pgzhelper.py

# from __future__ import annotations
import math
import pygame
from pgzero.actor import Actor, POS_TOPLEFT, ANCHOR_CENTER, transform_anchor
from pgzero import game, loaders
import sys
import time
from typing import Sequence, Tuple, Union
from pygame import Vector2

_Coordinate = Union[Tuple[float, float], Sequence[float], Vector2]
_fullscreen = False

def set_fullscreen():
  global _fullscreen
  mod = sys.modules['__main__']
  mod.screen.surface = pygame.display.set_mode((mod.WIDTH, mod.HEIGHT), pygame.FULLSCREEN)
  _fullscreen = True

def set_windowed():
  global _fullscreen
  mod = sys.modules['__main__']
  mod.screen.surface = pygame.display.set_mode((mod.WIDTH, mod.HEIGHT))
  _fullscreen = False

def toggle_fullscreen():
  if _fullscreen:
    set_windowed()
  else:
    set_fullscreen()

def hide_mouse():
  pygame.mouse.set_visible(False)

def show_mouse():
  pygame.mouse.set_visible(True)

def distance_to(from_x, from_y, to_x, to_y):
  dx = to_x - from_x
  dy = to_y - from_y
  return math.sqrt(dx**2 + dy**2)

def distance_to_squared(from_x, from_y, to_x, to_y):
  dx = to_x - from_x
  dy = to_y - from_y
  return dx**2 + dy**2

def direction_to(from_x, from_y, to_x, to_y):
  dx = to_x - from_x
  dy = from_y - to_y

  angle = math.degrees(math.atan2(dy, dx))
  if angle > 0:
    return angle

  return 360 + angle

def get_move(direction, distance):
  angle = math.radians(direction)
  dx = distance * math.cos(angle)
  dy = -distance * math.sin(angle)
  return (dx, dy)

def move(x, y, direction, distance):
  dx, dy = get_move(direction, distance)
  return (x + dx, y + dy)

class Collide():
  @staticmethod
  def line_line(l1x1, l1y1, l1x2, l1y2, l2x1, l2y1, l2x2, l2y2):
    l1x2_l1x1 = l1x2-l1x1
    l1y2_l1y1 = l1y2-l1y1

    determinant = (l2y2-l2y1)*l1x2_l1x1 - (l2x2-l2x1)*l1y2_l1y1

    # Simplify: Parallel lines are never considered to be intersecting
    if determinant == 0:
      return False

    uA = ((l2x2-l2x1)*(l1y1-l2y1) - (l2y2-l2y1)*(l1x1-l2x1)) / determinant
    if uA < 0 or uA > 1:
      return False

    uB = (l1x2_l1x1*(l1y1-l2y1) - l1y2_l1y1*(l1x1-l2x1)) / determinant
    if uB < 0 or uB > 1:
      return False

    return True

  @staticmethod
  def line_lines(l1x1, l1y1, l1x2, l1y2, l2):
    l1x2_l1x1 = l1x2-l1x1
    l1y2_l1y1 = l1y2-l1y1

    i = 0
    for l in l2:
      determinant = (l[3]-l[1])*l1x2_l1x1 - (l[2]-l[0])*l1y2_l1y1

      # Simplify: Parallel lines are never considered to be intersecting
      if determinant == 0:
        i += 1
        continue

      uA = ((l[2]-l[0])*(l1y1-l[1]) - (l[3]-l[1])*(l1x1-l[0])) / determinant
      uB = (l1x2_l1x1*(l1y1-l[1]) - l1y2_l1y1*(l1x1-l[0])) / determinant
      if 0 <= uA <= 1 and 0 <= uB <= 1:
        return i
      
      i += 1

    return -1

  @staticmethod
  def line_line_XY(l1x1, l1y1, l1x2, l1y2, l2x1, l2y1, l2x2, l2y2):
    determinant = (l2y2-l2y1)*(l1x2-l1x1) - (l2x2-l2x1)*(l1y2-l1y1)

    # Simplify: Parallel lines are never considered to be intersecting
    if determinant == 0:
      return (None, None)

    uA = ((l2x2-l2x1)*(l1y1-l2y1) - (l2y2-l2y1)*(l1x1-l2x1)) / determinant
    uB = ((l1x2-l1x1)*(l1y1-l2y1) - (l1y2-l1y1)*(l1x1-l2x1)) / determinant

    if 0 <= uA <= 1 and 0 <= uB <= 1:
      ix = l1x1 + uA * (l1x2 - l1x1)
      iy = l1y1 + uA * (l1y2 - l1y1)
      return (ix, iy)

    return (None, None)

  @staticmethod
  def line_line_dist(l1x1, l1y1, l1x2, l1y2, l2x1, l2y1, l2x2, l2y2):
    ix, iy = Collide.line_line_XY(l1x1, l1y1, l1x2, l1y2, l2x1, l2y1, l2x2, l2y2)
    if ix is not None:
      return distance_to(l1x1, l1y1, ix, iy)
    return None

  @staticmethod
  def line_line_dist_squared(l1x1, l1y1, l1x2, l1y2, l2x1, l2y1, l2x2, l2y2):
    ix, iy = Collide.line_line_XY(l1x1, l1y1, l1x2, l1y2, l2x1, l2y1, l2x2, l2y2)
    if ix is not None:
      return distance_to_squared(l1x1, l1y1, ix, iy)
    return None

