def __init__(self, pos, actors):
self.model = PeepoModel(self, actors)
self.rect = pg.Rect((0, 0), PeepoActor.SIZE)
self.rect.center = pos
self.image = self.make_image()
self.image_original = self.image.copy()
self.rotation = 0
self.edge_right = end_line(PeepoModel.RADIUS, self.rotation + 30, self.rect.center)
self.edge_left = end_line(PeepoModel.RADIUS, self.rotation - 30, self.rect.center)
self.peepo = Peepo(self, GOAL_POS)
def update(self, screen_rect):
self.model.process()
self.rect.x += PeepoActor.SPEED * math.cos(math.radians(self.rotation))
self.rect.y += PeepoActor.SPEED * math.sin(math.radians(self.rotation))
if self.model.motor_output[pg.K_LEFT]:
self.rotation -= random.randint(10, 30)
if self.model.motor_output[pg.K_RIGHT]:
self.rotation += random.randint(10, 30)
self.rotation = self.rotation % 360
self.image = pg.transform.rotate(self.image_original, -self.rotation)
self.rect = self.image.get_rect(center=self.rect.center)
self.edge_right = end_line(PeepoModel.RADIUS, self.rotation + 30, self.rect.center)
self.edge_left = end_line(PeepoModel.RADIUS, self.rotation - 30, self.rect.center)
self.rect.clamp_ip(screen_rect)
self.peepo.update(self.model)
def calculate_obstacles(self):
for key in self.obstacle_input:
self.obstacle_input[key] = False
for actor in self.actors:
peepo_vec = vec(self.peepo_actor.rect.center)
collided = collision(actor.rect, peepo_vec,
self.peepo_actor.edge_left,
self.peepo_actor.edge_right,
PeepoModel.RADIUS)
if collided:
if 'wall' in actor.id:
edge = end_line(PeepoModel.RADIUS,
self.peepo_actor.rotation,
self.peepo_actor.rect.center)
if 'left' in actor.id:
wall_vec = vec((5, self.peepo_actor.rect.y))
deg = math.degrees(
math.atan2(wall_vec.y - edge.y, wall_vec.x -
edge.x)) + self.peepo_actor.rotation
if deg < 0:
self.obstacle_input['6'] = True
else:
self.obstacle_input['1'] = True
elif 'right' in actor.id:
wall_vec = vec((1598, self.peepo_actor.rect.y))
deg = math.degrees(
math.atan2(wall_vec.y - edge.y, wall_vec.x -
edge.x)) + self.peepo_actor.rotation
if deg < 0:
self.obstacle_input['1'] = True
else:
self.obstacle_input['6'] = True
elif 'up' in actor.id:
wall_vec = vec((5, self.peepo_actor.rect.y))
deg = math.degrees(
math.atan2(wall_vec.y - edge.y, wall_vec.x -
edge.x)) + self.peepo_actor.rotation
if deg < 90:
self.obstacle_input['6'] = True
else:
self.obstacle_input['1'] = True
else:
wall_vec = vec((5, self.peepo_actor.rect.y))
deg = math.degrees(
math.atan2(wall_vec.y - edge.y, wall_vec.x -
edge.x)) + self.peepo_actor.rotation
if deg < -90:
self.obstacle_input['6'] = True
else:
self.obstacle_input['1'] = True
else:
edge1 = end_line(PeepoModel.RADIUS,
self.peepo_actor.rotation - 30,
self.peepo_actor.rect.center)
edge2 = end_line(PeepoModel.RADIUS,
self.peepo_actor.rotation - 20,
self.peepo_actor.rect.center)
edge3 = end_line(PeepoModel.RADIUS,
self.peepo_actor.rotation - 10,
self.peepo_actor.rect.center)
edge4 = end_line(PeepoModel.RADIUS,
self.peepo_actor.rotation,
self.peepo_actor.rect.center)
edge5 = end_line(PeepoModel.RADIUS,
self.peepo_actor.rotation + 10,
self.peepo_actor.rect.center)
edge6 = end_line(PeepoModel.RADIUS,
self.peepo_actor.rotation + 20,
self.peepo_actor.rect.center)
edge7 = end_line(PeepoModel.RADIUS,
self.peepo_actor.rotation + 30,
self.peepo_actor.rect.center)
self.obstacle_input['1'] = collision(
actor.rect, peepo_vec, edge1, edge2, PeepoModel.RADIUS)
self.obstacle_input['2'] = collision(
actor.rect, peepo_vec, edge2, edge3, PeepoModel.RADIUS)
self.obstacle_input['3'] = collision(
actor.rect, peepo_vec, edge3, edge4, PeepoModel.RADIUS)
self.obstacle_input['4'] = collision(
actor.rect, peepo_vec, edge4, edge5, PeepoModel.RADIUS)
self.obstacle_input['5'] = collision(
actor.rect, peepo_vec, edge5, edge6, PeepoModel.RADIUS)
self.obstacle_input['6'] = collision(
actor.rect, peepo_vec, edge6, edge7, PeepoModel.RADIUS)