def rotateAgent(self, rotation):
#clamping
if not self.isStunned:
rotation = clampRotation(rotation, self.maxRot)
self.rotation += rotation
self.forward = normalize(dot(array([1, 0, 0]), rotMatrixFromYPR(self.rotation)))
self.right = normalize(dot(array([0, 1, 0]), rotMatrixFromYPR(self.rotation)))
self.up = normalize(cross(self.forward, self.right))
def rotateAgent(self, rotation):
#clamping
if not self.isStunned:
rotation = clampRotation(rotation, self.maxRot)
self.rotation += rotation
self.forward = normalize(
dot(array([1, 0, 0]), rotMatrixFromYPR(self.rotation)))
self.right = normalize(
dot(array([0, 1, 0]), rotMatrixFromYPR(self.rotation)))
self.up = normalize(cross(self.forward, self.right))
def updatePhysics(self, world):
if self.isDynamic:
#move with velocity
self.position += self.velocity * SimTime.fixedDeltaTime
# print "Ballin to"+str(self.velocity * SimTime.fixedDeltaTime)
self.velocity *= 0.99
#Handle collisions with world bounds
if self.position[2] < -world.height:
self.position[2] = -world.height + 0.1
self.velocity = reflectVector(self.velocity, array([0, 0, 1]))
if self.position[2] > world.height:
self.position[2] = world.height - 0.1
self.velocity = reflectVector(self.velocity, array([0, 0, -1]))
if self.position[1] < -world.width:
self.position[1] = -world.width + 0.1
self.velocity = reflectVector(self.velocity, array([0, 1, 0]))
if self.position[1] > world.width:
self.position[1] = world.width - 0.1
self.velocity = reflectVector(self.velocity, array([0, -1, 0]))
if self.position[0] < -world.width:
self.position[0] = -world.width + 0.1
self.velocity = reflectVector(self.velocity, array([1, 0, 0]))
if self.position[0] > world.width:
self.position[0] = world.width - 0.1
self.velocity = reflectVector(self.velocity, array([-1, 0, 0]))
#collision of obstacles
for obstacle in world.obstacles:
nextPos = self.position + self.velocity
if distBetween(nextPos, obstacle.position) < self.radius + obstacle.radius:
normal = normalize(nextPos - obstacle.position)
self.velocity = reflectVector(self.velocity, normal)
#stop when ball hits agents
for agent in world.agents:
nextPos = self.position + self.velocity
if distBetween(nextPos, agent.position) < self.radius + agent.colRadius:
self.velocity = array([0, 0, 0])
#clamp ball speed
mag = np.linalg.norm(self.velocity)
if mag > 200:
self.velocity = normalize(self.velocity) * 200
def updatePhysics(self, world):
if self.isDynamic:
# move with velocity
self.position += self.velocity * SimTime.fixedDeltaTime
# print "Ballin to"+str(self.velocity * SimTime.fixedDeltaTime)
self.velocity *= 0.99
# Handle collisions with world bounds
if self.position[2] < -world.height:
self.position[2] = -world.height + 0.1
self.velocity = reflectVector(self.velocity, array([0, 0, 1]))
if self.position[2] > world.height:
self.position[2] = world.height - 0.1
self.velocity = reflectVector(self.velocity, array([0, 0, -1]))
if self.position[1] < -world.width:
self.position[1] = -world.width + 0.1
self.velocity = reflectVector(self.velocity, array([0, 1, 0]))
if self.position[1] > world.width:
self.position[1] = world.width - 0.1
self.velocity = reflectVector(self.velocity, array([0, -1, 0]))
if self.position[0] < -world.width:
self.position[0] = -world.width + 0.1
self.velocity = reflectVector(self.velocity, array([1, 0, 0]))
if self.position[0] > world.width:
self.position[0] = world.width - 0.1
self.velocity = reflectVector(self.velocity, array([-1, 0, 0]))
# collision of obstacles
for obstacle in world.obstacles:
nextPos = self.position + self.velocity
if distBetween(nextPos, obstacle.position) < self.radius + obstacle.radius:
normal = normalize(nextPos - obstacle.position)
self.velocity = reflectVector(self.velocity, normal)
# stop when ball hits agents
for agent in world.agents:
nextPos = self.position + self.velocity
if distBetween(nextPos, agent.position) < self.radius + agent.colRadius:
self.velocity = array([0, 0, 0])
# clamp ball speed
mag = np.linalg.norm(self.velocity)
if mag > 200:
self.velocity = normalize(self.velocity) * 200
def translateAgent(self, direction):
#clamp the direction by normalizing
if not self.isStunned:
globaldirection = dot(direction, rotMatrixFromYPR(self.rotation))
globaldirection = normalize(globaldirection) * self.maxMove
self.position = self.position + globaldirection
def translateAgent(self, direction):
#clamp the direction by normalizing
if not self.isStunned:
globaldirection = dot(direction, rotMatrixFromYPR(self.rotation))
globaldirection = normalize(globaldirection) * self.maxMove
self.position =self.position + globaldirection
def kick(self, direction, intensity):
directionNorm = normalize(direction)
if self.isDynamic:
self.velocity = directionNorm * intensity
def moveBall(self, position, speed):
#move the ball to specified position at the specified speed, speed is distance per frame
if not self.isDynamic:
moveVector = position - self.position
moveVector = normalize(moveVector)
self.position += moveVector * float(speed)
def kick(self, direction, intensity):
directionNorm = normalize(direction)
if self.isDynamic:
self.velocity = directionNorm * intensity
def moveBall(self, position, speed):
# move the ball to specified position at the specified speed, speed is distance per frame
if not self.isDynamic:
moveVector = position - self.position
moveVector = normalize(moveVector)
self.position += moveVector * float(speed)
