Merge branch 'master' of github.com:viblo/pymunk

Author: viblo

.github/workflows/wheels.yml

@@ -11,7 +11,7 @@ jobs:
         os: [ubuntu-20.04, windows-2019, macos-11]
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: true
 
@@ -21,7 +21,7 @@ jobs:
           python3 -c "import pathlib,glob;pathlib.Path('GITHUB_ENV').write_text('SDIST_PATH' + glob.glob('dist/*.tar.gz')[0])"
 
       - name: Build wheels
-        uses: pypa/[email protected].2
+        uses: pypa/[email protected].5
         env:
           CIBW_BUILD:
             "cp37-* cp38-* cp39-* cp310-* cp311-* cp312-* pp39-* pp310-*"
@@ -32,40 +32,42 @@ jobs:
           package-dir: "$SDIST_PATH"
 
       - name: Upload wheel artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: ${{ github.ref == 'refs/heads/master'}}
         with:
+          name: cibw-wheels-${{ matrix.os }}-${{ strategy.job-index }}
           path: ./wheelhouse/*.whl
           retention-days: 7
 
       - name: Upload sdist artifact
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if:
           ${{ github.ref == 'refs/heads/master' && matrix.os == 'windows-2019'}}
         with:
+          name: sdist-${{ matrix.os }}-${{ strategy.job-index }}
           path: ./dist/*.tar.gz
           retention-days: 7
 
   build_wasm:
     name: Build wheels for wasm / emscripten
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: true
-      - uses: actions/setup-python@v4
+      - uses: actions/setup-python@v5
         with:
           python-version: "3.11.2"
       - run: |
           pip install pyodide-build>=0.23.3
           echo EMSCRIPTEN_VERSION=$(pyodide config get emscripten_version) >> $GITHUB_ENV
-      - uses: mymindstorm/setup-emsdk@v12
+      - uses: mymindstorm/setup-emsdk@v14
         with:
           version: ${{ env.EMSCRIPTEN_VERSION }}
       - run: pyodide build
         env:
           PYMUNK_BUILD_SLIM: 1
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         if: ${{ github.ref == 'refs/heads/master' }}
         with:
           path: ./dist/*.whl

TODO.txt

@@ -39,9 +39,17 @@ v6.x
 v7+ (all potentially breaking changes)
 ---
 - Think about split between pymunk.util and pymunk modules
+
+
+Chipmunk improvements
+---------------------
 - Investigate the SPOOK solver, which could be much more stable than what is currently used. (but probably very difficult to switch to). https://github.com/viblo/pymunk/issues/216
 - Investigate "Affine Body Dynamics Fast, Stable & Intersection-free Simulation of Stiff Materials"
-
+- optimize step function:
+  - streamline build - benchmark
+  - https://www.microsoft.com/en-us/research/wp-content/uploads/2016/12/ccds.pdf
+- collision detection:
+  - r-tree https://www.sebastiansylvan.com/post/r-trees--adapting-out-of-core-techniques-to-modern-memory-architectures/
 
 Typing a existing project - learnings
 -------------------------------------

docs/src/showcase.rst

@@ -260,6 +260,30 @@ Pymunk has been used or referenced in a number of scientific papers.
 
 List of papers which has used or mentioned Pymunk:
 
+# Pan, Hainan, Bailiang Chen, Kaihong Huang, Junkai Ren, Chuang Cheng, Huimin Lu, and Hui Zhang. 
+  "Flipper Control Method for Tracked Robot Based on Deep Reinforcement Learning." 
+  Journal of System Simulation 36, no. 2 (2024): 405.
+
+# Liu, Ziang, Genggeng Zhou, Jeff He, Tobia Marcucci, Li Fei-Fei, Jiajun Wu, and Yunzhu Li. 
+  "Model-Based Control with Sparse Neural Dynamics." 
+  arXiv preprint arXiv:2312.12791 (2023).
+
+# Yuan, Jianya, Mengxue Han, Hongjian Wang, Bo Zhong, Wei Gao, and Dan Yu. 
+  "AUV Collision Avoidance Planning Method Based on Deep Deterministic Policy Gradient." 
+  Journal of Marine Science and Engineering 11, no. 12 (2023): 2258.
+
+# Renna, Luca. 
+  "Deep Reinforcement Learning for 2D Physics-Based Object Manipulation in Clutter." 
+  arXiv preprint arXiv:2312.04570 (2023).
+
+# Sosa, Felix, Samuel J. Gershman, and Tomer D. Ullman. 
+  "Blending simulation and abstraction for physical reasoning."
+   (2023).
+
+#. Li, Shiqian, Kewen Wu, Chi Zhang, and Yixin Zhu. 
+   "I-PHYRE: Interactive Physical Reasoning." 
+   arXiv preprint arXiv:2312.03009 (2023).
+
 #. Almar Oliva, Eduard. 
    "Disseny i construcció d'un robot autònom per jugar al billar." 
    Master's thesis, Universitat Politècnica de Catalunya, 2023.
@@ -587,7 +611,7 @@ List of papers which has used or mentioned Pymunk:
    "Dynamic Robot Path Planning Among Crowds in Emergency Situations."
 
