def draw(self):
position = self.body.transform * self.fixture.shape.pos * PPM
position = (position[0], SCREEN_HEIGHT - position[1])
pygame.draw.circle(self.screen, self.color, [int(x) for x in position], int(self.radius * PPM))
current_forward_normal = self.body.GetWorldVector((0, 1))
pygame.draw.line(self.screen, Color.White, world_to_pixels(self.body.worldCenter),
world_to_pixels(self.body.worldCenter + current_forward_normal * self.radius))
def draw(self):
vertices = [(self.body.transform * v) * PPM
for v in self.fixture.shape.vertices]
vertices = [(v[0], SCREEN_HEIGHT - v[1]) for v in vertices]
pygame.draw.polygon(self.screen, Color.Red, vertices)
p = self.body.GetWorldPoint(
localPoint=(0, self.height)) # upper point of the box
forward = self.body.GetWorldVector(
(0, 1)) # transform.forward of this box
pygame.draw.line(self.screen, Color.White, world_to_pixels(vec2(p)),
world_to_pixels(vec2(p) + forward))
def draw(self):
for triangle in self.triangle_list:
triangle.draw()
self.wall.draw()
# self.goal.draw()
self.inner_circle.draw()
# Goal square
M1 = vec2(np.cos(3*(np.pi/12)) * 11 + 18, 18)
M2 = vec2(36, 18)
M3 = vec2(36, np.sin(3*(np.pi/12)) * 11 + 18)
M4 = vec2(np.cos(3*(np.pi/12)) * 11 + 18, np.sin(3*(np.pi/12)) * 11 + 18)
pygame.draw.line(self.screen, Color.Orange, world_to_pixels(M1), world_to_pixels(M2))
pygame.draw.line(self.screen, Color.Orange, world_to_pixels(M2), world_to_pixels(M3))
pygame.draw.line(self.screen, Color.Orange, world_to_pixels(M3), world_to_pixels(M4))
pygame.draw.line(self.screen, Color.Orange, world_to_pixels(M4), world_to_pixels(M1))
def draw(self):
position = self.body.transform * self.fixture.shape.pos * PPM
position = (position[0], SCREEN_HEIGHT - position[1])
pygame.draw.circle(self.screen, self.color, [int(x) for x in position],
int(self.car_radius * PPM))
current_forward_normal = self.body.GetWorldVector((0, 1))
pygame.draw.line(
self.screen, Color.White, world_to_pixels(self.body.worldCenter),
world_to_pixels(self.body.worldCenter +
current_forward_normal * self.car_radius))
# Draw raycasts
for i in range(self.num_sensors):
v = self.body.GetWorldVector(self.raycast_vectors[i])
p1 = self.body.worldCenter + v * self.car_radius
p2 = p1 + v * self.sensors[i] # self.raycast_length
if self.sensors[i] <= self.raycast_length / 2:
ray_color = self.raycastDangerColor
else:
ray_color = self.raycastSafeColor
pygame.draw.line(self.screen, ray_color, world_to_pixels(p1),
world_to_pixels(p2))
# DEBUG gizmo --------------------------------------------------------------------------------------------------
# Starting point
s = None
if self.env_name == 'RaceCircle':
s = vec2(c.x + r, c.y)
pygame.draw.line(self.screen, Color.Magenta, world_to_pixels(c),
world_to_pixels(s + vec2(7, 0)))
elif self.env_name == 'RaceCircle_v2':
s = vec2(c.x - r, c.y)
pygame.draw.line(self.screen, Color.Magenta, world_to_pixels(c),
world_to_pixels(s + vec2(-7, 0)))
# Orthogonal projection to the circle
ph = None
if self.env_name == 'RaceCircle':
theta = Util.angle_direct(Util.normalize(s - c),
Util.normalize(self.body.position - c))
theta = Util.deg_to_rad(theta)
ph = vec2(r * np.cos(theta) + c.x, r * np.sin(theta) + c.y)
elif self.env_name == 'RaceCircle_v2':
theta = Util.angle_direct(Util.normalize(s - c),
Util.normalize(self.body.position - c))
theta = Util.deg_to_rad(theta)
ph = vec2(-r * np.cos(theta) + c.x, -r * np.sin(theta) + c.y)
pygame.draw.line(self.screen, Color.Red, world_to_pixels(c),
world_to_pixels(ph))
# Tangent to the circle
tangent = None
if self.env_name == 'RaceCircle':
tangent = Util.rotate(Util.normalize(c - ph), -90.0)
elif self.env_name == 'RaceCircle_v2':
tangent = Util.rotate(Util.normalize(c - ph), 90.0)
pygame.draw.line(self.screen, Color.Yellow, world_to_pixels(ph),
world_to_pixels(ph + tangent))