def collideRobot(self, pos):
sk = self.sketch
r = self.radius
for s in sk.sprites():
if isinstance(s, SoccerRobot) and dist(s.pos, pos) < r + s.radius:
return True
return False
def collideRobot(self, pos):
sk = self.sketch
r = self.radius
for s in sk.sprites():
if isinstance(s, SoccerRobot) and dist(s.pos, pos) < r + s.radius:
return True
return False
def _distToWall(pos, angle, sWidth, w, h):
"Calculate the distance to the sketch walls in the specified direction"
walls = Polygon([(0,0), (w,0), (w,h), (0,h)])
w += h
pts = []
for n in (-1, 0, 1):
v = vec2d(w, angle + n * sWidth)
line = Line(pos, vector=v)
pts.extend(walls.intersect(line))
return min(dist(pos, pt) for pt in pts) if len(pts) else None
def _distToWall(pos, angle, sWidth, w, h):
"Calculate the distance to the sketch walls in the specified direction"
walls = Polygon([(0, 0), (w, 0), (w, h), (0, h)])
w += h
pts = []
for n in (-1, 0, 1):
v = vec2d(w, angle + n * sWidth)
line = Line(pos, vector=v)
pts.extend(walls.intersect(line))
return min(dist(pos, pt) for pt in pts) if len(pts) else None
def setup(self): RobotThread.log = False self.config(bg="white", border="blue", weight=1) for name in self.names: self[name] = PartyRobot(self) RobotThread.log = True robo = Robot(["#ff5050", "#ffd428"]) self["Red"] = self.bindBrain(robo).config(width=2*RADIUS, pos=self.center, mass=1, bounce=BOTH, greet=None) for r in self: while min(dist(r.pos, s.pos) for s in self if s is not r) < 2 * r.radius: r.pos = r.randPos(self) self.cd = Collisions(self)
def intersect(self, other):
"Find the intersection(s) of two circles as list of points"
R = self.radius
r = other.radius
d = dist(self.pos, other.pos)
if d > r + R or d == 0 or d < abs(r - R): return []
r2 = r * r
x = (d*d + r2 - R*R) / (2*d)
ux, uy = delta(self.pos, other.pos, 1)
x0, y0 = other.pos
x0 += x * ux
y0 += x * uy
if x < r:
y = sqrt(r2 - x*x)
return [(x0 - y * uy, y0 + y * ux), (x0 + y * uy, y0 - y * ux)]
else: return [(x0, y0)]
def setup(self):
RobotThread.log = False
self.config(bg="white", border="blue", weight=1)
for name in self.names:
self[name] = PartyRobot(self)
RobotThread.log = True
robo = Robot(["#ff5050", "#ffd428"])
self["Red"] = self.bindBrain(robo).config(width=2 * RADIUS,
pos=self.center,
mass=1,
bounce=BOTH,
greet=None)
for r in self:
while min(dist(r.pos, s.pos)
for s in self if s is not r) < 2 * r.radius:
r.pos = r.randPos(self)
self.cd = Collisions(self)
def containsPoint(self, pos):
"Determine if the point is within the circle; do not account for canvas offset"
return dist(self.pos, pos) < self.radius
def containsPoint(self, pos):
"Determine if the point is within the circle; do not account for canvas offset"
return dist(self.pos, pos) < self.radius