def on_touch_down(self, touch):
if touch.button == 'left':
return super().on_touch_down(touch)
if touch.button == 'scrollup':
self.evr.decal.zoom(Point(touch.x, touch.y))
if touch.button == 'scrolldown':
self.evr.decal.dezoom(Point(touch.x, touch.y))
def __init__(self, room, startpoint, direction, energy, color, energyMin, lineLong):
self.energyMax = energy
self.lineLong = lineLong
self.energy = energy
self.direction = direction
self.color = deepcopy(color)
transp = 1
x0 = startpoint.x
y0 = startpoint.y
j = 0
while self.energy > energyMin:
xline = x0 + self.lineLong * cos(self.direction)
yline = y0 + self.lineLong * sin(self.direction)
oldPt = Point(x0, y0)
newPt = Point(xline, yline)
for mur in room.walls:
if mur.are2PointOnDifferentsSide(oldPt, newPt):
self.bounce(mur)
self.energy = self.energy * self.attenuation()**self.lineLong
transp = self.energy / self.energyMax
Color(self.color[0], self.color[1], self.color[2], transp)
Line(points=[x0, y0, xline, yline], width=1)
x0 = xline
y0 = yline
j = j+1
def collide_point(self, x, y):
if self.isAlignedWith(Point(x, y)):
return False
minPoint = self.getNearestPointOnLine(Point(x, y))
dist = minPoint.dist(Point(x, y))
if dist < self.collidewidth:
return True
return False
def __init__(self, ax, ay, bx, by, evr):
super(Mur, self).__init__(evr)
self.a = Point(ax, ay)
self.b = Point(bx, by)
self.width = 150
self.pointsWidth = 20
self.collidewidth = 35
self.defColor = [.6, .1, .2]
self.color = self.defColor
self.isSelected = False
def __init__(self): self.pos = Point(0, 0, 0) # Translation self.rot = Point(0, 0, 0) # Rotation self.v = Point(0, 0, 0) # Velocity self.ω = Point(0, 0, 0) # Angular velocity self.rotating = False self.translating = False self.DEBUG = False
def isInterestedInMove(self, touch, x, y):
distanceA = self.a.dist(Point(touch.x, touch.y))
distanceB = self.b.dist(Point(touch.x, touch.y))
if (distanceA < self.pointsWidth and distanceA <= distanceB):
self.a.x += x
self.a.y += y
elif (distanceB < self.pointsWidth and distanceA > distanceB):
self.b.x += x
self.b.y += y
else:
self.decaler(x, y)
return True
def drawe(self):
with self.canvas:
self.canvas.clear()
Color(self.color[0], self.color[1], self.color[2])
a = self.evr.decale(Point(self.a.x, self.a.y))
b = self.evr.decale(Point(self.b.x, self.b.y))
Line(points=[a.x, a.y, b.x, b.y])
if self.isSelected:
center = (a.x - self.pointsWidth / 2,
a.y - self.pointsWidth / 2)
Ellipse(pos=center, size=(self.pointsWidth, self.pointsWidth))
center = (b.x - self.pointsWidth / 2,
b.y - self.pointsWidth / 2)
Ellipse(pos=center, size=(self.pointsWidth, self.pointsWidth))
return self
def _calculate_two_theta(self, x_pixel, y_pixel):
d = self.detector_distance
if self.method == 1:
#conduct the calculation
#following fit2d paper:
#create appropriate parameters
x_distance = (x_pixel - self.center_in_pixel.x) * self.pixel_size
y_distance = (y_pixel - self.center_in_pixel.y) * self.pixel_size
phi = self.tilt_y / 180. * np.pi
beta = self.tilt_x / 180. * np.pi
first_term = cos(phi)**2 * (cos(beta) * x_distance +
sin(beta) * y_distance)**2
second_term = (-sin(beta) * x_distance + cos(beta) * y_distance)**2
third_term = (d + sin(phi) *
(cos(beta) * x_distance + sin(beta) * y_distance))**2
two_theta = arctan(sqrt(
(first_term + second_term) / third_term)) * 180 / np.pi
elif self.method == 2:
#follwoing the Bob B. He:
x_distance = (x_pixel - 1024) * self.pixel_size
y_distance = (y_pixel - 1024) * self.pixel_size
alpha = arcsin(
distance(Point(1024, 1024), self.center_in_pixel) *
self.pixel_size / d)
two_theta = arccos(
(x_distance * sin(alpha) + d * cos(alpha)) / np.sqrt(d ** 2 + x_distance ** 2 + y_distance ** 2)) \
* 180 / np.pi
return two_theta
def __init__(self, posx, posy, power=5, room=None, color=[1, 1, 1]):
self.lines = []
self.room = room
self.pos = Point(posx, posy)
self.nblignes = power**2
self.color = color
self.energyPerBeam = 10
def add_point_load(self, loaded_joint: Point, load_force: float):
"""
Joint load must be applied between two supports
"""
external_forces_y_pos = None
for support in self.supports:
external_forces_y_pos = support.y
break
if external_forces_y_pos != loaded_joint.y:
raise Exception("Joint load is not horizontally inline with supports.")
supports_x_pos = sorted([support.x for support in self.supports])
for i, x_pos in enumerate(supports_x_pos):
left_neighbour = None if i == 0 else supports_x_pos[i - 1]
right_neighbour = None if i == len(supports_x_pos) - 1 else supports_x_pos[i + 1]
# If outside of neighbours, no weight on me
if left_neighbour is not None and loaded_joint.x <= left_neighbour:
continue
if right_neighbour is not None and loaded_joint.x >= right_neighbour:
continue
# Between current joint and right joint
if loaded_joint.x > x_pos:
if right_neighbour is None:
raise Exception(
"Joint load seems to be applied to the right of all supports. Must be between supports")
reaction_force = load_force * (loaded_joint.x - x_pos) / (right_neighbour - x_pos)
self.bridge.joints[Point(x_pos, loaded_joint.y)].external_force = Vector(0 * kN, reaction_force)
# Between current joint and right joint
elif loaded_joint.x < x_pos:
if left_neighbour is None:
raise Exception(
"Joint load seems to be applied to the left of all supports. Must be between supports.")
reaction_force = load_force * (x_pos - loaded_joint.x) / (x_pos - left_neighbour)
self.bridge.joints[Point(x_pos, loaded_joint.y)].external_force = Vector(0 * kN, reaction_force)
else:
self.bridge.joints[Point(x_pos, loaded_joint.y)].external_force = Vector(0 * kN, load_force)
self.bridge.joints[loaded_joint].external_force = Vector(0 * kN, -load_force)
def drawe(self):
with self.canvas:
self.canvas.clear()
point = self.evr.decale(Point(self.posx, self.posy))
Color(self.color[0], self.color[1], self.color[2])
center = (point.x - self.larg / 2, point.y - self.larg / 2)
self.e = Ellipse(pos=center, size=(self.larg, self.larg))
return self
def get_clusters(cmap, kmap, num_clusters):
result = [[[], 0] for i in range(num_clusters)]
for y in range(len(cmap)):
for x in range(len(cmap[0])):
if cmap[y][x] != -1:
result[cmap[y][x]][0].append(Point(y, x))
result[cmap[y][x]][1] += kmap[y][x]
return result
def adjustedToMatchExtremity(self, touch):
distA = self.a.dist(Point(touch.x, touch.y))
if distA < self.collidewidth:
touch.x = self.a.x
touch.y = self.a.y
return touch
distB = self.b.dist(Point(touch.x, touch.y))
if distB < self.collidewidth:
touch.x = self.b.x
touch.y = self.b.y
return touch
nearest = self.getNearestPointOnLine(Point(touch.x, touch.y))
distance = Point(touch.x, touch.y).dist(nearest)
if distance < self.collidewidth:
touch.x = nearest.x
touch.y = nearest.y
return touch
def getNearestPointOnLine(self, point):
perpVector = self.getPerpVector()
if perpVector[0] == 0:
perpVector[0] = 0.001
ap = perpVector[1] / perpVector[0]
bp = -ap * point.x + point.y
wallEq = self.getaxplusbEquation()
xx = (bp - wallEq[1]) / (wallEq[0] - ap)
return Point(xx, ap * xx + bp)
def drawSth(self, touch):
if self.evr.shouldDrawWall():
for mur in self.room.walls:
touch = mur.adjustedToMatchExtremity(touch)
self.firstTouch = Point(touch.x, touch.y)
elif self.evr.shouldDrawLight():
light = Lumiere(touch.x, touch.y, self.evr)
self.room.lights.append(light)
return touch
def get_beams_for_pratt_bridge(self, number_of_panels: int, span, angle_ratio: float):
"""
:param number_of_panels: The number of times the sequence repeats
:param span: The span of the bridge
:param angle_ratio: The height divided by the width of one panel
"""
beams = {}
chord_length = span / number_of_panels
height = chord_length * angle_ratio
if number_of_panels % 2 == 1:
raise Exception("Uneven number of panels. Can't build beams.")