  @staticmethod
  def line_circle(x1, y1, x2, y2, cx, cy, radius):
    r_sq = radius ** 2

    dist_sq = (x1 - cx) ** 2 + (y1 - cy) ** 2
    if dist_sq <= r_sq:
      return True

    dist_sq = (x2 - cx) ** 2 + (y2 - cy) ** 2
    if dist_sq <= r_sq:
      return True

    dx = x2 - x1
    dy = y2 - y1
    l_sq = dx ** 2 + dy ** 2
    dot = (((cx - x1) * dx) + ((cy - y1) * dy)) / l_sq

    ix = x1 + dot * dx
    if (dx!=0) and (ix < x1) == (ix < x2):
      return False

    iy = y1 + dot * dy
    if (dy!=0) and (iy < y1) == (iy < y2):
      return False

    dist_sq = (ix - cx) ** 2 + (iy - cy) ** 2
    if dist_sq <= r_sq:
      return True

    return False

  @staticmethod
  def line_circle_XY(x1, y1, x2, y2, cx, cy, radius):
    if Collide.circle_point(cx, cy, radius, x1, y1):
      return (x1, y1)

    x1 -= cx
    y1 -= cy
    x2 -= cx
    y2 -= cy

    if x2 < x1:
      x_min, x_max = x2, x1
    else:
      x_min, x_max = x1, x2

    if y2 < y1:
      y_min, y_max = y2, y1
    else:
      y_min, y_max = y1, y2

    # Coefficients of circle
    c_r2 = radius ** 2

    # Simplify if dx == 0: Vertical line
    dx = x2 - x1
    if dx == 0:
      d = c_r2 - x1**2
      if d < 0:
        return (None, None)
      elif d == 0:
        i = 0
      else:
        i = math.sqrt(d)

      iy = None
      if y_min <= i <= y_max:
        iy = i

      if y_min <= -i <= y_max:
        if iy is None or abs(i - y1) > abs(-i - y1):
          iy = -i

      if iy:
        return (x1 + cx, iy + cy)
      return (None, None)
    
    # Gradient of line
    l_m = (y2 - y1) / dx

    # Simplify if l_m == 0: Horizontal line
    if l_m == 0:
      d = c_r2 - y1**2
      if d < 0:
        return (None, None)
      elif d == 0:
        i = 0
      else:
        i = math.sqrt(d)
      ix = None
      if x_min <= i <= x_max:
        ix = i

      if x_min <= -i <= x_max:
        if ix is None or abs(i - x1) > abs(-i - x1):
          ix = -i
        
      if ix:
        return (ix + cx, y1 + cy)
      return (None, None)

    # y intercept
    l_c = y1 - l_m * x1

    # Coefficients of quadratic
    a = 1 + l_m**2
    b = 2 * l_c * l_m
    c = l_c**2 - c_r2

    # Calculate discriminant and solve quadratic  
    discriminant = b**2 - 4 * a * c
    if discriminant < 0:
      return (None, None)

    if discriminant == 0:
      d_root = 0
    else:
      d_root = math.sqrt(discriminant)

    ix = None
    i1 = (-b + d_root) / (2 * a)
    if x_min <= i1 <= x_max:
      ix = i1
    

    i2 = (-b - d_root) / (2 * a)
    if x_min <= i2 <= x_max:
      if ix is None or abs(i1 - x1) > abs(i2 - x1):
        ix = i2
    
    if ix:
      return (ix + cx, l_m * ix + l_c + cy)

    return (None, None)

  @staticmethod
  def line_circle_dist(x1, y1, x2, y2, cx, cy, radius):
    ix, iy = Collide.line_circle_XY(x1, y1, x2, y2, cx, cy, radius)
    if ix is not None:
      return distance_to(x1, y1, ix, iy)
    return None

  @staticmethod
  def line_circle_dist_squared(x1, y1, x2, y2, cx, cy, radius):
    ix, iy = Collide.line_circle_XY(x1, y1, x2, y2, cx, cy, radius)
    if ix is not None:
      return distance_to_squared(x1, y1, ix, iy)
    return None

  @staticmethod
  def line_rect(x1, y1, x2, y2, rx, ry, w, h):
    if Collide.rect_points(rx, ry, w, h, [(x1, y1), (x2, y2)]) != -1:
      return True

    half_w = w / 2
    half_h = h / 2
    rect_lines = [
      [rx - half_w, ry - half_h, rx - half_w, ry + half_h],
      [rx - half_w, ry - half_h, rx + half_w, ry - half_h],
      [rx + half_w, ry + half_h, rx - half_w, ry + half_h],
      [rx + half_w, ry + half_h, rx + half_w, ry - half_h],
    ]
    if Collide.line_lines(x1, y1, x2, y2, rect_lines) != -1:
      return True
    
    return False

  @staticmethod
  def line_rect_XY(x1, y1, x2, y2, rx, ry, w, h):
    if Collide.rect_point(rx, ry, w, h, x1, y1):
      return (x1, y1)

    half_w = w / 2
    half_h = h / 2
    rect_lines = [
      [rx - half_w, ry - half_h, rx - half_w, ry + half_h],
      [rx - half_w, ry - half_h, rx + half_w, ry - half_h],
      [rx + half_w, ry + half_h, rx - half_w, ry + half_h],
      [rx + half_w, ry + half_h, rx + half_w, ry - half_h],
    ]
    XYs = []
    for l in rect_lines:
      ix, iy = Collide.line_line_XY(x1, y1, x2, y2, l[0], l[1], l[2], l[3])
      if ix is not None:
        XYs.append((ix, iy))

    length = len(XYs)
    if length == 0:
      return (None, None)
    elif length == 1:
      return XYs[0]

    ix, iy = XYs[0]
    shortest_dist = (ix - x1) ** 2 + (iy - y1) ** 2
    for XY in XYs:
      dist = (XY[0] - x1) ** 2 + (XY[1] - y1) ** 2
      if dist < shortest_dist:
        ix, iy = XY
        shortest_dist = dist

    return (ix, iy)

