def plotLocalRouteAroundTarget(owner,
target):
steeringController = owner.steeringController
ownerPosition = owner.getPosition()
targetPosition = target.getPosition()
ownerToTarget = calculate.subtractPoints(targetPosition,
ownerPosition)
distanceToTarget = vector.getMagnitude(ownerToTarget)
optimalPathDistance = min(distanceToTarget,
owner.getMaximumFiringRange())
#These are the eight "compass" directions, projected
#in the target's local space
vectors = ((0, 1),
(1, 1),
(1, 0),
(-1, 1),
(-1, 0),
(-1, -1),
(0, -1),
(1, -1))
#Now scale the directions so that they have my magnitude.
#We can treat these vectors as points in an octagonal
#path around the target - a path scaled to an optimal distance.
pathPoints = [calculate.multiplyVectorAndScalar(normalizedVector,
optimalPathDistance)
for normalizedVector in vectors]
#Find the point in the path that is closest to my position.
ownerLocalPosition = convert.pointToLocalSpace(ownerPosition,
targetPosition,
target.getDirection())
closestDistanceSquared = None
closestIndex = None
for index in range(len(pathPoints)):
pathPoint = pathPoints[index]
ownerToPathPoint = calculate.subtractPoints(pathPoint,
ownerLocalPosition)
distanceSquaredToPathPoint =\
vector.getMagnitudeSquared(ownerToPathPoint)
if (closestDistanceSquared is None or
distanceSquaredToPathPoint < closestDistanceSquared):
closestIndex = index
closestDistanceSquared = distanceSquaredToPathPoint
#Now "shift" the path so that my closest point is the first in the list.
path = pathPoints[closestIndex:] + pathPoints[:closestIndex]
#Plot a course to visit the path. If at any point I find a clear shot to the target,
#I will dive at it.
steeringController.plotPath(path,
closed=True)
def intersectsPoint(self,
point):
shipPosition = self.getPosition()
shipToPoint = calculate.subtractPoints(point,
shipPosition)
distanceSquaredToPoint = vector.getMagnitudeSquared(shipToPoint)
if (distanceSquaredToPoint > self.lengthSquared or
distanceSquaredToPoint > self.widthSquared):
return None
directionRadians = self.getDirection()
localPoint = convert.pointToLocalSpace(point,
shipPosition,
directionRadians)
(topy, rightx, bottomy, leftx) = self.boundingBox
x, y = localPoint
if (x > leftx and
x < rightx and
y < topy and
y > bottomy):
return True
def _getClosestObstacle(agent,
obstaclesInRange):
agentPosition = agent.getPosition()
agentDirectionRadians = agent.getDirectionRadians()
(obstacleDetectionLength,
obstacleDetectionWidth) = agent.getObstacleDetectionDimensions()
closestObstacle = None
distanceToClosestInterceptPoint = None
obstacleLocalPosition = None
for obstacle in obstaclesInRange:
(obstacleX,
obstacleY) = convert.pointToLocalSpace(obstacle.getPosition(),
agentPosition,
agentDirectionRadians)
if obstacleX >= 0:
expandedRadius = obstacle.getRadius() + (obstacleDetectionWidth / 2)
if abs(obstacleY) < expandedRadius:
#obstacleX +/- sqrt(expandedRadius^2 - obstacleY^2)
if expandedRadius ** 2 < obstacleY ** 2:
sqrtPart = 0
else:
sqrtPart = math.sqrt((expandedRadius**2) - (obstacleY**2))
interceptPoint = obstacleX - sqrtPart
if interceptPoint <= 0:
interceptPoint = obstacleX + sqrtPart
if closestObstacle is None or interceptPoint < distanceToClosestInterceptPoint:
closestObstacle = obstacle
distanceToClosestInterceptPoint = interceptPoint
obstacleLocalPosition = (obstacleX,
obstacleY)
return (closestObstacle,
obstacleLocalPosition)
def test_localSpaceIsWorldSpace_pointIsTheSame(self):
newPoint = convert.pointToLocalSpace(point=(1, 1),
localOrigin=(0, 0),
localDirection=0)
self.assertEquals((1, 1),
newPoint)
def test_localSpaceIsRotated90Degrees(self):
newPoint = convert.pointToLocalSpace(point=(1, 0),
localOrigin=(0, 0),
localDirection=math.pi / 2)
self.assertEquals((0, -1),
newPoint)
def test_pointIsOneAwayFromLocalSpaceOrigin_pointIsOne(self):
newPoint = convert.pointToLocalSpace(point=(2, 2),
localOrigin=(1, 1),
localDirection=0)
self.assertEquals((1, 1),
newPoint)
def test_pointIsOnLocalSpaceOrigin_pointIsZero(self):
newPoint = convert.pointToLocalSpace(point=(1, 1),
localOrigin=(1, 1),
localDirection=0)
self.assertEquals((0, 0),
newPoint)