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car has sensors

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alexandre
2019-10-09 14:53:05 +02:00
parent ca6b161906
commit 3b4e7cd6f8
1 changed files with 30 additions and 9 deletions
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39
main.py
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@@ -1,11 +1,12 @@
#!/usr/bin/env python
import pygame import pygame
from pygame.locals import HWSURFACE, DOUBLEBUF from pygame.locals import HWSURFACE, DOUBLEBUF
import math import math
FLAGS= HWSURFACE | DOUBLEBUF #| FULLSCREEN FLAGS= HWSURFACE | DOUBLEBUF #| FULLSCREEN
GX = 450 GX = 800
GY = 450 GY = 800
CELL_COLOR = (80,80,80) CELL_COLOR = (80,80,80)
CAR_SIZE=50 CAR_SIZE=50
pygame.init() pygame.init()
@@ -32,20 +33,42 @@ class Car(pygame.sprite.Sprite):
self.speed = 5 self.speed = 5
self.heading = 0 self.heading = 0
self.heading_change = 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): def update_position(self):
vec = angle_to_vector(self.heading) vec = angle_to_vector(self.heading)
old_center = self.rect.center old_center = self.rect.center
self.rect.center = (self.speed * vec[0] + old_center[0], -self.speed * vec[1] + old_center[1]) 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): def update(self):
# rotate # rotate
old_center = self.rect.center old_center = self.rect.center
self.image = pygame.transform.rotate(self.original_image, self.heading) 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_change
self.heading = self.heading % 360 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) screen = pygame.display.set_mode((GX, GY), FLAGS)