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+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2011 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.
+#
+# }}}
+"""Robospierre clamp."""
+from simu.inter.drawable import Drawable
+from simu.utils.trans_matrix import TransMatrix
+from math import pi, sin, cos
+
+from simu.view.table_eurobot2011 import YELLOW, draw_pawn
+
+DGREY = '#404040'
+GREY = '#808080'
+BLACK = '#000000'
+
+class ClampTop (Drawable):
+
+ width = 420
+ height = 420
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.__notified)
+
+ def __notified (self):
+ self.update ()
+
+ def draw (self):
+ self.reset ()
+ # Draw base from top.
+ self.trans_rotate (pi)
+ self.draw_arc ((0, 0), 190, start = pi * 35 / 180,
+ extent = pi * 110 / 180, style = 'arc',
+ outline = GREY)
+ self.draw_arc ((0, 0), 190, start = pi + pi * 35 / 180,
+ extent = pi * 110 / 180, style = 'arc',
+ outline = GREY)
+ self.draw_arc ((150, 0), 110, start = pi / 2,
+ extent = pi, style = 'arc', outline = GREY)
+ self.draw_arc ((-150, 0), 110, start = 3 * pi / 2,
+ extent = pi, style = 'arc', outline = GREY)
+ self.draw_arc ((0, 150), 100, start = pi,
+ extent = pi, style = 'arc', outline = GREY, dash = (2, 3))
+ self.draw_line ((-40, 0), (40, 0), fill = GREY, arrow = 'last')
+ # Draw slots.
+ for slot in self.model.slots:
+ if slot.pawn is not None:
+ self.trans_push ()
+ self.trans_scale (1 - slot.z / 1000.0)
+ self.trans_translate ((slot.x, slot.y))
+ draw_pawn (self, slot.pawn.radius, slot.pawn.kind)
+ self.trans_pop ()
+ # Draw clamp.
+ if self.model.rotation is not None:
+ self.trans_rotate (self.model.rotation)
+ # Fixed side.
+ self.draw_line ((0, 3), (47, 3))
+ self.draw_arc ((150, 0), 103, start = pi / 2, extent = pi / 2,
+ style = 'arc')
+ # Pawn.
+ load = self.model.load
+ if load is not None:
+ self.trans_push ()
+ self.trans_translate ((150, 0))
+ draw_pawn (self, load.radius, load.kind)
+ self.trans_pop ()
+ # Mobile side.
+ self.trans_rotate (-self.model.clamping / 43)
+ self.draw_line ((0, -3), (47, -3))
+ self.draw_arc ((150, 0), 103, start = pi, extent = pi / 2,
+ style = 'arc')
+
+class ClampSide (Drawable):
+
+ width = 420
+ height = 370
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.__notified)
+
+ def __notified (self):
+ self.update ()
+
+ def draw_pawn (self, pos, pawn):
+ if pawn is not None:
+ self.trans_push ()
+ self.trans_translate (pos)
+ self.draw_rectangle ((-100, 0), (100, 50), fill = YELLOW)
+ if pawn.kind == 'king':
+ self.draw_polygon ((-50, 50), (-10, 170), (-50, 170), (-50, 190),
+ (-10, 190), (-10, 230), (10, 230), (10, 190), (50, 190),
+ (50, 170), (5, 170), (50, 50), fill = YELLOW,
+ outline = BLACK)
+ elif pawn.kind == 'queen':
+ self.draw_polygon ((-50, 50), (-10, 180), (10, 180), (50, 50),
+ fill = YELLOW, outline = BLACK)
+ self.draw_circle ((0, 180), 50, fill = YELLOW)
+ self.trans_pop ()
+
+ def draw (self):
+ self.reset ()
+ # Draw base from side.
+ self.trans_translate ((0, -165))
+ self.draw_line ((-150, 0), (150, 0), fill = GREY)
+ self.draw_line ((-20, 60), (20, 60), fill = GREY)
+ self.draw_line ((-20, 120), (20, 120), fill = GREY)
+ self.draw_line ((0, 0), (0, 330), fill = GREY)
+ # Draw slots.
+ for slot in self.model.slots:
+ if slot.pawn is not None:
+ self.draw_pawn ((-slot.x, slot.z), slot.pawn)
+ # Draw clamp.
+ if self.model.rotation is not None:
+ self.trans_translate ((0, self.model.elevation))
+ m = TransMatrix ()
+ m.rotate (pi + self.model.rotation)
+ # 2D projection of a 3D circular clamp.
+ ltip = m.apply ((150, 103))[0]
+ lbase = m.apply ((47, 0))[0]
+ lcenter = m.apply ((150, 0))[0]
+ m.rotate (- self.model.clamping / 43)
+ rtip = m.apply ((150, -103))[0]
+ rbase = m.apply ((47, 0))[0]
+ rcenter = m.apply ((150, 0))[0]
+ s, c = sin (self.model.rotation), cos (self.model.rotation)
+ dattr = dict (outline = BLACK, fill = DGREY)
+ attr = dict (outline = BLACK, fill = GREY)
+ if c >= 0:
+ if s >= 0:
+ self.draw_rectangle ((lbase, 10), (lcenter + 103, 40), **dattr)
+ self.draw_rectangle ((rtip, 10), (rbase, 40), **dattr)
+ self.draw_pawn ((lcenter, 0), self.model.load)
+ self.draw_rectangle ((ltip, 10), (lcenter + 103, 40), **attr)
+ else:
+ self.draw_rectangle ((rtip, 10), (rcenter + 103, 40), **dattr)
+ self.draw_pawn ((lcenter, 0), self.model.load)
+ self.draw_rectangle ((ltip, 10), (lbase, 40), **attr)
+ self.draw_rectangle ((rbase, 10), (rcenter + 103, 40), **attr)
+ else:
+ if s >= 0:
+ self.draw_rectangle ((lbase, 10), (ltip, 40), **dattr)
+ self.draw_rectangle ((rbase, 10), (rcenter - 103, 40), **dattr)
+ self.draw_pawn ((lcenter, 0), self.model.load)
+ self.draw_rectangle ((rtip, 10), (rcenter - 103, 40), **attr)
+ else:
+ self.draw_rectangle ((ltip, 10), (lcenter - 103, 40), **dattr)
+ self.draw_pawn ((lcenter, 0), self.model.load)
+ self.draw_rectangle ((lbase, 10), (lcenter - 103, 40), **attr)
+ self.draw_rectangle ((rbase, 10), (rtip, 40), **attr)
+