def _distToWall(pos, angle, sWidth, w, h):
"Calculate the distance to the sketch walls in the specified direction"
walls = Polygon([(0,0), (w,0), (w,h), (0,h)])
w += h
pts = []
for n in (-1, 0, 1):
v = vec2d(w, angle + n * sWidth)
line = Line(pos, vector=v)
pts.extend(walls.intersect(line))
return min(dist(pos, pt) for pt in pts) if len(pts) else None
def _distToWall(pos, angle, sWidth, w, h):
"Calculate the distance to the sketch walls in the specified direction"
walls = Polygon([(0, 0), (w, 0), (w, h), (0, h)])
w += h
pts = []
for n in (-1, 0, 1):
v = vec2d(w, angle + n * sWidth)
line = Line(pos, vector=v)
pts.extend(walls.intersect(line))
return min(dist(pos, pt) for pt in pts) if len(pts) else None
def frameStep(self):
"Update robot sprite each frame"
# Target wheel speed...
v = self.maxSpeed
v1, v2 = self._motors
v1 *= v
v2 *= v
# Angular speed and turning radius...
w = (v1 - v2) / (2 * self.radius)
self.spin = w / DEG
if w:
R = (v1 + v2) / (2 * w)
v = w * R
else:
v = v1
# Acceleration...
v = vec2d(v, self.angle * DEG)
self.accel = times(sub(v, self.velocity), 0.05)
# Update...
super().frameStep()
# Draw penColor on background...
if self.penColor: # and self._penPosn:
srf = self.sketch.scaledBgImage.surface
x, y = self.posn
xy = (round(x), round(y)) if self.centerPen else self._penPosn
circle(srf, self.penColor, xy, self.penRadius)
# Check sensors...
stall = not self.motorsOff and (self.edgeAdjust or self.collideUpdate)
if stall:
if self._stallTime is None:
self._stallTime = self.sketch.time if stall else None
else:
self._stallTime = None
self.downColor = self._downColor()
self._closest_obstacle()
if self._starting: self._starting = False
# Adjust wheel speed...
self.costumeTime = 0 if self.motorsOff else round(
36 / (1 + 5 * self.averagePower))
# Log destruction of robot...
if self._thread is not None and self._thread.log and self in self.sketch.sprites._toRemove:
print("{} has been destroyed... there goes a billion dollars!".
format(self._thread))
def _checkDown(self):
"Update the down color sensor"
x, y = self.rect.center
r = 0.8 * self.radius
dx, dy = vec2d(r, self.angle)
r = max(1, round(0.25 * r))
d = 2 * r
sk = self.sketch
r = pygame.Rect(x + dx - r, y + dy - r, d, d).clip(sk.rect)
if r.width:
if isinstance(sk.bg, Image):
c = pygame.transform.average_color(sk.bg.image.subsurface(r))
else: c = sk.bg
else: c = 0, 0, 0
self.sensorDown = noise(c, self.sensorNoise, 255)
def ondraw(self):
"Update robot sprite each frame"
if not self.active: raise InactiveError()
# Target wheel speed...
sk = self.sketch
v = self.maxSpeed * sk.width
v1, v2 = self._motors
v1 *= v
v2 *= v
# Angular speed and turning radius...
w = (v1 - v2) / (2 * self.radius)
self.spin = w / DEG
if w:
R = (v1 + v2) / (2 * w)
v = w * R
else:
v = v1
# Acceleration...
v = vec2d(v, self.angle)
a = delta(v, self.vel)
if hypot(*a) > 0.05:
self.acc = delta(a, mag=0.05)
else:
self.vel = v
self.acc = 0, 0
# Adjust wheel speed...
p = self.power
self.costumeTime = 0 if p == 0 else round(36 / (1 + 5 * p))
# Update position and angle...
super().ondraw()
