def NewTransform(cls, car, nextMove):
# Cases when vehicle want to change intensity of turning (turning more or less). We need to check if it is not
# turned to its limits.
if nextMove == Move.LEFT and car.slipAngle > -cls.maximalSlipAngle:
car.slipAngle -= cls.voluntaryChangeOfSlipAngle
elif nextMove == Move.RIGHT and car.slipAngle < cls.maximalSlipAngle:
car.slipAngle += cls.voluntaryChangeOfSlipAngle
else:
# If vehicle don't want to change the intensity of turning it will go back to driving straight ahead by default,
if car.slipAngle > 0:
car.slipAngle -= cls.changeOfSlipAngleDuringReturning
elif car.slipAngle < 0:
car.slipAngle += cls.changeOfSlipAngleDuringReturning
# Define some abbreviations
f_s = cls.sideAccelerationFactor
f_l = cls.longitudinalAccelerationFactor
v_0 = cls.velocityValue
# Determine acceleration
sideAcceleration = Vector(f_s * car.slipAngle, 0).rotate(-car.rot + 90)
longitudinalAcceleration = Vector(f_l * (v_0 - car.velocity.length()), 0).rotate(-car.rot)
resultantAcceleration = sideAcceleration + longitudinalAcceleration
# Determine transform parameters (we determined acceleration before. It was necessary for this step)
newVelocity = car.velocity + cls.deltaTime * resultantAcceleration
newPos = car.pos + cls.deltaTime * car.velocity
return newPos, newVelocity.angle, newVelocity
def scaledImage(cls, image, scale):
# We can scale in two dimensions. Statements below solves problem when "scale" argument was passed as single
# float. In that case, we scale image in two dimensions keeping the proportions.
try:
scale[0]
except TypeError:
scale = Vector(scale, scale)
newSize = Vector(image.get_rect().size).ScaledByVector(scale)
return pg.transform.scale(image, newSize.asInt())
def SetUpCamera(cls):
cls.ExecuteIfHasNotBeenYet(SetUpManager.SetUpBaseCar)
BaseCar.map.CalculateSize()
Camera.mapSize = BaseCar.map.size
Camera.windowSize = Vector(SETTINGS.DISPLAYER.WINDOW_WIDTH, SETTINGS.DISPLAYER.WINDOW_HEIGHT)
Camera.Create()
def CalculateOriginalRelativePos(cls, originalRectOfCar, coeff):
# Calculate position of radar if topleft(!) corner of car is placed on the beginning of coordinate system.
originalPos = Vector(coeff * originalRectOfCar.width,
0.5 * originalRectOfCar.height)
# Calculate position of radar if center(!) of car is placed on the beginning of coordinate system.
cls.originalRelativePos = originalPos - originalRectOfCar.center
def InitialVelocity(self):
''' Calculate initial velocity.
Must be used before first step, but after setting "rot" attribute.
:return: Vector
velocity
'''
return Vector(self.__class__.velocityValue, 0).rotate(-self.rot)
def CalculateSize(self):
''' Calculate size of map. See: "size" and "margin" in class description.
'''
width = max(
[barrier.limitingRect.right for barrier in self.listOfBarriers])
height = max(
[barrier.limitingRect.bottom for barrier in self.listOfBarriers])
self.size = Vector(width + self.__class__.margin,
height + self.__class__.margin)
def SetUpDisplayer(cls):
pg.init()
Displayer.windowSize = Vector(SETTINGS.DISPLAYER.WINDOW_WIDTH, SETTINGS.DISPLAYER.WINDOW_HEIGHT)
Displayer.backgroundColor = SETTINGS.DISPLAYER.BACKGROUND_COLOR
Displayer.meshColor = SETTINGS.DISPLAYER.MESH_COLOR
Displayer.framesPerSecond = SETTINGS.DISPLAYER.FRAMES_PER_SECOND
Displayer.captionColor = SETTINGS.DISPLAYER.CAPTION_COLOR
Displayer.captionFontName = SETTINGS.DISPLAYER.CAPTION_FONT_NAME
Displayer.captionFontSize = SETTINGS.DISPLAYER.CAPTION_FONT_SIZE
Displayer.ConnectSpritesManager()
def LoadFromFile(self, filename):
''' Load map from file.
Example of proper constructed file:
" line_1: 100 200 270 // car: position (2 first), rotation (lat one)
line_2: 300 400 90 2.5 0.5 // 1st barrier: position (2 first), rotation (middle), scale (2 last)
line_3: 600 700 180 2 1 // 2nd barrier: position (2 first), rotation (middle), scale (2 last)
line_4: 100 100 45 1.2 1.2 // 3rd barrier: position (2 first), rotation (middle), scale (2 last)
.
.
.
line_n+1: 350 100 30 1.5 1.5 // n'st barrier: position (2 first), rotation (middle), scale (2 last)
'''
lines = FilesManager.LinesFromFile(filename)
# Divide the data into parts for the car and barriers respectively
firstLine, rest = lines[0], lines[1:]
# Convert to list of floats
firstLine = BuiltInTypesConverter.StringToFloats(firstLine)
# Unpack
rawCarSuggestedPos, rawCarSuggestedRot = firstLine[0:2], firstLine[4]
# Convert to our coordinate system.
carSuggestedPos, carSuggestedRot = Map.ConvertPos(
rawCarSuggestedPos), Map.ConvertRot(rawCarSuggestedRot)
# Create the right objects.
self.carSuggestedPos, self.carSuggestedRot = Point(
carSuggestedPos), carSuggestedRot
# Steps in loop below are similar to steps above.
for line in rest:
line = BuiltInTypesConverter.StringToFloats(line)
rawPos, rawRot, rawScale = line[0:2], line[4], line[2:4]
pos, rot, scale = Map.ConvertPos(rawPos), Map.ConvertRot(
rawRot), Map.ConvertScale(rawScale)
barrier = Barrier()
barrier.pos, barrier.rot, barrier.scale = Point(pos), rot, Vector(
scale)
# Calculate parameters necessary for algorithms.
barrier.Create()
self.listOfBarriers.append(barrier)
def CalculateOriginalRelativePos(cls, originalRectOfCar, coeff):
''' Calculate "originalRelativePos" which will be useful for following work of the class.
:param originalRectOfCar: pygame.Rect
:param coeff: float 0<...<1
Determine where radar is placed on the car.
Examples: coeff=0 -> radar is on the rear edge of car
coeff=0.5 -> radar is in the middle of car
coeff=1 -> radar is on the front edge of car
'''
# Calculate position of radar if topleft(!) corner of car is placed on the beginning of coordinate system.
originalPos = Vector(coeff * originalRectOfCar.width,
0.5 * originalRectOfCar.height)
# Calculate position of radar if center(!) of car is placed on the beginning of coordinate system.
cls.originalRelativePos = originalPos - originalRectOfCar.center
def SetUpBarrier(cls):
cls.ExecuteIfHasNotBeenYet(SetUpManager.SetUpPathsManager)
Barrier.baseSize = Vector(pg.image.load(PathsManager.GetPath("barrier")).get_size())
def InitialVelocity(self):
return Vector(self.__class__.velocityValue, 0).rotate(-self.rot)
def test_0(self):
self.assertEqual(Vector(20, 34).angle, 301)
def test_0(self):
b1 = Barrier()
b1.scale = Vector([2.1, 3.1])
b1.CreateOriginalRect()
self.assertEqual(b1.original_rect.bottomright, (67, 99))