def _find_target(self):
all_objects = self.target_type.get_objects()
objects = []
for o in all_objects:
dist_sq = (o.position - self._obj.position).magnitude_squared()
if dist_sq > self.radius:
continue
if o == self:
continue
if not o.is_sim and not o.may_reserve(self._obj):
continue
if self.target_selection_test:
resolver = DoubleObjectResolver(self._obj, o)
if not self.target_selection_test.run_tests(resolver):
continue
else:
objects.append([o, dist_sq])
if not objects:
return
source_handles = [
routing.connectivity.Handle(self._obj.position,
self._obj.routing_surface)
]
dest_handles = []
for o in objects:
obj = o[0]
parent = obj.parent
route_to_obj = parent if parent is not None else obj
constraint = Anywhere()
for tuned_constraint in self.constraints:
constraint = constraint.intersect(
tuned_constraint.create_constraint(self._obj,
route_to_obj))
dests = constraint.get_connectivity_handles(self._obj, target=obj)
if dests:
dest_handles.extend(dests)
if not dest_handles:
return
routing_context = self._obj.get_routing_context()
connections = routing.estimate_path_batch(
source_handles, dest_handles, routing_context=routing_context)
if not connections:
return
connections.sort(key=lambda connection: connection[2])
best_connection = connections[0]
best_dest_handle = best_connection[1]
best_obj = best_dest_handle.target
return best_obj
def get_routes_gen(self):
if self._target is None:
self.on_no_target()
return False
yield
routing_slot_constraint = Anywhere()
for tuned_constraint in self.constraints:
routing_slot_constraint = routing_slot_constraint.intersect(
tuned_constraint.create_constraint(self._obj, self._target))
goals = list(
itertools.chain.from_iterable(
h.get_goals()
for h in routing_slot_constraint.get_connectivity_handles(
self._obj)))
routing_context = self._obj.get_routing_context()
route = routing.Route(self._obj.routing_location,
goals,
routing_context=routing_context)
yield route