#! /usr/bin/env python3
# -*- coding: utf-8 -*-
# File : body_utils.py
# Author : Jiayuan Mao
# Email : maojiayuan@gmail.com
# Date : 06/21/2022
#
# This file is part of Project Concepts.
# Distributed under terms of the MIT license.
import random
import numpy as np
import pymunk
from typing import Optional, Iterable, Tuple, Sequence
from concepts.utils.typing_utils import Vec4i
from .world import PymunkWorld
from .constants import color_consts
__all__ = [
'get_screen_size', 'get_body_bbox',
'add_ball', 'add_box',
'add_shape_I', 'add_shape_L', 'add_shape_T', 'add_shape_C',
'random_body_pos',
'select_body'
]
[docs]
def get_screen_size() -> Tuple[int, int]:
import pygame
screen_width, screen_height = pygame.display.get_window_size()
return screen_width, screen_height
[docs]
def get_body_bbox(body: pymunk.Body) -> pymunk.BB:
bb = pymunk.BB()
for s in body.shapes:
bb = bb.merge(s.cache_bb())
return bb
[docs]
def convex_decomposition(vertices: Sequence[Tuple[float, float]]) -> Sequence[Sequence[Tuple[float, float]]]:
from py2d.Math.Polygon import Polygon
poly = Polygon.from_tuples(vertices)
parts = Polygon.convex_decompose(poly)
return [part.as_tuple_list() for part in parts]
[docs]
def add_polygon(
world: PymunkWorld, vertices: Sequence[Tuple[float, float]],
mass: float = 1.0, pos: Optional[Tuple[float, float]] = None,
movable: bool = True, color: Vec4i = color_consts.BLACK,
use_convex_decomposition: bool = False, **kwargs
):
if use_convex_decomposition:
inertia = pymunk.moment_for_poly(mass, vertices)
body = pymunk.Body(mass, inertia, body_type=pymunk.Body.DYNAMIC if movable else pymunk.Body.STATIC)
shapes = list()
for part in convex_decomposition(vertices):
shape = pymunk.Poly(body, part)
shape.color = color
shape.friction = 1.0
shape.elasticity = 0.8
shapes.append(shape)
body.position = pos if pos is not None else random_body_pos(world, body)
return world.add_body(body, shapes=shapes, **kwargs)
else:
inertia = pymunk.moment_for_poly(mass, vertices)
body = pymunk.Body(mass, inertia, body_type=pymunk.Body.DYNAMIC if movable else pymunk.Body.STATIC)
shape = pymunk.Poly(body, vertices)
shape.color = color
shape.friction = 1.0
shape.elasticity = 0.8
body.position = pos if pos is not None else random_body_pos(world, body)
return world.add_body(body, **kwargs)
[docs]
def add_ball(world: PymunkWorld, mass: float = 1.0, radius: float = 14.0, pos: Optional[Tuple[float, float]] = None, **kwargs):
inertia = pymunk.moment_for_circle(mass, 0, radius, (0, 0))
body = pymunk.Body(mass, inertia, body_type=pymunk.Body.DYNAMIC)
shape = pymunk.Circle(body, radius, (0, 0))
shape.color = color_consts.BLUE
shape.friction = 1.0
shape.elasticity = 0.8
body.position = pos if pos is not None else random_body_pos(world, body)
return world.add_body(body, **kwargs)
[docs]
def add_box(world: PymunkWorld, mass: float = 1.0, half_length: float = 14.0, pos: Optional[Tuple[float, float]] = None, **kwargs):
inertia = pymunk.moment_for_box(mass, (half_length * 2, half_length * 2))
body = pymunk.Body(mass, inertia)
shape = pymunk.Poly(body, [(-half_length, -half_length), (half_length, -half_length), (half_length, half_length), (-half_length, half_length)])
shape.color = color_consts.BLUE
shape.friction = 1.0
shape.elasticity = 0.8
body.position = pos if pos is not None else random_body_pos(world, body)
return world.add_body(body, **kwargs)
[docs]
def add_rectangle(world: PymunkWorld, mass: float = 1.0, width: float = 14.0, height: float = 14.0, radius: float = 2.0, pos: Optional[Tuple[float, float]] = None, orientation: float = 0.0, **kwargs):
"""Add a rectangle to the world.
Args:
world: the world to add the rectangle to.
mass: the mass of the rectangle.
width: the width of the rectangle (along the x-axis).
height: the height of the rectangle (along the y-axis).
radius: the radius of the rectangle's corners.
pos: the position of the rectangle.
orientation: the orientation of the rectangle, in degrees.
**kwargs: additional arguments to pass to the world.add_body method.
"""
inertia = pymunk.moment_for_box(mass, (width, height))
body = pymunk.Body(mass, inertia)
shape = pymunk.Poly.create_box(body, (width, height), radius=radius)
shape.color = color_consts.BLUE
shape.friction = 1.0
shape.elasticity = 0.8
body.position = pos if pos is not None else random_body_pos(world, body)
body.angle = np.deg2rad(orientation)
return world.add_body(body, **kwargs)
[docs]
def add_shape_I(world: PymunkWorld, length: float = 200, thickness: float = 3, pos: Optional[Tuple[float, float]] = None, **kwargs):
body = pymunk.Body(body_type=pymunk.Body.KINEMATIC)
shape = pymunk.Segment(body, (0, 0), (0, length), thickness)
shape.color = color_consts.BLACK
shape.friction = 1.0
body.position = pos if pos is not None else random_body_pos(world, body)
return world.add_body(body, **kwargs)
[docs]
def add_shape_L(world: PymunkWorld, length1: float = 200, length2: float = 50, thickness: float = 3, pos: Optional[Tuple[float, float]] = None, **kwargs):
body = pymunk.Body(body_type=pymunk.Body.KINEMATIC)
shape1 = pymunk.Segment(body, (0, 0), (0, length1), thickness)
shape1.color = color_consts.BLACK
shape1.friction = 1.0
shape2 = pymunk.Segment(body, (0, 0), (length2, 0), thickness)
shape2.color = color_consts.BLACK
shape2.friction = 1.0
body.position = pos if pos is not None else random_body_pos(world, body)
return world.add_body(body, **kwargs)
[docs]
def add_shape_T(world: PymunkWorld, length1: float = 200, length2: float = 50, thickness: float = 3, pos: Optional[Tuple[float, float]] = None, dynamic=False, **kwargs):
if dynamic:
body = pymunk.Body(body_type=pymunk.Body.DYNAMIC, mass=1.0, moment=100)
else:
body = pymunk.Body(body_type=pymunk.Body.KINEMATIC)
shape1 = pymunk.Segment(body, (0, 0), (0, length1), thickness)
shape1.color = color_consts.BLACK
shape1.friction = 1.0
shape2 = pymunk.Segment(body, (-length2, 0), (+length2, 0), thickness)
shape2.color = color_consts.BLACK
shape2.friction = 1.0
body.position = pos if pos is not None else random_body_pos(world, body)
return world.add_body(body, **kwargs)
[docs]
def add_shape_C(world: PymunkWorld, length1: float = 200, length2: float = 50, length3: float = 25, thickness: float = 3, pos: Optional[Tuple[float, float]] = None, **kwargs):
body = pymunk.Body(body_type=pymunk.Body.KINEMATIC)
shape1 = pymunk.Segment(body, (0, 0), (0, length1), thickness)
shape1.color = color_consts.BLACK
shape2 = pymunk.Segment(body, (-length2, 0), (+length2, 0), thickness)
shape2.color = color_consts.BLACK
shape3 = pymunk.Segment(body, (-length2, 0), (-length2, -length3), thickness)
shape3.color = color_consts.BLACK
shape4 = pymunk.Segment(body, (+length2, 0), (+length2, -length3), thickness)
shape4.color = color_consts.BLACK
body.position = pos if pos is not None else random_body_pos(world, body)
return world.add_body(body, **kwargs)
[docs]
def random_body_pos(world: PymunkWorld, body: pymunk.Body) -> Tuple[float, float]:
bb = get_body_bbox(body)
obj_width = int(bb.right - bb.left) // 2 + 1
obj_height = int(bb.top - bb.bottom) // 2 + 1
return (random.randint(obj_width, world.screen_width - obj_width), random.randint(obj_height, world.screen_height - obj_height))
[docs]
def select_body(world: PymunkWorld, pos: Tuple[float, float], selectable_bodies: Optional[Iterable[pymunk.Body]] = None):
if selectable_bodies is None:
selectable_bodies = world.bodies
for b in selectable_bodies:
for s in b.shapes:
info = s.point_query(pos)
if info.distance < 0:
return b
return None