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cairo_trial.py
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cairo_trial.py
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import cairo
import numpy as np
import primitives as pm
import geometry as gm
import matplotlib.pyplot as plt
from matplotlib import animation
from collections import deque
import scipy.misc as scm
tmpDir = '/data1/pulkitag/tmp/projPhysics/'
imName = tmpDir + 'im%d.jpg'
##
#Try to paste a ball at a certain location
def paste_ball():
bDef = pm.BallDef()
ball1 = pm.Ball.from_def(bDef, 'ball1', pm.Point(70,50))
#Canvas Sz
xCsz, yCsz = 640, 480
#Create the base to paste it on
data = np.zeros((yCsz, xCsz, 4), dtype=np.uint8)
surface = cairo.ImageSurface.create_for_data(data,
cairo.FORMAT_ARGB32, xCsz, yCsz)
cr = cairo.Context(surface)
cr.set_source_rgba(0.5, 0.5, 1.0, 1.0)
cr.paint()
#Create imSurface
shp = ball1.data_.im.shape
y, x = ball1.pos_.y() - ball1.yOff_, ball1.pos_.x() - ball1.xOff_
imDat = np.zeros((yCsz, xCsz, 4), dtype=np.uint8)
imDat[y:y+shp[0],x:x+shp[0],:] = ball1.data_.im[:]
surface = cairo.ImageSurface.create_for_data(imDat,
cairo.FORMAT_ARGB32, xCsz, yCsz)
cr.set_source_surface(surface)
#cr.set_source_rgb(1.0,0.0,0.0)
cr.rectangle(x, y, shp[0], shp[1])
cr.fill()
print y,x,shp[0],shp[1]
return data
def create_ball_world():
world = pm.World(xSz=640, ySz=480)
bDef = pm.BallDef()
bDef2 = pm.BallDef(fColor=pm.Color(0.0,0.0,1.0))
wallHorDef = pm.WallDef(sz=pm.Point(600, 4))
wallVerDef = pm.WallDef(sz=pm.Point(4, 450))
#Horizontal Wall
world.add_object(wallHorDef, initPos=pm.Point(20,20))
world.add_object(wallHorDef, initPos=pm.Point(20,470))
world.add_object(wallVerDef, initPos=pm.Point(20,20))
world.add_object(wallVerDef, initPos=pm.Point(616,20))
world.add_object(bDef, initPos=pm.Point(200,200))
world.add_object(bDef2, initPos=pm.Point(400,400))
im = world.generate_image()
return im, world
def create_world_diamond():
world = pm.World(xSz=640, ySz=480)
pt1 = gm.Point(50, 240)
pt2 = gm.Point(300, 40)
pt3 = gm.Point(550, 240)
pt4 = gm.Point(300, 440)
walls = pm.create_cage([pt1, pt2, pt3, pt4], wThick=20)
for w in walls:
world.add_object(w)
bDef = pm.BallDef(fColor=pm.Color(0.5,0.5,0.5))
world.add_object(bDef, initPos=gm.Point(200,200))
im = world.generate_image()
return im, world
def create_ball_world_gray():
wThick = 30
world = pm.World(xSz=640, ySz=480)
bDef = pm.BallDef(fColor=pm.Color(0.5,0.5,0.5))
bDef2 = pm.BallDef(fColor=pm.Color(0.5,0.5,0.5))
xLength, yLength = 550, 400
wallHorDef = pm.WallDef(sz=pm.Point(xLength, wThick), fColor=pm.Color(0.5,0.5,0.5))
wallVerDef = pm.WallDef(sz=pm.Point(wThick, yLength), fColor=pm.Color(0.5,0.5,0.5))
xLeft, yTop = 30, 30
#Horizontal Wall
world.add_object(wallHorDef, initPos=pm.Point(xLeft, yTop))
world.add_object(wallHorDef, initPos=pm.Point(xLeft, yTop + yLength))
world.add_object(wallVerDef, initPos=pm.Point(xLeft, yTop))
world.add_object(wallVerDef, initPos=pm.Point(xLeft + xLength -wThick, yTop))
world.add_object(bDef, initPos=pm.Point(200,200))
world.add_object(bDef2, initPos=pm.Point(400,400))
im = world.generate_image()
return im, world
def ball_world_simulation_nophysics():
im, world = create_ball_world_gray()
plt.ion()
for i in range(10):
world.increment_object_position('ball-1', pm.Point(5,5))
im = world.generate_image()
plt.imshow(im)
raw_input()
def create_single_ball_world_gray():
wThick = 30
world = pm.World(xSz=640, ySz=480)
bDef = pm.BallDef(fColor=pm.Color(0.5,0.5,0.5), radius=20)
xLength, yLength = 550, 400
wallHorDef = pm.WallDef(sz=gm.Point(xLength, wThick), fColor=pm.Color(0.5,0.5,0.5))
wallVerDef = pm.WallDef(sz=gm.Point(wThick, yLength), fColor=pm.Color(0.5,0.5,0.5))
xLeft, yTop = 30, 30
world.add_object(wallVerDef, initPos=gm.Point(xLeft, yTop))
world.add_object(wallVerDef, initPos=gm.Point(xLeft + xLength -wThick, yTop))
#Horizontal Wall
world.add_object(wallHorDef, initPos=gm.Point(xLeft, yTop))
world.add_object(wallHorDef, initPos=gm.Point(xLeft, yTop + yLength))
world.add_object(bDef, initPos=gm.Point(200,200))
im = world.generate_image()
return im, world
def ball_world_step(i, model, doIm=True):
result = model.step()
im = None
if result and doIm:
im = model.generate_image()
