def Rope(verlet, startX, startY, links, linkLength, elasticity, pinFirst):
lastParticle = None
for i in range(0, links):
pin = Vector2D(
startX,
startY) if lastParticle == None and pinFirst == True else None
particle = Particle({
'vector': Vector2D(startX, startY),
'pinnedTo': pin
})
verlet.addParticle(particle)
if (lastParticle):
verlet.addConstraint(
Constraint({
'startParticle': particle,
'endParticle': lastParticle,
'stiffness': elasticity,
'objectID': random.randint(0, 100000),
'data': {
'drawn': True
}
}))
startX += linkLength
lastParticle = particle
def Triangle(verlet, startX, startY, size, elasticity, objectIndex):
particle1 = Particle({'vector': Vector2D(startX, startY)})
particle2 = Particle({'vector': Vector2D(startX + size, startY)})
particle3 = Particle({'vector': Vector2D(startX, startY + size)})
verlet.addParticle(particle1)
verlet.addParticle(particle2)
verlet.addParticle(particle3)
edge1 = Constraint({
'startParticle': particle1,
'endParticle': particle2,
'stiffness': 1,
'collides': True,
'objectID': objectIndex,
'data': {
'drawn': True
}
})
edge2 = Constraint({
'startParticle': particle2,
'endParticle': particle3,
'stiffness': 1,
'collides': True,
'objectID': objectIndex,
'data': {
'drawn': True
}
})
edge3 = Constraint({
'startParticle': particle3,
'endParticle': particle1,
'vstiffness': 1,
'collides': True,
'objectID': objectIndex,
'data': {
'drawn': True
}
})
verlet.addConstraint(edge1)
verlet.addConstraint(edge2)
verlet.addConstraint(edge3)
verlet.addBody(Body({
'edges': [edge1, edge2, edge3],
'collides': True
}))
def __init__(self, options):
self.vector = options['vector'] if 'vector' in options else Vector2D()
self.lastVector = self.vector.copy()
self.mass = options['mass'] if 'mass' in options else 1
self.pinnedTo = options['pinnedTo'] if 'pinnedTo' in options else None
self.collides = options['collides'] if 'collides' in options else False
self.objectID = options['objectID'] if 'objectID' in options else None
self.data = options['data'] if 'data' in options else {}
self.radius = options['radius'] if 'radius' in options else 0
def getCenter(self):
centerX = 0
centerY = 0
for i in range(0, len(self.uniqueVectors)):
centerX += self.uniqueVectors[i].x
centerY += self.uniqueVectors[i].y
return Vector2D(centerX / (len(self.uniqueVectors)),
centerY / (len(self.uniqueVectors)))
def __init__(self, options):
self.iterations = 2
self.constraintSnapCallback = None
self.useMass = False
self.particles = []
self.paused = False
self.gravity = Vector2D(0, 0.005)
self.constraints = []
self.bodies = []
self.stageMinVect = Vector2D(10, 10)
self.stageMaxVect = Vector2D(790, 490)
self.speedLimitMinVect = Vector2D(-4, -4)
self.speedLimitMaxVect = Vector2D(4, 4)
self.stageFriction = 0.001
if (options is not None):
if 'iterations' in options:
self.iterations = options['iterations']
if 'gravity' in options:
self.gravity = options['gravity']
if 'stageMinVect' in options:
self.stageMinVect = options['stageMinVect']
if 'stageMaxVect' in options:
self.stageMaxVect = options['stageMaxVect']
if 'speedLimitMinVect' in options:
self.speedLimitMinVect = options['speedLimitMinVect']
if 'speedLimitMaxVect' in options:
self.speedLimitMaxVect = options['speedLimitMaxVect']
if 'constraintSnapCallback' in options:
self.constraintSnapCallback = options['constraintSnapCallback']
if 'useMass' in options:
self.useMass = options['useMass']
if 'stageFriction' in options:
self.stageFriction = options['stageFriction']
def __init__(self, vect2DA=Vector2D(), vect2DB=Vector2D()):
self.ends = lambda: None
self.ends.startVect2D = vect2DA
self.ends.endVect2D = vect2DB
def rightNormal(self):
dx = self.ends.endVect2D.x - self.ends.startVect2D.x
dy = self.ends.endVect2D.y - self.ends.startVect2D.y
return Vector2D(dy, dx * -1)
def leftNormal(self):
dx = self.ends.endVect2D.x - self.ends.startVect2D.x
dy = self.ends.endVect2D.y - self.ends.startVect2D.y
return Vector2D(dy * -1, dx)
options = RGBMatrixOptions()
options.rows = 32
options.cols = 64
# options.brightness = self.args.led_brightness
matrix = RGBMatrix(options=options)
# init mpu9250
# https://github.com/FaBoPlatform/FaBo9AXIS-MPU9250-Python/blob/master/example/read9axis.py
mpu9250 = FaBo9Axis_MPU9250.MPU9250()
# init verlet
verlet = Integration({
'stageMinVect':
Vector2D(2, 2),
'stageMaxVect':
Vector2D(CANVAS_WIDTH - 2, CANVAS_HEIGHT - 2),
'gravity':
Vector2D(0, 0.05)
})
objectID = 0
for x in range(0, 2):
for y in range(0, 1):
Prefabs.Box(verlet, random.randint(0, CANVAS_WIDTH - 10),
random.randint(0, CANVAS_HEIGHT - 10), 10, 10,
random.randint(0, 360), True, 0.55, objectID)
objectID += 1
def getCollision(self, body):
# initialize the length of the collision vector to a relatively large value
minDistance = 10000
collisionAxis = None
collisionEdge = None
collisionVector = None
collisionEdgeBody = None
primaryBody = None
secondaryBody = None
# just a fancy way of iterating through all of the edges of both bodies at once
for i in range(0, len(self.edges) + len(body.edges)):
edge = None
if (i < len(self.edges)):
edge = self.edges[i].ends
else:
edge = body.edges[i - len(self.edges)].ends
# calculate the axis perpendicular to this edge and normalize it
axisVect = Vector2D(
edge.startParticle.vector.y - edge.endParticle.vector.y,
edge.endParticle.vector.x - edge.startParticle.vector.x)
axisVect.normalize()
projection1 = self.projectToAxis(axisVect)
projection2 = body.projectToAxis(axisVect)
# calculate the distance between the two intervals - see below
distance = projection2[0] - projection1[1] if projection1[
0] < projection2[0] else projection1[0] - projection2[1]
if (distance > 0):
# if the intervals don't overlap, return, since there is no collision
return None
elif (abs(distance) < minDistance):
# if they do and it's the shortest distance so far, save this info for response
this = self
minDistance = abs(distance)
collisionAxis = axisVect
collisionEdge = edge
collisionEdgeBody = this if i < len(self.edges) else body
primaryBody = this
secondaryBody = body
if (this == collisionEdgeBody):
primaryBody = body
secondaryBody = this
# this is needed to make sure that the collision normal is pointing at B1
sign = collisionAxis.dotProduct(
secondaryBody.getCenter().getSubtractedFromVector(
primaryBody.getCenter())) > 0
# remember that the line equation is N*( R - R0 ). We choose B2->Center
# as R0 the normal N is given by the collision normal
if (sign == True):
collisionAxis.reverse(
) # reverse the collision normal if it points away from B1
smallestDistance = 10000
for i in range(0, len(primaryBody.uniqueVectors)):
# measure the distance of the vertex from the line using the line equation
vertexDistance = collisionAxis.dotProduct(
primaryBody.uniqueVectors[i].getSubtractedFromVector(
secondaryBody.getCenter()))
# if the measured distance is smaller than the smallest distance reported
# so far, set the smallest distance and the collision vertex
if (vertexDistance < smallestDistance):
smallestDistance = vertexDistance
collisionVector = primaryBody.uniqueVectors[i]
return {
'distance': minDistance,
'collisionVector': collisionAxis,
'edge': collisionEdge,
'edgeBody': collisionEdgeBody,
'vector': collisionVector,
'vectorBody': primaryBody
}
options.cols = 64
# options.brightness = self.args.led_brightness
matrix = RGBMatrix(options=options)
# init mpu9250
# https://github.com/FaBoPlatform/FaBo9AXIS-MPU9250-Python/blob/master/example/read9axis.py
mpu9250 = FaBo9Axis_MPU9250.MPU9250()
# init verlet
verlet = Integration({
'iterations':
1,
'stageMinVect':
Vector2D(2, 2),
'stageMaxVect':
Vector2D(CANVAS_WIDTH - 2, CANVAS_HEIGHT - 2),
'gravity':
Vector2D(0, 0.05)
})
for i in range(0, 25):
verlet.addParticle(
Particle({
'vector':
Vector2D(random.randint(0, CANVAS_WIDTH),
random.randint(0, CANVAS_HEIGHT)),
'radius':
1 + random.randint(0, 3),
'collides':
def Box(verlet, x, y, width, height, rotationDegrees, collides, stiffness,
objectID):
