class ComputerTank(Tank):
image_file = 'ai-tank.png'
def __init__(self, id, pos, app):
Tank.__init__(self, id, pos, app)
self.path = None
self.dest = (10,10)
self.idest = None
self.rot_dest = None
self.rotation_signum = 0
self.driving_signum = 0
self.previous_state = None
self.pathfinder = Pathfinder(self.is_valid_cell)
dx, dy = self.dest
dcell = self.app.current_map.get_at_pixel(dx, dy)
x,y = self.position
cell = self.app.current_map.get_at_pixel(x, y)
self.pathfinder.setupPath(cell.i, cell.j, dcell.i, dcell.j)
def update(self, dt):
'''If there is a path follow it, otherwise calculate one'''
if self.path is not None:
self.do_move(dt)
elif self.pathfinder is not None:
self.find_path()
def do_move(self, dt):
'''Does all the moving logic of the AI tank'''
if self.idest is None:
self.next_dest()
if abs(self.idest[0] - self.position[0]) < 10 and abs(self.idest[1] - self.position[1]) < 10:
self.next_dest()
else:
# calculate new rot_dest
self.calc_rotate()
if self.rot_dest == self.rotation:
# do the moving
self.speed = 50
self.move(dt)
else:
# rotate some more
self.do_rotate()
self.send_state(dt)
def calc_rotate(self):
'''Calculate the new rotation to the destination'''
x, y = self.position
dest_x, dest_y = self.idest
# calculate the angle
dx = abs(x - dest_x)
dy = abs(y - dest_y)
h = math.sqrt(dx**2 + dy**2)
delta_rot = math.degrees(math.asin(dx / h))
# we now have the delta, but we need to compensate for the quadrant it is in
# eg. right top(0), right bottom(90), left bottom(180) and left top(270)
# find the quadrant
right = top = True
if x > dest_x:
right = False
if y > dest_y:
top = False
# correct the angle to rotation
if right and not top:
delta_rot += 90
if not right and not top:
delta_rot += 180
if top and not right:
delta_rot += 270
# save the calculated new rotation in the class
self.rot_dest = delta_rot
def do_rotate(self):
'''Rotates the Tank (max 5 degrees per update)'''
rot = min(abs(self.rotation - self.rot_dest), 5)
if self.rotation > self.rot_dest:
self.rotation -= rot # rotate left
else:
self.rotation += rot # rotate right
def next_dest(self):
'''Pick the next destination from the path queue (if present)'''
if len(self.path) > 0:
dest_xy = self.path.pop(0)
self.idest = dest_xy
self.rot_dest = None
else:
self.path = None
def find_path(self):
'''Do pathfinding stuff'''
result = Pathfinder.NOT_DONE
while result is Pathfinder.NOT_DONE:
result = self.pathfinder.iteratePath()
if result is Pathfinder.FOUND_GOAL:
self.path = self.pathfinder.finishPath()
self.path = map(self.ij_to_xy, self.path)
self.pathfinder = None
if result is Pathfinder.IMPOSSIBLE:
self.pathfinder = None
def is_valid_cell(self, i,j):
'''Checks if the tile is blocked (used by pathfinding code)'''
cell = self.app.current_map.get_cell(i,j)
if cell is None or 'blocked' in cell.tile.properties:
return False
return True
def ij_to_xy(self, ij):
return self.app.current_map.get_cell(*ij).center
def xy_to_ij(self, xy):
cell = self.app.current_map.get_at_pixel(*xy)
return (cell.i, cell.j)
def is_valid_move(self, (x,y)):
return True
