def __init__(self, space, rect, playfield=None):
super(PlungerAssembly, self).__init__()
self.chute_counter = 0
self.rect = Rect(0, 0, 1, 1)
spring_strength = 100 * plunger_mass
chute_opening = playfield.position + rect.center - (rect.width / 2. -
ball_radius * 4, 0)
plunger_rect = Rect(0, 0, rect.width * .2, ball_radius / 2.)
anchor0 = chute_opening - playfield.position - (ball_radius * 3., 0)
anchor1 = anchor0 + (rect.width * .8, 0)
anchor2 = -plunger_rect.width / 2., 0
plunger_body = Body(plunger_mass, pymunk.inf)
plunger_shape = Poly.create_box(plunger_body, plunger_rect.size)
plunger_shape.layers = 1
plunger_shape.friction = 0.1
plunger_shape.elasticity = 1.0
plunger_shape.collision_type = plunger_type
plunger_body.position = chute_opening + (plunger_rect.width / 2., 0)
j0 = GrooveJoint(playfield, plunger_body, anchor0, anchor1, anchor2)
j1 = DampedSpring(playfield, plunger_body, anchor0, anchor2, 0,
spring_strength, 5)
s0 = Circle(Body(), ball_radius / 2.)
s0.layers = 1
s0.sensor = True
s0.collision_type = sensor0_type
s0.body.position = chute_opening + (ball_radius * 4., 0.0)
s1 = Circle(Body(), ball_radius * 3.)
s1.layers = 1
s1.sensor = True
s1.collision_type = sensor1_type
s1.body.position = chute_opening
def inc_counter(space, arbiter):
self.chute_counter += 1
return True
def dec_counter(space, arbiter):
self.chute_counter -= 1
f = space.add_collision_handler
f(sensor1_type, plunger_type, begin=inc_counter, separate=dec_counter)
self.playfield = playfield
self.plunger_offset = playfield.position - plunger_body.position + (
ball_radius * 3, 0)
self.spring = j1
self.spring_length = rect.width / 2.
self.spring_strength = spring_strength
self.plunger_body = plunger_body
self.ball_chute = Rect(0, 0, ball_radius * 2., ball_radius * 2.)
self.ball_chute.center = chute_opening
self._original_image = pygame.Surface(plunger_rect.size)
self._original_image.fill((192, 255, 255))
self.shapes = [plunger_shape, s0, s1, j0, j1]
self.visible = 0
def __init__(self, space, rect, playfield=None):
super(PlungerAssembly, self).__init__()
self.chute_counter = 0
self.rect = pygame.Rect(0, 0, 0, 0)
spring_strength = 100 * plunger_mass
chute_opening = playfield.position + rect.center - (rect.width / 2 - ball_radius * 4, 0)
plunger_rect = pygame.Rect(0, 0, rect.width * .2, ball_radius / 2)
anchor0 = chute_opening - playfield.position - (ball_radius * 3, 0)
anchor1 = anchor0 + (rect.width * .8, 0)
anchor2 = -plunger_rect.width / 2, 0
plunger_body = Body(plunger_mass, pymunk.inf)
plunger_shape = Poly.create_box(plunger_body, plunger_rect.size)
plunger_shape.layers = 1
plunger_shape.friction = 0
plunger_shape.elasticity = 1.0
plunger_shape.collision_type = plunger_type
plunger_body.position = chute_opening + (plunger_rect.width / 2, 0)
j0 = GrooveJoint(playfield, plunger_body, anchor0, anchor1, anchor2)
j1 = DampedSpring(playfield, plunger_body, anchor0, anchor2, 0, spring_strength, 5)
s0 = Circle(Body(), ball_radius / 2)
s0.layers = 1
s0.sensor = True
s0.collision_type = sensor0_type
s0.body.position = chute_opening + (ball_radius * 4, 0)
s1 = Circle(Body(), ball_radius * 3)
s1.layers = 1
s1.sensor = True
s1.collision_type = sensor1_type
s1.body.position = chute_opening
def inc_counter(space, arbiter):
self.chute_counter += 1
return True
def dec_counter(space, arbiter):
self.chute_counter -= 1
f = space.add_collision_handler
f(sensor1_type, plunger_type, begin=inc_counter, separate=dec_counter)
self.playfield = playfield
