def _steerForAvoidObstacles(self):
"""
Return a steering force to avoid the nearest obstacle that is
considered a collision threat, or None to indicate that no obstacle
avoidance steering is required.
"""
# Check for collisions with obstacles.
collision = False
obstacleHandler.sortEntries()
for i in range(obstacleHandler.getNumEntries()):
entry = obstacleHandler.getEntry(i)
if entry.getInto() == self.tube:
collision = True
pos = entry.getSurfacePoint(render)
nrml = entry.getSurfaceNormal(render)
if collision is False: return None
# Compute steering to avoid the collision.
nrml = SteerVec(nrml.getX(),nrml.getY())
forward = self._velocity
forward.normalize()
steeringdirection = nrml.perpendicularComponent(forward)
steeringdirection.normalize()
brakingdirection = -self._velocity
brakingdirection.normalize()
md = self._velocity.length() + self.radius
mf = self.maxforce
p = SteerVec(pos.getX(),pos.getY())
d = (self._pos - p).length()
if d < 0: d = 0
steeringforce = mf - ((d/md)*mf)
brakingforce = mf - ((sqrt(d)/md)*mf)
return (brakingdirection*brakingforce)+(steeringdirection*steeringforce)
def _steerForAvoidObstacles(self):
"""
Return a steering force to avoid the nearest obstacle that is
considered a collision threat, or None to indicate that no obstacle
avoidance steering is required.
"""
# Check for collisions with obstacles.
collision = False
obstacleHandler.sortEntries()
for i in range(obstacleHandler.getNumEntries()):
entry = obstacleHandler.getEntry(i)
if entry.getInto() == self.tube:
collision = True
pos = entry.getSurfacePoint(render)
nrml = entry.getSurfaceNormal(render)
if collision is False: return None
# Compute steering to avoid the collision.
nrml = SteerVec(nrml.getX(), nrml.getY())
forward = self._velocity
forward.normalize()
steeringdirection = nrml.perpendicularComponent(forward)
steeringdirection.normalize()
brakingdirection = -self._velocity
brakingdirection.normalize()
md = self._velocity.length() + self.radius
mf = self.maxforce
p = SteerVec(pos.getX(), pos.getY())
d = (self._pos - p).length()
if d < 0: d = 0
steeringforce = mf - ((d / md) * mf)
brakingforce = mf - ((sqrt(d) / md) * mf)
return (brakingdirection * brakingforce) + (steeringdirection *
steeringforce)
