X #N(Y1-Y2)+Y2 = Y #N(Z1-Z2)+Z2 = 0 tmpX = lb.x + (-lb.z/(la.z-lb.z))*(la.x-lb.x) tmpY = lb.y + (-lb.z/(la.z-lb.z))*(la.y-lb.y) tmp = location(tmpX,tmpY,0.0) ptsToCheck.append(tmp) if debugPrint: print "line goes clear through the plane" #STEP 8,9: for pt in ptsToCheck: origAngleMax = math.atan2(plb.y,plb.x) origAngleFound = math.atan2(pt.y,pt.x) farAngleMax = math.atan2(plb.y,(pla.x-plb.x)) farAngleFound = math.atan2(pt.y,(pla.x-pt.x)) if(origAngleFound > 0.0 and origAngleFound < origAngleMax and farAngleFound > 0.0 and farAngleFound < farAngleMax): if debugPrint: "line goes through the surface" return True if debugPrint: print "STEP 8,9: Not a hit. point:%s, origAngleMax:%f, origAngleFound:%f, farAngleMax:%f, farAngleFound:%f"%(pt.toString(),origAngleMax,origAngleFound,farAngleMax,farAngleFound) return False
if answer == "N":
break
while True:
isExist = input("Exist? T/F: ").upper()
if isExist in ("T","F"):
break
isExist = {"T":True,"F":False}[isExist]
while True:
isCompleted = input("Completed? T/F: ").upper()
if isCompleted in ("T","F"):
break
isCompleted = {"T":True,"F":False}[isCompleted]
locationObj = location(building,roomNumber)
courseObj = course(CRN, subj, courseNumber, title, locationObj, credits, attributes, grades, days, isExist, isCompleted)
courseDict[courseObj.getCRN()] = courseObj
print(courseDict[courseObj.getCRN()])
del courseObj
del locationObj
while True:
answer = input("Add more courses? T/F: ").upper()
if answer in ("T","F"):
break
if not {"T":True,"F":False}[answer]:
print(str(i) + " course(s) added.")
break
i += 1
def computeLocationAs3D(j,debugPrint=False): #debugPrint = True #print "NAME IS: %s"%j.name #STEP 0: Copy initial points so they never drift with repeated transformations #STEP 1: Translate to make point 1 the origin #STEP 2: Rotate around Y axis till point 2 lies in Z=0 plane #STEP 3: Rotate around Z axis till point 2 lies in Y=0 plane (now must be on the X-axis) #STEP 4: Solve for point 4(new point)'s to find the X and Y. The X here will end up being the real X in this space. The Y is simply the radius. #STEP 5: The problem now starts over, remaking a new point A and B #STEP 6: Translate to make point newA's X=0 #STEP 7: Rotate around Y axis 90 degrees to make the solution circle lie at Z=0 #STEP 8: Rotate around Z axis till point newB liest on the Y=0 plane (it now must be on the X-axis) #STEP 9: Solve for point 4(new point)'s to find the new X and Y locations. The transformations we've already done will fill out all the other data found along the way. #STEP 10: Build the solution #STEP 11: Back out all transformations #STEP 0: locA,locB,locC = copyAllJoints(j) #STEP 1: step1Inverse = jgh.moveToOrigin(locA,[locA,locB,locC]) if(debugPrint): print "step 1" print locA.toString() print locB.toString() print locC.toString() #STEP 2: step2Inverse = jgh.rotateYToXYPlane(locB,[locA,locB,locC]) if(debugPrint): print "step 2" print locA.toString() print locB.toString() print locC.toString() #STEP 3: step3Inverse = jgh.rotateZToXZPlane(locB,[locA,locB,locC]) if(debugPrint): print "step 3" print locA.toString() print locB.toString() print locC.toString() #STEP 4: x,y = jgh.solveForXY(locA,j.spanA.l,locB,j.spanB.l) if(debugPrint): print "step 4" print "x:%f, y:%f"%(x,y) #STEP 5: REMAKE PROBLEM: # remake A newSpanA = math.fabs(y) newLocA = location(x,0.0,0.0) # remake B: it's projection onto the X=whatever plane newSpanB = jgh.tolerantSqrt(math.pow(j.spanC.l,2) - math.pow(locC.x - x,2)) newLocB = location(x,locC.y, locC.z) if(debugPrint): print "step 5" print newLocA.toString() print newLocB.toString() print locC.toString() print newSpanA print newSpanB #STEP 6: step6Inverse = jgh.moveToOrigin(newLocA,[newLocA,newLocB]) if(debugPrint): print "step 6" print newLocA.toString() print newLocB.toString() print locC.toString() #STEP 7: step7Inverse = jgh.rotateYToXYPlane(location(0.0,0.0,-1.0),[newLocA,newLocB])#newLocB,[newLocA,newLocB]) if(debugPrint): print "step 7" print newLocA.toString() print newLocB.toString() print locC.toString() #STEP 8: step8Inverse = jgh.rotateZToXZPlane(newLocB,[newLocA,newLocB]) if(debugPrint): print "step 8" print newLocA.toString() print newLocB.toString() print locC.toString() #STEP 9: newX,newY = jgh.solveForXY(newLocA,newSpanA,newLocB,newSpanB) if(debugPrint): print "X: %f, Y: %f"%(newX,newY) #BUILD SOLUTION locD = location(newX,-newY,0)#Why is this negative? check your right hand rules when building, the solve function goes in the negative Y when we want it positive #STEP 8-inverse: jgh.rotateZToXZPlane_reverse(locD,step8Inverse) if(debugPrint): print "step 8 inverse" print locD.toString() #STEP 7-inverse: jgh.rotateYToXYPlane_reverse(locD,step7Inverse) if(debugPrint): print "step 7 inverse" print locD.toString() #STEP 6-inverse: jgh.moveToOrigin_reverse(locD,step6Inverse) if(debugPrint): print "step 6 inverse" print locD.toString() #STEP 3-inverse: jgh.rotateZToXZPlane_reverse(locD,step3Inverse) if(debugPrint): print "step 3 inverse" print locD.toString() #STEP 2-inverse: jgh.rotateYToXYPlane_reverse(locD,step2Inverse) if(debugPrint): print "step 2 inverse" print locD.toString() #STEP 1-inverse: jgh.moveToOrigin_reverse(locD,step1Inverse) if(debugPrint): print "step 1 inverse" print locD.toString() #RETURN: The main function will set this object to have the location of locD return locD
def test_joint_collisions():
p = True
# -- LINES --
#No-check cases
if checkForCollisionSurface(True,False,[location(0,0,0),location(1,1,1)],'NULL',[location(0,0,0),location(1,1,1)],'NULL',1.0):
print "ERROR on joint collisions test 1"
p = False
if checkForCollisionSurface(False,True,[location(0,0,0),location(1,1,1)],'NULL',[location(0,0,0),location(1,1,1)],'NULL',1.0):
print "ERROR on joint collisions test 2"
p = False
#Single line on top of itself
if not checkForCollisionSurface(True,True,[location(0,0,0),location(1,1,1)],'NULL',[location(0,0,0),location(1,1,1)],'NULL',1.0):
print "ERROR on joint collisions test 3"
p = False
#Short line within a large line
if not checkForCollisionSurface(True,True,[location(0,0,0),location(1,0.0,0.0)],'NULL',[location(0.5,0,0),location(0.6,0,0)],'NULL',0.1):
print "ERROR on joint collisions test 4"
p = False
#Short line away from the large one
if checkForCollisionSurface(True,True,[location(0,0,0),location(1,0.0,0.0)],'NULL',[location(0.5,1,1),location(0.6,1,0)],'NULL',0.1):
print "ERROR on joint collisions test 5"
p = False
#Line coming in from the end
if not checkForCollisionSurface(True,True,[location(0,0,0),location(1,0.0,0.0)],'NULL',[location(1.5,0.01,0.01),location(0.6,0.01,0.01)],'NULL',0.1):
print "ERROR on joint collisions test 6"
p = False
#Line coming in at an angle
if not checkForCollisionSurface(True,True,[location(-2,-2,-2),location(2,2,2)],'NULL',[location(0.6,0.5,0.5),location(2,0,0)],'NULL',0.2):
print "ERROR on joint collisions test 7"
p = False
#Line coming in at an angle but the radius is too small
if checkForCollisionSurface(True,True,[location(-2,-2,-2),location(2,2,2)],'NULL',[location(0.6,0.5,0.5),location(2,0,0)],'NULL',0.07):
print "ERROR on joint collisions test 8"
