def __init__(self, start_settings):
# Initialising settings
# It should be the first to execute
sett = self.start_settings = start_settings
self.directory_to_save = 'out/'
self.init_world()
self.world.gravity=b2Vec2(0, -1 * sett.model_settings.g)
# Ground
self.world.CreateBody(
shapes=create_not_cycled_chain_shape(sett.ground_settings.points)
)
# Blocks
self.bodies = []
for block in sett.blocks:
block_position = block.block_position
for body in block.bodies:
block = self.convert_body_settings_to_b2Body(body, block_position)
# Projectile(s)
body = sett.projectile_settings
self.body = self.convert_body_settings_to_b2Body(body)
self.shapes = shapes_from_body_settings(body)
self.fixtures = self.body.fixtures
self.mass_data = b2MassData()
# Create output xml tree
self.result_tree = ET.Element("data")
self.finalized = False
# Function
self.score = 0
# Painter
if not self.namespace.nosave or self.namespace.show:
from bokeh_painter import Painter
self.ex = Painter(self.start_settings, self,
self.namespace.limit,
self.namespace.size
)
self.ex.save_timestep()
class Throwable(Simulation):
iteration_number = 0
# convert all bodies' state to xml representation,
# so that it could be used as an input configuration file
# NOTE there are no settings <model>, <projectile> and <ground>
def save_final_state(self):
sett = self.start_settings
blocks = ET.SubElement(self.result_tree, "blocks")
block = ET.SubElement(blocks, "block")
vertice = ET.SubElement(block, "block_position")
x = ET.SubElement(vertice, "x")
x.text = str(0)
y = ET.SubElement(vertice, "y")
y.text = str(0)
bodies = ET.SubElement(block, "bodies")
for body in self.bodies:
body_el = ET.SubElement(bodies, "body")
lin_velocity_amplitude = ET.SubElement(body_el, "lin_velocity_amplitude")
lin_velocity_amplitude.text = str(body.linearVelocity.length)
lin_velocity_angle = ET.SubElement(body_el, "lin_velocity_angle")
if body.linearVelocity.x != 0:
angle = math.atan(body.linearVelocity.y / body.linearVelocity.x)
else:
angle = 0
lin_velocity_angle.text = str(angle)
angular_velocity = ET.SubElement(body_el, "angular_velocity")
angular_velocity.text = str(body.angularVelocity)
material_type = ET.SubElement(body_el, "material_type")
material_type.text = sett.material_library.materials[body.material_type].name
is_projectile = ET.SubElement(body_el, "is_projectile")
is_projectile.text = str(False)
world_point = body.GetWorldPoint(body.position)
vertice = ET.SubElement(body_el, "position")
x = ET.SubElement(vertice, "x")
x.text = str(world_point.x)
y = ET.SubElement(vertice, "y")
y.text = str(world_point.y)
angle = ET.SubElement(body_el, "angle")
angle.text = str(body.angle)
is_target = ET.SubElement(body_el, "is_target")
is_target.text = str(body.is_target)
is_dynamic = ET.SubElement(body_el, "is_dynamic")
is_dynamic.text = str(body.is_dynamic)
health = ET.SubElement(body_el, "health")
health.text = str(body.health)
polygons = None
circles = None
for fixture in body.fixtures:
shape = fixture.shape
shape_el = ET.SubElement(body_el, "shape")
if isinstance(shape, b2PolygonShape):
if polygons is None:
polygons = ET.SubElement(shape_el, "polygons")
polygon = ET.SubElement(polygons, 'polygon')
for vertice in shape.vertices:
world_point = self.body.GetWorldPoint(vertice)
vertice = ET.SubElement(polygon, "point")
x = ET.SubElement(vertice, "x")
x.text = str(world_point.x)
y = ET.SubElement(vertice, "y")
y.text = str(world_point.y)
if isinstance(shape, b2CircleShape):
if circles is None:
circles = ET.SubElement(shape_el, "circles")
circle = ET.SubElement(circles, 'circle')
world_point = body.GetWorldPoint(shape.pos)
vertice = ET.SubElement(circle, "position")
x = ET.SubElement(vertice, "x")
x.text = str(world_point.x)
y = ET.SubElement(vertice, "y")
y.text = str(world_point.y)
radius = ET.SubElement(circle, "radius")
radius.text = str(shape.radius)
result = ET.SubElement(self.result_tree, "result")
score = ET.SubElement(result, "score")
score.text = str(self.score)
def convert_body_settings_to_b2Body(self, body, offset=(0, 0)):
if body.is_dynamic == True:
func = self.world.CreateDynamicBody
