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main.py
274 lines (244 loc) · 13.5 KB
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main.py
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import arcade
import math
import sys
import datetime
SCREEN_TITLE = "Starting Template"
DEAD_ZONE = 0.05
ORG_TILE_SIZE = 282
TILE_SCALE = 0.5
DEBUG = True
class Point:
def __init__(self,x,y):
self.x = x
self.y = y
def draw(self, color):
arcade.draw_point(self.x, self.y, color, 10)
class Line:
def __init__(self,centerPoint,length,angle):
self.center = centerPoint
self.length = length
self.angle = angle
def draw(self, color):
arcade.draw_line(self.center.x - math.sin(math.radians(self.angle))*(self.length/2), self.center.y + math.cos(math.radians(self.angle))*(self.length/2),self.center.x + math.sin(math.radians(self.angle))*(self.length/2), self.center.y - math.cos(math.radians(self.angle))*(self.length/2),color, 2)
def map(x, in_min, in_max, out_min, out_max):
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
class Car:
def __init__(self,pos_x,pos_y,heading,sprite,scale):
self.center = Point(pos_x,pos_y)
self.heading = heading
self.speed = 5
self.max_speed = 15
self.acceleration = 2.5
self.braking = 3
self.driving_friction = 0.03
self.steering_friction = 0.01
self.turn_ratio = 2
self.wheels_turn = -5
self.wheels_snap = 0.25
self.score = 0
self.length = 920*0.1*scale
self.width = 480*0.1*scale
self.sprite = arcade.Sprite(sprite,scale*0.1)
self.sprite.center_x = self.center.x
self.sprite.center_y = self.center.y
self.sprite.angle = self.heading
if DEBUG:
self.front_wheel = Line(Point(self.center.x - math.sin(math.radians(self.heading))*(self.length/2), self.center.y + math.cos(math.radians(self.heading))*(self.length/2)),20,self.heading + self.wheels_turn)
self.rear_wheel = Line(Point(self.center.x + math.sin(math.radians(self.heading))*(self.length/2), self.center.y - math.cos(math.radians(self.heading))*(self.length/2)),20,self.heading)
self.turn_center = None
self.turn_radius = None
#limits wheels turn for higher travel speed
def getMaxWheelsTurn(self):
return map(self.speed,0,self.max_speed,45,15)
#draw function
def draw(self):
if DEBUG:
arcade.draw_rectangle_filled(60, 67.5, 100, 130, arcade.color.BLUSH)
arcade.draw_text("speed: " + str(round(self.speed,3)), 25, 115, arcade.color.BLACK, 10)
arcade.draw_text("x: " + str(round(self.center.x,3)), 25, 100, arcade.color.BLACK, 10)
arcade.draw_text("y: " + str(round(self.center.y,3)), 25, 85, arcade.color.BLACK, 10)
arcade.draw_text("h: " + str(round(self.heading,3)), 25, 70, arcade.color.BLACK, 10)
arcade.draw_text("wh: " + str(round(self.wheels_turn,3)), 25, 55, arcade.color.BLACK, 10)
arcade.draw_text("Mwh: " + str(round(self.getMaxWheelsTurn(),3)), 25, 40, arcade.color.BLACK, 10)
arcade.draw_text("score: " + str(round(self.score,3)), 25, 25, arcade.color.BLACK, 10)
if self.turn_center is not None:
self.turn_center.draw(arcade.color.GREEN)
if self.turn_radius is not None:
arcade.draw_circle_outline(self.turn_center.x,self.turn_center.y,self.turn_radius,arcade.color.GREEN,2)
self.front_wheel.draw(arcade.color.RED)
self.center.draw(arcade.color.YELLOW)
self.rear_wheel.draw(arcade.color.BLUE)
arcade.draw_rectangle_outline(self.center.x,self.center.y,self.width,self.length,arcade.color.YELLOW,2,self.heading)
else:
self.sprite.draw()
def update(self,steer_dir,steer_vel):
self.speed -= self.driving_friction
if steer_vel > DEAD_ZONE:
self.speed += steer_vel*self.acceleration
elif steer_vel < (-1*DEAD_ZONE):
self.speed += steer_vel*self.braking
if self.speed > self.max_speed:
self.speed = self.max_speed
elif self.speed < 0:
self.speed = 0
if self.wheels_turn > 0:
self.wheels_turn -= self.steering_friction*self.speed
elif self.wheels_turn < 0:
self.wheels_turn += self.steering_friction*self.speed
if self.wheels_turn < self.wheels_snap and self.wheels_turn > (-1)*self.wheels_snap:
self.wheels_turn = 0
if ((steer_dir > DEAD_ZONE) or steer_dir < (-1*DEAD_ZONE)):
self.wheels_turn -= steer_dir*self.turn_ratio
if self.wheels_turn > self.getMaxWheelsTurn():
