alex/racing_pyai
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alexandre
2019-10-09 17:41:32 +02:00
parent 34734dd734
commit 8aa660d12d
2 changed files with 12 additions and 10 deletions
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3
main.py
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@@ -105,9 +105,10 @@ class Car(pygame.sprite.Sprite):
for l in lines : for l in lines :
for i,s in enumerate(self.sensors) : for i,s in enumerate(self.sensors) :
ip = segments_intersection(s,l) ip = segments_intersection(s,l)
print(s, l)
if ip is not None : if ip is not None :
# print("ip", ip) # print("ip", ip)
d = distance(ip, self.rect.center) d = distance(ip, self.left_sensor[1])
# print('d',d) # print('d',d)
# print('p was', p, 'is' , min(p,d)) # print('p was', p, 'is' , min(p,d))
self.probes[i] = min(self.probes[i],d) self.probes[i] = min(self.probes[i],d)

19
trigo.py
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@@ -7,13 +7,8 @@ def angle_to_vector(angle):
def segments_intersection(line1, line2): def segments_intersection(line1, line2):
x1,y1 = line1[0] xdiff = (line1[0][0] - line1[1][0], line2[0][0] - line2[1][0])
x2,y2 = line1[1] ydiff = (line1[0][1] - line1[1][1], line2[0][1] - line2[1][1])
x3,y3 = line2[0]
x4,y4 = line2[1]
xdiff = (x1 - x2, x3 - x4)
ydiff = (y1 - y2, y3 - y4)
def det(a, b): def det(a, b):
return a[0] * b[1] - a[1] * b[0] return a[0] * b[1] - a[1] * b[0]
@@ -26,9 +21,15 @@ def segments_intersection(line1, line2):
x = det(d, xdiff) / div x = det(d, xdiff) / div
y = det(d, ydiff) / div y = det(d, ydiff) / div
if min(x1,x2) <= x <= max(x1,x2) : if (
min(line1[0][0],line1[1][0]) <= x <= max(line1[0][0],line1[1][0])
and min(line2[0][0],line2[1][0]) <= x <= max(line2[0][0],line2[1][0])
and min(line1[0][1],line1[1][1]) <= y <= max(line1[0][1],line1[1][1])
and min(line2[0][1],line2[1][1]) <= y <= max(line2[0][1],line2[1][1])
):
return x, y return x, y
return None return x, y
def distance(point1, point2): def distance(point1, point2):
return math.hypot(point1[0] - point2[0], point1[1] - point2[1]) return math.hypot(point1[0] - point2[0], point1[1] - point2[1])