class ZONE:
dims = Vector(0.54 * M, 0.48 * M)
outlines = ( # F1, F4, F2, F5, F3, F6
*mirrors(Box(dims, Vector(-3.54 * M, 0.55 * M))),
*mirrors(Box(dims, Vector(-2.14 * M, -0.59 * M))),
*mirrors(Box(dims, Vector(0, 1.795 * M)))
)
def __init__(self, init_x, init_y, init_z, init_roll, init_pitch, init_yaw,\
init_min_x, init_min_y, init_min_z, init_max_x, init_max_y, init_max_z,\
x=0., y=0., z=0., roll=0., pitch=0., yaw=0.,\
min_x=0., min_y=0., min_z=0., max_x=0., max_y=0., max_z=0.):
'''The variables whose names start with the prefix 'init_' represent
the pose and the bounding box of an object before an action execution;
all the others represent the object's pose and bounding box after an execution.
'''
self.init_position = Vector(init_x, init_y, init_z)
self.init_rotation = Rotator(init_roll, init_pitch, init_yaw)
self.init_bounding_box = Box(init_min_x, init_min_y, init_min_z,
init_max_x, init_max_y, init_max_z)
self.position = Vector(x, y, z)
self.rotation = Rotator(roll, pitch, yaw)
self.bounding_box = Box(min_x, min_y, min_z, max_x, max_y, max_z)
def __init__(self, sensors=None, human=False): super().__init__() self.update = self.update_no_track #self.move = self.move_cor self.start_time = time.time() self.human = human # physical car parameters self.width = 10 self.length = 30 self.hwbase = self.length / 2 self.htrack = self.width / 2 self.max_speed = 150 self.rot = 0 self.speed = 0 self.max_steering = PI / 4 self.steering = 0 # for collision detection and box drawings self.quad = Quad(box=Box(-self.width/2, self.length/2, self.width, self.length)) self.corner_distance = Line(self.position, self.quad.top_left).length self.corner_angle = Line(self.position, self.quad.top_right).angle _ = self.corners # to set corner attributes # track info self.track = None self.section = None self.section_idx = -1 self.collided = False self.laps = 0 if not sensors: self.sensors = SensorRig(self, (-PI/2, -3 * self.corner_angle, -self.corner_angle, 0, self.corner_angle, 3 * self.corner_angle, PI/2), (30, 50, 100, 175, 100, 50, 30)) elif sensors == 1: self.sensors = SensorRig(self, (0,), (175,)) else: n = sensors // 2 * 2 + 1 angles = tuple(-PI/2 + i*PI/(n-1) for i in range(n)) distances = (100,) * n self.sensors = SensorRig(self, angles, distances) # neural network if cmodule: self.driver = neural.CDriver(1+self.sensors.size) else: self.driver = neural.Driver(1+self.sensors.size) # graphics stuff self.construct() self.section_batch = pyglet.graphics.Batch() self.section_batch_idx = -1
def make_track_new(self):
#points = [(0, 100), (20, 150), (50, 250), (100, 280), (150, 300)]
points = [(0, 100), (20, 150), (50, 250), (100, 260), (160, 230),
(180, 180), (180, 120), (200, 50), (200, 20), (100, -120),
(20, -90), (0, -40)]
prev_quad = Quad(box=Box(0, 50, self.width, 50))
#prev_quad = Quad(coords=((0,0),(0,self.width),(0,50),(self.width,50)))
for point in points:
prev_quad, new_quad = self.make_section_quad(point, prev_quad)
self.add_section(quad=prev_quad)
prev_quad = new_quad
self.add_section(quad=prev_quad)
quad = Quad(coords=(prev_quad.top_left, prev_quad.top_right,
self.sections[0].quad.bottom_left,
self.sections[0].quad.bottom_right))
self.add_section(quad)
self.circular = True
class ROBOT:
outline = Box(Vector(0.6 * M, 0.5 * M))
_armor_length = 0.14 * M
armor_lines = [
LineSegment(*y_mirrors(Vector(outline.dims.x / 2, _armor_length / 2))),
LineSegment(*x_mirrors(Vector(_armor_length / 2, outline.dims.y / 2))),
LineSegment(*x_mirrors(Vector(_armor_length / 2, -outline.dims.y /
2))),
LineSegment(*y_mirrors(Vector(-outline.dims.x / 2, _armor_length / 2)))
]
armor_damages = [20, 40, 40, 60]
_drive_radius = 0.3 * M
_factor = 1 / (math.sqrt(2) * _drive_radius)
drive_config = MotionConfig(3 * MS, 6 * MS2, 0.1 * MS2)
rotation_config = MotionConfig(_factor * drive_config.top_speed,
_factor * drive_config.top_accel,
_factor * drive_config.friction_decel)
gimbal_yaw_config = MotionConfig(300 * DS, 1000 * DS2, 10 * DS2)
zero_tolerance = 0.001
rebound_coeff = 0.4
shot_cooldown = 0.1 * S
from smoke_solver import Smoke_Builder, FlowEmitter
from smoke_animation import Smoke_Animation
from colliders import RigidBodyCollier, Collider
from geometry import Box, Ball
res = (512, 512)
ti.init(arch=ti.gpu, kernel_profiler=True)
gui = ti.GUI("smoke animation", res=res)
# build smoke solver
smoke = \
Smoke_Builder(res) \
.add_flow_emitter([512//2 , 0] , 512//3 , 2000.0) \
.set_decay(0.995) \
.build()
# .set_compute_buoyancy_force(tempreture_factor=600)\
ani = Smoke_Animation(smoke, res)
ani.reset()
# collider
smoke.add_collider(RigidBodyCollier(Box([156, 156], [226, 276])))
smoke.add_collider(RigidBodyCollier(Ball([276, 226], 30)))
while gui.running:
ani.update()
ani.display(gui)
ti.kernel_profiler_print()
def __init__(self, PLY = None):
if PLY == None:
print "PLY nao fornecido"
exit(0)
self.box = Box()
self.vertex = PLY.vertex
self.faces = PLY.faces
self.colors = [
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random())
]
self.isOpened = False
self.isAnimated = False
self.useTexture = False
self.mapRotate = matrix.identity()
self.textureMap = {}
self.aux = 0
edges_per_face = []
points_per_face = []
points_per_face_orig = []
polygons = []
for face in self.faces:
edges_per_face.append([])
points_per_face.append([])
points_per_face_orig.append([])
for i in xrange(len(face)):
points_per_face[-1].append(copy.deepcopy(self.vertex[face[i]]))
points_per_face_orig[-1].append(copy.deepcopy(self.vertex[face[i]]))
if i != (len(face)-1):
edges_per_face[-1].append((face[i],face[i+1]))
else:
edges_per_face[-1].append((face[i],face[0]))
polygons.append(Polygon(points_per_face_orig[-1]))
adjacences_list = []
edge_between_faces = {}
for i in xrange(len(edges_per_face)):
adjacences_list.append([])
for j in xrange(len(edges_per_face[i])):
edge = edges_per_face[i][j]
for k in xrange(len(edges_per_face)):
if k != i:
if (((edge[1],edge[0]) in edges_per_face[k])or((edge[0],edge[1]) in edges_per_face[k])) :
adjacences_list[i].append(k)
edge_between_faces[(i,k)] = edge
edge_between_faces[(k,i)] = edge
break
if len(edges_per_face[i]) != len(adjacences_list[i]):
print "Inconsistencia na contrucao do grafico"
self.edges_per_face = edges_per_face
self.points_per_face = points_per_face
self.points_per_face_orig = points_per_face_orig
self.adjacences_list = adjacences_list
self.polygons = polygons
self.edge_between_faces = edge_between_faces
self.selected = [0 for elem in edges_per_face]
self.face_selected = -1
return