def main():
# initializing and drawing background UI elements
background = UIBox(g_const.screen_size, (0, 0, 0), (0, 0))
arena = UIBox(g_const.arena_size, (50, 50, 50), g_const.arena_pos)
sidebar = UIBox(g_const.sidebar_size, (50, 50, 50), g_const.sidebar_pos)
background.draw()
sidebar.draw()
evt_man = EventManager()
terrain = Terrain()
game_state = GameState(terrain)
start = time.time()
evt_man.start_world_update()
while True:
dt = time.time() - start
if dt >= frame_length:
start = time.time() # reset start tick
events = evt_man.processEvents() # handle events
game_state.update(events) # update game state
# draw objects
arena.draw()
game_state.curr_shape.draw()
terrain.draw()
# update display
pyg.display.update()
class Context:
def __init__(self, physicsWorld):
pygame.init()
# constants
self.PPM = 20.0 # pixels per meter
self.TARGET_FPS = 60
self.TIME_STEP = 1.0 / self.TARGET_FPS
self.SCREEN_WIDTH = 1200
self.SCREEN_HEIGHT = 800
self.screenSize = (self.SCREEN_WIDTH, self.SCREEN_HEIGHT)
self.zoom = 1.0
self.offset = (0.0, 0.0)
self.viewCenter = (self.SCREEN_WIDTH/2, self.SCREEN_HEIGHT/2)
self.clock = pygame.time.Clock()
# core objects
self.screen = pygame.display.set_mode((self.SCREEN_WIDTH, self.SCREEN_HEIGHT))
self.world = physicsWorld
# world objects
self.terrain = Terrain(self, 0, self.SCREEN_HEIGHT/self.PPM/2, 2, 25, TerrainGenerator.Composer(1, math.pi))
self.car = Car(self, 0, 0)
self.keys = pygame.key.get_pressed()
def update(self):
self.keys = pygame.key.get_pressed()
self.terrain.update()
self.car.update()
self.world.Step(self.TIME_STEP, 10, 10)
def draw(self):
self.screen.fill((0, 0, 0, 0))
self.terrain.draw()
self.car.draw()
pygame.display.flip()
self.clock.tick(self.TARGET_FPS)
# Move up
# Here should be the API call
# Let's just move the player for now
direction = DIRECTIONS['UP']
if event.key == pygame.K_DOWN:
direction = DIRECTIONS['DOWN']
if event.key == pygame.K_LEFT:
direction = DIRECTIONS['LEFT']
if event.key == pygame.K_RIGHT:
direction = DIRECTIONS['RIGHT']
terrain.refresh_environment(direction)
# Draw tiles on terrain
terrain.update()
# Draw each player on terrain
terrain.update_player(window)
# Draw terrain on window
terrain.draw(window)
# Display window on the screen
pygame.display.update()
# End of the game loop
pygame.quit()
lidar.setX(robot.getX())
lidar.setY(robot.getY())
lidar.setTheta(robot.getTheta())
lidar.fire()
if (t * dT) % (1.0 / 30.0) < 0.001:
# Drawing
plt.clf()
# plt.axis('equal')
plt.text(10, 1900, "t: {0:.3f} s".format((t + 1) * dT), fontsize=12)
plt.text(10, 1800, "X: {0:.0f} mm".format(robot.getX()), fontsize=12)
plt.text(10, 1700, "Y: {0:.0f} mm".format(robot.getY()), fontsize=12)
plt.text(10,
1600,
"T: {0:.3f} rad".format(robot.getTheta()),
fontsize=12)
robotpos[0] = robotpos[0] + [robot.getX()]
robotpos[1] = robotpos[1] + [robot.getY()]
# print(robotpos)
plt.plot(robotpos[0], robotpos[1], 'k+')
# lidar.draw()
terrain.draw()
robot.draw()
robotControl.draw()
#draw trajectory
# plt.plot(trajectory[0], trajectory[1], 'k')
plt.pause(0.0001)
plt.show()