p = False
# -- Plane vs. line --
#Simple plane with line through it
if not checkForCollisionSurface(True,True,[location(0,0,0),location(0,1,0)],[location(0,0,0),location(1,0,0)],[location(0.5,0.5,-1),location(0.5,0.5,1)],'NULL',0.07):
print "ERROR on joint collisions test 9"
p = False
#Simple plane with line through it but missing
if checkForCollisionSurface(True,True,[location(0,0,0),location(0,1,0)],[location(0,0,0),location(1,0,0)],[location(1,1,-1),location(1,1,1)],'NULL',0.07):
print "ERROR on joint collisions test 10"
p = False
#Simple plane with line getting close to it
if not checkForCollisionSurface(True,True,[location(0,0,0),location(0,1,0)],[location(0,0,0),location(1,0,0)],[location(0.5,0.5,0.1),location(0.5,0.5,1)],'NULL',0.2):
print "ERROR on joint collisions test 11"
p = False
#Simple plane with line getting close to it but not close enough
if checkForCollisionSurface(True,True,[location(0,0,0),location(0,1,0)],[location(0,0,0),location(1,0,0)],[location(0.5,0.5,0.3),location(0.5,0.5,1)],'NULL',0.2):
print "ERROR on joint collisions test 12"
p = False
#Simple plane with angled line from below
if not checkForCollisionSurface(True,True,[location(0,0,0),location(0,1,0)],[location(0,0,0),location(1,0,0)],[location(1,1,1),location(0,0,-1)],'NULL',0.2):
print "ERROR on joint collisions test 13"
p = False
#Angled plane with line getting close
if checkForCollisionSurface(True,True,[location(100,10,0),location(100,20,-40)],[location(100,10,0),location(100,0,40)],[location(0.5,0.5,0.3),location(0.5,0.5,1)],'NULL',0.2):
print "ERROR on joint collisions test 14"
p = False
#Angled plane with line hitting and edge
if not checkForCollisionSurface(True,True,[location(100,10,0),location(100,20,-40)],[location(100,10,0),location(100,0,40)],[location(0.5,0.5,0.3),location(100,0,40)],'NULL',0.2):
print "ERROR on joint collisions test 15"
p = False
#Angled plane with line skimming the center
if not checkForCollisionSurface(True,True,[location(100,10,0),location(0,20,-40)],[location(100,10,0),location(100,0,40)],[location(110,5.1,20),location(-10,5.0,20)],'NULL',0.2):
print "ERROR on joint collisions test 16"
p = False
#Angled plane with line skimming the center
if checkForCollisionSurface(True,True,[location(100,10,0),location(0,20,-40)],[location(100,10,0),location(100,0,40)],[location(110,5.3,20),location(-10,5.4,20)],'NULL',0.2):
print "ERROR on joint collisions test 17"
p = False
# -- Plane on plane
#Angled plane with angled plane larger than it
if not checkForCollisionSurface(True,True,[location(100,10,0),location(0,20,-40)],[location(100,10,0),location(100,0,40)],[location(0,0,0),location(0,100,0)],[location(0,0,0),location(1000,0,0)],0.2):
print "ERROR on joint collisions test 18"
p = False
#Angled plane with angled plane that doesn't intersect
if checkForCollisionSurface(True,True,[location(100,10,0),location(0,20,-40)],[location(100,10,0),location(100,0,40)],[location(0,20,0),location(0,120,0)],[location(0,20,0),location(1000,20,0)],0.2):
print "ERROR on joint collisions test 19"
p = False
#Angled plane with angled plane that's in range
if not checkForCollisionSurface(True,True,[location(0,0,0),location(-100,0,0)],[location(0,0,0),location(0,0,-100)],[location(0,-0.1,0),location(-100,-0.1,0)],[location(0,-0.1,0),location(0,-0.1,-100)],0.2):
print "ERROR on joint collisions test 20"
p = False
#Angled plane with angled plane that's not in range
if checkForCollisionSurface(True,True,[location(0,0,0),location(-100,0,0)],[location(0,0,0),location(0,0,-100)],[location(0,-0.1,0),location(-100,-0.1,0)],[location(0,-0.1,0),location(0,-0.1,-100)],0.08):
print "ERROR on joint collisions test 21"
p = False
#Angled plane with angled plane that's barely in range
if not checkForCollisionSurface(True,True,[location(0,0,0),location(-100,0,0)],[location(0,0,0),location(0,0,-100)],[location(0,-0.1,0),location(-100,-0.1,0)],[location(0,-0.1,0),location(0,-0.1,-100)],0.1001):
print "ERROR on joint collisions test 22"
p = False
#Angled plane with angled plane that's barely not in range
if checkForCollisionSurface(True,True,[location(0,0,0),location(-100,0,0)],[location(0,0,0),location(0,0,-100)],[location(0,-0.1,0),location(-100,-0.1,0)],[location(0,-0.1,0),location(0,-0.1,-100)],0.0999):
print "ERROR on joint collisions test 23"
p = False
# -- Now real objects --
#Object that has no collisions
s = mfStructure('a',[0,0,0],'b',[1,0,0])
s.collisionMargin = 0.01
s.add2DJoint('c','a',1,'b',math.sqrt(2),[0,1,0],'f',cd=True)
s.addJoint('d','a',1,'c',math.sqrt(2),'b',math.sqrt(2),cd=True)
s.computeLocations()
if s.checkForCollisions():
print "ERROR on joint collisions test 24"
p = False
s.addJoint('e','a',math.sqrt(2),'d',math.sqrt(3),'c',1,cd=True)
s.computeLocations()
if s.checkForCollisions():
print "ERROR on joint collisions test 25"
p = False
s.add1DJoint('f','a',10,'d')
s.add2DJoint('g','f',1,'c',10,'a','f')
s.add1DJoint('h','c',11,'g')
s.addJoint('j','h',math.sqrt(11*11+1),'g',math.sqrt(10*10+1),'f',math.sqrt(10*10+1+1),cd=True)
s.computeLocations()
if not s.checkForCollisions():
print "ERROR on joint collisions test 26"
p = False
#if not j.internal_checkForCollisionEdge([location(0,0,0),location(1,1,1)],[location(0.0,0.0,0.0),location(1.0,1.0,1.0)],1.0):
#if not j.internal_checkForCollisionEdge([location(0,0,0),location(1,1,1)],[location(0.0,0.0,0.0),location(1.0,1.0,1.0)],1.0):
# print "ERROR on joint collisions test 4"
# p = False
#Check for various combinations of central collisions
#Check for combinations of edge collisions
#j.internal_checkForCollisionSurfaces(True,True,lineA,lineB,otherLineA,otherLineB,minDistance):
#def internal_checkForCollisionPlane(self,lineA,lineB,colLine,minDistance,debugPrint=False):
#def internal_checkForCollisionEdge(self,line,otherLine,minDistance):
return p
def test_joint_locationComputation():
p = True
#Test case: Rotation
l1 = location(0,1.0/math.sqrt(2),1.0/math.sqrt(2)) #Y=1, Z=1
l2 = location(0,1.0/math.sqrt(2),-1.0/math.sqrt(2))
inv = jgh.rotateXToXYPlane(l1,[l2],yIsPos=True)
if(l2.z < -1.1 or l2.z > -0.9 or l2.y > 0.1 or l2.y < -0.1 or l2.x > 0.1 or l2.x < -0.1):
p = False
print "ERROR on test case 1a: %s"%l2.toString()
jgh.rotateXToXYPlane_reverse(l2,inv)
if(l2.z < -0.8 or l2.z > -0.7 or l2.y > 0.8 or l2.y < 0.7):
p = False
print "ERROR on test case 1b: %s"%l2.toString()
inv = jgh.rotateXToXYPlane(l1,[l2],yIsPos=False)
if(l2.z < 0.9 or l2.z > 1.1 or l2.y > 0.1 or l2.y < -0.1 or l2.x > 0.1 or l2.x < -0.1):
p = False
print "ERROR on test case 1c: %s"%l2.toString()
#Test case: Rotation
l1 = location(0,100,-1)
l2 = location(-1,-100,0)
inv = jgh.rotateYToXYPlane(l1,[l2])
if(l2.z > -0.9 or l2.z < -1.1 or l2.x > 0.1 or l2. x < -0.1):
p = False
print "ERROR on test case 2: %s"%l2.toString()
#Test case: Rotation
l1 = location(-1.0,-1.0,0.0)
l2 = location(1.0,-1.0,0)
inv = jgh.rotateZToXZPlane(l1,[l2])
if(l2.z < -0.1 or l2.z > 0.1 or l2.x < -0.1 or l2.x > 0.1 or l2.y > math.sqrt(2)+0.01 or l2.y < math.sqrt(2)-0.01):
p = False
print "ERROR on test case 3: %s"%l2.toString()
#Test case: Line
j = joint()
j.jointA = location(0,4,0)
j.jointB = location(1,1,1)
