def _check_status(self, b_obj):
gs = GridSpace(self.blackboard.grid)
self.start_state = gs.get_state_coords(self.start_coords)
self.target_state = gs.get_state_coords(self.target_coords)
go = gs.can_go(self.start_state, self.target_state)
if not go:
log.msg('cannot go between %s %s' % (self.start_state, self.target_state))
return Status.failure
if not self.was_at_target:
self.was_at_target = self.target_state.vertical_center_in(b_obj.position)
if self.target_state.base_in(b_obj.aabb) and self.target_state.touch_platform(b_obj.position):
return Status.success
return Status.running
def check_status(self, b_obj):
if time() - self.start_time >= self.max_time:
return Status.failure
gs = GridSpace(self.world.grid)
self.start_state = gs.get_state_coords(self.start_coords)
self.target_state = gs.get_state_coords(self.target_coords)
go = gs.can_go(self.start_state, self.target_state)
if not go:
log.msg('Cannot go between %s and %s' % (self.start_state,
self.target_state))
return Status.failure
if not self.was_at_target:
self.was_at_target = self.target_state.vertical_center_in(
b_obj.position)
if (self.target_state.base_in(b_obj.aabb)
and self.target_state.touch_platform(b_obj.position)):
return Status.success
return Status.running
def check_status(self, b_obj):
bb_stand = self.target_space.bb_stand
elev = bb_stand.min_y - b_obj.aabb.min_y
gs = GridSpace(self.world.grid, bb=b_obj.aabb)
if not self.target_space._can_stand_on():
self.world.grid.navgrid.delete_node(self.target_space.coords)
log.msg('CANNOT STAND ON %s' % self.target_space)
return Status.failure
if b_obj.horizontally_blocked and not gs.can_go_between(self.target_space, debug=True):
log.msg('CANNOT GO BETWEEN %s AND %s' % (b_obj.aabb, self.target_space))
return Status.failure
if self.bot.is_on_ladder(b_obj) or self.bot.is_in_water(b_obj):
if b_obj.position_grid == self.target_space.coords:
return Status.success
if b_obj.aabb.horizontal_distance(bb_stand) < self.bot.current_motion(b_obj):
self.was_at_target = True
if fops.eq(elev, 0):
return Status.success
if b_obj.horizontally_blocked and b_obj.on_ground:
if not gs.can_go(self.target_space):
log.msg("I am stuck, let's try again? vels %s" %
str(b_obj.velocities))
return Status.failure
return Status.running
