import bge # Blender Game Engine (UPBGE) import bpy # Blender import aud # Sounds import threading # Multithreading import trace import sys import time import math import mathutils import random import rp_map1 as rp_map # Map definition ############################################################################### # rp_lib.py # @title: Bibliothèque du Rover Ropy (rp_*) # @project: Ropy (Blender-EduTech) # @lang: fr # @authors: Philippe Roy # @copyright: Copyright (C) 2020-2022 Philippe Roy # @license: GNU GPL # # Bibliothèque des actions du robot # # Ropy est destiné à la découverte de la programmation procédurale et du language Python. # A travers plusieurs challenges, donc de manière graduée, les élèves vont apprendre à manipuler les structures algorithmiques de base et à les coder en Python. # ############################################################################### scene = bge.logic.getCurrentScene() # Colors purple = (0.202, 0.114, 0.521,1) turquoise = (0.051, 0.270, 0.279,1) magenta = (0.799, 0.005, 0.314,1) orange = (0.799, 0.130, 0.063,1) yellow = (0.799, 0.617, 0.021, 1) green = (0.246, 0.687, 0.078, 1) red = (0.799, 0.031, 0.038, 1) blue = (0.127, 0.456, 1.000, 1) black = (0, 0, 0, 1) color_text = (0, 0, 0, 1) # Noir color_text_red = (0.799, 0.031, 0.038, 1) color_text_orange = (0.799, 0.176, 0.054, 1) color_text_yellow = (0.799, 0.617, 0.021, 1) # ray_yellow = (0.799, 0.617, 0.021, 1) # [0.8, 0.619, 0.021]) # ray_blue = (0.127, 0.456, 1.000, 1) # ray_black = (0, 0, 0, 1) color_kaykit_black = (0.019, 0.032, 0.037, 1) # Sounds # audiodev = aud.Device() # snd_build = aud.Sound('asset/sounds/build.wav') # sndbuff_build = aud.Sound.cache(snd_build) # snd_archer = aud.Sound('asset/sounds/archer.wav') # sndbuff_archer = aud.Sound.cache(snd_archer) # snd_mage = aud.Sound('asset/sounds/mage.wav') # sndbuff_mage = aud.Sound.cache(snd_mage) # snd_life = aud.Sound('asset/sounds/life.ogg') # sndbuff_life = aud.Sound.cache(snd_life) threads_cmd=[] debug_thread = scene.objects['Terrain']['debug_thread'] # UPBGE constants JUST_ACTIVATED = bge.logic.KX_INPUT_JUST_ACTIVATED JUST_RELEASED = bge.logic.KX_INPUT_JUST_RELEASED ACTIVATE = bge.logic.KX_INPUT_ACTIVE # JUST_DEACTIVATED = bge.logic.KX_SENSOR_JUST_DEACTIVATED ############################################################################### # Méthode kill pour les tâches (threads) ############################################################################### class thread_with_trace(threading.Thread): def __init__(self, *args, **keywords): threading.Thread.__init__(self, *args, **keywords) self.killed = False def start(self): self.__run_backup = self.run self.run = self.__run threading.Thread.start(self) def __run(self): sys.settrace(self.globaltrace) self.__run_backup() self.run = self.__run_backup def globaltrace(self, frame, event, arg): if event == 'call': return self.localtrace else: return None def localtrace(self, frame, event, arg): if self.killed: if event == 'line': raise SystemExit() return self.localtrace def kill(self): self.killed = True ############################################################################### # Start et stop des tâches (threads) ############################################################################### def thread_start(threads, type_txt, fct): threads.append(thread_with_trace(target = fct)) threads[len(threads)-1].start() if (debug_thread): print ("Thread",type_txt, "#", len(threads)-1, "open.") def thread_stop(threads, type_txt): i=0 zombie_flag=False for t in threads: if not t.is_alive(): if (debug_thread): print ("Thread",type_txt, "#",i,"closed.") else: if (debug_thread): print ("Thread",type_txt, "#",i,"still open ...") t.kill() t.join() if not t.is_alive(): if (debug_thread): print ("Thread",type_txt, "#",i,"killed.") else: if (debug_thread): print ("Thread",type_txt, "#",i,"zombie...") zombie_flag=True i +=1 if zombie_flag==False: if (debug_thread): print ("All threads",type_txt, "are closed.") scene.objects['Terrain']['thread_cmd']=False return True else: if (debug_thread): print ("There are zombies threads",type_txt, ".") return False def thread_cmd_start(fct): thread_start(threads_cmd, "commands", fct) def thread_cmd_stop(): thread_stop(threads_cmd, "commands") def rp_end(): if (debug_thread): print ("Thread commands is arrived.") scene.objects['Terrain']['thread_cmd']=False def rp_fin(): rp_end() def rp_quit(): rp_end() ############################################################################### # Sounds ############################################################################### # FIXME : Sound crash in Windows (very strange : blender, UPBGE, python ?), no music for Bill def sound_play (sound): if scene.objects['Commands']['sound'] and sys.platform!="win32": audiodev.play(sound) ############################################################################### # Rover fonction élèves ############################################################################### ## # Avancer le rover ## def rp_avancer (): obj=scene.objects['Rover'] # Pas de mouvement si colision ou objectif if obj['stop']: return False # Contrôle colision x0 = obj.worldPosition.x y0 = obj.worldPosition.y z0 = obj.worldPosition.z if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud x1 = x0 y1 = y0-1 if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi,2) or round(obj.worldOrientation.to_euler().z, 2) == - round(math.pi,2) : # Nord x1 = x0 y1 = y0+1 if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == -round(3*(math.pi/2),2) : # Est x1 = x0+1 y1 = y0 if round(obj.worldOrientation.to_euler().z, 2) == round(-math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == round(3*(math.pi/2),2) : # Ouest x1 = x0-1 y1 = y0 if [x1,y1] in scene.objects['Terrain']['map_tile_montain']: print ("Crash dans la montagne !") rover_colision_montain () obj['stop'] = True if [x1,y1] in scene.objects['Terrain']['map_tile_station']: print ("Crash dans la station !") rover_colision_station () obj['stop'] = True if x1 < scene.objects['Terrain']['size'][0] or x1 > scene.objects['Terrain']['size'][2] or y1 < scene.objects['Terrain']['size'][1] or y1 > scene.objects['Terrain']['size'][3] : print ("Sortie de carte !") obj['stop'] = True if obj['stop']: return False # Points et console print ("rp_avancer()") scene.objects['Points']['step'] +=1 # Animation rapide if scene.objects['Commands']['speed'] == 10: x0 = obj.worldPosition.x y0 = obj.worldPosition.y z0 = obj.worldPosition.z if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud obj.worldPosition=[x0, y0-1, z0] if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi,2) or round(obj.worldOrientation.to_euler().z, 2) == - round(math.pi,2) : # Nord obj.worldPosition=[x0, y0+1, z0] if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == -round(3*(math.pi/2),2) : # Est obj.worldPosition=[x0+1, y0, z0] if round(obj.worldOrientation.to_euler().z, 2) == round(-math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == round(3*(math.pi/2),2) : # Ouest obj.worldPosition=[x0-1, y0, z0] rp_tempo (0.1) # FIXME : Animation sacadée # step =1/100 # print (obj.worldOrientation.to_euler().z) # x0 = obj.worldPosition.x # y0 = obj.worldPosition.y # z0 = obj.worldPosition.z # for i in range (100) : # if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud # obj.worldPosition=[x0, y0-step*i, z0] # if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi,2) or round(obj.worldOrientation.to_euler().z, 2) == - round(math.pi,2) : # Nord # obj.worldPosition=[x0, y0+step*i, z0] # if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == -round(3*(math.pi/2),2) : # Est # obj.worldPosition=[x0+step*i, y0, z0] # if round(obj.worldOrientation.to_euler().z, 2) == round(-math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == round(3*(math.pi/2),2) : # Ouest # obj.worldPosition=[x0-step*i, y0, z0] # rp_tempo (0.1*step) # Animation if scene.objects['Commands']['speed'] != 10: # obj['avancer_anim']=True start = 1 end = 100 layer = 0 priority = 1 blendin = 1.0 mode = bge.logic.KX_ACTION_MODE_PLAY layerWeight = 0.0 ipoFlags = 0 speed = scene.objects['Commands']['speed']*4 if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud obj.playAction('Rover-Avancer-Y-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) # obj.worldPosition=[x0, y0-step*i, z0] if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi,2) or round(obj.worldOrientation.to_euler().z, 2) == - round(math.pi,2) : # Nord obj.playAction('Rover-Avancer-Y+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) # obj.worldPosition=[x0, y0+step*i, z0] if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == -round(3*(math.pi/2),2) : # Est obj.playAction('Rover-Avancer-X+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) # obj.worldPosition=[x0+step*i, y0, z0] if round(obj.worldOrientation.to_euler().z, 2) == round(-math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == round(3*(math.pi/2),2) : # Ouest obj.playAction('Rover-Avancer-X-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) # obj.worldPosition=[x0-step*i, y0, z0] scene.objects['Wheel-right-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) while scene.objects['Wheel-right-front'].isPlayingAction(): # Forçage du redraw # scene.objects['Camera'].applyMovement((0, 0, 0), True) scene.objects['Sun'].applyMovement((0, 0, 0), True) rp_tempo (0.1) # Contrôle objectif if rp_map.objectif_control(x1,y1): rover_goal () return True ## # Tourner à gauche ## def rp_gauche (): obj=scene.objects['Rover'] # Pas de mouvement si colision ou objectif if obj['stop']: return False # Points et console print ("rp_gauche()") scene.objects['Points']['step'] +=1 step=math.pi/2 # Pas angulaire # Animation rapide if scene.objects['Commands']['speed'] == 10: obj.applyRotation((0, 0, step), True) rp_tempo (0.1) return True # Animation start = 1 end = 100 layer = 0 priority = 1 blendin = 1.0 mode = bge.logic.KX_ACTION_MODE_PLAY layerWeight = 0.0 ipoFlags = 0 speed = scene.objects['Commands']['speed']*4 obj.playAction('Rover-Gauche', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-front'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-mid'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-rear'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) while scene.objects['Wheel-right-front'].isPlayingAction(): # Forçage du redraw # scene.objects['Camera'].applyMovement((0, 0, 0), True) scene.objects['Sun'].applyMovement((0, 0, 0), True) rp_tempo (0.1) return True ## # Tourner à droite ## def rp_droite (): obj=scene.objects['Rover'] # Pas de mouvement si colision ou objectif if obj['stop']: return False # Points et console print ("rp_droite()") scene.objects['Points']['step'] +=1 step=math.pi/2 # Pas angulaire # Rapide if scene.objects['Commands']['speed'] == 10: obj.applyRotation((0, 0, -step), True) rp_tempo (0.1) return True # Animation start = 1 end = 100 layer = 0 priority = 1 blendin = 1.0 mode = bge.logic.KX_ACTION_MODE_PLAY layerWeight = 0.0 ipoFlags = 0 speed = scene.objects['Commands']['speed']*4 obj.playAction('Rover-Droite', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-front'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-mid'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-rear'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) while scene.objects['Wheel-right-front'].isPlayingAction(): # Forçage du redraw # scene.objects['Camera'].applyMovement((0, 0, 0), True) scene.objects['Sun'].applyMovement((0, 0, 0), True) rp_tempo (0.1) return True ## # Marquer ## def rp_marquer (): obj=scene.objects['Rover'] # Pas de mouvement si colision ou objectif if obj['stop']: return False # Points et console print ("rp_marquer() -> balise #"+ str(len(scene.objects['Terrain']['map_tile_beacon']))) rp_tempo (0.1) x = obj.worldPosition.x y = obj.worldPosition.y z = obj.worldPosition.z # Vérification de l'absence de balise sur la tuile if [x,y] in scene.objects['Terrain']['map_tile_beacon'] : print ("Case déjà marquée !") return False for i in range (150): beacon = scene.objects["Beacon-"+str(i)] if beacon['activated']==False: beacon.worldPosition=[x,y,0.2] beacon['activated']=True beacon.setVisible(True, True) scene.objects['Terrain']['map_tile_beacon'].append([x,y]) break if i ==149 : print ("Plus de balise disponible !") # beacon= scene.addObject("Beacon", scene.objects['Terrain']) # beacon.worldPosition=[x,y,0.2] rp_tempo (0.1) return True ## # Détecter ## def rp_detect (): obj=scene.objects['Rover'] # Pas de mouvement si colision ou objectif if obj['stop']: return True # Points et console print ("rp_detect") # Détection x0 = obj.worldPosition.x y0 = obj.worldPosition.y z0 = obj.worldPosition.z if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud x1 = x0 y1 = y0-1 if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi,2) or round(obj.worldOrientation.to_euler().z, 2) == - round(math.pi,2) : # Nord x1 = x0 y1 = y0+1 if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == -round(3*(math.pi/2),2) : # Est x1 = x0+1 y1 = y0 if round(obj.worldOrientation.to_euler().z, 2) == round(-math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == round(3*(math.pi/2),2) : # Ouest x1 = x0-1 y1 = y0 if [x1,y1] in scene.objects['Terrain']['map_tile_montain']: print ("Présence de montage devant !") if scene.objects['Points']['mission']==3: # Contrôle objectif mission 3 rover_goal () return True if [x1,y1] in scene.objects['Terrain']['map_tile_station']: print ("Présence de la station devant !") if scene.objects['Points']['mission']==3: # Contrôle objectif mission 3 rover_goal () return True if [x1,y1] in scene.objects['Terrain']['map_tile_station']: print ("Sortie de carte devant !") if scene.objects['Points']['mission']==3: # Contrôle objectif mission 3 rover_goal () return True return False ## # Prendre ## def rp_prendre (): obj=scene.objects['Rover'] # Pas de mouvement si colision ou objectif if obj['stop']: return False # Points et console print ("rp_prendre") # FIXME ## # Radar ## def rp_radar (): obj=scene.objects['Rover'] # Pas de mouvement si colision ou objectif if obj['stop']: return False # Points et console print ("rp_radar") # FIXME ############################################################################### # Colision ############################################################################### ## # Montagne ## def rover_colision_montain (): obj=scene.objects['Rover'] # Animation start = 1 end = 120 layer = 0 priority = 1 blendin = 1.0 mode = bge.logic.KX_ACTION_MODE_PLAY layerWeight = 0.0 ipoFlags = 0 speed = scene.objects['Commands']['speed']*2 if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud obj.playAction('Rover-Crash-Y-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi,2) or round(obj.worldOrientation.to_euler().z, 2) == - round(math.pi,2) : # Nord obj.playAction('Rover-Crash-Y+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == -round(3*(math.pi/2),2) : # Est obj.playAction('Rover-Crash-X+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) if round(obj.worldOrientation.to_euler().z, 2) == round(-math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == round(3*(math.pi/2),2) : # Ouest obj.playAction('Rover-Crash-X-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) while scene.objects['Wheel-right-front'].isPlayingAction(): # Forçage du redraw scene.objects['Sun'].applyMovement((0, 0, 0), True) rp_tempo (0.1) return True ## # Station ## def rover_colision_station (): obj=scene.objects['Rover'] # Animation start = 1 end = 120 layer = 0 priority = 1 blendin = 1.0 mode = bge.logic.KX_ACTION_MODE_PLAY layerWeight = 0.0 ipoFlags = 0 speed = scene.objects['Commands']['speed']*2 if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud obj.playAction('Rover-CrashStation-Y-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi,2) or round(obj.worldOrientation.to_euler().z, 2) == - round(math.pi,2) : # Nord obj.playAction('Rover-CrashStation-Y+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == -round(3*(math.pi/2),2) : # Est obj.playAction('Rover-CrashStation-X+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) if round(obj.worldOrientation.to_euler().z, 2) == round(-math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == round(3*(math.pi/2),2) : # Ouest obj.playAction('Rover-CrashStation-X-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) while scene.objects['Wheel-right-front'].isPlayingAction(): # Forçage du redraw scene.objects['Sun'].applyMovement((0, 0, 0), True) rp_tempo (0.1) return True ############################################################################### # Goal ############################################################################### def rover_goal (): obj=scene.objects['Rover'] print ("Goal !!") obj['stop'] = True # Animation start = 1 end = 160 layer = 0 priority = 1 blendin = 1.0 mode = bge.logic.KX_ACTION_MODE_PLAY layerWeight = 0.0 ipoFlags = 0 speed = scene.objects['Commands']['speed']*4 if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi,2) or round(obj.worldOrientation.to_euler().z, 2) == - round(math.pi,2) : # Nord rp_gauche() rp_gauche() if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == -round(3*(math.pi/2),2) : # Est rp_droite() if round(obj.worldOrientation.to_euler().z, 2) == round(-math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == round(3*(math.pi/2),2) : # Ouest rp_gauche() speed = scene.objects['Commands']['speed'] scene.objects['Rover'].playAction('Rover-Obj1', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Mast'].playAction('Mast-Obj1', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Mast-cap'].playAction('Mast-cap-Obj1', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-right-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) scene.objects['Wheel-left-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed) while scene.objects['Wheel-right-front'].isPlayingAction(): # Forçage du redraw scene.objects['Sun'].applyMovement((0, 0, 0), True) rp_tempo (0.1) # Level # print ("scene.objects['Points']['mission'] :", scene.objects['Points']['mission']) # print ("scene.objects['Points']['level'] :", scene.objects['Points']['level']) if scene.objects['Points']['mission']==scene.objects['Points']['level']: scene.objects['Points']['level']+=1 def map_aim_near (cont): pass # obj = cont.owner # sensor = obj.sensors['Near'] # if sensor.positive : # print ("Goall !!") # rover_goal() ############################################################################### # Temporisation ############################################################################### # Temporisation basée sur l'horloge de l'OS def rp_sleep (duration): time.sleep(duration) # Temporisation basée par l'horloge de UPBGE def rp_tempo (duration): # time.sleep(duration*(1/scene.objects['Commands']['speed'])) scene.objects['Commands']['time']=0 while scene.objects['Commands']['time']