self.plunger_offset = playfield.position - plunger_body.position + (ball_radius * 3, 0)
self.spring = j1
self.spring_length = rect.width / 2
self.spring_strength = spring_strength
self.plunger_body = plunger_body
self.ball_chute = pygame.Rect(0, 0, ball_radius * 2, ball_radius * 2)
self.ball_chute.center = chute_opening
self._original_image = pygame.Surface(plunger_rect.size)
self._original_image.fill((192, 255, 255))
self.shapes = [plunger_shape, s0, s1, j0, j1]
self.visible = 0
def __init__(self,
arm_anchor_point,
arm_segment_lengths,
target_position,
do_render=False,
sparse=True,
sparse_distance=SPARSE_DISTANCE):
super().__init__(do_render, sparse, MAX_MOTOR_FORCE)
self.sparse_distance = sparse_distance
self.target_position = target_position
self.space.gravity = (0.0, 0.0)
self.end_effector_body = None
end_anchor, end_pos = self.add_arm(arm_segment_lengths,
arm_anchor_point)
self.end_effector_body = pymunk.Body(1, 1)
self.end_effector_body.position = end_pos[0], end_pos[1]
end_effector_shape = Circle(self.end_effector_body, 8)
end_effector_shape.collision_type = NO_COLLISION_TYPE
self.space.add(self.end_effector_body, end_effector_shape)
pin = pymunk.PinJoint(end_anchor, self.end_effector_body,
(-arm_segment_lengths[-1] / 2, 0), (0, 0))
self.space.add(pin)
def init_space():
sp = Space()
sp.gravity = (0, 50)
chain = make_pivot_chain(sp, (0, 0), (240, 30), 30)
sp.add(constraint.PivotJoint(chain[0], sp.static_body, chain[0].position))
# Cria quadrado
L = 25
player = Body(mass=1, moment=100)
shape = Poly(player, [(-L, -L), (L, -L), (L, L), (-L, L)])
player.position = (90, 60)
player.velocity = (-25, 25)
shape.elasticity = 1.0
shape.color = pyxel.COLOR_RED
shape.collision_type = 42
ball = Body(mass=1, moment=200)
ball_shape = Circle(ball, 20)
ball.position = (player.position.x, 130)
ball_shape.elasticity = 1.0
shape.color = pyxel.COLOR_NAVY
ball_shape.collision_type = 42
joint1 = constraint.DampedSpring(player, ball, (0, 0), (20, 0), 20, 3, 0.5)
joint2 = constraint.PivotJoint(sp.static_body, player, (65, 35))
joint1.collide_bodies = False
sp.add(joint1, joint2)
body2 = Body(1, 100)
sp.add(body2)
sp.add(Poly(body2, [(-3, 3), (3, 3), (3, -3), (-3, -3)]))
body2.position = 220, 50
sp.add(constraint.DampedRotarySpring(body2, ball, 0, 2, 1))
sp.body2 = body2
# Cria margens
line = Body(body_type=Body.STATIC)
e = 0
lines = [
Segment(line, (-e, -e), (240 + e, -e), 2),
Segment(line, (-e, 180 + e), (240 + e, 180 + e), 2),
Segment(line, (-e, -e), (-e, 180 + e), 2),
Segment(line, (240 + e, -e), (240 + e, 180 + e), 2),
]
for line in lines:
line.elasticity = 1.0
lines = []
# Adiciona elementos ao espaço
sp.add(player, shape, ball, ball_shape, *lines)
sp.player = player
#handler = sp.add_collision_handler(42, 42)
#handler.begin = lambda *args: False
return sp
def __init__(self,
width=600,
height=600,
obstacle_num=5,
obstacle_radius=30,
feed_num=0,
feed_radius=5):
import pyglet
from pymunk import Space, Segment, Body, Circle, moment_for_circle, pyglet_util
super(VehicleSimulator, self).__init__()
self.__left_sensor_val = 0
self.__right_sensor_val = 0
self.__feed_sensor_val = False
self.__feed_touch_counter = {}
self.__feed_bodies = []
self.__feed_radius = feed_radius
self.__window = pyglet.window.Window(
self.ARENA_SIZE + self.DISPLAY_MARGIN * 2,
self.ARENA_SIZE + self.DISPLAY_MARGIN * 2,
vsync=False)
self.__draw_options = pyglet_util.DrawOptions()
self.__closed = False
@self.__window.event
def on_draw():
