def obstacleAvoid(self, obstacles): self.avoidance = v2.vector2(0,0) tv = self.velocity tv.norm() tv = tv * MAXAVOIDAHEAD ahead = self.position + tv mostThreatening = None for i in range(len(obstacles)): obstacle = obstacles[i] if((obstacle.pos - self.position).mag()>96): continue else: if(kd.debug): PKFW.drln(self.position.x, self.position.y, obstacle.pos.x, obstacle.pos.y, 0,0,1) coll = self.lineIntersection(self.position, ahead, obstacle) if(coll and ((mostThreatening is None) or (self.position.distance(obstacle.pos) < self.position.distance(mostThreatening.pos)))): mostThreatening = obstacle if(mostThreatening is not None): self.avoidance = ahead - mostThreatening.pos self.avoidance.norm() self.avoidance = self.avoidance * AVOIDFOR else: self.wander()
def update(self): self.steering = self.mintrunc(self.steering + self.avoidance, MAXFOR) self.steering = self.steering / self.mass self.velocity = self.maxtrunc(self.velocity + self.steering, MAXSPD) self.position = self.position + self.velocity if(self.position.x < 0):self.position.x = kd.sp['width'] if(self.position.x > kd.sp['width']):self.position.x = 0 if(self.position.y < 0):self.position.y = kd.sp['height'] if(self.position.y > kd.sp['height']):self.position.y = 0 PKFW.spmo(self.sprite,self.position.x, self.position.y)
def LevelGridDraw(self): for x in range(len(self.levelTiles)): for y in range(len(self.levelTiles[x])): if(self.levelTiles[x][y].Sid != -1): PKFW.spmo(self.levelTiles[x][y].Sid,self.levelTiles[x][y].pos.x, self.levelTiles[x][y].pos.y ) PKFW.spdr(self.levelTiles[x][y].Sid) for i in range(len(self.wanderers)): self.wanderers[i].obstacleAvoid(walls) self.wanderers[i].update() self.wanderers[i].draw() if(math.isnan(self.wanderers[i].position.x) or math.isnan(self.wanderers[i].position.y)): # on rare occasions the boid position and steering becomes NAN due to being too close to too many # walls... I am not sure why this is happening and have implemented a half fix which just # re initialises the boid if this happens self.wanderers[i] = ai.boid(kd.sp['width']*0.5, kd.sp['height']*0.5, 64, sprites[5]) if(self.flock is not None): self.flock.update()
def __init__(self, tileSize):
reload(pathfinding)
reload(ai)
reload(v2)
reload(kd)
#sprites['tileSID'] = PKFW.spcr("./images/grey.png", tileSize['width'], tileSize['height'])
#sprites['startSID'] = PKFW.spcr("./images/blue.png", tileSize['width'], tileSize['height'])
#sprites['finishSID'] = PKFW.spcr("./images/green.png", tileSize['width'], tileSize['height'])
#sprites['wallSID'] = PKFW.spcr("./images/red.png", tileSize['width'], tileSize['height'])
#sprites['pathSID'] = PKFW.spcr("./images/purple.png",tileSize['width'], tileSize['height'])
#sprites['boidSID'] = PKFW.spcr("./images/reds.png", 32,32)
sprites.append(PKFW.spcr("./images/grey.png", tileSize['width'], tileSize['height']))
sprites.append(PKFW.spcr("./images/blue.png", tileSize['width'], tileSize['height']))
sprites.append(PKFW.spcr("./images/green.png", tileSize['width'], tileSize['height']))
sprites.append(PKFW.spcr("./images/red.png", tileSize['width'], tileSize['height']))
sprites.append(PKFW.spcr("./images/purple.png",tileSize['width'], tileSize['height']))
sprites.append(PKFW.spcr("./images/reds.png", 32,32))
self.wanderers = []
self.flock = None
self.path = None
self.buttonpressed = [False]*5
self.screenProps = kd.sp
self.tileSize = tileSize
self.levelSize = {'x':self.screenProps['width']/self.tileSize['width'], 'y':self.screenProps['height']/self.tileSize['height']}
self.levelTiles = [[None]*self.levelSize['y'] for i in range(self.levelSize['x'])]
#initialising levelTiles grid with new tiles
#small random portion of tiles set to walls
#outer edges of tiles set to wall (not needed but included to avoid boid boundries)
for x in range(len(self.levelTiles)):
for y in range(len(self.levelTiles[x])):
self.levelTiles[x][y] = Tile()
if(random.random()>0.20) or ((x>10 and x<14) and (y>4 and y<9)):
self.levelTiles[x][y].setS(sprites[0])
else:
self.levelTiles[x][y].setS(sprites[3])
self.levelTiles[x][y].pos.x = (self.tileSize['width']) * x%self.screenProps['width']+ (tileSize['width']*0.5)
self.levelTiles[x][y].pos.y = (self.tileSize['height']) * y%self.screenProps['height']+ (tileSize['width']*0.5)
self.levelTiles[x][y].gpos['x'] = x
self.levelTiles[x][y].gpos['y'] = y
if(not x or not y) or (x is self.levelSize['x']-1 or y is self.levelSize['y']-1):
self.levelTiles[x][y].setS(sprites[3])
