Add rotation and behavioral model to entities, implement DefaultCell entity

main.py

@@ -1,10 +1,12 @@
+import math
+
 import pygame
 import time
 import sys
 import random
 
-from world.world import World, Position
-from world.objects import DebugRenderObject, FoodObject, TestVelocityObject
+from world.world import World, Position, Rotation
+from world.objects import DebugRenderObject, FoodObject, TestVelocityObject, DefaultCell
 from world.simulation_interface import Camera
 
 # Initialize Pygame
@@ -26,7 +28,7 @@ GRID_HEIGHT = 25  # Number of cells vertically
 CELL_SIZE = 20  # Size of each cell in pixels
 
 DEFAULT_TPS = 20  # Number of ticks per second for the simulation
-FOOD_SPAWNING = False
+FOOD_SPAWNING = True
 
 
 def draw_grid(screen, camera, showing_grid=True):
@@ -107,6 +109,16 @@ def draw_grid(screen, camera, showing_grid=True):
         for start, end in horizontal_lines:
             pygame.draw.line(screen, GRAY, start, end)
 
+def setup(world: World):
+    if FOOD_SPAWNING:
+        world.add_object(FoodObject(Position(x=random.randint(-100, 100), y=random.randint(-100, 100))))
+
+    world.add_object(TestVelocityObject(Position(x=random.randint(-100, 100), y=random.randint(-100, 100))))
+
+    world.add_object(DefaultCell(Position(x=0,y=0), Rotation(angle=0)))
+
+    return world
+
 
 def main():
     screen = pygame.display.set_mode((SCREEN_WIDTH, SCREEN_HEIGHT), vsync=1)
@@ -148,10 +160,7 @@ def main():
     # sets seed to 67 >_<
     random.seed(0)
 
-    if FOOD_SPAWNING:
-        world.add_object(FoodObject(Position(x=random.randint(-100, 100), y=random.randint(-100, 100))))
-
-    world.add_object(TestVelocityObject(Position(x=random.randint(-100, 100), y=random.randint(-100, 100))))
+    world = setup(world)
 
     running = True
     while running:
@@ -183,7 +192,7 @@ def main():
                 if event.key == pygame.K_SPACE:
                     is_paused = not is_paused
                 if event.key == pygame.K_LSHIFT:
-                    tps = DEFAULT_TPS * 2
+                    tps = DEFAULT_TPS * 4
             elif event.type == pygame.KEYUP:
                 if event.key == pygame.K_LSHIFT:
                     tps = DEFAULT_TPS
@@ -251,8 +260,6 @@ def main():
                 objects = world.get_objects()
                 food = len([obj for obj in objects if isinstance(obj, FoodObject)])
 
-                # if food < 10 and FOOD_SPAWNING == True:
-                #     world.add_object(FoodObject(Position(x=random.randint(-100, 100), y=random.randint(-100, 100))))
 
                 # ensure selected objects are still valid or have not changed position, if so, reselect them
                 selected_objects = [
@@ -298,6 +305,133 @@ def main():
                             1  # 1 pixel thick
                         )
 
+                        # Draw direction arrow
+                        rotation_angle = obj.rotation.get_rotation()
+                        arrow_length = obj.max_visual_width/2 * camera.zoom  # Scale arrow length with zoom
+                        arrow_color = (255, 255, 255)  # Green
+
+                        # Calculate the arrow's end-point based on rotation angle
+                        end_x = screen_x + arrow_length * math.cos(math.radians(rotation_angle))
+                        end_y = screen_y + arrow_length * math.sin(math.radians(rotation_angle))
+
+                        # Draw the arrow line
+                        pygame.draw.line(screen, arrow_color, (screen_x, screen_y), (end_x, end_y), 2)
+
+                        # Draw a rotated triangle for the arrowhead
+                        tip_size = 3 * camera.zoom  # Scale triangle tip size with zoom
+                        left_tip_x = end_x - tip_size * math.cos(math.radians(rotation_angle + 150 + 180))
+                        left_tip_y = end_y - tip_size * math.sin(math.radians(rotation_angle + 150 + 180))
+                        right_tip_x = end_x - tip_size * math.cos(math.radians(rotation_angle - 150 + 180))
+                        right_tip_y = end_y - tip_size * math.sin(math.radians(rotation_angle - 150 + 180))
+
+                        # Draw arrowhead (triangle) for direction
+                        pygame.draw.polygon(
+                            screen,
+                            arrow_color,
+                            [(end_x, end_y), (left_tip_x, left_tip_y), (right_tip_x, right_tip_y)]
+                        )
+
+                        # Draw angular acceleration arrow (if present)
+                        if hasattr(obj, 'angular_acceleration'):
+                            angular_acceleration = obj.angular_acceleration
+
+                            # Scale the angular acceleration value for visibility
+                            angular_accel_magnitude = abs(
+                                angular_acceleration) * 50 * camera.zoom  # Use absolute magnitude for scaling
+
+                            # Determine the perpendicular direction based on the sign of angular_acceleration
+                            angular_direction = rotation_angle + 90 if angular_acceleration >= 0 else rotation_angle - 90
+
+                            # Calculate the end of the angular acceleration vector
+                            angular_acc_end_x = end_x + angular_accel_magnitude * math.cos(
+                                math.radians(angular_direction))
+                            angular_acc_end_y = end_y + angular_accel_magnitude * math.sin(
+                                math.radians(angular_direction))
+
+                            # Draw the angular acceleration vector as a red line
+                            pygame.draw.line(screen, (52, 134, 235), (end_x, end_y),
+                                             (angular_acc_end_x, angular_acc_end_y), 2)
+
+                            # Add an arrowhead to the angular acceleration vector
+                            angular_tip_size = 2.5 * camera.zoom
+                            left_angular_tip_x = angular_acc_end_x - angular_tip_size * math.cos(
+                                math.radians(angular_direction + 150 + 180))
+                            left_angular_tip_y = angular_acc_end_y - angular_tip_size * math.sin(
+                                math.radians(angular_direction + 150 + 180))
+                            right_angular_tip_x = angular_acc_end_x - angular_tip_size * math.cos(
+                                math.radians(angular_direction - 150 + 180))
+                            right_angular_tip_y = angular_acc_end_y - angular_tip_size * math.sin(
+                                math.radians(angular_direction - 150 + 180))
+
+                            # Draw arrowhead (triangle) for angular acceleration
+                            pygame.draw.polygon(
+                                screen,
+                                (52, 134, 235),  # Red arrowhead
+                                [(angular_acc_end_x, angular_acc_end_y), (left_angular_tip_x, left_angular_tip_y),
+                                 (right_angular_tip_x, right_angular_tip_y)]
+                            )
+
+                        # If object has an acceleration attribute, draw a red vector with arrowhead
+                        if hasattr(obj, 'acceleration') and isinstance(obj.acceleration, tuple) and len(
+                                obj.acceleration) == 2:
+                            acc_x, acc_y = obj.acceleration
+
+                            # Calculate acceleration magnitude and direction
+                            acc_magnitude = math.sqrt(acc_x ** 2 + acc_y ** 2)
+                            if acc_magnitude > 0:
+                                acc_direction = math.degrees(math.atan2(acc_y, acc_x))  # Get the angle in degrees
+
+                                # Calculate scaled acceleration vector's end point
+                                acc_vector_length = acc_magnitude * 1000 * camera.zoom  # Scale length with zoom
+                                acc_end_x = screen_x + acc_vector_length * math.cos(math.radians(acc_direction))
+                                acc_end_y = screen_y + acc_vector_length * math.sin(math.radians(acc_direction))
+
+                                # Draw the acceleration vector as a red line
+                                pygame.draw.line(screen, (255, 0, 0), (screen_x, screen_y), (acc_end_x, acc_end_y), 2)
+
+                                # Add arrowhead to acceleration vector
+                                acc_tip_size = 5 * camera.zoom
+                                left_tip_x = acc_end_x - acc_tip_size * math.cos(math.radians(acc_direction + 150 + 180))
+                                left_tip_y = acc_end_y - acc_tip_size * math.sin(math.radians(acc_direction + 150 + 180))
+                                right_tip_x = acc_end_x - acc_tip_size * math.cos(math.radians(acc_direction - 150 + 180))
+                                right_tip_y = acc_end_y - acc_tip_size * math.sin(math.radians(acc_direction - 150 + 180))
+
+                                pygame.draw.polygon(
+                                    screen,
+                                    (255, 0, 0),  # Red arrowhead
+                                    [(acc_end_x, acc_end_y), (left_tip_x, left_tip_y), (right_tip_x, right_tip_y)]
+                                )
+
+                        # If object has a velocity attribute, draw a blue vector with arrowhead
+                        if hasattr(obj, 'velocity') and isinstance(obj.velocity, tuple) and len(obj.velocity) == 2:
+                            vel_x, vel_y = obj.velocity
+
+                            # Calculate velocity magnitude and direction
+                            vel_magnitude = math.sqrt(vel_x ** 2 + vel_y ** 2)
+                            if vel_magnitude > 0:
+                                vel_direction = math.degrees(math.atan2(vel_y, vel_x))  # Get the angle in degrees
+
+                                # Calculate scaled velocity vector's end point
+                                vel_vector_length = vel_magnitude * 50 * camera.zoom  # Scale length with zoom
+                                vel_end_x = screen_x + vel_vector_length * math.cos(math.radians(vel_direction))
+                                vel_end_y = screen_y + vel_vector_length * math.sin(math.radians(vel_direction))
+
+                                # Draw the velocity vector as a blue line
+                                pygame.draw.line(screen, (0, 0, 255), (screen_x, screen_y), (vel_end_x, vel_end_y), 2)
+
+                                # Add arrowhead to velocity vector
+                                vel_tip_size = 5 * camera.zoom
+                                left_tip_x = vel_end_x - vel_tip_size * math.cos(math.radians(vel_direction + 150 + 180))
+                                left_tip_y = vel_end_y - vel_tip_size * math.sin(math.radians(vel_direction + 150 + 180))
+                                right_tip_x = vel_end_x - vel_tip_size * math.cos(math.radians(vel_direction - 150 + 180))
+                                right_tip_y = vel_end_y - vel_tip_size * math.sin(math.radians(vel_direction - 150 + 180))
+
+                                pygame.draw.polygon(
+                                    screen,
+                                    (0, 0, 255),  # Blue arrowhead
+                                    [(vel_end_x, vel_end_y), (left_tip_x, left_tip_y), (right_tip_x, right_tip_y)]
+                                )
+
         # Draw selection rectangle if selecting
         if selecting and select_start and select_end:
             rect_color = (128, 128, 128, 80)  # Gray, semi-transparent
@@ -353,14 +487,37 @@ def main():
 
         if len(selected_objects) >= 1:
             i = 0
+            max_width = SCREEN_WIDTH - 20  # Leave some padding from the right edge
             for each in selected_objects:
                 obj = each
-                obj_text = font.render(
-                    f"Object: {str(obj)}", True, WHITE
-                )
+                text = f"Object: {str(obj)}"
+                words = text.split()  # Split text into words
+                line = ""
+                line_height = 20  # Height of each line of text
+                line_offset = 0
+
+                for word in words:
+                    test_line = f"{line} {word}".strip()
+                    test_width, _ = font.size(test_line)
+
+                    # Check if the line width exceeds the limit
+                    if test_width > max_width and line:
+                        obj_text = font.render(line, True, WHITE)
                         obj_rect = obj_text.get_rect()
-                obj_rect.topleft = (10, 30 + i * 20)
+                        obj_rect.topleft = (10, 30 + i * line_height + line_offset)
                         screen.blit(obj_text, obj_rect)
+                        line = word  # Start a new line
+                        line_offset += line_height
+                    else:
+                        line = test_line
+
+                # Render the last line
+                if line:
+                    obj_text = font.render(line, True, WHITE)
+                    obj_rect = obj_text.get_rect()
+                    obj_rect.topleft = (10, 30 + i * line_height + line_offset)
+                    screen.blit(obj_text, obj_rect)
+
                 i += 1
 
         legend_font = pygame.font.Font("freesansbold.ttf", 14)

world/base/brain.py

@@ -1,7 +1,7 @@
-from world.behavorial import BehavioralModel
+from world.behavioral import BehavioralModel
 
 
-class TestBrain(BehavioralModel):
+class CellBrain(BehavioralModel):
     def __init__(self):
         super().__init__()
         # Define input keys
@@ -12,13 +12,13 @@ class TestBrain(BehavioralModel):
 
         # Define output keys
         self.outputs = {
-            'acceleration': 0.0,  # Linear acceleration
+            'linear_acceleration': 0.0,  # Linear acceleration
             'angular_acceleration': 0.0  # Angular acceleration
         }
 
         self.weights = {
-            'distance': 1.0,
-            'angle': 1.0
+            'distance': 1,
+            'angle': 0.5
         }
 
     def tick(self, input_data) -> dict:
@@ -26,16 +26,22 @@ class TestBrain(BehavioralModel):
         Process inputs and produce corresponding outputs.
 
         :param input_data: Dictionary containing 'distance' and 'angle' values
-        :return: Dictionary with 'acceleration' and 'angular_acceleration' values
+        :return: Dictionary with 'linear_acceleration' and 'angular_acceleration' values
         """
         # Update internal input state
         self.inputs['distance'] = input_data.get('distance', 0.0)
         self.inputs['angle'] = input_data.get('angle', 0.0)
 
         # Initialize output dictionary
-        output_data = {
-            'acceleration': 0.0,
-            'angular_acceleration': 0.0
-        }
+        output_data = {'linear_acceleration': self.inputs['distance'] * self.weights['distance'],
+					   'angular_acceleration': self.inputs['angle'] * self.weights['angle']}
+
+        self.outputs = output_data
 
         return output_data
+
+    def __repr__(self):
+        inputs = {key: round(value, 1) for key, value in self.inputs.items()}
+        outputs = {key: round(value, 1) for key, value in self.outputs.items()}
+        weights = {key: round(value, 1) for key, value in self.weights.items()}
+        return f"CellBrain(inputs={inputs}, outputs={outputs}, weights={weights})"

world/behavioral.py

@@ -24,4 +24,8 @@ class BehavioralModel:
         """
         output_data = {}
 
+        for key in self.outputs:
+            if key not in output_data:
+                raise KeyError(f"Output key '{key}' not found in output data.")
+
         return output_data

world/objects.py

@@ -1,8 +1,15 @@
+import math
 import random
 
-from world.world import Position, BaseEntity
+from world.base.brain import CellBrain
+from world.behavioral import BehavioralModel
+from world.world import Position, BaseEntity, Rotation
 import pygame
-from typing import Optional, List, Any
+from typing import Optional, List, Any, Union
+
+from world.utils import get_distance_between_objects
+
+from math import atan2, degrees
 
 
 class DebugRenderObject(BaseEntity):
@@ -17,7 +24,7 @@ class DebugRenderObject(BaseEntity):
         :param position: The position of the object.
         :param radius: The radius of the rendered circle.
         """
-        super().__init__(position)
+        super().__init__(position, Rotation(angle=0))
         self.neighbors: int = 0
         self.radius: int = radius
         self.max_visual_width: int = radius * 2
@@ -93,7 +100,7 @@ class FoodObject(BaseEntity):
 
         :param position: The position of the food.
         """
-        super().__init__(position)
+        super().__init__(position, Rotation(angle=0))
         self.max_visual_width: int = 10
         self.decay: int = 0
         self.decay_rate: int = 1
@@ -105,7 +112,7 @@ class FoodObject(BaseEntity):
             "can_interact": True,
         }
 
-    def tick(self, interactable: Optional[List[BaseEntity]] = None) -> Optional["FoodObject"]:
+    def tick(self, interactable: Optional[List[BaseEntity]] = None) -> Union["FoodObject", List["FoodObject"]]:
         """
         Updates the food object, increasing decay and flagging for death if decayed.
 
@@ -183,7 +190,7 @@ class TestVelocityObject(BaseEntity):
 
         :param position: The position of the object.
         """
-        super().__init__(position)
+        super().__init__(position, Rotation(angle=random.randint(0, 360)))
         self.velocity = (random.uniform(-0.1, 0.5), random.uniform(-0.1, 0.5))
         self.max_visual_width: int = 10
         self.interaction_radius: int = 50
@@ -237,3 +244,162 @@ class DefaultCell(BaseEntity):
     """
     Cell object
     """
+    def __init__(self, starting_position: Position, starting_rotation: Rotation) -> None:
+        """
+        Initializes the cell.
+
+        :param starting_position: The position of the object.
+        """
+
+        super().__init__(starting_position, starting_rotation)
+        self.drag_coefficient: float = 0.1
+
+        self.velocity: tuple[int, int] = (0, 0)
+        self.acceleration: tuple[int, int] = (0, 0)
+
+        self.rotational_velocity: int = 0
+        self.angular_acceleration: int = 0
+
+        self.behavioral_model: CellBrain = CellBrain()
+
+        self.max_visual_width: int = 10
+        self.interaction_radius: int = 50
+        self.flags: dict[str, bool] = {
+            "death": False,
+            "can_interact": True,
+        }
+
+
+    def set_brain(self, behavioral_model: CellBrain) -> None:
+        self.behavioral_model = behavioral_model
+
+
+    def tick(self, interactable: Optional[List[BaseEntity]] = None) -> "DefaultCell":
+        """
+        Updates the cell according to its behavioral model.
+
+        :param interactable: List of nearby entities (unused).
+        :return: Self.
+        """
+        if interactable is None:
+            interactable = []
+
+        # filter interactable objects
+        food_objects = self.filter_food(interactable)
+
+        # grab the closest food
+        if len(food_objects) > 0:
+            food_object = food_objects[0]
+        else:
+            food_object = FoodObject(self.position)
+
+        angle_between_food = self.calculate_angle_between_food(self.position.get_position(), self.rotation.get_rotation(), food_object.position.get_position())
+
+        input_data = {
+            "distance": get_distance_between_objects(self, food_object),
+            "angle": angle_between_food,
+        }
+
+        output_data = self.behavioral_model.tick(input_data)
+
+        # clamp accelerations
+        output_data["linear_acceleration"] = max(-0.1, min(0.02, output_data["linear_acceleration"]))
+        output_data["angular_acceleration"] = max(-0.1, min(0.1, output_data["angular_acceleration"]))
+
+        # output acceleration is acceleration along its current rotation.
+        x_component = output_data["linear_acceleration"] * math.cos(math.radians(self.rotation.get_rotation()))
+        y_component = output_data["linear_acceleration"] * math.sin(math.radians(self.rotation.get_rotation()))
+
+        self.acceleration = (x_component, y_component)
+        
+        # # add drag according to current velocity
+        # drag_coefficient = 0.3
+        # drag_x = -self.velocity[0] * drag_coefficient
+        # drag_y = -self.velocity[1] * drag_coefficient
+        # self.acceleration = (self.acceleration[0] + drag_x, self.acceleration[1] + drag_y)
+
+        # tick acceleration
+        velocity_x = self.velocity[0] + self.acceleration[0]
+        velocity_y = self.velocity[1] + self.acceleration[1]
+        self.velocity = (velocity_x, velocity_y)
+
+        # clamp velocity
+        self.velocity = (max(-0.5, min(0.5, self.velocity[0])), max(-0.5, min(0.5, self.velocity[1])))
+
+        # tick velocity
+        x, y = self.position.get_position()
+        x += self.velocity[0]
+        y += self.velocity[1]
+
+        self.position.set_position(x, y)
+
+        # tick rotational acceleration
+        self.angular_acceleration = output_data["angular_acceleration"]
+        self.rotational_velocity += self.angular_acceleration
+
+        # clamp rotational velocity
+        self.rotational_velocity = max(-0.5, min(0.5, self.rotational_velocity))
+
+        # tick rotational velocity
+        self.rotation.set_rotation(self.rotation.get_rotation() + self.rotational_velocity)
+
+        return self
+
+    @staticmethod
+    def calculate_angle_between_food(object_position, object_rotation, food_position) -> float:
+        """
+		Calculates the angle between an object's current rotation and the position of the food.
+
+		:param object_position: Tuple of (x, y) for the object's position.
+		:param object_rotation: Current rotation of the object in degrees.
+		:param food_position: Tuple of (x, y) for the food's position.
+		:return: Angle between -180 and 180 degrees.
+		"""
+        obj_x, obj_y = object_position
+        food_x, food_y = food_position
+
+        # Calculate the angle to the food relative to the object
+        angle_to_food = math.degrees(math.atan2(food_y - obj_y, food_x - obj_x))
+
+        # Calculate the relative angle to the object's rotation
+        angle_between = angle_to_food - object_rotation
+
+        # Normalize the angle to be between -180 and 180 degrees
+        if angle_between > 180:
+            angle_between -= 360
+        elif angle_between < -180:
+            angle_between += 360
+
+        return angle_between
+
+    def filter_food(self, input_objects: List[BaseEntity]) -> List[FoodObject]:
+        """
+        Filters the input objects to only include food. Sort output by distance, closest first
+        """
+        food_objects = []
+        for obj in input_objects:
+            if isinstance(obj, FoodObject):
+                food_objects.append(obj)
+        food_objects.sort(key=lambda x: get_distance_between_objects(self, x))
+        return food_objects
+
+    def render(self, camera: Any, screen: Any) -> None:
+        """
+        Renders the cell as a circle.
+
+        :param camera: The camera object for coordinate transformation.
+        :param screen: The Pygame screen surface.
+        """
+        if camera.is_in_view(*self.position.get_position()):
+            pygame.draw.circle(
+                screen,
+                (0, 255, 0),
+                camera.world_to_screen(*self.position.get_position()),
+                int(5 * camera.zoom)
+            )
+
+    def __repr__(self):
+        position = f"({round(self.position.x, 1)}, {round(self.position.y, 1)})"
+        velocity = tuple(round(value, 1) for value in self.velocity)
+        acceleration = tuple(round(value, 1) for value in self.acceleration)
+        return f"DefaultCell(position={position}, velocity={velocity}, acceleration={acceleration}, behavioral_model={self.behavioral_model})"

world/utils.py

@@ -0,0 +1,2 @@
+def get_distance_between_objects(object_a, object_b):
+    return ((object_a.position.x - object_b.position.x)**2 + (object_a.position.y - object_b.position.y)**2)**0.5

world/world.py

@@ -38,18 +38,48 @@ class Position(BaseModel):
         return self.x, self.y
     
     
+class Rotation(BaseModel):
+    """
+    Represents rotation in degrees (0-360).
+    """
+    angle: float = Field(..., description="Rotation angle in degrees", ge=0, lt=360)
+
+    def __str__(self) -> str:
+        return f"{self.angle}°"
+
+    def __repr__(self) -> str:
+        return f"Rotation({self.angle})"
+
+    def set_rotation(self, angle: float) -> None:
+        """
+        Sets the rotation angle.
+
+        :param angle: New angle in degrees (0-360).
+        """
+        self.angle = angle % 360
+
+    def get_rotation(self) -> float:
+        """
+        Returns the current rotation angle.
+
+        :return: Angle in degrees.
+        """
+        return self.angle
+
+
 class BaseEntity(ABC):
     """
     Abstract base class for all entities in the world.
     """
 
-    def __init__(self, position: Position) -> None:
+    def __init__(self, position: Position, rotation: Rotation) -> None:
         """
-        Initializes the entity with a position.
+        Initializes the entity with a position and rotation.
 
         :param position: The position of the entity.
         """
         self.position: Position = position
+        self.rotation: Rotation = rotation
         self.interaction_radius: int = 0
         self.flags: Dict[str, bool] = {
             "death": False,