 
-List last updated 2023-10-11. If something is missing or wrong, please contact 
+List last updated 2023-12-25. If something is missing or wrong, please contact 
 me!
 
 .. (list made using "Chicago" style citation)

pymunk/tests/test_batch.py

@@ -147,3 +147,41 @@ def check_arb_data(arb: pymunk.Arbiter) -> None:
         b1.each_arbiter(check_arb_data)
         b2.each_arbiter(check_arb_data)
         b3.each_arbiter(check_arb_data)
+
+    def test_get_arbiter_sensor(self):
+        s = pymunk.Space()
+
+        b1 = pymunk.Body(1, 1)
+        s1 = pymunk.Circle(b1, 40)
+        s.add(b1, s1)
+
+        b2 = pymunk.Body(1, 1)
+        b2.position = 1,0
+        s2 = pymunk.Poly.create_box(b2)
+        s2.sensor = True
+        s.add(b2, s2)
+
+        s.step(0.1)
+
+        data = pymunk.batch.Buffer()
+        pymunk.batch.get_space_arbiters(
+            s,
+            pymunk.batch.ArbiterFields.BODY_A_ID 
+            | pymunk.batch.ArbiterFields.BODY_B_ID
+            | pymunk.batch.ArbiterFields.CONTACT_COUNT
+            | pymunk.batch.ArbiterFields.DISTANCE_1
+            | pymunk.batch.ArbiterFields.DISTANCE_2
+            | pymunk.batch.ArbiterFields.POINT_A_1
+            | pymunk.batch.ArbiterFields.POINT_A_2
+            | pymunk.batch.ArbiterFields.POINT_B_1
+            | pymunk.batch.ArbiterFields.POINT_B_2,
+            data,
+        )
+
+        
+        self.assertEqual(list(memoryview(data.int_buf()).cast("P")), [b1.id, b2.id, 0])
+
+        self.assertEqual(
+            list(memoryview(data.float_buf()).cast("d")),
+            [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+        )

pymunk_cffi/extensions.c

@@ -63,29 +63,6 @@ struct pmBatchedData
     pmBatchableBodyFields fields;
 };
 
-// cpVectArray *
-// cpVectArrayNew(int size)
-// {
-//     cpVectArray *arr = (cpVectArray *)cpcalloc(1, sizeof(cpVectArray));
-
-//     arr->num = 0;
-//     arr->max = (size ? size : 4);
-//     arr->arr = (cpVect *)cpcalloc(arr->max, sizeof(cpVect));
-
-//     return arr;
-// }
-
-// void cpVectArrayFree(cpVectArray *arr)
-// {
-//     if (arr)
-//     {
-//         cpfree(arr->arr);
-//         arr->arr = NULL;
-
-//         cpfree(arr);
-//     }
-// }
-
 pmFloatArray *
 pmFloatArrayNew(int size)
 {
@@ -234,15 +211,36 @@ void pmSpaceArbiterIteratorFuncBatched(cpArbiter *arbiter, void *data)
     }
     if (d->fields & POINT_A_1)
     {
-        pmFloatArrayPushVect(d->floatArray, cpArbiterGetPointA(arbiter, 0));
+        if (cpArbiterGetCount(arbiter) > 0)
+        {
+            pmFloatArrayPushVect(d->floatArray, cpArbiterGetPointA(arbiter, 0));
+        }
+        else
+        {
+            pmFloatArrayPushVect(d->floatArray, cpv(0, 0));
+        }
     }
     if (d->fields & POINT_B_1)
     {
-        pmFloatArrayPushVect(d->floatArray, cpArbiterGetPointB(arbiter, 0));
+        if (cpArbiterGetCount(arbiter) > 0)
+        {
+            pmFloatArrayPushVect(d->floatArray, cpArbiterGetPointB(arbiter, 0));
+        }
+        else
+        {
+            pmFloatArrayPushVect(d->floatArray, cpv(0, 0));
+        }
     }
     if (d->fields & DISTANCE_1)
     {
-        pmFloatArrayPush(d->floatArray, cpArbiterGetDepth(arbiter, 0));
+        if (cpArbiterGetCount(arbiter) > 0)
+        {
+            pmFloatArrayPush(d->floatArray, cpArbiterGetDepth(arbiter, 0));
+        }
+        else
+        {
+            pmFloatArrayPush(d->floatArray, 0);
+        }
     }
     if (d->fields & POINT_A_2)
     {