def test_copy_point(self):
p1 = Point2D(2, 0)
p2 = Point2D(p1)
self.assertEqual(p2._x, 2.0)
self.assertEqual(p2._y, 0.0)
self.assertEqual(p2._r, 2.0)
self.assertEqual(p2._a, 0.0)
def draw(self):
# draw filled box
egi.set_pen_color(self.color)
egi.closed_shape(self._pts, filled=True)
# draw box border
if cfg['BOXLINES_ON']:
egi.set_pen_color((.7, .7, .7, 1))
egi.closed_shape(self._pts, filled=False)
if self.kind == 'I':
egi.set_stroke(1)
egi.set_pen_color(name="RED")
egi.line(self._pts[0].x + 10, self._pts[0].y - 5,
self._pts[0].x + 10, self._pts[0].y - 16)
egi.line(self._pts[0].x + 5, self._pts[0].y - 11,
self._pts[0].x + 16, self._pts[0].y - 11)
if self.kind == 'P':
obj_pts = (
Point2D(self._pts[0].x + 5, self._pts[0].y - 5), # top left
Point2D(self._pts[0].x + 15, self._pts[0].y - 4), # top right
Point2D(self._pts[0].x + 15,
self._pts[0].y - 15), # bottom right
Point2D(self._pts[0].x + 5, self._pts[0].y - 15) # bottom left
)
egi.set_stroke(1)
egi.set_pen_color(name="RED")
egi.closed_shape(obj_pts, filled=False)
# centre circle
if cfg['CENTER_ON']:
egi.set_pen_color((.3, .3, 1, 1))
egi.circle(self._vc, 5)
# box position (simple column,row) (or x,y actually)
if self.node:
if cfg['LABELS_ON']:
if not self.idx_label:
info = "%d" % self.idx
self.idx_label = pyglet.text.Label(info,
color=(0, 0, 0, 255),
anchor_x="center",
anchor_y="top")
info = "(%d,%d)" % (self.pos[0], self.pos[1])
self.pos_label = pyglet.text.Label(info,
color=(0, 0, 0, 255),
anchor_x="center",
anchor_y="bottom")
self._reposition_labels()
self.idx_label.draw()
#self.pos_label.draw()
if self.marker:
if not self.marker_label or self.marker_label.text != self.marker:
self.marker_label = pyglet.text.Label(self.marker,
color=(255, 0, 0, 255),
bold=True,
anchor_x="center",
anchor_y="center")
self._reposition_labels()
self.marker_label.draw()
def agent_shoot(self):
if self.projectile:
if ((self.proj_vel_x) or (self.proj_vel_y)):
if ((self.projectile.x >= self.proj_target.x - 2)
and (self.projectile.x <= self.proj_target.x + 2)
and (self.projectile.y >= self.proj_target.y - 2)
and (self.projectile.y <= self.proj_target.y + 2)):
self.proj_vel_x = False
self.proj_vel_y = False
self.projectile = False
self.proj_target = False
self.world.enemy.health -= 1
if ((self.world.enemy.health <= 0) or (self.clip <= 0)):
self.ll_state = "Reload"
else:
self.projectile.x += self.proj_vel_x / 3
self.projectile.y += self.proj_vel_y / 3
else:
self.proj_vel_x = self.proj_target.x - self.projectile.x
self.proj_vel_y = self.proj_target.y - self.projectile.y
else:
print("Firing...")
self.projectile = Point2D(self.world.agent.my_x,
self.world.agent.my_y)
self.proj_target = Point2D(self.world.enemy.my_x,
self.world.enemy.my_y)
self.clip -= 1
def original_point(self):
coordinate_system_origin = self.coordinate_system_.origin()
if (self.coordinate_system_.position() == Position.CENTER):
return Point2D(self.x() + coordinate_system_origin.x(),
self.y() + coordinate_system_origin.y())
elif (self.coordinate_system_.position() == Position.TOPLEFT):
return Point2D(self.x() + coordinate_system_origin.x(),
(-self.y()) + coordinate_system_origin.y())
def test_add(self):
p1 = Point2D(1, 0)
p2 = Point2D(0, 1)
p = p1 + p2
self.assertEqual(p.x, 1.0)
self.assertEqual(p.y, 1.0)
p = p2 + p1
self.assertEqual(p.x, 1.0)
self.assertEqual(p.y, 1.0)
def test_sub(self):
p1 = Point2D(1, 0)
p2 = Point2D(0, 1)
p = p1 - p2
self.assertEqual(p.x, 1.0)
self.assertEqual(p.y, -1.0)
p = p2 - p1
self.assertEqual(p.x, -1.0)
self.assertEqual(p.y, 1.0)
def test_isub(self):
p1 = Point2D(1, 0)
p2 = Point2D(0, 1)
p1 -= p2
self.assertEqual(p1.x, 1.0)
self.assertEqual(p1.y, -1.0)
p1 = Point2D(1, 0)
p2 -= p1
self.assertEqual(p2.x, -1.0)
self.assertEqual(p2.y, 1.0)
def test_iadd(self):
p1 = Point2D(1, 0)
p2 = Point2D(0, 1)
p1 += p2
self.assertEqual(p1.x, 1.0)
self.assertEqual(p1.y, 1.0)
p1 = Point2D(1, 0)
p2 += p1
self.assertEqual(p2.x, 1.0)
self.assertEqual(p2.y, 1.0)
def __init__(self):
self.ez = Ezgame(APPW, APPH)
self.ez.origin = Point2D(APPW/2.0, APPH*0.90)
self.ez.fps = FPS
self.ez.init(self.loop)
self.size = 1
p = Point2D(0, 0)
p.a = math.radians(90)
self.tree = Tree(p, self.size, LEVELS)
self.angle = math.radians(1)
def run_example():
"""Run some example functionality."""
# hold Point2D points to traverse through
points = []
# add points in a square
points.append(Point2D(0, 0))
points.append(Point2D(10, 0))
points.append(Point2D(10, 10))
points.append(Point2D(0, 10))
points.append(Point2D(0, 9))
# plan the route
segments = plan_route(points)
def __init__(self):
# list of labels
self.labels = []
# list of keeputs
self.keepouts = []
# for now, just create some labels and keepouts
self.labels.append(Label(Point2D(1.0, 0.0), 3, 1, 'one'))
self.labels.append(Label(Point2D(2.0, 0.6), 3, 1, 'two'))
self.labels.append(Label(Point2D(1.5, 1.0), 5, 1, 'three'))
self.labels.append(Label(Point2D(-1, -1.0), 2, 2, 'four'))
# add a keeopouts
self.keepouts.append(Label(Point2D(-0.2, 0.5), 0.6, 0.6))
def check_for_collision(self):
rightmost_point = Point2D(self.pos.x + self.radius, self.pos.y)
leftmost_point = Point2D(self.pos.x - self.radius, self.pos.y)
hit = False
if self.world.target.point_inside(rightmost_point):
hit = True
elif self.world.target.point_inside(leftmost_point):
hit = True
if hit:
self.world.bullet = None
self.world.target.hit()
def reposition(self, coords):
# top, right, bottom, left
pts = self.coords = coords
# points for drawing
self._pts = (
Point2D(pts[3], pts[0]), # top left
Point2D(pts[1], pts[0]), # top right
Point2D(pts[1], pts[2]), # bottom right
Point2D(pts[3], pts[2]) # bottom left
)
# vector-centre point
self._vc = Point2D((pts[1] + pts[3]) / 2.0, (pts[0] + pts[2]) / 2.0)
# labels may need to be updated
self._reposition_labels()
def voronoi(me, neigh, r):
""" Return a Polygon with the Voronoi cell <r with the neigh around me, neigh is a list of (x,y) """
W = Point(me).buffer(r)
pm = Point2D(me)
for n in neigh:
pn = Point2D(n)
v = pn - pm
pc = pm + 0.5 * v
v.r = r
q0 = pm + 2 * v
v.a += np.pi / 2
q1 = pc + 2 * v
q2 = pc - 2 * v
W -= Polygon([(q0.x, q0.y), (q1.x, q1.y), (q2.x, q2.y)])
return W
def target(self, target):
''' move towards target position '''
