def run(self):
car = Car(0, 0)
ppu = 32
while not self.exit:
dt = self.clock.get_time() / 1000
# Event queue
for event in pygame.event.get():
if event.type == pygame.QUIT:
self.exit = True
# User input
pressed = pygame.key.get_pressed()
if pressed[pygame.K_UP]:
if car.velocity.x < 0:
car.acceleration = car.brake_deceleration
else:
car.acceleration += 1 * dt
elif pressed[pygame.K_DOWN]:
if car.velocity.x > 0:
car.acceleration = -car.brake_deceleration
else:
car.acceleration -= 1 * dt
elif pressed[pygame.K_SPACE]:
if abs(car.velocity.x) > dt * car.brake_deceleration:
car.acceleration = -copysign(car.brake_deceleration,
car.velocity.x)
else:
car.acceleration = -car.velocity.x / dt
else:
if abs(car.velocity.x) > dt * car.free_deceleration:
car.acceleration = -copysign(car.free_deceleration,
car.velocity.x)
else:
if dt != 0:
car.acceleration = -car.velocity.x / dt
car.acceleration = max(-car.max_acceleration,
min(car.acceleration, car.max_acceleration))
if pressed[pygame.K_RIGHT]:
car.steering -= 30 * dt
elif pressed[pygame.K_LEFT]:
car.steering += 30 * dt
else:
car.steering = 0
car.steering = max(-car.max_steering,
min(car.steering, car.max_steering))
# Logic
car.update(dt)
# Drawing
self.screen.fill((0, 0, 0))
rotated = pygame.transform.rotate(car_image, car.angle)
rect = rotated.get_rect()
self.screen.blit(
rotated,
car.position * ppu - (rect.width / 2, rect.height / 2))
pygame.display.flip()
self.clock.tick(self.ticks)
pygame.quit()
def run(self):
# place car on road
car = Car(5, 27)
# initialize traffic
self.init_traffic_cars()
# sensor checkboxes on top right corner
cbox_front_sensor = Checkbox(self.screen_width - 200, 10,
'Enable front sensor', True)
cbox_rear_sensor = Checkbox(self.screen_width - 200, 35,
'Enable rear sensor', True)
# reset position list -> to be updated
rs_pos_list = [[650, 258, 90.0], [650, 258, 270.0], [0, 0, 180.0],
[0, 0, 0.0], [302, 200, 45.0], [40, 997, 0.0],
[40, 997, 180.0], [100, 997, 0.0], [100, 997, 180.0],
[400, 998, 0.0], [400, 998, 180.0], [385, 315, 135.0]]
# boolean variable needed to check for single-click press
mouse_button_pressed = False
# initialize object mask
object_mask = pygame.Surface((self.screen_width, self.screen_height))
if self.record_data is True:
index_image = 0
while not self.exit:
# VARIABLE_UPDATE
if self.traffic is True:
collision_list = [False] * len(self.traffic_list)
dt = self.clock.get_time() / 1000
self.event_handler(cbox_front_sensor, cbox_rear_sensor,
mouse_button_pressed)
# LOGIC
self.key_handler(car, dt, rs_pos_list)
car.acceleration = max(-car.max_acceleration,
min(car.acceleration, car.max_acceleration))
car.steering = max(-car.max_steering,
min(car.steering, car.max_steering))
# DRAWING
stagePos = self.draw_sim_environment(car,
object_mask,
cbox_front_sensor,
cbox_rear_sensor,
print_coords=True)
relPos = (stagePos[2], stagePos[3])
stagePos = (stagePos[0], stagePos[1])
# UPDATE
# ------------------------ traffic car -----------------------------------------------
if self.traffic is True:
self.check_collisions(collision_list)
self.traffic_movement(collision_list, object_mask, stagePos)
# -------------------------------------------------------------------------------------------
car.update(dt)
act_mask = pygame.Surface((self.screen_width, self.screen_height))
if cbox_front_sensor.isChecked():
self.optimized_front_sensor(car,
object_mask,
act_mask,
display_obstacle_on_sensor=True)
if cbox_rear_sensor.isChecked():
self.optimized_rear_sensor(car,
object_mask,
act_mask,
display_obstacle_on_sensor=True)
if self.record_data is True:
image_name = 'image_' + str(index_image) + '.png'
print(index_image)
index_image += 1
if self.record_data is True:
# RECORD TAB
# Save replay
# Write reference trajectory
write_data(
os.path.join(os.path.dirname(__file__), "recorded_data",
"reference.csv"), car.position, car.angle)
write_data(
os.path.join(os.path.dirname(__file__), "recorded_data",
"obstacles.csv"),
self.traffic_obstacle_points)
# reset obstacle point list
self.traffic_obstacle_points = list()
pygame.display.update()
self.clock.tick(self.ticks)
pygame.quit()
max_torque_handle = car.get_weight_on_wheel(
) * mu_k * wheel.radius
total_force += max_torque_handle / wheel.radius
wheel.spinning = True
else:
# TODO wheel lock on ice and other things
# TODO wheel is pushed and will rotate only if friction is high enough
wheel.vis_torque.append(0)
wheel.spinning = False
# apply air resistance just one time
total_resistance_force += car.get_air_resistance()
# these forces can't move the car if it is still
total_force -= total_resistance_force
# newton second law
car.acceleration = total_force / car.get_total_mass()
# euler numeric integration
car.speed += car.acceleration * timestep
# iterate again over wheels to get acc speed
for wheel in car.wheels:
if not wheel.spinning:
# wheel is connected to the car
# if wheel speed is different from the correct one move toward it
angular_acc = (car.speed / wheel.radius -
wheel.angular_speed) / (2)
# get car speed
else:
# wheel is not fully connected
max_torque_handle = car.get_weight_on_wheel() * mu_s * wheel.radius
angular_acc = car.acceleration / wheel.radius + (
wheel.torque - max_torque_handle) / (wheel.get_inertia() * 2)
p2 = (int(racetrack.checkpoints[i + 1][0]),
int(racetrack.checkpoints[i + 1][1]))
pygame.draw.line(screen, (0, 255 - colorOffset, 0 + colorOffset), p1,
p2, 1)
colorOffset = colorOffset + 5
for event in pygame.event.get():
if event.type == pygame.QUIT:
self.exit = True
# User input
pressed = pygame.key.get_pressed()
sensors = car.radar.calculate_distance(racetrack)
if pressed[pygame.K_UP]:
if car.velocity.x < 0:
car.acceleration = car.brake_deceleration
else:
car.acceleration += 1 * dt
elif pressed[pygame.K_DOWN]:
if car.velocity.x > 0:
car.acceleration = -car.brake_deceleration
else:
car.acceleration -= 1 * dt
elif pressed[pygame.K_SPACE]:
if abs(car.velocity.x) > dt * car.brake_deceleration:
car.acceleration = -copysign(car.brake_deceleration,
car.velocity.x)
else:
car.acceleration = -car.velocity.x / dt
else:
def run(self):
car = Car(100 / 32, 75 / 32)
image = pygame.image.load('car4.png').convert_alpha()
wheel_rpm = car.rpm / (car.current_gear * car.differential_gear * 60 /
2 * 3.14)
print(wheel_rpm)
while not self.exit:
dt = self.clock.get_time() / 1000
# Event queue
for event in pygame.event.get():
if event.type == pygame.QUIT:
self.exit = True
# User input
pressed = pygame.key.get_pressed()
if pressed[pygame.K_UP]:
if car.velocity.x < 0:
car.acceleration = car.brake_deceleration
else:
car.acceleration += 1 * dt
elif pressed[pygame.K_DOWN]:
if car.velocity.x > 0:
car.acceleration = -car.brake_deceleration
else:
car.acceleration -= 1 * dt
elif pressed[pygame.K_SPACE]:
if car.velocity.x != 0:
car.acceleration = copysign(car.max_acceleration,
-car.velocity.x)
else:
car.acceleration = 0
car.acceleration = max(-car.max_acceleration,
min(car.acceleration, car.max_acceleration))
if pressed[pygame.K_RIGHT]:
car.steering -= 45 * dt
elif pressed[pygame.K_LEFT]:
car.steering += 45 * dt
else:
car.steering = 0
car.steering = max(-car.max_steering,
min(car.steering, car.max_steering))
# Logic
car.update(dt)
# Drawing
self.screen.fill((0, 0, 0))
rotate = pygame.transform.rotate(image, car.angle)
rect = rotate.get_rect()
ppu = 32
self.screen.blit(
rotate, car.position * ppu - (rect.width / 2, rect.height / 2))
pygame.display.flip()
self.clock.tick(self.ticks)
pygame.quit()
