robot = box(pos = (0, 0, 150),
size = (250,320,350),
- color = (1, 0, 0) )
+ color = (0.3, 0.3, 0.3) )
last_pos = robot.pos.x, robot.pos.y, robot.pos.z
hcenter_line = curve()
vcenter_line = curve()
vcenter_line.pos = [(0., -AREA_Y/2, 0.3), (0., AREA_Y/2, 0.3)]
+yellowarea = [ (0.0, 0.0, -0.5), (500.0, 500.0, 0.5) ]
+yellowareasize = reduce(lambda x,y:tuple([abs(x[i])+abs(y[i]) for i in range(len(x))]) , yellowarea)
+yellowarea_box = box(pos=(-AREA_X/2+250,-AREA_Y/2+250,0), size=yellowareasize, color=(1.0, 1.0, 0.0))
+
+bluearea = [ (0.0, 0.0, -0.5), (500.0, 500.0, 0.5) ]
+blueareasize = reduce(lambda x,y:tuple([abs(x[i])+abs(y[i]) for i in range(len(x))]) , bluearea)
+bluearea_box = box(pos=(AREA_X/2-250,-AREA_Y/2+250,0), size=blueareasize, color=(0.0, 0.0, 1.0))
+
+greyarea = [ (0.0, 0.0, -0.5), (1520.0, 500.0, 0.5) ]
+greyareasize = reduce(lambda x,y:tuple([abs(x[i])+abs(y[i]) for i in range(len(x))]) , greyarea)
+greyarea_box = box(pos=(0,-AREA_Y/2+250,0), size=greyareasize, color=(0.3, 0.6, 0.3))
+
def square(sz):
sq = curve()
sq.pos = [(-sz, -sz, 0.3),
TYPE_WHITE_CORN=2
TYPE_BLACK_CORN=3
TYPE_OBSTACLE=4
-TYPE_NEIGH=5
+TYPE_BALL=5
+TYPE_NEIGH=6
col = [TYPE_WAYPOINT] * WAYPOINTS_NBY
waypoints = [col[:] for i in range(WAYPOINTS_NBX)]
if c >= 0:
waypoints[i][j] = corn_table[c]
continue
+
+ # balls
+ if (i & 1) == 0 and j > 3:
+ waypoints[i][j] = TYPE_BALL
+ continue
+ if (i == 0 or i == WAYPOINTS_NBX-1) and j > 2:
+ waypoints[i][j] = TYPE_BALL
+ continue
+
# too close of border
if (i & 1) == 1 and j == WAYPOINTS_NBY -1:
waypoints[i][j] = TYPE_OBSTACLE
radius=25, color=(0.2,0.2,0.2),
pos=(x-AREA_X/2,y-AREA_Y/2,75))
area_objects.append(c)
+ elif waypoints[i][j] == TYPE_BALL:
+ c = sphere(radius=50, color=(1., 0.,0.),
+ pos=(x-AREA_X/2,y-AREA_Y/2,50))
+ area_objects.append(c)
+ else:
+ c = sphere(radius=5, color=(0., 0.,1.),
+ pos=(x-AREA_X/2,y-AREA_Y/2,5))
+ area_objects.append(c)
j += 1
y += STEP_CORN_Y
i += 1