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_circumference_simple(self):
p1 = Circle()
p2 = Circle(Vec2D(3, 0), 1)
poly = Polygon([p1, p2])
self.assertAlmostEqual(poly.circumference(), 6 + 2*pi)
def test_polygon_from_circles_normal(self):
ref = dummy_polygon()
poly = Polygon(ref.corners)
self.assertTrue(len(ref.corners) == len(poly.corners))
for ref_corner in ref.corners:
self.assertTrue(ref_corner in poly.corners)
self.assertTrue(len(ref.sides) == len(poly.sides))
for ref_side in ref.sides:
self.assertTrue(ref_side in poly.sides)
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 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 translated_dummy(vec):
"return dummy triangular polygon manually translated by vec"
delta_x = vec.pos_x
delta_y = vec.pos_y
circ1 = Circle(Vec2D(delta_x, delta_y))
circ2 = Circle(Vec2D(4 + delta_x, 0 + delta_y))
circ3 = Circle(Vec2D(0 + delta_x, 4 + delta_y))
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 + delta_x, -1 + delta_y), circ1, -1,
Vec2D(4 + delta_x, -1 + delta_y), circ2, 1)
side2 = Tangent(side2_pos1, circ2, -1, side2_pos2, circ3, 1)
side3 = Tangent(Vec2D(-1 + delta_x, 4 + delta_y), circ3, -1,
Vec2D(-1 + delta_x, 0 + delta_y), circ1, 1)
return Polygon([circ1, circ2, circ3], [side1, side2, side3])
CIRCLE1 = Circle(Vec2D(0, 0), 0.2)
CIRCLE2 = Circle(Vec2D(1.066, 0), 0.2)
CIRCLE3 = Circle(Vec2D(1.066, 0.6), 0.2)
CIRCLE4 = Circle(Vec2D(0, 0.6), 0.2)
CORNERS = [CIRCLE1, CIRCLE2, CIRCLE3, CIRCLE4]
SIDE1 = Tangent(Vec2D(0, -0.2), CIRCLE1, -1, Vec2D(1.066, -0.2), CIRCLE2, 1)
SIDE2 = Tangent(Vec2D(1.266, 0), CIRCLE2, -1, Vec2D(1.266, 0.6), CIRCLE3, 1)
SIDE3 = Tangent(Vec2D(1.066, 0.8), CIRCLE3, -1, Vec2D(0, 0.8), CIRCLE4, 1)
SIDE4 = Tangent(Vec2D(-0.2, 0.6), CIRCLE4, -1, Vec2D(-0.2, 0), CIRCLE1, 1)
SIDES = [SIDE1, SIDE2, SIDE3, SIDE4]
STAIRS = Polygon(CORNERS, SIDES)
STAIRS = STAIRS + Vec2D(1.5 - 1.066 / 2, 0)
class Settings(object):
"settings class memorizing settings for molly"
def __init__(self,
max_acc=1.6,
max_v=0.6,
time_resolution=0.1,
static_poly_obs=[STAIRS],
static_circ_obs=[],
obs_min_r=0.1,
playground_dim=(3.0, 2.0)):
def test_polygon_from_circles_bad2(self):
Polygon([Circle()])
def test_polygon_from_circles_bad1(self):
Polygon([])