def test_tangents_containing_circle(self):
"test circle tangents when one circle contains another"
circle1 = Circle(Vec2D(), 10)
circle2 = Circle(Vec2D(), 5)
self.assertTrue(len(circle1.tangent_circle(circle2)) == 0)
self.assertTrue(len(circle2.tangent_circle(circle1)) == 0)
def test_circumference_simple(self):
p1 = Circle()
p2 = Circle(Vec2D(3, 0), 1)
poly = Polygon([p1, p2])
self.assertAlmostEqual(poly.circumference(), 6 + 2 * pi)
def test_intersection_equal_circles(self):
"test intersection of equal circles"
circ1 = Circle()
circ2 = Circle()
self.assertTrue(circ1.intersects(circ2))
self.assertTrue(circ2.intersects(circ1))
def test_containment_equal_circles(self):
"if two circles are equal one contains the other and vice versa"
circ1 = Circle()
circ2 = Circle()
self.assertTrue(circ1.contains_circle(circ2))
self.assertTrue(circ2.contains_circle(circ1))
def test_circle_circle_intersection(self):
"test intersection of intersecting circles"
circ1 = Circle()
circ2 = Circle(Vec2D(0.5, 0))
self.assertTrue(circ1.intersects(circ2))
self.assertTrue(circ2.intersects(circ1))
def test_not_intersecting_circles(self):
"test intersection of not intersecting circles"
circ1 = Circle()
circ2 = Circle(Vec2D(10, 0))
self.assertFalse(circ1.intersects(circ2))
self.assertFalse(circ2.intersects(circ1))
def test_self_tangent(self):
"test if tangent is part of circle"
circle1 = Circle()
circle2 = Circle(Vec2D(0, 2), 1)
tan = Tangent(Vec2D(0, 1), circle1, None, Vec2D(0, 2), circle2, None)
self.assertFalse(circle1.intersects_tangent(tan))
self.assertFalse(circle2.intersects_tangent(tan))
def test_touching_intersection(self):
"test intersection of tangent circles"
circ1 = Circle()
circ2 = Circle(Vec2D(1, 0))
self.assertTrue(circ1.intersects(circ2))
self.assertTrue(circ2.intersects(circ1))
def test_containing_circles(self):
"test circle containment"
circ1 = Circle()
circ2 = Circle(Vec2D(), 0.5)
self.assertTrue(circ1.contains_circle(circ2))
self.assertFalse(circ2.contains_circle(circ1))
def test_contains_impl_intersects(self):
"containment implies intersection"
circ1 = Circle()
circ2 = Circle(Vec2D(), 0.5)
self.assertTrue(circ1.contains_circle(circ2))
self.assertTrue(circ1.intersects(circ2))
self.assertTrue(circ2.intersects(circ1))
def get_start_circles(start_pos, start_heading, radius):
"two circles for which the line defined by start_pos and start_heading \
is tangent"
pos_center = start_pos + start_heading.rotate(pi / 2).normalized() * radius
neg_center = start_pos + start_heading.rotate(
-pi / 2).normalized() * radius
return [Circle(pos_center, radius), Circle(neg_center, radius)]
def test_translate_zero(self):
"test that tangent equals itself after translation of (0, 0)"
circ1 = Circle()
circ2 = Circle(Vec2D(4, 0))
tan = Tangent(Vec2D(0, 1), circ1, 1, Vec2D(4, 1), circ2, -1)
translated = tan + Vec2D()
self.assertTrue(tan == translated)
self.assertTrue(translated == tan)
def test_equality(self):
"test equality (and implicitely non-equality) of cirlces"
circle1 = Circle(Vec2D(1, 0), 1.0)
circle2 = Circle(Vec2D(1, 0.9 * Vec2D.EPSILON),
1.0 + 0.9 * Vec2D.EPSILON)
self.assertTrue(circle1 == circle2)
self.assertTrue(circle2 == circle1)
# equality is symmetric
self.assertFalse(circle1 != circle2)
self.assertFalse(circle2 != circle1)
def test_start_circles(self):
"test generation of starting circles"
pos = Vec2D()
direction = Vec2D(0, 1)
pos_circ = Circle(Vec2D(-1, 0), 1)
neg_circ = Circle(Vec2D(1, 0), 1)
(test_pos, test_neg) = pp.get_start_circles(pos, direction, 1)
self.assertTrue(test_pos == pos_circ)
self.assertTrue(test_neg == neg_circ)
def test_all_tangents_simple1(self):
"test that all_tangents returns all tangents of two circles \
when only those 2 circles are present"
circ1 = Circle(Vec2D(-2, 0), 1)
circ2 = Circle(Vec2D(2, 0), 1)
tangents = circ1.tangent_circle(circ2)
to_test = pp.all_tangents([circ1, circ2], [])
verificator = all(test in tangents for test in to_test)
self.assertTrue(verificator)
def test_tangents_intersec_circles(self):
"test circle tangents of intersecting circles"
circle1 = Circle(Vec2D(), 2)
circle2 = Circle(Vec2D(3, 0), 2)
tans = circle1.tangent_circle(circle2)
self.assertTrue(len(tans) == 2)
tan1 = Tangent(Vec2D(0, 2), circle1, 1, Vec2D(3, 2), circle2, -1)
tan2 = Tangent(Vec2D(0, -2), circle1, -1, Vec2D(3, -2), circle2, 1)
verify = all(tan == tan1 or tan == tan2 for tan in tans)
self.assertTrue(verify)
def test_polycircle_intersection(self):
"test intersection between polygon and circle"
dummy = dummy_polygon()
circ = Circle(Vec2D(4, 4))
tan1 = Tangent(Vec2D(4, 5), Circle(Vec2D(4, 4)), -1, Vec2D(0, 5),
Circle(Vec2D(0, 4)), 1)
tan2 = Tangent(Vec2D(5, 4), Circle(Vec2D(4, 4)), 1, Vec2D(5, 0),
Circle(Vec2D(4, 0)), -1)
tans = dummy.tangent_circle(circ)
self.assertTrue(tan1 in tans and tan2 in tans)
def test_contains_tangent(self):
"test start and end inside circle"
circle = Circle()
tangent = Tangent(Vec2D(0, -0.5), None, None, Vec2D(0, 0.5), None,
None)
self.assertFalse(circle.intersects_tangent(tangent))
def test_default_constructor(self):
"default constructor should return unit circle"
circle = Circle()
self.assertTrue(circle.pos == Vec2D())
self.assertAlmostEqual(circle.radius, 1.0)
def test_sort_points_singleelement(self):
"test sort_points_on_circle one element list"
sorted_list = pp.sort_points_on_circle([Vec2D(1, 0)], Circle())
self.assertTrue(len(sorted_list) == 1)
self.assertTrue(sorted_list[0] == Vec2D(1, 0))
def test_point_containment(self):
"test point inside circle"
point = Vec2D()
circle = Circle()
self.assertTrue(circle.contains_point(point))
def test_point_on_border(self):
"test point exactly on circle border"
point = Vec2D(1, 0)
circle = Circle()
self.assertTrue(circle.contains_point(point))
def test_tangent_vector(self):
"vector tangent to unitcircle"
circ = Circle()
pos = Vec2D(1, 0)
self.assertTrue(circ.tangent_vector(pos, 1) == Vec2D(0, 1))
def test_point_not_inside(self):
"test point not inside circle"
point = Vec2D(2, 0)
circle = Circle()
self.assertFalse(circle.contains_point(point))
def test_radial_acc(self):
"test radial_acc method"
circle = Circle()
seg = CircleSegment(Vec2D(1, 0), Vec2D(0, 1), circle, 1)
self.assertTrue(seg.radial_acc(Vec2D(1, 0), 1) == Vec2D(-1, 0))
def dummy_polygon():
"return a dummy triangular polygon"
circ1 = Circle()
circ2 = Circle(Vec2D(4, 0))
circ3 = Circle(Vec2D(0, 4))
side2_helper = Vec2D(sqrt(2.0) / 2.0, sqrt(2.0) / 2.0)
side2_pos1 = circ2.pos + side2_helper
side2_pos2 = circ3.pos + side2_helper
side1 = Tangent(Vec2D(0, -1), circ1, -1, Vec2D(4, -1), circ2, 1)
side2 = Tangent(side2_pos1, circ2, -1, side2_pos2, circ3, 1)
side3 = Tangent(Vec2D(-1, 4), circ3, -1, Vec2D(-1, 0), circ1, 1)
return Polygon([circ1, circ2, circ3], [side1, side2, side3])
def test_next_pos(self):
"test next_pos method"
circle = Circle()
seg = CircleSegment(Vec2D(1, 0), Vec2D(0, 1), circle, 1)
self.assertTrue(seg.next_pos(Vec2D(1, 0), pi * 0.5) == Vec2D(0, 1))
def test_constructor(self):
"test constructor"
start_pos = Vec2D(0, 1)
start_circ = Circle()
start_orient = 1
end_pos = Vec2D(2, 1)
end_circ = Circle(Vec2D(2, 0))
end_orient = -1
tan = Tangent(start_pos, start_circ, start_orient, end_pos, end_circ,
end_orient)
self.assertTrue(tan.start_pos == start_pos)
self.assertTrue(tan.start_pos == start_pos)
self.assertTrue(tan.start_circle == start_circ)
self.assertTrue(tan.end_orient == end_orient)
self.assertTrue(tan.end_circle == end_circ)
self.assertTrue(tan.end_orient == end_orient)
def main():
"draw loop"
start = Vec2D(0.1, 0.1)
end = Vec2D(2.1, 1.1)
direction = Vec2D(0, 0.1)
obs1 = Circle(Vec2D(1.5, 0.75), 0.2)
#obs2 = Circle(Vec2D(0.9, 0.6), 0.2)
corner1 = Circle(Vec2D(), 0.1)
corner2 = Circle(Vec2D(0.5, 0), 0.1)
side1 = Tangent(Vec2D(0, -0.1), corner1, -1, Vec2D(0.5, -0.1), corner2, 1)
side2 = Tangent(Vec2D(0, 0.1), corner1, 1, Vec2D(0.5, 0.1), corner2, -1)
poly1 = Polygon([corner1, corner2], [side1, side2]) + Vec2D(0.15, 0.3)
circs = [obs1]
polys = [poly1]
paused = False
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
pygame.quit()
sys.exit()
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_p:
paused = not paused
if not paused:
SCREEN.fill(BLACK)
#SCRREN.blit(BACKGROUND, (0, 0))
path = get_path(SETTINGS, polys, circs, start, direction, 0, end)
draw_pos(start)
draw_pos(end)
draw_env(SETTINGS, circs, polys)
draw_path(path)
pygame.display.update()
def test_tan(self):
"test tan method"
circle = Circle()
seg1 = CircleSegment(Vec2D(1, 0), Vec2D(0, 1), circle, 1)
seg2 = CircleSegment(Vec2D(1, 0), Vec2D(0, 1), circle, -1)
self.assertTrue(seg1.tan(Vec2D(1, 0)) == Vec2D(0, 1))
self.assertTrue(seg2.tan(Vec2D(1, 0)) == Vec2D(0, -1))