for i in range(number_of_panels):
top_left = Point(chord_length * i, height)
top_right = Point(chord_length * (i + 1), height)
bottom_left = Point(chord_length * i, 0 * pq.m)
bottom_right = Point(chord_length * (i + 1), 0 * pq.m)
# Bottom chord
beams[Beam(bottom_left, bottom_right)] = BeamProperties(self.hss_bottom_chord_set)
# Vertical beam
if i != 0:
beams[Beam(bottom_left, top_left)] = BeamProperties(self.hss_web_set)
# Top chord
if i != 0 and i != number_of_panels - 1:
beams[Beam(top_left, top_right)] = BeamProperties(self.hss_top_chord_set)
# Slanted beams
if i == 0:
beams[Beam(bottom_left, top_right)] = BeamProperties(self.hss_web_set)
elif i < number_of_panels / 2:
beams[Beam(top_left, bottom_right)] = BeamProperties(self.hss_web_set)
elif i < number_of_panels - 1:
beams[Beam(top_right, bottom_left)] = BeamProperties(self.hss_web_set)
else:
beams[Beam(top_left, bottom_right)] = BeamProperties(self.hss_web_set)
return beams
def add_og_poi(self):
for unit in self.gc.my_units():
loc = unit.location.map_location()
p = self.symmetry(Point(loc.y, loc.x))
flag = False
for d in self.destinations:
if d[p.y][p.x] and d[p.y][p.x][1] < 5:
flag = True
break
if not flag:
make_poi(self, p)
def add_uniformly_distributed_load(self, load_per_unit_length):
external_forces_y_pos = None
for support in self.supports:
external_forces_y_pos = support.y
break
load_bearing_joints_x_pos = []
for joint in self.bridge.joints:
if joint.y == external_forces_y_pos:
load_bearing_joints_x_pos.append(joint.x)
load_bearing_joints_x_pos = sorted(load_bearing_joints_x_pos)
supports_x_pos = sorted([support.x for support in self.supports])
# Loop from left to right throughout the joints
for i, x_pos in enumerate(load_bearing_joints_x_pos):
if i == 0:
dist_to_neighbouring_joints = (load_bearing_joints_x_pos[i + 1] - x_pos)
elif i < len(load_bearing_joints_x_pos) - 1:
dist_to_neighbouring_joints = (load_bearing_joints_x_pos[i + 1] - load_bearing_joints_x_pos[i - 1])
else:
dist_to_neighbouring_joints = (x_pos - load_bearing_joints_x_pos[i - 1])
self.bridge.joints[
Point(x_pos, external_forces_y_pos)].external_force = Vector(0 * pq.N,
dist_to_neighbouring_joints / -2
* load_per_unit_length)
for i, x_pos in enumerate(supports_x_pos):
if i == 0:
dist_to_neighbouring_joints = (supports_x_pos[i + 1] - x_pos)
elif i < len(supports_x_pos) - 1:
dist_to_neighbouring_joints = (supports_x_pos[i + 1] - supports_x_pos[i - 1])
else:
dist_to_neighbouring_joints = (x_pos - supports_x_pos[i - 1])
self.bridge.joints[Point(x_pos, external_forces_y_pos)] \
.external_force += Vector(0 * pq.N,
dist_to_neighbouring_joints / 2
* load_per_unit_length)
def compute_waypoints_from_laneparams(update, currentGoalPoint):
global laneParams
global wpList
global currentPos
global pub_goal_debug
global pub_goal_debug1
step = 0.5
numPoint = 20
dist = 0
wpList = []
if update:
zero_x = currentGoalPoint.x
zero_y = currentGoalPoint.y
else:
zero_x = currentPos.x
zero_y = currentPos.y
# compute lane points ahead of the vehicle
for distIdx in range(0, numPoint):
wpYorigin = 0.16667 * laneParams.rhoDot * numpy.power(
dist, 3) + 0.5 * laneParams.rho * numpy.power(
dist, 2) + laneParams.phi * dist + laneParams.y
currPoint = numpy.array([dist, wpYorigin])
heading = currentPos.heading
rotationMtrx = numpy.array([[numpy.cos(heading), -numpy.sin(heading)],
[numpy.sin(heading),
numpy.cos(heading)]])
# rotated_point_ = numpy.dot(currPoint, rotationMtrx)
rotated_point = numpy.matmul(rotationMtrx, currPoint)
# print('rotated b', rotated_point_b)
wpX = rotated_point[0] + zero_x
wpY = rotated_point[1] + zero_y
wpList.append(Point(wpX, wpY))
print('original Points', dist, wpYorigin)
print('rotated point', rotated_point)
print('current pose', currentPos.x, currentPos.y, heading)
print('goalPoint', wpX, wpY)
print('getting new list')
dist = dist + step
print('rotation matrix', rotationMtrx)
current_goalPoint = Point32(wpList[5].x, wpList[5].y, 0)
current_goalPoint1 = Point32(wpList[10].x, wpList[10].y, 0)
pub_goal_debug.publish(current_goalPoint)
pub_goal_debug1.publish(current_goalPoint1)
# raw_input()
return (wpList)
def find_clusters(kmap, gap, directions):
cmap = [[-1 for val in row] for row in kmap]
neighbors = [[[] for val in row] for row in kmap]
num_clusters = 0
for y in range(len(kmap)):
for x in range(len(kmap[0])):
if kmap[y][x] > 0 and cmap[y][x] == -1:
find_neighbors(Point(y, x), num_clusters, gap, kmap, cmap,
neighbors, directions)
num_clusters += 1
return num_clusters, cmap, neighbors
def test_next(self):
name = str(random())
cls = 'warrior'
id = self.game_client.add_character(name=name, cls=cls)
self.game_client.enter_game(id)
self.game_client.move(Point(1, 2))
for x in self.game_client.get_message():
if x['id'] == str(id):
self.assertEqual(x['name'], name, "Wrong name")
self.assertEqual(x['cls'], cls, "Wrong class")
self.assertEqual((x['dx'], x['dy']), ('1', '2'),
"Wrong move method")
break
else:
raise Exception('Missing character')
def get_beams_for_equilateral_bridge(self, number_of_panels: int, span):
beams = {}
side_length = span / number_of_panels
height = side_length * math.sqrt(3) / 2
previous_top_corner = None
for i in range(number_of_panels):
# Corners
left_corner = Point(side_length * i, 0 * pq.m)
top_corner = Point(side_length * (i + 0.5), height)
right_corner = Point(side_length * (i + 1), 0 * pq.m)
beams[Beam(left_corner, right_corner)] = BeamProperties(self.hss_bottom_chord_set)
beams[Beam(left_corner, top_corner)] = BeamProperties(self.hss_web_set)
beams[Beam(right_corner, top_corner)] = BeamProperties(self.hss_web_set)
if previous_top_corner is not None:
beams[Beam(previous_top_corner, top_corner)] = BeamProperties(self.hss_top_chord_set)
previous_top_corner = top_corner
return beams
def main():
self = Container()
UnitInfo.setup()
print(os.getcwd())
print("pystarting")
# A GameController is the main type that you talk to the game with.
# Its constructor will connect to a running game.
self.gc = bc.GameController()
print("pystarted")
