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How to use center method in ATX
Best Python code snippet using ATX
thomas'_main.py
Source:thomas'_main.py 
1import arcade2import math3import random4WIDTH = 8405HEIGHT = 5806class Bullet(arcade.Sprite):7 def update(self):8 # Barrier checks (Image must completely disappear from screen)9 if self.center_x - self.width > WIDTH:10 self.kill()11 elif self.center_x + self.width < 0:12 self.kill()13 elif self.center_y - self.height > HEIGHT:14 self.kill()15 elif self.center_y + self.height < 0:16 self.kill()17 self.center_x += self.change_x18 self.center_y += self.change_y19class Bolder(arcade.Sprite):20 def update(self):21 # Border checks22 if self.center_x - self.width / 2 < 0:23 self.change_x *= -124 elif self.center_x + self.width / 2 > WIDTH:25 self.change_x *= -126 elif self.center_y + self.height / 2 > HEIGHT:27 self.change_y *= -128 elif self.center_y - self.height / 2 < 0:29 self.change_y *= -130 self.center_y += self.change_y31 self.center_x += self.change_x32class Player(arcade.Sprite):33 def update(self):34 self.center_x += self.change_x35 self.center_y += self.change_y36 # Border checks37 if self.center_x - self.width / 2 < 0:38 self.center_x = self.width / 239 self.change_x = 040 elif self.center_x + self.width / 2 > WIDTH:41 self.center_x = WIDTH - self.width / 242 self.change_x = 043 if self.center_y + self.height / 2 > HEIGHT:44 self.center_y = HEIGHT - self.height / 245 self.change_y = 046 elif self.center_y - self.height / 2 < 0:47 self.center_y = self.height / 248 self.change_y = 049def bolder_split(bolder,game_info): # Bolder splits into smaller pieces50 # Get info51 bolder.kill()52 x = bolder.center_x53 y = bolder.center_y54 scale = bolder.scale55 # Make new bolders56 for i in range(random.randint(2, 5)):57 new_scale = scale * 0.558 # Check to see if bolder is too small59 if new_scale >= 0.05:60 skin = random.choice(game_info.bolder_skins)61 bolder = Bolder(skin, new_scale, center_x=x,center_y=y)62 bolder.change_x = random.uniform(-5,5)63 bolder.change_y = random.uniform(-5,5)64 game_info.bolder_list.append(bolder)65class Game():66 def __init__(self, key_map, frame_count, game_score, bolder_list, bolder_skins, player, bullet_list):67 self.key_map = key_map68 self.frame_count = frame_count69 self.game_score = game_score70 self.bolder_list = bolder_list71 self.bolder_skins = bolder_skins72 self.player = player73 self.bullet_list = bullet_list74 def update(self):75 # Increment score and frames76 self.frame_count += 177 if self.frame_count % 20 == 0:78 self.game_score += 179 # Bolder creation80 if self.frame_count % 280 == 0:81 x = random.randint(100, WIDTH - 100)82 y = random.randint(100, HEIGHT - 100)83 bolder = Bolder('Image Folder/spaceMeteors_001.png', 0.2, center_x=x, center_y=y)84 bolder.change_x = random.uniform(-5, 5 + 1)85 bolder.change_y = random.uniform(-5, 5 + 1)86 self.bolder_list.append(bolder)87 # Check for movement speeds/directions88 max_speed = 489 if self.key_map['up pressed'] == True:90 if abs(self.player.change_y + 0.5) < max_speed:91 self.player.change_y += .592 elif self.key_map['down pressed'] == True:93 if abs(self.player.change_y - 0.5) < max_speed:94 self.player.change_y -= .595 if self.key_map['right pressed'] == True:96 if abs(self.player.change_x + 0.5) < max_speed:97 self.player.change_x += .598 elif self.key_map['left pressed'] == True:99 if abs(self.player.change_x - 0.5) < max_speed:100 self.player.change_x -= .5101 self.player.update()102 # Collision between bullet and bolder103 for bullet in self.bullet_list:104 bullet_bolder_collision = arcade.check_for_collision_with_list(bullet, self.bolder_list)105 for bolder in bullet_bolder_collision:106 bullet.kill()107 bolder_split(bolder,self)108 # Collision between player and bolder109 for bolder in self.bolder_list:110 player_bolder_collision = arcade.check_for_collision(self.player, bolder)111 if player_bolder_collision == True:112 return 'Contact'113 self.bullet_list.update()114 self.bolder_list.update()115 def on_draw(self):116 # Score117 arcade.draw_text('Score: {}'.format(self.game_score), WIDTH - 150, 25, arcade.color.WHITE, 22)118 # Player119 self.player.draw()120 # Bullets121 self.bullet_list.draw()122 # Bolders123 self.bolder_list.draw()124 def on_key_press(self,key):125 if key == arcade.key.W:126 self.key_map['up pressed'] = True127 if key == arcade.key.S:128 self.key_map['down pressed'] = True129 if key == arcade.key.A:130 self.key_map['left pressed'] = True131 if key == arcade.key.D:132 self.key_map['right pressed'] = True133 def on_key_release(self,key):134 if key == arcade.key.W:135 self.key_map['up pressed'] = False136 if key == arcade.key.S:137 self.key_map['down pressed'] = False138 if key == arcade.key.A:139 self.key_map['left pressed'] = False140 if key == arcade.key.D:141 self.key_map['right pressed'] = False142 def on_mouse_press(self,x,y):143 # CREATE BULLET144 mouse_x = x145 mouse_y = y146 # Setup trig ratios147 x_diff = mouse_x - self.player.center_x148 y_diff = mouse_y - self.player.center_y149 angle = math.atan2(y_diff, x_diff)150 bullet_angle = math.degrees(angle) - 90151 bullet_speed = 14152 d_x = math.cos(angle) * bullet_speed153 d_y = math.sin(angle) * bullet_speed154 # Finished product155 bullet = Bullet('Image Folder/Bullet.png', 0.6, center_x=self.player.center_x, center_y=self.player.center_y)156 bullet.change_x = d_x157 bullet.change_y = d_y158 bullet.angle = bullet_angle159 self.bullet_list.append(bullet)160 def on_mouse_motion(self,x, y):161 # Gether info162 mouse_x = x163 mouse_y = y164 # Setup trig ratios165 x_diff = mouse_x - self.player.center_x166 y_diff = mouse_y - self.player.center_y167 angle = math.atan2(y_diff, x_diff)168 new_angle = math.degrees(angle) - 90169 self.player.angle = new_angle170class Button():171 def __init__(self, x, y, w, h, default_color, hover_color, current_color, text):172 self.x = x173 self.y = y174 self.w = w175 self.h = h176 self.default_color = default_color177 self.hover_color = hover_color178 self.current_color = current_color179 self.text = text180 def draw(self):181 arcade.draw_rectangle_filled(self.x, self.y, self.w, self.h, self.current_color)182 arcade.draw_text(self.text,self.x,self.y,arcade.color.BLACK, 15, anchor_x='center', anchor_y='center')183 def on_hover(self,mouse_x,mouse_y):184 if self.x - self.w / 2 <= mouse_x <= self.x + self.w / 2 and self.y - self.h / 2 <= mouse_y <= self.y + self.h / 2:185 self.current_color = self.hover_color186 else:187 self.current_color = self.default_color188 def on_click(self, mouse_x, mouse_y):189 if self.x - self.w / 2 <= mouse_x <= self.x + self.w / 2 and self.y - self.h / 2 <= mouse_y <= self.y + self.h / 2:190 return True191 return False192class Menu():193 def __init__(self): # Why do we still need __init__194 global instructions_option, game_option, credits_option195 default_color = (240, 63, 63)196 hover_color = (204, 255, 229)197 current_color = default_color198 instructions_option = Button(WIDTH / 2, HEIGHT / 2 + 100, 100, 35,199 default_color, hover_color, current_color, 'Instructions')200 game_option = Button(WIDTH / 2, HEIGHT / 2, 100, 35,201 default_color, hover_color, current_color, 'Game')202 credits_option = Button(WIDTH / 2, HEIGHT / 2 - 100, 100, 35,203 default_color, hover_color, current_color, 'Credits')204 def draw(self):205 instructions_option.draw()206 game_option.draw()207 credits_option.draw()208 arcade.draw_text('Laser Quest', WIDTH / 2,HEIGHT / 2 + 225,arcade.color.BLACK, 45,209 align='center', anchor_y='center', anchor_x='center')210 def on_hover(self, mouse_x, mouse_y):211 instructions_option.on_hover(mouse_x, mouse_y)212 game_option.on_hover(mouse_x, mouse_y)213 credits_option.on_hover(mouse_x, mouse_y)214 def on_click(self,mouse_x,mouse_y):215 # Is the click registered onto a box?216 if instructions_option.on_click(mouse_x,mouse_y) == True:217 return 'instructions'218 elif game_option.on_click(mouse_x,mouse_y) == True:219 return 'game'220 elif credits_option.on_click(mouse_x, mouse_y) == True:221 return 'credits'222 # None are clicked223 return False224class Instructions():225 def __init__(self):226 default_color = (240, 63, 63)227 hover_color = (204, 255, 229)228 current_color = default_color229 global back_option230 back_option = Button(75, 50, 75, 50, default_color, hover_color, current_color, 'Back')231 def draw(self):232 # Set up instructions txt233 arcade.draw_text('Instructions', WIDTH/2, HEIGHT/2 + 200, arcade.color.BLACK, 35,234 anchor_x='center', anchor_y='center', align='center')235 arcade.draw_text('Movement \n\n W,A,S,D to move.', WIDTH/2, HEIGHT/2 + 100, arcade.color.ORANGE, 25,236 anchor_x='center', anchor_y='center', align='center')237 arcade.draw_text('Shooting \n\n Left click to shoot.', WIDTH/2, HEIGHT/2, arcade.color.RED, 25,238 anchor_x='center', anchor_y='center', align='center')239 arcade.draw_text('Aiming \n\n Cursor to aim.', WIDTH/2, HEIGHT/2 - 100, arcade.color.GRAPE, 25,240 anchor_x='center', anchor_y='center', align='center')241 # Set up back button242 back_option.draw()243 def on_click(self,mouse_x,mouse_y):244 # Box click checks245 if back_option.on_click(mouse_x,mouse_y) == True:246 return 'back'247 return False248 def on_hover(self, mouse_x, mouse_y):249 back_option.on_hover(mouse_x, mouse_y)250class Exitscreen():251 def __init__(self):252 default_color = (240, 63, 63)253 hover_color = (204, 255, 229)254 current_color = default_color255 global back_option256 back_option = Button(75, 50, 75, 50, default_color, hover_color, current_color, 'Back')257 def draw(self,score):258 # Print exitscreen txt259 arcade.draw_text('You Died \n\n Your Score: {}'.format(score), WIDTH / 2, HEIGHT / 2, arcade.color.BLACK, 40,260 align='center', anchor_x='center', anchor_y='center')261 # Set up back button262 back_option.draw()263 def on_click(self, mouse_x, mouse_y):264 # Box click checks265 if back_option.on_click(mouse_x, mouse_y) == True:266 return 'back'267 return False268 def on_hover(self, mouse_x, mouse_y):269 back_option.on_hover(mouse_x, mouse_y)270class Credits():271 def __init__(self):272 default_color = (240, 63, 63)273 hover_color = (204, 255, 229)274 current_color = default_color275 global back_option276 back_option = Button(75, 50, 75, 50, default_color, hover_color, current_color, 'Back')277 def draw(self):278 # Set up credits txt279 arcade.draw_text('This game is so far made entirely by Thomas Wu', WIDTH / 2, HEIGHT / 2, arcade.color.BLACK,280 22, anchor_y='center', anchor_x='center', align='center')281 # Set up back button282 back_option.draw()283 def on_click(self,mouse_x,mouse_y):284 # Box click checks285 if back_option.on_click(mouse_x,mouse_y) == True:286 return 'back'287 return False288 def on_hover(self, mouse_x, mouse_y):289 back_option.on_hover(mouse_x, mouse_y)290def update(delta_time):291 global exitscreen_bool, game_bool292 if game_bool == True:293 # Check for contact294 if game.update() == 'Contact':295 exitscreen_bool = True296 game_bool = False297def on_draw():298 arcade.start_render()299 if main_menu_bool == True:300 main_menu.draw()301 elif instructions_bool == True:302 instructions.draw()303 elif credits_bool == True:304 credits.draw()305 elif game_bool == True:306 game.on_draw()307 elif exitscreen_bool == True:308 exitscreen.draw(game.game_score)309def on_key_press(key, modifiers):310 if game_bool == True:311 game.on_key_press(key)312def on_key_release(key, modifiers):313 if game_bool == True:314 game.on_key_release(key)315def on_mouse_press(x, y, button, modifiers):316 global main_menu_bool, instructions_bool, game_bool, credits_bool, exitscreen_bool317 if main_menu_bool == True:318 click_result = main_menu.on_click(x,y)319 if click_result != False:320 main_menu_bool = False321 if click_result == 'instructions':322 instructions_bool = True323 elif click_result == 'game':324 game_bool = True325 else: # Credits box was clicked326 credits_bool = True327 elif instructions_bool == True:328 click_result = instructions.on_click(x, y)329 if click_result != False:330 # Go back to main menu331 instructions_bool = False332 main_menu_bool = True333 elif credits_bool == True:334 click_result = credits.on_click(x, y)335 if click_result != False:336 # Go back to main menu337 credits_bool = False338 main_menu_bool = True339 elif exitscreen_bool == True:340 click_result = exitscreen.on_click(x, y)341 if click_result != False:342 # Go back to main menu343 exitscreen_bool = False344 main_menu_bool = True345 # Restart all game logic346 # Bolder list347 game.bolder_list = arcade.SpriteList()348 # Initial bolder creation (default bolders in the game)349 for i in range(3):350 skin = random.choice(game.bolder_skins)351 #Set up bolder position (Make sure not to spawn on player)352 x_range = [[100, int(WIDTH / 2 - game.player.width)], [int(WIDTH / 2 + game.player.width), WIDTH - 100]]353 y_range = [[100, int(HEIGHT / 2 - game.player.height)],354 [int(HEIGHT / 2 + game.player.height), HEIGHT - 100]]355 x = random.randint(*random.choice(x_range))356 y = random.randint(*random.choice(y_range))357 scale = random.uniform(0.15, 0.23)358 bolder = Bolder(skin, scale, center_x=x, center_y=y)359 bolder.change_x = random.uniform(-5, 5 + 1)360 bolder.change_y = random.uniform(-5, 5 + 1)361 game.bolder_list.append(bolder)362 # Player movements363 game.player.change_x = 0364 game.player.change_y = 0365 game.player.center_x = WIDTH / 2366 game.player.center_y = HEIGHT / 2367 game.key_map = {'up pressed': False, 'down pressed': False, 'right pressed': False, 'left pressed': False}368 # Bullets369 game.bullet_list = arcade.SpriteList()370 game.game_score = 0371 game.frame_count = 0372 elif game_bool == True:373 game.on_mouse_press(x, y)374def on_mouse_motion(x,y,dx,dy):375 if main_menu_bool == True:376 main_menu.on_hover(x, y)377 elif instructions_bool == True:378 instructions.on_hover(x,y)379 elif credits_bool == True:380 credits.on_hover(x, y)381 elif game_bool == True:382 game.on_mouse_motion(x, y)383 elif exitscreen_bool == True:384 exitscreen.on_hover(x, y)385def setup():386 arcade.open_window(WIDTH, HEIGHT, 'Laser Quest')387 arcade.set_background_color(arcade.color.GREEN_YELLOW)388 arcade.schedule(update, 1/60)389 # Override arcade window methods390 window = arcade.get_window()391 window.on_draw = on_draw392 window.on_key_press = on_key_press393 window.on_key_release = on_key_release394 window.on_mouse_motion = on_mouse_motion395 window.on_mouse_press = on_mouse_press396 global main_menu397 main_menu = Menu()398 global instructions399 instructions = Instructions()400 global credits401 credits = Credits()402 global exitscreen403 exitscreen = Exitscreen()404 global main_menu_bool,instructions_bool, credits_bool, game_bool, exitscreen_bool405 main_menu_bool = True406 instructions_bool = False407 game_bool = False408 credits_bool = False409 exitscreen_bool = False410 # Info about the actual gameplay411 # Player and player movement412 player = Player('Image Folder/Space_ship.png', 0.40, center_x=WIDTH / 2, center_y=HEIGHT / 2)413 player.change_x = 0414 player.change_y = 0415 key_map = {'up pressed': False, 'down pressed': False, 'right pressed': False, 'left pressed': False}416 # Bolders417 bolder_skins = [418 'Image Folder/spaceMeteors_001.png',419 'Image Folder/spaceMeteors_002.png',420 'Image Folder/spaceMeteors_003.png',421 'Image Folder/spaceMeteors_004.png'422 ]423 bolder_list = arcade.SpriteList()424 # Initial bolder creation (default bolders in the game)425 for i in range(3):426 skin = random.choice(bolder_skins)427 # Set up bolder position (Make sure not to spawn on player)428 x_range = [[100, int(WIDTH / 2 - player.width)], [int(WIDTH / 2 + player.width), WIDTH - 100]]429 y_range = [[100, int(HEIGHT / 2 - player.height)],430 [int(HEIGHT / 2 + player.height), HEIGHT - 100]]431 x = random.randint(*random.choice(x_range))432 y = random.randint(*random.choice(y_range))433 scale = random.uniform(0.15, 0.23)434 bolder = Bolder(skin, scale, center_x=x, center_y=y)435 bolder.change_x = random.uniform(-5, 5 + 1)436 bolder.change_y = random.uniform(-5, 5 + 1)437 bolder_list.append(bolder)438 # Bullets439 bullet_list = arcade.SpriteList()440 # Score data441 frame_count = 0442 game_score = 0443 global game444 game = Game(key_map, frame_count, game_score, bolder_list, bolder_skins, player, bullet_list)445 arcade.run()446if __name__ == '__main__':...
