nnDriver/track.py at master · Pilleow/nnDriver · GitHub

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import math

from util import Vector2


class Track:
    def __init__(self, trackPoints=None):
        self.points = trackPoints
        self.pointsChunks = {}
        self.chunkSize = 20
        self.trackWidth = 8

        self.track_loop = None
        if self.points is None:
            # self.points = self.generateSquareTrack()
            self.points = self.generateSTrack()
            # self.points = self.generateOTrack()
            # self.points = self.generateHalfOTrack()
        self.generateChunks()

    def generateChunks(self):
        self.pointsChunks = {}
        for p in self.points:
            cx, cy = self.get_chunk_for(p[0])
            if (cx, cy) not in self.pointsChunks:
                self.pointsChunks[(cx, cy)] = []
            self.pointsChunks[(cx, cy)].append(p)

    def get_chunk_for(self, v: Vector2):
        return v.x // self.chunkSize, v.y // self.chunkSize

    def get_next_point_after(self, pointIndex, indexDelta):
        pointIndex += indexDelta
        if pointIndex >= len(self.points):
            if self.track_loop:
                pointIndex -= len(self.points)
            else:
                pointIndex = len(self.points) - 1
        return self.points[pointIndex]

    def get_nearest(self, position: Vector2):
        cx, cy = self.get_chunk_for(position)
        dsqr = float('inf')
        nearest = self.points[0]
        for x in range(-1, 2):
            for y in range(-1, 2):
                if (cx + x, cy + y) in self.pointsChunks:
                    for p in self.pointsChunks[(cx + x, cy + y)]:
                        _t = (position - p[0]).dist_sqr()
                        if _t < dsqr:
                            dsqr = _t
                            nearest = p
        return nearest

    def generateSquareTrack(self):
        self.track_loop = True
        n = 100
        width = 200
        height = 100
        points = []
        for i in range(n):
            t = i / n
            x = -1
            y = -1
            if t < 1/6:
                x = 0
                y = (t / (1/6)) * height
            elif t < 3/6:
                x = ((t - (1/6)) / (2/6)) * width
                y = height
            elif t < 4/6:
                x = width
                y = (1 - (t - (3/6)) / (1/6)) * height
            elif t < 1:
                x = (1 - (t - (4/6)) / (2/6)) * width
                y = 0
            points.append([Vector2(x, y), i])
        return self.smoothTrack(points, 60)

    def generateSTrack(self):
        self.track_loop = False
        n = 100
        width = 200
        height = 100
        points = []
        for i in range(n):
            t = i / n
            x = -1
            y = -1
            if t < 0.25:
                x = 0
                y = (t / 0.25) * height
            elif t < 0.75:
                x = ((t - 0.25) / 0.5) * width
                y = height
            elif t < 1:
                x = width
                y = (1 - (t - 0.75) / 0.25) * height
            points.append([Vector2(x, y), i])
        return self.smoothTrack(points, 60)

    def generateOTrack(self):
        self.track_loop = True
        n = 100
        width = 100
        height = 100
        points = []
        for i in range(n):
            t = i / n
            x = width + self.trackWidth / 2
            y = 0
            x -= math.cos(t * 2 * math.pi) * width
            y -= math.sin(t * 2 * math.pi) * height
            points.append([Vector2(x, y), i])
        return self.smoothTrack(points, 1)

    def generateHalfOTrack(self):
        self.track_loop = True
        n = 100
        width = 100
        height = 100
        points = []
        for i in range(n):
            t = i / n
            x = width - self.trackWidth
            y = 0
            if t < 0.5:
                x -= math.cos(t * 2 * math.pi) * width
                y -= math.sin(t * 2 * math.pi) * height
            elif t < 1:
                x = (1 - (t - 0.5) / 0.5) * 2 * width - self.trackWidth
                y = 0
            points.append([Vector2(x, y), i])
        return self.smoothTrack(points, 60)

    def smoothTrack(self, points, toleranceDiv: int = 40):
        _maxdelta = 0
        for i in range(len(points)):
            if i == 0 or i == len(points) - 1:
                continue
            delta = (points[i][0] - points[i - 1][0]) - (points[i + 1][0] - points[i][0])
            _maxdelta = max(delta.dist_sqr(), _maxdelta)
        tolerance = _maxdelta / toleranceDiv

        smoothed = False
        skipAhead = False
        while not smoothed:
            smoothed = True
            for i in range(len(points)):
                if skipAhead:
                    skipAhead = False
                    continue
                prevI = i - 1
                nextI = i + 1
                if prevI < 0:
                    if not self.track_loop:
                        continue
                    prevI = -1
                if nextI >= len(points):
                    if not self.track_loop:
                        continue
                    nextI = 0
                delta = (points[i][0] - points[prevI][0]) - (points[nextI][0] - points[i][0])
                if delta.dist_sqr() > tolerance * tolerance:
                    points[i][0].x = (points[prevI][0].x + points[nextI][0].x) / 2
                    points[i][0].y = (points[prevI][0].y + points[nextI][0].y) / 2
                    skipAhead = True
                    smoothed = False
        return points