def get_obstacle_tangent_field(self, mytank, obj, r, s, b):
d_edges, a_edges = self.__get_line_distances(mytank, obj)
d_points = self.__get_point_distances(mytank, obj)
d_close_edge = min(d_edges[0], d_edges[1], d_edges[2], d_edges[3])
d_close_point = min(d_points[0], d_points[1], d_points[2], d_points[3])
theta = a_edges[d_edges.index(
d_close_edge
)] #distance b/w line and point is perpendicular unless distance is to a corner
if d_close_point == d_close_edge:
corner = d_points.index(d_close_point)
#theta = get_angle(mytank, Point(obj[corner]))
#theta = theta pi/2.0 #to make tangential
dx = 0
dy = 0
if d_close_edge < r:
dx = -sign(cos(theta)) * float('inf')
dy = -sign(sin(theta)) * float('inf')
elif d_close_edge >= r and d_close_edge <= s + r:
dx = -b * (s + r - d_close_edge) * cos(theta)
dy = -b * (s + r - d_close_edge) * sin(theta)
vector = Vector()
vector.set_x_and_y(dx, dy)
return vector
def get_obstacle_tangent_field(self, mytank, obj, r, s, b):
d_edges, a_edges = self.__get_line_distances(mytank, obj)
d_points = self.__get_point_distances(mytank, obj)
d_close_edge = min(d_edges[0], d_edges[1], d_edges[2], d_edges[3])
d_close_point = min(d_points[0], d_points[1], d_points[2], d_points[3])
theta = a_edges[d_edges.index(d_close_edge)] #distance b/w line and point is perpendicular unless distance is to a corner
if d_close_point == d_close_edge:
corner = d_points.index(d_close_point)
#theta = get_angle(mytank, Point(obj[corner]))
#theta = theta pi/2.0 #to make tangential
dx = 0
dy = 0
if d_close_edge < r:
dx = -sign(cos(theta))*float('inf')
dy = -sign(sin(theta))*float('inf')
elif d_close_edge >= r and d_close_edge <= s+r:
dx = -b * (s + r - d_close_edge) * cos(theta)
dy = -b * (s + r - d_close_edge) * sin(theta)
vector = Vector()
vector.set_x_and_y(dx, dy)
return vector
def get_attract_field(self, mytank, obj, r, s, a):
d = get_center_distance(mytank, obj)
theta = get_angle(mytank, obj)
dx = 0
dy = 0
if d > (s + r):
dx = a * s * cos(theta)
dy = a * s * sin(theta)
elif d >= r: #and d<=s+r
dx = a * (d - r) * cos(theta)
dy = a * (d - r) * sin(theta)
#else dx = 0 dy = 0
vector = Vector()
vector.set_x_and_y(dx, dy)
return vector
def get_attract_field(self, mytank, obj, r, s, a): d = get_center_distance(mytank, obj) theta = get_angle(mytank, obj) dx = 0; dy = 0 if d > (s+r): dx = a * s * cos(theta) dy = a * s * sin(theta) elif d >= r: #and d<=s+r dx = a * (d-r) * cos(theta) dy = a * (d-r) * sin(theta) #else dx = 0 dy = 0 vector = Vector() vector.set_x_and_y(dx, dy) return vector
def get_repulse_field(self, mytank, obj, r, s, b):
d = get_center_distance(mytank, obj)
theta = get_angle(mytank, obj)
dx = 0
dy = 0
if d < r:
dx = -sign(cos(theta)) * float('inf')
dy = -sign(sin(theta)) * float('inf')
elif d >= r and d <= s + r:
dx = -b * (s + r - d) * cos(theta)
dy = -b * (s + r - d) * sin(theta)
#else dx, dy = 0
vector = Vector()
vector.set_x_and_y(dx, dy)
return vector
def get_repulse_field(self, mytank, obj, r, s, b):
d = get_center_distance(mytank, obj)
theta = get_angle(mytank, obj)
dx = 0
dy = 0
if d < r:
dx = -sign(cos(theta))*float('inf')
dy = -sign(sin(theta))*float('inf')
elif d >= r and d <= s+r:
dx = -b * (s + r - d) * cos(theta)
dy = -b * (s + r - d) * sin(theta)
#else dx, dy = 0
vector = Vector()
vector.set_x_and_y(dx, dy)
return vector