  @staticmethod
  def line_rect_dist(x1, y1, x2, y2, rx, ry, w, h):
    ix, iy = Collide.line_rect_XY(x1, y1, x2, y2, rx, ry, w, h)
    if ix is not None:
      return distance_to(x1, y1, ix, iy)
    return None

  @staticmethod
  def line_rect_dist_squared(x1, y1, x2, y2, rx, ry, w, h):
    ix, iy = Collide.line_rect_XY(x1, y1, x2, y2, rx, ry, w, h)
    if ix is not None:
      return distance_to_squared(x1, y1, ix, iy)
    return None

  @staticmethod
  def line_obb_XY(x1, y1, x2, y2, ox, oy, w, h, angle):
    half_width = w / 2
    half_height = h / 2
    r_angle = math.radians(angle)
    costheta = math.cos(r_angle)
    sintheta = math.sin(r_angle)

    tx = x1 - ox
    ty = y1 - oy
    rx = tx * costheta - ty * sintheta
    ry = ty * costheta + tx * sintheta

    if rx > -half_width and rx < half_width and ry > -half_height and ry < half_height:
      return (x1, y1)

    wc = half_width * costheta
    hs = half_height * sintheta
    hc = half_height * costheta
    ws = half_width * sintheta
    p = [
      [ox + wc + hs, oy + hc - ws],
      [ox - wc + hs, oy + hc + ws],      
      [ox + wc - hs, oy - hc - ws],
      [ox - wc - hs, oy - hc + ws],      
    ]
    obb_lines = [
      [p[0][0], p[0][1], p[1][0], p[1][1]],
      [p[1][0], p[1][1], p[3][0], p[3][1]],
      [p[3][0], p[3][1], p[2][0], p[2][1]],
      [p[2][0], p[2][1], p[0][0], p[0][1]]
    ]

    XYs = []
    for l in obb_lines:
      ix, iy = Collide.line_line_XY(x1, y1, x2, y2, l[0], l[1], l[2], l[3])
      if ix is not None:
        XYs.append((ix, iy))

    length = len(XYs)
    if length == 0:
      return (None, None)
    elif length == 1:
      return XYs[0]

    ix, iy = XYs[0]
    shortest_dist = (ix - x1) ** 2 + (iy - y1) ** 2
    for XY in XYs:
      dist = (XY[0] - x1) ** 2 + (XY[1] - y1) ** 2
      if dist < shortest_dist:
        ix, iy = XY
        shortest_dist = dist

    return (ix, iy)

  @staticmethod
  def line_obb_dist(x1, y1, x2, y2, ox, oy, w, h, angle):
    ix, iy = Collide.line_obb_XY(x1, y1, x2, y2, ox, oy, w, h, angle)
    if ix is not None:
      return distance_to(x1, y1, ix, iy)
    return None

  @staticmethod
  def line_obb_dist_squared(x1, y1, x2, y2, ox, oy, w, h, angle):
    ix, iy = Collide.obb_line_XY(x1, y1, x2, y2, ox, oy, w, h, angle)
    if ix is not None:
      return distance_to_squared(x1, y1, ix, iy)
    return None

  @staticmethod
  def circle_point(x1, y1, radius, x2, y2):
    rSquare = radius ** 2
    dSquare = (x2 - x1)**2 + (y2 - y1)**2

    if dSquare < rSquare:
      return True

    return False

  @staticmethod
  def circle_points(x, y, radius, points):
      rSquare = radius ** 2

      i = 0
      for point in points:
        try:
          px = point[0]
          py = point[1]
        except (KeyError, TypeError):
          px = point.x
          py = point.y
        dSquare = (px - x)**2 + (py - y)**2

        if dSquare < rSquare:
          return i
        i += 1

      return -1

  @staticmethod
  def circle_line(cx, cy, radius, x1, y1, x2, y2):
    return Collide.line_circle(x1, y1, x2, y2, cx, cy, radius)

  @staticmethod
  def circle_circle(x1, y1, r1, x2, y2, r2):
    rSquare = (r1 + r2) ** 2
    dSquare = (x2 - x1)**2 + (y2 - y1)**2

    if dSquare < rSquare:
      return True

    return False

  @staticmethod
  def circle_rect(cx, cy, cr, rx, ry, rw, rh):
    h_w = rw / 2
    h_h = rh / 2
    rect_l = rx - h_w
    rect_t = ry - h_h

    if cx < rect_l:
      dx2 = (cx - rect_l) ** 2
    elif cx > (rect_l + rw):
      dx2 = (cx - rect_l - rw) ** 2
    else:
      dx2 = 0

    if cy < rect_t:
      dy2 = (cy - rect_t) ** 2
    elif cy > (rect_t + rh):
      dy2 = (cy - rect_t - rh) ** 2
    else:
      dy2 = 0

    dist2 = dx2 + dy2

    if dist2 < (cr ** 2):
      return True

    return False

  @staticmethod
  def rect_point(x, y, w, h, px, py):
    half_w = w / 2
    half_h = h / 2
    
    if (
      px < x - half_w
      or px > x + half_w
      or py < y - half_h
      or py > y + half_h
    ):
      return False

    return True

  @staticmethod
  def rect_points(x, y, w, h, points):
    half_w = w / 2
    half_h = h / 2
    min_x = x - half_w
    max_x = x + half_w
    min_y = y - half_h
    max_y = y + half_h
    
    i = 0
    for point in points:
        try:
          px = point[0]
          py = point[1]
        except (KeyError, TypeError):
          px = point.x
          py = point.y
        if (
          px >= min_x
          and px <= max_x
          and py >= min_y
          and py <= max_y
        ):
          return i
        i += 1

    return -1

  @staticmethod
  def rect_line(x, y, w, h, lx1, ly1, lx2, ly2):
    return Collide.line_rect(lx1, ly1, lx2, ly2, x, y, w, h)

  @staticmethod
  def rect_circle(rx, ry, rw, rh, cx, cy, cr):
    return Collide.circle_rect(cx, cy, cr, rx, ry, rw, rh)

  @staticmethod
  def rect_rect(x1, y1, w1, h1, x2, y2, w2, h2):
    h_w1 = w1 / 2
    h_h1 = h1 / 2
    h_w2 = w2 / 2
    h_h2 = h2 / 2

    if (
      x2 - h_w2 > x1 + h_w1
      or x2 + h_w2 < x1 - h_w1
      or y2 - h_h2 > y1 + h_h1
      or y2 + h_h2 < y1 - h_h1
    ):
      return False

    return True

  @staticmethod
  def obb_point(x, y, w, h, angle, px, py):
    half_width = w / 2
    half_height = h / 2
    b_radius_sq = half_width ** 2 + half_height ** 2
    tx = px - x
    ty = py - y

    if tx ** 2 + ty ** 2 > b_radius_sq:
      return False

    r_angle = math.radians(angle)
    costheta = math.cos(r_angle)
    sintheta = math.sin(r_angle)

    rx = tx * costheta - ty * sintheta
    ry = ty * costheta + tx * sintheta

    if rx > -half_width and rx < half_width and ry > -half_height and ry < half_height:
      return True

    return False

  @staticmethod
  def obb_points(x, y, w, h, angle, points):
    half_width = w / 2
    half_height = h / 2
    r_angle = math.radians(angle)
    costheta = math.cos(r_angle)
    sintheta = math.sin(r_angle)

    i = 0
    for point in points:
      try:
        px = point[0]
        py = point[1]
      except (KeyError, TypeError):
        px = point.x
        py = point.y

      tx = px - x
      ty = py - y
      rx = tx * costheta - ty * sintheta
      ry = ty * costheta + tx * sintheta

      if rx > -half_width and rx < half_width and ry > -half_height and ry < half_height:
        return i
      i += 1

    return -1

  @staticmethod
  def obb_line(x, y, w, h, angle, lx1, ly1, lx2, ly2):
    half_width = w / 2
    half_height = h / 2
    r_angle = math.radians(angle)
    costheta = math.cos(r_angle)
    sintheta = math.sin(r_angle)

    tx = lx1 - x
    ty = ly1 - y
    rx = tx * costheta - ty * sintheta
    ry = ty * costheta + tx * sintheta

    if rx > -half_width and rx < half_width and ry > -half_height and ry < half_height:
      return True

    tx = lx2 - x
    ty = ly2 - y
    rx = tx * costheta - ty * sintheta
    ry = ty * costheta + tx * sintheta
    
    if rx > -half_width and rx < half_width and ry > -half_height and ry < half_height:
      return True

    wc = half_width * costheta
    hs = half_height * sintheta
    hc = half_height * costheta
    ws = half_width * sintheta
    p = [
      [x + wc + hs, y + hc - ws],
      [x - wc + hs, y + hc + ws],      
      [x + wc - hs, y - hc - ws],
      [x - wc - hs, y - hc + ws],      
    ]
    obb_lines = [
      [p[0][0], p[0][1], p[1][0], p[1][1]],
      [p[1][0], p[1][1], p[3][0], p[3][1]],
      [p[3][0], p[3][1], p[2][0], p[2][1]],
      [p[2][0], p[2][1], p[0][0], p[0][1]]
    ]

    if Collide.line_lines(lx1, ly1, lx2, ly2, obb_lines) != -1:
      return True

    return False

  @staticmethod
  def obb_lines(x, y, w, h, angle, lines):
    half_width = w / 2
    half_height = h / 2
    r_angle = math.radians(angle)
    costheta = math.cos(r_angle)
    sintheta = math.sin(r_angle)

    wc = half_width * costheta
    hs = half_height * sintheta
    hc = half_height * costheta
    ws = half_width * sintheta
    p = [
      [x + wc + hs, y + hc - ws],
      [x - wc + hs, y + hc + ws],      
      [x + wc - hs, y - hc - ws],
      [x - wc - hs, y - hc + ws],      
    ]
    obb_lines = [
      [p[0][0], p[0][1], p[1][0], p[1][1]],
      [p[1][0], p[1][1], p[3][0], p[3][1]],
      [p[3][0], p[3][1], p[2][0], p[2][1]],
      [p[2][0], p[2][1], p[0][0], p[0][1]]
    ]

    i = 0
    for l in lines:
      tx = l[0] - x
      ty = l[1] - y
      rx = tx * costheta - ty * sintheta
      ry = ty * costheta + tx * sintheta

      if rx > -half_width and rx < half_width and ry > -half_height and ry < half_height:
        return i

      tx = l[2] - x
      ty = l[3] - y
      rx = tx * costheta - ty * sintheta
      ry = ty * costheta + tx * sintheta
      
      if rx > -half_width and rx < half_width and ry > -half_height and ry < half_height:
        return i

      if Collide.line_lines(l[0], l[1], l[2], l[3], obb_lines) != -1:
        return i

      i += 1

    return -1

  @staticmethod
  def obb_circle(x, y, w, h, angle, cx, cy, radius):
    half_width = w / 2
    half_height = h / 2
    tx = cx - x
    ty = cy - y

    if tx ** 2 + ty ** 2 > (half_height + half_width + radius) ** 2:
      return False

    r_angle = math.radians(angle)
    costheta = math.cos(r_angle)
    sintheta = math.sin(r_angle)

    rx = tx * costheta - ty * sintheta
    ry = ty * costheta + tx * sintheta

    if (rx < -half_width - radius 
      or rx > half_width + radius 
      or ry < -half_height - radius 
      or ry > half_height + radius
    ):
      return False

    if (rx <= half_width and rx >= -half_width) or (ry <= half_height and ry >= -half_height):
      return True

    dx = abs(rx) - half_width
    dy = abs(ry) - half_height
    dist_squared = dx ** 2 + dy ** 2
    if dist_squared > radius ** 2:
      return False

    return True

  @staticmethod
  def obb_circles(x, y, w, h, angle, circles):
    half_width = w / 2
    half_height = h / 2
    r_angle = math.radians(angle)
    costheta = math.cos(r_angle)
    sintheta = math.sin(r_angle)

    i = 0
    for circle in circles:
      tx = circle[0] - x
      ty = circle[1] - y

      rx = tx * costheta - ty * sintheta
      ry = ty * costheta + tx * sintheta

      if (rx < -half_width - circle[2]
        or rx > half_width + circle[2] 
        or ry < -half_height - circle[2] 
        or ry > half_height + circle[2]
      ):
        i += 1
        continue

      if (rx <= half_width and rx >= -half_width) or (ry <= half_height and ry >= -half_height):
        return i

      dx = abs(rx) - half_width
      dy = abs(ry) - half_height
      dist_squared = dx ** 2 + dy ** 2
      if dist_squared > circle[2] ** 2:
        i += 1
        continue

      return i

    return -1

  @staticmethod
  def obb_rect(x, y, w, h, angle, rx, ry, rw, rh):
    half_width = w / 2
    half_height = h / 2
    tx = rx - x
    ty = ry - y

    if tx ** 2 + ty ** 2 > (half_height + half_width + rw + rh) ** 2:
      return False

    r_angle = math.radians(angle)
    costheta = math.cos(r_angle)
    sintheta = math.sin(r_angle)

    tx2 = tx * costheta - ty * sintheta
    ty2 = ty * costheta + tx * sintheta

    if tx2 > -half_width and tx2 < half_width and ty2 > -half_height and ty2 < half_height:
      return True

    wc = half_width * costheta
    hs = half_height * sintheta
    hc = half_height * costheta
    ws = half_width * sintheta
    p = [
      [wc + hs, hc - ws],
      [-wc + hs, hc + ws],      
      [wc - hs, -hc - ws],
      [-wc - hs, -hc + ws],      
    ]
    obb_lines = [
      [p[0][0], p[0][1], p[1][0], p[1][1]],
      [p[1][0], p[1][1], p[3][0], p[3][1]],
      [p[3][0], p[3][1], p[2][0], p[2][1]],
      [p[2][0], p[2][1], p[0][0], p[0][1]]
    ]
    h_rw = rw / 2
    h_rh = rh / 2
    rect_lines = [
      [tx - h_rw, ty - h_rh, tx - h_rw, ty + h_rh],
      [tx + h_rw, ty - h_rh, tx + h_rw, ty + h_rh],
      [tx - h_rw, ty - h_rh, tx + h_rw, ty - h_rh],
      [tx - h_rw, ty + h_rh, tx + h_rw, ty + h_rh]
    ]

    for obb_p in p:
      if obb_p[0] > tx - h_rw and obb_p[0] < tx + h_rw and obb_p[1] > ty - h_rh and obb_p[1] < ty + h_rh:
        return True

    for obb_line in obb_lines:
      l1x1 = obb_line[0]
      l1y1 = obb_line[1]
      l1x2 = obb_line[2]
      l1y2 = obb_line[3]
      l1x2_l1x1 = l1x2-l1x1
      l1y2_l1y1 = l1y2-l1y1
      
      for rect_line in rect_lines:
        l2x1 = rect_line[0]
        l2y1 = rect_line[1]
        l2x2 = rect_line[2]
        l2y2 = rect_line[3]
        
        determinant = (l2y2-l2y1)*l1x2_l1x1 - (l2x2-l2x1)*l1y2_l1y1

        # Simplify: Parallel lines are never considered to be intersecting
        if determinant == 0:
          continue

        uA = ((l2x2-l2x1)*(l1y1-l2y1) - (l2y2-l2y1)*(l1x1-l2x1)) / determinant
        if uA < 0 or uA > 1:
          continue

        uB = (l1x2_l1x1*(l1y1-l2y1) - l1y2_l1y1*(l1x1-l2x1)) / determinant
        if uB < 0 or uB > 1:
          continue

        return True

    return False

  @staticmethod
  def obb_rects(x, y, w, h, angle, rects):
    half_width = w / 2
    half_height = h / 2
    r_angle = math.radians(angle)
    costheta = math.cos(r_angle)
    sintheta = math.sin(r_angle)

    i = 0
    for rect in rects:
      rx = rect[0]
      ry = rect[1]
      rw = rect[2]
      rh = rect[3]

      tx = rx - x
      ty = ry - y

      if tx ** 2 + ty ** 2 > (half_height + half_width + rw + rh) ** 2:
        i += 1
        continue

      tx2 = tx * costheta - ty * sintheta
      ty2 = ty * costheta + tx * sintheta

      if tx2 > -half_width and tx2 < half_width and ty2 > -half_height and ty2 < half_height:
        return i

      wc = half_width * costheta
      hs = half_height * sintheta
      hc = half_height * costheta
      ws = half_width * sintheta
      p = [
        [wc + hs, hc - ws],
        [-wc + hs, hc + ws],      
        [wc - hs, -hc - ws],
        [-wc - hs, -hc + ws],      
      ]
      obb_lines = [
        [p[0][0], p[0][1], p[1][0], p[1][1]],
        [p[1][0], p[1][1], p[3][0], p[3][1]],
        [p[3][0], p[3][1], p[2][0], p[2][1]],
        [p[2][0], p[2][1], p[0][0], p[0][1]]
      ]
      h_rw = rw / 2
      h_rh = rh / 2
      rect_lines = [
        [tx - h_rw, ty - h_rh, tx - h_rw, ty + h_rh],
        [tx + h_rw, ty - h_rh, tx + h_rw, ty + h_rh],
        [tx - h_rw, ty - h_rh, tx + h_rw, ty - h_rh],
        [tx - h_rw, ty + h_rh, tx + h_rw, ty + h_rh]
      ]

      for obb_p in p:
        if obb_p[0] > tx - h_rw and obb_p[0] < tx + h_rw and obb_p[1] > ty - h_rh and obb_p[1] < ty + h_rh:
          return i

      for obb_line in obb_lines:
        l1x1 = obb_line[0]
        l1y1 = obb_line[1]
        l1x2 = obb_line[2]
        l1y2 = obb_line[3]
        l1x2_l1x1 = l1x2-l1x1
        l1y2_l1y1 = l1y2-l1y1
        
        for rect_line in rect_lines:
          l2x1 = rect_line[0]
          l2y1 = rect_line[1]
          l2x2 = rect_line[2]
          l2y2 = rect_line[3]
          
          determinant = (l2y2-l2y1)*l1x2_l1x1 - (l2x2-l2x1)*l1y2_l1y1

          # Simplify: Parallel lines are never considered to be intersecting
          if determinant == 0:
            continue

          uA = ((l2x2-l2x1)*(l1y1-l2y1) - (l2y2-l2y1)*(l1x1-l2x1)) / determinant
          if uA < 0 or uA > 1:
            continue

          uB = (l1x2_l1x1*(l1y1-l2y1) - l1y2_l1y1*(l1x1-l2x1)) / determinant
          if uB < 0 or uB > 1:
            continue

          return i

      i += 1

    return -1

  def obb_obb(x, y, w, h, angle, x2, y2, w2, h2, angle2):
    r_angle = math.radians(angle)
    costheta = math.cos(r_angle)
    sintheta = math.sin(r_angle)

    tx2 = x2 - x
    ty2 = y2 - y 
    rx2 = tx2 * costheta - ty2 * sintheta
    ry2 = ty2 * costheta + tx2 * sintheta
    return Collide.obb_rect(rx2, ry2, w2, h2, angle2-angle, 0, 0, w, h)
    
  def obb_obbs(x, y, w, h, angle, obbs):
    r_angle = math.radians(angle)
    costheta = math.cos(r_angle)
    sintheta = math.sin(r_angle)
    for obb in obbs:
      x2, y2, w2, h2, angle2 = obb
      tx2 = x2 - x
      ty2 = y2 - y 
      rx2 = tx2 * costheta - ty2 * sintheta
      ry2 = ty2 * costheta + tx2 * sintheta
      return Collide.obb_rect(rx2, ry2, w2, h2, angle2-angle, 0, 0, w, h)

      
class Actor(Actor):
  def __init__(self, image:Union[str, pygame.Surface], pos=POS_TOPLEFT, anchor=ANCHOR_CENTER, **kwargs):
    self._flip_x = False
    self._flip_y = False
    self._scale = 1
    self._mask = None
    self._images = None
    self._image_idx = 0
    self._subrects = None
    self._transform_cnt = 0
    self._orig_surfs = {}        
    self._surfs = {}    
    self._animate_counter = 0
    self._animate_run = False
    self._radius = None
    self._collision_width = None
    self._collision_height = None
    self.fps = 5
    self.direction = 0
    subrect=kwargs.pop('subrect',None)
    image_str = None
    if isinstance(image,str):
      image_str = image      
    super().__init__(image_str, pos, anchor, **kwargs)
    if isinstance(image,pygame.Surface):
        self._orig_surf = image        
        self._update_pos()
    self._subrect=None
    if subrect is not None:
      self.subrect=subrect
    
  def distance_to(self, target):
    if isinstance(target, Actor):
      x, y = target.pos
    else:
      x, y = target
    return distance_to(self.x, self.y, x, y)

  def distance_toXY(self, x, y):
    return distance_to(self.x, self.y, x, y)

  def direction_to(self, target):
    if isinstance(target, Actor):
      x, y = target.pos
    else:
      x, y = target
    return direction_to(self.x, self.y, x, y)

  def direction_toXY(self, x, y):
    return direction_to(self.x, self.y, x, y)


  def move_towards(self, target:Union[int, float, Actor, _Coordinate], dist, stop_on_target=True):
    if isinstance(target, (int,float)):
      direction = target
    else:
      direction = self.direction_to(target)
      if stop_on_target:
          target_distance = self.distance_to(target)
          if (target_distance < dist) and dist>0:
            dist = target_distance      
    self.x, self.y = move(self.x, self.y, direction, dist)

  def move_towardsXY(self, x, y, dist):
    direction = self.direction_toXY(x, y)
    self.x, self.y = move(self.x, self.y, direction, dist)

  def point_towards(self, actor, y=None):
    self.angle = self.direction_to(actor)

  def point_towardsXY(self, x, y):
    self.angle = direction_to(self.x, self.y, x, y)

  def move_in_direction(self, dist):
    self.x, self.y = move(self.x, self.y, self.direction, dist)

  def move_forward(self, dist):
    self.x, self.y = move(self.x, self.y, self.angle, dist)

  def move_left(self, dist):
    self.x, self.y = move(self.x, self.y, self.angle + 90, dist)

  def move_right(self, dist):
    self.x, self.y = move(self.x, self.y, self.angle - 90, dist)

  def move_back(self, dist):
    self.x, self.y = move(self.x, self.y, self.angle, -dist)

  @property
  def images(self):
    return self._images

  @images.setter
  def images(self, images):
    self._subrects = None    
    self._images = images
    if len(self._images) != 0:
      self.image = self._images[0]

  def load_images(self, sheet_name:str, cols:int, rows:int, cnt:int=0, subrect:pygame.Rect=None):
    self._subrects=[None]*cols*rows
    self._image_idx=0
    sheet:pygame.Surface = loaders.images.load(sheet_name)
    if subrect is not None:
      sheet = sheet.subsurface(subrect)
    for col in range(0,cols):
      for row in range(0,rows):
          width=sheet.get_width()/cols
          height=sheet.get_height()/rows
          self._subrects[col+row*cols]=(int(col*width),int(row*height),int(width),int(height))
    if len(self._subrects) != 0:
      self.image = sheet_name
      self.subrect = self._subrects[0]

  def sel_image(self, newimage:Union[str, int])-> bool:
    try:
      if isinstance(newimage, int):
          if self._subrects is None and self._images is None:
            return False
          if self._subrects is not None:
            self.subrect = self._subrects[newimage]
          else:
            self.image = self._images[newimage]
          self._image_idx = newimage
          return True
      else:
        self._image_idx = self._images.index(newimage)
        self.image = newimage
    except:
      return False
          
  def next_image(self)-> int:
    if self._subrects is not None:
      next_image_idx = (self._image_idx+1) % len(self._subrects)
      self._image_idx = next_image_idx
      self.subrect = self._subrects[self._image_idx]
    elif (self._images is not None) :
      if (self.image in self._images):
        next_image_idx = (self._images.index(self.image)+1) % len(self._images)
        self._image_idx = next_image_idx
        self.image = self._images[self._image_idx]
      else:
        self._image_idx = 0
        self.image = self._images[0]
    else:
      self._image_idx = 0
    return self._image_idx
      
  def animate(self)-> int:
    now = int(time.time() * self.fps)
    if self._animate_counter == 0:
      self._animate_counter=now
    frames_elapsed = now-self._animate_counter

    if frames_elapsed!=0:
      self._animate_counter = now
      idx=self.next_image()
      return idx
    else:
      return -1

  @property
  def angle(self):
    return self._angle

  @angle.setter
  def angle(self, angle):
    self._angle = angle
    self._transform_surf()
    self._transform_cnt+=1

  @property
  def scale(self):
    return self._scale

  @scale.setter
  def scale(self, scale):
    self._scale = scale
    self._transform_surf()
    self._transform_cnt+=1

  @property
  def flip_x(self):
    return self._flip_x

  @flip_x.setter
  def flip_x(self, flip_x):
    self._flip_x = flip_x
    self._transform_surf()
    self._transform_cnt+=1

  @property
  def flip_y(self):
    return self._flip_y

  @flip_y.setter
  def flip_y(self, flip_y):
    self._flip_y = flip_y
    self._transform_surf()
    self._transform_cnt+=1

  @property
  def image(self):
    return self._image_name

  @image.setter
  def image(self, image):
    if image is not None:
      self._orig_surf = self._surf = loaders.images.load(image)
      self._image_name = image
      self._orig_surfs[image]=self._orig_surf     
    else:
      self._orig_surf = self._surf = pygame.Surface((1,1),pygame.SRCALPHA)
      self._image_name = ''
    self._update_pos()
    if image is not None:
      if (image not in self._surfs) or (self._surfs[image][1]!=self._transform_cnt):       
        self._transform_surf()
        self._surfs[image]=(self._surf,self._transform_cnt)

  @property
  def subrect(self):
    return self._subrect
  @subrect.setter
  def subrect(self, subrect:pygame.Rect):
    subr = subrect
    if subrect is not None:
      subr=pygame.Rect(subrect) 
    if subr != self._subrect:     
      self._subrect = subr
      if self._subrect is not None:
        hashv=hash((subr.x, subr.y,subr.width,subr.height))
        surf_name=self._image_name+str(hashv)
        if surf_name not in self._orig_surfs:
          self._orig_surfs[surf_name] = loaders.images.load(self.image).subsurface(subr)
        self._orig_surf=self._orig_surfs[surf_name]
        self._update_pos()
        if (surf_name not in self._surfs) or (self._surfs[surf_name][1]!=self._transform_cnt):       
          self._transform_surf()
          self._surfs[surf_name]=(self._surf,self._transform_cnt) 
        self._surf=self._surfs[surf_name][0]     
      else:
        self._orig_surf = self._surf = loaders.images.load(self.image)
        self._update_pos()
        self._transform_surf()
    
  @property
  def orig_surf(self):
    return self._orig_surf
  
  @orig_surf.setter
  def orig_surf(self, surf:pygame.Surface):
    self._orig_surf = self._surf =surf
    self._update_pos()
    self._transform_surf()
  
  def recalc(self):
    self._surf = self._orig_surf
    self._update_pos()
    self._transform_surf()
                
  def _transform_surf(self):
    self._surf = self._orig_surf
    p = self.pos

    if self._scale != 1:
      size = self._orig_surf.get_size()
      self._surf = pygame.transform.scale(self._surf, (int(size[0] * self.scale), int(size[1] * self.scale)))
    if self._flip_x:
      self._surf = pygame.transform.flip(self._surf, True, False)
    if self._flip_y:
      self._surf = pygame.transform.flip(self._surf, False, True)

    self._surf = pygame.transform.rotate(self._surf, self._angle)

    self.width, self.height = self._surf.get_size()
    w, h = self._orig_surf.get_size()
    ax, ay = self._untransformed_anchor
    anchor = transform_anchor(ax, ay, w, h, self._angle)
    self._anchor = (anchor[0] * self.scale, anchor[1] * self.scale)

    self.pos = p
    self._mask = None
    
  def collidepoint_pixel(self, x, y=0):
    if isinstance(x, tuple):
      y = x[1]
      x = x[0]
    if self._mask == None:
      self._mask = pygame.mask.from_surface(self._surf)

    xoffset = int(x - self.left)
    yoffset = int(y - self.top)
    if xoffset < 0 or yoffset < 0:
      return 0

    width, height = self._mask.get_size()
    if xoffset >= width or yoffset >= height:
      return 0

    return self._mask.get_at((xoffset, yoffset))

  def collide_pixel(self, actor):
    for a in [self, actor]:
      if a._mask == None:
        a._mask = pygame.mask.from_surface(a._surf)

    xoffset = int(actor.left - self.left)
    yoffset = int(actor.top - self.top)

    return self._mask.overlap(actor._mask, (xoffset, yoffset))

  def collidelist_pixel(self, actors):
    for i in range(len(actors)):
      if self.collide_pixel(actors[i]):
        return i
    return -1

  def collidelistall_pixel(self, actors):
    collided = []
    for i in range(len(actors)):
      if self.collide_pixel(actors[i]):
        collided.append(i)
    return collided

  def _unrotated_size(self):
      w = self._orig_surf.get_width()*self.scale
      h = self._orig_surf.get_height()*self.scale
      return w, h
    
  @property
  def collision_width(self):
    if self._collision_width is None:
      w,_ = self._unrotated_size()
      return w
    return self._collision_width

  @collision_width.setter
  def collision_width(self, collision_width):
    self._collision_width = collision_width

  @property
  def collision_height(self):
    if self._collision_height is None:
      _,h = self._unrotated_size()
      return h
    return self._collision_height

  @collision_height.setter
  def collision_height(self, collision_height):
    self._collision_height = collision_height

  def obb_collidepoint(self, x, y):
    w,h = self._unrotated_size()
    return Collide.obb_point(self.centerx, self.centery, w, h, self._angle, x, y)

  def obb_collidepoints(self, points):
    w,h = self._unrotated_size()
    return Collide.obb_points(self.centerx, self.centery, w, h, self._angle, points)

  def obb_collideobb(self, actor):
    if self._collision_width is None and self._collision_height is None:
      x,y = self.centerx, self.centery
    else:
      x,y = self.x, self.y

    if actor._collision_width is None and actor._collision_height is None:
      x2,y2 = actor.centerx, actor.centery
    else:
      x2,y2 = actor.x, actor.y

    return Collide.obb_obb(x, y, self.collision_width, self.collision_height, self._angle,
                              x2, y2, actor.collision_width, actor.collision_height, actor._angle)
    
  @property
  def radius(self):
    if self._radius is None:
      w,h = self._unrotated_size()
      self._radius = min(w, h) * .5
    return self._radius

  @radius.setter
  def radius(self, radius):
    self._radius = radius

  def circle_collidepoints(self, points):
    return Collide.circle_points(self.centerx, self.centery, self._radius, points)

  def circle_collidepoint(self, x, y):
    return Collide.circle_point(self.centerx, self.centery, self._radius, x, y)

  def circle_collidecircle(self, actor):
    return Collide.circle_circle(self.centerx, self.centery, self._radius, actor.centerx, actor.centery, actor._radius)

  def circle_colliderect(self, actor):
    return Collide.circle_rect(self.centerx, self.centery, self._radius, actor.centerx, actor.centery, actor.width, actor.height)

  def circle_collideobb(self, actor):
    w2, h2 = actor._unrotated_size()
    return Collide.obb_circle(actor.centerx, actor.centery, w2, h2, actor.angle,
                              self.centerx, self.centery, self._radius)

  def draw(self):
    game.screen.blit(self._surf, self.topleft)

  def get_rect(self):
    return self._rect