class ZONE:
dims = Vector(0.54 * M, 0.48 * M)
outlines = ( # F1, F4, F2, F5, F3, F6
*mirrors(Box(dims, Vector(-3.54 * M, 0.55 * M))),
*mirrors(Box(dims, Vector(-2.14 * M, -0.59 * M))),
*mirrors(Box(dims, Vector(0, 1.795 * M)))
)
def hits_barrier(self, barrier: Box):
if self.center.distance_to(barrier.center) < ROBOT.outline.radius + barrier.radius and \
(any(barrier.contains(p) for p in self._corners) or
any(ROBOT.outline.contains(p.inv_transform(self.center, self.rotation)) for p in barrier.corners)):
self.barrier_hits += 1
return True
return False
def __init__(self, init_x, init_y, init_z, init_roll, init_pitch, init_yaw,\
init_min_x, init_min_y, init_min_z, init_max_x, init_max_y, init_max_z,\
x=0., y=0., z=0., roll=0., pitch=0., yaw=0.,\
min_x=0., min_y=0., min_z=0., max_x=0., max_y=0., max_z=0.):
'''The variables whose names start with the prefix 'init_' represent
the pose and the bounding box of an object before an action execution;
all the others represent the object's pose and bounding box after an execution.
'''
self.init_position = Vector(init_x, init_y, init_z)
self.init_rotation = Rotator(init_roll, init_pitch, init_yaw)
self.init_bounding_box = Box(init_min_x, init_min_y, init_min_z,
init_max_x, init_max_y, init_max_z)
self.position = Vector(x, y, z)
self.rotation = Rotator(roll, pitch, yaw)
self.bounding_box = Box(min_x, min_y, min_z, max_x, max_y, max_z)
def __init__(self, sensors=None, human=False): super().__init__() self.update = self.update_no_track #self.move = self.move_cor self.start_time = time.time() self.human = human # physical car parameters self.width = 10 self.length = 30 self.hwbase = self.length / 2 self.htrack = self.width / 2 self.max_speed = 150 self.rot = 0 self.speed = 0 self.max_steering = PI / 4 self.steering = 0 # for collision detection and box drawings self.quad = Quad(box=Box(-self.width/2, self.length/2, self.width, self.length)) self.corner_distance = Line(self.position, self.quad.top_left).length self.corner_angle = Line(self.position, self.quad.top_right).angle _ = self.corners # to set corner attributes # track info self.track = None self.section = None self.section_idx = -1 self.collided = False self.laps = 0 if not sensors: self.sensors = SensorRig(self, (-PI/2, -3 * self.corner_angle, -self.corner_angle, 0, self.corner_angle, 3 * self.corner_angle, PI/2), (30, 50, 100, 175, 100, 50, 30)) elif sensors == 1: self.sensors = SensorRig(self, (0,), (175,)) else: n = sensors // 2 * 2 + 1 angles = tuple(-PI/2 + i*PI/(n-1) for i in range(n)) distances = (100,) * n self.sensors = SensorRig(self, angles, distances) # neural network if cmodule: self.driver = neural.CDriver(1+self.sensors.size) else: self.driver = neural.Driver(1+self.sensors.size) # graphics stuff self.construct() self.section_batch = pyglet.graphics.Batch() self.section_batch_idx = -1
def make_track_new(self):
#points = [(0, 100), (20, 150), (50, 250), (100, 280), (150, 300)]
points = [(0, 100), (20, 150), (50, 250), (100, 260), (160, 230),
(180, 180), (180, 120), (200, 50), (200, 20), (100, -120),
(20, -90), (0, -40)]
prev_quad = Quad(box=Box(0, 50, self.width, 50))
#prev_quad = Quad(coords=((0,0),(0,self.width),(0,50),(self.width,50)))
for point in points:
prev_quad, new_quad = self.make_section_quad(point, prev_quad)
self.add_section(quad=prev_quad)
prev_quad = new_quad
self.add_section(quad=prev_quad)
quad = Quad(coords=(prev_quad.top_left, prev_quad.top_right,
self.sections[0].quad.bottom_left,
self.sections[0].quad.bottom_right))
self.add_section(quad)
self.circular = True
class ROBOT:
outline = Box(Vector(0.6 * M, 0.5 * M))
_armor_length = 0.14 * M
armor_lines = [
LineSegment(*y_mirrors(Vector(outline.dims.x / 2, _armor_length / 2))),
LineSegment(*x_mirrors(Vector(_armor_length / 2, outline.dims.y / 2))),
LineSegment(*x_mirrors(Vector(_armor_length / 2, -outline.dims.y /
2))),
LineSegment(*y_mirrors(Vector(-outline.dims.x / 2, _armor_length / 2)))
]
armor_damages = [20, 40, 40, 60]
_drive_radius = 0.3 * M
_factor = 1 / (math.sqrt(2) * _drive_radius)