from VerletIntegration import Utilities
particle1 = Particle({'vector': Vector2D(x, y), 'objectID': objectID})
rotatedPoint1 = Utilities.RotatePoint(x, y, x + width, y,
rotationDegrees)
particle2 = Particle({
'vector':
Vector2D(rotatedPoint1[0], rotatedPoint1[1]),
'objectID':
objectID
})
rotatedPoint2 = Utilities.RotatePoint(x, y, x + width, y + height,
rotationDegrees)
particle3 = Particle({
'vector':
Vector2D(rotatedPoint2[0], rotatedPoint2[1]),
'objectID':
objectID
})
rotatedPoint3 = Utilities.RotatePoint(x, y, x, y + height,
rotationDegrees)
particle4 = Particle({
'vector':
Vector2D(rotatedPoint3[0], rotatedPoint3[1]),
'objectID':
objectID
})
verlet.addParticle(particle1)
verlet.addParticle(particle2)
verlet.addParticle(particle3)
verlet.addParticle(particle4)
constraint1 = Constraint({
'startParticle': particle1,
'endParticle': particle2,
'stiffness': stiffness,
'objectID': objectID,
'collides': collides,
'data': {
'drawn': True
}
})
verlet.addConstraint(constraint1)
constraint2 = Constraint({
'startParticle': particle2,
'endParticle': particle3,
'stiffness': stiffness,
'objectID': objectID,
'collides': collides,
'data': {
'drawn': True
}
})
verlet.addConstraint(constraint2)
constraint3 = Constraint({
'startParticle': particle3,
'endParticle': particle4,
'stiffness': stiffness,
'objectID': objectID,
'collides': collides,
'data': {
'drawn': True
}
})
verlet.addConstraint(constraint3)
constraint4 = Constraint({
'startParticle': particle4,
'endParticle': particle1,
'stiffness': stiffness,
'objectID': objectID,
'collides': collides,
'data': {
'drawn': True
}
})
verlet.addConstraint(constraint4)
verlet.addBody(
Body({
'edges': [constraint1, constraint2, constraint3, constraint4],
'collides': True
}))
verlet.addConstraint(
Constraint({
'startParticle': particle1,
'endParticle': particle3,
'stiffness': stiffness,
'objectID': objectID,
'collides': False
}))
verlet.addConstraint(
Constraint({
'startParticle': particle2,
'endParticle': particle4,
'stiffness': stiffness,
'objectID': objectID,
'collides': False
}))
def Cloth(verlet, startX, startY, links, linkLength, elasticity, tolerance,
pinCorners):
particleArray = {}
xlinks = links * 2
for i in range(0, xlinks):
for o in range(0, links):
pin = Vector2D(startX + (i * linkLength), startY +
(o * linkLength)) if (
o == 0 and
(i == 0 or i == (xlinks - 1))) else None
particle = Particle({
'vector':
Vector2D(startX + (i * linkLength),
startY + (o * linkLength)),
'pinnedTo':
pin
})
particleArray[str(i) + "_" + str(o)] = particle
verlet.addParticle(particle)
if (i > 0):
verlet.addConstraint(
Constraint({
'startParticle':
particle,
'endParticle':
particleArray[str(i - 1) + "_" + str(o)],
'stiffness':
elasticity,
'tolerance':
tolerance,
'collides':
True,
'objectID':
0,
'data': {
'drawn':
True if (o % 4 == 0) or
((o == 0 or o == (links - 1))) else False
}
}))
if (o > 0):
verlet.addConstraint(
Constraint({
'startParticle':
particle,
'endParticle':
particleArray[str(i) + "_" + str((o - 1))],
'stiffness':
elasticity,
'tolerance':
tolerance,
'collides':
True,
'objectID':
0,
'data': {
'drawn':
True if (i % 4 == 0) or
((i == 0 or i == (xlinks - 1))) else False
}
}))
options = RGBMatrixOptions()
options.rows = 32
options.cols = 64
# options.brightness = self.args.led_brightness
matrix = RGBMatrix(options = options)
# init mpu9250
# https://github.com/FaBoPlatform/FaBo9AXIS-MPU9250-Python/blob/master/example/read9axis.py
mpu9250 = FaBo9Axis_MPU9250.MPU9250()
# init verlet
verlet = Integration({
'stageMinVect': Vector2D(2, 2),
'stageMaxVect': Vector2D(CANVAS_WIDTH - 2, CANVAS_HEIGHT - 2),
'gravity': Vector2D(0, 0.05)
})
for i in range(0, 400):
Prefabs.Rope(verlet,
random.randint(0, 64),
0,
random.randint(0, 3) + 1,
random.randint(0, 3) + 5,
1,
True)
highestMX = 0
lowestMX = 0
def isPointInside(self, x, y):
return self.vector.distanceTo(Vector2D(x, y)) < self.radius
def __init__(self, vect2D=Vector2D(), rad=0):
self.vector = vect2D
self.radius = rad