return im
##
# Create a physics simulation of one ball hitting the walls.
def ball_world_simulation():
plt.ion()
plt.figure()
#_,world = create_single_ball_world_gray()
_,world = create_world_diamond()
im = world.generate_image()
plt.imshow(im)
model = pm.Dynamics(world)
model.world_.dynamic_['ball-0'].set_velocity(gm.Point(2000,100))
ballPos = deque()
nPlot = 20
cmap = plt.cm.ScalarMappable(cmap='jet')
cmap.set_clim((0,nPlot))
for i in range(100):
im = ball_world_step(i, model)
plt.imshow(im)
pos = model.get_object_position('ball-0')
ballPos.append(pos)
for j in range(min(i, nPlot)):
plt.plot(ballPos[j].x(), ballPos[j].y(), '.',color=cmap.to_rgba(j))
if i >= nPlot:
p = ballPos.popleft()
plt.plot(p.x(), p.y(), '.',color=(1.0,1.0,1.0,1.0))
a = raw_input()
if a=='q':
break
def create_multiple_ball_world_gray():
wThick = 30
world = pm.World(xSz=640, ySz=480)
bDef1 = pm.BallDef(fColor=pm.Color(0.5,0.5,0.5), radius=20)
bDef2 = pm.BallDef(fColor=pm.Color(1.0,1.0,0.0), radius=20)
xLength, yLength = 550, 400
wallHorDef = pm.WallDef(sz=gm.Point(xLength, wThick), fColor=pm.Color(0.5,0.5,0.5))
wallVerDef = pm.WallDef(sz=gm.Point(wThick, yLength), fColor=pm.Color(0.5,0.5,0.5))
xLeft, yTop = 30, 30
world.add_object(wallVerDef, initPos=gm.Point(xLeft, yTop))
world.add_object(wallVerDef, initPos=gm.Point(xLeft + xLength -wThick, yTop))
#Horizontal Wall
world.add_object(wallHorDef, initPos=gm.Point(xLeft, yTop))
world.add_object(wallHorDef, initPos=gm.Point(xLeft, yTop + yLength))
world.add_object(bDef1, initPos=gm.Point(200,200))
world.add_object(bDef2, initPos=gm.Point(400,210))
im = world.generate_image()
return im, world
def multi_ball_world_simulation():
plt.ion()
plt.figure()
_,world = create_multiple_ball_world_gray()
im = world.generate_image()
plt.imshow(im)
model = pm.Dynamics(world)
model.world_.dynamic_['ball-0'].set_velocity(gm.Point(1000,0))
#model.world_.dynamic_['ball-1'].set_velocity(gm.Point(-2000,500))
#model.world_.dynamic_['ball-1'].set_velocity(gm.Point(-100,0))
#model.world_.dynamic_['ball-1'].set_velocity(gm.Point(0,0))
for i in range(1000):
im = ball_world_step(i, model)
name = imName % i
#scm.imsave(name, im)
plt.imshow(im)
#pos = model.get_object_position('ball-0')
#ballPos.append(pos)
#for j in range(min(i, nPlot)):
# plt.plot(ballPos[j].x(), ballPos[j].y(), '.',color=cmap.to_rgba(j))
#if i >= nPlot:
# p = ballPos.popleft()
# plt.plot(p.x(), p.y(), '.',color=(1.0,1.0,1.0,1.0))
a = raw_input()
if a=='q':
break
##
# Get the data for some horizon
def get_horizon_data():
_,world = create_single_ball_world_gray()
model = pm.Dynamics(world)
model.apply_force('ball-0', gm.Point(-50000, 10000), forceT=1.0)
hor = pm.DynamicsHorizon(model, lookAhead=5)
for i in range(20):
im, outMat = hor.get_data()
print outMat