def crash(self, other):
seg1_1 = Point(self.x_position, self.y_position)
seg1_2 = Point(self.new_x_position, self.new_y_position)
seg2_1 = Point(other.x_position, other.y_position)
seg2_2 = Point(other.new_x_position, other.new_y_position)
seg1 = Segment(seg1_1, seg1_2)
seg2 = Segment(seg2_1, seg2_2)
return len(seg1.intersection(seg2))
def crash(
self, other
): # Функция для определения столкновения двух самолётов. Мы создаём для каждого самолёта по отрезку от старого положения до нового. Функция возвращает список точек пересечения двух отрезков. Если длина списка нулевая, пересечения нет. Если больше 0, значит пересечение есть и самолёты столкнулись.
seg1_1 = Point(self.old_x, self.old_y)
seg1_2 = Point(self.x_position, self.y_position)
seg2_1 = Point(other.old_x, other.old_y)
seg2_2 = Point(other.x_position, other.y_position)
seg1 = Segment(seg1_1, seg1_2)
seg2 = Segment(seg2_1, seg2_2)
return len(seg1.intersection(seg2))
def intersection_of_segments(p1_x, p1_y, p2_x, p2_y):
"""Координаты точки пересечения двух отрезков"""
s1 = Segment(p1_y, p1_x)
s2 = Segment(p2_y, p2_x)
intersection = s1.intersection(s2)
if len(intersection) != 0:
intersection = intersection[0]
return float(intersection.y), float(intersection.x)
else:
return 0, 0
def intersection_of_segments(p1_x: Point, p1_y: Point, p2_x: Point,
p2_y: Point) -> tuple:
"""
Координаты точки пересечения двух отрезков
:param p1_x: Первая точка первого отрезка
:param p1_y: Вторая точка первого отрезка
:param p2_x: Первая точка второго отрезка
:param p2_y: Вторая точка второго отрезка
:return: Кортеж координат точки пересечения отрезков
"""
s1 = Segment(p1_x, p1_y)
s2 = Segment(p2_x, p2_y)
intersection = s1.intersection(s2)
if len(intersection) != 0:
intersection = intersection[0]
return float(intersection.x), float(intersection.y)
else:
return None, None
def random_segments(self, num_segments): # Generates random disjoint segments. Potentially horrible execution time due to randomness.
p1 = Point(randint(1, self.plane_x-1), randint(1, self.plane_y-1))
p2 = Point(randint(1, self.plane_x-1), randint(1, self.plane_y-1))
self.segments = [Segment(p1, p2)]
while len(self.segments) < num_segments:
p1 = Point(randint(1, self.plane_x-1), randint(1, self.plane_y-1))
p2 = Point(randint(1, self.plane_x-1), randint(1, self.plane_y-1))
new_segment = Segment(p1, p2)
# Verify that generated segment does not intersect with another
intersection = False
for s in self.segments:
if new_segment.intersection(s) != []:
intersection = True
break
if not intersection:
self.segments.append(new_segment)
return self.segments
def createallwaypoint(rboundary):
#convert to rotated frame
#define the width,generate cut position
cutpos = np.arange(bounds[0] + width, bounds[2] + width, width)
pointpos = np.arange(bounds[0] + width / 2, bounds[2] + width / 2, width)
cutlines = formperpenicularlines(cutpos)
#form sub-polygons cut by cutlines
subpolygons = []
remain = rboundary
for line in cutlines:
subpolygon, remain = splitpolygon(remain, line)
subpolygons.append(subpolygon)
if not (remain):
break
#design waypoints in subpolygons
i = 0
waypoints = []
for polygon in subpolygons:
sides = polygon.sides
vertices = polygon.vertices
lines = []
for side in sides:
if (side.is_parallel(yaxis)):
lines.append(side)
if (len(lines) == 2): #formed by 2 cuts
if (lines[0].p1.x < lines[1].p1.x):
leftline = lines[0]
rightline = lines[1]
else:
leftline = lines[1]
rightline = lines[0]
if (leftline.p1.y < leftline.p2.y):
leftline = Line(leftline.p2, leftline.p1)
