def _poly(self, pos, vertices, dynamic=True, density=1.0,
restitution=0.16, friction=0.5):
# add a centered poly at pos without correcting any settings
# meaning, pos and vertices are in meters
x, y = pos
bodyDef = box2d.b2BodyDef()
bodyDef.position = (x, y)
userData = {'color': self.parent.get_color()}
bodyDef.userData = userData
# Create the Body
if not dynamic:
density = 0
else:
bodyDef.type = box2d.b2_dynamicBody
body = self.parent.world.CreateBody(bodyDef)
self.parent.element_count += 1
# Add a shape to the Body
polyDef = box2d.b2FixtureDef()
polygonShape = box2d.b2PolygonShape()
polygonShape.vertices = vertices
polyDef.shape = polygonShape
polyDef.density = density
polyDef.restitution = restitution
polyDef.friction = friction
body.CreateFixture(polyDef)
return body
def LaunchBomb(self, position, velocity):
"""
A bomb is a simple circle which has the specified position and velocity.
position and velocity must be b2Vec2's.
"""
if self.bomb:
self.world.DestroyBody(self.bomb)
self.bomb = None
bd = box2d.b2BodyDef()
bd.allowSleep = True
bd.position = position
bd.isBullet = True
self.bomb = self.world.CreateBody(bd)
self.bomb.SetLinearVelocity(velocity)
sd = box2d.b2CircleDef()
sd.radius = 0.3
sd.density = 20.0
sd.restitution = 0.1
minV = position - (0.3,0.3)
maxV = position + (0.3,0.3)
aabb = box2d.b2AABB()
aabb.lowerBound = minV
aabb.upperBound = maxV
if self.world.InRange(aabb):
self.bomb.CreateShape(sd)
self.bomb.SetMassFromShapes()
def createBox(position, w=1.0, h=1.0, wdiv=1, hdiv=1, bDynamic=True, density=1, friction=0.3, damping=0,
collisionGroup=None, restitution=None, bCollideNoOne=False, name="",angle=0,categoryBits=0x0001,
maskBits=0x0009):
global world
bodyDef = Box2D.b2BodyDef()
bodyDef.position = position
if(abs(world.gravity[1]) > 1):
bodyDef.linearDamping = damping
bodyDef.angularDamping = 0
else:
bodyDef.linearDamping = 70
bodyDef.angularDamping = 50
if bDynamic: bodyDef.type = Box2D.b2_dynamicBody
else: bodyDef.type = Box2D.b2_staticBody
body = world.CreateBody(bodyDef)
body.userData = {"name":name}
dw = w / float(wdiv)
dh = h / float(hdiv)
for i in range(hdiv):
for j in range(wdiv):
x = 2*j*dw + (1-wdiv)*dw
y = 2*i*dh + (1-hdiv)*dh
fixtureDef = createBoxFixture((x, y), width=dw, height=dh, bDynamic=bDynamic, density=density,
friction=friction, collisionGroup=collisionGroup, restitution=restitution,
angle=angle)
if(bCollideNoOne):
fixtureDef.filter.maskBits = 0x0000
fixture = body.CreateFixture(fixtureDef,categoryBits=categoryBits,maskBits=maskBits)
return body
def randomize(self, N, x0, x1, rng):
# randomize how hilly the terrain is. lower number = softer hills
terrain_freq = 10 + 14 * rng.rand()
# construct random terrain using frequency domain low-freq noise
modulus = np.exp(-np.arange(N) / terrain_freq) * rng.randn(N)
argument = rng.randn(N)
freqspace = modulus * np.cos(argument) + 1j * modulus * np.sin(
argument)
z = np.fft.fft(freqspace).real
zmin = np.min(z)
zmax = np.max(z)
self.z = (TERRAIN_Z_RANGE / (zmax - zmin)) * (z - zmin)
self.x = np.linspace(x0, x1, N)
