def move(self,dx,dy):
previous_rect = self.rect #remember in case undo is necessary
self.rect = self.rect.move(dx,dy)
legs2 = transportation.transportation()
legs2.together()
if self.rect.collidelist(list_rect_obstacles) != -1:#if collision exists
print 'mode -->I collided with wall(s)',\
self.rect.collidelistall(list_rect_obstacles)
self.rect = previous_rect #undo the move
self.collided = True
else: #if there was no collision
if leave_trace: #update trace list
tr = self.rect.inflate(trace_decrease, trace_decrease)
list_traces.append(Trace(tr, 90+self.azi-trace_arc, 90+self.azi+trace_arc))
r_visual_range = 200 #measured from robot center
r_visual_angle = 30 #in degrees, must divide 90 exactly!
r_visual_granularity = 5 #must be < wall_thickness for walls to be detected correctly!
#import everything
import os, pygame
from pygame.locals import *
import math
import random
import transportation
main_dir = os.path.split(os.path.abspath(__file__))[0]
screen = pygame.display.set_mode((display_cols, display_rows))
list_traces = list()
legs = transportation.transportation()
class Trace():
def __init__(self, from_rect, start_angle, stop_angle):
self.rect = from_rect
self.start_angle= start_angle
self.stop_angle = stop_angle
class Obstacle(pygame.Rect): #for now just colored rectangles
def __init__(self, x_topleft, y_topleft, width, height, color):
self.x_topleft = x_topleft
self.y_topleft = y_topleft
self.width = width
self.height = height
self.color = pygame.Color(color)
