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+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2012 Nicolas Schodet
+#
+# APBTeam:
+# Web: http://apbteam.org/
+# Email: team AT apbteam DOT org
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+#
+# }}}
+"""Obstacle with a polygonal shape."""
+from utils.observable import Observable
+from simu.utils.vector import vector
+from simu.utils.trans_matrix import TransMatrix
+from math import pi
+import simu.utils.intersect
+
+class PolygonalObstacle (Observable):
+
+ def __init__ (self, *points, **kwargs):
+ Observable.__init__ (self)
+ self.pos = None
+ self.angle = 0
+ self.points = points
+ self.level = 0
+ for i in kwargs:
+ if i == 'level':
+ self.level = kwargs[i]
+ else:
+ raise TypeError ("unexpected keyword argument")
+
+ def intersect (self, a, b):
+ """If the segment [AB] intersects the obstacle, return distance from a
+ to intersection point, else, return None."""
+ if self.pos is None or self.angle is None:
+ return None
+ # Find intersection with each segments. Return the nearest.
+ m = TransMatrix ()
+ m.translate (self.pos)
+ m.rotate (self.angle)
+ p = m.apply (*self.points)
+ found = None
+ def iter_seg (p):
+ for i in xrange (len (p) - 1):
+ yield p[i], p[i + 1]
+ yield p[-1], p[0]
+ for c, d in iter_seg (p):
+ i = simu.utils.intersect.segment_segment (a, b, c, d)
+ if i is not None:
+ if found is not None:
+ found = min (found, i)
+ break
+ else:
+ found = i
+ return found
+