def __init__(self):
super(PhysicsObject, self).__init__()
self.forces = []
self.mass = 1
self.accel = QVector2D(0.0, 0.0)
self.velocity = QVector2D(0.0, 0.0)
return
def __init__(self):
self.worldPosition = QVector2D(0.0, 0.0)
self.worldRotation = 0.0
self.worldScale = QVector2D(1.0, 1.0)
self.worldTransform = QTransform()
self.parent = None
self.children = []
self.transformChanged = True
self.attachedObject = None
self.aabb = QRectF(0.0, 0.0, 0.0, 0.0)
self.update_transform()
return
def computeAim(self):
middle = QVector2D(500, 500)
delta_vec = middle - self.lastSighting['pos']
if delta_vec.length() != 0:
delta_vec *= 200 / delta_vec.length()
return self.lastSighting['pos'] + delta_vec
else:
return self.lastSighting['pos']
def spawnSceneEdges(self):
scene_edge = SceneEdgeRemover()
self.scene.spawn(scene_edge)
scene_edge.set_world_position(QVector2D(-500, 0))
scene_edge = SceneEdgeRemover()
self.scene.spawn(scene_edge)
scene_edge.set_world_rotation(90)
scene_edge.set_world_position(QVector2D(0, -500))
scene_edge = SceneEdgeRemover()
self.scene.spawn(scene_edge)
scene_edge.set_world_rotation(90)
scene_edge.set_world_position(QVector2D(1000, -500))
scene_edge = SceneEdgeRemover()
self.scene.spawn(scene_edge)
scene_edge.set_world_position(QVector2D(-500, 1000))
return
def spawn_boid(self):
w = random.randint(40, self.scene.get_width() - 40)
h = random.randint(40, self.scene.get_height() - 40)
r = random.randint(0, 360)
sx = random.random() * 0.2 + 0.9
sy = random.random() * 0.2 + 0.9
boid = Boid(QColor(200, 100, 100))
self.scene.spawn(boid)
boid.set_world_position(QVector2D(w, h))
boid.set_world_rotation(r)
boid.set_world_scale(QVector2D(sx, sy))
f = Physics.Force()
f.direction = QVector2D(0.0, 1.0)
f.isDirectionLocal = True
f.accelPart = random.random() * 0.0001
boid.add_force(f)
return
def run(self):
while True:
if self.robotsInView != {}:
vecs = []
myPosition = QVector2D(self.x, self.y)
for id in self.targetIds:
robot = self.robotsInView[id]
v = (myPosition - robot['pos']).normalized()
v *= (1 / robot['dist'])
vecs.append(v)
wall_vecs = []
distances = []
for rect in self.wallsInView:
rect_center = QVector2D(rect.center().x(),
rect.center().y())
direction = (myPosition - rect_center).normalized()
distance = (myPosition - rect_center).length()
if distance < 200:
wall_vecs.append(direction)
distances.append(distance)
if len(distances) == 0:
avg_distance = 1000
else:
avg_distance = sum(distances) / len(distances)
result_wall_vec = sumvectors(wall_vecs).normalized()
result_wall_vec *= 3 * (
1 / avg_distance
) # wall vector counts 3 times as much as a robot
vecs.append(result_wall_vec)
self.aim_direction = sumvectors(vecs).normalized()
self.moveInDirection(self.aim_direction)
self.msleep(DAEMON_SLEEP)
def __init__(self, robotId, targetId):
super().__init__(robotId)
self.targetId = targetId
self.lastSighting = {
'x': 500,
'y': 500,
'pos': QVector2D(0, 0),
'dist': 0,
'angle': 0,
'timestamp': 1000
}
self.previousSighting = {
'x': 501,
'y': 501,
'pos': QVector2D(0, 0),
'dist': 0,
'angle': 0,
'timestamp': 0
}
self.aimPos = QVector2D(500, 500)
self.state = "Searching"
def update_physics(self, ms):
arad = self.get_world_rotation() * math.pi / 180.0
sina = math.sin(arad)
cosa = math.cos(arad)
# compute total force and apply
total_force_accel = QVector2D(0.0, 0.0)
total_force_vel = QVector2D(0.0, 0.0)
for force in self.forces:
direction = force.direction
if force.isDirectionLocal:
direction = QVector2D(direction[0] * cosa - direction[1] * sina,
direction[1] * cosa + direction[0] * sina)
total_force_accel = total_force_accel + force.accelPart * direction
total_force_vel = total_force_vel + force.velPart * direction
vel_from_accel = self.accel
vel_from_forces = total_force_vel / self.mass
self.accel = total_force_accel / self.mass
