class Thing(object):
# static name, for type indexing
NAME = 'thing'
def __init__(self, trans=[0] * 6, vel=[0] * 6, radius=0.25):
# cosmetic name, specific to this instance
self.name = ''
# set spatial member vars
self.position = Transform(is_velocity=False,
pos=trans[:3],
rot=trans[3:])
self.velocity = Transform(is_velocity=True, pos=vel[:3], rot=vel[3:])
self.radius = 0.25
# set simulation parameters
self.vote_exit = False
self.force_exit = False
# metrics; add to this for output
self.metrics = dict()
# update myself in the world. all other things are passed, for convenience
# this should be extended!
def update(self, delta, others):
self.position.displace(self.velocity.flow(delta))
self.metrics['position'] = self.position.get_pos().tolist()
# test for collision
def is_colliding(self, other):
return norm(self.position.get_pos() -
other.position.get_pos()) < self.radius + other.radius
# return an instance of myself from a dictionary
# subclass for more specific behavior
@staticmethod
def from_dict(properties):
if properties is None:
return Thing()
trans = properties['trans'] if 'trans' in properties else [0] * 6
vel = properties['vel'] if 'vel' in properties else [0] * 6
rad = properties['rad'] if 'rad' in properties else 0.25
return Thing(trans, vel, rad)
