def get_pick_up_constraint(self, sim):
if self.constraint_pick_up is None:
return
final_constraint = Anywhere()
for constraint in self.constraint_pick_up:
constraint = self._get_adjusted_circle_constraint(sim, constraint)
constraint = constraint.create_constraint(sim, target=self.owner)
final_constraint = final_constraint.intersect(constraint)
final_constraint = final_constraint._copy(_multi_surface=True)
return final_constraint
def get_carry_transition_constraint(self,
sim,
position,
routing_surface,
cost=0,
mobile=True):
constraints = self.DEFAULT_GEOMETRIC_TRANSITION_CONSTRAINT
constraints = constraints.constraint_mobile if mobile else constraints.constraint_non_mobile
final_constraint = Anywhere()
for constraint in constraints:
if mobile:
constraint = self._get_adjusted_circle_constraint(
sim, constraint)
final_constraint = final_constraint.intersect(
constraint.create_constraint(None,
None,
target_position=position,
routing_surface=routing_surface))
final_constraint = final_constraint.generate_constraint_with_cost(cost)
final_constraint = final_constraint._copy(_multi_surface=True)
return final_constraint