def test_collision_pairs_deleted_entities(self):
from grease.collision import BroadSweepAndPrune, Pair
world = TestWorld()
coll = BroadSweepAndPrune()
coll.set_world(world)
set_entity = world.collision.set
# Add some colliding pairs
set_entity(1, 1, 1, 5, 2)
set_entity(2, 2, 0, 3, 5)
set_entity(3, 0, 0, 2, 2)
set_entity(4, 4, 0, 5, 2)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1, 2), Pair(1, 3),
Pair(2, 3), Pair(1, 4))
# Remove one
world.collision.deleted_entities.add(3)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1, 2), Pair(1, 4))
# Remove another and move one into collision
world.collision.deleted_entities.clear()
world.collision.deleted_entities.add(1)
set_entity(2, 4, 0, 5, 5)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(4, 2))
def test_collision_pairs_new_entities(self):
from grease.collision import BroadSweepAndPrune, Pair
world = TestWorld()
coll = BroadSweepAndPrune()
coll.set_world(world)
set_entity = world.collision.set
# Start with a couple not colliding
set_entity(1, 1, 1, 3, 3)
set_entity(2, 4, 0, 10, 3)
coll.step(0)
self.assertEqual(coll.collision_pairs, set())
# Add one that collides, one that doesn't
set_entity(3, 2, 2, 4, 4)
set_entity(4, 20, 5, 25, 7)
world.collision.new_entities.add(3)
world.collision.new_entities.add(4)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1, 3), Pair(3, 2))
# Add one more and move one into collision and one out
set_entity(5, 19, 8, 21, 14)
set_entity(4, 20, 6, 25, 8)
set_entity(2, 5, 0, 11, 3)
world.collision.new_entities.clear()
world.collision.new_entities.add(5)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1, 3), Pair(4, 5))
def test_collision_pairs_deleted_entities(self):
from grease.collision import BroadSweepAndPrune, Pair
world = TestWorld()
coll = BroadSweepAndPrune()
coll.set_world(world)
set_entity = world.collision.set
# Add some colliding pairs
set_entity(1, 1, 1, 5, 2)
set_entity(2, 2, 0, 3, 5)
set_entity(3, 0, 0, 2, 2)
set_entity(4, 4, 0, 5, 2)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1,2), Pair(1,3), Pair(2,3), Pair(1,4))
# Remove one
world.collision.deleted_entities.add(3)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1,2), Pair(1,4))
# Remove another and move one into collision
world.collision.deleted_entities.clear()
world.collision.deleted_entities.add(1)
set_entity(2, 4, 0, 5, 5)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(4,2))
def test_collision_pairs_new_entities(self):
from grease.collision import BroadSweepAndPrune, Pair
world = TestWorld()
coll = BroadSweepAndPrune()
coll.set_world(world)
set_entity = world.collision.set
# Start with a couple not colliding
set_entity(1, 1, 1, 3, 3)
set_entity(2, 4, 0, 10, 3)
coll.step(0)
self.assertEqual(coll.collision_pairs, set())
# Add one that collides, one that doesn't
set_entity(3, 2, 2, 4, 4)
set_entity(4, 20, 5, 25, 7)
world.collision.new_entities.add(3)
world.collision.new_entities.add(4)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1,3), Pair(3, 2))
# Add one more and move one into collision and one out
set_entity(5, 19, 8, 21, 14)
set_entity(4, 20, 6, 25, 8)
set_entity(2, 5, 0, 11, 3)
world.collision.new_entities.clear()
world.collision.new_entities.add(5)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1,3), Pair(4,5))
def test_collision_pairs_static_collision(self):
from grease.collision import BroadSweepAndPrune, Pair
world = TestWorld()
coll = BroadSweepAndPrune()
coll.set_world(world)
set_entity = world.collision.set
set_entity(1, 10, 10, 20, 20)
set_entity(2, 15, 15, 25, 25)
set_entity(3, 5, 12, 30, 15)
# boxes fully enclosed
set_entity(4, 31, 10, 40, 13)
set_entity(5, 32, 11, 39, 12)
set_entity(6, 0, 0, 2, 2)
set_entity(7, -1, 0.5, 1, 1.5)
# no collisions with below
set_entity(8, 2.1, 2.1, 2.2, 2.2)
set_entity(9, 50, -40, 55, 40)
set_entity(10, -50, -50, 50, -45)
coll.step(0)
pairs = set(coll.collision_pairs)
self.assertPairs(pairs, Pair(1, 2), Pair(1, 3), Pair(2, 3), Pair(4, 5),
Pair(6, 7))
coll.step(0)
self.assertEqual(coll.collision_pairs, pairs)
def test_collision_pairs_with_masks(self):
from grease.collision import BroadSweepAndPrune, Pair
world = TestWorld()
coll = BroadSweepAndPrune()
coll.set_world(world)
set_entity = world.collision.set
set_entity(1, 0, 0, 1, 1, from_mask=1, into_mask=0)
set_entity(2, 0, 0, 1, 1, from_mask=0, into_mask=2)
set_entity(3, 0, 0, 1, 1, from_mask=2, into_mask=1)
set_entity(4, 0, 0, 1, 1, from_mask=0, into_mask=0)
set_entity(5, 0, 0, 1, 1, from_mask=0xffffffff, into_mask=0xffffffff)
coll.step(0)
self.assertPairs(coll.collision_pairs,
Pair(1,3), Pair(1,5), Pair(2,3), Pair(2,5), Pair(3,1), Pair(3,5))
def test_collision_pairs_static_collision(self):
from grease.collision import BroadSweepAndPrune, Pair
world = TestWorld()
coll = BroadSweepAndPrune()
coll.set_world(world)
set_entity = world.collision.set
set_entity(1, 10, 10, 20, 20)
set_entity(2, 15, 15, 25, 25)
set_entity(3, 5, 12, 30, 15)
# boxes fully enclosed
set_entity(4, 31, 10, 40, 13)
set_entity(5, 32, 11, 39, 12)
set_entity(6, 0, 0, 2, 2)
set_entity(7, -1, 0.5, 1, 1.5)
# no collisions with below
set_entity(8, 2.1, 2.1, 2.2, 2.2)
set_entity(9, 50, -40, 55, 40)
set_entity(10, -50, -50, 50, -45)
coll.step(0)
pairs = set(coll.collision_pairs)
self.assertPairs(pairs, Pair(1,2), Pair(1,3), Pair(2,3), Pair(4,5), Pair(6,7))
coll.step(0)
self.assertEqual(coll.collision_pairs, pairs)
def test_query_point_with_mask(self):
from grease.collision import BroadSweepAndPrune, Pair
world = TestWorld()
coll = BroadSweepAndPrune()
coll.set_world(world)
set_entity = world.collision.set
set_entity(1, 0, 0, 2, 2, into_mask=1)
set_entity(2, 0, 0, 2, 2, into_mask=2)
set_entity(3, 0, 0, 2, 2, into_mask=5)
coll.step(0)
self.assertEqual(coll.query_point(1, 1), set([1, 2, 3]))
self.assertEqual(coll.query_point(1, 1, from_mask=1), set([1, 3]))
self.assertEqual(coll.query_point(1, 1, from_mask=2), set([2]))
self.assertEqual(coll.query_point(1, 1, from_mask=3), set([1, 2, 3]))
self.assertEqual(coll.query_point(1, 1, from_mask=4), set([3]))
self.assertEqual(coll.query_point(1, 1, from_mask=5), set([1, 3]))
self.assertEqual(coll.query_point(1, 1, from_mask=8), set())
def test_query_point_with_mask(self):
from grease.collision import BroadSweepAndPrune, Pair
world = TestWorld()
coll = BroadSweepAndPrune()
coll.set_world(world)
set_entity = world.collision.set
set_entity(1, 0, 0, 2, 2, into_mask=1)
set_entity(2, 0, 0, 2, 2, into_mask=2)
set_entity(3, 0, 0, 2, 2, into_mask=5)
coll.step(0)
self.assertEqual(coll.query_point(1, 1), set([1, 2, 3]))
self.assertEqual(coll.query_point(1, 1, from_mask=1), set([1, 3]))
self.assertEqual(coll.query_point(1, 1, from_mask=2), set([2]))
self.assertEqual(coll.query_point(1, 1, from_mask=3), set([1, 2, 3]))
self.assertEqual(coll.query_point(1, 1, from_mask=4), set([3]))
self.assertEqual(coll.query_point(1, 1, from_mask=5), set([1, 3]))
self.assertEqual(coll.query_point(1, 1, from_mask=8), set())
def test_collision_pairs_no_collision(self):
from grease.collision import BroadSweepAndPrune
world = TestWorld()
coll = BroadSweepAndPrune()
set_entity = world.collision.set
set_entity(1, 10, 10, 20, 20)
set_entity(2, 0, 0, 3, 3)
set_entity(3, 11, 21, 15, 40)
set_entity(4, -5, 0, -3, 100)
coll.set_world(world)
self.assertTrue(coll.world is world)
coll.step(0)
self.assertEqual(coll.collision_pairs, set())
