def RelativeHeading(X, Y=None): X = toHeading(X, '"relative heading of X from Y" with X not a heading') if Y is None: Y = ego().heading else: Y = toHeading(Y, '"relative heading of X from Y" with Y not a heading') return normalizeAngle(X - Y)
def RelativeHeading(X, Y=None):
"""The 'relative heading of <heading> [from <heading>]' operator.
If the 'from <heading>' is omitted, the heading of ego is used.
"""
X = toHeading(X, '"relative heading of X from Y" with X not a heading')
if Y is None:
Y = ego().heading
else:
Y = toHeading(Y, '"relative heading of X from Y" with Y not a heading')
return normalizeAngle(X - Y)
def ApparentlyFacing(heading, fromPt=None):
heading = toHeading(heading, 'specifier "apparently facing X" with X not a heading')
if fromPt is None:
fromPt = ego()
fromPt = toVector(fromPt, 'specifier "apparently facing X from Y" with Y not a vector')
value = lambda self: fromPt.angleTo(self.position) + heading
return Specifier('heading', DelayedArgument({'position'}, value))
def Facing(heading):
if isinstance(heading, VectorField):
return Specifier('heading', DelayedArgument({'position'},
lambda self: heading[self.position]))
else:
heading = toHeading(heading, 'specifier "facing X" with X not a heading or vector field')
return Specifier('heading', heading)
def OffsetAlong(X, H, Y): X = toVector(X, '"X offset along H by Y" with X not a vector') Y = toVector(Y, '"X offset along H by Y" with Y not a vector') if isinstance(H, VectorField): H = H[X] H = toHeading(H, '"X offset along H by Y" with H not a heading or vector field') return X.offsetRotated(H, Y)
def _specify(self, prop, value):
assert prop not in self.properties
# Normalize types of some built-in properties
if prop == 'position':
value = toVector(value, f'"position" of {self} not a vector')
elif prop == 'heading':
value = toHeading(value, f'"heading" of {self} not a heading')
self.properties.add(prop)
object.__setattr__(self, prop, value)
def ApparentlyFacing(heading, fromPt=None):
"""The 'apparently facing <heading> [from <vector>]' specifier.
Specifies 'heading', depending on 'position'.
If the 'from <vector>' is omitted, the position of ego is used.
"""
heading = toHeading(heading, 'specifier "apparently facing X" with X not a heading')
if fromPt is None:
fromPt = ego()
fromPt = toVector(fromPt, 'specifier "apparently facing X from Y" with Y not a vector')
value = lambda self: fromPt.angleTo(self.position) + heading
return Specifier('heading', DelayedArgument({'position'}, value))
def Facing(heading):
"""The 'facing X' polymorphic specifier.
Specifies 'heading', with dependencies depending on the form:
facing <number> -- no dependencies;
facing <field> -- depends on 'position'.
"""
if isinstance(heading, VectorField):
return Specifier('heading', DelayedArgument({'position'},
lambda self: heading[self.position]))
else:
heading = toHeading(heading, 'specifier "facing X" with X not a heading or vector field')
return Specifier('heading', heading)
def OffsetAlong(X, H, Y): """The 'X offset along H by Y' polymorphic operator. Allowed forms: <vector> offset along <heading> by <vector> <vector> offset along <field> by <vector> """ X = toVector(X, '"X offset along H by Y" with X not a vector') Y = toVector(Y, '"X offset along H by Y" with Y not a vector') if isinstance(H, VectorField): H = H[X] H = toHeading(H, '"X offset along H by Y" with H not a heading or vector field') return X.offsetRotated(H, Y)
