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polygon.py
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polygon.py
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import pygame
import random
from math import sin, cos, radians, pi
###### COLOUR DEFINATIONS ######
BLACK = (0, 0, 0, 0)
WHITE = (255, 255, 255, 0)
BLUE = (0, 0, 255)
GREEN = (0, 255, 0)
RED = (255, 0, 0)
PURPLE = (255, 255, 255)
" !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Polygon Class !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
class polygon(pygame.sprite.Sprite):
"""
This class represents the polygon.
It derives from the "Sprite" class in Pygame.
"""
def __init__(self,polygon_id,coordinates):
""" Constructor. Pass in the color of the block,
and its size. """
self.pick = False
# Call the parent class (Sprite) constructor
pygame.sprite.Sprite.__init__(self)
# Create an image of the block, and fill it with a color.
# This could also be an image loaded from the disk.
self.polygon_id = polygon_id
# self.polygon_id = random.choice(
# ['red_pentagon', 'red_square', 'red_triangle', 'green_triangle', 'green_pentagon', 'green_square',
# 'blue_triangle', 'blue_pentagon', 'blue_square'])
self.id = self.polygon_id
self.color = self.polygon_id[0]
word = self.polygon_id.split("_")
self.Color = word[0]
self.shape = word[1]
self.image = pygame.Surface([46, 43]).convert_alpha()
self.image.fill(WHITE)
self.img_addr = './data/'
self.obj = pygame.image.load(self.img_addr + self.polygon_id + ".png").convert_alpha()
self.image.blit(self.obj, [0, 0])
self.coordinates=coordinates
#self.coordinates = (random.randint(400, 1500), random.randint(400, 800))
# Fetch the rectangle object that has the dimensions of the image
# image.
# Update the position of this object by setting the values
# of rect.x and rect.y
self.rect = self.image.get_rect()
self.rect.center = self.coordinates
self.placed = 0
self.robo = 'R0'
self.priority = 0
if self.color[0] == 'r':
self.priority += 3
elif self.color[0] == 'b':
self.priority += 2
elif self.color[0] == 'g':
self.priority += 1
if self.shape[0] == 't':
self.priority += 1
elif self.shape[0] == 's':
self.priority += 2
elif self.shape[0] == 'p':
self.priority += 3
def update_position(self, robot_list):
# print("print_position called")
if self.pick == True:
for robot in robot_list:
if robot.id == self.robo:
self.robot = robot
x1 = self.robot.pos[0]
y1 = self.robot.pos[1]
angle = self.robot.arm_heading + self.robot.rover_heading +90
angle=self.angle_callibrate(angle)
self.rect.center = self.point_pos(x1, y1, 45 + self.robot.arm_up_offset, angle)
def point_pos(self, x0, y0, d, theta):
theta_rad = pi / 2 - radians(theta)
return x0 + d * cos(theta_rad), y0 + d * sin(theta_rad)
def angle_callibrate(self,angle):
if angle< 0:
angle += 360
if angle > 359:
angle -= 360
return angle