def check_placement(world, T, target_index):
world.rigidObject(target_index).setTransform(T[0], T[1])
glist_target = []
glist_target.append(world.rigidObject(target_index).geometry())
glist_terrain = []
glist_object = []
for i in xrange(world.numTerrains()):
t = world.terrain(i)
g = t.geometry()
if g != None and g.type() != "":
glist_terrain.append(g)
for i in xrange(world.numRigidObjects()):
o = world.rigidObject(i)
g = o.geometry()
if g != None and g.type() != "" and i != target_index:
glist_object.append(g)
if any(collide.group_collision_iter(glist_target, glist_object)):
# if any(collide.self_collision_iter(glist_target+glist_object)):
print 'objects colliding!'
return False
if any(collide.group_collision_iter(glist_target, glist_terrain)):
# if any(collide.self_collision_iter(glist_target+glist_terrain)):
print 'terrain colliding!'
return False
return True
def xy_jiggle(world,objects,fixed_objects,bmin,bmax,iters,randomize = True):
"""Jiggles the objects' x-y positions within the range bmin - bmax, and randomizes orientation about the z
axis until the objects are collision free. A list of fixed objects (fixed_objects) may be given as well.
Objects for which collision-free resolutions are not found are returned.
"""
if randomize:
for obj in objects:
xy_randomize(obj,bmin,bmax)
inner_iters = 10
while iters > 0:
numConflicts = [0]*len(objects)
for (i,j) in collide.self_collision_iter([o.geometry() for o in objects]):
numConflicts[i] += 1
numConflicts[j] += 1
for (i,j) in collide.group_collision_iter([o.geometry() for o in objects],[o.geometry() for o in fixed_objects]):
numConflicts[i] += 1
amax = max((c,i) for (i,c) in enumerate(numConflicts))[1]
cmax = numConflicts[amax]
if cmax == 0:
#conflict free
return
print cmax,"conflicts with object",objects[amax].getName()
other_geoms = [o.geometry() for o in objects[:amax]+objects[amax+1:]+fixed_objects]
for it in xrange(inner_iters):
xy_randomize(objects[amax],bmin,bmax)
nc = sum([1 for p in collide.group_collision_iter([objects[amax].geometry()],other_geoms)])
if nc < cmax:
break
iters-=1
print "Now",nc,"conflicts with object",objects[amax].getName()
numConflicts = [0]*len(objects)
for (i,j) in collide.self_collision_iter([o.geometry() for o in objects]):
numConflicts[i] += 1
numConflicts[j] += 1
for (i,j) in collide.group_collision_iter([o.geometry() for o in objects],[o.geometry() for o in fixed_objects]):
numConflicts[i] += 1
removed = []
while max(numConflicts) > 0:
amax = max((c,i) for (i,c) in enumerate(numConflicts))[1]
cmax = numConflicts[amax]
print "Unable to find conflict-free configuration for object",objects[amax].getName(),"with",cmax,"conflicts"
removed.append(amax)
#revise # of conflicts -- this could be faster, but whatever...
numConflicts = [0]*len(objects)
for (i,j) in collide.self_collision_iter([o.geometry() for o in objects]):
if i in removed or j in removed:
continue
numConflicts[i] += 1
numConflicts[j] += 1
for (i,j) in collide.group_collision_iter([o.geometry() for o in objects],[o.geometry() for o in fixed_objects]):
if i in removed:
continue
numConflicts[i] += 1
return removed
def xy_jiggle(world,objects,fixed_objects,bmin,bmax,iters,randomize=True,
verbose=0):
"""Jiggles the objects' x-y positions within the range bmin - bmax, and randomizes orientation about the z
axis until the objects are collision free. A list of fixed objects (fixed_objects) may be given as well.
Objects for which collision-free resolutions are not found are returned.