target_offset = self.pos - target.pos
target_distance = PointToVector2D(target_offset).length()
target_direction = PointToVector2D(target_offset).normalise()
relative_velocity = target_direction * self.speed
relative_speed = relative_velocity.dot(target_direction)
if (relative_speed <= 0.0):
intercept_time = 1.0
else:
intercept_time = target_distance / relative_speed
intercept_location = target.pos + target.vel * intercept_time
intercept_point = intercept_location - self.pos
if self.miss():
print("miss")
intercept_point += Point2D(100,100)
aim = PointToVector2D(intercept_point).normalise()
vel = aim * self.speed
return vel
def draw(clusters: Dict[int, List[Point2D]], green_points: Set[Point2D],
yellow_points: Set[Point2D], red_points: Set[Point2D], min_x: int,
max_x: int, min_y: int, max_y: int):
figure, axis = plot.subplots()
axis.set_xlim([min_x, max_x])
axis.set_ylim([min_y, max_y])
colors = plot.rcParams["axes.prop_cycle"].by_key()["color"]
for i, (cluster_id, points) in enumerate(clusters.items()):
cluster_color = colors[i % len(colors)]
cluster_center = Point2D(
numpy.mean(numpy.array([point.x for point in points])),
numpy.mean(numpy.array([point.y for point in points])))
cluster_radius = numpy.max([(point - cluster_center).r
for point in points])
cluster = plot.Circle((cluster_center.x, cluster_center.y),
cluster_radius,
color=cluster_color,
fill=False)
axis.add_artist(cluster)
def draw_points(points: Set[Point2D], color: str):
axis.scatter([point.x for point in points],
[point.y for point in points],
color=color)
draw_points(green_points, "g")
draw_points(yellow_points, "y")
draw_points(red_points, "r")
plot.show()
def __init__(self, x, y, boxes):
self.pos = Point2D(x, y)
self.path = []
self.radius = 10
self.speed = 1
self.boxes = boxes
self.end = False
def get_random_points(count: int) -> List[Point2D]: points = list() for _ in range(0, count): x = random.uniform(min_x, max_x) y = random.uniform(min_y, max_y) points.append(Point2D(x, y)) return points
def __init__(self, angular_vel, distance):
self.angular_vel = angular_vel
self.distance = distance
self.x_pos = distance
self.y_pos = 0.0
self.position = Point2D(self.x_pos, self.y_pos)
self.theta = 0.0
def draw(existing_points: Dict[int, List[Point2D]],
classified_new_points: Dict[int, List[Point2D]], min_x: int,
max_x: int, min_y: int, max_y: int):
figure, axis = plot.subplots()
axis.set_xlim([min_x, max_x])
axis.set_ylim([min_y, max_y])
colors = plot.rcParams["axes.prop_cycle"].by_key()["color"]
for i, cluster in enumerate(existing_points.keys()):
color = colors[i % len(colors)]
points = existing_points[cluster] + classified_new_points.get(
cluster, [])
axis.scatter([point.x for point in points],
[point.y for point in points],
color=color)
cluster_center = Point2D(
numpy.mean(numpy.array([point.x for point in points])),
numpy.mean(numpy.array([point.y for point in points])))
cluster_radius = numpy.max([(point - cluster_center).r
for point in points])
circle = plot.Circle((cluster_center.x, cluster_center.y),
cluster_radius,
color=color,
fill=False)
axis.add_artist(circle)
plot.show()
def scale(self, scalar):
new_x = self.x_ * scalar
new_y = self.y_ * scalar
return Vector2D(Point2D(new_x, new_y),
self.coordinate_system(),
transpose=False)
def get_training_points(clusters_count: int, points_count_in_cluster: int,
min_x: int, max_x: int, min_y: int,
max_y: int) -> Dict[int, List[Point2D]]:
data = dict((i, []) for i in range(clusters_count))
for cluster in range(clusters_count):
cluster_center = Point2D(random.uniform(min_x, max_x),
random.uniform(min_y, max_y))
x_radius = (max_x - min_x) / clusters_count / 3
y_radius = (max_y - min_y) / clusters_count / 3
data[cluster] = [
Point2D(random.gauss(cluster_center.x, x_radius),
random.gauss(cluster_center.y, y_radius))
for _ in range(points_count_in_cluster)
]
return data
def getpoint(self, index):
input_point = Point2D()
path = "C:\\Users\\tjrgk\\Documents\\GitHub\\2D\\"
dirs = os.listdir(path)
if 'point' in dirs:
path = os.chdir(path + "\\point")
dirs = os.listdir(path)
for filename in dirs:
if filename.endswith(".txt"):
print(
"=================================================================="
)
print(
"=================================================================="
)
f = open(filename, 'r')
files = f.readlines()
file_input_point = [file.strip() for file in files]
point_list = []
for i in range(len(files)):
if ',' in file_input_point[i]:
file_input_point[i] = file_input_point[i].split(',')
input_point.xcoord = float(file_input_point[i][0])
input_point.ycoord = float(file_input_point[i][1])
point_list.extend(
[input_point.xcoord, input_point.ycoord])
n = 2
result = [
point_list[i * n:(i + 1) * n]
for i in range((len(point_list) + n - 1) // n)
]
input_point = tuple(result[index])
return input_point
def update(self):
super().update()
if self.where != None:
arrow = Point2D(self.where.x - self.body.pos.x,
self.where.y - self.body.pos.y)
self.vertices = [(self.body.pos.x, self.body.pos.y),
(self.where.x, self.where.y)]
if arrow.r < self.tol:
self.where = None
else:
if self.when > self.time:
v = arrow.r / (self.when - self.time)
else:
v = np.Infinity
w = self.Kp * ((pipi(arrow.a - self.body.th)))
self.body.cmd_vel(v, w)
else:
self.vertices = None
if self.nw == 'stop': # reset v and w
self.body.cmd_vel(v=0, w=0)
elif self.nw == 'wander': # random changes of w
if uniform(0, 1) < self.p:
self.body.cmd_vel(w=choice(('+', '-', '=')))
elif self.nw == 'zigzag': # random changes of direction
if uniform(0, 1) < self.p:
self.body.teleport(
th=self.body.th +
uniform(-1, 1) * self.body.w_max * self.T)
elif self.nw == 'keepgoing': # keep v and w
pass
def get_initial_clusters(points: List[Point2D], clusters_count: int) -> List[Point2D]: circle_center = get_mean_point(points) circle_radius = numpy.max([(point - circle_center).r for point in points]) angle_step = pi * 2 / clusters_count return list( circle_center + Point2D(r = circle_radius, a = angle_step * i) for i in range(0, clusters_count))
def check_for_collision(self):
rightmost_point = Point2D(self.pos.x + self.radius,self.pos.y)
if rightmost_point:
if self.world.target.point_inside(rightmost_point):
print('hit')
self.world.bullet = None
self.world.target.hit()
def __init__(self, x, y, theta, position):
self.position_ = position
self.origin_ = Point2D(x, y)
self.theta_ = theta
self.rotation_ = Rotation(theta, AngleUnit.RADIANS)
def __add__(self, other):
if (self.coordinate_system_ != other):
raise Exception(
"Adding two vectors with different coordinate systems")
return None
addition_point = Point2D(self.x() + other.x(), self.y() + other.y())
return Vector2D(addition_point, self.coordinate_system())
def __sub__(self, other):
if (self.coordinate_system_ != other):
raise Exception(
"Subtracting two vectors with different coordinate systems")
return None
subtraction_point = Point2D(self.x() - other.x(), self.y() - other.y())
return Vector2D(subtraction_point, self.coordinate_system())
def on_draw(self):
self.clear()
if self.agent:
self.world.draw(Point2D(self.agent.my_x, self.agent.my_y))
else:
self.world.draw(False)
if self.fps_display:
self.fps_display.draw()
for key, label in list(self.labels.items()):
label.draw()