def drawWheel(ax, shape, body): r = shape.radius pos = body.transform * shape.pos drawCircle(ax, pos, r) for a in [0, 2 * np.pi / 3, 4 * np.pi / 3]: v = vrotate((1, 0), body.angle + a) x = [pos[0], pos[0] + 0.99 * r * v[0]] y = [pos[1], pos[1] + 0.99 * r * v[1]] ax.plot(x, y, linestyle='-', color='b', lw=1)
def drawEpuck(ax, shape, body): r = shape.radius pos = body.position drawCircle(ax, pos, r) irangles = body.userData["IRAngles"] nir = len(irangles) for a in [-np.pi / 4, np.pi / 4]: v = vrotate((1, 0), body.angle + a) x = [pos[0], pos[0] + 0.99 * r * v[0]] y = [pos[1], pos[1] + 0.99 * r * v[1]] ax.plot(x, y, linestyle='-', color='b', lw=1) for k in range(nir): v = vrotate((1, 0), body.angle + irangles[k]) c = pos + [0.97 * r * v[0], 0.97 * r * v[1]] value = body.userData["IRValues"][k] if (value > 1): value = 1 drawCircle(ax, c, r=0.07, color=[1 - value, value, 0])
def drawWheel(ax,shape,body): r = shape.radius pos = body.transform*shape.pos drawCircle(ax,pos,r) for a in [0,2*np.pi/3,4*np.pi/3]: v = vrotate((1,0),body.angle+a) x = [pos[0],pos[0]+0.99*r*v[0]] y = [pos[1],pos[1]+0.99*r*v[1]] ax.plot(x,y, linestyle='-', color='b', lw=1)