if (rightline.p1.y < rightline.p2.y):
rightline = Line(rightline.p2, rightline.p1)
#seprate vertices into upper part and lower part
leftupindex = findpoint(vertices, leftline.p1)
leftdownindex = findpoint(vertices, leftline.p2)
rightupindex = findpoint(vertices, rightline.p1)
rightdownindex = findpoint(vertices, rightline.p2)
if (rightupindex < leftupindex):
uppoints = list(vertices[rightupindex:leftupindex + 1])
else:
uppoints = list(vertices[rightupindex:len(vertices)])
uppoints.extend(vertices[0:leftupindex + 1])
if (leftdownindex < rightdownindex):
downpoints = list(vertices[leftdownindex:rightdownindex + 1])
else:
downpoints = list(vertices[leftdownindex:len(vertices)])
downpoints.extend(vertices[0:leftupindex + 1])
index = findbound(uppoints)
buttomindex = index[1] #upper min y
if (index[1] == index[3]): #upper part is segment
up1 = None
else:
cut = xaxis.parallel_line(uppoints[buttomindex])
up1, temp = splitpolygon(polygon, cut)
index = findbound(downpoints)
topindex = index[3] #lower max y
if (index[1] == index[3]): #lower part is segment
down1 = None
else:
cut = xaxis.parallel_line(downpoints[topindex])
temp, down1 = splitpolygon(polygon, cut)
waypoint = []
if (up1 and down1):
waypoint = createwaypoint(up1, down1, pointpos[i])
elif (up1): #lower part is segment
upbound = up1.bounds
upmin = upbound[1] #ymin
upmax = upbound[3] #ymax
buttom = downpoints[topindex].y #y of lower part
if (upmax - upmin <= width / 2):
waypoint = [Point(pointpos[i], upmax - width / 2)]
else:
cutpt = Point(pointpos[i], upmax - width / 2)
cut = yaxis.perpendicular_line(cutpt)
crosspoint = polygon.intersection(cut)
if (crosspoint[0].x < crosspoint[1].x):
leftcross = crosspoint[0]
rightcross = crosspoint[1]
else:
leftcross = crosspoint[1]
rightcross = crosspoint[0]
if (leftcross.x <= pointpos[i]
and rightcross.x >= pointpos[i]):
waypoint = [Point(pointpos[i], upmax - width / 2)]
elif (leftcross.x > pointpos[i]):
waypoint = [leftcross]
else:
waypoint = [rightcross]
if (upmin - buttom > width):
waypoint.append(Point(pointpos[i], upmin - width / 2))
waypoint.append(Point(pointpos[i], buttom + width / 2))
elif (down1):
downbound = down1.bounds
downmin = downbound[1] #ymin
downmax = downbound[3] #ymax
top = uppoints[buttomindex].y #upper segment y
if (downmax - downmin <= width / 2):
waypoint = [Point(pointpos[i], downmin + width / 2)]
else:
cutpt = Point(pointpos[i], downmin + width / 2)
cut = yaxis.perpendicular_line(cutpt)
crosspoint = polygon.intersection(cut)
if (crosspoint[0].x < crosspoint[1].x):
leftcross = crosspoint[0]
rightcross = crosspoint[1]
else:
leftcross = crosspoint[1]
rightcross = crosspoint[0]
if (leftcross.x <= pointpos[i]
and rightcross.x >= pointpos[i]):
waypoint = [Point(pointpos[i], downmin + width / 2)]
elif (leftcross.x > pointpos[i]):
waypoint = [leftcross]
else:
waypoint = [rightcross]
if (top - downmax >= width):
waypoint.append(Point(pointpos[i], downmax + width / 2))
waypoint.append(Point(pointpos[i], top - width / 2))
waypoint.reverse()
else:
buttom = downpoints[topindex].y
top = uppoints[buttomindex].y
if (top - buttom <= width):
waypoint = [Point(pointpos[i], (top + buttom) / 2)]
else:
waypoint = [
Point(pointpos[i], top - width / 2),
Point(pointpos[i], buttom + width / 2)
]
elif (len(lines) == 1):
index = findbound(vertices)
leftindex = index[0]
rightindex = index[2]
line = lines[0]
if (line.p1.y < line.p2.y):
line = Line(line.p2, line.p1)
bound = polygon.bounds
ymax = bound[3]
ymin = bound[1]
xmin = bound[0]
xmax = bound[2]
if (line.contains(vertices[leftindex])): #cut line at left
if (ymax - ymin <= width):
waypoint = [Point(xmax - width / 2, (ymin + ymax) / 2)]
else:
cutpt = Point(pointpos[i], ymax - width / 2)
cut = yaxis.perpendicular_line(cutpt)
crosspoint = polygon.intersection(cut)
if (crosspoint[0].x < crosspoint[1].x):
crosspoint = crosspoint[1]
else:
crosspoint = crosspoint[0]
if (crosspoint.x > pointpos[i]):
waypoint = [Point(pointpos[i], ymax - width / 2)]
else:
waypoint = [crosspoint]
cutpt = Point(pointpos[i], ymin + width / 2)
cut = yaxis.perpendicular_line(cutpt)
crosspoint = polygon.intersection(cut)
if (crosspoint[0].x < crosspoint[1].x):
crosspoint = crosspoint[1]
else:
crosspoint = crosspoint[0]
if (crosspoint.x > pointpos[i]):
waypoint.append(Point(pointpos[i], ymin + width / 2))
else:
waypoint.append(crosspoint)
#see if segment consist of 2 waypoints can cover rightmost part
way = Segment(*waypoint)
wp = Point(vertices[rightindex].x - width / 2,
vertices[rightindex].y)
limit = xaxis.perpendicular_line(wp)
if not (way.intersection(limit)):
waypoint.insert(1, wp)
else: #cut line at right
if (ymax - ymin <= width):
waypoint = [Point(xmin + width / 2, (ymax + ymin) / 2)]
else:
cutpt = Point(pointpos[i], ymax - width / 2)
cut = yaxis.perpendicular_line(cutpt)
crosspoint = polygon.intersection(cut)
if (crosspoint[0].x < crosspoint[1].x):
crosspoint = crosspoint[0]
else:
crosspoint = crosspoint[1]
if (crosspoint.x < pointpos[i]):
waypoint = [Point(pointpos[i], ymax - width / 2)]
else:
waypoint = [crosspoint]
cutpt = Point(pointpos[i], ymin + width / 2)
cut = yaxis.perpendicular_line(cutpt)
crosspoint = polygon.intersection(cut)
if (crosspoint[0].x < crosspoint[1].x):
crosspoint = crosspoint[0]
else:
crosspoint = crosspoint[1]
if (crosspoint.x < pointpos[i]):
waypoint.append(Point(pointpos[i], ymin + width / 2))
else:
waypoint.append(crosspoint)
way = Segment(*waypoint)
wp = Point(vertices[leftindex].x + width / 2,
vertices[leftindex].y)
limit = xaxis.perpendicular_line(wp)
if not (way.intersection(limit)):
waypoint.insert(1, wp)
else: #width of the area less than sensor width
bound = polygon.bounds
if (bound[3] - bound[1] < width):
waypoint = [Point(pointpos[i], (bound[1] + bound[3]) / 2)]
else:
ypos = np.array(bound[3] - width / 2, bound[1] + width / 2,
width)
ypos = ypos.reshape(len(ypos), 1)
waypoint = ypos.insert(0, pointpos[i], axis=1)
i = i + 1
if (i % 2 == 1):
waypoint.reverse()
waypoints.extend(waypoint)
return waypoints
def check_segment_crossing(p1,p2,q1,q2) :
p = Segment(p1, p2)
q = Segment(q1, q2)
return len(p.intersection(q)) > 0
cut = yaxis.perpendicular_line(cutpt)
crosspoint = polygon.intersection(cut)
if (crosspoint[0].x < crosspoint[1].x):
crosspoint = crosspoint[1]
else:
crosspoint = crosspoint[0]
if (crosspoint.x > pointpos[i]):
waypoint.append(Point(pointpos[i], ymin + width / 2))
else:
waypoint.append(crosspoint)
#see if segment consist of 2 waypoints can cover rightmost part
way = Segment(*waypoint)
wp = Point(vertices[rightindex].x - width / 2,
vertices[rightindex].y)
limit = xaxis.perpendicular_line(wp)
if not (way.intersection(limit)):
waypoint.insert(1, wp)
else: #cut line at right
if (ymax - ymin <= width):
waypoint = [Point(xmin + width / 2, (ymax + ymin) / 2)]
else:
cutpt = Point(pointpos[i], ymax - width / 2)
cut = yaxis.perpendicular_line(cutpt)
crosspoint = polygon.intersection(cut)
if (crosspoint[0].x < crosspoint[1].x):
crosspoint = crosspoint[0]
else:
crosspoint = crosspoint[1]
if (crosspoint.x < pointpos[i]):
waypoint = [Point(pointpos[i], ymax - width / 2)]
else:
