def __arm_notified (self):
if self.arm_cyl.pos > .9:
push_point = (vector (self.robot_position.pos)
+ vector.polar (self.robot_position.angle - pi / 2, side + 100)
- vector.polar (self.robot_position.angle, 100))
gift = self.table.nearest (push_point, level = 0, max = 150)
if gift is not None and hasattr (gift, 'state'):
gift.state = True
gift.notify ()
self.notify ()
def inside (self, a):
"""If A is inside obstacle, return True."""
# Map point in obstacle coordinates.
u = vector.polar (self.angle, 1)
o = vector (self.pos)
a = vector (a)
oa = a - o
x = oa * u / (.5 * self.dim[0])
y = oa * u.normal () / (.5 * self.dim[1])
return x > -1 and x < 1 and y > -1 and y < 1
def __door_notified (self):
self.door = self.door_cylinder.pos # 1. is open.
if self.door > 0.5 and self.load:
for e in self.load:
e.pos = (vector (self.robot_position.pos)
- vector.polar (self.robot_position.angle
+ random.uniform (-pi/8, pi/8),
200 + random.uniform (0, 70)))
e.notify ()
self.load = [ ]
self.notify ()
def __pot_notified (self):
self.firing = self.pot.wiper[0] > .5
if self.cherries and self.firing:
m = TransMatrix ()
m.translate (self.robot_position.pos)
m.rotate (self.robot_position.angle)
hit = vector (*m.apply (self.cannon_hit))
for c in self.cherries:
c.pos = hit + vector.polar (random.uniform (-pi, pi),
random.uniform (0, 50))
c.notify ()
self.table.cherries.cherries.extend (self.cherries)
self.table.cherries.notify ()
self.cherries = [ ]
self.notify ()
def intersect (self, a, b):
"""If the segment [AB] intersects the obstacle, return distance from a
to intersection point, else, return None."""
if self.pos is None or self.angle is None:
return None
# Find intersection with each rectangle segments. There is at most
# two intersections, return the nearest.
u = vector.polar (self.angle, self.dim[0] / 2.)
v = vector.polar (self.angle + pi / 2, self.dim[1] / 2.)
o = vector (self.pos)
p1 = o + u + v
p2 = o - u + v
p3 = o - u - v
p4 = o + u - v
found = None
for c, d in ((p1, p2), (p2, p3), (p3, p4), (p4, p1)):
i = simu.utils.intersect.segment_segment (a, b, c, d)
if i is not None:
if found is not None:
found = min (found, i)
break
else:
found = i
return found
