def update_car(self):
"""Updates the car each frame by updating the scene graph created by build_car."""
verts = translate_vertices(rotate_polygon(CAR_BODY, self.car_orn, [0, 0]), self.car_pos)
self.update_object_coords(self.car[0], verts)
# We have to rotate the local transformation of the front-AABB
verts = translate_vertices(rotate_polygon(CAR_FRONT, self.car_orn, [0, 0]), self.car_pos)
rot = m2d.rot_vec(FRONT_TRANS, self.car_orn)
verts = list(map(lambda x: m2d.add(x, rot), verts))
self.update_object_coords(self.car[1], verts)
ray_points = []
for i in range(2, 2 + self.car_rays):
vec = m2d.rot_vec(RAY_LINE, self.car_orn + i*self.ray_dtheta)
self.update_object_coords(self.car[i], [self.car_pos, m2d.add(self.car_pos, vec)])
ray_points.append(m2d.add(self.car_pos, vec))
i1 = len(ray_points) - 1
for i0 in range(self.car_rays):
i = i0 + 2 + self.car_rays
self.update_object_coords(self.car[i], [ray_points[i1], ray_points[i0]])
i1 = i0
self.visit_tiles(ray_points)
for i in range(len(self.car)):
self.canvas.tag_raise(self.car[i])
def draw_car(self):
verts = self.translate_vertices(self.rotate_polygon(CAR_BODY, self.car_orn, [0, 0]), self.car_pos)
self.update_object_coords(self.car[0], verts)
# We have to rotate the local transformation of the front-AABB
verts = self.translate_vertices(self.rotate_polygon(CAR_FRONT, self.car_orn, [0, 0]), self.car_pos)
rot = m2d.rot_vec(FRONT_TRANS, self.car_orn)
verts = list(map(lambda x: m2d.add(x, rot), verts))
self.update_object_coords(self.car[1], verts)
ray_points = []
for i in range(2, 2 + self.car_rays):
vec = m2d.rot_vec(RAY_LINE, self.car_orn + i*self.ray_dtheta)
self.update_object_coords(self.car[i], [self.car_pos, m2d.add(self.car_pos, vec)])
ray_points.append(m2d.add(self.car_pos, vec))
i1 = len(ray_points) - 1
for i0 in range(self.car_rays):
i = i0 + 2 + self.car_rays
self.update_object_coords(self.car[i], [ray_points[i1], ray_points[i0]])
i1 = i0
# Test each rectangle that has not been seen against the ray triangles
i1 = len(ray_points) - 1
for i0 in range(self.car_rays):
tri = [self.car_pos, ray_points[i1], ray_points[i0]]
if not m2d.is_ccw(tri): tri.reverse()
for j in range(len(self.floor_polys)):
if self.floors_seen[j]: continue
elif m2d.test_intersection(tri, self.floor_polys[j]):
self.canvas.itemconfig(self.floors_id[j], fill='lightblue')
self.floors_seen[j] = True
i1 = i0
def build_car(self, position, rays):
"""Builds the Tkinter objects for displaying the car. This must be called prior to draw_car."""
car = list()
car.append(self.canvas.create_polygon(AABB_to_vertices(CAR_BODY), fill="blue"))
car.append(self.canvas.create_polygon(AABB_to_vertices(CAR_FRONT), fill="red"))
verts = translate_vertices(rotate_polygon(CAR_BODY, self.car_orn, [0, 0]), position)
self.update_object_coords(car[0], verts)
# We have to rotate the local transformation of the front-AABB
verts = translate_vertices(rotate_polygon(CAR_FRONT, self.car_orn, [0, 0]), position)
rot = m2d.rot_vec(FRONT_TRANS, self.car_orn)
verts = list(map(lambda x: m2d.add(x, rot), verts))
self.update_object_coords(car[1], verts)
ray_points = []
for i in range(rays):
vec = m2d.rot_vec(RAY_LINE, i*self.ray_dtheta)
verts = flatten([self.car_pos, m2d.add(self.car_pos, vec)])
ray_points.append(m2d.add(self.car_pos, vec))
car.append(self.canvas.create_line(*verts, fill="blue"))
i1 = len(ray_points) - 1
for i0 in range(len(ray_points)):
car.append(self.canvas.create_line(*[ray_points[i1], ray_points[i0]], fill="blue"))
i1 = i0
return car
def build_car(self, position, rays):
"""Builds the mesh for the car and the view triangles for intersecting mesh geometry"""
car = list() # Two rectangles and rays - 1 triangles
# car[0]
car.append(self.canvas.create_polygon(self.AABB_to_vertices(CAR_BODY), fill="blue"))
# car[1]
car.append(self.canvas.create_polygon(self.AABB_to_vertices(CAR_FRONT), fill="red"))
verts = self.translate_vertices(self.rotate_polygon(CAR_BODY, self.car_orn, [0, 0]), position)
self.update_object_coords(car[0], verts)
# We have to rotate the local transformation of the front-AABB
verts = self.translate_vertices(self.rotate_polygon(CAR_FRONT, self.car_orn, [0, 0]), position)
rot = m2d.rot_vec(FRONT_TRANS, self.car_orn)
verts = list(map(lambda x: m2d.add(x, rot), verts))
self.update_object_coords(car[1], verts)
ray_points = []
for i in range(rays):
vec = m2d.rot_vec(RAY_LINE, i*self.ray_dtheta)
verts = self.flatten([self.car_pos, m2d.add(self.car_pos, vec)])
ray_points.append(m2d.add(self.car_pos, vec))
car.append(self.canvas.create_line(*verts, fill="black"))
i1 = len(ray_points) - 1
for i0 in range(len(ray_points)):
car.append(self.canvas.create_line(*[ray_points[i1], ray_points[i0]], fill="black"))
i1 = i0
return car