drive_config = MotionConfig(3 * MS, 6 * MS2, 0.1 * MS2)
rotation_config = MotionConfig(_factor * drive_config.top_speed,
_factor * drive_config.top_accel,
_factor * drive_config.friction_decel)
gimbal_yaw_config = MotionConfig(300 * DS, 1000 * DS2, 10 * DS2)
zero_tolerance = 0.001
rebound_coeff = 0.4
shot_cooldown = 0.1 * S
from smoke_solver import Smoke_Builder, FlowEmitter
from smoke_animation import Smoke_Animation
from colliders import RigidBodyCollier, Collider
from geometry import Box, Ball
res = (512, 512)
ti.init(arch=ti.gpu, kernel_profiler=True)
gui = ti.GUI("smoke animation", res=res)
# build smoke solver
smoke = \
Smoke_Builder(res) \
.add_flow_emitter([512//2 , 0] , 512//3 , 2000.0) \
.set_decay(0.995) \
.build()
# .set_compute_buoyancy_force(tempreture_factor=600)\
ani = Smoke_Animation(smoke, res)
ani.reset()
# collider
smoke.add_collider(RigidBodyCollier(Box([156, 156], [226, 276])))
smoke.add_collider(RigidBodyCollier(Ball([276, 226], 30)))
while gui.running:
ani.update()
ani.display(gui)
ti.kernel_profiler_print()
def __init__(self, PLY = None):
if PLY == None:
print "PLY nao fornecido"
exit(0)
self.box = Box()
self.vertex = PLY.vertex
self.faces = PLY.faces
self.colors = [
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random())
]
self.isOpened = False
self.isAnimated = False
self.useTexture = False
self.mapRotate = matrix.identity()
self.textureMap = {}
self.aux = 0
edges_per_face = []
points_per_face = []
points_per_face_orig = []
polygons = []
for face in self.faces:
edges_per_face.append([])
points_per_face.append([])
points_per_face_orig.append([])
for i in xrange(len(face)):
points_per_face[-1].append(copy.deepcopy(self.vertex[face[i]]))
points_per_face_orig[-1].append(copy.deepcopy(self.vertex[face[i]]))
if i != (len(face)-1):
edges_per_face[-1].append((face[i],face[i+1]))
else:
edges_per_face[-1].append((face[i],face[0]))
polygons.append(Polygon(points_per_face_orig[-1]))
adjacences_list = []
edge_between_faces = {}
for i in xrange(len(edges_per_face)):
adjacences_list.append([])
for j in xrange(len(edges_per_face[i])):
edge = edges_per_face[i][j]
for k in xrange(len(edges_per_face)):
if k != i:
if (((edge[1],edge[0]) in edges_per_face[k])or((edge[0],edge[1]) in edges_per_face[k])) :
adjacences_list[i].append(k)
edge_between_faces[(i,k)] = edge
edge_between_faces[(k,i)] = edge
break
if len(edges_per_face[i]) != len(adjacences_list[i]):
print "Inconsistencia na contrucao do grafico"
self.edges_per_face = edges_per_face
self.points_per_face = points_per_face
self.points_per_face_orig = points_per_face_orig
self.adjacences_list = adjacences_list
self.polygons = polygons
self.edge_between_faces = edge_between_faces
self.selected = [0 for elem in edges_per_face]
self.face_selected = -1
return
class Polihedron(object):
def __init__(self, PLY = None):
if PLY == None:
print "PLY nao fornecido"
exit(0)
self.box = Box()
self.vertex = PLY.vertex
self.faces = PLY.faces
self.colors = [
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random()),
(random.random(),random.random(),random.random())
]
self.isOpened = False
self.isAnimated = False
self.useTexture = False
self.mapRotate = matrix.identity()
self.textureMap = {}
self.aux = 0
edges_per_face = []
points_per_face = []
points_per_face_orig = []
polygons = []
for face in self.faces:
edges_per_face.append([])
points_per_face.append([])
points_per_face_orig.append([])
for i in xrange(len(face)):
points_per_face[-1].append(copy.deepcopy(self.vertex[face[i]]))
points_per_face_orig[-1].append(copy.deepcopy(self.vertex[face[i]]))
if i != (len(face)-1):
edges_per_face[-1].append((face[i],face[i+1]))
else:
edges_per_face[-1].append((face[i],face[0]))
polygons.append(Polygon(points_per_face_orig[-1]))
adjacences_list = []
edge_between_faces = {}
for i in xrange(len(edges_per_face)):
adjacences_list.append([])
for j in xrange(len(edges_per_face[i])):
edge = edges_per_face[i][j]
for k in xrange(len(edges_per_face)):
if k != i:
if (((edge[1],edge[0]) in edges_per_face[k])or((edge[0],edge[1]) in edges_per_face[k])) :
adjacences_list[i].append(k)