coll.step(0)
self.assertEqual(coll.collision_pairs, set())
def test_collision_pairs_no_collision(self):
from grease.collision import BroadSweepAndPrune
world = TestWorld()
coll = BroadSweepAndPrune()
set_entity = world.collision.set
set_entity(1, 10, 10, 20, 20)
set_entity(2, 0, 0, 3, 3)
set_entity(3, 11, 21, 15, 40)
set_entity(4, -5, 0, -3, 100)
coll.set_world(world)
self.assertTrue(coll.world is world)
coll.step(0)
self.assertEqual(coll.collision_pairs, set())
coll.step(0)
self.assertEqual(coll.collision_pairs, set())
def test_collision_pairs_with_masks(self):
from grease.collision import BroadSweepAndPrune, Pair
world = TestWorld()
coll = BroadSweepAndPrune()
coll.set_world(world)
set_entity = world.collision.set
set_entity(1, 0, 0, 1, 1, from_mask=1, into_mask=0)
set_entity(2, 0, 0, 1, 1, from_mask=0, into_mask=2)
set_entity(3, 0, 0, 1, 1, from_mask=2, into_mask=1)
set_entity(4, 0, 0, 1, 1, from_mask=0, into_mask=0)
set_entity(5, 0, 0, 1, 1, from_mask=0xffffffff, into_mask=0xffffffff)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1, 3), Pair(1, 5),
Pair(2, 3), Pair(2, 5), Pair(3, 1), Pair(3, 5))
def test_collision_pairs_no_collide_then_collide(self):
from grease.collision import BroadSweepAndPrune, Pair
world = TestWorld()
coll = BroadSweepAndPrune()
coll.set_world(world)
set_entity = world.collision.set
# Start with no collisions
set_entity(1, 0, 0, 10, 10)
set_entity(2, 7, 12, 9, 13)
set_entity(3, -2.1, 1, -0.1, 2)
coll.step(0)
self.assertEqual(coll.collision_pairs, set())
# One pair collides
set_entity(2, 8, 11, 10, 12)
set_entity(3, -2, 1, 0, 2)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1,3))
# Now two pair
set_entity(2, 9, 10, 11, 11)
set_entity(3, -1.9, 1, 0.1, 2)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1,3), Pair(1,2))
# Same
set_entity(2, 10, 9, 12, 10)
set_entity(3, -1.8, 1, 0.2, 2)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1,3), Pair(1,2))
# Now just one again
set_entity(2, 11, 8, 13, 9)
set_entity(3, -1.7, 1, 0.3, 2)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1,3))
def test_query_point(self):
from grease.collision import BroadSweepAndPrune, Pair
world = TestWorld()
coll = BroadSweepAndPrune()
coll.set_world(world)
set_entity = world.collision.set
set_entity(1, -1, -1, 3, 1)
set_entity(2, 4, 4, 8, 8)
set_entity(3, 6, 6, 9, 9)
# Queries before the first step should always return no hits
self.assertEqual(coll.query_point(0, 0), set())
coll.step(0)
self.assertEqual(coll.query_point(0, 0), set([1]))
self.assertEqual(coll.query_point([0, 0]), set([1]))
set_entity(2, 4, 4, 8, 8)
set_entity(3, 6, 6, 9, 9)
world.collision.new_entities.add(2)
world.collision.new_entities.add(3)
coll.step(0)
self.assertEqual(coll.query_point(0, 0), set([1]))
self.assertEqual(coll.query_point([0, 0]), set([1]))
self.assertEqual(coll.query_point(-1, 0), set([1]))
self.assertEqual(coll.query_point(-1.0001, 0), set())
self.assertEqual(coll.query_point(3, 0), set([1]))
self.assertEqual(coll.query_point(3.0001, 0), set())
self.assertEqual(coll.query_point(0, -1), set([1]))
self.assertEqual(coll.query_point(0, -1.0001), set())
self.assertEqual(coll.query_point(0, 1), set([1]))
self.assertEqual(coll.query_point(0, 1.0001), set())
self.assertEqual(coll.query_point(-1, -1), set([1]))
self.assertEqual(coll.query_point(3, -1), set([1]))
self.assertEqual(coll.query_point(3, 1), set([1]))
self.assertEqual(coll.query_point(3, 1), set([1]))
self.assertEqual(coll.query_point(5, 5), set([2]))
self.assertEqual(coll.query_point([6, 7]), set([2, 3]))
self.assertEqual(coll.query_point([7, 7]), set([2, 3]))
self.assertEqual(coll.query_point([7, 8]), set([2, 3]))
