From 3b4e7cd6f8bdd5ca096aa3a1ec2c7ed5116c7946 Mon Sep 17 00:00:00 2001
From: alexandre <alexandre@micouleau.info>
Date: Wed, 9 Oct 2019 14:53:05 +0200
Subject: [PATCH] car has sensors

---
 main.py | 39 ++++++++++++++++++++++++++++++---------
 1 file changed, 30 insertions(+), 9 deletions(-)

diff --git a/main.py b/main.py
index 71e1388..0e1de30 100755
--- a/main.py
+++ b/main.py
@@ -1,11 +1,12 @@
+#!/usr/bin/env python
 import pygame
 from pygame.locals import HWSURFACE, DOUBLEBUF
 import math
 
 FLAGS=  HWSURFACE | DOUBLEBUF #| FULLSCREEN
 
-GX = 450
-GY = 450
+GX = 800
+GY = 800
 CELL_COLOR = (80,80,80)
 CAR_SIZE=50
 pygame.init()
@@ -32,20 +33,42 @@ class Car(pygame.sprite.Sprite):
         self.speed = 5
         self.heading = 0
         self.heading_change = 0
+        self.vision_length = 200 # line liength
+        self.vision_span = 22 # degrees
+        self.draw_sensors=True
 
+        # lets add 3 sensors as a start 
+        # 1 straight ahead
+        # 2 left 15°
+        # 3 right 15 °
+        # we will give each of them a max lenght to 
+        # and we will eventually detect any line crossing the sensor and 
+        # retain the min value as a distance to collision input
+        self.update_sensors()
+    
+    def update_sensors(self):
+        center = self.rect.center
+        vc = angle_to_vector(self.heading)
+        self.center_sensor = [center, [self.vision_length * vc[0] + center[0], -self.vision_length * vc[1] + center[1]]]
+        
+        vl = angle_to_vector(self.heading+self.vision_span)
+        self.left_sensor = [center, [self.vision_length * vl[0] + center[0], -self.vision_length * vl[1] + center[1]]]
+        
+        vr = angle_to_vector(self.heading-self.vision_span)
+        self.right_sensor = [center, [self.vision_length * vr[0] + center[0], -self.vision_length * vr[1] + center[1]]]
 
-    # def draw(self,screen):
-    #     # self.surface.blit(self.image, (0,0))
-    #     screen.blit(self.surface, self.rect.center)
 
     def update_position(self):
         vec = angle_to_vector(self.heading)
         old_center = self.rect.center
         self.rect.center = (self.speed * vec[0] + old_center[0], -self.speed * vec[1] + old_center[1])
-        # print(self.rect.center)
+        self.update_sensors()
+        if self.draw_sensors:
+            pygame.draw.line(screen, (255,0,0), self.center_sensor[0], self.center_sensor[1])
+            pygame.draw.line(screen, (0,255,0), self.left_sensor[0], self.left_sensor[1])
+            pygame.draw.line(screen, (0,0,255), self.right_sensor[0], self.right_sensor[1])
 
     def update(self):
-
         # rotate
         old_center = self.rect.center
         self.image = pygame.transform.rotate(self.original_image, self.heading)
@@ -55,8 +78,6 @@ class Car(pygame.sprite.Sprite):
 
         self.heading += self.heading_change
         self.heading = self.heading % 360
-        # self.rect = self.image.get_rect(center=self.rect.center)
-        # self.rect.x += self.speed
 
 
 screen = pygame.display.set_mode((GX, GY), FLAGS)