177 lines
5.1 KiB
Python
Executable File
177 lines
5.1 KiB
Python
Executable File
#!/usr/bin/env python
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import math
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import pygame
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from pygame.locals import HWSURFACE, DOUBLEBUF
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import random
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from trigo import angle_to_vector, segments_intersection, distance
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FLAGS= HWSURFACE | DOUBLEBUF #| FULLSCREEN
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GX = 800
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GY = 800
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CELL_COLOR = (80,80,80)
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CAR_SIZE=50
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pygame.init()
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IMG = pygame.image.load("car50.png")#.convert()
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class Car(pygame.sprite.Sprite):
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def __init__(self):
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pygame.sprite.Sprite.__init__(self)
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self.top_surface = pygame.Surface((CAR_SIZE, CAR_SIZE))
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self.original_image = IMG
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# self.image = pygame.Surface((CAR_SIZE, CAR_SIZE))
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# self.image.fill((0,255,0))
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# self.original_image = self.image
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self.image = self.original_image
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self.rect = self.image.get_rect()
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self.rect.center = (GX / 2, GY / 2)
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self.speed = 5
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self.heading = 0
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self.heading_change = 0
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self.vision_length = 200 # line liength
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self.vision_span = 22 # degrees
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self.draw_sensors = True
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# lets add 3 sensors as a start
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# 1 straight ahead
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# 2 left 15°
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# 3 right 15 °
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# we will give each of them a max lenght to
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# and we will eventually detect any line crossing the sensor and
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# retain the min value as a distance to collision input
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self.center_sensor = None
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self.left_sensor = None
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self.right_sensor = None
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self.update_sensors()
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self.sensors = [self.left_sensor]#, self.center_sensor, self.right_sensor]
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self.reset_probes()
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def update_sensors(self):
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center = self.rect.center
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vc = angle_to_vector(self.heading)
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self.center_sensor = [center, [self.vision_length * vc[0] + center[0], -self.vision_length * vc[1] + center[1]]]
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vl = angle_to_vector(self.heading+self.vision_span)
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self.left_sensor = [center, [self.vision_length * vl[0] + center[0], -self.vision_length * vl[1] + center[1]]]
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vr = angle_to_vector(self.heading-self.vision_span)
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self.right_sensor = [center, [self.vision_length * vr[0] + center[0], -self.vision_length * vr[1] + center[1]]]
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def update_position(self):
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vec = angle_to_vector(self.heading)
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old_center = self.rect.center
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self.rect.center = (self.speed * vec[0] + old_center[0], -self.speed * vec[1] + old_center[1])
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self.update_sensors()
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def update(self):
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# rotate
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old_center = self.rect.center
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self.image = pygame.transform.rotate(self.original_image, self.heading)
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self.rect = self.image.get_rect()
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self.rect.center = old_center
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self.update_position()
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self.heading += self.heading_change
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self.heading = self.heading % 360
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super().update()
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def show_features(self):
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if self.draw_sensors:
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pygame.draw.line(screen, (255,0,0), self.center_sensor[0], self.center_sensor[1])
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pygame.draw.line(screen, (0,255,0), self.left_sensor[0], self.left_sensor[1])
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pygame.draw.line(screen, (0,0,255), self.right_sensor[0], self.right_sensor[1])
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pygame.draw.circle(screen, (125,255,125), self.rect.center, 4, 2)
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def reset_probes(self):
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self.probes = [self.vision_length*2]#*3
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def probe_lines_proximity(self, lines):
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self.reset_probes()
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# print([x for x in zip(self.sensors, self.probes)])
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for l in lines :
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for i,s in enumerate(self.sensors) :
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ip = segments_intersection(s,l)
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if ip is not None :
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# print("ip", ip)
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d = distance(ip, self.rect.center)
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# print('d',d)
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# print('p was', p, 'is' , min(p,d))
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self.probes[i] = min(self.probes[i],d)
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# print()
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else :
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print('nothing found')
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pass
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# print(f"D to line {l} :", self.probes)
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print(f"probes :", self.probes)
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# print()
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screen = pygame.display.set_mode((GX, GY), FLAGS)
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screen.set_alpha(None)
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all_cars = pygame.sprite.Group()
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# car = Car()
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# car.heading = 0
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# all_cars.add(car)
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car2 = Car()
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car2.heading = 270
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car2.heading_change = 3
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car2.speed = 5
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all_cars.add(car2)
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ip = segments_intersection(car2.center_sensor, car2.left_sensor)
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print(ip)
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print(math.hypot(ip[0] - car2.rect.center[0], ip[1] - car2.rect.center[1]))
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# stress test
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# for x in range(100):
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# car = Car()
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# car.heading=x
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# car.heading_change = int(x)/30
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# car.speed = int(random.random()*6)
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# all_cars.add(car)
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lines = [
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[
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(
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int(random.random()*GX),
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int(random.random()*GY)
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),(
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int(random.random()*GX),
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int(random.random()*GY)
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)
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]
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for x in range(1)
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]
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print(lines)
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clock = pygame.time.Clock()
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while True :
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screen.fill(CELL_COLOR)
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all_cars.update()
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all_cars.draw(screen)
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for c in all_cars :
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c.show_features()
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c.probe_lines_proximity(lines)
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for line in lines :
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pygame.draw.line(screen, (255,255,255), line[0], line[1])
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pygame.display.flip()
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clock.tick(2) |