# It's a good idea to try to keep your bots deterministic, to make debugging easier.
# determinism isn't required, but it means that the same things will happen in every thing you run,
# aside from turns taking slightly different amounts of time due to noise.
random.seed(6137)
# For the purposes of this program, (0, 0) is the UPPERLEFT corner and Point(y, x) <=> [y][x] <=> bc.MapLocation(self.planet, x, y)
self.directions = [
Point(1, 0),
Point(1, 1),
Point(0, 1),
Point(-1, 1),
Point(-1, 0),
Point(-1, -1),
Point(0, -1),
Point(1, -1)
]
self.planet = self.gc.planet()
self.planet_map = self.gc.starting_map(self.planet)
self.team = self.gc.team()
self.asteroids = self.gc.asteroid_pattern()
self.orbit = self.gc.orbit_pattern()
# self.kmap[row][col] is an amount of karbonite >= 0 or -1 if impassable
self.kmap = phase0.generate_kmap(self)
if self.planet == bc.Planet.Earth:
main_earth(self)
else:
main_mars(self)
def perform_bfs(cluster, kmap, directions):
result = [[None for val in row] for row in kmap]
q = []
index = 0
for p in cluster:
q.append((p, 0))
result[p.y][p.x] = Point(0, 0), 0
while index < len(q):
dest, dist = q[index]
for d in directions:
new = dest + d
if not out_of_bounds(new, kmap) and result[new.y][new.x] is None:
result[new.y][new.x] = -d, dist + 1
q.append((new, dist + 1))
index += 1
return result
def get_symmetry(self):
poss = [
lambda p: Point(len(self.kmap) - 1 - p.y,
len(self.kmap[0]) - 1 - p.x),
lambda p: Point(p.y,
len(self.kmap[0]) - 1 - p.x),
lambda p: Point(len(self.kmap) - 1 - p.y, p.x),
lambda p: Point(p.x, p.y),
lambda p: Point(len(self.kmap[0]) - 1 - p.x,
len(self.kmap) - 1 - p.y)
]
if len(self.kmap) != len(self.kmap[0]):
poss = poss[:-2]
for y in range(len(self.kmap)):
for x in range(len(self.kmap[0])):
for i in range(len(poss)):
if poss[i]:
p = poss[i](Point(y, x))
if self.kmap[p.y][p.x] != self.kmap[y][x]:
poss[i] = None
for s in poss:
if s:
return s
def iter_points(self) -> typing.Iterator[Point]:
"""Iterate through the cells' ``(x, y)`` points."""
for y, row in enumerate(self._cells):
for x in range(len(row)):
yield Point(x, y)
class Camera(object):
'''
Animation data
'''
def __init__(self):
self.pos = Point(0, 0, 0) # Translation
self.rot = Point(0, 0, 0) # Rotation
self.v = Point(0, 0, 0) # Velocity
self.ω = Point(0, 0, 0) # Angular velocity
self.rotating = False
self.translating = False
self.DEBUG = False
def set(self, attr, x=None, y=None, z=None):
'''
Docstring goes here
'''
# TODO: This API method is subject to change
getattr(self, attr).set(x, y, z) #
# for key, val in kwargs.items():
# setattr(self, key, val)
def nudge(self, attr, x=None, y=None, z=None):
'''
Increments a given attribute
'''
attr = getattr(self, attr)
attr += Point(x or 0, y or 0, z or 0)
def rotate(self, x=None, y=None, z=None):
'''
Rotates the camera from its current orientation
'''
self.nudge('rot', x, y, z)
self.rotating = True # TODO: Is this necessary?
def setRotation(self, x=None, y=None, z=None):
'''
Sets an absolute rotation
'''
self.rot.set(x, y, z)
def setTranslation(self, x=None, y=None, z=None):
'''
Sets an absolute translation
'''
self.pos.set(x, y, z)
def translate(self, x=None, y=None, z=None):
'''
Translates the camera from its current position
'''
self.nudge('pos', x, y, z)
self.translating = True # TODO: Is this necessary (animation flags in general)?
def setVelocity(self, x=None, y=None, z=None):
'''
Sets an absolute velocity
'''
self.set('v', x, y, z)
self.translating = True
def accelerate(self, x=None, y=None, z=None):
'''
Increases the velocity of the camera
'''
self.nudge('v', x, y, z)
self.translating = True
def setRotating(self, rotating):
self.rotating = rotating
def setTranslating(self, translating):
self.translating = translating
def apply(self):
'''
Apply transformations
'''
# TODO: Decide in which order the transformations should be applied
glTranslate(*self.pos)
glRotate(self.rot.x, 1, 0, 0)
glRotate(self.rot.y, 0, 1, 0)
glRotate(self.rot.z, 0, 0, 1)
def animate(self, dt=1):
# TODO: Take time delta into account (?)
if self.rotating:
self.rot += self.ω
if self.translating:
self.pos += self.v
def __str__(self):
'''
Docstring goes here
'''
return 'Camera | rot x={rx} y={ry} z={rz} | pos x={tx} y={ty} z={tz}'.format(rx=self.rx, ry=self.ry, rz=self.rz, tx=self.tx, ty=self.ty, tz=self.tz)
def process_units(state, units, factories, b_info, create_type):
"""
Controls workers in a general situation with the goal of building factories.