pyglet.gl.glClearColor(255, 255, 255, 255)
self.__window.clear()
self.__simulation_space.debug_draw(self.__draw_options)
@self.__window.event
def on_close():
pyglet.app.EventLoop().exit()
self.__closed = True
self.__simulation_space = Space()
self.__simulation_space.gravity = 0, 0
# arena
walls = [
Segment(
self.__simulation_space.static_body,
(self.DISPLAY_MARGIN, self.DISPLAY_MARGIN),
(self.ARENA_SIZE + self.DISPLAY_MARGIN, self.DISPLAY_MARGIN),
0),
Segment(
self.__simulation_space.static_body,
(self.ARENA_SIZE + self.DISPLAY_MARGIN, self.DISPLAY_MARGIN),
(self.ARENA_SIZE + self.DISPLAY_MARGIN,
self.ARENA_SIZE + self.DISPLAY_MARGIN), 0),
Segment(
self.__simulation_space.static_body,
(self.ARENA_SIZE + self.DISPLAY_MARGIN,
self.ARENA_SIZE + self.DISPLAY_MARGIN),
(self.DISPLAY_MARGIN, self.ARENA_SIZE + self.DISPLAY_MARGIN),
0),
Segment(
self.__simulation_space.static_body,
(self.DISPLAY_MARGIN, self.ARENA_SIZE + self.DISPLAY_MARGIN),
(self.DISPLAY_MARGIN, self.DISPLAY_MARGIN), 0)
]
for w in walls:
w.collision_type = self.COLLISION_TYPE.OBJECT
w.friction = 0.2
self.__simulation_space.add(walls)
# vehicle
mass = 1
self.__vehicle_body = Body(
mass, moment_for_circle(mass, 0, self.VEHICLE_RADIUS))
self.__vehicle_shape = Circle(self.__vehicle_body, self.VEHICLE_RADIUS)
self.__vehicle_shape.friction = 0.2
self.__vehicle_shape.collision_type = self.COLLISION_TYPE.VEHICLE
self.__simulation_space.add(self.__vehicle_body, self.__vehicle_shape)
# left sensor
sensor_l_s = Segment(self.__vehicle_body, (0, 0),
(self.SENSOR_RANGE * np.cos(self.SENSOR_ANGLE),
self.SENSOR_RANGE * np.sin(self.SENSOR_ANGLE)),
0)
sensor_l_s.sensor = True
sensor_l_s.collision_type = self.COLLISION_TYPE.LEFT_SENSOR
handler_l = self.__simulation_space.add_collision_handler(
self.COLLISION_TYPE.LEFT_SENSOR, self.COLLISION_TYPE.OBJECT)
handler_l.pre_solve = self.__left_sensr_handler
handler_l.separate = self.__left_sensr_separate_handler
self.__simulation_space.add(sensor_l_s)
# right sensor
sensor_r_s = Segment(self.__vehicle_body, (0, 0),
(self.SENSOR_RANGE * np.cos(-self.SENSOR_ANGLE),
self.SENSOR_RANGE * np.sin(-self.SENSOR_ANGLE)),
0)
sensor_r_s.sensor = True
sensor_r_s.collision_type = self.COLLISION_TYPE.RIGHT_SENSOR
handler_r = self.__simulation_space.add_collision_handler(
self.COLLISION_TYPE.RIGHT_SENSOR, self.COLLISION_TYPE.OBJECT)
handler_r.pre_solve = self.__right_sensr_handler
handler_r.separate = self.__right_sensr_separate_handler
self.__simulation_space.add(sensor_r_s)
# obstacles
for a in (np.linspace(0, np.pi * 2, obstacle_num, endpoint=False) +
np.pi / 2):
body = Body(body_type=Body.STATIC)
body.position = (self.DISPLAY_MARGIN + self.ARENA_SIZE / 2 +
self.ARENA_SIZE * 0.3 * np.cos(a),
self.DISPLAY_MARGIN + self.ARENA_SIZE / 2 +
self.ARENA_SIZE * 0.3 * np.sin(a))
shape = Circle(body, obstacle_radius)
shape.friction = 0.2
shape.collision_type = self.COLLISION_TYPE.OBJECT
self.__simulation_space.add(shape)
for i in range(feed_num):
body = Body(1, 1)
self.__feed_bodies.append(body)
shape = Circle(body, self.__feed_radius)
shape.sensor = True
shape.color = self.FEED_COLOR
shape.collision_type = self.COLLISION_TYPE.FEED
handler = self.__simulation_space.add_collision_handler(
self.COLLISION_TYPE.VEHICLE, self.COLLISION_TYPE.FEED)
handler.pre_solve = self.__feed_touch_handler
handler.separate = self.__feed_separate_handler
self.__simulation_space.add(body, shape)
self.__feed_touch_counter[shape] = 0
self.reset()
