# 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)