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-############################################################################### -# 7-labyrinthe.py -# @title: Module (unique) de la scène 3D du labyrinthe à bille -# @project: Blender-EduTech - Tutoriel 7 : Labyrinthe à bille - Commander le labyrinthe par machine learning -# @lang: fr -# @authors: Philippe Roy -# @copyright: Copyright (C) 2023 Philippe Roy -# @license: GNU GPL -# -# Commandes déclenchées par UPBGE pour le scène du labyrinthe -# -############################################################################### - -# Récupérer la scène 3D -scene = bge.logic.getCurrentScene() -# print("Objets de la scene : ", scene.objects) # Lister les objets de la scène - -# Constantes - -JUST_ACTIVATED = bge.logic.KX_INPUT_JUST_ACTIVATED -JUST_RELEASED = bge.logic.KX_INPUT_JUST_RELEASED -ACTIVATE = bge.logic.KX_INPUT_ACTIVE - -############################################################################### -# Gestion du clavier -############################################################################### - -# Flèches pour tourner le plateau -def clavier(cont): - obj = cont.owner # obj est l'objet associé au contrôleur donc 'Plateau' - # obj = scene.objects['Plateau'] - keyboard = bge.logic.keyboard - resolution = 0.01 - - # Flèche haut - Up arrow - if keyboard.inputs[bge.events.UPARROWKEY].status[0] == ACTIVATE: - obj.applyRotation((-resolution,0,-obj.worldOrientation.to_euler().z), False) - - # Flèche bas - Down arrow - if keyboard.inputs[bge.events.DOWNARROWKEY].status[0] == ACTIVATE: - obj.applyRotation((resolution,0,-obj.worldOrientation.to_euler().z), False) - - # Flèche gauche - Left arrow - if keyboard.inputs[bge.events.LEFTARROWKEY].status[0] == ACTIVATE: - obj.applyRotation((0, -resolution,-obj.worldOrientation.to_euler().z), False) - - # Flèche droit - Right arrow - if keyboard.inputs[bge.events.RIGHTARROWKEY].status[0] == ACTIVATE: - obj.applyRotation((0, resolution, -obj.worldOrientation.to_euler().z), False) - -############################################################################### -# Gameplay -############################################################################### - -# Initialisation de la scène -def init(cont): - obj = cont.owner # obj est l'objet associé au contrôleur donc 'Bille' - - # Mémorisation de la position de départ de la bille - obj['init_x']=obj.worldPosition.x - obj['init_y']=obj.worldPosition.y - obj['init_z']=obj.worldPosition.z - - # Cacher le panneau de la victoire et suspendre la physique du panneau cliquable - scene.objects['Panneau victoire'].setVisible(False,True) - scene.objects['Panneau victoire - plan'].suspendPhysics (True) - scene.objects['Bouton fermer'].color = (0, 0, 0, 1) # Noir - -# Cycle (boucle de contrôle de la bille) -def cycle(cont): - obj = cont.owner # obj est l'objet associé au contrôleur donc 'Bille' - obj['z']=obj.worldPosition.z # la propriété z est mis à jour avec la position globale en z de la bille - - # Si l'altitude de bille < -10 et pas de victoire -> chute - if obj['z'] < -10 and obj['victoire'] == False: - print ("Chuuuu.....te") - depart() # Replacer la bille au départ - -# Départ de la bille -def depart(): - obj_bille = scene.objects['Bille'] - obj_plateau = scene.objects['Plateau'] - - # Replacement du plateau (tous les angles à 0 en plusieurs fois) - while obj_plateau.worldOrientation.to_euler().x != 0 and obj_plateau.worldOrientation.to_euler().y !=0 and obj_plateau.worldOrientation.to_euler().z !