def update_screen(self):
pygame.draw.rect(self.screen, self.background, (0,0)+self.size) #recrée un fond
#dessine l'absice et l'ordonnée
pygame.draw.line(self.screen, (255,0,0),self.offset((0,-1e4)), self.offset((0, 1e4)))
pygame.draw.line(self.screen, (255,0,0),self.offset((-1e4,0)), self.offset((1e4, 0)))
#on dessine le but :
if(self.environment.goal_has_def()):
P=[]
for p in self.environment.goal.list_Points:
P.append(self.offset_Point(p.x_scal(self.zoom)))
pygame.draw.polygon(self.screen, (255,0,0), P,0)
#dessine les obstacles
for obj in self.environment.objects:
points=obj.list_Points
P=[]
for point in points:
P.append(self.offset_Point(point.x_scal(self.zoom)))
pygame.draw.polygon(self.screen, (255,255,255), P,7)
#draw all drones by circle
for drone in self.environment.drones:
pygame.draw.circle(self.screen, drone.color, self.offset_Point(drone.position.x_scal(self.zoom)), drone.radius*self.zoom)
#draw radar
if(self.displayRadar):
for i in range(drone.radar.nb_rays):
ray=Vector(1,0)
ray.setCap(drone.radar.angles_[i]+drone.speed.cap())
ray.setNorm(drone.radar.rays[i])
pygame.draw.line(self.screen, (0,200,0), self.offset_Point(drone.position.x_scal(self.zoom)),
self.offset_Point(drone.position.add(ray).x_scal(self.zoom)), 1)
#drow speed vector
pygame.draw.line(self.screen, (143,202,90), self.offset_Point(drone.position.x_scal(self.zoom)),
self.offset_Point(drone.position.add(drone.speed).x_scal(self.zoom)), 2)
if(self.eventDisplay.pause):
police = pygame.font.Font(None,60)
texte = police.render("Pause",True,pygame.Color("#FFFF00"))
a,b=texte.get_size()
self.screen.blit(texte, (self.size[0]/2-a/2, (self.size[1]-b)/3))
#on dessine le polygone en cours
if(len(self.new_clique_Object)>0):
P=[]
for point in self.new_clique_Object:
P.append(self.offset_Point(point.x_scal(self.zoom)))
P.append(self.pos_souris)
pygame.draw.lines(self.screen, (255,255,255), False, P,2)
def update(self, list_Objects: list = [], list_Drones: list = []) -> None:
"""Update the Radar : with the two lists, this simulates a radar like a Lidar
Args:
list_Objects (list, Object): Object. Defaults to [].
list_Drones (list, Drone): Drone. Defaults to [].
"""
for I in range(self.nb_rays):
tetha_i = self.angles_[I] #angle of Ith rays
vdir = Vector(1, 0)
vdir.setCap(tetha_i)
A = Vector(0, 0)
B = vdir.copy()
B.setNorm(self.ranges_[I]) #radius of the Ith rays
D0 = droite(vdir, A)
list_points = [B]
for obj in list_Objects:
if (len(obj.list_Points) > 1):
C = obj.list_Points[0]
for i in range(1, len(obj.list_Points)):
D = obj.list_Points[i]
P = Point_Intersection_SS(A, B, C, D)
C = D
if (P):
list_points.append(P)
D = obj.list_Points[0]
P = Point_Intersection_SS(A, B, C, D)
if (P):
list_points.append(P)
for drone in list_Drones:
if (drone.position.norm_2() > 0.1):
r = Points_Intersection_SC(
A, B,
(drone.position.x, drone.position.y, drone.radius))
if (r):
for p in r:
list_points.append(p)
list_distance = [point.norm_2() for point in list_points]
self.rays[I] = min(list_distance)