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works for one sensor

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alexandre
2019-10-11 10:28:16 +02:00
parent 04222b6148
commit e18bd1aae6
2 changed files with 52 additions and 26 deletions
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71
main.py
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@@ -3,7 +3,7 @@ import math
import pygame import pygame
from pygame.locals import HWSURFACE, DOUBLEBUF from pygame.locals import HWSURFACE, DOUBLEBUF
import random import random
from trigo import angle_to_vector, segments_intersection, distance from trigo import angle_to_vector, get_line_feats, segments_intersection, distance
FLAGS= HWSURFACE | DOUBLEBUF #| FULLSCREEN FLAGS= HWSURFACE | DOUBLEBUF #| FULLSCREEN
@@ -56,13 +56,13 @@ class Car(pygame.sprite.Sprite):
def update_sensors(self): def update_sensors(self):
center = self.rect.center center = self.rect.center
vc = angle_to_vector(self.heading) vc = angle_to_vector(self.heading)
self.center_sensor = [center, [self.vision_length * vc[0] + center[0], -self.vision_length * vc[1] + center[1]]] self.center_sensor = [center, (int(self.vision_length * vc[0] + center[0]), int(-self.vision_length * vc[1] + center[1]))]
vl = angle_to_vector(self.heading+self.vision_span) 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]]] self.left_sensor = [center, (int(self.vision_length * vl[0] + center[0]), int(-self.vision_length * vl[1] + center[1]))]
vr = angle_to_vector(self.heading-self.vision_span) 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]]] self.right_sensor = [center, (int(self.vision_length * vr[0] + center[0]), int(-self.vision_length * vr[1] + center[1]))]
def update_position(self): def update_position(self):
@@ -90,8 +90,8 @@ class Car(pygame.sprite.Sprite):
def show_features(self): def show_features(self):
if self.draw_sensors: if self.draw_sensors:
pygame.draw.line(screen, (255,0,0), self.center_sensor[0], self.center_sensor[1]) 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, (0,255,0), self.left_sensor[0], self.left_sensor[1])
pygame.draw.line(screen, (0,0,255), self.right_sensor[0], self.right_sensor[1]) # pygame.draw.line(screen, (0,0,255), self.right_sensor[0], self.right_sensor[1])
pygame.draw.circle(screen, (125,255,125), self.rect.center, 4, 2) pygame.draw.circle(screen, (125,255,125), self.rect.center, 4, 2)
@@ -100,24 +100,31 @@ class Car(pygame.sprite.Sprite):
def probe_lines_proximity(self, lines): def probe_lines_proximity(self, lines):
self.reset_probes() # print(self.center_sensor, lines[0])
# print([x for x in zip(self.sensors, self.probes)]) ip = segments_intersection(self.center_sensor, lines[0])
for l in lines : # print(ip)
for i,s in enumerate(self.sensors) : if ip :
ip = segments_intersection(s,l) pygame.draw.circle(screen, (125,125,255), ip, 4, 2)
print(s, l) print(distance(ip,self.rect.center))
if ip :
# print("ip", ip) # self.reset_probes()
d = distance(ip, self.left_sensor[1]) # # print([x for x in zip(self.sensors, self.probes)])
# print('d',d) # for l in lines :
# print('p was', p, 'is' , min(p,d)) # for i,s in enumerate(self.sensors) :
self.probes[i] = min(self.probes[i],d) # ip = segments_intersection(s,l)
# print() # print(s, l)
else : # if ip :
print('nothing found') # # print("ip", ip)
pass # d = distance(ip, self.left_sensor[1])
# print(f"D to line {l} :", self.probes) # # print('d',d)
print(f"probes :", self.probes) # # print('p was', p, 'is' , min(p,d))
# self.probes[i] = min(self.probes[i],d)
# # print()
# else :
# print('nothing found')
# pass
# # print(f"D to line {l} :", self.probes)
# print(f"probes :", self.probes)
# print() # print()
@@ -136,7 +143,10 @@ car2.speed = 5
all_cars.add(car2) all_cars.add(car2)
ip = segments_intersection(car2.center_sensor, car2.left_sensor) ip = segments_intersection(car2.center_sensor, car2.left_sensor)
print(ip)
# print(math.hypot(ip[0] - car2.rect.center[0], ip[1] - car2.rect.center[1])) # print(math.hypot(ip[0] - car2.rect.center[0], ip[1] - car2.rect.center[1]))
# stress test # stress test
@@ -159,6 +169,10 @@ lines = [
] ]
for x in range(1) for x in range(1)
] ]
lines = [
[(int(GX/2)+100, int(GY/2+225)), (int(GX/2)+100, int(GY/2-225))]
]
print(lines) print(lines)
@@ -174,5 +188,10 @@ while True :
for line in lines : for line in lines :
pygame.draw.line(screen, (255,255,255), line[0], line[1]) pygame.draw.line(screen, (255,255,255), line[0], line[1])
# point = (int(GX/2), int(GY/2+25))
# print(distance(point, car2.rect.center))
# pygame.draw.circle(screen, (125,255,125), point, 4, 2)
pygame.display.flip() pygame.display.flip()
clock.tick(10) clock.tick(3)

7
trigo.py
View File

@@ -10,6 +10,8 @@ def get_line_feats(point1, point2):
x1,y1 = point1 x1,y1 = point1
x2,y2 = point2 x2,y2 = point2
# if x1 == x2 :
# x1=x1+1
a = (y1-y2)/(x1-x2) a = (y1-y2)/(x1-x2)
b = y2 - a * x2 b = y2 - a * x2
return a,b return a,b
@@ -19,6 +21,11 @@ def get_line_feats(point1, point2):
def segments_intersection(line1, line2): def segments_intersection(line1, line2):
p1,p2 = line1 p1,p2 = line1
p3,p4 = line2 p3,p4 = line2
if p1[0] == p2[0] :
p1 = (p1[0] + 1, p1[1])
if p3[0] == p4[0] :
p3 = (p3[0] + 1, p3[1])
a1,b1 = get_line_feats(p1,p2) a1,b1 = get_line_feats(p1,p2)
a2,b2 = get_line_feats(p3,p4) a2,b2 = get_line_feats(p3,p4)