+area_objects = []
+
+OFFSET_CORN_X=150
+OFFSET_CORN_Y=222
+STEP_CORN_X=225
+STEP_CORN_Y=250
+
+WAYPOINTS_NBX = 13
+WAYPOINTS_NBY = 8
+
+TYPE_WAYPOINT=0
+TYPE_DANGEROUS=1
+TYPE_WHITE_CORN=2
+TYPE_BLACK_CORN=3
+TYPE_OBSTACLE=4
+TYPE_NEIGH=5
+
+col = [TYPE_WAYPOINT] * WAYPOINTS_NBY
+waypoints = [col[:] for i in range(WAYPOINTS_NBX)]
+corn_table = [TYPE_WHITE_CORN]*18
+
+corn_side_confs = [
+ [ 1, 4 ],
+ [ 0, 4 ],
+ [ 2, 4 ],
+ [ 2, 3 ],
+ [ 0, 3 ],
+ [ 1, 3 ],
+ [ 1, 6 ],
+ [ 0, 6 ],
+ [ 2, 6 ],
+ ]
+corn_center_confs = [
+ [ 5, 8 ],
+ [ 7, 8 ],
+ [ 5, 9 ],
+ [ 7, 8 ],
+ ]
+
+def pt2corn(i,j):
+ if i == 0 and j == 2: return 0
+ if i == 0 and j == 4: return 1
+ if i == 0 and j == 6: return 2
+ if i == 2 and j == 3: return 3
+ if i == 2 and j == 5: return 4
+ if i == 2 and j == 7: return 5
+ if i == 4 and j == 4: return 6
+ if i == 4 and j == 6: return 7
+ if i == 6 and j == 5: return 8
+ if i == 6 and j == 7: return 9
+ if i == 8 and j == 4: return 10
+ if i == 8 and j == 6: return 11
+ if i == 10 and j == 3: return 12
+ if i == 10 and j == 5: return 13
+ if i == 10 and j == 7: return 14
+ if i == 12 and j == 2: return 15
+ if i == 12 and j == 4: return 16
+ if i == 12 and j == 6: return 17
+ return -1
+
+def corn_get_sym(i):
+ sym = [15, 16, 17, 12, 13, 14, 10, 11, 8, 9, 6, 7, 3, 4, 5, 0, 1, 2]
+ return sym[i]
+
+def init_corn_table(conf_side, conf_center):
+ global corn_table, corn_side_confs, corn_center_confs
+ print "confs = %d, %d"%(conf_side, conf_center)
+ for i in range(18):
+ if i in corn_side_confs[conf_side]:
+ corn_table[i] = TYPE_BLACK_CORN
+ continue
+ if corn_get_sym(i) in corn_side_confs[conf_side]:
+ corn_table[i] = TYPE_BLACK_CORN
+ continue
+ if i in corn_center_confs[conf_center]:
+ corn_table[i] = TYPE_BLACK_CORN
+ continue
+ if corn_get_sym(i) in corn_center_confs[conf_center]:
+ corn_table[i] = TYPE_BLACK_CORN
+ continue
+ corn_table[i] = TYPE_WHITE_CORN
+
+def init_waypoints():
+ global waypoints, corn_table
+
+ for i in range(WAYPOINTS_NBX):
+ for j in range(WAYPOINTS_NBY):
+ # corn
+ c = pt2corn(i, j)
+ if c >= 0:
+ waypoints[i][j] = corn_table[c]
+ continue
+ # too close of border
+ if (i & 1) == 1 and j == WAYPOINTS_NBY -1:
+ waypoints[i][j] = TYPE_OBSTACLE
+ continue
+ # hill
+ if i >= 2 and i < WAYPOINTS_NBX - 2 and j < 2:
+ waypoints[i][j] = TYPE_OBSTACLE
+ continue
+ # dangerous points
+ if i == 0 or i == WAYPOINTS_NBX-1:
+ waypoints[i][j] = TYPE_DANGEROUS
+ continue
+ if (i&1) == 0 and j == WAYPOINTS_NBY-1:
+ waypoints[i][j] = TYPE_DANGEROUS
+ continue
+
+ waypoints[i][j] = TYPE_WAYPOINT
+
+ print i, waypoints[i]
+ return waypoints
+
+
+def toggle_obj_disp():
+ global area_objects
+
+ if area_objects == []:
+ i = 0
+ j = 0
+ x = OFFSET_CORN_X
+ while x < 3000:
+ if (i & 1) == 0:
+ y = OFFSET_CORN_Y
+ else:
+ y = OFFSET_CORN_Y + STEP_CORN_Y/2
+ j = 0
+ while y < 2100:
+ print x,y
+ if waypoints[i][j] == TYPE_WHITE_CORN:
+ c = cylinder(axis=(0,0,1), length=150,
+ radius=25, color=(0.8,0.8,0.8),
+ pos=(x-AREA_X/2,y-AREA_Y/2,75))
+ area_objects.append(c)
+ elif waypoints[i][j] == TYPE_BLACK_CORN:
+ c = cylinder(axis=(0,0,1), length=150,
+ radius=25, color=(0.2,0.2,0.2),
+ pos=(x-AREA_X/2,y-AREA_Y/2,75))
+ area_objects.append(c)
+ j += 1
+ y += STEP_CORN_Y
+ i += 1
+ x += STEP_CORN_X
+ else:
+ for o in area_objects:
+ if o.visible:
+ o.visible = 0
+ else:
+ o.visible = 1
+
+