# Update sensors if requested...
if self._updateSensors:
try:
self._checkDown()
self._checkFront()
self._drawLEDs()
self._updateSensors = False
except:
logError()
self._startup = False
def __init__(self, ship):
"Fire a new missile from the ship"
super().__init__(self.original)
# Initial position of missile
u = vec2d(1.3 * ship.radius, ship.angle)
pos = ship.pos[0] + u[0], ship.pos[1] + u[1]
# Initial velocity of missile
u = delta(u, mag=ship.sketch.height / 135)
vel = ship.vel[0] + u[0], ship.vel[1] + u[1]
self.config(width=ship.width / 4,
pos=pos,
vel=vel,
spin=ship.spin,
angle=ship.angle)
def _checkDown(self):
"Update the down color sensor"
x, y = self.rect.center
r = 0.8 * self.radius
dx, dy = vec2d(r, self.angle)
r = max(1, round(0.25 * r))
d = 2 * r
sk = self.sketch
r = pygame.Rect(x + dx - r, y + dy - r, d, d).clip(sk.rect)
if r.width:
if isinstance(sk.bg, Image):
c = pygame.transform.average_color(sk.bg.image.subsurface(r))
else:
c = sk.bg
else:
c = 0, 0, 0
self.sensorDown = noise(c, self.sensorNoise, 255)
def ondraw(self):
"Update robot sprite each frame"
if not self.active: raise InactiveError()
# Target wheel speed...
sk = self.sketch
v = self.maxSpeed * sk.width
v1, v2 = self._motors
v1 *= v
v2 *= v
# Angular speed and turning radius...
w = (v1 - v2) / (2 * self.radius)
self.spin = w / DEG
if w:
R = (v1 + v2) / (2 * w)
v = w * R
else: v = v1
# Acceleration...
v = vec2d(v, self.angle)
a = delta(v, self.vel)
if hypot(*a) > 0.05:
self.acc = delta(a, mag=0.05)
else:
self.vel = v
self.acc = 0, 0
# Adjust wheel speed...
p = self.power
self.costumeTime = 0 if p == 0 else round(36 / (1 + 5 * p))
# Update position and angle...
super().ondraw()
# Update sensors if requested...
if self._updateSensors:
try:
self._checkDown()
self._checkFront()
self._drawLEDs()
self._updateSensors = False
except: logError()
self._startup = False
def _checkFront(self):
"Update the front color sensor"
# Sensor info
sw = self.sensorWidth
res = 0.5 * self.sensorResolution
pos = delta(self.pos, vec2d(-self.radius, self.angle))
# Distance from sensor to edge of sketch
obj = prox = None
sk = self.sketch
if sk.weight:
prox = _distToWall(pos, self.angle, self.sensorWidth, *sk.size)
if prox: obj = sk
# Find closest object within "sensor cone"
for gr in self.sensorObjects(sk):
if gr is not self and gr.avgColor and hasattr(gr, "rect"):
r = gr.radius
view = subtend(pos, gr.rect.center, r,
None if prox is None else prox + r)
if view:
# Object may be closer than the current closest object
sep, direct, half = view
if not res or half > res:
# Object size meets sensor resolution threshold
beta = abs(angleDifference(self.angle, direct)) - sw
if beta < half or sep < r:
# Object is in sensor cone
pr = sep - r
if beta > 0:
# CLOSEST point is NOT in sensor cone
dr = r + sep * (cos(half * DEG) - 1)
pr += dr * (beta / half)**2
if prox is None or pr < prox:
# Object is closest (so far)
prox = pr
obj = gr
# Save data
self.closestObject = obj
c = rgba(sk.border if obj is sk else obj.avgColor if obj else (0, 0,
0))
self.sensorFront = noise(divAlpha(c), self.sensorNoise, 255)
self.proximity = None if prox is None else max(0, round(prox))
def scroll(self, pix=None, rel=True):
# Calculate scroll when not specified
a = self.angle
if pix is None: pix = self.focussed and a in (0, 90)
if pix is False: pix, rel = 0, False
elif pix is True: pix, rel = self._scrollCalc(a)
# Set scrolling attributes
if pix or not rel:
if rel: self._scrollX += pix
else:
tmp = pix
pix -= self._scrollX
self._scrollX = tmp
if pix:
if a == 90: self.pos = self.pos[0], self.pos[1] + pix
else: self.pos = sigma(self.pos, vec2d(pix, a))
return self
def __init__(self, sk):
"Create a new asteroid"
super().__init__(self.original)
# Random size and mass
m = uniform(1, 100)
w = pow(m, 1 / 3) / 100 * sk.width
# Random position and velocity
pos = randint(0, sk.width - 1), -w
vel = uniform(0.25, 1) * sk.asteroidSpeed
vel = vec2d(vel, uniform(10, 170))
self.config(width=w,
wrap=BOTH,
pos=pos,
vel=vel,
spin=uniform(-2, 2),
mass=m)
def _checkFront(self):
"Update the front color sensor"
# Sensor info
sw = self.sensorWidth
res = 0.5 * self.sensorResolution
pos = delta(self.pos, vec2d(-self.radius, self.angle))
# Distance from sensor to edge of sketch
obj = prox = None
sk = self.sketch
if sk.weight:
prox = _distToWall(pos, self.angle, self.sensorWidth, *sk.size)
if prox: obj = sk
# Find closest object within "sensor cone"
for gr in self.sensorObjects(sk):
if gr is not self and gr.avgColor and hasattr(gr, "rect"):
r = gr.radius
view = subtend(pos, gr.rect.center, r, None if prox is None else prox + r)
if view:
# Object may be closer than the current closest object
sep, direct, half = view
if not res or half > res:
# Object size meets sensor resolution threshold
beta = abs(angleDifference(self.angle, direct)) - sw
if beta < half or sep < r:
# Object is in sensor cone
pr = sep - r
if beta > 0:
# CLOSEST point is NOT in sensor cone
dr = r + sep * (cos(half * DEG) - 1)
pr += dr * (beta / half) ** 2
if prox is None or pr < prox:
# Object is closest (so far)
prox = pr
obj = gr
# Save data
self.closestObject = obj
c = rgba(sk.border if obj is sk else obj.avgColor if obj else (0,0,0))
self.sensorFront = noise(divAlpha(c), self.sensorNoise, 255)
self.proximity = None if prox is None else max(0, round(prox))
def _downColor(self):
"Calculate downward colour-sensor value"
d = self.radius // 8
r = 2 * d
size = r, r
r = 0.75 * self.radius
posn = vsum(vec2d(r, self.angle * DEG), self.posn, (-d, -d))
sk = self.sketch
self._downRect = Rect(posn + size)
if sk.sprites._debugCollide:
Image(size, self.downColor).blitTo(posn=posn)
try:
if sk.bgImage:
srf = sk.scaledBgImage.surface.subsurface(posn + size)
else:
srf = None
if sk.bgColor:
img = Image(size, sk.bgColor)
if srf: img.surface.blit(srf, (0, 0))
else:
img = Image(srf)
return noise(img.averageColor(), self.sensorNoise, alpha=255)
except:
return None
def _detectObstacles(self, cone=0, steps=None, group=None):
"Detect obstacles in front of the robot"
sk = self.sketch
if steps is None: steps = max(1, cone)
if group is None:
# group = self.spriteList.search(status=VISIBLE)
group = [s for s in self.spriteList if s.status == VISIBLE]
if sk.wall:
group = set(group) | set(self.sketch._wallPoly.segments)
obst = {}
r = sum(sk.size)
stepAngle = cone / steps
angle = -cone / 2
while steps >= 0:
a = (self.angle + angle) * DEG
seg = Segment(self.posn, add(self.posn, vec2d(r, a)))
if sk.sprites._debugCollide:
line(sk.surface, (0, 0, 0), self.posn, seg.eval())
for s in group:
if s is not self:
shape = s.shape if isinstance(s, Sprite) else s
pts = shape.intersect2d(seg)
minSep = None
for pt in pts:
r2 = distSq(pt, self.posn)
if minSep is None or r2 < minSep:
minSep = r2
if minSep:
obst[None if s is shape else s] = sqrt(minSep)
if cone:
angle += stepAngle
steps -= 1
else:
steps = -1
return obst
def onbounce(self, wall):
v, a = polar2d(*self.vel)
self.vel = vec2d(v, a + uniform(-5, 5))
self.oncollide()
def onbounce(self, wall):
v, a = polar2d(*self.vel)
self.vel = vec2d(v, a + uniform(-5, 5))
self.oncollide()