#initialising 10 boid wanderers
for i in range(10):
rx = random.randint(kd.sp['width']*0.5-64,kd.sp['width']*0.5+64)
ry = random.randint(kd.sp['height']*0.5-72,kd.sp['height']*0.5+72)
self.wanderers.append(ai.boid(rx, ry, 32, sprites[5]))
def lineIntersection(self, pos, ahead, obstacle): tv = self.velocity tv.norm() tv = tv * MAXAVOIDAHEAD * 0.75 ahead2 = self.position + tv if(kd.debug): PKFW.drln(self.position.x, self.position.y, ahead.x, ahead.y, 1,0,1) PKFW.drln(self.position.x, self.position.y, ahead2.x, ahead2.y, 1,1,0) n = 52 if(kd.debug): for t in range(n)[::3]: th = 2* math.pi * t/n th1 = 2* math.pi * (t+1)/n v = v2.vector2(n*math.cos(th), n*math.sin(th)) v1 = v2.vector2(n*math.cos(th1), n*math.sin(th1)) if(obstacle.gpos['x']>0 and obstacle.gpos['y']>0): PKFW.drln(obstacle.pos.x+v.x, obstacle.pos.y+v.y, obstacle.pos.x+v1.x, obstacle.pos.y+v1.y, 1,1,1) return (obstacle.pos.distance(ahead)<=n) or (obstacle.pos.distance(ahead2)<=n)
def draw(self): PKFW.spdr(self.sprite)
def GameInit():#initialise game and globals PKFW.init(kd.sp['width'], kd.sp['height']) LevelGridInit()
def GameUpdate():#main game loop PKFW.upda() global tilegrid tilegrid.LevelGridUpdate() tilegrid.LevelGridDraw()
def LevelGridUpdate(self): mx, my = PKFW.gtmp() #mouse x and y tx = int(mx/self.tileSize['width']) ty = int(my/self.tileSize['height']) #current tile mouse is over if(tx<0):tx=0 if(ty<0):ty=0 if(tx>self.levelSize['x']-1): tx = self.levelSize['x']-1 if(ty>self.levelSize['y']-1): ty = self.levelSize['y']-1 #current tile mouse is over window clamp #left mouse button sets tile to start #right mouse button sets tile to wall #middle mouse button sets tile to blank if(PKFW.gmpr(0) and self.buttonpressed[0] is False): self.buttonpressed[0] = True self.levelTiles[tx][ty].setS(sprites[1]) self.buttonpressed[0] = not PKFW.gtmr(0) if(PKFW.gmpr(1)): self.levelTiles[tx][ty].setS(sprites[3]) if(PKFW.gmpr(2)): self.levelTiles[tx][ty].setS(sprites[0]) #if the start exists and there is only one finish and the 'a' key is pressed #astar runs and sets the tiles in the returned path to the path sprite if isinstance(start, Tile) and len(finish)==1 and PKFW.gtkp(65) and self.buttonpressed[1] is False: self.buttonpressed[1] = True self.path = pathfinding.astar(start, finish[0], self.levelTiles, self.levelSize) if(isinstance(self.path, list)): for i in range(len(self.path)): self.path[i].setS(sprites[4]) self.buttonpressed[1] = not PKFW.gtkr(65) #if the start exists and there is at least 1 finish and the 'd' key is pressed #dijkstra runs (path tiles sprite set to path) if isinstance(start, Tile) and len(finish)>0 and PKFW.gtkp(68) and self.buttonpressed[2] is False: self.buttonpressed[2] = True self.path = pathfinding.dijkstra(start, finish, self.levelTiles, self.levelSize) if(isinstance(self.path,list)): for i in range(len(self.path)): self.path[i].setS(sprites[4]) self.buttonpressed[2] = not PKFW.gtkr(68) #checks if path is a list #if so then delete all the elements and set to None #in case previous tiles from previous paths are left over when attempting new path if(isinstance(self.path,list)): for i in range(len(self.path)): self.path[i].resetTile() del self.path[:] self.path = None #when the 'c' button is pressed all the tiles that are not walls are set to blank tiles if(PKFW.gtkp(67)): for x in range(len(self.levelTiles)): for y in range(len(self.levelTiles[x])): if(self.levelTiles[x][y].Sid != sprites[3]): self.levelTiles[x][y].resetTile() self.levelTiles[x][y].setS(sprites[0]) #the f1 button clears all the wanderes and tiles and initialises the flock class #to return to the wanderers and tiles press ESC if(PKFW.gtkp(kd.keys['F1']) and self.buttonpressed[3] is False): self.buttonpressed[3] = True self.flock = ai.flock(30, sprites[5]) for i in range (len(self.wanderers)): del self.wanderers[:] for x in range(len(self.levelTiles)): for y in range(len(self.levelTiles[x])): self.levelTiles[x][y].setS(sprites[0]) self.buttonpressed[3] = not PKFW.gtkr(kd.keys['F1']) #pressing f12 sets debug to !debug #used when creating boid steering behaviours if(PKFW.gtkp(kd.keys['F12']) and self.buttonpressed[4] is False): self.buttonpressed[4] = True kd.debug = not kd.debug self.buttonpressed[4] = not PKFW.gtkr(kd.keys['F12'])
def cs(self): global sprites PKFW.spde(sprites[0]) PKFW.spde(sprites[1]) PKFW.spde(sprites[2]) PKFW.spde(sprites[3]) PKFW.spde(sprites[4]) PKFW.spde(sprites[5]) del sprites[:]