问题描述
def _create_track(self):
CHECKPOINTS = 12 #number of corners
# Create checkpoints
checkpoints = []
for c in range(CHECKPOINTS):
noise = self.np_random.uniform(0,2 * math.pi * 1 / CHECKPOINTS)
alpha = 2 * math.pi * c / CHECKPOINTS + noise
rad = self.np_random.uniform(TRACK_RAD / 3,TRACK_RAD)
if c == 0:
alpha = 0
rad = 1.5 * TRACK_RAD
if c == CHECKPOINTS - 1:
alpha = 2 * math.pi * c / CHECKPOINTS
self.start_alpha = 2 * math.pi * (-0.5) / CHECKPOINTS
rad = 1.5 * TRACK_RAD
checkpoints.append((alpha,rad * math.cos(alpha),rad * math.sin(alpha)))
self.road = []
# Go from one checkpoint to another to create track
x,y,beta = 1.5 * TRACK_RAD,0
dest_i = 0
laps = 0
track = []
no_freeze = 2500
visited_other_side = False
while True:
alpha = math.atan2(y,x)
if visited_other_side and alpha > 0:
laps += 1
visited_other_side = False
if alpha < 0:
visited_other_side = True
alpha += 2 * math.pi
while True: # Find destination from checkpoints
failed = True
while True:
dest_alpha,dest_x,dest_y = checkpoints[dest_i % len(checkpoints)]
if alpha <= dest_alpha:
failed = False
break
dest_i += 1
if dest_i % len(checkpoints) == 0:
break
if not failed:
break
alpha -= 2 * math.pi
continue
r1x = math.cos(beta)
r1y = math.sin(beta)
p1x = -r1y
p1y = r1x
dest_dx = dest_x - x # vector towards destination
dest_dy = dest_y - y
# destination vector projected on rad:
proj = r1x * dest_dx + r1y * dest_dy
while beta - alpha > 1.5 * math.pi:
beta -= 2 * math.pi
while beta - alpha < -1.5 * math.pi:
beta += 2 * math.pi
prev_beta = beta
proj *= SCALE
if proj > 0.3:
beta -= min(TRACK_TURN_RATE,abs(0.001 * proj))
if proj < -0.3:
beta += min(TRACK_TURN_RATE,abs(0.001 * proj))
x += p1x * TRACK_DETAIL_STEP
y += p1y * TRACK_DETAIL_STEP
track.append((alpha,prev_beta * 0.5 + beta * 0.5,x,y))
if laps > 4:
break
no_freeze -= 1
if no_freeze == 0:
break
# Find closed loop range i1..i2,first loop should be ignored,second is OK
i1,i2 = -1,-1
i = len(track)
while True:
i -= 1
if i == 0:
return False # Failed
pass_through_start = (
track[i][0] > self.start_alpha and track[i - 1][0] <= self.start_alpha
)
if pass_through_start and i2 == -1:
i2 = i
elif pass_through_start and i1 == -1:
i1 = i
break
if self.verbose == 1:
print("Track generation: %i..%i -> %i-tiles track" % (i1,i2,i2 - i1))
assert i1 != -1
assert i2 != -1
track = track[i1 : i2 - 1]
first_beta = track[0][1]
first_perp_x = math.cos(first_beta)
first_perp_y = math.sin(first_beta)
# Length of perpendicular jump to put together head and tail
well_glued_together = np.sqrt(
np.square(first_perp_x * (track[0][2] - track[-1][2]))
+ np.square(first_perp_y * (track[0][3] - track[-1][3]))
)
if well_glued_together > TRACK_DETAIL_STEP:
return False
# Red-white border on hard turns
border = [False] * len(track)
for i in range(len(track)):
good = True
oneside = 0
for neg in range(BORDER_MIN_COUNT):
beta1 = track[i - neg - 0][1]
beta2 = track[i - neg - 1][1]
good &= abs(beta1 - beta2) > TRACK_TURN_RATE * 0.2
oneside += np.sign(beta1 - beta2)
good &= abs(oneside) == BORDER_MIN_COUNT
border[i] = good
for i in range(len(track)):
for neg in range(BORDER_MIN_COUNT):
border[i - neg] |= border[i]
# Create tiles
for i in range(len(track)):
alpha1,beta1,x1,y1 = track[i]
alpha2,beta2,x2,y2 = track[i - 1]
road1_l = (
x1 - TRACK_WIDTH * math.cos(beta1),y1 - TRACK_WIDTH * math.sin(beta1),)
road1_r = (
x1 + TRACK_WIDTH * math.cos(beta1),y1 + TRACK_WIDTH * math.sin(beta1),)
road2_l = (
x2 - TRACK_WIDTH * math.cos(beta2),y2 - TRACK_WIDTH * math.sin(beta2),)
road2_r = (
x2 + TRACK_WIDTH * math.cos(beta2),y2 + TRACK_WIDTH * math.sin(beta2),)
vertices = [road1_l,road1_r,road2_r,road2_l]
self.fd_tile.shape.vertices = vertices
t = self.world.CreateStaticBody(fixtures=self.fd_tile)
t.userData = t
c = 0.01 * (i % 3)
t.color = [ROAD_COLOR[0] + c,ROAD_COLOR[1] + c,ROAD_COLOR[2] + c]
t.road_visited = False
t.road_friction = 1.0
t.fixtures[0].sensor = True
self.road_poly.append(([road1_l,road2_l],t.color))
self.road.append(t)
if border[i]:
side = np.sign(beta2 - beta1)
b1_l = (
x1 + side * TRACK_WIDTH * math.cos(beta1),y1 + side * TRACK_WIDTH * math.sin(beta1),)
b1_r = (
x1 + side * (TRACK_WIDTH + BORDER) * math.cos(beta1),y1 + side * (TRACK_WIDTH + BORDER) * math.sin(beta1),)
b2_l = (
x2 + side * TRACK_WIDTH * math.cos(beta2),y2 + side * TRACK_WIDTH * math.sin(beta2),)
b2_r = (
x2 + side * (TRACK_WIDTH + BORDER) * math.cos(beta2),y2 + side * (TRACK_WIDTH + BORDER) * math.sin(beta2),)
self.road_poly.append(
([b1_l,b1_r,b2_r,b2_l],(1,1,1) if i % 2 == 0 else (1,0))
)
self.track = track
return True
原始脚本在每一集中都会创建随机的闭环赛道。经过一些试验，我设法保存了所需（仍然是随机的）轨道的参数并重新创建了轨道，但现在我想制作具有特定类型拐角的轨道，这些拐角不一定是封闭的，甚至更好地创建一个开环跟踪具有特定半径和角度的单个角落。 我想创建各种类型的角并从中获取模拟数据，以便工作和进行分析。 我想知道是否有人可以帮助我实施或提供有关如何解决此问题的信息。
解决方法
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