Returns True if built a factory, else False. ASSUMES UnitQueue has been initialized for all
units currently in units. ASSUMES units is a list of only robots
"""
ans = False
gc = state.gc
b_info.prevcount = b_info.count
b_info.oprevcount = b_info.ocount
b_info.count = 0
b_info.ocount = 0
for factory in factories:
if not factory.structure_is_built():
continue
sg = len(factory.structure_garrison())
ml = factory.location.map_location()
if sg > 0:
for direction in try_nearby_directions(bc.Direction.North):
if gc.can_unload(factory.id, direction):
gc.unload(factory.id, direction)
new = gc.sense_unit_at_location(ml.add(direction))
units.append(new)
if new.unit_type == bc.UnitType.Worker and b_info.prevcount < MIN_WORKERS:
new.info().is_B_group = True
sg -= 1
if sg == 0:
break
ct = create_type()
if gc.can_produce_robot(factory.id, ct):
gc.produce_robot(factory.id, ct)
index = 0
while index < len(units):
print(index)
moved = False
unit = units[index]
if unit.location.is_in_garrison():
index += 1
continue
ml = unit.location.map_location()
ui = unit.info()
if unit.unit_type == bc.UnitType.Worker:
if (b_info.prevcount < MIN_WORKERS or b_info.oprevcount < MIN_WORKERS) and unit.ability_heat() < HEAT_LIMIT and gc.karbonite() > KARBONITE_FOR_REPLICATE:
#panic and replicate
print("REPLICATING: %d %d" % (b_info.prevcount, b_info.oprevcount))
for direction in try_nearby_directions(bc.Direction.North):
if gc.can_replicate(unit.id, direction):
gc.replicate(unit.id, direction)
new = gc.sense_unit_at_location(ml.add(direction))
units.append(new)
if (ui.is_B_group and b_info.oprevcount >= MIN_WORKERS) or b_info.prevcount < 3:
new.info().is_B_group = True
elif (not ui.is_B_group and b_info.prevcount >= MIN_WORKERS) or b_info.oprevcount < 3:
new.info().is_B_group = False
else:
new.info().is_B_group = b_info.prevcount <= b_info.oprevcount
break
#continue as normal, don't replicate
if ui.is_B_group:
b_info.count += 1
built = False
if b_info.factory_loc is None and len(factories) < MIN_FACTORIES and gc.karbonite() > FACTORY_BUILD_COST:
# try build factory
for direction in try_nearby_directions(bc.Direction.North):
nloc = ml.add(direction)
if gc.can_blueprint(unit.id, bc.UnitType.Factory, direction) and factory_loc_check_update(state, nloc):
#must blueprint
gc.blueprint(unit.id, bc.UnitType.Factory, direction)
b_info.factory_loc = make_poi(state, Point(nloc.y, nloc.x), factory=True)
b_info.factory_id = gc.sense_unit_at_location(nloc).id
built = True
break
elif b_info.factory_loc is None and gc.karbonite() > ROCKET_BUILD_COST:
# try build rocket
for direction in try_nearby_directions(bc.Direction.North):
nloc = ml.add(direction)
if gc.can_blueprint(unit.id, bc.UnitType.Rocket, direction):
gc.blueprint(unit.id, bc.UnitType.Rocket, direction)
b_info.factory_loc = make_poi(state, Point(nloc.y, nloc.x), factory=True)
b_info.factory_id = gc.sense_unit_at_location(nloc).id
built = True
break
elif b_info.factory_loc is not None:
# should go to factory
if gc.is_move_ready(unit.id) and not moved:
try:
goal, dist = state.destinations[b_info.factory_loc][ml.y][ml.x]
except:
index += 1
continue
goal = goal.to_Direction()
if dist == 1:
lg = goal.rotate_left()
rg = goal.rotate_right()
if gc.can_move(unit.id, lg) and gc.is_move_ready(unit.id):
gc.move_robot(unit.id, lg)
moved = True
elif gc.can_move(unit.id, rg) and gc.is_move_ready(unit.id):
gc.move_robot(unit.id, rg)
moved = True
#else do nothing
if gc.can_build(unit.id, b_info.factory_id):
gc.build(unit.id, b_info.factory_id)
if gc.unit(b_info.factory_id).structure_is_built():
ans = True
fac = gc.unit(b_info.factory_id).unit_type == bc.UnitType.Factory
if not fac:
destmap = state.destinations[b_info.factory_loc]
destmap.rocket = True
