Robot with complex shape

[caseypen]

Thanks for open-sourcing this very nice tool!

I am trying to use this to simulate a robot with complex shapes which may be comprised of multiple rectangles. Has this been covered? If no, I would like to contribute for this repo on that special case.

[hanruihua]

Hi,

IR‑SIM uses Shapely to define shapes, including circles, rectangles, polygons, and line strings. While Shapely supports geometry collections, the current IR‑SIM API supports only a single geometry per object.

Contributions are very welcome. As a starting point, you can look at RectangleGeometry in geometry_handler.py

To model a robot made from multiple rectangles, consider using Shapely’s MultiPolygon to represent a collection of rectangles.

Notes:

• A MultiPolygon is a collection of one or more polygons; if component polygons overlap, the collection is invalid and some operations may fail. If rectangles can overlap, consider merging them with shapely.unary_union to produce a single valid Polygon.
• For more complex or non‑convex shapes, it can be more convenient to represent the boundary with a LineString defined by vertices. If you need a filled shape (area) instead of just edges, use a Polygon.