def unit_step(self, unit: Unit, comands: dict, dt: float, log: list):
move = self._validate('move', comands, -1, 1)
rotate = self._validate('rotate', comands, -1, 1)
vision = self._validate('vision', comands, -1, 1)
fire = self._validate('fire', comands, 0, 1)
if abs(move) > 1e-8:
p1, p2 = unit.get_move_segment(move, rotate, dt)
p1, p3 = self.scene.intersected_segment(p1, p2)
if p3 != p2:
unit.pos = p1
else:
unit.pos = p2
log.append(
f'Unit name={unit.name} moved from {p1} to {unit.pos}')
if abs(rotate) > 1e-8:
a0 = unit.alpha
unit.rotate(rotate, dt)
a1 = unit.alpha
log.append(f'Unit name={unit.name} rotated from {a0} to {a1}')
if abs(vision) > 1e-8:
t0, r0 = unit.theta, unit.r_vis
unit.change_vision(vision, dt)
t1, r1 = unit.theta, unit.r_vis
log.append(
f'Unit name={unit.name} change vision theta from {t0} to {t1}')
log.append(
f'Unit name={unit.name} change vision radius from {r0} to {r1}'
)
if fire > 1e-8:
round_new = unit.shoot()
if round_new:
self.rounds.add(round_new)
log.append(
f'Unit name={unit.name} fired by Round id={round_new.id} with pos={round_new.pos}, vel={round_new.vel}'
)
unit.time += dt
