def automate(self): #control the enemy aircraft
F = array([[0.8], [0], [0]]) #continuous thrust
altitude = self.craft.get_altitude()
if altitude < 100:
avoid_crash = 150 / altitude #avoid ground collision
else:
avoid_crash = 0
stay_upright = expand_dims(
cross(array([0, 1, 0]), self.model.theta[:, 1]),
1) * 0.3 #stay upright
attack = ((self.craft.theta.T.dot(
cross(self.model.theta[:, 0],
mymath.unit(self.craft.pos - player.craft.pos).T).T) > 0) -
0.5).astype(float) * 0.5 #attack player
tau = expand_dims(
cross(array([0, avoid_crash, 0]), self.model.theta[:, 0]), 1)
tau += stay_upright
tau += attack
self.craft.control(F, tau, self.max_a,
self.max_alpha) #control the aircraft
if self.model.theta[:, 0].T.dot(
mymath.unit(player.craft.pos - self.craft.pos)
) > 0.9: #shoot if player is within 10 degrees of target reticle
global bullets
self.shoot()
def shoot(self, mode='bullet'): #shoot either a missile or bullet
if mode == 'bullet': #shoot a bullet
global bullets
bullet = Bullet(
copy(self.craft.pos + 140 * mymath.unit(self.craft.v)),
copy(
self.craft.theta.dot(array([[100], [0], [0]],
dtype=float))))
bullets.append(bullet)
elif mode == 'missile': #shoot a missile
global missiles
closest_aim = -1 #closest_aim tracks the distance from the target reticle to the enemy
target = None
for enemy in enemies + [
player
]: #find the aircraft which is the closest to the target reticle
if enemy != self:
aim = self.craft.theta[:, 0].dot(
mymath.unit(enemy.craft.pos - self.craft.pos))
if closest_aim < aim and aim > 0.8:
target = enemy
closest_aim = aim
missile = Missile(self.craft.pos + 60 * mymath.unit(self.craft.v),
self.craft.v + 5 * mymath.unit(self.craft.v),
target)
missiles.append(missile)
def move(self): #move the missile
global world
if self.target != None:
self.v += mymath.unit(self.target.craft.pos -
self.pos) * 5 #thrust
else:
self.v += mymath.unit(self.v) * 5
self.v *= 0.9 #drag
self.pos += self.v
self.model.pos = self.pos
side = cross(mymath.unit(self.v).T,
array([[0, 1, 0]
])).T #a column vector for the side of the missile
self.model.theta = hstack([
mymath.unit(self.v), -side,
cross(mymath.unit(self.v).T, side.T).T
]) #rotate model
if self.get_altitude() < 0: #hit ground
v1 = ground_height(self.pos)
v2 = ground_height(self.pos + array([[1], [0], [0]]))
v3 = ground_height(self.pos + array([[0], [0], [1]]))
normal = -expand_dims(
mymath.unit(
cross(array([1, v2 - v1, 0]), array([0, v3 - v1, 1]))), 1)
self.hit(normal)
if self.target == None and mymath.norm(
player.craft.pos - self.pos
) > world.terrain.scale * world.terrain.distance: #despawn if too far
global missiles
try:
missiles.remove(self)
world.models.remove(self.model)
except ValueError:
pass
def shoot(self, mode='bullet'): #shoot
if mode == 'bullet':
global bullets
bullet = Bullet(
self.craft.pos + 140 * mymath.unit(self.craft.v),
self.craft.theta.dot(array([[100], [0], [0]], dtype=float)))
bullets.append(bullet)
elif mode == 'missile': #enemy AI will not shoot missiles
global missiles
closest_aim = -1 #equivalent to the distance from the target reticle to the enemy
target = None
for enemy in enemies + [player]:
if enemy != self:
aim = self.craft.theta[0].dot(
mymath.unit(enemy.craft.pos - self.craft.pos))
if closest_aim < aim and aim > 0.8:
target = enemy
closest_aim = aim
missile = Missile(self.pos + 60 * mymath.unit(self.craft.v),
self.craft.v + 5 * mymath.unit(self.craft.v),
target)
missiles.append(missile)
def move(self): #move bullet
global world
self.pos += self.v
self.model.pos = self.pos
if mymath.norm(
player.craft.pos - self.pos
) > world.terrain.scale * world.terrain.distance: #despawn if too far
try:
bullets.remove(self)
world.models.remove(self.model)
except ValueError:
pass
elif self.get_altitude() < 0: #hit ground
v1 = ground_height(self.pos)
v2 = ground_height(self.pos + array([[1], [0], [0]]))
v3 = ground_height(self.pos + array([[0], [0], [1]]))
normal = -expand_dims(
mymath.unit(
