def update_goal(self, goal, goal_index):
self.goal_transforms[goal_index].set_transform(r3d.translate(
goal[0:3]))
self.goal_arrows[goal_index * 3].set_transform(
r3d.trans_and_rot(goal[0:3], self.goal_arrows_rot[0]))
self.goal_arrows[goal_index * 3 + 1].set_transform(
r3d.trans_and_rot(goal[0:3], self.goal_arrows_rot[1]))
self.goal_arrows[goal_index * 3 + 2].set_transform(
r3d.trans_and_rot(goal[0:3], self.goal_arrows_rot[2]))
def update_goal(self, goal):
self.goal_transform.set_transform(r3d.translate(goal[0:3]))
self.goal_arrows[0].set_transform(
r3d.trans_and_rot(goal[0:3], self.goal_arrows_rot[0]))
self.goal_arrows[1].set_transform(
r3d.trans_and_rot(goal[0:3], self.goal_arrows_rot[1]))
self.goal_arrows[2].set_transform(
r3d.trans_and_rot(goal[0:3], self.goal_arrows_rot[2]))
def update_state(self, dynamics, goal):
if self.scene:
self.chase_cam.step(dynamics.pos, dynamics.vel)
self.have_state = True
self.fpv_lookat = dynamics.look_at()
self.update_goal(goal=goal)
matrix = r3d.trans_and_rot(dynamics.pos, dynamics.rot)
self.quad_transform.set_transform_nocollide(matrix)
shadow_pos = 0 + dynamics.pos
shadow_pos[2] = 0.001 # avoid z-fighting
matrix = r3d.translate(shadow_pos)
self.shadow_transform.set_transform_nocollide(matrix)
def update_state(self, dynamics, goals, reached=None):
if self.scene:
self.chase_cam.step(dynamics.pos, dynamics.vel)
self.have_state = True
self.fpv_lookat = dynamics.look_at()
for i in range(self.goal_count):
self.update_goal(goal=goals[i * 3:i * 3 + 3], goal_index=i)
if reached is not None and reached[i]: # change to green
self.update_goal_color(goal=goals[i * 3:i * 3 + 3],
goal_index=i)
matrix = r3d.trans_and_rot(dynamics.pos, dynamics.rot)
self.quad_transform.set_transform_nocollide(matrix)
shadow_pos = 0 + dynamics.pos
shadow_pos[2] = 0.001 # avoid z-fighting
matrix = r3d.translate(shadow_pos)
self.shadow_transform.set_transform_nocollide(matrix)