j.spanA = span( 2.0)
j.computeLocation()
if(j.x > 0.61 or j.x < 0.60 or j.y > 2.2 or j.y < 2.1 or j.z > 0.61 or j.z < 0.60):
p = False
print "ERROR on test case 4: %s"%j.toString()
#Test case: 2D joint
j = joint()
j.jointA = location(1.0,1.0,0.0)
j.jointB = location(0.0,1.0,0.0)
j.jointC = location(0.0,1.0,0.0)
j.spanA = span(math.sqrt(2.0))
j.spanB = span(1.0)
j.farOrNear = 'f'
j.computeLocation()
if(j.x > 0.01 or j.x < -0.01 or j.y > 1.01 or j.y < -0.99 or j.z > 1.01 or j.z < 0.99):
p = False
print "ERROR on test case 5: %s"%j.toString()
#Test case: 2D joint
j = joint()
j.jointA = location(0.0,1.0,0.0)
j.jointB = location(4.0,1.0,0.0)
j.jointC = location(0.5,6.0,-2.0)
j.spanA = span(4.0)
j.spanB = span(4.0)
j.farOrNear = 'f'
j.computeLocation()
if(j.x > 2.01 or j.x < 1.99 or j.y < -2.22 or j.y > -2.21 or j.z > 1.29 or j.z < 1.285):
p = False
print "ERROR on test case 6: %s"%j.toString()
#Test case: 2D joint
j = joint()
j.jointA = location(0.0,1.0,0.0)
j.jointB = location(4.0,1.0,0.0)
j.jointC = location(0.5,6.0,-2.0)
j.spanA = span(4.0)
j.spanB = span(4.0)
j.farOrNear = 'n'
j.computeLocation()
if(j.x > 2.01 or j.x < 1.99 or j.y > 4.22 or j.y < 4.21 or j.z < -1.29 or j.z > -1.285):
p = False
print "ERROR on test case 7: %s"%j.toString()
#Test case: 3D joint
j = joint()
j.jointA = location(1.0,0,0)
j.jointB = location(0.0,1.0,0.0)
j.jointC = location(0.0,0.0,1.0)
j.spanA = span(1.0)
j.spanB = span(math.sqrt(1+1+1))
j.spanC = span(1.0)
j.computeLocation()
if(j.x > 1.01 or j.x < 0.99 or j.y > 0.01 or j.y < -0.01 or j.z > 1.01 or j.z < 0.99):
p = False
print "ERROR on test case 8: %s"%j.toString()
#Test case: 3D joint
j = joint()
j.jointA = location(0.0,2.0,2.0)
j.jointB = location(-1.0,1.0,0.0)
j.jointC = location(4.0,0.0,0.0)
j.spanA = span(4.0)
j.spanB = span(3.0)
j.spanC = span(3.0)
j.computeLocation()
if(j.x > 1.198 or j.x < 1.19 or j.y > -1.013 or j.y < -1.014 or j.z > -0.34 or j.z < -0.35):
p = False
print "ERROR on test case 9: %s"%j.toString()
#Test case: 3D joint
j = joint()
j.jointA = location(0,0,0)
j.jointB = location(1,0,0)
j.jointC = location(.5,-math.sqrt(3)/2.0,0.0)
j.spanA = span(1.0)
j.spanB = span(math.sqrt(2.0))
j.spanC = span(math.sqrt(2.0))
j.computeLocation()
if(j.x > 0.01 or j.x < -0.01 or j.y > 0.01 or j.y < -0.01 or j.z > -0.99 or j.z < -1.01):
p = False
print "ERROR on test case 10: %s"%j.toString()
return p
print("customer email: ", customer_1.get_email())
print("\n")
location_1 = Location("darling harbour", "maroubra")
print("pick up location", location_1.get_pick_up)
print("drop off location", location_q.get_drop_off)
print("the second customer")
customer_2 = Customer("C002", "customer 2", "L222222", "*****@*****.**")
print("customer id: ", customer_2.get_customer())
print("customer name: ", customer_2.get_name())
print("customer licence: ", customer_2.get_licence())
print("customer email: ", customer_2.get_email())
print("\n")
location_2 = location("the start location", "the end location")
print("Pick up location:", location_2.get_pick_up())
print("Drop off location:", location_2.get_drop_off())
print("\n")
car_1 = small_car("reg1", "model1", "carid1")
car_2 = medium_car("reg1", "model1", "carid1")
car_3 = large_car("reg1", "model1", "carid1")
car_4 = premium_car("reg1", "model1", "carid1")
system_1 = rental_system()
booking_1 = booking(1, car_1, cuomer_1, "location 1", 1)
booking_1 = booking(2, car_2, cuomer_1, "location 2", 2)
booking_1 = booking(3, car_3, cuomer_1, "location 3", 3)
booking_1 = booking(4, car_4, cuomer_1, "location 4", 4)
