class Area (Drawable):
def __init__ (self, onto):
Drawable.__init__ (self, onto)
self.table = Table ()
self.a = (0, 0)
self.b = (10, 10)
self.result = None
def draw (self):
self.reset ()
for o in self.table.obstacles:
if o.pos is None:
continue
if isinstance (o, RoundObstacle):
self.draw_circle (o.pos, o.radius)
elif isinstance (o, RectangularObstacle):
self.trans_push ()
self.trans_translate (o.pos)
self.trans_rotate (o.angle)
self.draw_circle ((0, 0), 0.2)
self.draw_rectangle ((o.dim[0] / 2, o.dim[1] / 2),
(-o.dim[0] / 2, -o.dim[1] / 2), fill = '')
self.trans_pop ()
elif isinstance (o, PolygonalObstacle):
self.trans_push ()
self.trans_translate (o.pos)
self.trans_rotate (o.angle)
self.draw_circle ((0, 0), 0.2)
self.draw_polygon (*o.points, fill = '', outline = 'black')
self.trans_pop ()
else:
raise TypeError ("unknown obstacle")
if self.a is not None:
self.draw_circle (self.a, 0.2, fill = 'green')
if self.b is not None:
self.draw_circle (self.b, 0.2, fill = 'red')
if self.a is not None and self.b is not None:
self.draw_line (self.a, self.b, arrow = 'last')
if self.result is not None:
self.draw_circle (self.result, 0.2, fill = 'yellow')
def update (self, test, **kwargs):
self.result = None
if self.a is not None and self.b is not None:
if test == 'intersect':
def nearer (a, b): return a < b
i = self.table.intersect (self.a, self.b, comp = nearer,
**kwargs)
if i is not None:
a, b = vector (self.a), vector (self.b)
self.result = a + (b - a).unit () * i.distance
elif test == 'nearest':
n = self.table.nearest (self.b, **kwargs)
if n is not None:
self.result = n.pos
def __init__ (self, onto):
Drawable.__init__ (self, onto)
self.table = Table ()
self.a = (0, 0)
self.b = (10, 10)
self.result = None