cross(array([1, v2 - v1, 0]), array([0, v3 - v1, 1]))), 1)
self.hit_ground(normal)
def update(self): #update the enemy
self.craft.move()
self.model.pos = self.craft.pos #move model
self.model.theta = self.craft.theta #rotate model
for obj in bullets + missiles: #test for bullet/missile collision
closest_point = mymath.closestpoint(self.craft.pos, obj.pos,
obj.pos - obj.v)
if mymath.norm(self.craft.pos - closest_point) < 20:
obj.pos = closest_point
obj.hit(mymath.unit(closest_point - self.craft.pos))
if type(obj) == Bullet: self.craft.hp -= 1
elif type(obj) == Missile: self.craft.hp -= 20
if self.craft.hp <= 0: self.crash()
if random.uniform() < 0.03 * (30 -
self.craft.hp): #emit flames from damage
global fragments
fragments.append(
Fragment('flames',
self.craft.pos + (numpy.random.rand(3, 1) - 0.5) * 10,
copy(self.craft.v / 2)))
def crashtest(
self): #test for ground collision and bullet/missile collision
h = ground_height(self.craft.pos)
altitude = self.craft.pos[1][0] - h
if altitude < 0: #test for ground collision
self.crash()
return True
for obj in bullets + missiles: #test for bullet/missile collision
closest_point = mymath.closestpoint(self.craft.pos, obj.pos,
obj.pos - obj.v)
if mymath.norm(self.craft.pos - closest_point) < 20:
obj.pos = closest_point
obj.hit(mymath.unit(obj.pos - self.craft.pos))
if type(obj) == Bullet:
self.craft.hp -= 1
sounds['hit' + str(random.randint(1, 5))].play()
elif type(obj) == Missile:
self.craft.hp -= 20
sounds['explosion'].play()
if self.craft.hp <= 0:
self.crash()
return True
return False
def setup(window): #this runs once, at the beginning of a game
global jet, helicopter, tester #this game only uses the jet
jet = {
'linear drag': array([[0.01], [0.7], [0.3]]),
'angular drag': array([[0.15], [0.4], [0.6]]),
'linear accelleration': array([[0.2], [0.01], [0.04]]),
'angular accelleration': array([[0.015], [0.02], [0.1]])
}
helicopter = {
'linear drag': array([[0.015], [0.04], [0.06]]),
'angular drag': array([[0.4], [0.7], [0.7]]),
'linear accelleration': array([[0], [0.1], [0.01]]),
'angular accelleration': array([[0.007], [0.1], [0.05]])
}
tester = {
'linear drag': array([[0.01], [0.01], [0.01]]),
'angular drag': array([[0.4], [0.4], [0.4]]),
'linear accelleration': array([[0.2], [0.2], [0.2]]),
'angular accelleration': array([[0.007], [0.1], [0.1]])
}
global world #the world contains all 3D graphics imformation except for the sky's colour.
world = graphics.WorldModel()
world.ambient = (0.1, 0.1, 0.4) #blue ambient light
world.lights.append(
graphics.Light(direction=mymath.unit(array([[3], [-1], [1]])),
colour=(1, 1, 1))) #white angled sunlight
terrain_scale = 300 #set up the terrain
terrain_state = {
'detail': 4,
'max_dist': 8,
'smoothness': 2,
'max_height': 30,
'seed': random.randint(1, 1 << 15)
}
world.terrain = graphics.Terrain(graphics.Mountains, terrain_state,
(0.9, 0.4, 0.2), terrain_scale, 6,
world.ambient, world.lights)
global background_colour, player
background_colour = (120, 150, 255) #blue sky
player = Player(jet) #create player
global enemies, bullets, fragments, missiles #create lists containing other objects
enemies = []
bullets = []
fragments = []
missiles = []
global F, tau, mousehold
F = zeros([3, 1]) #supposed to go from -1 to 1
tau = zeros([3, 1]) #supposed to go from -1 to 1
mousehold = True #hold the mouse in the center
global kills, framecounter, shooting, missiles_left
kills = 0 #count the kills
framecounter = 0
shooting = False
missiles_left = 5 #the player is given 5 missiles
global sounds #load all sounds
sounds = {
'shooting':
pygame.mixer.Sound(__file__[:-9] + '\\sounds\\shooting.wav'),
'explosion':
pygame.mixer.Sound(__file__[:-9] + '\\sounds\\explosion.wav'),
'hit1': pygame.mixer.Sound(__file__[:-9] + '\\sounds\\hit1.wav'),
'hit2': pygame.mixer.Sound(__file__[:-9] + '\\sounds\\hit2.wav'),
'hit3': pygame.mixer.Sound(__file__[:-9] + '\\sounds\\hit3.wav'),
'hit4': pygame.mixer.Sound(__file__[:-9] + '\\sounds\\hit4.wav')
}