def update(self):
self.generative_model.process()
self.rect.x += SurvivalPeepo.SPEED * math.cos(math.radians(self.rotation))
self.rect.y += SurvivalPeepo.SPEED * math.sin(math.radians(self.rotation))
if self.motor[LEFT]:
self.rotation -= 10
if self.rotation < 0:
self.rotation = 360
if self.motor[RIGHT]:
self.rotation += 10
if self.rotation > 360:
self.rotation = 0
self.edge_middle = end_line(SurvivalPeepo.RADIUS, self.rotation, self.rect.center)
self.calculate_obstacles()
if self.graphical:
self.image = pg.transform.rotate(self.image_original, -self.rotation)
self.rect = self.image.get_rect(center=self.rect.center)
self.edge_right = end_line(SurvivalPeepo.RADIUS, self.rotation + 30, self.rect.center)
self.edge_left = end_line(SurvivalPeepo.RADIUS, self.rotation - 30, self.rect.center)
if self.rect.x < 0 or self.rect.y < 0 or self.rect.x > 800 or self.rect.y > 800:
self.rect.x, self.rect.y = 400, 400
def __init__(self, name, network, graphical, pos=(0, 0), obstacles=None):
super().__init__(network)
self.graphical = graphical
self.name = name
self.rect = pg.Rect(pos, SurvivalPeepo.SIZE)
self.rect.center = pos
self.rotation = 0
self.edge_right = end_line(SurvivalPeepo.RADIUS, self.rotation + 30, self.rect.center)
self.edge_left = end_line(SurvivalPeepo.RADIUS, self.rotation - 30, self.rect.center)
self.edge_middle = end_line(SurvivalPeepo.RADIUS, self.rotation, self.rect.center)
if self.graphical:
self.image = self.make_image()
self.image_original = self.image.copy()
self.health = 0
self.obstacles = obstacles or []
self.motor = {
LEFT: False,
RIGHT: False
}
self.view = {
'1': False,
'2': False,
'3': False,
'4': False,
'5': False,
'6': False,
}
self.generative_model = GenerativeModel(self, n_jobs=1)
def update(self, screen_rect):
if self.run:
self.peepo.process()
self.rect.x += PeepoActor.SPEED * math.cos(
math.radians(self.rotation))
self.rect.y += PeepoActor.SPEED * math.sin(
math.radians(self.rotation))
if self.peepo.motor_output[pg.K_LEFT]:
self.rotation -= 10
if self.rotation < 0:
self.rotation = 360
if self.peepo.motor_output[pg.K_RIGHT]:
self.rotation += 10
if self.rotation > 360:
self.rotation = 0
self.image = pg.transform.rotate(self.image_original,
-self.rotation)
self.rect = self.image.get_rect(center=self.rect.center)
self.edge_right = end_line(WanderingPeepo.RADIUS,
self.rotation + 30, self.rect.center)
self.edge_left = end_line(WanderingPeepo.RADIUS,
self.rotation - 30, self.rect.center)
self.rect.clamp_ip(screen_rect)
self.peepo.update()
def __init__(self, pos, actors):
self.peepo = WanderingPeepo(self, actors)
self.rect = pg.Rect((0, 0), PeepoActor.SIZE)
self.rect.center = pos
self.image = self.make_image()
self.image_original = self.image.copy()
self.rotation = 0
self.edge_right = end_line(WanderingPeepo.RADIUS, self.rotation + 30,
self.rect.center)
self.edge_left = end_line(WanderingPeepo.RADIUS, self.rotation - 30,
self.rect.center)
self.run = True
def calculate_obstacles(self):
self.view = {x: False for x in self.view}
peepo_vec = pg.math.Vector2(self.rect.center)
min_distance = 1000
closest_obstacle = None
for obstacle in self.obstacles:
if self.rect.colliderect(obstacle.rect):
self.health += 1
self.obstacles.remove(obstacle)
if collision(obstacle.rect, peepo_vec, self.edge_left, self.edge_right, SurvivalPeepo.RADIUS):
distance = math.hypot(obstacle.rect.x - self.rect.x, obstacle.rect.y - self.rect.y)
if distance <= min_distance:
closest_obstacle = obstacle
min_distance = distance
if closest_obstacle:
edge1 = end_line(SurvivalPeepo.RADIUS, self.rotation - 30, self.rect.center)
edge2 = end_line(SurvivalPeepo.RADIUS, self.rotation - 20, self.rect.center)
