def __init__(self, width, height, immobile_objs, mobile_objs, manipulatable_obj, target_obj, showRender=True):
super(Scenario_Generator, self).__init__()
self.SCENARIO_WIDTH, self.SCENARIO_HEIGHT = width, height
self.SCREEN_WIDTH, self.SCREEN_HEIGHT= self.SCENARIO_WIDTH * PPM, self.SCENARIO_HEIGHT * PPM
self.showRender = showRender
self.min_d = 9999999
self.solved = False
self.impulse = (0,0)
self.p = (0,0)
self.current_man_id = manipulatable_obj['id']
# Tell the framework we're going to use contacts, so keep track of them
# every Step.
self.using_contacts=True
self.beginContact = False
self.current_contacts = set([])
self.contactAID = -1
self.contactBID = -1
#current simulation round
self.round = 0
world = self.world
self.trajectory = []
self.b2_objects = {}
self.game_objects = []
self.target_obj = target_obj
self.goal = 0
self.contacts_with_mobile_objs = []
if self.target_obj == None:
self.target_obj = target_obj
if self.target_obj['goal'] == "RIGHT":
self.goal = - pi/2
elif self.target_obj['goal'] == "LEFT":
self.goal = pi/2
for obj in immobile_objs:
## create a simulator object
gobj = GOBJ(obj['id'])
if obj['shape'] == "box":
static_body = world.CreateStaticBody(position=obj['position'], shapes=polygonShape(box=obj['size']), angle=obj['angle'],userData=gobj)
elif obj['shape'] == "polygon":
static_body = world.CreateStaticBody(position=obj['position'], shapes=polygonShape(vertices=obj['vertices']), userData=gobj)
# store coordinates info in the screen
mass_center = static_body.fixtures[0].massData.center
vertices=[(static_body.transform*v) for v in static_body.fixtures[0].shape]
#vertices=[(v[0], SCREEN_HEIGHT-v[1]) for v in vertices]
gobj.setPosScr(vertices)
gobj.setMassCenterSrc(static_body.transform * mass_center)
self.game_objects.append(gobj)
self.b2_objects[obj['id']] = static_body
self.mobile_objs_ids = []
for obj in mobile_objs:
obj_id = obj['id']
if obj_id != self.target_obj['id']:
gobj = GOBJ(obj_id,role=GOBJ.MOVEABLE)
else:
gobj = GOBJ(obj_id,role=GOBJ.TARGET)
if obj['shape'] == "box":
dynamic_body = world.CreateDynamicBody(position=obj['position'], userData=gobj)
dynamic_body.CreatePolygonFixture(box=obj['size'],density=obj['density'], friction=obj['friction'])
mass_center = dynamic_body.fixtures[0].massData.center
vertices=[(dynamic_body.transform*v)for v in dynamic_body.fixtures[0].shape]
#vertices=[(v[0], SCREEN_HEIGHT-v[1]) for v in vertices]
gobj.setPosScr(vertices)
gobj.setMassCenterSrc(dynamic_body.transform * mass_center)
self.game_objects.append(gobj)
self.b2_objects[obj['id']] = dynamic_body
self.mobile_objs_ids.append(obj_id)
gobj = GOBJ(manipulatable_obj['id'],role=GOBJ.MAN)
man_dynamic_body = world.CreateDynamicBody(position=manipulatable_obj['position'], userData=gobj)
if manipulatable_obj['shape'] == "box":
man_dynamic_body.CreatePolygonFixture(box=manipulatable_obj['size'],density=manipulatable_obj['density'], friction=manipulatable_obj['friction'])
mass_center = man_dynamic_body.fixtures[0].massData.center
vertices=[(man_dynamic_body.transform*v)for v in man_dynamic_body.fixtures[0].shape]
gobj.setPosScr(vertices)
gobj.setMassCenterSrc(man_dynamic_body.transform * mass_center)
elif manipulatable_obj['shape'] == "circle":
man_dynamic_body.CreateFixture(shape=b2CircleShape(radius=manipulatable_obj['radius']), density=manipulatable_obj['density'], friction=manipulatable_obj['friction'])
man_dynamic_body.fixtures[0].restitution = manipulatable_obj['restitution']
mass_center = man_dynamic_body.fixtures[0].massData.center
position = man_dynamic_body.transform * man_dynamic_body.fixtures[0].shape.pos
gobj.setPosScr([position])
gobj.setMassCenterSrc(man_dynamic_body.transform * mass_center)
self.game_objects.append(gobj)
self.b2_objects[manipulatable_obj['id']] = man_dynamic_body
self.mobile_objs_ids.append(manipulatable_obj['id'])
#print dir(man_dynamic_body)
#print man_dynamic_body.position
'''
def __init__(self, target_region=None, O_i_rect=None, action=None, showRender=False, checksolution=False, scenario_file='s5.json'):
super(Scenario_Generator, self).__init__()
self.showRender = showRender
self.state = -1
self.min_d = 9999999
self.state_impulse = (0,0)
# Tell the framework we're going to use contacts, so keep track of them
# every Step.
self.using_contacts=True
self.beginContact = False
self.contactAID = -1
self.contactBID = -1
#current simulation round
self.round = 0
self.objID = 0
world = self.world
self.objects = []
self.game_objects = []
self.target_region = target_region
width, height, immobile_objs, mobile_objs, manipulatable_objs, target_obj = sr.loadScenario(scenario_file)
for obj in immobile_objs:
## create a simulator object
gobj = GOBJ(obj['id'])
if obj['shape'] == "box":
static_body = world.CreateStaticBody(position=obj['position'], shapes=polygonShape(box=obj['size']), angle=obj['angle'],userData=gobj)
elif obj['shape'] == "polygon":
static_body = world.CreateStaticBody(position=obj['position'], shapes=polygonShape(vertices=obj['vertices']), userData=gobj)
# store coordinates info in the screen
mass_center = static_body.fixtures[0].massData.center
vertices=[(static_body.transform*v) for v in static_body.fixtures[0].shape]
#vertices=[(v[0], SCREEN_HEIGHT-v[1]) for v in vertices]
gobj.setPosScr(vertices)
gobj.setMassCenterSrc(static_body.transform * mass_center)
self.game_objects.append(gobj)
target_id = target_obj['id']
for obj in mobile_objs:
obj_id = obj['id']
gobj = GOBJ(obj_id,role=GOBJ.MOVEABLE)
if obj['shape'] == "box":
dynamic_body = world.CreateDynamicBody(position=obj['position'], userData=gobj)
dynamic_body.CreatePolygonFixture(box=obj['size'],density=obj['density'], friction=obj['friction'])
mass_center = dynamic_body.fixtures[0].massData.center
vertices=[(dynamic_body.transform*v)for v in dynamic_body.fixtures[0].shape]
#vertices=[(v[0], SCREEN_HEIGHT-v[1]) for v in vertices]
gobj.setPosScr(vertices)
gobj.setMassCenterSrc(dynamic_body.transform * mass_center)
self.game_objects.append(gobj)
for obj in manipulatable_objs:
gobj = GOBJ(obj['id'],role=GOBJ.MAN)
if obj['shape'] == "box":
dynamic_body = world.CreateDynamicBody(position=obj['position'], userData=gobj)
dynamic_body.CreatePolygonFixture(box=obj['size'],density=obj['density'], friction=obj['friction'])
mass_center = dynamic_body.fixtures[0].massData.center
vertices=[(dynamic_body.transform*v)for v in dynamic_body.fixtures[0].shape]
#vertices=[(v[0], SCREEN_HEIGHT-v[1]) for v in vertices]
gobj.setPosScr(vertices)
gobj.setMassCenterSrc(dynamic_body.transform * mass_center)
self.game_objects.append(gobj)
'''
