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1 #############################################################################
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2 #
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3 # Copyright (c) 2010 by Casey Duncan and contributors
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4 # All Rights Reserved.
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5 #
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6 # This software is subject to the provisions of the MIT License
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7 # A copy of the license should accompany this distribution.
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8 # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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9 # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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10 # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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11 #
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12 #############################################################################
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13 """
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14 **Grease collision detection systems**
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15
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16 Grease uses two-phase broad and narrow collision detection. *Broad-phase*
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17 collision systems are used to efficiently identify pairs that may be colliding
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18 without resorting to a brute-force check of all possible pairs. *Narrow-phase*
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19 collision systems use the pairs generated by the broad-phase and perform more
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20 precise collision tests to determine if a collision has actually occurred. The
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21 narrow-phase system also calculates more details about each collision,
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22 including collision point and normal vector for use in collision response.
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23
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24 A typical collision detection system consists of a narrow-phase system that
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25 contains a broad-phased system. The narrow-phase system is usually the only
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26
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27 one that the application directly interacts with, though the application is
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28 free to use the broad-phased system directly if desired. This could be
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29 useful in cases where speed, rather than precision is paramount.
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30
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31 The narrow-phase system can be assigned handler objects to run after
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32 collision detection. These can perform tasks like handling collision response
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33 or dispatching collision events to application handlers.
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34
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35 Note that broad-phase systems can return false positives, though they should
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36 never return false negatives. Do not assume that all pairs returned by a
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37 broad-phase system are actually in collision.
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38 """
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39
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40 __version__ = '$Id$'
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41
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42 from grease.geometry import Vec2d
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43 from bisect import bisect_right
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44
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45
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46 class Pair(tuple):
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47 """Pair of entities in collision. This is an ordered sequence of two
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48 entities, that compares and hashes unordered.
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49
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50 Also stores additional collision point and normal vectors
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51 for each entity.
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52
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53 Sets of ``Pair`` objects are exposed in the ``collision_pairs``
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54 attribute of collision systems to indicate the entity pairs in
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55 collision.
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56 """
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57 info = None
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58 """A sequence of (entity, collision point, collision normal)
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59 for each entity in the pair
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60 """
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61
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62 def __new__(cls, entity1, entity2, point=None, normal=None):
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63 pair = tuple.__new__(cls, (entity1, entity2))
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64 return pair
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65
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66 def __hash__(self):
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67 return hash(self[0]) ^ hash(self[1])
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68
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69 def __eq__(self, other):
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70 other = tuple(other)
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71 return tuple(self) == other or (self[1], self[0]) == other
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72
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73 def __repr__(self):
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74 return '%s%r' % (self.__class__.__name__, tuple(self))
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75
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76 def set_point_normal(self, point0, normal0, point1, normal1):
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77 """Set the collision point and normal for both entities"""
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78 self.info = (
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79 (self[0], point0, normal0),
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80 (self[1], point1, normal1),
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81 )
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82
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83
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84 class BroadSweepAndPrune(object):
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85 """2D Broad-phase sweep and prune bounding box collision detector
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86
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87 This algorithm is efficient for collision detection between many
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88 moving bodies. It has linear algorithmic complexity and takes
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89 advantage of temporal coherence between frames. It also does
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90 not suffer from bad worst-case performance (like RDC can).
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91 Unlike spacial hashing, it does not need to be optimized for
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92 specific space and body sizes.
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93
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94 Other algorithms may be more efficient for collision detection with
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95 stationary bodies, bodies that are always evenly distributed, or ad-hoc
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96 queries.
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97
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98 :param collision_component: Name of the collision component used by this
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99 system, defaults to 'collision'. This component supplies each
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100 entities' aabb and collision masks.
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101 :type collision_component: str
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102 """
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103 world = None
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104 """|World| object this system belongs to"""
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105
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106 collision_component = None
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107 """Name of world's collision component used by this system"""
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108
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109 LEFT_ATTR = "left"
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110 RIGHT_ATTR = "right"
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111 TOP_ATTR = "top"
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112 BOTTOM_ATTR = "bottom"
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113
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114 def __init__(self, collision_component='collision'):
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115 self.collision_component = collision_component
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116 self._by_x = None
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117 self._by_y = None
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118 self._collision_pairs = None
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119
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120 def set_world(self, world):
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121 """Bind the system to a world"""
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122 self.world = world
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123
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124 def step(self, dt):
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125 """Update the system for this time step, updates and sorts the
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126 axis arrays.
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127 """
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128 component = getattr(self.world.components, self.collision_component)
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129 LEFT = self.LEFT_ATTR
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130 RIGHT = self.RIGHT_ATTR
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131 TOP = self.TOP_ATTR
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132 BOTTOM = self.BOTTOM_ATTR
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133 if self._by_x is None:
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134 # Build axis lists from scratch
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135 # Note we cache the box positions here
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136 # so that we can perform hit tests efficiently
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137 # it also isolates us from changes made to the
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138 # box positions after we run
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139 by_x = self._by_x = []
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140 append_x = by_x.append
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141 by_y = self._by_y = []
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142 append_y = by_y.append
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143 for data in component.itervalues():
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144 append_x([data.aabb.left, LEFT, data])
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145 append_x([data.aabb.right, RIGHT, data])
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146 append_y([data.aabb.bottom, BOTTOM, data])
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147 append_y([data.aabb.top, TOP, data])
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148 else:
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149 by_x = self._by_x
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150 by_y = self._by_y
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151 removed = []
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152 for entry in by_x:
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153 entry[0] = getattr(entry[2].aabb, entry[1])
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154 for entry in by_y:
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155 entry[0] = getattr(entry[2].aabb, entry[1])
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156 # Removing entities is inefficient, but expected to be rare
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157 if component.deleted_entities:
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158 deleted_entities = component.deleted_entities
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159 deleted_x = []
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160 deleted_y = []
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161 for i, (_, _, data) in enumerate(by_x):
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162 if data.entity in deleted_entities:
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163 deleted_x.append(i)
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164 deleted_x.reverse()
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165 for i in deleted_x:
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166 del by_x[i]
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167 for i, (_, _, data) in enumerate(by_y):
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168 if data.entity in deleted_entities:
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169 deleted_y.append(i)
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170 deleted_y.reverse()
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171 for i in deleted_y:
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172 del by_y[i]
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173 # Tack on new entities
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174 for entity in component.new_entities:
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175 data = component[entity]
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176 by_x.append([data.aabb.left, LEFT, data])
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177 by_x.append([data.aabb.right, RIGHT, data])
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178 by_y.append([data.aabb.bottom, BOTTOM, data])
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179 by_y.append([data.aabb.top, TOP, data])
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180
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181 # Tim-sort is highly efficient with mostly sorted lists.
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182 # Because positions tend to change little each frame
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183 # we take advantage of this here. Obviously things are
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184 # less efficient with very fast moving, or teleporting entities
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185 by_x.sort()
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186 by_y.sort()
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187 self._collision_pairs = None
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188
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189 @property
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190 def collision_pairs(self):
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191 """Set of candidate collision pairs for this timestep"""
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192 if self._collision_pairs is None:
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193 if self._by_x is None:
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194 # Axis arrays not ready
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195 return set()
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196
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197 LEFT = self.LEFT_ATTR
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198 RIGHT = self.RIGHT_ATTR
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199 TOP = self.TOP_ATTR
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200 BOTTOM = self.BOTTOM_ATTR
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201 # Build candidates overlapping along the x-axis
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202 component = getattr(self.world.components, self.collision_component)
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203 xoverlaps = set()
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204 add_xoverlap = xoverlaps.add
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205 discard_xoverlap = xoverlaps.discard
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206 open = {}
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207 for _, side, data in self._by_x:
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208 if side is LEFT:
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209 for open_entity, (from_mask, into_mask) in open.iteritems():
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210 if data.from_mask & into_mask or from_mask & data.into_mask:
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211 add_xoverlap(Pair(data.entity, open_entity))
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212 open[data.entity] = (data.from_mask, data.into_mask)
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213 elif side is RIGHT:
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214 del open[data.entity]
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215
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216 if len(xoverlaps) <= 10 and len(xoverlaps)*4 < len(self._by_y):
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217 # few candidates were found, so just scan the x overlap candidates
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218 # along y. This requires an additional sort, but it should
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219 # be cheaper than scanning everyone and its simpler
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220 # than a separate brute-force check
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221 entities = set([entity for entity, _ in xoverlaps]
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222 + [entity for _, entity in xoverlaps])
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223 by_y = []
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224 for entity in entities:
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225 data = component[entity]
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226 # We can use tuples here, which are cheaper to create
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227 by_y.append((data.aabb.bottom, BOTTOM, data))
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228 by_y.append((data.aabb.top, TOP, data))
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229 by_y.sort()
