def __init__(self, poly=None):
super(Room, self).__init__()
self.poly = None
if poly is not None:
self.poly = QtGui.QPolygon()
for p in poly:
self.poly.append(QtCore.QPoint(p[0], p[1]))
else:
# Generate a room so that the robot will be inside the room, not colliding with the walls
robot = getRobotPolygon()
while self.poly is None:
# Generate three randomised polygons
p1 = translatePolygon(getRectRoom())
p2 = translatePolygon(getRectRoom())
p3 = translatePolygon(getRectRoom())
# The room is generated as: (p1 - p2) + p3
pRes = p1
if random.randint(0, 1) == 0:
pRes = pRes.subtracted(p2)
if random.randint(0, 1) == 0:
pRes = pRes.united(p3)
# Perform an additional check to verify that
# the polygon is not a degenerate one
error_found = False
l = pRes.toList()[:-1]
for e in l:
if l.count(e) > 1:
error_found = True
# If the polygon has passed all the checks, go ahead
if error_found == False:
pRes = movePolygon(pRes)
pRobot = pRes.united(robot)
if len(pRes) == len(pRobot):
self.poly = pRes
def generateRandomCoordinates(self):
# Generate a room so that the robot will be inside the room, not colliding with the walls
self.robot = self.getRobotPolygon()
self.poly = None
while self.poly is None:
# Generate three randomised polygons
p1 = translatePolygon(self.getRectRoom())
p2 = translatePolygon(self.getRectRoom())
p3 = translatePolygon(self.getRectRoom())
# The room is generated as: (p1 - p2) + p3
pRes = p1
if random.randint(0, 1) == 0:
pRes = pRes.subtracted(p2)
if random.randint(0, 1) == 0:
pRes = pRes.united(p3)
# Perform an additional check to verify that
# the polygon is not a degenerate one
error_found = False
l = pRes.toList()[:-1]
for e in l:
if l.count(e) > 1:
error_found = True
# If the polygon has passed all the checks, go ahead
if error_found == False:
pRes = movePolygon(pRes)
pRobot = pRes.united(self.robot)
if len(pRes) == len(pRobot):
self.poly = pRes
def polygon(self):
w = 20 * self.factor
h = 10 * self.factor
polygon = QtGui.QPolygon()
polygon.append(QtCore.QPoint(-w, -h))
polygon.append(QtCore.QPoint(-w, +h))
polygon.append(QtCore.QPoint(+w, +h))
polygon.append(QtCore.QPoint(+w, -h))
polygon.append(QtCore.QPoint(-w, -h))
polygon = rotatePolygon(polygon, theta=self.angle * math.pi / 180.)
polygon = translatePolygon(polygon, tx=self.xPos, ty=self.yPos)
return polygon
def polygon(self):
#w = 20
#h = 20
polygon = QtGui.QPolygon()
polygon.append(QtCore.QPoint(-self.w, -self.h))
polygon.append(QtCore.QPoint(-self.w, +self.h))
polygon.append(QtCore.QPoint(+self.w, +self.h))
polygon.append(QtCore.QPoint(+self.w, -self.h))
polygon.append(QtCore.QPoint(-self.w, -self.h))
polygon = rotatePolygon(polygon, theta=self.angle * math.pi / 180.)
polygon = translatePolygon(polygon, tx=self.xPos, ty=self.yPos)
return polygon