def update(self, pos, angle, r=0.1):
"""Udpate casting ray."""
for k in range(self.nir):
v = vrotate((1, 0), angle + self.IRAngles[k])
c = pos + [0.9 * r * v[0], 0.9 * r * v[1]]
cdist = pos + [self.maxdist * v[0], self.maxdist * v[1]]
self.callback.fixture = None
world.RayCast(self.callback, c, cdist)
if(self.callback.fixture is not None):
self.IRValues[k] = dist(c, self.callback.point) / self.maxdist
else:
self.IRValues[k] = 1
def update(self, pos, angle, r=0.1):
"""Udpate casting ray."""
for k in range(self.retinaSize):
v = vrotate((1, 0), angle + self.VSAngles[k])
c = pos + [0.9 * r * v[0], 0.9 * r * v[1]]
cdist = pos + [self.maxdist * v[0], self.maxdist * v[1]]
self.callback.fixture = None
world.RayCast(self.callback, c, cdist)
if (self.callback.fixture is not None):
if 'RGB' in self.callback.fixture.body.userData.keys():
self.RGB[k] = self.callback.fixture.body.userData['RGB']
else:
self.RGB[k] = [255, 255, 255]
else:
self.RGB[k] = [0, 0, 0]
def update(self, pos, angle, r=0.1):
"""Udpate casting ray."""
for k in range(self.nir):
v = vrotate((1, 0), angle + self.IRAngles[k])
c = pos + [0.9 * r * v[0], 0.9 * r * v[1]]
cdist = pos + [self.maxdist * v[0], self.maxdist * v[1]]
self.callback.fixture = None
world.RayCast(self.callback, c, cdist)
if (self.callback.fixture is not None):
if 'ignore' in self.callback.fixture.body.userData.keys():
self.IRValues[k] = 1
elif any([
ig in self.callback.fixture.body.userData['name']
for ig in self.ignoreList
]):
self.IRValues[k] = 1
else:
self.IRValues[k] = dist(c,
self.callback.point) / self.maxdist
else:
self.IRValues[k] = 1