destmap.factory = False
b_info.factory_loc = None
b_info.target -= 1
b_info.factory_id = None
else:
print("should build but didn't")
print(index)
elif not moved and gc.is_move_ready(unit.id):
for direction in try_nearby_directions(goal):
if gc.can_move(unit.id, direction):
gc.move_robot(unit.id, direction)
moved = True
break
try_harvest(state, unit, bc.Direction.North)
if not built and b_info.factory_loc is None:
print("tset")
# go to cluster or switch B cluster
cluster = state.karb_clusters[b_info.target]
if cluster.karb > 0 and cluster[ml.y][ml.x] is not None:
goal, dist = cluster[ml.y][ml.x]
goal = goal.to_Direction()
if ui.arrived or goal == bc.Direction.Center:
ui.arrived = True
process_worker(state, gc.unit(unit.id))
moved = True
elif not moved and gc.is_move_ready(unit.id):
ui.arrived = False
unit = gc.unit(unit.id)
for direction in try_nearby_directions(goal):
if gc.can_move(unit.id, direction):
gc.move_robot(unit.id, direction)
moved = True
break
try_harvest(state, unit, goal.opposite())
else:
# switch B cluster
prev = b_info.target
cid = 0
score = -1
for i in range(len(state.karb_clusters)):
s = _cluster_worker_score(ml, state.karb_clusters[i])
if s > score and i != prev:
cid, score = i, s
b_info.target = cid
if cluster[ml.y][ml.x] is None:
ui.is_B_group = False
index += 1
continue
goal, dist = cluster[ml.y][ml.x]
goal = goal.to_Direction()
if not moved and gc.is_move_ready(unit.id):
for direction in try_nearby_directions(goal):
if gc.can_move(unit.id, direction):
gc.move_robot(unit.id, direction)
moved = True
break
try_harvest(state, unit, goal.opposite())
if not ui.is_B_group:
b_info.ocount += 1
# should just harvest
process_worker(state, unit)
else:
process_attacker(state, unit)
index += 1
return ans
from geometry_msgs.msg import Point32,Pose
from utilities import Point, AckermannVehicle , PPController
import transforms3d as tf
import numpy as np
import os
import rospkg
rospack = rospkg.RosPack()
### Define constants:
pi = 3.141592653589793238
# Define global variables:
global currentPos
currentPos = Point()
global file_name
# file_name = rospy.get_param("/file_name")
file_name = "dummy_wp.txt"
# Callback function for subscriber to Position and orientation topic:
def XYZcallback(data):
global currentPos
currentPos.x = data.position.x
currentPos.y = data.position.y
euler = tf.euler.quat2euler([data.orientation.x,data.orientation.y,data.orientation.z,data.orientation.w])
#euler[1] = euler[1] - 1.57
#euler[2] = euler[2] + 3.14
import quantities as pq
from graphics import BridgeGUI
# Follow the 3 steps below to calculate and display the forces in your bridge. Make sure it makes sense.
if __name__ == "__main__":
# 1. ADJUST BRIDGE CONSTANTS
AREA_LOAD = (5 + 1 + 0.75) * kN / pq.m ** 2
WIDTH = 5.4 * pq.m
SPAN = 107.96 / 3 * pq.m
HEIGHT_WIDTH_RATIO = 4 / 3 # Not used for equilateral truss
NUMBER_OF_PANELS = 8 # The number of times the pattern repeats in the bridge
SUPPORTS = {
Point(0 * pq.m, 0 * pq.m),
Point(SPAN, 0 * pq.m)
}
bridge_factory = BridgeFactory()
# 2. CHANGE THE METHOD TO MATCH YOUR BRIDGE
beams = bridge_factory.get_beams_for_k_bridge(NUMBER_OF_PANELS, SPAN, HEIGHT_WIDTH_RATIO)
bridge = BridgeData(beams)
load_applier = LoadApplier(bridge, SUPPORTS)
# 3. PICK BETWEEN POINT LOAD AND UNIFORMLY DISTRIBUTED LOAD
load_applier.add_point_load(Point(SPAN / 2, 0 * pq.m), 1 * kN)
#load_applier.add_uniformly_distributed_load(load_per_unit_length=AREA_LOAD * WIDTH / 2)
