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car.py
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car.py
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from config_variables import *
import pygame as py
import os
from math import *
from random import random
from road import *
import numpy as np
from vect2d import vect2d
class Car:
y = 0 # coordinates with respect to the global reference system, the position on the screen is relative to the position of the best machine
x = 0
def __init__(self, x, y, turn):
self.x = x
self.y = y
self.rot = turn
self.rot = 0
self.vel = MAX_VEL / 2
self.acc = 0
self.initImgs()
self.commands = [0, 0, 0, 0]
def initImgs(self):
img_names = ["yellow_car.png", "red_car.png", "blu_car.png", "green_car.png"]
name = img_names[floor(random() * len(img_names)) % len(img_names)] # prendi a caso una di queste immagini
self.img = py.transform.rotate(
py.transform.scale(py.image.load(os.path.join("imgs", name)).convert_alpha(), (120, 69)), -90)
self.brake_img = py.transform.rotate(
py.transform.scale(py.image.load(os.path.join("imgs", "brakes.png")).convert_alpha(), (120, 69)), -90)
def detectCollision(self, road):
# get mask
mask = py.mask.from_surface(self.img)
(width, height) = mask.get_size()
for v in [road.pointsLeft, road.pointsRight]:
for p in v:
x = p.x - self.x + width / 2
y = p.y - self.y + height / 2
try:
if mask.get_at((int(x), int(y))):
return True
except IndexError as error:
continue
return False
def getInputs(self, world, road): # win is used to draw the sensors if DBG = True
sensors = []
for k in range(8):
sensors.append(SENSOR_DISTANCE)
sensorsEquations = getSensorEquations(self, world)
for v in [road.pointsLeft, road.pointsRight]:
i = road.bottomPointIndex
while v[i].y > self.y - SENSOR_DISTANCE:
next_index = getPoint(i + 1, NUM_POINTS * road.num_ctrl_points)
getDistance(world, self, sensors, sensorsEquations, v[i], v[next_index])
i = next_index
if CAR_DBG:
for k, s in enumerate(sensors):
omega = radians(self.rot + 45 * k)
dx = s * sin(omega)
dy = - s * cos(omega)
# draws sensor intersections
if s < SENSOR_DISTANCE:
py.draw.circle(world.win, RED, world.getScreenCoords(self.x + dx, self.y + dy), 6)
# convert to value between 0 (distance = max) and 1 (distance = 0)
for s in range(len(sensors)):
sensors[s] = 1 - sensors[s] / SENSOR_DISTANCE
return sensors
def move(self, road, t):
self.acc = FRICTION
if decodeCommand(self.commands, ACC):
self.acc = ACC_STRENGHT
if decodeCommand(self.commands, BRAKE):
self.acc = -BRAKE_STREGHT
if decodeCommand(self.commands, TURN_LEFT):
self.rot -= TURN_VEL
if decodeCommand(self.commands, TURN_RIGHT):
self.rot += TURN_VEL
timeBuffer = 500
if MAX_VEL_REDUCTION == 1 or t >= timeBuffer:
max_vel_local = MAX_VEL
else:
ratio = MAX_VEL_REDUCTION + (1 - MAX_VEL_REDUCTION) * (t / timeBuffer)
max_vel_local = MAX_VEL * ratio
self.vel += self.acc
if self.vel > max_vel_local:
self.vel = max_vel_local
if self.vel < 0:
self.vel = 0
self.x = self.x + self.vel * sin(radians(self.rot))
self.y = self.y - self.vel * cos(radians(self.rot)) # subtract because the origin is at the top left
# print("coord: ("+str(self.x)+", "+str(self.y)+") vel: "+str(self.vel)+" acc: "+str(self.acc) + " rot: "+str(self.rot))
return (self.x, self.y)
def draw(self, world):
screen_position = world.getScreenCoords(self.x, self.y)
rotated_img = py.transform.rotate(self.img, -self.rot)
new_rect = rotated_img.get_rect(center=screen_position)
world.win.blit(rotated_img, new_rect.topleft)
if decodeCommand(self.commands, BRAKE):
rotated_img = py.transform.rotate(self.brake_img, -self.rot)
new_rect = rotated_img.get_rect(center=screen_position)
world.win.blit(rotated_img, new_rect.topleft)
# ======================== LOCAL FUNCTIONS ==========================
def getSensorEquations(self,
world): # returns the equations of the lines (in variable y) of the machine in order [vertical, increasing diagonal, horizontal, decreasing diagonal]
eq = []
for i in range(4):
omega = radians(self.rot + 45 * i)
dx = SENSOR_DISTANCE * sin(omega)
dy = - SENSOR_DISTANCE * cos(omega)
if CAR_DBG: # disegna linee dei sensori
py.draw.lines(world.win, GREEN, False, [world.getScreenCoords(self.x + dx, self.y + dy),
world.getScreenCoords(self.x - dx, self.y - dy)], 2)
coef = getSegmentEquation(self, vect2d(x=self.x + dx, y=self.y + dy))
eq.append(coef)
return eq
def getSegmentEquation(p,
q): # equations in variable y between two points (taking into account the coordinate system with y inverted) in the general form ax + by + c = 0
a = p.y - q.y
b = q.x - p.x
c = p.x * q.y - q.x * p.y
return (a, b, c)
def getDistance(world, car, sensors, sensorsEquations, p,
q): # given the segment (m, q) I calculate the distance and put it in the corresponding sensor
(a2, b2, c2) = getSegmentEquation(p, q)
for i, (a1, b1, c1) in enumerate(sensorsEquations):
# get intersection between sensor and segment
if a1 != a2 or b1 != b2:
d = b1 * a2 - a1 * b2
if d == 0:
continue
y = (a1 * c2 - c1 * a2) / d
x = (c1 * b2 - b1 * c2) / d
if (y - p.y) * (y - q.y) > 0 or (x - p.x) * (
x - q.x) > 0: # if the intersection is not between a and b, go to the next iteration
continue
else: # coincident lines
(x, y) = (abs(p.x - q.x), abs(p.y - q.y))
# get distance
dist = ((car.x - x) ** 2 + (car.y - y) ** 2) ** 0.5
# insert into the sensor in the right direction
omega = car.rot + 45 * i # angle of the sensor line (and its opposite)
alpha = 90 - degrees(atan2(car.y - y, x - car.x)) # angle to vertical (as car.rot)
if cos(alpha) * cos(omega) * 100 + sin(alpha) * sin(omega) * 100 > 0:
index = i
else:
index = i + 4
if dist < sensors[index]:
sensors[index] = dist
def decodeCommand(commands, type):
if commands[type] > ACTIVATION_TRESHOLD:
if type == ACC and commands[type] > commands[BRAKE]:
return True
elif type == BRAKE and commands[type] > commands[ACC]:
return True
elif type == TURN_LEFT and commands[type] > commands[TURN_RIGHT]:
return True
elif type == TURN_RIGHT and commands[type] > commands[TURN_LEFT]:
return True
return False
# ----