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Rendering intersection waypoints separately

This commit is contained in:
Manish 2019-01-22 11:51:35 +01:00
parent 775c2c86fe
commit a9c0a93c3d
1 changed files with 18 additions and 13 deletions
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31
PythonAPI/no_rendering_mode.py
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@ -578,19 +578,13 @@ class ModuleWorld(object):
self.transform_helper=TransformHelper((self.x_min, self.y_min), (self.x_max, self.y_max), self.surface_size)
# Retrieve data from waypoints orientation, width and length and do conversions into another list
self.normalized_point_list=[]
self.normalized_point_list = []
self.intersection_waypoints = []
for waypoint in map_waypoints:
# Width of road
width=self.transform_helper.convert_world_to_screen_size((waypoint.lane_width, waypoint.lane_width))[0]
# Orientation of road
color=COLOR_BLACK
if waypoint.lane_id < 0:
color=COLOR_CYAN
else:
color=COLOR_ORANGE
direction=(1, 0)
yaw=math.radians(waypoint.transform.rotation.yaw)
# Waypoint front
@ -604,7 +598,13 @@ class ModuleWorld(object):
wp_0_screen = self.transform_helper.convert_world_to_screen_point(wp_0)
wp_1_screen = self.transform_helper.convert_world_to_screen_point(wp_1)
self.normalized_point_list.append(((wp_0_screen, wp_1_screen), color, width))
# Orientation of road
color=COLOR_BLACK
if waypoint.is_intersection:
self.intersection_waypoints.append(((wp_0_screen, wp_1_screen), COLOR_DARK_GREY, width))
else:
self.normalized_point_list.append(((wp_0_screen, wp_1_screen), COLOR_DARK_GREY, width))
# Module render
self.render_module = module_manager.get_module(MODULE_RENDER)
@ -659,6 +659,7 @@ class ModuleWorld(object):
self.server_fps = self.server_clock.get_fps()
def render_map(self, display):
self.map_surface.fill(COLOR_GREY)
for point in self.normalized_point_list:
self.render_module.drawLineWithBorder(self.map_surface,
point[1],
@ -666,7 +667,14 @@ class ModuleWorld(object):
point[0],
point[2],
3,
COLOR_DARK_GREY)
COLOR_WHITE)
for point in self.intersection_waypoints:
self.render_module.drawLine(self.map_surface,
point[1],
False,
point[0],
point[2])
def render_hero_actor(self, display, hero_actor, color, radius, translation_offset):
@ -685,8 +693,6 @@ class ModuleWorld(object):
self.render_module.drawCircle(self.hero_actor_surface, int(hero_radius),
int(hero_radius), int(hero_radius), COLOR_ORANGE)
# self.render_module.drawCircle(self.hero_actor_surface, int(hero_radius), int(hero_radius), radius, COLOR_RED)
display.blit(self.hero_actor_surface, (x - int(hero_radius) + translation_offset[0],
y - int(hero_radius) + translation_offset[1]))
@ -715,7 +721,6 @@ class ModuleWorld(object):
def render(self, display):
if not self.map_rendered:
self.map_surface.fill(COLOR_DARK_GREY)
self.render_map(display)
self.map_rendered = True