Question

我正在编写一个基本脚本来模拟机器人绕障碍物的运动。

该机器人应在其停止之前访问边界内的每个可访问点（有点像iRobot Roomba robovac）。

我需要通过在其行进时在其边界内的整个区域绘制阴影并“着色”来形象化它所处的所有位置。

下面的代码被修剪为仅显示运动的渲染，但是阴影仅在向上/向下方向起作用。但是，转弯无法正确呈现。

import pygame
import math
import numpy as np

pygame.init()

win_w = 600
win_h = 800

win = pygame.display.set_mode((win_w, win_h))
travelled_region = pygame.Surface((win_w, win_h), pygame.SRCALPHA)
size_scale = 50  # Divisor. 1 = 1px/mm, 10 = 1px/cm, 100 = 1px/m
canvas_clock = pygame.time.Clock()

boundary_lines = np.array(
    [[[313., 343.],
    [313., 441.]],

    [[313., 441.],
    [209., 441.]],

    [[209., 441.],
    [207., 343.]],

    [[207., 343.],
    [313., 343.]]])

class VehicleObject(object):
    def __init__(self):
        w, h = pygame.display.get_surface().get_size()
        self.velocity = 5
        self.width = 35
        self.height = 50
        self.x = w//2 - (self.width // size_scale) // 2
        self.y = h//2 - (self.height // size_scale) // 2

    def draw(self, win):
        pygame.draw.rect(win, (200, 200, 200), (self.x, self.y, self.width, self.height))
        pygame.draw.rect(travelled_region, (150, 150, 150), (self.x, self.y, self.width, self.height))


def redraw_game_window():
    win.fill((255, 255, 255))
    win.blit(travelled_region, (0, 0))
    car.draw(win)
    draw_boundaries(win)
    pygame.display.update()


def draw_boundaries(win):

    for i, line in enumerate(boundary_lines):
        pygame.draw.line(win, (0, 0, 255), (line[0]), (line[1]), 2)


def rotate_around_point_highperf(xy, radians, origin=(0, 0)):
    """Rotate a point around a given point.
    Source: https://gist.github.com/LyleScott/e36e08bfb23b1f87af68c9051f985302

    I call this the "high performance" version since we're caching some
    values that are needed >1 time. It's less readable than the previous
    function but it's faster.
    """
    x, y = xy
    offset_x, offset_y = origin
    adjusted_x = (x - offset_x)
    adjusted_y = (y - offset_y)
    cos_rad = math.cos(radians)
    sin_rad = math.sin(radians)
    qx = offset_x + cos_rad * adjusted_x + sin_rad * adjusted_y
    qy = offset_y + -sin_rad * adjusted_x + cos_rad * adjusted_y
    return qx, qy


car = VehicleObject()
run = True

while run:
    canvas_clock.tick_busy_loop(100)  # Run at 100 fps

    for event in pygame.event.get():
        if event.type == pygame.QUIT:
            run = False

    keys = pygame.key.get_pressed()

    if keys[pygame.K_LEFT]:
        boundary_lines[:, :, 0], boundary_lines[:, :, 1] = rotate_around_point_highperf(
            (boundary_lines[:, :, 0], boundary_lines[:, :, 1]), -0.01, (car.x, car.y))
        travelled_region = pygame.transform.rotate(travelled_region, -1)

    if keys[pygame.K_RIGHT]:
        boundary_lines[:, :, 0], boundary_lines[:, :, 1] = rotate_around_point_highperf(
            (boundary_lines[:, :, 0], boundary_lines[:, :, 1]), 0.01, (car.x, car.y))
        travelled_region = pygame.transform.rotate(travelled_region, 1)

    if keys[pygame.K_UP]:
        boundary_lines[:, :, 1] = boundary_lines[:, :, 1] + 1
        travelled_region.scroll(0, 1)

    if keys[pygame.K_DOWN]:
        boundary_lines[:, :, 1] = boundary_lines[:, :, 1] - 1
        travelled_region.scroll(0, -1)

    if keys[pygame.K_ESCAPE]:
        run = False

    redraw_game_window()
pygame.quit()

困难在于决定从汽车的POV渲染游戏，因此边界（和阴影）围绕汽车的中心轴旋转。

那么，如果世界绕着汽车行驶，而不是绕着汽车行驶，那么绘制汽车先前位置的最佳方法是什么？

如何在pygame中绘制持久的对象运动轨迹？

0 个答案: