Source code for arcade.pymunk_physics_engine

"""
Pymunk Physics Engine
"""

import pymunkoptions
pymunkoptions.options["debug"] = False
import pymunk

import math
from typing import Callable
from typing import List
from typing import Dict
from typing import Optional
from arcade import Sprite

import logging
LOG = logging.getLogger(__name__)

[docs]class PymunkPhysicsObject: """ Object that holds pymunk body/shape for a sprite. """ def __init__(self, body: pymunk.Body = None, shape: pymunk.Shape = None): """ Init """ self.body: pymunk.Body = body self.shape: pymunk.Shape = shape
[docs]class PymunkPhysicsEngine: """ Pymunk Physics Engine """ DYNAMIC = pymunk.Body.DYNAMIC STATIC = pymunk.Body.STATIC KINEMATIC = pymunk.Body.KINEMATIC MOMENT_INF = pymunk.inf def __init__(self, gravity=(0, 0), damping: float = 1.0): # -- Pymunk self.space = pymunk.Space() self.space.gravity = gravity self.space.damping = damping self.collision_types: List[str] = [] self.sprites: Dict[Sprite, PymunkPhysicsObject] = {} self.non_static_sprite_list: List = []
[docs] def add_sprite(self, sprite: Sprite, mass: float = 1, friction: float = 0.2, elasticity: Optional[float] = None, moment=None, body_type=DYNAMIC, damping=None, gravity=None, max_velocity=None, max_horizontal_velocity=None, max_vertical_velocity=None, radius: float = 0, collision_type: str = "default", ): """ Add a sprite to the physics engine. """ if damping is not None: sprite.pymunk.damping = damping if gravity is not None: sprite.pymunk.gravity = gravity if max_velocity is not None: sprite.pymunk.max_velocity = max_velocity if max_vertical_velocity is not None: sprite.pymunk.max_vertical_velocity = max_vertical_velocity if max_horizontal_velocity is not None: sprite.pymunk.max_horizontal_velocity = max_horizontal_velocity # See if the sprite already has been added if sprite in self.sprites: LOG.warning("Attempt to add a Sprite that has already been added. Ignoring.") return # Keep track of collision types if collision_type not in self.collision_types: LOG.debug(f"Adding new collision type of {collision_type}.") self.collision_types.append(collision_type) # Get a number associated with the string of collision_type collision_type_id = self.collision_types.index(collision_type) # Default to a box moment if moment is None: moment = pymunk.moment_for_box(mass, (sprite.width, sprite.height)) # Create the physics body body = pymunk.Body(mass, moment, body_type=body_type) # Set the body's position body.position = pymunk.Vec2d(sprite.center_x, sprite.center_y) body.angle = math.radians(sprite.angle) # Callback used if we need custom gravity, damping, velocity, etc. def velocity_callback(my_body, my_gravity, my_damping, dt): """ Used for custom damping, gravity, and max_velocity. """ # Custom damping if sprite.pymunk.damping is not None: adj_damping = ((sprite.pymunk.damping * 100.0) / 100.0) ** dt # print(f"Custom damping {sprite.pymunk.damping} {my_damping} default to {adj_damping}") my_damping = adj_damping # Custom gravity if sprite.pymunk.gravity is not None: my_gravity = sprite.pymunk.gravity # Go ahead and update velocity pymunk.Body.update_velocity(my_body, my_gravity, my_damping, dt) # Now see if we are going too fast... # Support max velocity if sprite.pymunk.max_velocity: velocity = my_body.velocity.length if velocity > sprite.pymunk.max_velocity: scale = sprite.pymunk.max_velocity / velocity my_body.velocity = my_body.velocity * scale # Support max horizontal velocity if sprite.pymunk.max_horizontal_velocity: velocity = my_body.velocity.x if abs(velocity) > sprite.pymunk.max_horizontal_velocity: velocity = sprite.pymunk.max_horizontal_velocity * math.copysign(1, velocity) my_body.velocity = pymunk.Vec2d(velocity, my_body.velocity.y) # Support max vertical velocity if max_vertical_velocity: velocity = my_body.velocity[1] if abs(velocity) > max_vertical_velocity: velocity = max_horizontal_velocity * math.copysign(1, velocity) my_body.velocity = pymunk.Vec2d(my_body.velocity.x, velocity) # Add callback if we need to do anything custom on this body # if damping or gravity or max_velocity or max_horizontal_velocity or max_vertical_velocity: if body_type == self.DYNAMIC: body.velocity_func = velocity_callback # Set the physics shape to the sprite's hitbox poly = sprite.get_hit_box() scaled_poly = [[x * sprite.scale for x in z] for z in poly] shape = pymunk.Poly(body, scaled_poly, radius=radius) # Set collision type, used in collision callbacks if collision_type: shape.collision_type = collision_type_id # How bouncy is the shape? if elasticity is not None: shape.elasticity = elasticity # Set shapes friction shape.friction = friction # Create physics object and add to list physics_object = PymunkPhysicsObject(body, shape) self.sprites[sprite] = physics_object if body_type != self.STATIC: self.non_static_sprite_list.append(sprite) # Add body and shape to pymunk engine self.space.add(body, shape) # Register physics engine with sprite, so we can remove from physics engine # if we tell the sprite to go away. sprite.register_physics_engine(self)
[docs] def add_sprite_list(self, sprite_list, mass: float = 1, friction: float = 0.2, elasticity: Optional[float] = None, moment=None, body_type=DYNAMIC, collision_type=None ): """ Add all sprites in a sprite list to the physics engine. """ for sprite in sprite_list: self.add_sprite(sprite=sprite, mass=mass, friction=friction, elasticity=elasticity, moment=moment, body_type=body_type, collision_type=collision_type)
[docs] def remove_sprite(self, sprite: Sprite): """ Remove a sprite from the physics engine. """ physics_object = self.sprites[sprite] self.space.remove(physics_object.body) self.space.remove(physics_object.shape) self.sprites.pop(sprite) if sprite in self.non_static_sprite_list: self.non_static_sprite_list.remove(sprite)
[docs] def get_sprite_for_shape(self, shape) -> Optional[Sprite]: """ Given a shape, what sprite is associated with it? """ for sprite in self.sprites: if self.sprites[sprite].shape is shape: return sprite return None
[docs] def get_sprites_from_arbiter(self, arbiter): """ Given a collision arbiter, return the sprites associated with the collision. """ shape1, shape2 = arbiter.shapes sprite1 = self.get_sprite_for_shape(shape1) sprite2 = self.get_sprite_for_shape(shape2) return sprite1, sprite2
[docs] def is_on_ground(self, sprite): """ Return true of sprite is on top of something. """ grounding = self.check_grounding(sprite) return grounding['body'] is not None
[docs] def apply_impulse(self, sprite, impulse): """ Apply an impulse force on a sprite """ physics_object = self.get_physics_object(sprite) physics_object.body.apply_impulse_at_local_point(impulse)
[docs] def set_position(self, sprite, position): """ Apply an impulse force on a sprite """ physics_object = self.get_physics_object(sprite) physics_object.body.position = position
[docs] def set_velocity(self, sprite, velocity): """ Apply an impulse force on a sprite """ physics_object = self.get_physics_object(sprite) physics_object.body.velocity = velocity
[docs] def add_collision_handler(self, first_type: str, second_type: str, begin_handler: Callable = None, pre_handler: Callable = None, post_handler: Callable = None, separate_handler: Callable = None): """ Add code to handle collisions between objects. """ if first_type not in self.collision_types: LOG.debug(f"Adding new collision type of {first_type}.") self.collision_types.append(first_type) first_type_id = self.collision_types.index(first_type) if second_type not in self.collision_types: LOG.debug(f"Adding new collision type of {second_type}.") self.collision_types.append(second_type) second_type_id = self.collision_types.index(second_type) def _f1(arbiter, space, data): sprite_a, sprite_b = self.get_sprites_from_arbiter(arbiter) begin_handler(sprite_a, sprite_b, arbiter, space, data) def _f2(arbiter, space, data): sprite_a, sprite_b = self.get_sprites_from_arbiter(arbiter) if sprite_a is not None and sprite_b is not None: post_handler(sprite_a, sprite_b, arbiter, space, data) def _f3(arbiter, space, data): sprite_a, sprite_b = self.get_sprites_from_arbiter(arbiter) pre_handler(sprite_a, sprite_b, arbiter, space, data) def _f4(arbiter, space, data): sprite_a, sprite_b = self.get_sprites_from_arbiter(arbiter) separate_handler(sprite_a, sprite_b, arbiter, space, data) h = self.space.add_collision_handler(first_type_id, second_type_id) if begin_handler: h.begin = _f1 if post_handler: h.post_solve = _f2 if pre_handler: h.pre_solve = _f3 if separate_handler: h.separate = _f4
[docs] def resync_sprites(self): """ Set visual sprites to be the same location as physics engine sprites. """ # Create copy in case a sprite wants to remove itself from the list as # we iterate through the list. sprites = self.non_static_sprite_list.copy() for sprite in sprites: physics_object = self.sprites[sprite] if physics_object.body.is_sleeping: continue new_angle = math.degrees(physics_object.body.angle) dx = physics_object.body.position.x - sprite.center_x dy = physics_object.body.position.y - sprite.center_y d_angle = new_angle - sprite.angle sprite.center_x = physics_object.body.position.x sprite.center_y = physics_object.body.position.y sprite.angle = new_angle sprite.pymunk_moved(self, dx, dy, d_angle)
[docs] def step(self, delta_time: float = 1 / 60.0, resync_sprites: bool = True): """ Tell the physics engine to perform calculations. :param float delta_time: Time to move the simulation forward. Keep this value constant, do not use varying values for each step. :param bool resync_sprites: Resynchronize Arcade graphical sprites to be at the same location as their Pymunk counterparts. If running multiple steps per frame, set this to false for the first steps, and true for the last step that's part of the update. """ # Update physics # Use a constant time step, don't use delta_time # See "Game loop / moving time forward" # http://www.pymunk.org/en/latest/overview.html#game-loop-moving-time-forward self.space.step(delta_time) if resync_sprites: self.resync_sprites()
[docs] def get_physics_object(self, sprite: Sprite) -> PymunkPhysicsObject: """ Get the shape/body for a sprite. """ return self.sprites[sprite]
[docs] def apply_force(self, sprite, force): """ Apply force to a Sprite. """ physics_object = self.sprites[sprite] physics_object.body.apply_force_at_local_point(force, (0, 0))
[docs] def set_horizontal_velocity(self, sprite, velocity): """ Set a sprite's velocity """ physics_object = self.sprites[sprite] cv = physics_object.body.velocity new_cv = (velocity, cv[1]) physics_object.body.velocity = new_cv
[docs] def set_friction(self, sprite, friction): """ Apply force to a Sprite. """ physics_object = self.sprites[sprite] physics_object.shape.friction = friction
[docs] def apply_opposite_running_force(self, sprite: Sprite): """ If a sprite goes left while on top of a dynamic sprite, that sprite should get pushed to the right. """ grounding = self.check_grounding(sprite) body = self.get_physics_object(sprite).body if body.force[0] and grounding and grounding['body']: grounding['body'].apply_force_at_world_point((-body.force[0], 0), grounding['position'])
[docs] def check_grounding(self, sprite: Sprite): """ See if the player is on the ground. Used to see if we can jump. """ grounding = { 'normal': pymunk.Vec2d.zero(), 'penetration': pymunk.Vec2d.zero(), 'impulse': pymunk.Vec2d.zero(), 'position': pymunk.Vec2d.zero(), 'body': None } def f(arbiter): """ I don't know how this works. """ n = -arbiter.contact_point_set.normal if n.y > grounding['normal'].y: grounding['normal'] = n grounding['penetration'] = -arbiter.contact_point_set.points[0].distance grounding['body'] = arbiter.shapes[1].body grounding['impulse'] = arbiter.total_impulse grounding['position'] = arbiter.contact_point_set.points[0].point_b physics_object = self.sprites[sprite] physics_object.body.each_arbiter(f) return grounding