def _pointWithinThreshold(x, y, curve, eps):
"""
See whether *(x, y)* is within *eps* of *curve*.
"""
path = QPainterPath()
path.addEllipse(x - eps, y - eps, 2 * eps, 2 * eps)
curvePath = QPainterPath()
if curve[-1].segmentType == "curve":
p1, p2, p3, p4 = curve
curvePath.moveTo(p1.x, p1.y)
curvePath.cubicTo(p2.x, p2.y, p3.x, p3.y, p4.x, p4.y)
curvePath.cubicTo(p3.x, p3.y, p2.x, p2.y, p1.x, p1.y)
else:
first = curve[0]
curvePath.moveTo(first.x, first.y)
# PACK for fontTools
pts = []
for pt in curve:
pts.append((pt.x, pt.y))
# draw
for pt1, pt2 in decomposeQuadraticSegment(pts[1:]):
curvePath.quadTo(*pt1 + pt2)
for pt1, pt2 in decomposeQuadraticSegment(list(reversed(pts[:-1]))):
curvePath.quadTo(*pt1 + pt2)
return path.intersects(curvePath)
def _pointWithinThreshold(x, y, curve, eps):
"""
See whether *(x, y)* is within *eps* of *curve*.
"""
path = QPainterPath()
path.addEllipse(x - eps, y - eps, 2 * eps, 2 * eps)
curvePath = QPainterPath()
if curve[-1].segmentType == "curve":
p1, p2, p3, p4 = curve
curvePath.moveTo(p1.x, p1.y)
curvePath.cubicTo(p2.x, p2.y, p3.x, p3.y, p4.x, p4.y)
curvePath.cubicTo(p3.x, p3.y, p2.x, p2.y, p1.x, p1.y)
else:
first = curve[0]
curvePath.moveTo(first.x, first.y)
# PACK for fontTools
pts = []
for pt in curve:
pts.append((pt.x, pt.y))
# draw
for pt1, pt2 in decomposeQuadraticSegment(pts[1:]):
curvePath.quadTo(*pt1+pt2)
for pt1, pt2 in decomposeQuadraticSegment(list(reversed(pts[:-1]))):
curvePath.quadTo(*pt1+pt2)
return path.intersects(curvePath)
def intersects_with(self, point1: QPointF, point2: QPointF) -> bool:
"""Determines if the GraphicsEdge intersects with the cutline.
Args:
point1 (QPointF): The starting cutline point.
point2 (QPointF): The ending cutline point.
Returns:
bool: True if the cutline intersects, False otherwise.
"""
cutpath = QPainterPath(point1)
cutpath.lineTo(point2)
path = self.calc_path()
return cutpath.intersects(path)
def chooseMove(self, init_position, sectors, borders=None):
smax, lrange, hrange = self.findTarget(sectors)
best_path = None
#print ("target", target)
#print (angle)
steps = 5
# FIXME se il fantino e` preciso fare uno scan ulteriore
# intorno a +- 2.5 gradi dal best (da valutare con semaring dovuto al cavallo)
for anAngle in range(lrange, hrange, steps):
collisions = 0
origin = QVector2D(self.pos.x(), self.pos.y())
min_dist = origin.distanceToPoint(self.target)
current_best = [min_dist, 0, origin, anAngle]
#print("Angolo", anAngle, origin)
path = QPainterPath()
path.addEllipse(origin.toPoint(), 20, 20)
dv = QVector2D(math.cos(math.radians(anAngle)), math.sin(math.radians(anAngle)))
#print ("dV", dv)
#print ("orig", origin)
# for it in self.scene().items():
# if it.type() == QGraphicsItem.UserType + 2:
# if it == self:
# continue
# print (it.boundingRect())
# pen = QPen(Qt.red, 5, Qt.SolidLine)
# self.scene().addPath(it.shape(), pen)
# if path.intersects(it.shape()):
# print("COLLISION ", it.id)
# return
iterS = 0
while iterS <= int(smax):
#for i in range(int(smax)):
origin += dv
#print ("origin", iterS, origin)
path.moveTo(origin.toPoint())
for it in self.scene().items():
if it.type() == QGraphicsItem.UserType + 2:
if it == self:
continue
if path.intersects(it.mapToScene(it.shape())):
collisions += 1
#print ("COLLISION ", it.id)
r = QVector2D(it.pos.x() - origin.x(), it.pos.y() - origin.y()).normalized()
cos_theta = QVector2D.dotProduct(dv, r)
dv_mod_squared = (smax - iterS) * 2 * self.FRICTION * cos_theta * cos_theta
#print ("before ", iterS, dv_mod_squared)
#print (cos_theta, r)
dv_coll = cos_theta * r
dv -= dv_coll
origin += dv
iterS += 0.5 * dv_mod_squared / self.FRICTION
#print ( "after ", iterS, smax)
#print ("new dv ", dv)
break
# FIXME loop solo sui bordi associati al settore
for ib, b in enumerate(borders):
#FIXME riduci velocita in caso di urto
#print ("border ", ib)
if path.intersects(b.boundingRect()):
#print ("Collision ", ib)
new_angle = collisionAngle2(b.line, QLineF((origin+22*dv).toPointF(), origin.toPointF()))
#print ("NEW ANGLE ", new_angle)
dv = QVector2D(math.cos(new_angle), math.sin(new_angle))
#cos_theta = abs(math.cos(math.radians(angle)))
#print("angle after: ", angle, cos_theta)
# simulare perdita di energia nel rimbalzo
#print ("intersect with:", ib, path.currentPosition())
#cos_theta = QVector2D.dotProduct(b.direction, dv)
#print ("angle after: ", math.degrees(math.acos(cos_theta)))
#dv -= 2 * dv * cos_theta
#dv = dv.normalized()
#print ("dv ", dv)
origin += dv
break
#print (collisions)
tmp_dist = origin.distanceToPoint(self.target) #+ collisions * 200
#print (tmp_dist)
if tmp_dist < min_dist:
min_dist = tmp_dist
current_best = [min_dist, iterS, origin, anAngle]
#print (current_best)
iterS += 1
#current_best[0] += 0.5*origin.distanceToPoint(sectors[self.currentSector+1].guide)
sect = -1
for iSector, s in enumerate(sectors):
if s.isIn(origin.toPointF()):
sect = iSector
break
me = [sect, origin.distanceToPoint(sectors[sect+1].guide)]
overtakes = 0
for it in self.scene().items():
if it == self:
continue
if it.type() == QGraphicsItem.UserType + 2:
sect = -1
for iSector, s in enumerate(sectors):
if s.isIn(origin.toPointF()):
sect = iSector
break
if sect < me[0]:
overtakes += 1
elif sect == me[0]:
dist = it.pos.distanceToPoint(sectors[sect+1].guide)
if dist > me[1]:
overtakes += 1
# FIXME modulare questo numero in base alla posizione
# se e` dietro se ne frega delle collisioni
delta = - collisions * 100
print (delta)
if (10 - overtakes) < init_position:
delta += (init_position - 10 + overtakes) * 20
print (delta)
current_best[0] -= delta
print ("{}".format(self.id), current_best, self.target, origin)
if best_path is None:
best_path = current_best
else:
if current_best[0] < best_path[0]:
best_path = current_best
elif abs(current_best[0] - best_path[0])/current_best[0] < 0.05:
if current_best[1] < best_path[1]:
best_path = current_best
# salva il percorso con minore distanza dalla guida (poi aggiungere la distanza anche dal prossimo punto)
# minore spazio percorso
#self.scene().addLine(QLineF(self.pos.x(), origin.x(), self.pos.y(), origin.y()))
#speed = 40
#direction = -85
print ("BEST ", best_path)
speed = math.sqrt(2*best_path[1]*self.FRICTION)
#print (speed)
#self.min_dist = best_path[0]
# FIXME errore casuale gaussiano in base alla precisione
# del cavallo
self.initKinematics(best_path[3], speed)
