def add_intermediate_point_where_needed(cls, refs, offset=1):
"""Add intermediate point when crossing the grid of the ElevationGrid."""
if len(refs) < offset or not refs[offset - 1] in OSMCoord.coordDictionnary or WebotsObject.elevation is None:
return refs
previousXGridIndex, previousZGridIndex = \
WebotsObject.elevation.get_grid_indexes(OSMCoord.coordDictionnary[refs[offset - 1]].x,
OSMCoord.coordDictionnary[refs[offset - 1]].z)
newRefs = refs
if offset >= len(refs):
return newRefs
for i in range(max(offset, 1), len(refs)):
if not refs[i] in OSMCoord.coordDictionnary or not refs[i - 1] in OSMCoord.coordDictionnary:
continue
currentXGridIndex, currentZGridIndex = WebotsObject.elevation.get_grid_indexes(OSMCoord.coordDictionnary[refs[i]].x,
OSMCoord.coordDictionnary[refs[i]].z)
if not previousXGridIndex == currentXGridIndex and currentXGridIndex > 0 and previousXGridIndex > 0:
d1x = math.fabs(WebotsObject.elevation.elevationArray[min(previousXGridIndex, currentXGridIndex)]['x'] -
OSMCoord.coordDictionnary[refs[i]].x)
d2x = math.fabs(WebotsObject.elevation.elevationArray[min(previousXGridIndex, currentXGridIndex)]['x'] -
OSMCoord.coordDictionnary[refs[i - 1]].x)
if d1x > 0.01 and d2x > 0.01:
# need to add an intermediate point if none of the points are already very close from the border
newCoordX = (d2x / (d1x + d2x)) * OSMCoord.coordDictionnary[refs[i]].x + \
(d1x / (d1x + d2x)) * OSMCoord.coordDictionnary[refs[i - 1]].x
newCoordZ = (d2x / (d1x + d2x)) * OSMCoord.coordDictionnary[refs[i]].z + \
(d1x / (d1x + d2x)) * OSMCoord.coordDictionnary[refs[i - 1]].z
newOSMID = OSMCoord.add_new_coord_to_list(newCoordX, newCoordZ)
newRefs.insert(i, newOSMID)
return cls.add_intermediate_point_where_needed(newRefs, i)
if not previousZGridIndex == currentZGridIndex and currentZGridIndex > 0 and previousZGridIndex > 0:
d1z = math.fabs(WebotsObject.elevation.elevationArray[max(previousZGridIndex, currentZGridIndex)]['z'] -
OSMCoord.coordDictionnary[refs[i]].z)
d2z = math.fabs(WebotsObject.elevation.elevationArray[max(previousZGridIndex, currentZGridIndex)]['z'] -
OSMCoord.coordDictionnary[refs[i - 1]].z)
if d1z > 0.01 and d2z > 0.01:
# need to add an intermediate point if none of the points are already very close from the border
newCoordX = (d2z / (d1z + d2z)) * OSMCoord.coordDictionnary[refs[i]].x +\
(d1z / (d1z + d2z)) * OSMCoord.coordDictionnary[refs[i - 1]].x
newCoordZ = (d2z / (d1z + d2z)) * OSMCoord.coordDictionnary[refs[i]].z +\
(d1z / (d1z + d2z)) * OSMCoord.coordDictionnary[refs[i - 1]].z
newOSMID = OSMCoord.add_new_coord_to_list(newCoordX, newCoordZ)
newRefs.insert(i, newOSMID)
return cls.add_intermediate_point_where_needed(newRefs, i)
newCoordX, newCoordZ = get_intersection(OSMCoord.coordDictionnary[refs[i]].x,
OSMCoord.coordDictionnary[refs[i]].z,
OSMCoord.coordDictionnary[refs[i - 1]].x,
OSMCoord.coordDictionnary[refs[i - 1]].z,
WebotsObject.elevation.elevationArray[currentXGridIndex]['x'],
WebotsObject.elevation.elevationArray[currentZGridIndex]['z'],
WebotsObject.elevation.elevationArray[currentXGridIndex]['x'] +
WebotsObject.elevation.xStep,
WebotsObject.elevation.elevationArray[currentZGridIndex]['z'] +
WebotsObject.elevation.zStep)
if newCoordX is not None and newCoordZ is not None: # add point if intersect the triangle
newOSMID = OSMCoord.add_new_coord_to_list(newCoordX, newCoordZ)
newRefs.insert(i, newOSMID)
return cls.add_intermediate_point_where_needed(newRefs, i + 2)
previousXGridIndex = currentXGridIndex
previousZGridIndex = currentZGridIndex
return newRefs
def generate_tree_file(self, folder):
"""Generate the 'forest' file which contains the tree positions and is used by the 'Forest' PROTO."""
