def generate_neighbors(node, nodes):
"""
Auxiliary function that calculate the neighbors of a given node within a navigation mesh.
Inputs:
- node: node for which to calculate the neighbors.
- nodes: list of all the nodes conforming the mesh.
"""
found = {}
for n in nodes.values():
if n is node:
continue # We want to ignore the node for which we are currently generating neighbors
# Calculate the angle of the vector between nodes
angle = math.degrees(
math.atan2(n.point[1] - node.point[1], n.point[0] - node.point[0]))
if angle in found: # There was already a node in that angle
if u.los_raycasting(node.point, n.point,
u.npdata) == (-1,
-1): # There is line of sight
new_dist = np.linalg.norm(
(node.point[0] - n.point[0], node.point[1] - n.point[1]))
cur_dist = np.linalg.norm(
(node.point[0] - found[angle].point[0],
node.point[1] - found[angle].point[1]))
if new_dist < cur_dist: # We have found a better alternative than what we already had
found[angle] = n
else:
if u.los_raycasting(node.point, n.point,
u.npdata) is None: # There is line of sight
found[
angle] = n # There was nothing stored, so we just save the current node in that direction
node.neighbors = found # Replace the list of neighbors so they can be explored later
def __can_move(self, spot):
return u.los_raycasting((self.robot.x, self.robot.y), spot, u.npdata)