def update():
ball.update(player, cpu)
player.update(ball)
cpu.update(ball)
last_shot = time.time()
new_ball = launcher.shoot()
balls.append(new_ball)
success = False
ball_hist_coords = []
times = []
if keys[pygame.K_z]:
break
ph.fill_screen(screen, params.background_color)
for ball_num in range(len(balls)):
ball = balls[0]
ready = ball.update()
ball.draw(screen)
if ready and not success:
#ph.draw_circle(screen, (255,255,255), ph.world_coord_to_pixel_coord([ball.x_peak, ball.y_peak]), ball.radius)
peak1 = ball.x_peak
peak2 = ball.y_peak
T_temp = np.array([[1, 0, 0, 0], [0, 1, 0, peak1],
[0, 0, 1, peak2], [0, 0, 0, 1]])
thetas, success = robot.inverse_kinematics(T_temp, robot.thetas)
if success:
success_iter = 0
curr_thetas = np.array(robot.thetas)
def _balls_update(self):
for ball in self.balls:
ball.update()
if self._check_collision(self.agent, ball):
self.run = False
return
gravitational_acceleration, 1, 1, 0.8, 0.2))
moving = []
for i in balls:
moving.append(True)
previous_time = time.time()
while any(moving):
current_time = time.time()
delta_time = current_time - previous_time
for i, ball in enumerate(balls):
if moving[i]:
ball.update(delta_time, room)
moving[i] = ball.moving
previous_time = current_time
figure = matplotlib.pyplot.figure()
plot = figure.add_subplot(111, projection="3d")
for ball in balls:
ball.convert_path()
plot.plot(ball.x_path, ball.z_path, ball.y_path)
plot.set_xlim(room.origin.x, room.limit.x)
plot.set_ylim(room.origin.y, room.limit.y)
plot.set_zlim(room.origin.z, room.limit.z)
def simulatePhysics():
#update object positions
player1.update()
player2.update()
ball.update()