def project(self, points, reverse=False):
if reverse:
if self.H_ is None:
self.H_ = mtx.lu([r[:] for r in self.H])
qs = [
mtx.solve(self.H_,
vec.sub(p, self.offset) + [1]) for p in points
]
return [vec.div(q[:-1], q[-1]) for q in qs]
else:
qs = [mtx.mul(self.H, p + [1]) for p in points]
return [vec.add(self.offset, vec.div(q[:-1], q[-1])) for q in qs]
def arc_to(self, endpoint, center=None, start_slant=None, end_slant=None):
"""
Draw an arc ending at the specified point, starting tangent to the
current position and heading.
"""
if points_equal(self._position, endpoint):
return
# Handle unspecified center.
# We need to find the center of the arc, so we can find its radius. The
# center of this arc is uniquely defined by the intersection of two
# lines:
# 1. The first line is perpendicular to the pen heading, passing
# through the pen position.
# 2. The second line is the perpendicular bisector of the pen position
# and the target arc end point.
v_pen = self._vector()
v_perp = vec.perp(self._vector())
v_chord = vec.vfrom(self._position, endpoint)
if center is None:
midpoint = vec.div(vec.add(self._position, endpoint), 2)
v_bisector = vec.perp(v_chord)
center = intersect_lines(
self._position,
vec.add(self._position, v_perp),
midpoint,
vec.add(midpoint, v_bisector),
)
# Determine true start heading. This may not be the same as the
# original pen heading in some circumstances.
assert not points_equal(center, self._position)
v_radius_start = vec.vfrom(center, self._position)
v_radius_perp = vec.perp(v_radius_start)
if vec.dot(v_radius_perp, v_pen) < 0:
v_radius_perp = vec.neg(v_radius_perp)
start_heading = math.degrees(vec.heading(v_radius_perp))
self.turn_to(start_heading)
# Refresh v_pen and v_perp based on the new start heading.
v_pen = self._vector()
v_perp = vec.perp(self._vector())
# Calculate the arc angle.
# The arc angle is double the angle between the pen vector and the
# chord vector. Arcing to the left is a positive angle, and arcing to
# the right is a negative angle.
arc_angle = 2 * math.degrees(vec.angle(v_pen, v_chord))
radius = vec.mag(v_radius_start)
# Check which side of v_pen the goes toward.
if vec.dot(v_chord, v_perp) < 0:
arc_angle = -arc_angle
radius = -radius
self._arc(
center,
radius,
endpoint,
arc_angle,
start_slant,
end_slant,
)
def arc_to(self, endpoint, center=None, start_slant=None, end_slant=None):
"""
Draw an arc ending at the specified point, starting tangent to the
current position and heading.
"""
if points_equal(self._position, endpoint):
return
# Handle unspecified center.
# We need to find the center of the arc, so we can find its radius. The
# center of this arc is uniquely defined by the intersection of two
# lines:
# 1. The first line is perpendicular to the pen heading, passing
# through the pen position.
# 2. The second line is the perpendicular bisector of the pen position
# and the target arc end point.
v_pen = self._vector()
v_perp = vec.perp(self._vector())
v_chord = vec.vfrom(self._position, endpoint)
if center is None:
midpoint = vec.div(vec.add(self._position, endpoint), 2)
v_bisector = vec.perp(v_chord)
center = intersect_lines(
self._position,
vec.add(self._position, v_perp),
midpoint,
vec.add(midpoint, v_bisector),
)
# Determine true start heading. This may not be the same as the
# original pen heading in some circumstances.
assert not points_equal(center, self._position)
v_radius_start = vec.vfrom(center, self._position)
v_radius_perp = vec.perp(v_radius_start)
if vec.dot(v_radius_perp, v_pen) < 0:
v_radius_perp = vec.neg(v_radius_perp)
start_heading = math.degrees(vec.heading(v_radius_perp))
self.turn_to(start_heading)
# Refresh v_pen and v_perp based on the new start heading.
v_pen = self._vector()
v_perp = vec.perp(self._vector())
# Calculate the arc angle.
# The arc angle is double the angle between the pen vector and the
# chord vector. Arcing to the left is a positive angle, and arcing to
# the right is a negative angle.
arc_angle = 2 * math.degrees(vec.angle(v_pen, v_chord))
radius = vec.mag(v_radius_start)
# Check which side of v_pen the goes toward.
if vec.dot(v_chord, v_perp) < 0:
arc_angle = -arc_angle
radius = -radius
self._arc(
center,
radius,
endpoint,
arc_angle,
start_slant,
end_slant,
)
def draw(s, gs):
sx, sy = gs.screenCoords(s.loc)
s.sprite.x = sx
s.sprite.y = sy
s.sprite.rotation = s.facing
s.sprite.draw()
if s.parent != None:
#parentSloc = gs.screenCoords(s.parent.loc)
vecToParent = vec.sub(s.parent.loc, s.loc)
angle = vec.toAngle(vecToParent)
centerPointVec = vec.div(vecToParent, 2)
actualVec = vec.add(s.loc, centerPointVec)
s.captureSprite.position = gs.screenCoords(actualVec)
s.captureSprite.rotation = angle
s.captureSprite.draw()
def __init__(self, environment, screen_size):
self.environment = environment
self.screen_size = screen_size
self.pixels_per_unit = 15 # TEMP, hardcoded zoom level.
flags = pg.HWSURFACE | pg.DOUBLEBUF
if FULLSCREEN:
flags |= pg.FULLSCREEN
self.screen = pg.display.set_mode(tuple(self.screen_size), flags)
self.screen_origin = vec.div(self.screen_size, 2)
self.widgets = []
if SHOW_JOYSTICK:
for i, inp in enumerate(self.environment.inputs):
self.widgets.append(JoystickWidget(self, inp, i))
if SHOW_INFO:
self.fps = 0.0
self.widgets.append(InfoWidget(self))
self.widgets.append(HealthWidget(self, self.environment.players))
self.graphics = Graphics(self)
def __init__(self, environment, screen_size):
self.environment = environment
self.screen_size = screen_size
self.pixels_per_unit = 15 # TEMP, hardcoded zoom level.
flags = pg.HWSURFACE | pg.DOUBLEBUF
if FULLSCREEN:
flags |= pg.FULLSCREEN
self.screen = pg.display.set_mode(tuple(self.screen_size), flags)
self.screen_origin = vec.div(self.screen_size, 2)
self.widgets = []
if SHOW_JOYSTICK:
for i, inp in enumerate(self.environment.inputs):
self.widgets.append(JoystickWidget(self, inp, i))
if SHOW_INFO:
self.fps = 0.0
self.widgets.append(InfoWidget(self))
self.widgets.append(HealthWidget(self, self.environment.players))
self.graphics = Graphics(self)
def applyForce(s, force):
dv = vec.div(force, s.mass)
s.vel = vec.add(s.vel, dv)