def test_AABBCircle(self):
aabb = pycrcc.RectAABB(2, 3, 3, 1.8)
aabb2 = pycrcc.RectAABB(2, 3, 3, 1.7)
circ = pycrcc.Circle(2.5, 6, 7)
self.assertEqual(aabb.collide(circ), 1)
self.assertEqual(aabb2.collide(circ), 0)
def build_quadtree(depth, rx, ry, x, y, params):
max_depth = params.get('max_depth', 10)
build_antiquads = params.get('build_antiquads', False)
speedup = params.get('speedup', False)
quad = pycrcc.RectAABB(rx, ry, x, y)
if quad.collide(road):
if depth >= max_depth or (speedup and not quad.collide(rectangles)):
if (build_antiquads):
antiquads.add_shape(quad)
else:
depth += 1
def recursive(x, y):
build_quadtree(depth, rx, ry, x, y, params)
# expand
rx /= 2
ry /= 2
recursive(x + rx, y + ry)
recursive(x - rx, y + ry)
recursive(x + rx, y - ry)
recursive(x - rx, y - ry)
else:
quads.add_shape(quad)
def test_OBBAABB(self):
obb2 = pycrcc.RectOBB(1, 2, 0, 9, 14)
aabb2 = pycrcc.RectAABB(1, 1, 11.1, 16)
obb3 = pycrcc.RectOBB(1, 2, 0.2, 9, 14)
obb4 = pycrcc.RectOBB(1, 2, -0.2, 9, 14)
self.assertEqual(obb2.collide(aabb2), 0)
self.assertEqual(obb3.collide(aabb2), 0)
self.assertEqual(obb4.collide(aabb2), 1)
def create_collision_object_rectangle(rect,
params=None,
collision_object_func=None):
if math.isclose(rect.orientation, 0.0):
return pycrcc.RectAABB(0.5 * rect.length, 0.5 * rect.width,
rect.center[0], rect.center[1])
else:
return pycrcc.RectOBB(0.5 * rect.length, 0.5 * rect.width,
rect.orientation, rect.center[0], rect.center[1])
def test_cc(self):
aabb = pycrcc.RectAABB(2, 3, 3, 1.8)
aabb2 = pycrcc.RectAABB(2, 3, 3, 1.7)
circ = pycrcc.Circle(2.5, 6, 7)
cc = pycrcc.CollisionChecker()
cc.add_collision_object(aabb)
obb1 = pycrcc.RectOBB(2, 1, 1.5, 6.0, 0)
obb2 = pycrcc.RectOBB(2, 1, 1.5, 6.0, 20)
self.assertEqual(cc.collide(circ), 1)
tvo1 = pycrcc.TimeVariantCollisionObject(1)
tvo1.append_obstacle(pycrcc.RectOBB(2, 1, 0.0, 2.0, 5)) # time step 1
tvo1.append_obstacle(pycrcc.RectOBB(2, 1, 0.0, 2.5, 5)) # time step 2
tvo1.append_obstacle(pycrcc.RectOBB(2, 1, 0.0, 3, 5)) # time step 3
tvo1.append_obstacle(pycrcc.RectOBB(2, 1, 0.0, 3.5, 5)) # time step 4
tvo1.append_obstacle(pycrcc.RectOBB(2, 1, 0.0, 4, 5)) # time step 5
tvo1.append_obstacle(pycrcc.RectOBB(2, 1, 0.0, 4.5, 5)) # time step 6
tvo1.append_obstacle(pycrcc.RectOBB(2, 1, 0.0, 5, 5)) # time step 7
tvo1.append_obstacle(pycrcc.RectOBB(2, 1, 0.0, 5.5, 5)) # time step 8
# Time variant obstacle that starts at time 4
tvo2 = pycrcc.TimeVariantCollisionObject(4)
tvo2.append_obstacle(pycrcc.RectOBB(2, 1, 1.5, 6.0, 0)) # time step 4
tvo2.append_obstacle(pycrcc.RectOBB(2, 1, 1.5, 6.0, 2)) # time step 5
tvo2.append_obstacle(pycrcc.RectOBB(2, 1, 1.5, 6.0, 3)) # time step 6
tvo2.append_obstacle(pycrcc.RectOBB(2, 1, 1.5, 6.0, 4)) # time step 7
tvo2.append_obstacle(pycrcc.RectOBB(2, 1, 1.5, 6.0, 5)) # time step 8
tvo2.append_obstacle(pycrcc.RectOBB(2, 1, 1.5, 6.0, 6)) # time step 9
tvo2.append_obstacle(pycrcc.RectOBB(2, 1, 1.5, 6.0, 7)) # time step 10
cc = pycrcc.CollisionChecker()
cc.add_collision_object(tvo2)
obb1 = pycrcc.RectOBB(2, 1, 1.5, 6.0, 0)
obb2 = pycrcc.RectOBB(2, 1, 1.5, 6.0, 20)
self.assertEqual(tvo2.collide(obb1), 1)
self.assertEqual(cc.collide(obb1), 1)
self.assertEqual(cc.collide(obb2), 0)
cc2 = pycrcc.CollisionChecker()
cc2.add_collision_object(obb2)
self.assertEqual(cc2.collide(tvo2), 0)
cc2.add_collision_object(obb1)
self.assertEqual(cc2.collide(tvo2), 1)
cc3 = pycrcc.CollisionChecker()
cc3.add_collision_object(tvo1)
self.assertEqual(cc3.collide(tvo2), 1)
tvo3 = pycrcc.TimeVariantCollisionObject(12)
tvo3.append_obstacle(pycrcc.RectOBB(2, 1, 1.5, 6.0, 0))
tvo3.append_obstacle(pycrcc.RectOBB(2, 1, 1.5, 6.0, 2))
cc4 = pycrcc.CollisionChecker()
cc4.add_collision_object(tvo2)
cc4.add_collision_object(pycrcc.RectOBB(2, 1, 1.5, 6.0, 0))
self.assertEqual(cc4.collide(tvo3), 1)
def create_random_aabb(self):
center = self.generate_random_vector()
rad_x = abs(self.generate_random_xvalue())
rad_y = abs(self.generate_random_yvalue())
return pycrcc.RectAABB(rad_x, rad_y, center[0], center[1])