def getTargetingCommand(self, time_diff): yDiff = self.targetY - self.tank.y xDiff = self.targetX - self.tank.x target_angle = atan2(yDiff, xDiff) relative_angle = normalize_angle(target_angle - self.tank.angle) shoot = False angleVel = relative_angle * 2#/time_diff return Command(self.tank.index, 0, angleVel, shoot)
def getTargetingCommand(self, time_diff):
yDiff = self.targetY - self.tank.y
xDiff = self.targetX - self.tank.x
#print "cur angle: " + str(curAngle) +" tank at "+ str(self.tank.x)+ ", "+ str(self.tank.y)
target_angle = atan2(yDiff, xDiff)
relative_angle = normalize_angle(target_angle - self.tank.angle)
#print "shots avail "+str(self.tank.shots_avail)
#print str(self.tank.time_to_reload) + ", " + str(time_diff)
shoot = False #abs(relative_angle) < abs(.0001) #shots_avail > 0 #time_to_reload
angleVel = relative_angle * 2 #/time_diff
return Command(self.tank.index, 0, angleVel, shoot)
def getTargetingCommand(self, time_diff): yDiff = self.targetY - self.tank.y xDiff = self.targetX - self.tank.x #print "cur angle: " + str(curAngle) +" tank at "+ str(self.tank.x)+ ", "+ str(self.tank.y) target_angle = atan2(yDiff, xDiff) relative_angle = normalize_angle(target_angle - self.tank.angle) #print "shots avail "+str(self.tank.shots_avail) #print str(self.tank.time_to_reload) + ", " + str(time_diff) shoot = False#abs(relative_angle) < abs(.0001) #shots_avail > 0 #time_to_reload angleVel = relative_angle * 2#/time_diff return Command(self.tank.index, 0, angleVel, shoot)
def transform(
wheel1: Point,
wheel2: Point,
tail: Point,
scene_center: Point,
):
"""
:return: (
robot_position, # position against scene center;
angle, # angle against scene center;
distance, # distance to scene center;
)
"""
robot_center = midpoint(wheel1, wheel2)
# finds the tail point's prime and its projection line - the main one
tail_prime = two_points_90(wheel1, robot_center)
intersection_line = line(wheel1, wheel2)
if not pts_same_side(tail, tail_prime, intersection_line):
tail_prime = two_points_90(wheel2, robot_center)
main_projection_line = line(tail, tail_prime)
# finds center line's prime
center_line = line(scene_center, robot_center)
side_line = line(tail, wheel1)
side_intersection = intersection(center_line, side_line)
if side_intersection:
side_line_prime = line(tail_prime, wheel1)
else:
side_line = line(tail, wheel2)
side_intersection = intersection(center_line, side_line)
side_line_prime = line(tail_prime, wheel2)
# noinspection PyTypeChecker
side_intersection_projection_line = parallel_line(main_projection_line, side_intersection)
side_intersection_prime = intersection(side_line_prime, side_intersection_projection_line)
center_line_prime = line(robot_center, side_intersection_prime)
# computes position, angle and distance
center_line_projection = parallel_line(main_projection_line, scene_center)
center_prime = intersection(center_line_projection, center_line_prime)
dist = distance(center_prime, robot_center) / distance(robot_center, tail_prime)
robot_position = robot_center - center_prime
angle = math.degrees(normalize_angle(
three_pts_angle(tail_prime, robot_center, center_prime) - math.pi))
return Object(robot_position, angle, (dist * ROBOT_UNIT))
def set_heading(self, heading):
"""Sets the orientation of the game object."""
self.dirty_image = self.dirty_image or self.heading != heading
self.heading = geometry.normalize_angle(heading)
def test_normalize_angle_neg_greater_360(self):
angle = -495
self.assertEqual(geometry.normalize_angle(angle), 225)
def test_normalize_angle_greater_360(self):
angle = 890
self.assertEqual(geometry.normalize_angle(angle), 170)
def test_normalize_angle_neg(self):
angle = -60
self.assertEqual(geometry.normalize_angle(angle), 300)