Augmented default hero zoom and now we can visualize more area in forward direction
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Manish
parent
c50fabbe10
commit
59535a1dd0
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@ -120,7 +120,7 @@ MIN_WHEEL = 0.1
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MAX_WHEEL = 6.0
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MAP_DEFAULT_ZOOM = 1.0
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HERO_DEFAULT_ZOOM = 3.0
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HERO_DEFAULT_ZOOM = 6.0
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# ==============================================================================
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# -- TransformHelper -----------------------------------------------------------
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# ==============================================================================
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@ -130,7 +130,7 @@ class Util(object):
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@staticmethod
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def rotate_surface(img, pos, angle):
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w, h = img.get_size()
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img2 = pygame.Surface((w * 2, h * 2), pygame.SRCALPHA).convert()
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img2 = pygame.Surface((w * 2, h * 2), pygame.SRCALPHA)
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img2.set_clip(pygame.Rect(w - pos[0], h - pos[1], w, h))
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img2.blit(img, (w - pos[0], h - pos[1]))
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rotated_surface = pygame.transform.rotate(img2, angle)
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@ -138,17 +138,17 @@ class Util(object):
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@staticmethod
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def normalize_vector(vector):
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length_vector = math.sqrt(vector[0] ** 2 + vector[1] ** 2)
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length_vector = math.sqrt(vector[0] ** 2.0 + vector[1] ** 2.0)
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normalized_vector = (vector[0] / length_vector, vector[1] / length_vector)
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return normalized_vector
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@staticmethod
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def blits(destination_surface, source_surfaces):
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def blits(destination_surface, source_surfaces, blend_mode=0):
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if hasattr(destination_surface, 'blits'):
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destination_surface.blits(source_surfaces)
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else:
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for surface in source_surfaces:
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destination_surface.blit(surface[0], surface[1])
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destination_surface.blit(surface[0], surface[1], None, blend_mode)
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@staticmethod
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def get_parallel_line_at_distance(line, unit_vector, distance):
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@ -201,11 +201,16 @@ class TransformHelper(object):
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int(size[1] / self.diff_min_max_map_point[1] * self.map_size))
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return (max(screen_size[0], 1), max(screen_size[1], 1))
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def convert_screen_to_world_size(self, size):
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world_size = (int(size[0] * self.diff_min_max_map_point[0] / self.map_size),
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int(size[1] * self.diff_min_max_map_point[1] / self.map_size))
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return world_size
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# ==============================================================================
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# -- Waypoint ----------------------------------------------------------------------
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# ==============================================================================
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class Waypoint(object):
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def __init__(self, color, width_world, line_world, left_line, right_line, is_left_lateral_line, is_left_central_line, is_right_lateral_line, is_right_central_line,
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transform_helper, arrow_lines_world=None, road_id=None, lane_id=None):
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@ -289,9 +294,11 @@ class Vehicle(object):
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actor_location = self.actor.get_location()
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self.x, self.y = self.map_transform_helper.convert_world_to_screen_point((actor_location.x, actor_location.y))
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self.x, self.y = self.map_transform_helper.convert_world_to_screen_point(
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(actor_location.x, actor_location.y))
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self.surface = pygame.transform.rotate(surface, -self.actor.get_transform().rotation.yaw).convert()
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self.surface = Util.rotate_surface(
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surface, (self.surface_size[0] / 2, self.surface_size[1] / 2), -self.actor.get_transform().rotation.yaw).convert()
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class TrafficLight(object):
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@ -734,7 +741,7 @@ class ModuleWorld(object):
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wp_0 = (waypoint.transform.location.x, waypoint.transform.location.y)
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wp_1 = (wp_0[0] + wf.x * self.waypoint_length, wp_0[1] + wf.y * self.waypoint_length)
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wp_half = (wp_0[0] + wf.x * self.waypoint_length / 2, wp_0[1] + wf.y * self.waypoint_length / 2)
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wp_half = (wp_0[0] + wf.x * self.waypoint_length / 2.0, wp_0[1] + wf.y * self.waypoint_length / 2.0)
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# Check if road side lines are continuous or discontinuous
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left_lateral, right_lateral = Util.get_lateral_lines_from_lane((wp_0, wp_1), waypoint.lane_width + 0.1)
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@ -766,10 +773,10 @@ class ModuleWorld(object):
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# Get arrow lines
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wl = (-wf.y, wf.x)
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line_0 = [wp_1, (wp_half[0] + wl[0] * self.waypoint_length / 2,
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wp_half[1] + wl[1] * self.waypoint_length / 2)]
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line_1 = [wp_1, (wp_half[0] - wl[0] * self.waypoint_length / 2,
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wp_half[1] - wl[1] * self.waypoint_length / 2)]
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line_0 = [wp_1, (wp_half[0] + wl[0] * self.waypoint_length / 2.0,
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wp_half[1] + wl[1] * self.waypoint_length / 2.0)]
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line_1 = [wp_1, (wp_half[0] - wl[0] * self.waypoint_length / 2.0,
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wp_half[1] - wl[1] * self.waypoint_length / 2.0)]
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arrow_lines = [line_0, line_1]
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road_render_data = Waypoint(COLOR_ALUMINIUM_5,
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@ -1000,9 +1007,9 @@ class ModuleWorld(object):
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for actor in vehicles:
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vehicle = Vehicle(actor, COLOR_PLUM_1, self.transform_helper)
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vehicle_renderer.append(
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(vehicle.surface, (vehicle.x - vehicle.bb_extent.x, vehicle.y - vehicle.bb_extent.y)))
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(vehicle.surface, (vehicle.x - vehicle.surface.get_width() / 2, vehicle.y - vehicle.surface.get_height() / 2)))
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Util.blits(self.vehicles_surface, vehicle_renderer)
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Util.blits(self.vehicles_surface, vehicle_renderer, pygame.BLEND_RGB_MAX)
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# Render Traffic Lights
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traffic_lights_renderer = []
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@ -1114,7 +1121,15 @@ class ModuleWorld(object):
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center_offset = ((display.get_width() - self.surface_size) / 2 * scale_factor, 0)
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else:
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hero_location = (self.hero_actor.get_location().x, self.hero_actor.get_location().y)
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hero_location_screen = self.transform_helper.convert_world_to_screen_point(hero_location)
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hero_front = self.hero_actor.get_transform().get_forward_vector()
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pixels_ahead_vehicle = self.transform_helper.convert_screen_to_world_size(
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(display.get_height() / 6,
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display.get_height() / 6))
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hero_location_back = (hero_location[0] + hero_front.x * pixels_ahead_vehicle[0],
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hero_location[1] + hero_front.y * pixels_ahead_vehicle[1])
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hero_location_screen = self.transform_helper.convert_world_to_screen_point(hero_location_back)
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translation_offset = (-hero_location_screen[0],
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(-hero_location_screen[1]))
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@ -1150,7 +1165,7 @@ class ModuleWorld(object):
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self.clip_surfaces(clipping_rect)
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Util.blits(self.result_surface, surfaces)
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hero_surface.fill(COLOR_CHOCOLATE_0)
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hero_surface.fill(COLOR_CHOCOLATE_1)
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hero_surface.blit(self.result_surface, (translation_offset[0] + hero_surface.get_width() / 2,
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translation_offset[1] + hero_surface.get_height() / 2))
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