self.velocity += vel_from_accel * ms
final_vel = self.velocity + vel_from_forces
self.move(final_vel * ms)
return
def circleRectCollision(pos, r, rect):
rect_center = QVector2D(rect.center())
vec = pos - rect_center
length = vec.length()
# scale the vector so it has length l-r
vec *= (length - r) / length
# This is the point of the circle which is closest to the rectangle
closest_point = (rect_center + vec).toPointF()
if rect.contains(closest_point):
if pos.x() >= rect_center.x() and pos.y() >= rect_center.y():
corner = rect.bottomRight()
elif pos.x() >= rect_center.x() and pos.y() <= rect_center.y():
corner = rect.topRight()
elif pos.x() <= rect_center.x() and pos.y() >= rect_center.y():
corner = rect.bottomLeft()
elif pos.x() <= rect_center.x() and pos.y() <= rect_center.y():
corner = rect.topLeft()
overlap = QVector2D(corner - closest_point)
return overlap
else:
return None
def sumvectors(vecs):
result = QVector2D(0, 0)
for v in vecs:
result += v
return result
def angleToVector(angle):
return QVector2D(math.cos(math.radians(angle)),
math.sin(math.radians(angle)))
def get_world_direction(self):
arad = self.get_world_rotation() * math.pi / 180.0
return QVector2D(math.sin(arad), math.cos(arad))
class SceneObject(QObject):
frontDirection = QVector2D(0.0, 1.0)
def __init__(self):
super(SceneObject, self).__init__()
self.node = None
self.model = None
self.drawAabb = False
return
def spawn(self, scene_node):
assert self.node is None
self.node = scene_node
scene_node.attach_object(self)
return
def despawn(self):
if self.node is not None:
self.node.detach_object(self)
self.node = None
return
def draw(self, painter):
self.model.draw(painter, self.node.get_world_transform())
if self.is_draw_aabb():
painter.setBrush(QBrush(QColor(255, 255, 255)))
painter.drawRect(self.get_world_aabb())
return
def set_model(self, model):
self.model = model
return
def get_model(self):
return self.model
def get_scene_node(self):
return self.node
def get_aabb(self):
return self.model.aabb
def get_world_aabb(self):
if self.node is None:
return QRectF()
else:
return self.node.get_world_transform().mapRect(self.get_aabb())
def set_world_position(self, pos):
self.node.set_world_position(pos)
return
def move(self, pos):
self.node.set_world_position(pos + self.node.get_world_position())
return
def get_world_position(self):
return self.node.get_world_position()
def move_local(self, move):
# Transform 'move' to objects local coords (rotate it)
arad = self.get_world_rotation() * math.pi / 180.0
sina = math.sin(arad)
cosa = math.cos(arad)
self.move(
(move[0] * cosa + move[1] * sina, move[1] * cosa + move[0] * sina))
return
def set_world_rotation(self, angle):
self.node.set_world_rotation(angle)
return
def rotate(self, angle):
self.node.set_world_rotation(self.node.get_world_rotation() + angle)
return
def get_world_rotation(self):
return self.node.get_world_rotation()
def set_world_scale(self, scale):
self.node.set_world_scale(scale)
return
def scale(self, scale):
self.node.set_world_scale(self.node.get_world_scale() * scale)
return
def get_world_scale(self):
return self.node.get_world_scale()
def get_world_direction(self):
arad = self.get_world_rotation() * math.pi / 180.0
return QVector2D(math.sin(arad), math.cos(arad))
def set_world_direction(self, dir):
arad = math.atan2(dir[0], dir[1])
self.set_world_rotation(arad * 180.0 / math.pi)
return
def is_draw_aabb(self):
return self.drawAabb
def set_draw_aabb(self, value):
self.drawAabb = value
return
def __init__(self, robotId, targetIds):
super().__init__(robotId)
self.targetIds = targetIds
self.aim_direction = QVector2D(1, 0)
def __init__(self, accel=0.0, vel=0.0, dir=QVector2D(0.0, 1.0)):
self.accelPart = accel
self.velPart = vel
self.direction = dir
self.isDirectionLocal = True
return
