img_ = car.render(img_)
img_ = cv2.flip(img_, 0)
#Collision
p1, p2, p3, p4 = car.car_box
l1 = Bresenham(p1[0], p2[0], p1[1], p2[1])
l2 = Bresenham(p2[0], p3[0], p2[1], p3[1])
l3 = Bresenham(p3[0], p4[0], p3[1], p4[1])
l4 = Bresenham(p4[0], p1[0], p4[1], p1[1])
check = l1 + l2 + l3 + l4
collision = False
for pts in check:
if m[int(pts[1]), int(pts[0])] < 0.5:
collision = True
car.redo()
car.v = -0.5 * car.v
break
if collision:
collision_count = 1
cv2.imshow("test", img_)
k = cv2.waitKey(1)
if k == ord("r"):
car.x = 100
car.y = 200
car.yaw = 0
car.a = 0
car.v = 0
car.record = []
nav_pos = None
path = None
#img = cv2.flip(img,0)
img_ = car.render(img_)
#Collision
p1, p2, p3, p4 = car.car_box
l1 = Bresenham(p1[0], p2[0], p1[1], p2[1])
l2 = Bresenham(p2[0], p3[0], p2[1], p3[1])
l3 = Bresenham(p3[0], p4[0], p3[1], p4[1])
l4 = Bresenham(p4[0], p1[0], p4[1], p1[1])
check = l1 + l2 + l3 + l4
collision = False
for pts in check:
if m[int(pts[1]), int(pts[0])] < 0.5:
collision = True
car.redo()
car.v = -0.5 * car.v
break
#cv2.circle(img,(100,200),5,(0.5,0.5,0.5),3)
img_ = cv2.flip(img_, 0)
cv2.imshow("test", img_)
k = cv2.waitKey(1)
if k == ord("a"):
car.delta += 5
elif k == ord("d"):
car.delta -= 5
elif k == ord("w"):
car.v += 4
elif k == ord("s"):
car.v -= 4
elif k == 27: