class Car:
def __init__(self, track=1):
#starting location, depends on track
self.location_x = 560 if track == 2 else 80
self.location_y = 200 if track == 2 else 200
#starting velocity, velocity resolution and velocity limits
self.velocity = 0
self.velocity_step = 1
self.velocity_limit = 1
#Starting orientation, current change in orientation, orientation change resolution and orientation change limit
self.orientation = 90 if track == 2 else 270
self.orientation_change = 0
self.orientation_step = 1
self.orientation_change_limit = 1
#corners of the car, defined by location, orentation and size
self.corners = []
#The color if rendered to PyGame
self.color = [10, 46, 73]
self.size = 15
#The cars five sensors (left, left-front, front, front-right, right)
self.sensor1 = Sensor()
self.sensor2 = Sensor()
self.sensor3 = Sensor()
self.sensor4 = Sensor()
self.sensor5 = Sensor()
#state, defined by velocity, orientation change, and distances returned from sensors
self.state = []
#The car moves to a new location based on the current location, orientation and velocity
#The orientation is also updated based on the current orientation and the orientation change
#The sensors update there values based on the new location of the car
#The car state is updated.
#The current car corners are updated
def move(self, track=1):
self.orientation = (self.orientation + self.orientation_change) % 360
self.location_y += math.sin(
self.orientation * 0.0174533) * self.velocity
self.location_x += math.cos(
self.orientation * 0.0174533) * self.velocity
self.sense(track)
self.update_state()
point_set = [
[self.location_x+math.cos((self.orientation+340)*.0174533)*self.size, self.location_y+math.sin((self.orientation+340)*0.0174533)*self.size],\
[self.location_x+math.cos((self.orientation+20)*0.0174533)*self.size, self.location_y+math.sin((self.orientation+20)*0.0174533)*self.size],\
[self.location_x+math.cos((self.orientation+160)*0.0174533)*self.size, self.location_y+math.sin((self.orientation+160)*0.0174533)*self.size],\
[self.location_x+math.cos((self.orientation+200)*0.0174533)*self.size, self.location_y+math.sin((self.orientation+200)*0.0174533)*self.size]]
self.corners = point_set
#This function just updates
#This function updates the location and orientation of the sensors based on the location and orientation of the car
#It uses the sensors to find how close it is to a wall in the 5 sensor directions
def sense(self, track):
self.sensor1.x = self.location_x
self.sensor2.x = self.location_x
self.sensor3.x = self.location_x
self.sensor4.x = self.location_x
self.sensor5.x = self.location_x
self.sensor1.y = self.location_y
self.sensor2.y = self.location_y
self.sensor3.y = self.location_y
self.sensor4.y = self.location_y
self.sensor5.y = self.location_y
self.sensor1.orientation = (self.orientation - 90) % 360
self.sensor2.orientation = (self.orientation - 45) % 360
self.sensor3.orientation = (self.orientation) % 360
self.sensor4.orientation = (self.orientation + 45) % 360
self.sensor5.orientation = (self.orientation + 90) % 360
self.sensor1.detect(track)
self.sensor2.detect(track)
self.sensor3.detect(track)
self.sensor4.detect(track)
self.sensor5.detect(track)
#Function used to accelerate or decelerate the car
def pedal(self, direction):
if (direction == 0):
#slow down
self.velocity -= self.velocity_step
if (direction == 2):
#speed up
self.velocity += self.velocity_step
self.velocity = min(self.velocity, self.velocity_limit)
self.velocity = max(self.velocity, 0)
#Function used to steer (update orientation_change) the car
def steer(self, direction):
if (direction == 0):
#left
self.orientation_change -= self.orientation_step
elif (direction == 2):
#right
self.orientation_change += self.orientation_step
self.orientation_change = min(self.orientation_change,
self.orientation_change_limit)
self.orientation_change = max(self.orientation_change,
-1 * self.orientation_change_limit)
#updates state based on current car properties
def update_state(self):
self.state = [
round(self.velocity / self.velocity_step),
round(self.orientation_change / self.orientation_step) + 1,
self.sensor1.state, self.sensor2.state, self.sensor3.state,
self.sensor4.state, self.sensor5.state
]
#renders the car to the pygame screen
def render(self, screen):
self.sensor1.render(screen)
self.sensor2.render(screen)
self.sensor3.render(screen)
self.sensor4.render(screen)
self.sensor5.render(screen)
pygame.draw.polygon(screen, tuple(self.color), self.corners)