edge_between_faces[(i,k)] = edge
edge_between_faces[(k,i)] = edge
break
if len(edges_per_face[i]) != len(adjacences_list[i]):
print "Inconsistencia na contrucao do grafico"
self.edges_per_face = edges_per_face
self.points_per_face = points_per_face
self.points_per_face_orig = points_per_face_orig
self.adjacences_list = adjacences_list
self.polygons = polygons
self.edge_between_faces = edge_between_faces
self.selected = [0 for elem in edges_per_face]
self.face_selected = -1
return
def draw(self):
points = []
for i,face in enumerate(self.faces):
if ( len(face) % 3 == 0):
glBegin(GL_TRIANGLES)
elif ( len(face) % 4 == 0):
glBegin(GL_QUADS)
else:
glBegin(GL_POLYGON)
if not self.useTexture:
c = self.colors[i % len(self.colors)]
glColor3f(1.0*c[0],1.0*c[1],1.0*c[2])
if (self.isOpened or self.isAnimated):
points = self.points_per_face[i]
else:
points = self.points_per_face_orig[i]
count = 0
texturePerFace = [0]*len(points)
for point in points:
#print(actualPoint)
if self.useTexture:# and actualPoint not in self.textureMap.keys():
try:
p = self.box.normalize(point.transform(self.mapRotate))
texturePerFace[count] = p
texture = p
if count == (len(points)-1) and i not in self.textureMap.keys():
self.textureMap[i] = texturePerFace
elif i in self.textureMap.keys():
textureInThisFace = self.textureMap[i]
texture = textureInThisFace[count]
#texture = self.box.normalize(wrongSizedTexture)
#p = self.box.normalize(point.transform(self.mapRotate))
#print(self.aux)
#print(round(point.x,2), round(point.y, 2), round(point.z,2))
glTexCoord2f(texture.x,texture.y)
glVertex3f(point.x,point.y,point.z)
except AttributeError as error:
pass
#elif self.useTexture and actualPoint in self.textureMap.keys():
#texture = self.textureMap[actualPoint]
#glTexCoord2f(texture.x, texture.y)
#glVertex3f(point.x,point.y,point.z)
else:
glVertex3f(point.x,point.y,point.z)
count += 1
glEnd()
def face_intersect(self,ray):
face_to_select = -1
smaller_u = 100000000000000000.0
for i,poly in enumerate(self.polygons):
result = ray.intersectToPlane(poly)
if not(result == None) and (poly.contains(result[0])):
if abs(result[1]) < abs(smaller_u):
smaller_u = abs(result[1])
face_to_select = i
self.last_face_clicked = face_to_select
return face_to_select
def face_select(self,i):
self.selected[self.last_face_clicked] = 1.
self.face_selected = self.last_face_clicked
def face_unselect(self):
self.selected[self.face_selected] = 0.
self.face_selected = -1
def open_like_BFS(self,alpha):
Q = []
visite1 = [False for i in self.faces]
transf_vec = [None for i in self.faces]
altura = [0 for i in self.faces]
q0 = self.face_selected
Q.append(q0)
visite1[q0] = True
transf_vec[q0] = matrix.identity()
altura[q0] = 1.
self.points_per_face[q0] = copy.deepcopy(self.points_per_face_orig[q0])
while len(Q) > 0:
q1 = Q.pop(0)
for v in self.adjacences_list[q1]:
if visite1[v] == False :
visite1[v] = True
Q.append(v)
altura[v] = altura[q0] + 1
N1 = self.polygons[q1].normal
N2 = self.polygons[v].normal
(np1,np2) = self.edge_between_faces[(q1,v)]
v0 = self.vertex[np1]
v1 = self.vertex[np2]
edge = Line(v0,v1)
ang = np.rad2deg(math.acos(N1.dotProd(N2)))
axis = edge.dir
if axis.tripleProd(N1,N2) > 0:
ang = -ang
ang = alpha*ang
R = matrix.translateAndRotate(ang,v1,edge.dir)
transf_vec[v] = matrix.dot(transf_vec[q1],R)
for i in xrange(len(self.points_per_face[v])):
self.points_per_face[v][i] =\
self.points_per_face_orig[v][i].transform(transf_vec[v])
if self.useTexture:
axis_z = Point(0.,0.,1.)
angle_z = axis_z.dotProd(self.polygons[q0].normal)
axis_r = axis_z.crossProd(self.polygons[q0].normal)
self.mapRotate = matrix.translateAndRotate(angle_z,axis_r,self.points_per_face[q0][0])
for points in self.points_per_face:
for point in points:
self.box.add(point.transform(self.mapRotate))
self.box.setParameters()
def open(self):
self.isOpened = True
def close(self):
self.isOpened = False
def set_texture(self):
self.useTexture = True
def unset_texture(self):
self.useTexture = False
def animate(self):
self.isAnimated = True
def static(self):
self.isAnimated = False