Mercurial > skaapsteker
annotate skaapsteker/physics.py @ 627:35919d12b792
Path-based collision minimisation and axis-projection backout.
| author | Jeremy Thurgood <firxen@gmail.com> |
|---|---|
| date | Sat, 07 May 2011 20:28:06 +0200 |
| parents | 1abb53ae1a6a |
| children | 59556235dec7 |
| rev | line source |
|---|---|
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1 """Model of gravity, acceleration, velocities and collisions. |
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2 |
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3 Works very closely with sprites/base.py. |
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4 """ |
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5 |
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6 import time |
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7 |
| 39 | 8 import pygame |
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9 import pygame.draw |
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10 import pygame.sprite |
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11 from pygame.mask import from_surface |
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12 |
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13 from . import options |
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14 from .constants import EPSILON |
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15 from .utils import (cadd, csub, cmul, cdiv, cclamp, cabsmax, cint, cneg, cabs, |
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16 rect_projection) |
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17 |
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18 class Sprite(pygame.sprite.Sprite): |
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19 |
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20 # physics attributes |
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21 mobile = True # whether the velocity may be non-zero |
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22 gravitates = True # whether gravity applies to the sprite |
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23 terminal_velocity = (900.0, 500.0) # maximum horizontal and vertial speeds (pixels / s) |
| 112 | 24 bounce_factor = (0.95, 0.95) # bounce factor |
| 121 | 25 mass = 1.0 # used for shared collisions and applying forces |
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26 friction_coeff = (0.99, 0.99) # friction factor |
| 39 | 27 |
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28 # collision attributes |
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29 # Sprite X collides with Y iff (X.collision_layer in Y.collides_with) and X.check_collides(Y) |
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30 # Collisions result in the colliding movement being partially backed out, a call to X.bounce(frac) and a call to X.collided(Y) |
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31 # X.bounce(frac) is only called for the first (as determined by backing out distance) collision in a multi-collision event |
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32 collision_layer = None # never collides with anything |
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33 collides_with = set() # nothing collides with this |
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34 |
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35 # set to True to have .update() called once per tick (and have .collision_group set) |
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36 wants_updates = False |
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37 |
| 146 | 38 floor = False # We special case collisions with ground objects |
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39 block = False |
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40 |
| 39 | 41 def __init__(self, *args, **kwargs): |
| 42 super(Sprite, self).__init__(*args, **kwargs) | |
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43 self.on_solid = False |
| 39 | 44 self.velocity = (0.0, 0.0) |
| 45 self.rect = pygame.Rect(0, 0, 10, 10) # sub-classes should override | |
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46 self.collide_rect = pygame.Rect(0, 0, 10, 10) # rectangle we use for collisions |
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47 self.floor_rect = self.collide_rect |
| 43 | 48 self.image = pygame.Surface((10, 10)) |
| 49 self.image.fill((0, 0, 200)) | |
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50 self.collision_group = None |
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51 self._mask_cache = {} # image id -> collision bit mask |
| 66 | 52 |
| 53 def init_pos(self): | |
| 625 | 54 self._float_pos = cadd(self.rect.center, 0.0) # To make it a float |
| 121 | 55 |
| 39 | 56 def deltav(self, dv): |
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57 self.velocity = cadd(self.velocity, dv) |
| 39 | 58 |
| 625 | 59 def get_vectors(self): |
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60 self.velocity = cclamp(self.velocity, self.terminal_velocity) |
| 625 | 61 return (self.velocity, self._float_pos) |
| 62 | |
| 63 def update_position(self, float_pos): | |
| 64 self._float_pos = float_pos | |
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65 old_pos = self.rect.center |
| 625 | 66 self.rect.center = cint(float_pos) |
| 67 displacement = csub(self.rect.center, old_pos) | |
| 68 self.collide_rect.move_ip(displacement) | |
| 69 self.floor_rect.move_ip(displacement) | |
| 70 | |
| 71 def apply_velocity(self, dt): | |
| 72 velocity, pos = self.get_vectors() | |
| 73 new_pos = cadd(pos, cmul(velocity, dt)) | |
| 74 self.update_position(new_pos) | |
| 66 | 75 |
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76 def _check_mask(self): |
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77 mask = self._mask_cache.get(id(self.image)) |
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78 if mask is None: |
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79 mask = self._mask_cache[id(self.image)] = from_surface(self.image) |
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80 self.mask = mask |
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81 |
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82 def check_collides(self, other): |
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83 # check bitmasks for collision |
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84 self._check_mask() |
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85 other._check_mask() |
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86 return pygame.sprite.collide_mask(self, other) |
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87 |
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88 def collided(self, other): |
| 98 | 89 pass |
| 66 | 90 |
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91 def check_floors(self, floors): |
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92 """Trigger of the current set of floors""" |
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93 pass |
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94 |
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95 def apply_friction(self): |
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96 self.velocity = cmul(self.velocity, self.friction_coeff) |
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97 |
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98 def bounce(self, other, normal): |
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99 """Alter velocity after a collision. |
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100 |
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101 other: sprite collided with |
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102 normal: unit vector (tuple) normal to the collision |
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103 surface. |
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104 """ |
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105 bounce_factor = cadd(cmul(self.bounce_factor, other.bounce_factor), 1) |
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106 deltav = cmul(cneg(normal), cmul(self.velocity, bounce_factor)) |
| 121 | 107 |
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108 if normal == (0, 1) and (other.floor or other.block) and self.velocity[1] > 0 and self.collide_rect.top < other.collide_rect.top: |
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109 # Colliding with the ground from above is special |
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110 self.on_solid = True |
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111 deltav = (deltav[0], -self.velocity[1]) |
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112 |
| 121 | 113 if other.mobile: |
| 114 total_mass = self.mass + other.mass | |
| 115 f_self = self.mass / total_mass | |
| 116 f_other = other.mass / total_mass | |
| 117 | |
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118 self.deltav(cmul(deltav, f_self)) |
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119 self.deltav(cmul(cneg(deltav), f_other)) |
| 121 | 120 else: |
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121 self.deltav(deltav) # oof |
| 39 | 122 |
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123 def update(self): |
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124 pass # only called in wants_update = True |
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125 |
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126 def check_collide_rect(self, new_collide_rect, new_rect, new_image): |
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127 if self.collision_group is None: |
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128 return True |
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129 |
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130 # TODO: decide whether to throw out checking of existing |
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131 # collisions. Doesn't seem needed at the moment and takes |
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132 # time. |
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133 old_image = self.image |
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134 old_rect = self.rect |
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135 #rect_collides = self.collide_rect.colliderect |
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136 old_collisions = set() |
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137 #for other in self.collision_group: |
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138 # if rect_collides(other.collide_rect) \ |
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139 # and self.check_collides(other): |
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140 # old_collisions.add(other) |
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141 |
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142 self.image = new_image |
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143 self.rect = new_rect |
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144 new_rect_collides = new_collide_rect.colliderect |
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145 new_collisions = set() |
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146 for other in self.collision_group: |
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147 if new_rect_collides(other.collide_rect) \ |
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148 and self.check_collides(other): |
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149 new_collisions.add(other) |
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150 |
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151 self.image = old_image |
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152 self.rect = old_rect |
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153 return not bool(new_collisions - old_collisions) |
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154 |
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155 def fix_bounds(self, bounds): |
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156 self.kill() |
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157 |
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158 |
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159 class World(object): |
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160 |
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161 GRAVITY = cmul((0.0, 9.8), 80.0) # pixels / s^2 |
| 39 | 162 |
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163 def __init__(self, bounds): |
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164 self._all = pygame.sprite.LayeredUpdates() |
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165 self._mobiles = pygame.sprite.Group() |
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166 self._gravitators = pygame.sprite.Group() |
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167 self._updaters = pygame.sprite.Group() |
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168 self._actionables = pygame.sprite.Group() |
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169 self._actors = pygame.sprite.Group() |
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170 self._collision_groups = { None: pygame.sprite.Group() } |
| 39 | 171 self._last_time = None |
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172 self._bounds = bounds |
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173 |
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104
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174 def freeze(self): |
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175 self._last_time = None |
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176 |
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177 def thaw(self): |
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178 self._last_time = time.time() |
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179 |
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180 def add(self, sprite): |
| 66 | 181 sprite.init_pos() |
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182 self._all.add(sprite) |
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183 if sprite.mobile: |
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184 self._mobiles.add(sprite) |
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185 if sprite.gravitates: |
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186 self._gravitators.add(sprite) |
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187 if sprite.wants_updates: |
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188 self._updaters.add(sprite) |
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189 self._add_collision_group(sprite.collision_layer) |
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190 for layer in sprite.collides_with: |
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191 self._add_collision_group(layer) |
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192 self._collision_groups[layer].add(sprite) |
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193 if sprite.wants_updates: |
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194 self._updaters.add(sprite) |
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195 sprite.collision_group = self._collision_groups[sprite.collision_layer] |
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196 if getattr(sprite, 'player_action', None) is not None: |
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197 self._actionables.add(sprite) |
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198 if getattr(sprite, 'add_actionable', None) is not None: |
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199 self._actors.add(sprite) |
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200 |
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201 def _add_collision_group(self, layer): |
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202 if layer in self._collision_groups: |
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203 return |
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204 self._collision_groups[layer] = pygame.sprite.Group() |
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205 |
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206 def _backout_collisions(self, sprite, others, dt): |
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207 frac, normal, idx = 0.0, None, None |
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208 abs_v_x, abs_v_y = cabs(sprite.velocity) |
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209 |
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210 # We only backout of "solide" collisions |
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211 if sprite.block: |
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212 for i, other in enumerate(others): |
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213 if other.block or other.floor: |
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214 clip = sprite.collide_rect.clip(other.collide_rect) |
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215 # TODO: avoid continual "if abs_v_? > EPSILON" |
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216 frac_x = clip.width / abs_v_x if abs_v_x > EPSILON else dt |
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217 frac_y = clip.height / abs_v_y if abs_v_y > EPSILON else dt |
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218 if frac_x > frac_y: |
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219 if frac_y > frac: |
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220 frac, normal, idx = frac_y, (0, 1), i |
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221 else: |
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222 if frac_x > frac: |
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223 frac, normal, idx = frac_x, (1, 0), i |
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224 |
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225 if idx is not None: |
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226 # We can see no solide collisions now |
| 625 | 227 sprite.apply_velocity(max(-1.1 * frac, -dt)) |
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228 sprite.bounce(others[idx], normal) |
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229 |
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230 for other in others: |
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231 sprite.collided(other) |
| 39 | 232 |
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233 |
| 625 | 234 def apply_gravity(self, dt): |
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235 dv = cmul(self.GRAVITY, dt) |
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236 for sprite in self._gravitators: |
| 625 | 237 if not sprite.on_solid: |
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238 sprite.deltav(dv) |
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239 |
| 625 | 240 def apply_friction(self): |
| 241 for sprite in self._mobiles: | |
| 242 sprite.apply_friction() | |
| 243 | |
| 244 def handle_escaped_sprites(self): | |
| 245 inbound = self._bounds.colliderect | |
| 246 for sprite in self._mobiles: | |
| 247 if not inbound(sprite): | |
| 248 sprite.fix_bounds(self._bounds) | |
| 249 | |
| 250 def get_dt(self): | |
| 251 now = time.time() | |
| 252 dt = now - self._last_time | |
| 253 self._last_time = now | |
| 254 return dt | |
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255 |
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256 |
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257 # def collide_sprite(self, dt, sprite): |
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258 # sprite.apply_velocity(dt) |
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259 # sprite_collides = sprite.collide_rect.colliderect |
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260 # collisions = [] |
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261 # for other in self._collision_groups[sprite.collision_layer]: |
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262 # if sprite_collides(other.collide_rect) \ |
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263 # and sprite.check_collides(other): |
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264 # collisions.append(other) |
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265 # if collisions: |
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266 # self._backout_collisions(sprite, collisions, dt) |
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267 # contact_rect = pygame.Rect( |
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268 # (sprite.collide_rect.left, sprite.collide_rect.bottom), |
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269 # (sprite.collide_rect.width, 1)) |
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270 # return contact_rect.colliderect |
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271 |
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272 |
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273 def get_sprite_collisions(self, dt, sprite): |
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274 sprite.apply_velocity(dt) |
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275 sprite_collides = sprite.collide_rect.colliderect |
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276 collisions = [] |
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277 for other in self._collision_groups[sprite.collision_layer]: |
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278 if (sprite_collides(other.collide_rect) |
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279 and sprite.check_collides(other)): |
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280 collisions.append(other) |
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281 return collisions |
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282 |
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283 |
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284 def path_collide(self, dt, sprite): |
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285 dts = [dt/10] * 9 |
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286 dts.append(dt - sum(dts)) |
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287 dtf_acc = 0 |
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288 collisions = [] |
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289 for dtf in dts: |
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290 dtf_acc += dtf |
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291 collisions = self.get_sprite_collisions(dtf, sprite) |
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292 for col in collisions: |
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293 if sprite.block and (col.floor or col.block): |
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294 return collisions, dtf_acc |
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295 return collisions, dt |
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296 |
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297 |
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298 def collide_sprite(self, dt, sprite): |
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299 initial_pos = sprite._float_pos |
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300 collisions = self.get_sprite_collisions(dt, sprite) |
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301 escape_vector = (0, 0) |
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302 if collisions: |
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303 # If we've collided, reset and try again with smaller time increments |
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304 sprite.update_position(initial_pos) |
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305 collisions, dtf = self.path_collide(dt, sprite) |
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306 for col in collisions: |
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307 if sprite.block and (col.floor or col.block): |
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308 escape_vector = cabsmax(escape_vector, rect_projection(sprite.collide_rect, col.collide_rect)) |
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309 sprite.collided(col) |
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310 sprite.update_position(cadd(sprite._float_pos, escape_vector)) |
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311 # if escape_vector[0] != 0: |
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312 # sprite.velocity = (0, sprite.velocity[1]) |
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313 # if escape_vector[1] != 0: |
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314 # sprite.velocity = (sprite.velocity[0], 1) |
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315 # self._backout_collisions(sprite, collisions, dtf) |
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316 contact_rect = pygame.Rect( |
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317 cadd(sprite.collide_rect.bottomleft, (1, 0)), |
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318 (sprite.collide_rect.width, 1)) |
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319 return contact_rect.colliderect |
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320 |
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321 |
| 626 | 322 def update_sprite_positions(self, dt): |
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323 # position update and collision check (do last) |
| 39 | 324 for sprite in self._mobiles: |
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325 collides = self.collide_sprite(dt, sprite) |
| 626 | 326 |
| 327 # Are we currently in contact with the ground? | |
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328 if not sprite.block: |
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329 continue |
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330 floors = [] |
| 626 | 331 sprite.on_solid = False |
| 332 for other in self._collision_groups[sprite.collision_layer]: | |
| 333 if (other.floor or other.block) and collides(other.floor_rect): | |
| 334 sprite.on_solid = True | |
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335 if sprite.velocity[1] > 0: |
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336 sprite.velocity = (sprite.velocity[0], 0) |
| 626 | 337 floors.append(other) |
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401
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338 sprite.check_floors(floors) |
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339 |
| 626 | 340 def update(self): |
| 341 if self._last_time is None: | |
| 342 self._last_time = time.time() | |
| 343 return | |
| 344 | |
| 345 dt = self.get_dt() | |
| 346 | |
| 347 self.apply_gravity(dt) | |
| 348 self.apply_friction() | |
| 349 self.handle_escaped_sprites() | |
| 350 self.update_sprite_positions(dt) | |
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116
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351 self._updaters.update() |
| 625 | 352 self.handle_actions() |
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353 |
| 625 | 354 def handle_actions(self): |
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273
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355 for sprite in self._actors: |
| 460 | 356 actor_collide_rect = sprite.collide_rect.inflate((4, 4)) |
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357 for other in self._actionables: |
| 460 | 358 other_actor_collide_rect = other.collide_rect.inflate((4, 4)) |
| 359 if actor_collide_rect.colliderect(other_actor_collide_rect): | |
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360 sprite.add_actionable(other) |
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361 |
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362 |
| 39 | 363 def draw(self, surface): |
| 364 self._all.draw(surface) | |
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365 if options['debug_rects']: |
| 53 | 366 for sprite in self._all: |
| 367 sprite.draw_debug(surface) |