treeNumber = 0
polygon = []
xMin, xMax, zMin, zMax = OSMCoord.get_min_and_max_coord(self.ref)
for ref in self.ref:
polygon.append([
OSMCoord.coordDictionnary[ref].x,
OSMCoord.coordDictionnary[ref].z
])
numberOfTree = int(round((xMax - xMin) * (zMax - zMin)) * self.density)
if not os.path.exists(folder + '/forest'):
os.makedirs(folder + '/forest')
file = open(folder + '/forest/' + str(self.OSMID) + '.forest', 'w')
for index in range(0, numberOfTree):
x = random.uniform(xMin, xMax)
z = random.uniform(zMin, zMax)
y = 0
if WebotsObject.elevation is not None:
y = WebotsObject.elevation.interpolate_height(
-x + WebotsObject.xOffset, z + WebotsObject.zOffset)
if Area.is_point_in_polygon(x, z, polygon) is True:
treeNumber = treeNumber + 1
file.write("%.2f,%.2f,%.2f\n" % (x, y, z))
file.close()
if treeNumber > 0:
return 'forest/' + str(self.OSMID) + '.forest'
else:
os.remove('forest/' + str(self.OSMID) + '.forest')
return None
def parse_node(self, node):
"""Parse a node element and create the appropriate OSMNode, OSMCoord and if needed Tree object."""
lat = node.attrib['lat']
lon = node.attrib['lon']
osmId = node.attrib['id']
tags = self.get_tags(node)
OSMNode.add(osmId, lon, lat, tags)
OSMCoord.add(osmId, lon, lat)
if 'natural' in tags:
tree = Tree()
if 'height' in tags:
tree.height = float(tags['height'])
if 'leaf_type' in tags:
tree.leafType = tags['leaf_type']
if 'diameter_crown' in tags:
tree.radius = tags['diameter_crown'] / 2.0
tree.coord = OSMCoord.coordDictionnary[osmId]
Tree.list.append(tree)
maxlat=maxlat,
maxlon=maxlon)
WebotsObject.elevation = elevation
# parse OSM file
parser = Parser()
parser.parse_file(options.inFile, options.disableMultipolygonBuildings)
Road.initialize_speed_limit(parser.country)
print(" * OSM filed parsed")
if options.enable3D and elevation is not None:
add_height_to_coordinates(
elevation) # important to do it before 'center_coordinates'
xOffset, zOffset = OSMCoord.center_coordinates(minlat=minlat,
minlon=minlon,
maxlat=maxlat,
maxlon=maxlon)
WebotsObject.xOffset = xOffset
WebotsObject.zOffset = zOffset
# From now we are in local coordinates system and not earth coordinates system anymore
# print all the Webots objects
if not options.noRoads:
Road.process()
Road.export(outputFile)
print(" * " + str(len(Road.roads)) + " roads generated")
print(" * " + str(len(Road.crossroads)) + " crossroads generated")
if not options.noBuildings:
Building.export(outputFile)
print(" * " + str(len(Building.list)) + " buildings generated")
def draw_area(file,
refs,
red=1,
green=0,
blue=0,
defName="",
transparency=0.0,
texture="",
drawFlat=False,
verticalOffset=0.0):
"""Draw an area."""
if len(refs) < 3:
return
if not defName == "":
file.write("DEF " + defName + " " + "Transform {\n")
else:
file.write("Transform {\n")
file.write(" translation %f 0 %f\n" %
(OSMCoord.coordDictionnary[refs[0]].x,
OSMCoord.coordDictionnary[refs[0]].z))
file.write(" children [\n")
file.write(" Shape {\n")
file.write(" appearance Appearance {\n")
file.write(" material Material {\n")
file.write(" diffuseColor " + str(red) + " " + str(green) +
" " + str(blue) + "\n")
if transparency > 0:
file.write(" transparency " + str(transparency) + "\n")
file.write(" }\n")
if not texture == "":
file.write(" texture ImageTexture {\n")
file.write(" url [\n")
file.write(" \"" + texture + "\"\n")
file.write(" ]\n")
file.write(" }\n")
xMin, xMax, zMin, zMax = OSMCoord.get_min_and_max_coord(refs)
scale = max(abs(round(xMax - xMin)), abs(round(zMax - zMin)))
file.write(" textureTransform TextureTransform {\n")
file.write(" scale %.2f %.2f\n" % (scale, scale))
file.write(" }\n")
file.write(" }\n")
file.write(" geometry IndexedFaceSet {\n")
file.write(" coord Coordinate {\n")
file.write(" point [\n")
if drawFlat:
height = 0
for ref in refs:
if ref in OSMCoord.coordDictionnary:
height = height + OSMCoord.coordDictionnary[ref].y
height = height / len(refs)
for ref in refs:
if ref in OSMCoord.coordDictionnary:
if drawFlat:
file.write(
" %.2f %.2f %.2f,\n" %
(OSMCoord.coordDictionnary[ref].x -
OSMCoord.coordDictionnary[refs[0]].x, height +
verticalOffset, OSMCoord.coordDictionnary[ref].z -
OSMCoord.coordDictionnary[refs[0]].z))
else:
file.write(
" %.2f %.2f %.2f,\n" %
(OSMCoord.coordDictionnary[ref].x -
OSMCoord.coordDictionnary[refs[0]].x,
OSMCoord.coordDictionnary[ref].y + verticalOffset,
OSMCoord.coordDictionnary[ref].z -
OSMCoord.coordDictionnary[refs[0]].z))
else:
print("Warning: node " + str(ref) + " not referenced.")
file.write(" ]\n")
file.write(" }\n")
if Area.are_references_clockwise(refs) is False:
file.write(" ccw FALSE\n")
file.write(" coordIndex [\n")
for i in range(0, len(refs)):
file.write(" " + str(i) + "\n")
file.write(" -1\n")
file.write(" ]\n")
file.write(" }\n")
file.write(" castShadows FALSE\n")
file.write(" }\n")
file.write(" ]\n")
file.write("}\n")