I have been playing around with writing my own physics engine in Python as an exercise in physics and programming. I started out by following the tutorial located here. That went well, but then I found the article "Advanced character physics" by thomas jakobsen, which covered using Verlet integration for simulations, which I found fascinating.
I have been attempting to write my own basic physics simulator using verlet integration, but it turns out to be slightly more difficult than I first expected. I was out browsing for example programs to read, and stumbled accross this one written in Python and I also found this tutorial which uses Processing.
What impresses me about the Processing version is how fast it runs. The cloth alone has 2400 different points being simulated, and that's not including the bodies.
The python example only uses 256 particles for the cloth, and it runs at about 30 frames per second. I tried increasing the number of particles to 2401 (it has to be square for that program to work), it ran at about 3 fps.
Both of these work by storing instances of a particle object in a list, and then iterating through the list, calling each particles "update position" method. As an example, this is the part of the code from the Processing sketch that calculates each particle's new postion:
for (int i = 0; i < pointmasses.size(); i++) {
PointMass pointmass = (PointMass) pointmasses.get(i);
pointmass.updateInteractions();
pointmass.updatePhysics(fixedDeltaTimeSeconds);
}
EDIT: Here is the code from the python version I linked earlier:
"""
verletCloth01.py
Eric Pavey - 2010-07-03 - www.akeric.com
Riding on the shoulders of giants.
I wanted to learn now to do 'verlet cloth' in Python\Pygame. I first ran across
this post \ source:
http://forums.overclockers.com.au/showthread.php?t=870396
http://dl.dropbox.com/u/3240460/cloth5.py
Which pointed to some good reference, that was a dead link. After some searching,
I found it here:
http://www.gpgstudy.com/gpgiki/GDC%202001%3A%20Advanced%20Character%20Physics
Which is a 2001 SIGGRAPH paper by Thomas Jakobsen called:
"GDC 2001: Advanced Characer Physics".
This code is a Python\Pygame interpretation of that 2001 Siggraph paper. I did
borrow some code from 'domlebo's source code, it was a great starting point. But
I'd like to think I put my own flavor on it.
"""
#--------------
# Imports & Initis
import sys
from math import sqrt
# Vec2D comes from here: http://pygame.org/wiki/2DVectorClass
from vec2d import Vec2d
import pygame
from pygame.locals import *
pygame.init()
#--------------
# Constants
TITLE = "verletCloth01"
WIDTH = 600
HEIGHT = 600
FRAMERATE = 60
# How many iterations to run on our constraints per frame?
# This will 'tighten' the cloth, but slow the sim.
ITERATE = 2
GRAVITY = Vec2d(0.0,0.05)
TSTEP = 2.8
# How many pixels to position between each particle?
PSTEP = int(WIDTH*.03)
# Offset in pixels from the top left of screen to position grid:
OFFSET = int(.25*WIDTH)
#-------------
# Define helper functions, classes
class Particle(object):
"""
Stores position, previous position, and where it is in the grid.
"""
def __init__(self, screen, currentPos, gridIndex):
# Current Position : m_x
self.currentPos = Vec2d(currentPos)
# Index [x][y] of Where it lives in the grid
self.gridIndex = gridIndex
# Previous Position : m_oldx
self.oldPos = Vec2d(currentPos)
# Force accumulators : m_a
self.forces = GRAVITY
# Should the particle be locked at its current position?
self.locked = False
self.followMouse = False
self.colorUnlocked = Color('white')
self.colorLocked = Color('green')
self.screen = screen
def __str__(self):
return "Particle <%s, %s>"%(self.gridIndex[0], self.gridIndex[1])
def draw(self):
# Draw a circle at the given Particle.
screenPos = (self.currentPos[0], self.currentPos[1])
if self.locked:
pygame.draw.circle(self.screen, self.colorLocked, (int(screenPos[0]),
int(screenPos[1])), 4, 0)
else:
pygame.draw.circle(self.screen, self.colorUnlocked, (int(screenPos[0]),
int(screenPos[1])), 1, 0)
class Constraint(object):
"""
Stores 'constraint' data between two Particle objects. Stores this data
before the sim runs, to speed sim and draw operations.
"""
def __init__(self, screen, particles):
self.particles = sorted(particles)
# Calculate restlength as the initial distance between the two particles:
self.restLength = sqrt(abs(pow(self.particles[1].currentPos.x -
self.particles[0].currentPos.x, 2) +
pow(self.particles[1].currentPos.y -
self.particles[0].currentPos.y, 2)))
self.screen = screen
self.color = Color('red')
def __str__(self):
return "Constraint <%s, %s>"%(self.particles[0], self.particles[1])
def draw(self):
# Draw line between the two particles.
p1 = self.particles[0]
p2 = self.particles[1]
p1pos = (p1.currentPos[0],
p1.currentPos[1])
p2pos = (p2.currentPos[0],
p2.currentPos[1])
pygame.draw.aaline(self.screen, self.color,
(p1pos[0], p1pos[1]), (p2pos[0], p2pos[1]), 1)
class Grid(object):
"""
Stores a grid of Particle objects. Emulates a 2d container object. Particle
objects can be indexed by position:
grid = Grid()
particle = g[2][4]
"""
def __init__(self, screen, rows, columns, step, offset):
self.screen = screen
self.rows = rows
self.columns = columns
self.step = step
self.offset = offset
# Make our internal grid:
# _grid is a list of sublists.
# Each sublist is a 'column'.
# Each column holds a particle object per row:
# _grid =
# [[p00, [p10, [etc,
# p01, p11,
# etc], etc], ]]
self._grid = []
for x in range(columns):
self._grid.append([])
for y in range(rows):
currentPos = (x*self.step+self.offset, y*self.step+self.offset)
self._grid[x].append(Particle(self.screen, currentPos, (x,y)))
def getNeighbors(self, gridIndex):
"""
return a list of all neighbor particles to the particle at the given gridIndex:
gridIndex = [x,x] : The particle index we're polling
"""
possNeighbors = []
possNeighbors.append([gridIndex[0]-1, gridIndex[1]])
possNeighbors.append([gridIndex[0], gridIndex[1]-1])
possNeighbors.append([gridIndex[0]+1, gridIndex[1]])
possNeighbors.append([gridIndex[0], gridIndex[1]+1])
neigh = []
for coord in possNeighbors:
if (coord[0] < 0) | (coord[0] > self.rows-1):
pass
elif (coord[1] < 0) | (coord[1] > self.columns-1):
pass
else:
neigh.append(coord)
finalNeighbors = []
for point in neigh:
finalNeighbors.append((point[0], point[1]))
return finalNeighbors
#--------------------------
# Implement Container Type:
def __len__(self):
return len(self.rows * self.columns)
def __getitem__(self, key):
return self._grid[key]
def __setitem__(self, key, value):
self._grid[key] = value
#def __delitem__(self, key):
#del(self._grid[key])
def __iter__(self):
for x in self._grid:
for y in x:
yield y
def __contains__(self, item):
for x in self._grid:
for y in x:
if y is item:
return True
return False
class ParticleSystem(Grid):
"""
Implements the verlet particles physics on the encapsulated Grid object.
"""
def __init__(self, screen, rows=49, columns=49, step=PSTEP, offset=OFFSET):
super(ParticleSystem, self).__init__(screen, rows, columns, step, offset)
# Generate our list of Constraint objects. One is generated between
# every particle connection.
self.constraints = []
for p in self:
neighborIndices = self.getNeighbors(p.gridIndex)
for ni in neighborIndices:
# Get the neighbor Particle from the index:
n = self[ni[0]][ni[1]]
# Let's not add duplicate Constraints, which would be easy to do!
new = True
for con in self.constraints:
if n in con.particles and p in con.particles:
new = False
if new:
self.constraints.append( Constraint(self.screen, (p,n)) )
# Lock our top left and right particles by default:
self[0][0].locked = True
self[1][0].locked = True
self[-2][0].locked = True
self[-1][0].locked = True
def verlet(self):
# Verlet integration step:
for p in self:
if not p.locked:
# make a copy of our current position
temp = Vec2d(p.currentPos)
p.currentPos += p.currentPos - p.oldPos + p.forces * TSTEP**2
p.oldPos = temp
elif p.followMouse:
temp = Vec2d(p.currentPos)
p.currentPos = Vec2d(pygame.mouse.get_pos())
p.oldPos = temp
def satisfyConstraints(self):
# Keep particles together:
for c in self.constraints:
delta = c.particles[0].currentPos - c.particles[1].currentPos
deltaLength = sqrt(delta.dot(delta))
try:
# You can get a ZeroDivisionError here once, so let's catch it.
# I think it's when particles sit on top of one another due to
# being locked.
diff = (deltaLength-c.restLength)/deltaLength
if not c.particles[0].locked:
c.particles[0].currentPos -= delta*0.5*diff
if not c.particles[1].locked:
c.particles[1].currentPos += delta*0.5*diff
except ZeroDivisionError:
pass
def accumulateForces(self):
# This doesn't do much right now, other than constantly reset the
# particles 'forces' to be 'gravity'. But this is where you'd implement
# other things, like drag, wind, etc.
for p in self:
p.forces = GRAVITY
def timeStep(self):
# This executes the whole shebang:
self.accumulateForces()
self.verlet()
for i in range(ITERATE):
self.satisfyConstraints()
def draw(self):
"""
Draw constraint connections, and particle positions:
"""
for c in self.constraints:
c.draw()
#for p in self:
# p.draw()
def lockParticle(self):
"""
If the mouse LMB is pressed for the first time on a particle, the particle
will assume the mouse motion. When it is pressed again, it will lock
the particle in space.
"""
mousePos = Vec2d(pygame.mouse.get_pos())
for p in self:
dist2mouse = sqrt(abs(pow(p.currentPos.x -
mousePos.x, 2) +
pow(p.currentPos.y -
mousePos.y, 2)))
if dist2mouse < 10:
if not p.followMouse:
p.locked = True
p.followMouse = True
p.oldPos = Vec2d(p.currentPos)
else:
p.followMouse = False
def unlockParticle(self):
"""
If the RMB is pressed on a particle, if the particle is currently
locked or being moved by the mouse, it will be 'unlocked'/stop following
the mouse.
"""
mousePos = Vec2d(pygame.mouse.get_pos())
for p in self:
dist2mouse = sqrt(abs(pow(p.currentPos.x -
mousePos.x, 2) +
pow(p.currentPos.y -
mousePos.y, 2)))
if dist2mouse < 5:
p.locked = False
#------------
# Main Program
def main():
# Screen Setup
screen = pygame.display.set_mode((WIDTH, HEIGHT))
clock = pygame.time.Clock()
# Create our grid of particles:
particleSystem = ParticleSystem(screen)
backgroundCol = Color('black')
# main loop
looping = True
while looping:
clock.tick(FRAMERATE)
pygame.display.set_caption("%s -- www.AKEric.com -- LMB: move\lock - RMB: unlock - fps: %.2f"%(TITLE, clock.get_fps()) )
screen.fill(backgroundCol)
# Detect for events
for event in pygame.event.get():
if event.type == pygame.QUIT:
looping = False
elif event.type == MOUSEBUTTONDOWN:
if event.button == 1:
# See if we can make a particle follow the mouse and lock
# its position when done.
particleSystem.lockParticle()
if event.button == 3:
# Try to unlock the current particles position:
particleSystem.unlockParticle()
# Do stuff!
particleSystem.timeStep()
particleSystem.draw()
# update our display:
pygame.display.update()
#------------
# Execution from shell\icon:
if __name__ == "__main__":
print "Running Python version:", sys.version
print "Running PyGame version:", pygame.ver
print "Running %s.py"%TITLE
sys.exit(main())
Because both programs work roughly the same way, but the Python version is SO much slower, it makes me wonder:
@Mr E's linked PyCon talk in the comments, and @A. Rosa answer with the linked resources all helped ENORMOUSLY in better understanding how to write good, fast python code. I am now bookmarking this page for future reference :D
There is a Guido van Rossum's article linked in the section Performance Tips of the Python Wiki. In its conclusion, you can read the following sentence:
If you feel the need for speed, go for built-in functions - you can't beat a loop written in C.
The essay continues with a list of guidelines for loop optimization. I recommend both resources, since they give concrete and practical advices about optimizing Python code.
There is also a well-known group of benchmarks in benchmarksgame.alioth.debian.org, where you can find comparasions among different programs and languages in distinct machines. As can be seen, there are lots of variables in play that makes impossible state something as broad as Java is faster than Python. This is commonly summed up in the sentence "Languages don't have speeds; implementations do".
In your code can be applied more pythonic and faster alternatives using built-in functions. For example, there are several nested loops (some of them don't require processing the whole list) which can be rewritten using imap or list comprehensions. PyPy is also another interesting option to improve the performance. I'm not an expert about Python optimization, but there are lots of tips which are extremely useful (Notice that don't write Java in Python is one of them!).
Resources and another related questions on SO: