forked from pulkitag/pyphy-engine
-
Notifications
You must be signed in to change notification settings - Fork 2
/
Copy pathmain.py
153 lines (139 loc) · 6.2 KB
/
main.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
from cairo_trial import *
import random
from datetime import datetime
import math
import os
import sys
import argparse
def randBallPos(xSz=256, ySz=256, wThick=5, numBall=10, ballRadius=5,tableType=0):
# random initialize multiple balls without overlapping
numLeft=numBall
pos=[(0,0)]*numBall
tmp_st=[x+ballRadius for x in wThick]
tmp_ran=(xSz-2*tmp_st[0],ySz-2*tmp_st[1])
while numLeft!=0:
done=False
while not done:
tmp_pos = (tmp_st[0]+random.random()*tmp_ran[0],tmp_st[1]+random.random()*tmp_ran[1])
done=True
for bid in range(numBall-numLeft):
dist = (tmp_pos[0]-pos[bid][0])**2+(tmp_pos[1]-pos[bid][1])**2
if dist<4*ballRadius**2:
done=False
break
pos[numBall-numLeft]=(tmp_pos[0],tmp_pos[1])
numLeft-=1
return pos
def createExp(numBall=8,tableType=0,ballR=10):
# create table
xSz = ySz = 256
world = pm.World(xSz=xSz, ySz=ySz)
# add walls
if tableType==0: # square
wThick = [5,5]
elif tableType==1: # rectangle
wThick=[14,71]
xLength, yLength = 256, 256-wThick[1]
xLeft, yTop = 0, 0
wallHorDef = pm.WallDef(sz=gm.Point(xLength, wThick[1]), fColor=pm.Color(0.5,0.5,0.5))
wallVerDef = pm.WallDef(sz=gm.Point(wThick[0], yLength), fColor=pm.Color(0.5,0.5,0.5))
world.add_object(wallVerDef, initPos=gm.Point(xLeft, yTop))
world.add_object(wallVerDef, initPos=gm.Point(xLeft + xLength -wThick[0], yTop))
world.add_object(wallHorDef, initPos=gm.Point(xLeft, yTop))
world.add_object(wallHorDef, initPos=gm.Point(xLeft, yTop + yLength))
# add balls
ballRadius = ballR
bPos = randBallPos(xSz=xSz, ySz=ySz, wThick=wThick, numBall=numBall+1, ballRadius=ballRadius,tableType=tableType)
bCue = pm.BallDef(fColor=pm.Color(0.0,0.0,1.0), radius=ballRadius, sThick=0)
#bCue = pm.BallDef(fColor=pm.Color(1.0,0.0,0.0), radius=ballRadius, sThick=0)
world.add_object(bCue, initPos=gm.Point(bPos[-1][0],bPos[-1][1]))
bOther = [None]*numBall
for i in range(numBall):
bOther[i] = pm.BallDef(fColor=pm.Color(0.0,0.0,1.0), radius=ballRadius, sThick=0)
world.add_object(bOther[i], initPos=gm.Point(bPos[i][0],bPos[i][1]))
im = world.generate_image()
return im, world
def saveExp(Iout='./image_%04d.jpg', Lout=['./test_p.txt','./test_v.txt'],numBall=8,aF=200,aD=0,tableType=0,ballR=10,ballM=1,Pinit=[]):
im,world = createExp(numBall,tableType,ballR)
model = pm.Dynamics(world,aFriction=aF,aColDamp=aD)
# set initial speed
#v0=600;vDelta=200;
#v0=400;vDelta=200;
v0=500;vDelta=500;
numF=100
# set mass
for bb in model.world_.dynamic_.keys():
model.world_.dynamic_[bb].set_mass(ballM)
if len(Pinit)<=1: # random init
for bb in model.world_.dynamic_.keys():
vv = [(2*random.randint(0,1)-1)*v0+(2*random.randint(0,1)-1)*vDelta*random.random() for x in range(2)]
model.world_.dynamic_[bb].set_velocity(gm.Point(vv[0],vv[1]))
if len(Pinit)==1:
for j in range(int(Pinit)):
im = ball_world_step(j, model, False)
else: # from initialzation
#initialize from previous
a=open(Pinit[0]);aa=a.readlines();pp=[float(x) for x in aa[-1].split(',')];a.close()
a=open(Pinit[1]);aa=a.readlines();vv=[float(x) for x in aa[-1].split(',')];a.close()
for k,bb in enumerate(model.world_.dynamic_.keys()):
model.world_.dynamic_[bb].set_velocity(gm.Point(vv[k*2],vv[k*2+1]))
model.world_.dynamic_[bb].set_position(gm.Point(pp[k*2],pp[k*2+1]))
if Lout!=None:
ll_p = open(Lout[0],'w')
ll_v = open(Lout[1],'w')
vv=[None]*len(model.world_.dynamic_)*2
pp=[None]*len(model.world_.dynamic_)*2
im=None
doIm = Iout is not None
for i in range(numF):
im = ball_world_step(i, model, doIm)
#print "step",i
if doIm:
if im is None:
print "im is None"
break;
name = Iout % (i+1)
scm.imsave(name, im)
if Lout!=None:
for bid,bb in enumerate(model.world_.dynamic_.keys()):
vel = model.get_object_velocity(bb)
vv[bid*2] = '%.2f' % vel.x()
vv[bid*2+1] = '%.2f' % vel.y()
pos = model.get_object_position(bb)
pp[bid*2] = '%.2f' % pos.x()
pp[bid*2+1] = '%.2f' % pos.y()
ll_p.write(",".join(pp)+'\n')
ll_v.write(",".join(vv)+'\n')
if Lout!=None:
ll_p.close()
ll_v.close()
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='billiard ball physics simulation')
parser.add_argument('--seed', default=1, type=int)
parser.add_argument('--aDamp', default=0, type=float)
parser.add_argument('--aFric', default=0, type=float)
parser.add_argument('--ballNum', default=1, type=int) # number of balls besides the cue ball
parser.add_argument('--ballRadius', default=10, type=int)
parser.add_argument('--ballMass', default=1, type=float)
# []: random init; '5': burn-in steps; '[file_pos,file_vel]': read the initial pos and vel
parser.add_argument('--ballInit', default="", type=str)
parser.add_argument('--tableType', default=0, type=int)
parser.add_argument('--outDir', default='./result/', type=str)
parser.add_argument('--outIm', default=False, type=bool)
param = parser.parse_args()
random.seed(param.seed)
outN = param.outDir + '/exp%d-%d_%d_%d' %(param.tableType, param.ballMass, param.ballNum, param.ballRadius)+'_'+str(param.aDamp)+'_'+str(param.aFric)+'/'
if not os.path.isdir(outN):
os.makedirs(outN) # in case of folder heirarchy
fns = ['pos/','vel/','im/']
for fn in fns:
if not os.path.isdir(outN+fn):
os.mkdir(outN+fn)
fn2 = '%06d' % param.seed
logN = [outN+'pos/'+fn2+'_p.txt', outN+'vel/'+fn2+'_v.txt'];
imN=None
if param.outIm:
if not os.path.isdir(outN+'im/'+fn2):
os.mkdir(outN+'im/'+fn2)
imN = outN+'im/'+fn2+'/image_%04d.png'
saveExp(imN,logN,param.ballNum,param.aFric,param.aDamp,param.tableType,param.ballRadius,param.ballMass,param.ballInit)