From 76fd28190bbd60068c73aa8777c842c332582f3a Mon Sep 17 00:00:00 2001 From: Paraskevas Karachatzis Date: Fri, 13 Dec 2024 08:31:13 +0100 Subject: [PATCH] Project Import --- LICENSE | 339 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ main.py | 260 +++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 599 insertions(+) create mode 100644 LICENSE create mode 100644 main.py diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..d511905 --- /dev/null +++ b/LICENSE @@ -0,0 +1,339 @@ + GNU GENERAL PUBLIC LICENSE + Version 2, June 1991 + + Copyright (C) 1989, 1991 Free Software Foundation, Inc., + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The licenses for most software are designed to take away your +freedom to share and change it. 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It is safest +to attach them to the start of each source file to most effectively +convey the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + + Copyright (C) + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License along + with this program; if not, write to the Free Software Foundation, Inc., + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. + +Also add information on how to contact you by electronic and paper mail. + +If the program is interactive, make it output a short notice like this +when it starts in an interactive mode: + + Gnomovision version 69, Copyright (C) year name of author + Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, the commands you use may +be called something other than `show w' and `show c'; they could even be +mouse-clicks or menu items--whatever suits your program. + +You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the program, if +necessary. Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the program + `Gnomovision' (which makes passes at compilers) written by James Hacker. + + , 1 April 1989 + Ty Coon, President of Vice + +This General Public License does not permit incorporating your program into +proprietary programs. If your program is a subroutine library, you may +consider it more useful to permit linking proprietary applications with the +library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. diff --git a/main.py b/main.py new file mode 100644 index 0000000..6b1e3c0 --- /dev/null +++ b/main.py @@ -0,0 +1,260 @@ +import sys +import math +from PyQt5.QtWidgets import QApplication, QMainWindow +from PyQt5.QtGui import QPainter, QColor +from PyQt5.QtCore import Qt, QTimer + +class InertialModel2D: + """ + A 2D inertial model representing an object with speed, angle, position, and the ability to apply force. + + Attributes: + x (float): x-coordinate of the object's position. + y (float): y-coordinate of the object's position. + speed (float): Current speed of the object. + angle (float): Current angle of the object (in radians, 0 = right, pi/2 = up, etc.). + mass (float): Mass of the object (affects inertia). + friction (float): Friction coefficient (reduces speed over time). + vx (float): Velocity in the x-direction. + vy (float): Velocity in the y-direction. + """ + + def __init__(self, x=0.0, y=0.0, speed=0.0, angle=0.0, mass=1.0, friction=0.05): + """ + Initializes the InertialModel2D. + + Args: + x (float): Initial x-coordinate. + y (float): Initial y-coordinate. + speed (float): Initial speed. + angle (float): Initial angle (in radians). + mass (float): Mass of the object. + friction (float): Friction coefficient (0.0 - 1.0, where 0.0 is no friction and 1.0 is high friction). + """ + self.x = x + self.y = y + self.speed = speed + self.angle = angle + self.mass = mass + self.friction = friction + self.vx = speed * math.cos(angle) + self.vy = speed * math.sin(angle) + + def applyForce(self, force, force_angle): + """ + Applies a force to the object, affecting its speed and direction. + + Args: + force (float): Magnitude of the force. + force_angle (float): Angle of the force (in radians). + """ + # Resolve force into x and y components + fx = force * math.cos(force_angle) + fy = force * math.sin(force_angle) + + # Calculate acceleration + ax = fx / self.mass + ay = fy / self.mass + + # Update velocity + self.vx += ax + self.vy += ay + + # Update speed and angle based on new velocity + self.speed = math.sqrt(self.vx**2 + self.vy**2) + self.angle = math.atan2(self.vy, self.vx) + + def update(self, dt=0.1): + """ + Updates the object's position and speed based on its current state and applied forces. + Includes friction to slow down the object over time. + + Args: + dt (float): Time step (in seconds). + """ + # Apply