edge3 = end_line(SurvivalPeepo.RADIUS, self.rotation - 10, self.rect.center)
edge4 = end_line(SurvivalPeepo.RADIUS, self.rotation, self.rect.center)
edge5 = end_line(SurvivalPeepo.RADIUS, self.rotation + 10, self.rect.center)
edge6 = end_line(SurvivalPeepo.RADIUS, self.rotation + 20, self.rect.center)
edge7 = end_line(SurvivalPeepo.RADIUS, self.rotation + 30, self.rect.center)
self.view['1'] = collision(closest_obstacle.rect, peepo_vec, edge1, edge2, SurvivalPeepo.RADIUS)
self.view['2'] = collision(closest_obstacle.rect, peepo_vec, edge2, edge3, SurvivalPeepo.RADIUS)
self.view['3'] = collision(closest_obstacle.rect, peepo_vec, edge3, edge4, SurvivalPeepo.RADIUS)
self.view['4'] = collision(closest_obstacle.rect, peepo_vec, edge4, edge5, SurvivalPeepo.RADIUS)
self.view['5'] = collision(closest_obstacle.rect, peepo_vec, edge5, edge6, SurvivalPeepo.RADIUS)
self.view['6'] = collision(closest_obstacle.rect, peepo_vec, edge6, edge7, SurvivalPeepo.RADIUS)
def calculate_obstacles(self):
for key in self.obstacle_input:
self.obstacle_input[key] = False
for actor in self.actors:
peepo_vec = vec(self.peepo_actor.rect.center)
collided = collision(actor.rect, peepo_vec, self.peepo_actor.edge_left,
self.peepo_actor.edge_right, WanderingPeepo.RADIUS)
if collided:
if 'wall' in actor.id:
edge = end_line(WanderingPeepo.RADIUS, self.peepo_actor.rotation, self.peepo_actor.rect.center)
if 'left' in actor.id:
wall_vec = vec((5, self.peepo_actor.rect.y))
deg = math.degrees(
math.atan2(wall_vec.y - edge.y, wall_vec.x - edge.x)) + self.peepo_actor.rotation
if deg < 0:
self.obstacle_input['6'] = True
else:
self.obstacle_input['1'] = True
elif 'right' in actor.id:
wall_vec = vec((1598, self.peepo_actor.rect.y))
deg = math.degrees(
math.atan2(wall_vec.y - edge.y, wall_vec.x - edge.x)) + self.peepo_actor.rotation
if deg < 0:
self.obstacle_input['1'] = True
else:
self.obstacle_input['6'] = True
elif 'up' in actor.id:
wall_vec = vec((5, self.peepo_actor.rect.y))
deg = math.degrees(
math.atan2(wall_vec.y - edge.y, wall_vec.x - edge.x)) + self.peepo_actor.rotation
if deg < 90:
self.obstacle_input['6'] = True
else:
self.obstacle_input['1'] = True
else:
wall_vec = vec((5, self.peepo_actor.rect.y))
deg = math.degrees(
math.atan2(wall_vec.y - edge.y, wall_vec.x - edge.x)) + self.peepo_actor.rotation
if deg < -90:
self.obstacle_input['6'] = True
else:
self.obstacle_input['1'] = True
else:
edge1 = end_line(WanderingPeepo.RADIUS, self.peepo_actor.rotation - 30,
self.peepo_actor.rect.center)
edge2 = end_line(WanderingPeepo.RADIUS, self.peepo_actor.rotation - 20,
self.peepo_actor.rect.center)
edge3 = end_line(WanderingPeepo.RADIUS, self.peepo_actor.rotation - 10,
self.peepo_actor.rect.center)
edge4 = end_line(WanderingPeepo.RADIUS, self.peepo_actor.rotation, self.peepo_actor.rect.center)
edge5 = end_line(WanderingPeepo.RADIUS, self.peepo_actor.rotation + 10,
self.peepo_actor.rect.center)
edge6 = end_line(WanderingPeepo.RADIUS, self.peepo_actor.rotation + 20,
self.peepo_actor.rect.center)
edge7 = end_line(WanderingPeepo.RADIUS, self.peepo_actor.rotation + 30,
self.peepo_actor.rect.center)
self.obstacle_input['1'] = collision(actor.rect, peepo_vec, edge1, edge2, WanderingPeepo.RADIUS)
self.obstacle_input['2'] = collision(actor.rect, peepo_vec, edge2, edge3, WanderingPeepo.RADIUS)
self.obstacle_input['3'] = collision(actor.rect, peepo_vec, edge3, edge4, WanderingPeepo.RADIUS)
self.obstacle_input['4'] = collision(actor.rect, peepo_vec, edge4, edge5, WanderingPeepo.RADIUS)
self.obstacle_input['5'] = collision(actor.rect, peepo_vec, edge5, edge6, WanderingPeepo.RADIUS)
self.obstacle_input['6'] = collision(actor.rect, peepo_vec, edge6, edge7, WanderingPeepo.RADIUS)