def update(self, deltat):
self.processKeys()
num = 0
for wheel in self.wheels:
rel_ground_vel = self.rigid_body.rel_point_vel(wheel.pos)
vel_pair = []
vel_pair.append(self.rigid_body.relative_to_world(wheel.pos))
vel_pair.append(
self.rigid_body.relative_to_world(wheel.pos) +
self.rigid_body.rot_relative_to_world(rel_ground_vel))
self.vel_line_pairs.append(vel_pair)
rel_response_force = wheel.calculate_force(rel_ground_vel, deltat)
response_force_offset = self.rigid_body.rot_relative_to_world(
rel_response_force) + self.rigid_body.relative_to_world(
wheel.pos)
force_pair = []
force_pair.append(self.rigid_body.relative_to_world(wheel.pos))
force_pair.append(
(response_force_offset.x, response_force_offset.y))
self.force_line_pairs.append(force_pair)
self.rigid_body.add_rel_force(rel_response_force, wheel.pos)
self.rigid_body.update(deltat)
self.direction = self.rigid_body.angle
self.delta_pos += self.rigid_body.pos - self.world_pos
self.world_pos = self.rigid_body.pos
self.image = pygame.transform.rotate(
self.src_image,
-1 * self.direction * 180 / math.pi) # degrees counter-clockwise
self.rect = self.image.get_rect()
self.rect.center = self.screen_pos if self.STAY_CENTERED else self.rigid_body.pos
self.aabb.center = self.rigid_body.pos
self.bounding_box = BoundingBox(self.aabb, self.direction)
class Sensor(Sprite):
def __init__(self, res):
sensor_image = res.image_dict['Sensor.png']
center_image(sensor_image)
super(Sensor, self).__init__(sensor_image, x = 0, y = 0)
self.collision = BoundingBox(self)
def collide(self, other):
return self.collision.collide(other.collision)
class Sensor(Sprite):
def __init__(self, res):
sensor_image = res.image_dict['Sensor.png']
center_image(sensor_image)
super(Sensor, self).__init__(sensor_image, x=0, y=0)
self.collision = BoundingBox(self)
def collide(self, other):
return self.collision.collide(other.collision)
def collide(self):
self.speed = 0
self.position = self.old_position
self.direction = self.old_direction
self.image = pygame.transform.rotate(self.src_image, self.direction)
self.rect = self.image.get_rect()
self.rect.center = self.position
self.aabb.center = self.position
self.bounding_box = BoundingBox(self.aabb, -1 * self.direction)
def __init__(self, image, screen_pos, world_pos):
pygame.sprite.Sprite.__init__(self)
self.world_pos = world_pos
self.screen_pos = screen_pos
self.delta_pos = pygame.math.Vector2()
self.src_image = pygame.image.load(image)
# Correct for car being upside-down
self.src_image = pygame.transform.rotate(self.src_image, 180)
self.rect = self.src_image.get_rect()
self.rect.center = screen_pos
self.aabb = self.rect
self.direction = 3 * math.pi / 2
self.bounding_box = BoundingBox(self.aabb, self.direction)
self.forward = self.reverse = self.left = self.right = False
self.force_line_pairs = []
self.vel_line_pairs = []
# Our rigid body simulator
half_size = pygame.math.Vector2(self.rect.width * 0.25,
self.rect.height * 0.25)
self.rigid_body = RigidBody(2 * half_size, self.MASS)
wheel_pos = []
wheel_pos.append(half_size)
wheel_pos.append(pygame.math.Vector2(half_size.x * -1, half_size.y))
wheel_pos.append(half_size * -1)
wheel_pos.append(pygame.math.Vector2(half_size.x, half_size.y * -1))
self.wheels = []
self.wheels.append(Wheel(wheel_pos[0], 1))
self.wheels.append(Wheel(wheel_pos[1], 1))
self.wheels.append(Wheel(wheel_pos[2], 1))
self.wheels.append(Wheel(wheel_pos[3], 1))
self.rigid_body.set_position(self.world_pos, self.direction)
def __init__(self, res):
sensor_image = res.image_dict['Sensor.png']
center_image(sensor_image)
super(Sensor, self).__init__(sensor_image, x = 0, y = 0)
self.collision = BoundingBox(self)
def __init__(self, res):
sensor_image = res.image_dict['Sensor.png']
center_image(sensor_image)
super(Sensor, self).__init__(sensor_image, x=0, y=0)
self.collision = BoundingBox(self)
