def __init__(self, pos,terrain=None, dbh=0, specie=None):
Obstacle.__init__(self, pos, isSpherical=True, radius=dbh,terrain=terrain, color='#5C3317')
self.z=0
self.dbh=dbh
self.specie=specie
self.alpha=1
self.rLim=0.01 #smaller than 1cm radius is not relevant.
self.zlim=0.2 #roots deeper than this are discarded.
if terrain:
self.name="stump%d"%len(terrain.stumps)
terrain.stumps.append(self)
else: self.name="stump"
#the new stuff! Exciting
self.RPradius=dbh/2.+0.5 #50^2/10000 =>m2, =(50/100)=0.5^2 dvs 0.5m i grundradie
self.radius=self.RPradius
nRoots=int(round(1.822+(0.019*dbh*1000)))
#let's put up the rooots!
th=random.uniform(0,2*pi)
dth=2*pi/float(nRoots)
cart=getCartesian
maxdist2=0
self.roots=[]
for i in range(nRoots):
rootR=abs((-0.18943+2.96*dbh)/nRoots/2.) #radius of root
#taper factor:
tf=0.04+0.0206*random.normalvariate(0,1)# dm/dm root length.. thus unitless
if tf<0.0194: tf=0.04
if self.specie=='pine':
rootL=abs(random.normalvariate(0.510, sqrt(0.671))) #length of root
elif self.specie=='spruce':
rootL=abs(random.normalvariate(0.480, sqrt(0.549))) #length of root
elif self.specie=='leaf':
rootL=abs(random.normalvariate(0.510, sqrt(0.658))) #length of root
else:
raise Exception('root did not recognize specie:%s'%self.specie)
#finalR=rootR-rootL*tf
finalR=rootR*(1-tf)
alpha=asin(rootR/self.RPradius)#half angle between p1 and p4
dr=rootR-finalR
start=cart([self.RPradius-rootR, th],direction=pi/2., origin=self.pos)
p1=cart([self.RPradius-rootR, th-alpha],direction=pi/2., origin=self.pos)
comp=rootR/cos(th-pi/2) #to compensate for that the origin of the root is inside the root plate, -rootR above.
p2=cart([-dr ,rootL+comp],origin=p1, direction=th, fromLocalCart=True)
p3=cart([-dr-2*finalR,rootL+comp],origin=p1, direction=th, fromLocalCart=True)
middle=cart([-dr-finalR,rootL],origin=p1, direction=th, fromLocalCart=True)
p4=cart([-2*rootR,0],origin=p1, direction=th, fromLocalCart=True)
if dr+finalR-rootR>rootR/100.: raise Exception('Root model does not work as planned. %f, %f, %f'%(rootR, finalR, dr))
#self._makeRoot(pos=start, direction=th, nodes=[p1,p2,p3,p4], rin=rootR, rfin=finalR,length=rootL, visible=True)
#self._branch(middle, finalR, th=th, zin=0) #makes a branch. May create more sub-branches
self._branch(start, rootR, th=th, zin=0, first=True) #makes a branch. May create more sub-branches
th+=dth
if self.terrain:
self.terrain.obstacles.remove(self)
self.terrain.obstacles.append(self) # to get after the roots in the list.
def __init__(self,
target_x,
target_y,
angular_speed=0.3,
linear_speed=0.2,
distance_from_mline_threshold=0.1,
distance_from_nearest_point_threshold=0.1):
Obstacle.__init__(self, angular_speed, linear_speed)
self.mline = MLine() #stworzenie obiektu typu MLine
self.mline.calculate_m_line(
target_x, target_y) #pomiędzy początkiem, a końcem trasy
self.distance_from_mline_threshold = distance_from_mline_threshold
self.distance_from_nearest_point_threshold = distance_from_nearest_point_threshold
self.distance_from_start_to_target = self.mline.calculate_distance_from_line_start(
target_x, target_y)
self.closest_point = {'x': 0, 'y': 0}
self.hit_point_distance_from_start = 0 #zmienna zapisująca poprzednie miniecię z prostą MLine
