def scene_objects_linear(scene):
'''Return the PDDL objects for `scene'.'''
obj = []
def type_names(thing):
return [ f.name
for f in
tm.collect_frame_type(scene,thing) ]
# Moveable objects are blocks
moveable = type_names("moveable")
moveable.insert(0, "BLOCK")
# Draw grid on surfaces
locations = ['LOCATION']
def add_loc(name,i,j):
locations.append(tm.mangle(name,i,j))
for frame in tm.collect_frame_type(scene,"surface"):
name = frame.name
for geom in frame.geometry:
shape = geom.shape
if aa.shape_is_box(shape):
d = shape.dimension
x_max = d[0] / 2
y_max = d[1] / 2
x = 0
i = 0
while x <= x_max:
y = 0
j = 0
while y <= y_max:
add_loc(name,i,j)
if i > 0: add_loc(name,-i,j)
if j > 0: add_loc(name,i,-j)
if i > 0 and j > 0: add_loc(name,-i,-j)
y += RESOLUTION
j+=1
x += RESOLUTION
i+=1
return [moveable, locations]
def map_locations(function, scene):
for frame in tm.collect_frame_type(scene,"surface"):
name = frame['name']
for geom in frame['geometry']:
shape = geom['shape']
if aa.shape_is_box(shape):
d = shape['dimension']
x_max = d[0] / 2
y_max = d[1] / 2
x = 0
i = 0
while x <= x_max:
y = 0
j = 0
while y <= y_max:
function(name,i,j)
if i > 0: function(name,-i,j)
if j > 0: function(name,i,-j)
if i > 0 and j > 0: function(name,-i,-j)
y += RESOLUTION
j+=1
x += RESOLUTION
i+=1
def place_height(scene,name):
g = scene[name].collision
s = g[0].shape
if aa.shape_is_box(s):
return s.dimension[2] / 2