def _calc_view_distance(self, space: Space, base_x: float, base_y: float) -> float:
"""
Calculate the distance between the base point, represented by base_x and base_y, and the furthest
viewable object. If no object is in sight, return None.
:param space: which holds the visible objects.
:param base_x: x coordinate of the base point.
:param base_y: y coordinate of the base point.
:return: a floating point value representing the distance if object is viewable, else None.
"""
x, y = self._calc_ray_cast_point(base_x, base_y)
query = space.segment_query_first((base_x, base_y), (x, y), 1, ShapeFilter())
if query:
return -self.sensor_half_height + distance_between_points(base_x,
base_y,
query.point.x,
query.point.y)
else:
return None
def _calc_view_distance(self, space: Space, base_x: float,
base_y: float) -> Optional[float]:
"""
Calculate the distance between the base point, represented by base_x and base_y, and the furthest
viewable object. If no object is in sight, return None.
:param space: which holds the visible objects.
:param base_x: x coordinate of the base point.
:param base_y: y coordinate of the base point.
:return: a floating point value representing the distance if object is viewable, else None.
"""
x, y = self._calc_ray_cast_point(base_x, base_y)
if DEBUG:
line = create_line(x, y, base_x, base_y, RED, 5)
self.robot.debug_shapes.append(line)
query = space.segment_query_first((base_x, base_y), (x, y), 1,
self.shape.filter)
if query:
return -self.sensor_half_height + distance_between_points(
base_x, base_y, query.point.x, query.point.y)
return None
