103 lines
3.3 KiB
Python
Executable File
103 lines
3.3 KiB
Python
Executable File
#!/usr/bin/env python
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import pygame
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from pygame.locals import HWSURFACE, DOUBLEBUF
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import math
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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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def angle_to_vector(angle):
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angle=angle*math.pi/180
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return [math.cos(angle), math.sin(angle)]
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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.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.surface.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.update_sensors()
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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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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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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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screen = pygame.display.set_mode((GX, GY), FLAGS)
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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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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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pygame.draw.rect(screen, (125,255,125),pygame.Rect(car2.rect.center, (3,3)))
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pygame.display.flip()
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clock.tick(10) |