self.wheels_turn = self.getMaxWheelsTurn()
elif self.wheels_turn < (-1)*self.getMaxWheelsTurn():
self.wheels_turn = (-1)*self.getMaxWheelsTurn()
if self.wheels_turn != 0:
self.turn_radius = self.length/math.tan(math.radians(self.wheels_turn))
self.turn_center = Point(self.rear_wheel.center.x - math.sin(math.radians(self.heading + 90))*self.turn_radius,self.rear_wheel.center.y + math.cos(math.radians(self.heading + 90))*self.turn_radius)
circle_angle = (180*self.speed)/(math.pi*self.turn_radius)
stop_angle = self.heading + math.copysign(90,self.turn_radius) + 180 + circle_angle
new_rear_wheel = Point(self.turn_center.x - math.copysign(self.turn_radius,1) * math.sin(math.radians(stop_angle)),self.turn_center.y + math.copysign(self.turn_radius,1) * math.cos(math.radians(stop_angle)))
self.heading += circle_angle
self.center.x = new_rear_wheel.x - (self.length/2) * math.sin(math.radians(self.heading))
self.center.y = new_rear_wheel.y + (self.length/2) * math.cos(math.radians(self.heading))
else:
self.turn_center = None
self.turn_radius = None
self.center.x -= math.sin(math.radians(self.heading))*self.speed
self.center.y += math.cos(math.radians(self.heading))*self.speed
if DEBUG:
self.front_wheel.center = Point(self.center.x - math.sin(math.radians(self.heading))*(self.length/2), self.center.y + math.cos(math.radians(self.heading))*(self.length/2))
self.front_wheel.angle = self.heading + self.wheels_turn
self.rear_wheel.center = Point(self.center.x + math.sin(math.radians(self.heading))*(self.length/2), self.center.y - math.cos(math.radians(self.heading))*(self.length/2))
self.rear_wheel.angle = self.heading
self.sprite.center_x = self.center.x
self.sprite.center_y = self.center.y
self.sprite.angle = self.heading
self.score += self.speed
def isValidTrackTile(tile):
return tile == "SRL" or tile == "STD" or tile == "TDL" or tile == "TRD" or tile == "TUL" or tile == "TUR"
class MyGame(arcade.Window):
def __init__(self, title, track_file):
temp_track_data = []
start_pos = ''
track_sprite_dir = "sprites/track-structure/"
track_sprite_ext = ".bmp"
with open(track_file) as track_data:
GRAPHICS_SCALE = float(track_data.readline())
TILE_SIZE = int(ORG_TILE_SIZE * GRAPHICS_SCALE)
start_pos = track_data.readline().split(',')
temp_track_data = track_data.readlines()
self.track_sprites = arcade.SpriteList()
for i, track_line in enumerate(reversed(temp_track_data)):
track_line = track_line.split(',')
for j, tile in enumerate(track_line):
if isValidTrackTile(tile):
track_sprite = arcade.Sprite(track_sprite_dir + tile + track_sprite_ext, GRAPHICS_SCALE)
track_sprite.top = (i+1)*TILE_SIZE
track_sprite.left = j*TILE_SIZE
self.track_sprites.append(track_sprite)
self.window_width = len(track_line) * TILE_SIZE
self.window_height = len(temp_track_data) * TILE_SIZE
super().__init__(self.window_width, self.window_height, title)
self.track_sprites.draw()
self.track_shape = arcade.get_image()
if not DEBUG:
track_sprite_dir = "sprites/track-texture/"
track_sprite_ext = ".png"
self.track_sprites = arcade.SpriteList()
for i, track_line in enumerate(reversed(temp_track_data)):
track_line = track_line.split(',')
for j, tile in enumerate(track_line):
if isValidTrackTile(tile):
track_sprite = arcade.Sprite(track_sprite_dir + tile + track_sprite_ext, GRAPHICS_SCALE)
track_sprite.top = (i+1)*TILE_SIZE
track_sprite.left = j*TILE_SIZE
self.track_sprites.append(track_sprite)
arcade.set_background_color(arcade.color.AMAZON)
else:
self.distance_lines = []
arcade.set_background_color(arcade.color.WHITE)
self.car = Car(int(start_pos[1])*TILE_SIZE-(TILE_SIZE/2),(len(temp_track_data)-int(start_pos[0]))*TILE_SIZE-(TILE_SIZE/2),int(start_pos[2]),"sprites/car.png",GRAPHICS_SCALE)
self.distance_angles = [-90,-60,-30,0,30,60,90]
self.end = False
self.steer_dir = 0
self.steer_speed = 0
self.data_file = open("NN_data/" + datetime.datetime.now().strftime("%Y_%m_%d_%H_%M") + ".txt","w")
joysticks = arcade.get_joysticks()
if joysticks:
self.joystick = joysticks[0]
self.joystick.open()
""" else:
print("No joysticks found! Exiting...")
