def endGameSequence(centerPos1, centerPos2, rotationRobot1, rotationRobot2, distance, buffer, speed, displaywidth, displayheight):
distance1 = distance
distance2 = distance
futureForward1 = [centerPos1[0] + speed * math.cos(rotationRobot1), centerPos1[1] + speed * math.sin(rotationRobot1)]
futureBackward1 = [centerPos1[0] - speed * math.cos(rotationRobot1), centerPos1[1] - speed * math.sin(rotationRobot1)]
if not Line_Functions.isHittingAnyBoundary(futureForward1, distance, 30, displaywidth, displayheight) and not Line_Functions.isIntersecting(futureBackward1, centerPos2, distance, distance, 20):
print "Move Forward 1"
startBounce(0, 'f', 0.5)
elif not Line_Functions.isHittingAnyBoundary(futureBackward1, distance1, 30, displaywidth, displayheight)and not Line_Functions.isIntersecting(futureBackward1, centerPos2, distance1, distance2, 20):
print "Move Backward 1"
startBounce(0, 'b', 0.5)
else:
print "Stop 2"
stop(1)
futureForward2 = [centerPos2[0] + speed * math.cos(rotationRobot2), centerPos2[1] + speed * math.sin(rotationRobot2)]
futureBackward2 = [centerPos2[0] - speed * math.cos(rotationRobot2), centerPos2[1] - speed * math.sin(rotationRobot2)]
if not Line_Functions.isHittingAnyBoundary(futureForward2, distance2, 30, displaywidth, displayheight)and not Line_Functions.isIntersecting(centerPos1, futureForward2, distance1, distance2, 20):
print "Move Forward 2"
startBounce(1, 'f', 0.5)
elif not Line_Functions.isHittingAnyBoundary(futureBackward2, distance2, 30, displaywidth, displayheight)and not Line_Functions.isIntersecting(centerPos1, futureBackward2, distance1, distance2, 20):
print "Move Backward 2"
startBounce(1, 'b', 0.5)
else:
print "Stop 2"
stop(1)
speed = 80
rotatedPoint1 = [(math.cos(-1 * rotationRobot1) * distance1), (math.sin(-1 * rotationRobot1) * distance1)]
rotatedPoint2 = [(math.cos(-1 * rotationRobot2) * distance2), (math.sin(-1 * rotationRobot2) * distance2)]
if stop == False:
Movement.doAuto()
else:
print "AHHHHHH"
Movement.reset()
collision = False
# Line_Functions.isHittingBoundary(centerRobot1,distance1,30,'left', displaywidth, displayheight)
# Check for robot collision
if Line_Functions.isIntersecting(centerRobot1, centerRobot2, distance1, distance2, 20):
if collisionPrecedent:
collision = True
futureForward1 = [
centerRobot1[0] + speed * math.cos(rotationRobot1),
centerRobot1[1] + speed * math.sin(rotationRobot1),
]
futureBackward1 = [
centerRobot1[0] - speed * math.cos(rotationRobot1),
centerRobot1[1] - speed * math.sin(rotationRobot1),
]
# pygame.draw.circle(gameDisplay, green,(futureBackward1), 15, 0)
# print "Robot 1 Boundary, backward: ", Line_Functions.isHittingAnyBoundary(futureBackward1, distance1, 30, displaywidth, displayheight)
#####
#Check for between robot collisions
#####
speed = 80
rotatedPoint1 = [(math.cos(-1 * rotationRobot1) * distance1), (math.sin(-1 * rotationRobot1) * distance1)]
rotatedPoint2 = [(math.cos(-1 * rotationRobot2) * distance2), (math.sin(-1 * rotationRobot2) * distance2)]
Movement.doAuto()
collision = False
#Line_Functions.isHittingBoundary(centerRobot1,distance1,30,'left', displaywidth, displayheight)
#Check for robot collision
if(Line_Functions.isIntersecting(centerRobot1, centerRobot2, distance1, distance2, 20)):
if collisionPrecedent:
collision = True
futureForward1 = [centerRobot1[0] + speed * math.cos(rotationRobot1), centerRobot1[1] + speed * math.sin(rotationRobot1)]
futureBackward1 = [centerRobot1[0] - speed * math.cos(rotationRobot1), centerRobot1[1] - speed * math.sin(rotationRobot1)]
#pygame.draw.circle(gameDisplay, green,(futureBackward1), 15, 0)
#print "Robot 1 Boundary, backward: ", Line_Functions.isHittingAnyBoundary(futureBackward1, distance1, 30, displaywidth, displayheight)
#print "Robot 1 Collision, backward: ", Line_Functions.isIntersecting(futureBackward1, centerRobot2, distance1, distance2, 20)
#print "Center 1: ", centerRobot1, " ", "Future Backward 1: ", futureBackward1, " ", "Center 2: ", centerRobot2
if not Line_Functions.isHittingAnyBoundary(futureForward1, distance1, 30, displaywidth, displayheight) and not Line_Functions.isIntersecting(futureForward1, centerRobot2, distance1, distance2, 20):
print "Move Forward 1"
Movement.startBounce(0, 'f', 0.5)