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230 else:
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231 by_y = self._by_y
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232
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233 # Now check the candidates along the y-axis
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234 open = set()
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235 add_open = open.add
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236 discard_open = open.discard
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237 self._collision_pairs = set()
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238 add_pair = self._collision_pairs.add
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239 for _, side, data in by_y:
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240 if side is BOTTOM:
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241 for open_entity in open:
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242 pair = Pair(data.entity, open_entity)
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243 if pair in xoverlaps:
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244 discard_xoverlap(pair)
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245 add_pair(pair)
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246 if not xoverlaps:
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247 # No more candidates, bail
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248 return self._collision_pairs
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249 add_open(data.entity)
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250 elif side is TOP:
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251 discard_open(data.entity)
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252 return self._collision_pairs
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253
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254 def query_point(self, x_or_point, y=None, from_mask=0xffffffff):
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255 """Hit test at the point specified.
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256
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257 :param x_or_point: x coordinate (float) or sequence of (x, y) floats.
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258
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259 :param y: y coordinate (float) if x is not a sequence
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260
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261 :param from_mask: Bit mask used to filter query results. This value
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262 is bit ANDed with candidate entities' ``collision.into_mask``.
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263 If the result is non-zero, then it is considered a hit. By
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264 default all entities colliding with the input point are
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265 returned.
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266
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267 :return: A set of entities where the point is inside their bounding
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268 boxes as of the last time step.
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269 """
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270 if self._by_x is None:
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271 # Axis arrays not ready
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272 return set()
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273 if y is None:
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274 x, y = x_or_point
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275 else:
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276 x = x_or_point
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277 LEFT = self.LEFT_ATTR
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278 RIGHT = self.RIGHT_ATTR
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279 TOP = self.TOP_ATTR
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280 BOTTOM = self.BOTTOM_ATTR
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281 x_index = bisect_right(self._by_x, [x])
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282 x_hits = set()
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283 add_x_hit = x_hits.add
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284 discard_x_hit = x_hits.discard
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285 if x_index <= len(self._by_x) // 2:
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286 # closer to the left, scan from left to right
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287 while (x == self._by_x[x_index][0]
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288 and self._by_x[x_index][1] is LEFT
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289 and x_index < len(self._by_x)):
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290 # Ensure we hit on exact left edge matches
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291 x_index += 1
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292 for _, side, data in self._by_x[:x_index]:
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293 if side is LEFT and from_mask & data.into_mask:
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294 add_x_hit(data.entity)
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295 else:
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296 discard_x_hit(data.entity)
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297 else:
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298 # closer to the right
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299 for _, side, data in reversed(self._by_x[x_index:]):
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300 if side is RIGHT and from_mask & data.into_mask:
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301 add_x_hit(data.entity)
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302 else:
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303 discard_x_hit(data.entity)
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304 if not x_hits:
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305 return x_hits
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306
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307 y_index = bisect_right(self._by_y, [y])
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308 y_hits = set()
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309 add_y_hit = y_hits.add
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310 discard_y_hit = y_hits.discard
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311 if y_index <= len(self._by_y) // 2:
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312 # closer to the bottom
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313 while (y == self._by_y[y_index][0]
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314 and self._by_y[y_index][1] is BOTTOM
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315 and y_index < len(self._by_y)):
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316 # Ensure we hit on exact bottom edge matches
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317 y_index += 1
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318 for _, side, data in self._by_y[:y_index]:
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319 if side is BOTTOM:
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320 add_y_hit(data.entity)
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321 else:
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322 discard_y_hit(data.entity)
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323 else:
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324 # closer to the top
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325 for _, side, data in reversed(self._by_y[y_index:]):
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326 if side is TOP:
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327 add_y_hit(data.entity)
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328 else:
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329 discard_y_hit(data.entity)
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330 if y_hits:
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331 return x_hits & y_hits
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332 else:
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333 return y_hits
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334
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335
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336 class Circular(object):
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337 """Basic narrow-phase collision detector which treats all entities as
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338 circles with their radius defined in the collision component.
