def handleCollide(self, object_, objectsHit):
for obj in objectsHit:
if not objectsHit[obj] in object_.handledCollisions:
obj = objectsHit[obj]
if object_.getType()=="MovingObject" and obj.getType()=="StationaryObject":
c = self.getCollisionDirection(object_, obj)
if c[0] or c[1]:
object_.setAngle(maths.getAngleOfReflection(object_.getAngle(), 0))
pos = object_.getPosition()
vec = maths.polarToCartesian((180+object_.getAngle())%360, 3)
pos = pos[0]-vec[0], pos[1]-vec[1]
object_.setPosition(pos)
elif c[2] or c[3]:
object_.setAngle(maths.getAngleOfReflection(object_.getAngle(), 90))
pos = object_.getPosition()
vec = maths.polarToCartesian((180-object_.getAngle())%360, 3)
pos = pos[0]-vec[0], pos[1]-vec[1]
object_.setPosition(pos)
object_.setSpeed(maths.getReducedSpeedByPercent(object_.BOUNCYNESS, object_.getSpeed()))
object_.onCollide(obj)
elif object_.getType()=="StationaryObject" and obj.getType()=="StationaryObject":
object_.onCollide(obj)
elif object_.getType()=="MovingObject" and obj.getType()=="MovingObject":
object_.moveBack(object_.getSpeed()*2)
print object_.getName(), obj.getName()
vec = maths.getFinalPolarVectorFromVector(object_.MASS, object_.getVector(), obj.MASS, obj.getVector())
#vec = maths.getFinalPolarVectorFromVector(obj.MASS, obj.getVector(), object_.MASS, object_.getVector())
if object_.getName()!="Ball":
obj.setSpeed(vec[0][1])
obj.setAngle(vec[0][0])
obj.addHandledCollision(object_)
object_.setSpeed(vec[1][1])
object_.setAngle(vec[1][0])
else:
obj.setSpeed(vec[1][1])
obj.setAngle(vec[1][0])
obj.addHandledCollision(object_)
object_.setSpeed(vec[0][1])
object_.setAngle(vec[0][0])
elif object_.getType()=="StationaryObject" and obj.getType()=="MovingObject":
object_.onCollide(obj)
elif object_.getType()=="ContainerObject" and obj.getType()=="MovingObject":
object_.onCollide(obj)
elif object_.getType()=="MovingObject" and obj.getType()=="ContainerObject":
object_.onCollide(obj)
else:
self.logger.error("Invalid Object(s): "+str(object_.getType())+", "+str(obj.getType()))
def updateMovement(self):
for obj in self.objects:
obj = self.objects[obj]
if obj.TYPE=="MovingObject":
obj.setSpeed(maths.getReducedSpeedByPercent(obj.FRICTION, obj.getSpeed()))
vec = maths.polarToCartesian(obj.getAngle(), obj.getSpeed())
obj.setVector(vec)
#print vec, obj.getAngle(), obj.getSpeed(), obj.getPosition()
obj.setPosition((obj.getPosition()[0]+vec[0], obj.getPosition()[1]+vec[1]))
def updateRobots(self):
for team in self.robots:
for robot in self.robots[team]:
rbt = self.robots[team][robot]
rbt.update()
closestDist = 200
closestObject = 0, (200, 200), 0
closestObjectPhy = None
for obj in self.physics.objects:
obj = self.physics.objects[obj]
if obj.VISIBLE_BY_SONAR:
result = maths.isLookingAt(rbt.getPosition(), rbt.getAngle(), obj.getRect())
if result[0]:
dist = obj.getRect().center
dist = dist[0]-rbt.getPosition()[0], dist[1]-rbt.getPosition()[1]
dist = maths.math.sqrt((dist[0]*dist[0])+(dist[1]*dist[1]))
if dist < closestDist:
if not obj.getName() == rbt.getName():
closestDist = dist
closestObject = result
closestObjectPhy = obj
try:
pos2 = maths.polarToCartesian(rbt.getAngle(), dist+100)
pos2 = rbt.getPosition()[0]+pos2[0], rbt.getPosition()[1]+pos2[1]
lookingAt = maths.getPointOfIntersection(rbt.getPosition(),
pos2,
maths.indexToCoordinate(closestObjectPhy.getRect(), closestObject[2]),
maths.indexToCoordinate(closestObjectPhy.getRect(), closestObject[3]))
dx, dy = lookingAt[0]-rbt.getPosition()[0], lookingAt[1]-rbt.getPosition()[1]
distFromPointBeingLookedAt = maths.math.sqrt((dx*dx)+(dy*dy))
rbt.addSensorReading("SONAR", distFromPointBeingLookedAt)
rbt.addSensorReading("TYPE", closestObjectPhy.getName())
except Exception, ex:
pass #TODO
def moveBack(self, steps):
self.vector = maths.polarToCartesian(self.angle, -steps)
x,y = self.vector
self.position = self.position[0]+x, self.position[1]+y
def draw(self):
pygame.draw.circle(self.surf, self.color, self.rect.center, 8)
pos1 = maths.polarToCartesian(self.getHeading(), 7)
pygame.draw.line(self.surf, (0, 255, 0), (pos1[0]+self.rect.centerx, pos1[1]+self.rect.centery), self.rect.center, 1)