"""
if randomize:
for obj in objects:
xy_randomize(obj,bmin,bmax)
inner_iters = 10
while iters > 0:
numConflicts = [0]*len(objects)
for (i,j) in collide.self_collision_iter([o.geometry() for o in objects]):
numConflicts[i] += 1
numConflicts[j] += 1
for (i,j) in collide.group_collision_iter([o.geometry() for o in objects],[o.geometry() for o in fixed_objects]):
numConflicts[i] += 1
amax = max((c,i) for (i,c) in enumerate(numConflicts))[1]
cmax = numConflicts[amax]
if cmax == 0:
#conflict free
return
if verbose:
print(cmax,"conflicts with object",objects[amax].getName())
other_geoms = [o.geometry() for o in objects[:amax]+objects[amax+1:]+fixed_objects]
for it in range(inner_iters):
xy_randomize(objects[amax],bmin,bmax)
nc = sum([1 for p in collide.group_collision_iter([objects[amax].geometry()],other_geoms)])
if nc < cmax:
break
iters-=1
if verbose:
print("Now",nc,"conflicts with object",objects[amax].getName())
numConflicts = [0]*len(objects)
for (i,j) in collide.self_collision_iter([o.geometry() for o in objects]):
numConflicts[i] += 1
numConflicts[j] += 1
for (i,j) in collide.group_collision_iter([o.geometry() for o in objects],[o.geometry() for o in fixed_objects]):
numConflicts[i] += 1
removed = []
while max(numConflicts) > 0:
amax = max((c,i) for (i,c) in enumerate(numConflicts))[1]
cmax = numConflicts[amax]
if verbose:
print("Unable to find conflict-free configuration for object",objects[amax].getName(),"with",cmax,"conflicts")
removed.append(amax)
#revise # of conflicts -- this could be faster, but whatever...
numConflicts = [0]*len(objects)
for (i,j) in collide.self_collision_iter([o.geometry() for o in objects]):
if i in removed or j in removed:
continue
numConflicts[i] += 1
numConflicts[j] += 1
for (i,j) in collide.group_collision_iter([o.geometry() for o in objects],[o.geometry() for o in fixed_objects]):
if i in removed:
continue
numConflicts[i] += 1
return removed
def xy_jiggle(world,objects,fixed_objects,bmin,bmax,iters,randomize = True):
"""Jiggles the objects' x-y positions within the range bmin - bmax, and randomizes orientation about the z
axis until the objects are collision free. A list of fixed objects (fixed_objects) may be given as well.
Objects for which collision-free resolutions are not found after iters steps will be
deleted from the world.
"""
if randomize:
for obj in objects:
xy_randomize(obj,bmin,bmax)
inner_iters = 10
while iters > 0:
numConflicts = [0]*len(objects)
for (i,j) in collide.self_collision_iter([o.geometry() for o in objects]):
numConflicts[i] += 1
numConflicts[j] += 1
for (i,j) in collide.group_collision_iter([o.geometry() for o in objects],[o.geometry() for o in fixed_objects]):
numConflicts[i] += 1
amax = max((c,i) for (i,c) in enumerate(numConflicts))[1]
cmax = numConflicts[amax]
if cmax == 0:
#conflict free
return
print cmax,"conflicts with object",objects[amax].getName()
other_geoms = [o.geometry() for o in objects[:amax]+objects[amax+1:]+fixed_objects]
for it in xrange(inner_iters):
xy_randomize(objects[amax],bmin,bmax)
nc = sum([1 for p in collide.group_collision_iter([objects[amax].geometry()],other_geoms)])
if nc < cmax:
break
iters-=1
print "Now",nc,"conflicts with object",objects[amax].getName()
numConflicts = [0]*len(objects)
for (i,j) in collide.self_collision_iter([o.geometry() for o in objects]):
numConflicts[i] += 1
numConflicts[j] += 1
for (i,j) in collide.group_collision_iter([o.geometry() for o in objects],[o.geometry() for o in fixed_objects]):
numConflicts[i] += 1
removed = []
while max(numConflicts) > 0:
amax = max((c,i) for (i,c) in enumerate(numConflicts))[1]
cmax = numConflicts[amax]
print "Unable to find conflict-free configuration, removing object",objects[amax].getName(),"with",cmax,"conflicts"
removed.append(amax)
#revise # of conflicts -- this could be faster, but whatever...
numConflicts = [0]*len(objects)
for (i,j) in collide.self_collision_iter([o.geometry() for o in objects]):
if i in removed or j in removed:
continue
numConflicts[i] += 1
numConflicts[j] += 1
for (i,j) in collide.group_collision_iter([o.geometry() for o in objects],[o.geometry() for o in fixed_objects]):
if i in removed:
continue
numConflicts[i] += 1
removeIDs = [objects[i].index for i in removed]
for i in sorted(removeIDs)[::-1]:
world.remove(world.rigidObject(i))
raw_input("Press enter to continue")