123 lines
3.0 KiB
Python
123 lines
3.0 KiB
Python
from typing import Self, cast, Any, TYPE_CHECKING
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from abc import ABCMeta, abstractmethod
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import numpy
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from numpy import pi
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from numpy.typing import ArrayLike
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from ..error import MasqueError
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from ..utils import rotation_matrix_2d
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if TYPE_CHECKING:
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from .positionable import Positionable
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_empty_slots = () # Workaround to get mypy to ignore intentionally empty slots for superclass
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class Rotatable(metaclass=ABCMeta):
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"""
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Trait class for all rotatable entities
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"""
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__slots__ = ()
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#
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# Methods
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#
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@abstractmethod
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def rotate(self, val: float) -> Self:
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"""
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Rotate the shape around its origin (0, 0), ignoring its offset.
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Args:
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val: Angle to rotate by (counterclockwise, radians)
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Returns:
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self
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"""
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pass
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class RotatableImpl(Rotatable, metaclass=ABCMeta):
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"""
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Simple implementation of `Rotatable`
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"""
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__slots__ = _empty_slots
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_rotation: float
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""" rotation for the object, radians counterclockwise """
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#
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# Properties
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#
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@property
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def rotation(self) -> float:
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""" Rotation, radians counterclockwise """
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return self._rotation
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@rotation.setter
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def rotation(self, val: float) -> None:
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if not numpy.size(val) == 1:
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raise MasqueError('Rotation must be a scalar')
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self._rotation = val % (2 * pi)
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#
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# Methods
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#
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def rotate(self, rotation: float) -> Self:
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self.rotation += rotation
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return self
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def set_rotation(self, rotation: float) -> Self:
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"""
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Set the rotation to a value
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Args:
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rotation: radians ccw
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Returns:
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self
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"""
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self.rotation = rotation
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return self
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class Pivotable(metaclass=ABCMeta):
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"""
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Trait class for entites which can be rotated around a point.
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This requires that they are `Positionable` but not necessarily `Rotatable` themselves.
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"""
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__slots__ = ()
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@abstractmethod
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def rotate_around(self, pivot: ArrayLike, rotation: float) -> Self:
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"""
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Rotate the object around a point.
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Args:
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pivot: Point (x, y) to rotate around
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rotation: Angle to rotate by (counterclockwise, radians)
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Returns:
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self
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"""
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pass
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class PivotableImpl(Pivotable, metaclass=ABCMeta):
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"""
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Implementation of `Pivotable` for objects which are `Rotatable`
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"""
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__slots__ = ()
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offset: Any # TODO see if we can get around defining `offset` in PivotableImpl
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""" `[x_offset, y_offset]` """
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def rotate_around(self, pivot: ArrayLike, rotation: float) -> Self:
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pivot = numpy.asarray(pivot, dtype=float)
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cast('Positionable', self).translate(-pivot)
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cast('Rotatable', self).rotate(rotation)
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self.offset = numpy.dot(rotation_matrix_2d(rotation), self.offset) # type: ignore # mypy#3004
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cast('Positionable', self).translate(+pivot)
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return self
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