self.assertEqual(coll.query_point([8.5, 8.5]), set([3]))
self.assertEqual(coll.query_point(-2, 0), set())
self.assertEqual(coll.query_point(10, 5), set())
self.assertEqual(coll.query_point(7, 10), set())
self.assertEqual(coll.query_point(7, -10), set())
self.assertEqual(coll.query_point(-200, 100), set())
def test_collision_pairs_no_collide_then_collide(self):
from grease.collision import BroadSweepAndPrune, Pair
world = TestWorld()
coll = BroadSweepAndPrune()
coll.set_world(world)
set_entity = world.collision.set
# Start with no collisions
set_entity(1, 0, 0, 10, 10)
set_entity(2, 7, 12, 9, 13)
set_entity(3, -2.1, 1, -0.1, 2)
coll.step(0)
self.assertEqual(coll.collision_pairs, set())
# One pair collides
set_entity(2, 8, 11, 10, 12)
set_entity(3, -2, 1, 0, 2)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1, 3))
# Now two pair
set_entity(2, 9, 10, 11, 11)
set_entity(3, -1.9, 1, 0.1, 2)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1, 3), Pair(1, 2))
# Same
set_entity(2, 10, 9, 12, 10)
set_entity(3, -1.8, 1, 0.2, 2)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1, 3), Pair(1, 2))
# Now just one again
set_entity(2, 11, 8, 13, 9)
set_entity(3, -1.7, 1, 0.3, 2)
coll.step(0)
self.assertPairs(coll.collision_pairs, Pair(1, 3))
def test_query_point(self):
from grease.collision import BroadSweepAndPrune, Pair
world = TestWorld()
coll = BroadSweepAndPrune()
coll.set_world(world)
set_entity = world.collision.set
set_entity(1, -1, -1, 3, 1)
set_entity(2, 4, 4, 8, 8)
set_entity(3, 6, 6, 9, 9)
# Queries before the first step should always return no hits
self.assertEqual(coll.query_point(0, 0), set())
coll.step(0)
self.assertEqual(coll.query_point(0, 0), set([1]))
self.assertEqual(coll.query_point([0, 0]), set([1]))
set_entity(2, 4, 4, 8, 8)
set_entity(3, 6, 6, 9, 9)
world.collision.new_entities.add(2)
world.collision.new_entities.add(3)
coll.step(0)
self.assertEqual(coll.query_point(0, 0), set([1]))
self.assertEqual(coll.query_point([0, 0]), set([1]))
self.assertEqual(coll.query_point(-1, 0), set([1]))
self.assertEqual(coll.query_point(-1.0001, 0), set())
self.assertEqual(coll.query_point(3, 0), set([1]))
self.assertEqual(coll.query_point(3.0001, 0), set())
self.assertEqual(coll.query_point(0, -1), set([1]))
self.assertEqual(coll.query_point(0, -1.0001), set())
self.assertEqual(coll.query_point(0, 1), set([1]))
self.assertEqual(coll.query_point(0, 1.0001), set())
self.assertEqual(coll.query_point(-1, -1), set([1]))
self.assertEqual(coll.query_point(3, -1), set([1]))
self.assertEqual(coll.query_point(3, 1), set([1]))
self.assertEqual(coll.query_point(3, 1), set([1]))
self.assertEqual(coll.query_point(5, 5), set([2]))
self.assertEqual(coll.query_point([6, 7]), set([2, 3]))
self.assertEqual(coll.query_point([7, 7]), set([2, 3]))
self.assertEqual(coll.query_point([7, 8]), set([2, 3]))
self.assertEqual(coll.query_point([8.5, 8.5]), set([3]))
self.assertEqual(coll.query_point(-2, 0), set())
self.assertEqual(coll.query_point(10, 5), set())
self.assertEqual(coll.query_point(7, 10), set())
self.assertEqual(coll.query_point(7, -10), set())
self.assertEqual(coll.query_point(-200, 100), set())
def test_before_step(self):
# Queries should be well behaved even before the controller is run
from grease.collision import BroadSweepAndPrune
coll = BroadSweepAndPrune()
self.assertEqual(coll.collision_pairs, set())
self.assertEqual(coll.query_point(0,0), set())
def test_before_step(self):
# Queries should be well behaved even before the controller is run
from grease.collision import BroadSweepAndPrune
coll = BroadSweepAndPrune()
self.assertEqual(coll.collision_pairs, set())
self.assertEqual(coll.query_point(0, 0), set())
