def _update_proximity_sensors(self):
robots = self.world.robots
solids = self.world.solids()
for robot in robots:
sensors = robot.ir_sensors
for sensor in sensors:
dmin = float('inf')
detector_line = sensor.detector_line
for solid in solids:
if solid is not robot: # assume that the sensor does not detect it's own robot
solid_polygon = solid.global_geometry
if geometrics.check_nearness(
detector_line, solid_polygon
): # don't bother testing objects that are not near each other
intersection_exists, intersection, d = geometrics.directed_line_segment_polygon_intersection(
detector_line, solid_polygon)
if intersection_exists and d < dmin:
dmin = d
# if there is an intersection, update the sensor with the new delta value
if dmin != float('inf'):
sensor.detect(dmin)
else:
sensor.detect(None)
def _update_proximity_sensors( self ):
robots = self.world.robots
solids = self.world.solids()
for robot in robots:
sensors = robot.ir_sensors
for sensor in sensors:
dmin = float('inf')
detector_line = sensor.detector_line
for solid in solids:
if solid is not robot: # assume that the sensor does not detect it's own robot
solid_polygon = solid.global_geometry
if geometrics.check_nearness( detector_line, solid_polygon ): # don't bother testing objects that are not near each other
intersection_exists, intersection, d = geometrics.directed_line_segment_polygon_intersection( detector_line, solid_polygon )
if intersection_exists and d < dmin:
dmin = d
# if there is an intersection, update the sensor with the new delta value
if dmin != float('inf'):
sensor.detect( dmin )
else:
sensor.detect( None )
def _detect_collisions( self ):
colliders = self.world.colliders()
solids = self.world.solids()
for collider in colliders:
polygon1 = collider.global_geometry # polygon1
for solid in solids:
if solid is not collider: # don't test an object against itself
polygon2 = solid.global_geometry # polygon2
if geometrics.check_nearness( polygon1, polygon2 ): # don't bother testing objects that are not near each other
if geometrics.convex_polygon_intersect_test( polygon1, polygon2 ):
raise CollisionException()
def _detect_collisions(self):
"""
Checks the world for any collisions between colliding objects (robots) and solid objects (obstacles)
Raises a CollisionException if a collision is detected
"""
colliders = self.world.colliders()
solids = self.world.solids()
for collider in colliders:
polygon1 = collider.global_geometry # polygon1
for solid in solids:
if solid is not collider: # don't test an object against itself
polygon2 = solid.global_geometry # polygon2
if geometrics.check_nearness(polygon1,
polygon2): # don't bother testing objects that are not near each other
if geometrics.convex_polygon_intersect_test(polygon1, polygon2):
raise CollisionException()
def _update_proximity_sensors(self):
"""
Update any proximity sensors that are in range of solid objects
"""
robots = self.world.robots
solids = self.world.solids()
for robot in robots:
sensors = robot.ir_sensors
for sensor in sensors:
dmin = float('inf')
detector_line = sensor.detector_line
solid_object = None
for i, solid in enumerate(solids):
if solid is not robot: # assume that the sensor does not detect it's own robot
solid_polygon = solid.global_geometry
if geometrics.check_nearness(detector_line,
solid_polygon): # don't bother testing objects that are not near each other
intersection_exists, intersection, d = geometrics.directed_line_segment_polygon_intersection(
detector_line, solid_polygon)
if intersection_exists and d < dmin:
dmin = d
solid_object = solid
# if there is an intersection, update the sensor with the new delta value
if dmin != float('inf'):
sensor.detect(dmin) # distance to the nearest solid
else:
sensor.detect(None)
# if a feature has been extracted from the environment, update the identifiers with the feature identifiers
if dmin != float('inf') and type(solid_object) == FeaturePoint:
robot.feature_detector.detect(sensor.id, solid_object.id)
else:
robot.feature_detector.detect(sensor.id, -1)
