def shadow(self, n):
'''Retorna as coordenadas da sombra na direção n dada.
Assume n normalizado.'''
r = self.radius
center_pos = dot(self.pos, n)
return (center_pos - r, center_pos + r)
def shadow(self, n):
'''Retorna as coordenadas da sombra na direção n dada.
Assume n normalizado.'''
r = self.radius
center_pos = dot(self.pos, n)
return (center_pos - r, center_pos + r)
def collision_poly(A, B, directions=None, collision_class=Collision):
"""
Collision detection using SAT.
"""
# List of directions from normals
if directions is None:
if A.num_normals + B.num_normals < 9:
directions = A.get_normals() + B.get_normals()
else:
directions = DEFAULT_DIRECTIONS
# Test overlap in all considered directions and picks the smaller
# penetration
min_overlap = float('inf')
norm = None
for u in directions:
A_coords = [dot(pt, u) for pt in A.vertices]
B_coords = [dot(pt, u) for pt in B.vertices]
Amax, Amin = max(A_coords), min(A_coords)
Bmax, Bmin = max(B_coords), min(B_coords)
minmax, maxmin = min(Amax, Bmax), max(Amin, Bmin)
overlap = minmax - maxmin
if overlap < 0:
return None
elif overlap < min_overlap:
min_overlap = overlap
norm = u
# Finds the correct direction for the normal
if dot(A.pos, norm) > dot(B.pos, norm):
norm = -norm
# Computes the clipped polygon: collision happens at its center point.
try:
clipped = clip(A.vertices, B.vertices)
col_pt = center_of_mass(clipped)
except ValueError:
return None
if area(clipped) == 0:
return None
return collision_class(A, B, pos=col_pt, normal=norm, delta=min_overlap)
def collision_poly(A, B, directions=None, collision_class=Collision):
"""
Collision detection using SAT.
"""
# List of directions from normals
if directions is None:
if A.num_normals + B.num_normals < 9:
directions = A.get_normals() + B.get_normals()
else:
directions = DEFAULT_DIRECTIONS
# Test overlap in all considered directions and picks the smaller
# penetration
min_overlap = float('inf')
norm = None
for u in directions:
A_coords = [dot(pt, u) for pt in A.vertices]
B_coords = [dot(pt, u) for pt in B.vertices]
Amax, Amin = max(A_coords), min(A_coords)
Bmax, Bmin = max(B_coords), min(B_coords)
minmax, maxmin = min(Amax, Bmax), max(Amin, Bmin)
overlap = minmax - maxmin
if overlap < 0:
return None
elif overlap < min_overlap:
min_overlap = overlap
norm = u
# Finds the correct direction for the normal
if dot(A.pos, norm) > dot(B.pos, norm):
norm = -norm
# Computes the clipped polygon: collision happens at its center point.
try:
clipped = clip(A.vertices, B.vertices)
col_pt = center_of_mass(clipped)
except ValueError:
return None
if area(clipped) == 0:
return None
return collision_class(A, B, pos=col_pt, normal=norm, delta=min_overlap)
def shadow(self, n):
p0 = dot(self.pos, n)
r = self._radius
return p0 - r, p0 + r
def sat_shadow(self, n):
if abs(dot(self.tangent(), n)) < 1e-6:
p = dot(self.p1, n)
return p, p
else:
return [-Inf, Inf]
def sat_shadow(self, n):
if abs(dot(self.tangent(), n)) < 1e-6:
p = dot(self.p1, n)
return p, p
else:
return [-Inf, Inf]
def SAT_shadows(self, n):
points = [dot(n, p) for p in self.vertices]
return min(points), max(points)
def shadow(self, n):
'''Retorna as coordenadas da sombra na direção n dada.
Assume n normalizado.'''
points = [dot(n, p) for p in self.vertices]
return min(points), max(points)
def SAT_shadows(self, n):
points = [dot(n, p) for p in self.vertices]
return min(points), max(points)