sys.exit(1) """
def checkPixelIsCollision(self,point):
return self.track_shape.getpixel((int(point.x),int(self.window_height-point.y)))[3] == 0
def on_draw(self):
arcade.start_render()
self.track_sprites.draw()
if DEBUG and len(self.distance_lines):
arcade.draw_lines(self.distance_lines, arcade.color.BLUE, 3)
self.front_left_car_corner.draw(arcade.color.WHITE)
self.front_right_car_corner.draw(arcade.color.GREEN)
self.car.draw()
def update(self, delta_time):
if not self.end:
data_line = []
"""
data_line structure:
- first N values are distances to wall in each of directions specified in self.distance_angles
- car speed before steering update
- car wheels turn angle before steering update
- direction steering value from previous time slot
- speed steering value from previous time slot
- direction steering value from current time slot
- speed steering value from current time slot
"""
if DEBUG:
self.distance_lines = []
#self.distance_lines.append((300,200))
#calculate distances
for angle in self.distance_angles:
heading_corrected_angle = self.car.heading - angle
distance_to_hit = 0
check_point = Point(self.car.center.x - math.sin(math.radians(heading_corrected_angle))*distance_to_hit, self.car.center.y + math.cos(math.radians(heading_corrected_angle))*distance_to_hit)
while not self.checkPixelIsCollision(check_point):
distance_to_hit += 0.25
check_point = Point(self.car.center.x - math.sin(math.radians(heading_corrected_angle))*distance_to_hit, self.car.center.y + math.cos(math.radians(heading_corrected_angle))*distance_to_hit)
data_line.append(distance_to_hit)
if DEBUG:
self.distance_lines.append((self.car.center.x,self.car.center.y))
self.distance_lines.append((check_point.x,check_point.y))
data_line.append(self.car.speed)
data_line.append(self.car.wheels_turn)
data_line.append(self.steer_dir)
data_line.append(self.steer_speed)
#self.steer_dir = self.joystick.x
#self.steer_speed = self.joystick.z*(-1)
self.steer_dir = 0.1
self.steer_speed = 0.2
data_line.append(self.steer_dir)
data_line.append(self.steer_speed)
for entry in data_line:
self.data_file.write(str(entry) + ",")
self.data_file.write("\n")
self.car.update(self.steer_dir,self.steer_speed)
#check for collision
self.front_left_car_corner = Point(self.car.center.x - math.sin(math.radians(self.car.heading))*(self.car.length/2), self.car.center.y + math.cos(math.radians(self.car.heading))*(self.car.length/2))
self.front_left_car_corner.x -= math.sin(math.radians(self.car.heading + 90))*(self.car.width/2)
self.front_left_car_corner.y += math.cos(math.radians(self.car.heading + 90))*(self.car.width/2)
self.front_right_car_corner = Point(self.car.center.x - math.sin(math.radians(self.car.heading))*(self.car.length/2), self.car.center.y + math.cos(math.radians(self.car.heading))*(self.car.length/2))
self.front_right_car_corner.x -= math.sin(math.radians(self.car.heading - 90))*(self.car.width/2)
self.front_right_car_corner.y += math.cos(math.radians(self.car.heading - 90))*(self.car.width/2)
if self.checkPixelIsCollision(self.front_left_car_corner) or self.checkPixelIsCollision(self.front_right_car_corner):
print('CRASH!')
self.end = True
self.car.speed = 0
self.car.acceleration = 0
self.data_file.close()
def main():
game = MyGame("PyRacer", "loop.csv")
arcade.run()
if __name__ == "__main__":
main()