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339
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340 :param handlers: A sequence of collision handler functions that are invoked
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341 after collision detection.
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342 :type handlers: sequence of functions
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343
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344 :param collision_component: Name of collision component for this system,
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345 defaults to 'collision'. This supplies each entity's collision
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346 radius and masks.
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347 :type collision_component: str
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348
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349 :param position_component: Name of position component for this system,
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350 defaults to 'position'. This supplies each entity's position.
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351 :type position_component: str
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352
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353 :param update_aabbs: If True (the default), then the entities'
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354 `collision.aabb` fields will be updated using their position
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355 and collision radius before invoking the broad phase system.
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356 Set this False if another system updates the aabbs.
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357 :type update_aabbs: bool
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358
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359 :param broad_phase: A broad-phase collision system to use as a source
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360 for collision pairs. If not specified, a :class:`BroadSweepAndPrune`
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361 system will be created automatically.
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362 """
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363 world = None
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364 """|World| object this system belongs to"""
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365
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366 position_component = None
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367 """Name of world's position component used by this system"""
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368
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369 collision_component = None
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370 """Name of world's collision component used by this system"""
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371
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372 update_aabbs = True
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373 """Flag to indicate whether the system updates the entities' `collision.aabb`
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374 field before invoking the broad phase collision system
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375 """
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376
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377 handlers = None
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378 """A sequence of collision handler functions invoke after collision
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379 detection
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380 """
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381
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382 broad_phase = None
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383 """Broad phase collision system used as a source for collision pairs"""
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384
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385 def __init__(self, handlers=(), position_component='position',
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386 collision_component='collision', update_aabbs=True, broad_phase=None):
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387 self.handlers = tuple(handlers)
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388 if broad_phase is None:
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389 broad_phase = BroadSweepAndPrune(collision_component)
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390 self.collision_component = collision_component
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391 self.position_component = position_component
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392 self.update_aabbs = bool(update_aabbs)
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393 self.broad_phase = broad_phase
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394 self._collision_pairs = None
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395
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396 def set_world(self, world):
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397 """Bind the system to a world"""
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398 self.world = world
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399 self.broad_phase.set_world(world)
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400 for handler in self.handlers:
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401 if hasattr(handler, 'set_world'):
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402 handler.set_world(world)
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403
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404 def step(self, dt):
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405 """Update the collision system for this time step and invoke
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406 the handlers
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407 """
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408 if self.update_aabbs:
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409 for position, collision in self.world.components.join(
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410 self.position_component, self.collision_component):
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411 aabb = collision.aabb
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412 x, y = position.position
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413 radius = collision.radius
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414 aabb.left = x - radius
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415 aabb.right = x + radius
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416 aabb.bottom = y - radius
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417 aabb.top = y + radius
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418 self.broad_phase.step(dt)
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419 self._collision_pairs = None
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420 for handler in self.handlers:
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421 handler(self)
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422
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423 @property
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424 def collision_pairs(self):
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425 """The set of entity pairs in collision in this timestep"""
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426 if self._collision_pairs is None:
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427 position = getattr(self.world.components, self.position_component)
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428 collision = getattr(self.world.components, self.collision_component)
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429 pairs = self._collision_pairs = set()
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430 for pair in self.broad_phase.collision_pairs:
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431 entity1, entity2 = pair
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432 position1 = position[entity1].position
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433 position2 = position[entity2].position
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434 radius1 = collision[entity1].radius
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435 radius2 = collision[entity2].radius
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436 separation = position2 - position1
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437 if separation.get_length_sqrd() <= (radius1 + radius2)**2:
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438 normal = separation.normalized()
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439 pair.set_point_normal(
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440 normal * radius1 + position1, normal,
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441 normal * -radius2 + position2, -normal)
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442 pairs.add(pair)
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443 return self._collision_pairs
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444
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445 def query_point(self, x_or_point, y=None, from_mask=0xffffffff):
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446 """Hit test at the point specified.