import time rospack = rospkg.RosPack() ### Define constants: # Define global variables: global currentPos global file_name global laneParams global wpList global simStart global maxVel wpList = [] currentPos = Point() laneParams = lane() moreLane = True laneParams.rhoDot = 0 laneParams.rho = 0 laneParams.phi = 0 laneParams.y = 0 trial = 0 simStart = False maxVel = 3 wpList.append(Point(currentPos.x, currentPos.y)) wpList.append(Point(currentPos.x, currentPos.y)) wpList.append(Point(currentPos.x, currentPos.y)) wpList.append(Point(currentPos.x, currentPos.y))
class Mur(Selectionable, ButtonBehavior):
def __init__(self, ax, ay, bx, by, evr):
super(Mur, self).__init__(evr)
self.a = Point(ax, ay)
self.b = Point(bx, by)
self.width = 150
self.pointsWidth = 20
self.collidewidth = 35
self.defColor = [.6, .1, .2]
self.color = self.defColor
self.isSelected = False
def drawe(self):
with self.canvas:
self.canvas.clear()
Color(self.color[0], self.color[1], self.color[2])
a = self.evr.decale(Point(self.a.x, self.a.y))
b = self.evr.decale(Point(self.b.x, self.b.y))
Line(points=[a.x, a.y, b.x, b.y])
if self.isSelected:
center = (a.x - self.pointsWidth / 2,
a.y - self.pointsWidth / 2)
Ellipse(pos=center, size=(self.pointsWidth, self.pointsWidth))
center = (b.x - self.pointsWidth / 2,
b.y - self.pointsWidth / 2)
Ellipse(pos=center, size=(self.pointsWidth, self.pointsWidth))
return self
def getaxplusbEquation(self):
if self.b.x != self.a.x:
aw = (self.b.y - self.a.y) / (self.b.x - self.a.x)
else:
aw = 999999
bw = -aw * self.a.x + self.a.y
return [aw, bw]
def getVector(self):
vec = [self.b.x - self.a.x, self.b.y - self.a.y]
longVec = sqrt((vec[0]**2) + (vec[1]**2))
vec[0] = vec[0] / longVec
vec[1] = vec[1] / longVec
return vec
def getPerpVector(self):
wallVector = self.getVector()
return [-wallVector[1], wallVector[0]]
def getNearestPointOnLine(self, point):
perpVector = self.getPerpVector()
if perpVector[0] == 0:
perpVector[0] = 0.001
ap = perpVector[1] / perpVector[0]
bp = -ap * point.x + point.y
wallEq = self.getaxplusbEquation()
xx = (bp - wallEq[1]) / (wallEq[0] - ap)
return Point(xx, ap * xx + bp)
def are2PointOnDifferentsSide(self, pt1, pt2):
if not self.isAlignedWith(pt1) or not self.isAlignedWith(pt2):
return False
eq = self.getaxplusbEquation()
y1 = eq[0] * pt1.x + eq[1]
y2 = eq[0] * pt2.x + eq[1]
if (y1 > pt1.y and y2 > pt2.y):
return False
if (y1 < pt1.y and y2 < pt2.y):
return False
return True
def isAlignedWith(self, pt):
if ((pt.x >= self.a.x and pt.x >= self.b.x)
or (pt.x <= self.a.x and pt.x <= self.b.x)):
return True
if ((pt.y >= self.a.y and pt.y >= self.b.y)
or (pt.y <= self.a.y and pt.y <= self.b.y)):
return True
return False
def collide_point(self, x, y):
if self.isAlignedWith(Point(x, y)):
return False
minPoint = self.getNearestPointOnLine(Point(x, y))
dist = minPoint.dist(Point(x, y))
if dist < self.collidewidth:
return True
return False
def decaler(self, x, y):
self.a.x += x
self.b.x += x
self.a.y += y
self.b.y += y
def isInterestedInMove(self, touch, x, y):
distanceA = self.a.dist(Point(touch.x, touch.y))
distanceB = self.b.dist(Point(touch.x, touch.y))
if (distanceA < self.pointsWidth and distanceA <= distanceB):
self.a.x += x
self.a.y += y
elif (distanceB < self.pointsWidth and distanceA > distanceB):
self.b.x += x
self.b.y += y
else:
self.decaler(x, y)
return True
def adjustedToMatchExtremity(self, touch):
distA = self.a.dist(Point(touch.x, touch.y))
if distA < self.collidewidth:
touch.x = self.a.x
touch.y = self.a.y
return touch
distB = self.b.dist(Point(touch.x, touch.y))
if distB < self.collidewidth:
touch.x = self.b.x
touch.y = self.b.y
return touch
nearest = self.getNearestPointOnLine(Point(touch.x, touch.y))
distance = Point(touch.x, touch.y).dist(nearest)
if distance < self.collidewidth:
touch.x = nearest.x
touch.y = nearest.y
return touch
def manif(self):
self.color = self.selecColor
self.isSelected = True
def demanif(self):
self.color = self.defColor
self.isSelected = False