friction + self.vx *= (1 - self.friction * dt) + self.vy *= (1 - self.friction * dt) + + # Update speed and angle based on new velocity after friction + self.speed = math.sqrt(self.vx**2 + self.vy**2) + + # Handle very low speed to prevent jittering + if self.speed < 0.001: + self.speed = 0 + self.vx = 0 + self.vy = 0 + + if self.speed != 0: #avoid errors when speed is exactly 0 + self.angle = math.atan2(self.vy, self.vx) + + + # Update position + self.x += self.vx * dt + self.y += self.vy * dt + + def __str__(self): + return f"Position: ({self.x:.2f}, {self.y:.2f}), Speed: {self.speed:.2f}, Angle: {math.degrees(self.angle):.2f}°" + +class Truck: + def __init__(self, initial_pos, truck_dimensions, color=QColor(255,0,0), + axles=None): + self.x = float(initial_pos[0]); + self.y = float(initial_pos[1]); + + self.inModel = InertialModel2D(x=self.x, y=self.y, speed=0, angle=0, mass=1.0, friction=20) + + self.width = float(truck_dimensions[1]); + self.length = float(truck_dimensions[0]); + + self.angle = 0; + + self.linearSpeed = 1.0; + # Degrees per second + self.angularSpeed = 90.0; + + self.throttle = 0; + + self.color = color; + self.speed = 0; + + self.axleWidth = 5.0 # For drawing purposes only + if axles: + self.wheelBase = axles[0] + self.wheelThread = axles[1] + self.wheelBaseOffset = axles[2] + else: + self.wheelBase = self.length * 0.7 + self.wheelTread = self.width + self.wheelBaseOffset = 0.0 #Shifts the wheels forward + + def drawTruck(self, painter): + # Set the color and draw the rectangle + painter.save() + + painter.setPen(Qt.black) + painter.setBrush(self.color) + + painter.translate(int(self.x), int(self.y)) + painter.rotate(self.angle) + # Draw rectangle centered at origin + painter.drawRect(int(-self.length/2), + int(-self.width/2), + int(self.length), + int(self.width)) + + painter.restore() + + def drawAxles(self, painter, color=Qt.black): + painter.save() + + painter.setPen(Qt.black) + painter.setBrush(color) + + painter.translate(int(self.x), int(self.y)) + painter.rotate(self.angle) + + painter.drawRect(int(self.wheelBaseOffset-(+self.wheelBase)/2), + int(-self.axleWidth/2), + int(self.wheelBase), + int(self.axleWidth)) + + painter.drawRect(int(self.wheelBaseOffset+(self.wheelBase/2)), + int(-self.wheelTread/2), + int(self.axleWidth), + int(self.wheelTread)) + painter.drawRect(int(self.wheelBaseOffset-(self.wheelBase/2)), + int(-self.wheelTread/2), + int(self.axleWidth), + int(self.wheelTread)) + + painter.restore() + + + def tick(self, dt): + + #self.angular_speed * dt + + self.inModel.applyForce(self.linearSpeed * self.throttle * dt *10000, + math.radians(self.angle)) + + self.inModel.update(dt) + + self.x = self.inModel.x + self.y = self.inModel.y + print(self.inModel) + + #distance = self.linearSpeed * self.throttle * dt + #rad = math.radians(self.angle) + #delta_x = distance * math.cos(rad) + #delta_y = distance * math.sin(rad) + #self.x += delta_x + #self.y += delta_y + + def getSpeed(self): + return self.linearSpeed * self.throttle + + def setThrottle(self, throttle): + self.throttle = throttle + + def setAngle(self, angle): + self.angle += angle + + +class MainWindow(QMainWindow): + def __init__(self): + super().__init__() + self.setGeometry(100, 100, 500, 500) + self.angle = 0 # Initial rotation anglea + self.setFocus() # Enable keyboard focus + + self.truck = Truck([50.0,50.0], [100.0,60.0]) + + # Create and setup the timer + self.timer = QTimer(self) + self.timer.timeout.connect(self.update_rotation) + self.timer.start(16) # 16ms = ~60 FPS + + def update_rotation(self): + self.update() # Request repaint + + def paintEvent(self, event): + painter = QPainter(self) + painter.setRenderHint(QPainter.Antialiasing) + + self.truck.tick(0.0016) + self.truck.drawTruck(painter) + self.truck.drawAxles(painter) + + + painter.end() + + # Increment angle for animation (optional) + #self.angle += 1 + + def keyPressEvent(self, event): + if event.key() == Qt.Key_Up: + self.truck.setThrottle(1) + elif event.key() == Qt.Key_Down: + self.truck.setThrottle(-1) + elif event.key() == Qt.Key_Left: + self.truck.setAngle(-5) + elif event.key() == Qt.Key_Right: + self.truck.setAngle(5) + + def keyReleaseEvent(self, event): + if event.key() == Qt.Key_Up: + self.truck.setThrottle(0) + elif event.key() == Qt.Key_Down: + self.truck.setThrottle(0) + elif event.key() == Qt.Key_Left: + self.truck.setAngle(0) + elif event.key() == Qt.Key_Right: + self.truck.setAngle(0) + +if __name__ == '__main__': + app = QApplication(sys.argv) + window = MainWindow() + window.show() + sys.exit(app.exec_()) +