=0 : - obj_plateau.applyRotation((-obj_plateau.worldOrientation.to_euler().x, -obj_plateau.worldOrientation.to_euler().y, -obj_plateau.worldOrientation.to_euler().z), False) - - # Mettre la bille à la position de départ avec une vitesse nulle - obj_bille = scene.objects['Bille'] - obj_bille.worldLinearVelocity=(0, 0, 0) - obj_bille.worldAngularVelocity=(0, 0, 0) - obj_bille.worldPosition.x = obj_bille['init_x'] - obj_bille.worldPosition.y = obj_bille['init_y'] - obj_bille.worldPosition.z = obj_bille['init_z']+0.5 # On repose la bille - obj_bille['victoire']=False - obj_bille['chute'] = False - -# Victoire (collision de la bille avec l'arrivée) -def victoire(cont): - scene.objects['Bille']['victoire']=True - scene.objects['Panneau victoire'].setVisible(True,True) # Afficher le panneau de la victoire - scene.objects['Panneau victoire - plan'].restorePhysics() # Restaurer la physique du panneau cliquable - start = 1 - end = 100 - layer = 0 - priority = 1 - blendin = 1.0 - mode = bge.logic.KX_ACTION_MODE_PLAY - layerWeight = 0.0 - ipoFlags = 0 - speed = 1 - scene.objects['Panneau victoire'].playAction('Panneau victoireAction', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) - -# Highlight du bouton Fermer -def victoire_fermer_hl(cont): - obj = cont.owner - - # Activation - if cont.sensors['MO'].status == JUST_ACTIVATED: - obj.color = (1, 1, 1, 1) # Blanc - - # Désactivation - if cont.sensors['MO'].status == JUST_RELEASED: - obj.color = (0, 0, 0, 1) # Noir - -# Fermer le panneau de la victoire (clic) -def victoire_fermer(cont): - if cont.sensors['Click'].status == JUST_ACTIVATED and cont.sensors['MO'].positive: - scene.objects['Panneau victoire'].setVisible(False,True) # Cacher le panneau de la victoire - scene.objects['Panneau victoire - plan'].suspendPhysics (True) # Suspendre la physique du panneau cliquable - depart() # Replacer la bille au départ - -############################################################################### -# Gestion du Joystick (Joystick USB) -# Partie non abordée dans le tutoriel -############################################################################### - -def joystick(cont): - obj = cont.owner - joystickIndex = 0 #int from 0 to 6 - joy = bge.logic.joysticks[joystickIndex] - events = joy.activeButtons - axis = joy.axisValues[0:4] - resolution = 0.01 - - leftStick_x = axis[0]; leftStick_y = axis[1] - rightStick_x = axis[2]; rightStick_y = axis[3] - - #if any button is pressed - # if events: - # print(events) #spit out integer index of pressed buttons - # if 0 in events: - # doSomething() - - # Up - if leftStick_y <-0.1 : - obj.applyRotation((-resolution,0,0), False) - - # Down - if leftStick_y >0.1 : - obj.applyRotation((resolution,0,0), False) - - # Left - if leftStick_x <-0.1 : - obj.applyRotation((0, -resolution,0), False) - - # Right - if leftStick_x >0.1 : - obj.applyRotation((0, resolution,0), False) diff --git a/labyrinthe/README.md b/labyrinthe/README.md index 36cacf0..3411f1d 100644 --- a/labyrinthe/README.md +++ b/labyrinthe/README.md @@ -4,7 +4,7 @@ L'objectif de ce tutoriel est de créer une scène animée et interactive. Le su Ce tutoriel est une déclinaison pour UPBGE du projet n°1 du livre ["Créez vos propres jeux 3D comme les pros" (Éditions Graziel)](https://graziel.com/fr/livres/8-creez-vos-propres-jeux-3d-comme-les-pros-avec-le-blender-game-engine-9791093846002.html) de Grégory Gossellin De Bénicourt. -Il se décompose en 7 parties : +Il se décompose en 6 parties : ![titres](img/labyrinthe-titres.png) @@ -60,12 +60,6 @@ Il se décompose en 7 parties : - Commander manuellemet le labyrinthe physique - Suivre la bille réelle par OpenCV (par vision) - Caler le moteur physique Bullet avec le labyrinthe physique -- Commander par pathfinding + vision le labyrinthe physique +- Commander le labyrinthe physique par pathfinding + vision le labyrinthe physique - **Fichiers de départ : 4-labyrinthe.blend, 4-labyrinthe.py, 4-labyrinthe-imu.ino, labyrinthe_carte.py** - **Fichiers résultats : 6-labyrinthe.blend, 6-labyrinthe.py, 6-labyrinthe-arduino.ino, labyrinthe_carte.py** - -### Tutoriel 7 : Commander le labyrinthe par machine learning (en cours d'écriture) -- Installer la bibliothèque scikit-learn -- Mettre en place l'apprentissage -- **Fichiers de départ : 2-labyrinthe.blend, 2-labyrinthe.py** -- **Fichiers résultats : 7-labyrinthe.blend, 7-labyrinthe.py**