# construct box2d world for lidar.
self.world = Box2D.b2World()
verts = zip(self.x, self.z)
nverts = len(verts)
for i in range(nverts - 1):
p0, p1 = verts[i], verts[i + 1]
edge = Box2D.b2EdgeShape(vertices=[p0, p1])
body = Box2D.b2BodyDef(
type=Box2D.b2_staticBody,
fixtures=Box2D.b2FixtureDef(shape=edge, friction=0),
)
self.world.CreateBody(body)
def add_body(
b2_world, #
jsw, # loaded json b2World
jsw_body
):
# create body definition
bodyDef = b2.b2BodyDef()
# Done with minor issues
# missing pybox2d inertiaScale
setAttr(jsw, "allowSleep", bodyDef)
setAttr(jsw_body, "angle", bodyDef)
setAttr(jsw_body, "angularDamping", bodyDef)
setAttr(jsw_body, "angularVelocity", bodyDef)
setAttr(jsw_body, "awake", bodyDef)
setAttr(jsw_body, "bullet", bodyDef)
setAttr(jsw_body, "fixedRotation", bodyDef)
setAttr(jsw_body, "linearDamping", bodyDef)
setB2Vec2Attr(jsw_body, "linearVelocity", bodyDef)
setB2Vec2Attr(jsw_body, "position", bodyDef)
setAttr(jsw_body, "gravityScale", bodyDef) # pybox2d non documented
# setAttr(jsw_body, "massData-I", bodyDef, "inertiaScale")
setAttr(jsw_body, "type", bodyDef)
setAttr(jsw_body, "awake", bodyDef)
# create body
body_ref = b2_world.CreateBody(bodyDef)
for fixture in jsw_body["fixture"]:
add_fixture(body_ref, jsw, fixture)
def createCircle(position, r=0.3, bDynamic=True, bCollideNoOne=False, density=1, damping=0.05, restitution=0.1, friction=200, name="",categoryBits=0x0001,maskBits=0x0009):
global world, fig, ax
bodyDef = Box2D.b2BodyDef()
bodyDef.position = position
if bDynamic:
bodyDef.type = Box2D.b2_dynamicBody
else:
bodyDef.type = Box2D.b2_staticBody
if(abs(world.gravity[1]) > 1):
bodyDef.linearDamping = damping
bodyDef.angularDamping = damping
else:
bodyDef.linearDamping = 70
bodyDef.angularDamping = 30
body = world.CreateBody(bodyDef)
shape = Box2D.b2CircleShape(radius=r)
mask=maskBits
if(bCollideNoOne):
mask = 0x0000
fixture = body.CreateFixture(maskBits=mask, shape=shape, density=density, restitution=restitution, friction=friction,categoryBits=categoryBits)
body.userData = {"name": name}
return body
def createBox(position, w=1.0, h=1.0, wdiv = 1, hdiv = 1, dynamic=True, damping = 0, collisionGroup = None, bMatplotlib = True, restitution=None):
global world, ax
bodyDef = Box2D.b2BodyDef()
bodyDef.position = position
if(abs(world.gravity[1]) > 1):
bodyDef.linearDamping = damping
bodyDef.angularDamping = 0
else:
bodyDef.linearDamping = 70
bodyDef.angularDamping = 50
if dynamic: bodyDef.type = Box2D.b2_dynamicBody
else: bodyDef.type = Box2D.b2_staticBody
body = world.CreateBody(bodyDef)
dw = w / float(wdiv)
dh = h / float(hdiv)
for i in range(hdiv):
for j in range(wdiv):
x = 2*j*dw + (1-wdiv)*dw
y = 2*i*dh + (1-hdiv)*dh
fixtureDef = createBoxFixture(body, (x,y), width=dw, height=dh, collisionGroup = collisionGroup, restitution=restitution)
fixture = body.CreateFixture(fixtureDef)
if(bMatplotlib):
createGlobalFigure()
fixture.userData = drawBox2D(ax,body,fixture)
return body
def createCircle(position, r=0.3, dynamic=True, bMatplotlib = True):
global world, fig, ax
bodyDef = Box2D.b2BodyDef()
fixtureDef = Box2D.b2FixtureDef()
if dynamic:
bodyDef.type = Box2D.b2_dynamicBody
fixtureDef.density = 1
else:
bodyDef.type = Box2D.b2_staticBody
fixtureDef.density = 0
bodyDef.position = position
if(abs(world.gravity[1]) > 1):
bodyDef.linearDamping = 0.1
bodyDef.angularDamping = 0.1
else:
bodyDef.linearDamping = 70
bodyDef.angularDamping = 30
body = world.CreateBody(bodyDef)
fixture = body.CreateFixture(shape=Box2D.b2CircleShape(radius=r), density=1.0, friction=0.3)
if(bMatplotlib):
createGlobalFigure()
fixture.userData = drawCircle(ax,position,r)
return body
def __init__(self, env, size, pos, world):
# static rectangle shaped prop
# pars:
# size - array [width, height]
# position - array [x, y], in world meters, of center
self.env = env
self.size = size
self.pos = pos
# initialize body
bdef = Box2D.b2BodyDef()
bdef.position = Box2D.b2Vec2(self.pos[0], self.pos[1])
bdef.angle = 0
bdef.fixedRotation = True
self.body = world.CreateBody(bdef)
# strange rect due to Box2D's way of representing objects
self.rect = pygame.rect.Rect(self.pos[0] - self.size[0]/2,
self.pos[1] - self.size[1]/2,
self.size[0], self.size[1])
# initialize shape
fixdef = Box2D.b2FixtureDef()
fixdef.shape = Box2D.b2PolygonShape()
fixdef.shape.SetAsBox(self.size[0]/2, self.size[1]/2)
fixdef.restitution = 0.4
self.body.CreateFixture(fixdef)
def __init__(self,physics,bl,tr,tc = None):
#Hardcode the dirt texture since right now all static things are dirt. I know I know.