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447
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448 :param x_or_point: x coordinate (float) or sequence of (x, y) floats.
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449
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450 :param y: y coordinate (float) if x is not a sequence
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451
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452 :param from_mask: Bit mask used to filter query results. This value
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453 is bit ANDed with candidate entities' ``collision.into_mask``.
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454 If the result is non-zero, then it is considered a hit. By
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455 default all entities colliding with the input point are
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456 returned.
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457
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458 :return: A set of entities where the point is inside their collision
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459 radii as of the last time step.
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460
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461 """
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462 if y is None:
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463 point = Vec2d(x_or_point)
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464 else:
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465 point = Vec2d(x_or_point, y)
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466 hits = set()
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467 position = getattr(self.world.components, self.position_component)
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468 collision = getattr(self.world.components, self.collision_component)
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469 for entity in self.broad_phase.query_point(x_or_point, y, from_mask):
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470 separation = point - position[entity].position
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471 if separation.get_length_sqrd() <= collision[entity].radius**2:
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|
472 hits.add(entity)
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|
|
473 return hits
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|
474
|
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|
475
|
|
|
476 def dispatch_events(collision_system):
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|
|
477 """Collision handler that dispatches `on_collide()` events to entities
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|
|
478 marked for collision by the specified collision system. The `on_collide()`
|
|
|
479 event handler methods are defined by the application on the desired entity
|
|
|
480 classes. These methods should have the following signature::
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|
|
481
|
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|
482 def on_collide(self, other_entity, collision_point, collision_normal):
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|
|
483 '''Handle A collision between this entity and `other_entity`
|
|
|
484
|
|
|
485 - other_entity (Entity): The other entity in collision with
|
|
|
486 `self`
|
|
|
487
|
|
|
488 - collision_point (Vec2d): The point on this entity (`self`)
|
|
|
489 where the collision occurred. Note this may be `None` for
|
|
|
490 some collision systems that do not report it.
|
|
|
491
|
|
|
492 - collision_normal (Vec2d): The normal vector at the point of
|
|
|
493 collision. As with `collision_point`, this may be None for
|
|
|
494 some collision systems.
|
|
|
495 '''
|
|
|
496
|
|
|
497 Note the arguments to `on_collide()` are always passed positionally, so you
|
|
|
498 can use different argument names than above if desired.
|
|
|
499
|
|
|
500 If a pair of entities are in collision, then the event will be dispatched
|
|
|
501 to both objects in arbitrary order if all of their collision masks align.
|
|
|
502 """
|
|
|
503 collision = getattr(collision_system.world.components,
|
|
|
504 collision_system.collision_component)
|
|
|
505 for pair in collision_system.collision_pairs:
|
|
|
506 entity1, entity2 = pair
|
|
|
507 if pair.info is not None:
|
|
|
508 args1, args2 = pair.info
|
|
|
509 else:
|
|
|
510 args1 = entity1, None, None
|
|
|
511 args2 = entity2, None, None
|
|
|
512 try:
|
|
|
513 on_collide = entity1.on_collide
|
|
|
514 masks_align = collision[entity2].from_mask & collision[entity1].into_mask
|
|
|
515 except (AttributeError, KeyError):
|
|
|
516 pass
|
|
|
517 else:
|
|
|
518 if masks_align:
|
|
|
519 on_collide(*args2)
|
|
|
520 try:
|
|
|
521 on_collide = entity2.on_collide
|
|
|
522 masks_align = collision[entity1].from_mask & collision[entity2].into_mask
|
|
|
523 except (AttributeError, KeyError):
|
|
|
524 pass
|
|
|
525 else:
|
|
|
526 if masks_align:
|
|
|
527 on_collide(*args1)
|
|
|
528
|
