add groove joint and py3.6

MailRuChamps · Sep 4, 2018 · f98a291 · f98a291
1 parent c361e99
commit f98a291
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Showing 4 changed files with 23 additions and 29 deletions.
diff --git a/madcars/Runners/mechanic/game_objects/base_car.py b/madcars/Runners/mechanic/game_objects/base_car.py
@@ -84,7 +84,6 @@ def create_wheel(self, wheel_side):
         wheel_position = getattr(self, wheel_side + '_wheel_position')
         wheel_friction = getattr(self, wheel_side + '_wheel_friction')
         wheel_elasticity = getattr(self, wheel_side + '_wheel_elasticity')
-        wheel_joint = getattr(self, wheel_side + '_wheel_joint')
         wheel_damp_position = getattr(self, wheel_side + '_wheel_damp_position')
         wheel_damp_length = getattr(self, wheel_side + '_wheel_damp_length')
         wheel_damp_stiffness = getattr(self, wheel_side + '_wheel_damp_stiffness')
@@ -100,8 +99,12 @@ def create_wheel(self, wheel_side):
         wheel_shape.elasticity = wheel_elasticity
         wheel_objects.append(wheel_shape)
 
-        wheel_joint = pymunk.PinJoint(wheel_body, self.car_body, anchor_b=(wheel_joint[0] * self.x_modification, wheel_joint[1]))
-        wheel_objects.append(wheel_joint)
+        wheel_grove = pymunk.GrooveJoint(self.car_body, wheel_body,
+                                         (wheel_damp_position[0] * self.x_modification, wheel_damp_position[1]),
+                                         (wheel_damp_position[0] * self.x_modification,
+                                          wheel_damp_position[1] - wheel_damp_length * 1.5),
+                                         (0, 0))
+        wheel_objects.append(wheel_grove)
 
         wheel_damp = pymunk.DampedSpring(wheel_body, self.car_body, anchor_a=(0, 0),
                                          anchor_b=(wheel_damp_position[0] * self.x_modification, wheel_damp_position[1]),
@@ -110,16 +113,9 @@ def create_wheel(self, wheel_side):
                                          damping=wheel_damp_damping)
         wheel_objects.append(wheel_damp)
 
-        wheel_stop = pymunk.Poly(self.car_body, [(0, 0), (0, 1), (wheel_radius * 2 * self.x_modification, 1), (wheel_radius * 2 * self.x_modification, 0)],
-                                 transform=pymunk.Transform(tx=wheel_damp_position[0] * self.x_modification - wheel_radius * self.x_modification, ty=wheel_damp_position[1]))
-        wheel_objects.append(wheel_stop)
-
-        wheel_stop.color = 0, 255, 0
-
         wheel_motor = None
         if (wheel_side == 'rear' and self.drive in [self.AWD, self.FR]) or (wheel_side == 'front' and self.drive in [self.AWD, self.FF]):
             wheel_motor = pymunk.SimpleMotor(wheel_body, self.car_body, 0)
-            # wheel_objects.append(motor)
 
         return wheel_body, wheel_motor, wheel_objects
 

diff --git a/madcars/Runners/mechanic/game_objects/cars.py b/madcars/Runners/mechanic/game_objects/cars.py
@@ -28,7 +28,6 @@ class Buggy(Car):
 
     rear_wheel_mass = 50
     rear_wheel_position = (29, -5)
-    rear_wheel_joint = (150, 0)
     rear_wheel_damp_position = (29, 20)
     rear_wheel_damp_stiffness = 5e4
     rear_wheel_damp_damping = 3e3
@@ -37,7 +36,6 @@ class Buggy(Car):
 
     front_wheel_mass = 5
     front_wheel_position = (122, -5)
-    front_wheel_joint = (0, 6)
     front_wheel_damp_position = (122, 20)
     front_wheel_damp_length = 25
     front_wheel_radius = 12
@@ -69,15 +67,13 @@ class Bus(Car):
     rear_wheel_radius = 13
     rear_wheel_position = (38, -5)
     rear_wheel_friction = 0.9
-    rear_wheel_joint = (153, 5)
     rear_wheel_damp_position = (38, 30)
     rear_wheel_damp_length = 35
     rear_wheel_damp_stiffness = 10e4
     rear_wheel_damp_damping = 6e3
 
     front_wheel_radius = 13
     front_wheel_position = (125, -5)
-    front_wheel_joint = (0, 6)
     front_wheel_damp_position = (125, 30)
     front_wheel_damp_length = 35
     front_wheel_damp_stiffness = 10e4
@@ -108,7 +104,6 @@ def create_wheel(self, wheel_side):
         wheel_position = getattr(self, wheel_side + '_wheel_position')
         wheel_friction = getattr(self, wheel_side + '_wheel_friction')
         wheel_elasticity = getattr(self, wheel_side + '_wheel_elasticity')
-        wheel_joint = getattr(self, wheel_side + '_wheel_joint')
         wheel_damp_position = getattr(self, wheel_side + '_wheel_damp_position')
         wheel_damp_length = getattr(self, wheel_side + '_wheel_damp_length')
         wheel_damp_stiffness = getattr(self, wheel_side + '_wheel_damp_stiffness')
@@ -124,8 +119,12 @@ def create_wheel(self, wheel_side):
         wheel_shape.elasticity = wheel_elasticity
         wheel_objects.append(wheel_shape)
 
-        wheel_joint = pymunk.PinJoint(wheel_body, self.car_body, anchor_b=(wheel_joint[0] * self.x_modification, wheel_joint[1]))
-        wheel_objects.append(wheel_joint)
+        wheel_grove = pymunk.GrooveJoint(self.car_body, wheel_body,
+                                         (wheel_damp_position[0] * self.x_modification, wheel_damp_position[1]),
+                                         (wheel_damp_position[0] * self.x_modification,
+                                          wheel_damp_position[1] - wheel_damp_length * 1.5),
+                                         (0, 0))
+        wheel_objects.append(wheel_grove)
 
         wheel_damp = pymunk.DampedSpring(wheel_body, self.car_body, anchor_a=(0, 0),
                                          anchor_b=(wheel_damp_position[0] * self.x_modification, wheel_damp_position[1]),
@@ -134,12 +133,6 @@ def create_wheel(self, wheel_side):
                                          damping=wheel_damp_damping)
         wheel_objects.append(wheel_damp)
 
-        wheel_stop = pymunk.Poly(self.car_body, [(0, 0), (0, 1),(wheel_radius * 2 * self.x_modification, 1), (wheel_radius * 2 * self.x_modification, 0)],
-                                 transform=pymunk.Transform(tx=wheel_damp_position[0] * self.x_modification - wheel_radius * self.x_modification, ty=wheel_damp_position[1]))
-        wheel_objects.append(wheel_stop)
-
-        wheel_stop.color = 0, 255, 0
-
         wheel_motor = None
         if (wheel_side == 'rear' and self.drive in [self.AWD, self.FR]) or (wheel_side == 'front' and self.drive in [self.AWD, self.FF]):
             wheel_motor = pymunk.SimpleMotor(wheel_body, self.car_body, 0)

diff --git a/madcars/Runners/mechanic/game_objects/maps.py b/madcars/Runners/mechanic/game_objects/maps.py
@@ -32,16 +32,19 @@ def __init__(self, space):
             self.objects.append(segment)
 
     def create_box(self, space):
-        left = pymunk.Segment(space.static_body, (0, 0), (0, self.max_height), 1)
+        bo = self.segment_height - 1  # box offset
+        left = pymunk.Segment(space.static_body, (-bo, -bo), (-bo, self.max_height + bo), self.segment_height)
         left.sensor = True
 
-        top = pymunk.Segment(space.static_body, (0, self.max_height), (self.max_width, self.max_height), 1)
+        top = pymunk.Segment(space.static_body, (-bo, self.max_height + bo),
+                             (self.max_width + bo, self.max_height + bo), 10)
         top.sensor = True
 
-        right = pymunk.Segment(space.static_body, (self.max_width, self.max_height), (self.max_width, 0), 1)
+        right = pymunk.Segment(space.static_body, (self.max_width + bo, self.max_height + bo),
+                               (self.max_width + bo, -bo), 10)
         right.sensor = True
 
-        bottom = pymunk.Segment(space.static_body, (self.max_width, 0), (0, 0), 1)
+        bottom = pymunk.Segment(space.static_body, (self.max_width + bo, -bo), (-bo, -bo), 10)
         bottom.sensor = True
 
         self.objects.extend([left, top, right, bottom])

diff --git a/madcars/dockers/python3/Dockerfile b/madcars/dockers/python3/Dockerfile
@@ -1,8 +1,10 @@
 FROM ubuntu:16.04
 MAINTAINER Boris Kolganov <[email protected]>
 
-RUN apt-get update && apt-get install -y python3 python3-pip && pip3 install -U numpy scipy cython scikit-learn keras pandas tensorflow==1.5.0 pymunk==5.3.2
+RUN add-apt-repository ppa:jonathonf/python-3.6 && \
+  apt-get update && apt-get install -y python3.6 python3-pip && \
+  python3.6 -m pip install -U numpy scipy cython scikit-learn keras pandas tensorflow==1.5.0 pymunk==5.3.2
 
 ENV SOLUTION_CODE_ENTRYPOINT=main.py
 ENV SOLUTION_CODE_PATH=/opt/client/solution
-ENV RUN_COMMAND='python3 -u $SOLUTION_CODE_PATH/$SOLUTION_CODE_ENTRYPOINT'
+ENV RUN_COMMAND='python3.6 -u $SOLUTION_CODE_PATH/$SOLUTION_CODE_ENTRYPOINT'