else:
func = self.world.CreateStaticBody
block = func(
position=(
offset[0] + body.position[0],
offset[1] + body.position[1]
),
angle=body.angle,
shapes=shapes_from_body_settings(body),
shapeFixture=b2FixtureDef(density=1),
angularVelocity=body.angular_velocity,
linearVelocity=(
body.lin_velocity_amplitude *
math.cos(body.lin_velocity_angle),
body.lin_velocity_amplitude *
math.sin(body.lin_velocity_angle)
)
)
block.is_dynamic = body.is_dynamic
block.health = body.health
block.material_type = body.material_type
block.is_target = body.is_target
block.is_projectile = body.is_projectile
block.price = body.price
self.bodies.append(block)
return block
def __init__(self, start_settings):
# Initialising settings
# It should be the first to execute
sett = self.start_settings = start_settings
self.directory_to_save = 'out/'
self.init_world()
self.world.gravity=b2Vec2(0, -1 * sett.model_settings.g)
# Ground
self.world.CreateBody(
shapes=create_not_cycled_chain_shape(sett.ground_settings.points)
)
# Blocks
self.bodies = []
for block in sett.blocks:
block_position = block.block_position
for body in block.bodies:
block = self.convert_body_settings_to_b2Body(body, block_position)
# Projectile(s)
body = sett.projectile_settings
self.body = self.convert_body_settings_to_b2Body(body)
self.shapes = shapes_from_body_settings(body)
self.fixtures = self.body.fixtures
self.mass_data = b2MassData()
# Create output xml tree
self.result_tree = ET.Element("data")
self.finalized = False
# Function
self.score = 0
# Painter
if not self.namespace.nosave or self.namespace.show:
from bokeh_painter import Painter
self.ex = Painter(self.start_settings, self,
self.namespace.limit,
self.namespace.size
)
self.ex.save_timestep()
def reduce_health(self, body, impulse):
impulse_sum = sum(impulse.normalImpulses)
if impulse_sum > 10:
before = body.health
reduction = self.start_settings.material_library.materials[body.material_type].impulse_scale * impulse_sum
reduction = min(reduction, body.health)
self.score += body.price * reduction
body.health -= reduction
def analyze_body(self, body, opposite_body, impulse):
body_extended = None
if body in self.bodies:
index = self.bodies.index(body)
body_extended = self.bodies[index]
if body_extended != None:
self.reduce_health(body_extended, impulse)
def PostSolve(self, contact, impulse):
self.analyze_body(contact.fixtureA.body, contact.fixtureB.body, impulse)
self.analyze_body(contact.fixtureB.body, contact.fixtureA.body, impulse)
def Keyboard(self, key):
pass
def Step(self, settings):
self.step_world(settings)
self.iteration_number += 1
if self.iteration_number % 10 == 0 and (not self.namespace.nosave or self.namespace.show):
self.ex.save_timestep()
self.is_finished()
self.check_health(self.bodies)
# Actions to do in the end
def finalize(self):
if self.finalized == False:
self.save_final_state()
indent(self.result_tree)
tree = ET.ElementTree(self.result_tree)
tree.write(self.directory_to_save + 'OUTPUT.dat')
print "Score: {}".format(self.score)
self.finalized = True
if not self.namespace.nosave:
self.ex.create_html()
self.ex.save()
if self.namespace.show:
self.ex.show()
def check_health(self, array):
for el in array:
if el.health <= 0:
array.remove(el)
self.world.DestroyBody(el)
# Checking is the current body out of condition of simulation
def has_object_finished(self, body):
pos = body.position
left = self.start_settings.ground_settings.get_left()
right = self.start_settings.ground_settings.get_right()
bottom = self.start_settings.ground_settings.get_bottom()
if pos[0] < left[0] or pos[0] > right[0] or pos[1] < bottom[1]:
self.world.DestroyBody(body)
self.bodies.remove(body)
return True
velocity = body.linearVelocity
accuracy = self.start_settings.model_settings.epsilon_lin_velocity
if velocity.lengthSquared < (accuracy ** 2):
body.linearVelocity = b2Vec2(0, 0)
return True
return False
# Should modelling be stopped
def is_finished(self):
if self.finalized == False:
result = True
for body in self.bodies:
result = (self.has_object_finished(body) and result)
if result == True:
print "Finishing modelling"
self.finalize()