def setOffset(self, offset): self.offset = offset self.partition.stop() self.partition = Partition( offset, self.container.points, self.obstacles )
def __init__(self, offset, xml_filename):
self.areas = {}
self.vertices = {}
self.width = 0
self.height = 0
self.obstacles = []
self.dynamic_obstacles = []
self.offset = offset
self.load_xml(xml_filename)
self.container = Poly(((0,0),(self.width,0),(self.width,self.height),(0,self.height)))
self.partition = Partition(
offset,
self.container.points,
self.obstacles
)
self.calc_areas()
self.calc_vertex_graph()
self.pathfinding_area = AStar(self.areas.values(), NAVGRAPH)
self.pathfinding_vertices = AStar(self.vertices.values(), NAVGRAPH)