carlaUtils.py
Source:carlaUtils.py
1# coding:utf-82# Type: Public3import numpy as np4import common.Math as cMath5import math6class CarlrUtils(object):7 Author = "BaoChuan Wang"8 AllowImport = False9 @staticmethod10 def get_direction_vector_series_and_car_to_next_waypoint_ratio(11 carla_engine,12 start_waypoint_xy_array,13 target_waypoint_xy_array,14 draw_in_UE=False15 ):16 '''17 éç¨äºWaypointsTargetç¯å¢çstateæ±å18 # 以ä¸ä»£ç ä½ä¸ºåè19 è·å¾è½¦è¾æè¿çè·¯å¾ç¹,以åæ¥ä¸æ¥n个路å¾ç¹(ç®åæ¹ä¸ºæå两个路å¾ç¹,ä¸ä¼éç车è¾ä½ç½®æ´æ°!),ç¶åè¿åä¸è¿ä¸¤ä¸ªè·¯å¾ç¹ç¸å
³çåæ°,æ:20 1.车è¾å°ä¸¤ä¸ªwaypointsçä¸ç¹è·ç¦»21 2.waypointæ¹åè§22 3.车è¾å°waypointä¸ç¹æ¹åè§23 4.车è¾æ¬èº«æ¹åè§24 # å¦å¤è¿æ ·è·åwaypointså®æ¶æ´æ°çæ¹æ³æ¯ä¸åéç,产ççrewardsä¸å¯¹actionè¿ç»25 # åæ¥çæ¹æ³æ¯è½¦è¾è·åæè¿çwaypointç¶åæ±å¾ä¸ä¸ä¸ªwaypoints,ç°å¨æ¹æä¸å¼å§å°±ç¡®å®waypoints26 å 为使ç¨è·åæè¿waypointsçæ¹æ³å¯è½ä¼äº§çåé27 åæ¥çæ¹æ³ä»£ç :28 # # è·å¾è½¦è¾çä¸ä¸¤ä¸ªwaypointsçxyåæ 29 # next_center_waypoints = self.engine.map.get_waypoint(30 # # location31 # self.engine.vehicle.get_location()32 # )33 # # è·å¾æ¥ä¸æ¥5mçä½ä¸ºä¸ä¸ä¸ªè·¯å¾ç¹34 # next_next_center_waypoints = next_center_waypoints.next(5)[0]35 #36 # waypoint_list =((37 # next_center_waypoints.transform.location.x,38 # next_center_waypoints.transform.location.y39 # ), (40 # next_next_center_waypoints.transform.location.x,41 # next_next_center_waypoints.transform.location.y42 # ))43 #44 # # å¨carlaä¸ç»å¶è·¯å¾ç¹45 # self.engine.draw_waypoint_list(46 # [next_center_waypoints,next_next_center_waypoints],life_time=1)47 #48 # return waypoint_list49 # 注æç¹:50 å 为æç»è®¡ç®çæ¶åæ¯éè¦ä¸¤ä¸ªwaypointæ¥å¾å°å车è¾çè·ç¦»51 以å 车è¾å°waypointsä¸å¿ç¹çæ¹å å 两个waypointsæ¹å ç夹è§52 æ以ä¸å®è¦ä¿è¯waypointsä¸å¿ç¹å¨è½¦è¾åæ¹(å¦åå°±ä¼åé)53 éè¦ä¿è¯Waypointsçé´é足å¤å¤§å³å¯!ä¹å¯ä»¥è¿éåç¹æ¶ååé¢ä¸¤ä¸ªç¹èä¸æ¯ä¸ä¸ªç¹!54 # è¿éç代ç æ¯æ±å¾è·ç¦»è½¦è¾æè¿çç¹,ç¶åå¾ä¸æ¾3个ç¹,ç°å¨æ´æ°æä¸å¼å§æå®çç¹!55 # # æ±å¾æè¿çwaypointsçindex,ç¶åæ¾ä¸ä¸ä¸ª!å¦æå°äºwaypointsçæ«ç«¯?56 # distance = np.sqrt(57 # np.sum(np.square(self.car_waypoints_xy_array - np.array([self.engine.vehicle.get_location().x,58 # self.engine.vehicle.get_location().y])), axis=1))59 #60 # # print(distance)61 # # æ大çindex62 # index_max = distance.shape[0] - 163 # # æ¾å°è·ç¦»æè¿çwaypointsçindex64 # index = int(np.argmin(distance))65 #66 #67 # index = index_max - 168 #69 # # è¿éç¹åå¾ååä¸ç¹å¿70 # next_point_index = index + 371 # if next_point_index > index_max: next_point_index = index_max72 # if draw_in_UE:73 # # ä½åºä¸¤ä¸ªwaypointsç线段74 # start = self.car_waypoints_list[index]75 # end = self.car_waypoints_list[next_point_index]76 # self.engine.draw_line(start, end, life_time=1, color=(0, 255, 0))77 # center_point = (self.car_waypoints_xy_array[index, :].reshape(-1) +78 # self.car_waypoints_xy_array[next_point_index, :].reshape(-1)) / 279 '''80 # 车è¾ä½ç½®81 vehicle_location = carla_engine.vehicle.get_location()82 car_point = np.array([vehicle_location.x, vehicle_location.y])83 if draw_in_UE:84 # waypointä¸ç¹85 center_point = (start_waypoint_xy_array + target_waypoint_xy_array) / 286 center_point_transform = carla_engine.make_transform(87 x=center_point[0],88 y=center_point[1],89 z=vehicle_location.z90 )91 carla_engine.draw_point_xyz(center_point[0], center_point[1], carla_engine.vehicle.get_location().z + 0.25,92 color=(0, 255, 255), thickness=0.1)93 carla_engine.draw_line_location(94 vehicle_location,95 center_point_transform.location,96 life_time=1, color=(0, 0, 255)97 )98 # waypointsçåä½æ¹ååé99 way_unit_direction = target_waypoint_xy_array - start_waypoint_xy_array100 way_unit_direction /= np.linalg.norm(way_unit_direction, 2)101 # 车è¾å°ä¸å¿ç¹çåä½æ¹ååé102 car_to_way_unit_direction = (target_waypoint_xy_array - car_point)103 car_to_way_unit_direction /= np.linalg.norm(car_to_way_unit_direction, 2)104 # 车è¾æ¬èº«çåä½æ¹ååé105 car_unit_direction = carla_engine.vehicle.get_transform().get_forward_vector()106 car_unit_direction = np.array([car_unit_direction.x, car_unit_direction.y])107 # 车è¾å°targetç¹åæ»è·¯ç¨çæ¯å¼108 total_distance = np.linalg.norm(target_waypoint_xy_array - start_waypoint_xy_array, 2)109 now_distance = np.linalg.norm(target_waypoint_xy_array - car_point, 2)110 car_to_target_distance_ratio = now_distance / total_distance111 # 车è¾çyawè§åº¦112 car_yaw = math.radians(carla_engine.vehicle_yaw)113 # å¢å :ç¸å¯¹äºè½¦è¾åæ çç®æ waypointçxåy114 target_xy_array_relate_to_car = cMath.convert_point_into_relative_coordinate(115 target_waypoint_xy_array,116 car_point,117 original_yaw_radius=car_yaw)118 return way_unit_direction, car_to_way_unit_direction, car_unit_direction, car_to_target_distance_ratio, target_xy_array_relate_to_car119 @staticmethod120 def get_car_target_waypoints(engine, vehicle, n_waypoint=2, waypoint_spacing=15, draw_waypoints=True):121 if n_waypoint < 2:122 raise ValueError("At least 2 waypoints will return!")123 # List<Waypoints>124 car_waypoints_list = []125 # Array2D126 car_waypoints_xy_array = None127 # List<List>128 car_waypoints_xy_list = []129 # èµ·å§çç¹130 next_center_waypoints = engine.map.get_waypoint(vehicle.get_location())131 # 车è¾çèµ·ç¹132 start_waypoint_xy_array = np.array([next_center_waypoints.transform.location.x,133 next_center_waypoints.transform.location.y])134 car_waypoints_list.append(next_center_waypoints)135 car_waypoints_xy_list.append([next_center_waypoints.transform.location.x,136 next_center_waypoints.transform.location.y])137 if n_waypoint == 2:138 next_center_waypoints = next_center_waypoints.next(waypoint_spacing)[0]139 car_waypoints_list.append(next_center_waypoints)140 car_waypoints_xy_list.append([next_center_waypoints.transform.location.x,141 next_center_waypoints.transform.location.y])142 else:143 for i in range(n_waypoint - 1):144 next_center_waypoints = next_center_waypoints.next(waypoint_spacing)[0]145 car_waypoints_list.append(next_center_waypoints)146 car_waypoints_xy_list.append([next_center_waypoints.transform.location.x,147 next_center_waypoints.transform.location.y])148 car_waypoints_xy_array = np.array(car_waypoints_xy_list)149 # ç»ç¹150 target_waypoint_xy_array = np.array([next_center_waypoints.transform.location.x,151 next_center_waypoints.transform.location.y])152 # ç»å¶è·¯å¾ç¹153 if draw_waypoints:154 engine.draw_waypoint_list(car_waypoints_list, life_time=99999)155 return car_waypoints_list, car_waypoints_xy_list, car_waypoints_xy_array, target_waypoint_xy_array156 @staticmethod157 def get_velocity_accel_relative_to_car_and_their_scalar(engine):158 velocity_vector = engine.get_velocity()159 velocity_to_car_x, velocity_to_car_y = cMath.convert_point_into_relative_coordinate(160 target_xy=[velocity_vector.x, velocity_vector.y],161 original_xy=[0, 0],162 original_yaw_radius=math.radians(engine.vehicle_yaw))163 velocity = engine.get_velocity_scalar()164 accel_vector = engine.get_accel()165 accel_to_car_x, accel_to_car_y = cMath.convert_point_into_relative_coordinate(166 target_xy=[accel_vector.x, accel_vector.y],167 original_xy=[0, 0],168 original_yaw_radius=math.radians(engine.vehicle_yaw))169 accel = engine.get_velocity_scalar()...
temp1.py
Source:temp1.py
1#2# Simple example scene for a 2D simulation3# Simulation of a buoyant smoke density plume4#5from manta import *6#import manta7from PIL import Image8im = Image.open("/home/tushar/manta_mikey_1/manta/scenes/mine/november_24/templates_krueger/his/temp_gray.png")9pix = im.load()10x,y=im.size11image_perlin_1()12image_load_1()13from time import sleep14# solver params15res = 12816res_x = res17res_y = res18gs = vec3(res_x,res_y,1)19s = Solver(name='main', gridSize = gs, dim=2)20s.timestep = 1.021timings = Timings()22# prepare grids23flags = s.create(FlagGrid)24#flag_test = s.create(FlagGrid)25vel = s.create(MACGrid)26#vel_test = s.create(MACGrid)27density = s.create(RealGrid)28pressure = s.create(RealGrid)29#This is a dummy grid created for the velocity-only visualization in the GUI.Velocity is MAC Grid30velocity_only = s.create(RealGrid)31#This is the pressure just after CG solve32pressure_before = s.create(RealGrid)33pressure_modification_elliptical_gaussian = s.create(RealGrid)34flags.initDomain()35flags.fillGrid()36if (GUI):37 gui = Gui()38 gui.show()39 gui.pause()40#This is the source shape41source = s.create(Cylinder, center=gs*vec3(0.5,0.5,0.5), radius=res*0.48, z=gs*vec3(0, 0.48, 0))42# This is for elliptical gaussian43splat_center_ellipse = gs*vec3(0.5,0.5,0.5)44splat_center_ellipse_rounded = vec3(0,0,0)45splat_sigma_x = 16.046splat_sigma_y = 2.047splat_radius_x = (res*0.5) - 4.048splat_radius_y = (res*0.25) - 1.049velocity_center = vec3(0.0,0.0,0.0)50# This is the noise with central mean value as 151source.applyRNG_binary_NoiseToGrid_seeded(grid=density, value=1, fraction_white=0.20, res_x = res_x, res_y = res_y)52#main loop53for t in range(400):54 setInflowBcs(vel, dire='y', value=vec3(0.0,0.3,0.0))55 advectSemiLagrange_time_fraction(flags=flags, vel=vel, grid=density, order=2, time_fraction = 1.0)56 advectSemiLagrange_time_fraction(flags=flags, vel=vel, grid=vel, order=2, time_fraction = 1.0)57 setWallBcs(flags=flags, vel=vel) 58 setInflowBcs(vel, dire='y', value=vec3(0.0,0.3,0.0))59# splat_center_ellipse_rounded.x = int(splat_center_ellipse.x+0.5)60# splat_center_ellipse_rounded.y = int(splat_center_ellipse.y+0.5)61# splat_center_ellipse_rounded.z = int(splat_center_ellipse.z+0.5)62# velocity_center = vel.get(splat_center_ellipse_rounded)63# print "velocity_center.x = ",velocity_center.x64# print "velocity_center.y = ",velocity_center.y65# print "velocity_center.z = ",velocity_center.z66# This is elliptical Gaussian67 splat_center_ellipse = (splat_center_ellipse)+((s.timestep)*(velocity_center))68 print "splat_center_ellipse.x = ",splat_center_ellipse.x69 print "splat_center_ellipse.y = ",splat_center_ellipse.y70 print "splat_center_ellipse.z = ",splat_center_ellipse.z71 splat_center_ellipse_rounded.x = int(splat_center_ellipse.x+0.5)72 splat_center_ellipse_rounded.y = int(splat_center_ellipse.y+0.5)73 splat_center_ellipse_rounded.z = int(splat_center_ellipse.z+0.5)74 create_pressure_modifier_elliptical_gaussian_with_multiplier(pressure_modification_elliptical_gaussian , splat_radius_x , splat_radius_y , splat_center_ellipse_rounded , splat_sigma_x , splat_sigma_y , multiplier = 10.0, lower_factor = 1.0, higher_factor = 1.0)75# time range of application of pressure modification76 t1 = 577 t2 = 9578 if (t==(t1-2)):79 gui.pause()80 if (t==(t2-2)):81 gui.pause()82 if (t>t1)and(t<t2):83# This is velocity correction84 solvePressure3_part2(flags=flags, vel=vel, pressure=pressure_modification_elliptical_gaussian)85 setWallBcs(flags=flags, vel=vel)86 setInflowBcs(vel, dire='y', value=vec3(0.0,0.3,0.0))87 advectSemiLagrange_time_fraction(flags=flags, vel=vel, grid=vel, order=2, time_fraction = 0.5)88 setWallBcs(flags=flags, vel=vel) 89 setInflowBcs(vel, dire='y', value=vec3(0.0,0.3,0.0))90# splat_center_ellipse_rounded.x = int(splat_center_ellipse.x+0.5)91# splat_center_ellipse_rounded.y = int(splat_center_ellipse.y+0.5)92# splat_center_ellipse_rounded.z = int(splat_center_ellipse.z+0.5)93# velocity_center = vel.get(splat_center_ellipse_rounded)94# print "velocity_center.x = ",velocity_center.x95# print "velocity_center.y = ",velocity_center.y96# print "velocity_center.z = ",velocity_center.z97 solvePressure3_part1(flags=flags, vel=vel, pressure=pressure, openBound='Y')98 solvePressure3_part2(flags=flags, vel=vel, pressure=pressure)99 setWallBcs(flags=flags, vel=vel)100 setInflowBcs(vel, dire='y', value=vec3(0.0,0.3,0.0))101 splat_center_ellipse_rounded.x = int(splat_center_ellipse.x+0.5)102 splat_center_ellipse_rounded.y = int(splat_center_ellipse.y+0.5)103 splat_center_ellipse_rounded.z = int(splat_center_ellipse.z+0.5)104 velocity_center = vel.get(splat_center_ellipse_rounded)105 print "velocity_center.x = ",velocity_center.x106 print "velocity_center.y = ",velocity_center.y107 print "velocity_center.z = ",velocity_center.z108 timings.display()109 s.step()...
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