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FlatlandModel.py
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FlatlandModel.py
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from HelperFunctions import *
from PyQt5 import QtGui, QtCore, QtWidgets
from enum import Enum
import yaml
import os
import numpy as np
class B2BodyType(Enum):
DYNAMIC = 0
STATIC = 1
KINEMATIC = 2
class FlatlandFootprint():
def __init__(self):
self.layers = []
self.collision = True
self.density = 1.0
def __eq__(self, other):
if not isinstance(other, FlatlandFootprint):
return NotImplemented
return (self.layers == other.layers
and self.collision == other.collision
and np.allclose(self.density, other.density))
@staticmethod
def fromDict(d: dict):
fp = FlatlandFootprint()
# fill inherited class fields
if d["type"] == "polygon":
fp = PolygonFlatlandFootprint.fromDict(d)
elif d["type"] == "circle":
fp = CircleFlatlandFootprint.fromDict(d)
else:
raise Exception("unknown footprint type.")
# fill base class fields
if "layers" in d:
fp.layers = d["layers"]
if "collision" in d:
fp.collision = d["collision"]
if "density" in d:
fp.density = float(d["density"])
return fp
def toDict(self):
d = {}
d["layers"] = self.layers
d["collision"] = self.collision
d["density"] = self.density
return d
class CircleFlatlandFootprint(FlatlandFootprint):
def __init__(self):
super().__init__()
self.center = [0.0, 0.0]
self.radius = 0.5
def __eq__(self, other):
if not isinstance(other, CircleFlatlandFootprint):
return NotImplemented
return (super().__eq__(other)
and np.allclose(self.center, other.center)
and np.allclose(self.radius, other.radius))
@staticmethod
def fromDict(d: dict):
fp = CircleFlatlandFootprint()
if "center" in d:
fp.center = [float(val) for val in d["center"]]
if "radius" in d:
fp.radius = float(d["radius"])
return fp
def toDict(self):
d = super().toDict()
d["center"] = self.center
d["radius"] = self.radius
d["type"] = "circle"
return d
class PolygonFlatlandFootprint(FlatlandFootprint):
def __init__(self):
super().__init__()
self.points = []
def __eq__(self, other):
if not isinstance(other, PolygonFlatlandFootprint):
return NotImplemented
if len(self.points) != len(other.points):
return False
return (super().__eq__(other)
and np.allclose(self.points, other.points))
@staticmethod
def fromDict(d: dict):
fp = PolygonFlatlandFootprint()
if "points" in d:
fp.points = [[float(point[0]), float(point[1])] for point in d["points"]]
return fp
def toDict(self):
d = super().toDict()
d["points"] = self.points
d["type"] = "polygon"
return d
class FlatlandBody():
def __init__(self):
self.name = "new_body"
self.type = B2BodyType.DYNAMIC
self.color = QtGui.QColor("red")
self.linear_damping = 0.0
self.angular_damping = 0.0
self.footprints = [] # list of FlatlandFootprint objects
def __eq__(self, other):
if not isinstance(other, FlatlandBody):
return NotImplemented
# check everything else
return (self.name == other.name
and self.type == other.type
and self.color == other.color
and np.allclose(self.linear_damping, other.linear_damping)
and np.allclose(self.angular_damping, other.angular_damping)
and self.footprints == other.footprints)
@staticmethod
def fromDict(d: dict):
body = FlatlandBody()
if "name" in d:
body.name = d["name"]
if "type" in d:
body.type = B2BodyType[d["type"].upper()]
if "color" in d:
rgba_values = [int(val * 255) for val in d["color"]]
body.color = QtGui.QColor(rgba_values[0], rgba_values[1], rgba_values[2], rgba_values[3])
if "linear_damping" in d:
body.linear_damping = d["linear_damping"]
if "angular_damping" in d:
body.angular_damping = d["angular_damping"]
if "footprints" in d:
for footprint in d["footprints"]:
body.footprints.append(FlatlandFootprint.fromDict(footprint))
return body
def toDict(self):
'''
Return this object as a dictionary.
'''
d = {}
d["name"] = self.name
d["color"] = [self.color.redF(), self.color.greenF(), self.color.blueF(), self.color.alphaF()]
d["type"] = self.type.name.lower()
d["linear_damping"] = self.linear_damping
d["angular_damping"] = self.angular_damping
d["footprints"] = [footprint.toDict() for footprint in self.footprints]
return d
class FlatlandModel():
def __init__(self):
super().__init__()
self.bodies = {} # key: body id (int), value: body (FlatlandBody)
self.path = "" # path to file associated with this model
self.bodies_index = 0
def __eq__(self, other):
if not isinstance(other, FlatlandModel):
return NotImplemented
if len(self.bodies.keys()) == len(other.bodies.keys()):
for body1, body2 in zip(self.bodies.values(), other.bodies.values()):
if body1 != body2:
return False
return True
return False
def toDict(self):
d = {}
d["bodies"] = [body.toDict() for body in self.bodies.values()]
return d
def save(self, path_in = ""):
if path_in == "" and self.path == "":
return False
elif path_in != "":
self.path = path_in
with open(self.path, "w") as file:
data = self.toDict()
yaml.dump(data, file, default_flow_style=None)
print("saved model to", self.path)
return True
def load(self, path: str):
if os.path.exists(path):
self.bodies = {}
with open(path, "r") as file:
data = yaml.safe_load(file)
for body in data["bodies"]:
flatland_body = FlatlandBody.fromDict(body)
self.bodies[self.bodies_index] = flatland_body
self.bodies_index += 1
self.path = path
class FlatlandObject():
def __init__(self, name: str = "", model_path: str = ""):
self.name = name
self.flatlandModel = FlatlandModel()
if os.path.exists(model_path):
self.flatlandModel.load(model_path)
self.pos = np.zeros(2)
self.angle = 0.0
@staticmethod
def fromDict(d : dict):
o = FlatlandObject()
o.loadFromDict(d)
return o
def loadFromDict(self, d: dict):
self.name = d["name"]
self.flatlandModel.load(get_current_user_path(d["model_path"]))
self.pos = np.array([float(val) for val in d["pos"]])
self.angle = float(d["angle"])
def toDict(self):
d = {}
d["name"] = self.name
d["model_path"] = self.flatlandModel.path
d["pos"] = [float(val) for val in self.pos]
d["angle"] = round(normalize_angle(self.angle), 3)
return d