self.dead = False
self.tc = tc
if tc != None:
self.InitPolygons(tc)
self.visible = True
else:
self.visible = False
self.physics = physics
self.bodydef = box2d.b2BodyDef()
midpoint = (tr - bl)*0.5*physics.scale_factor
self.bodydef.position = tuple((bl*physics.scale_factor) + midpoint)
self.shape = self.CreateShape(midpoint)
if not self.static:
self.shape.userData = self
if self.filter_group != None:
self.shape.filter.groupIndex = self.filter_group
self.bodydef.isBullet = self.isBullet
self.body = physics.world.CreateBody(self.bodydef)
self.shape.density = self.mass
self.shape.friction = 0.7
self.shapeI = self.body.CreateShape(self.shape)
self.child_joint = None
self.parent_joint = None
self.PhysUpdate()
def load(self):
bodyDef = box2d.b2BodyDef()
if self.shape.type == WorldConfig.BOX:
bodyDef.position = self.shape.center[0], self.shape.center[1]
body = WorldConfig.world.CreateBody(bodyDef)
shapeDef = box2d.b2PolygonDef()
shapeDef.SetAsBox(self.shape.width / 2, self.shape.height / 2)
elif self.shape.type == WorldConfig.POLYGON:
body = WorldConfig.world.CreateBody(bodyDef)
shapeDef = box2d.b2PolygonDef()
shapeDef.setVertices(self.shape.points)
elif self.shape.type == WorldConfig.CIRCLE:
bodyDef.position = self.shape.x, self.shape.y
body = WorldConfig.world.CreateBody(bodyDef)
shapeDef = box2d.b2CircleDef()
shapeDef.radius = self.shape.radius
else:
raise 'unknown shape'
return
# shapeDef.density = 1
# shapeDef.friction = 0.1
# shapeDef.restitution = 1.0
shapeDef.filter.categoryBits = Wall.catBits
# shapeDef.filter.maskBits = Wall.maskBits
body.CreateShape(shapeDef)
body.SetMassFromShapes()
body.userData = self
self.body = body
def handle_enter(self, parameters):
self.next_state = parameters['next_state']
self.next_state_parameters = parameters.setdefault('parameters', {})
self.next_state_parameters={'totalScore':parameters['totalScore'],'edit':parameters['edit']}
self.delay = parameters.setdefault('delay', 2000)
self.time_passed = 0
self.background = None
self.shader = None
self.screenFont = pygame.font.Font("data/font/fsex2p00_public.ttf", 70)
text = u"Тоглоом дууслаа"
self.message = self.screenFont.render(text, True, (255,255,255))
bodyDef = box2d.b2BodyDef()
bodyDef.position = (8, -2)
bodyDef.angle = -0.5
bodyDef.userData = self
self.message_body = self.world.CreateBody(bodyDef)
shapeDef = box2d.b2PolygonDef()
shapeDef.density = 0.5
shapeDef.friction = 0.95
shapeDef.restitution = 0.5
shapeDef.SetAsBox(self.message.get_width()/2.0/self.pixels_per_unit,
self.message.get_height()/2.0/self.pixels_per_unit)
self.message_body.CreateShape(shapeDef)
self.message_body.SetMassFromShapes()
self.message_body.SetLinearVelocity = box2d.b2Vec2(100.0,0)
def __init__(self, xpos, ypos, dimensionX, dimensionY, isDynamic):
# Creating the body definition
self.bodyDef = Box2D.b2BodyDef()
if isDynamic:
self.bodyDef.type = Box2D.b2_dynamicBody
else:
self.bodyDef.type = Box2D.b2_staticBody
# put object to "Sleep" to spare CPU
self.bodyDef.awake = False
self.bodyDef.position = (xpos, ypos)
# platform body in world
self.body = world.CreateBody(self.bodyDef)
self.body.mass = 0.001
# platform box shape
self.objectBox = Box2D.b2PolygonShape(box=(dimensionX / 2,
dimensionY / 2))
# fixture definition
if isDynamic:
self.objectBoxFixture = Box2D.b2FixtureDef(shape=self.objectBox)
else:
self.objectBoxFixture = Box2D.b2FixtureDef(shape=self.objectBox,
density=1,
friction=0.3)
self.body.CreateFixture(self.objectBoxFixture)
# the boundaries
# The boundaries
ground = world.CreateBody(position=(400, 0))
ground.CreateEdgeChain([(-1200, -1200), (-1200, 1200), (2000, 2000),
(2000, -1200), (-1200, -1200)])
world.CreateFrictionJoint(bodyA=ground, bodyB=self.body)
def __init__(self, world, x0, y0, theta0):
# constants
self.radius = 0.5
# coordinates for drawing
self.theta = theta0
self.x = x0
self.y = y0
# first define a body
bodyDef = physics.b2BodyDef()
bodyDef.position = (self.x, self.y)
# create body in our world
self.body = world.CreateBody(bodyDef)
# then define the attached shape
# (it's a circle)
shapeDef = physics.b2CircleDef()
shapeDef.radius = self.radius
shapeDef.density = 3
# create the shape
self.shape = self.body.CreateShape(shapeDef)
# attach a mass
self.body.SetMassFromShapes()
# fixtures
self.shape.friction = 1.0
self.shape.restitution = 0.1
# initial angular velocity
self.body.angularVelocity = -30.0
def __init__(self, physics, bl, tr, tc=None, angle=0):
#Hardcode the dirt texture since right now all static things are dirt. I know I know.
self.dead = False
self.tc = tc
self.bl = bl
self.tr = tr
if tc != None:
self.InitPolygons(tc)
self.visible = True
else:
self.visible = False
self.physics = physics
self.bodydef = box2d.b2BodyDef()
#This is inefficient, but it doesn't want to grab properly otherwise. Shitty hack but whatever
self.bodydef.allowSleep = False
self.midpoint = (tr - bl) * 0.5 * physics.scale_factor
self.bodydef.position = tuple((bl * physics.scale_factor) +
self.midpoint)
self.bodydef.angle = angle
self.shape = self.CreateShape(self.midpoint)
if not self.static:
self.shape.userData = self
if self.filter_group != None:
self.shape.filter.groupIndex = self.filter_group
self.bodydef.isBullet = self.isBullet
self.body = physics.world.CreateBody(self.bodydef)
self.shape.density = self.mass
self.shape.friction = 0.7
self.shapeI = self.body.CreateShape(self.shape)
self.child_joint = None
self.parent_joint = None
self.ExtraShapes()
self.PhysUpdate()
def _rect(self, pos, width, height, angle=0, dynamic=True, density=1.0,
restitution=0.16, friction=0.5):
# Add a rect without correcting any settings
# meaning, pos and vertices are in meters
# angle is now in radians ((degrees * pi) / 180))
x, y = pos
bodyDef = box2d.b2BodyDef()
bodyDef.position = (x, y)
userData = {'color': self.parent.get_color()}
bodyDef.userData = userData
# Create the Body
if not dynamic:
density = 0
else:
bodyDef.type = box2d.b2_dynamicBody
body = self.parent.world.CreateBody(bodyDef)
self.parent.element_count += 1
# Add a shape to the Body
boxDef = box2d.b2FixtureDef()
polygonShape = box2d.b2PolygonShape()
polygonShape.SetAsBox(width, height, (0, 0), angle)
boxDef.shape = polygonShape
boxDef.density = density
boxDef.restitution = restitution
boxDef.friction = friction
body.CreateFixture(boxDef)
return body
def add_body(
b2_world, #
jsw, # loaded json b2World
jsw_body):
# create body definition
bodyDef = b2.b2BodyDef()
# Done with minor issues
# missing pybox2d inertiaScale
setAttr(jsw, "allowSleep", bodyDef)
setAttr(jsw_body, "angle", bodyDef)
setAttr(jsw_body, "angularDamping", bodyDef)
setAttr(jsw_body, "angularVelocity", bodyDef)
setAttr(jsw_body, "awake", bodyDef)
setAttr(jsw_body, "bullet", bodyDef)
setAttr(jsw_body, "fixedRotation", bodyDef)
setAttr(jsw_body, "linearDamping", bodyDef)
setB2Vec2Attr(jsw_body, "linearVelocity", bodyDef)
setB2Vec2Attr(jsw_body, "position", bodyDef)
setAttr(jsw_body, "gravityScale", bodyDef) # pybox2d non documented
# setAttr(jsw_body, "massData-I", bodyDef, "inertiaScale")
setAttr(jsw_body, "type", bodyDef)
setAttr(jsw_body, "awake", bodyDef)
# create body
body_ref = b2_world.CreateBody(bodyDef)
for fixture in jsw_body["fixture"]:
add_fixture(body_ref, jsw, fixture)
def __init__(self,bl,tr,tc = None,angle=0):
self.dead = False
self.tc = tc
self.bl = bl
self.tr = tr
self.weapon_quad = None
if tc != None:
self.InitPolygons(tc)
self.visible = True
else:
self.visible = False
self.bodydef = box2d.b2BodyDef()
#This is inefficient, but it doesn't want to grab properly otherwise. Shitty hack but whatever
#self.bodydef.allowSleep = False
self.midpoint = (tr - bl)*0.5*globals.physics.scale_factor
self.bodydef.position = tuple((bl*globals.physics.scale_factor) + self.midpoint)
self.bodydef.angle = angle
self.shape = self.CreateShape(self.midpoint)
if not self.static:
self.shape.userData = self
if self.filter_group != None:
self.shape.filter.groupIndex = self.filter_group
self.bodydef.isBullet = self.isBullet
self.body = globals.physics.world.CreateBody(self.bodydef)
self.shape.density = self.mass
self.shape.friction = 0.7
self.shapeI = self.body.CreateShape(self.shape)
self.child_joint = None
self.parent_joint = None
self.ExtraShapes()
self.PhysUpdate([])
self.health = self.initial_health
def _ball(self, pos, radius, dynamic=True, density=1.0, restitution=0.16,
friction=0.5):
# Add a ball without correcting any settings
# meaning, pos and vertices are in meters
# Define the body
x, y = pos
bodyDef = box2d.b2BodyDef()
bodyDef.position = (x, y)
userData = {'color': self.parent.get_color()}
bodyDef.userData = userData
# Create the Body
if not dynamic:
density = 0
else:
bodyDef.type = box2d.b2_dynamicBody
body = self.parent.world.CreateBody(bodyDef)
self.parent.element_count += 1
# Add a shape to the Body
circleShape = box2d.b2CircleShape()
circleShape.radius = radius
circleDef = box2d.b2FixtureDef()
circleDef.shape = circleShape
circleDef.density = density
circleDef.restitution = restitution
circleDef.friction = friction
body.CreateFixture(circleDef)
return body
def __init__(self):
self._player_maximum_thrust = 2
self._physics_world = Box2D.b2World(gravity=(0,0), doSleep=False, contactListener=ContactDamageInflicter(self))
self._asteroid_shape = Box2D.b2CircleShape()
self._asteroid_shape.radius = ASTEROID_RADIUS
self._asteroid_fixture = Box2D.b2FixtureDef()
self._asteroid_fixture.shape = self._asteroid_shape
self._asteroid_fixture.density = 10
self._asteroid_fixture.restitution = 1
self._asteroid_fixture.friction = 1
self._asteroid_fixture.filter.categoryBits = CollisionFilterCategory.ASTEROID
self._asteroid_fixture.filter.maskBits = CollisionFilterCategory.ASTEROID | CollisionFilterCategory.PLAYER
self._ship_shape = Box2D.b2CircleShape()
self._ship_shape.radius = PLAYER_RADIUS
ship_fixture = Box2D.b2FixtureDef()
ship_fixture.shape = self._ship_shape
ship_fixture.density = 5
ship_fixture.restitution = 1
ship_fixture.friction = 1
ship_fixture.filter.categoryBits = CollisionFilterCategory.PLAYER
ship_fixture.filter.maskBits = CollisionFilterCategory.ASTEROID | CollisionFilterCategory.BORDER
self._player_base_friction = 0.02
self._player_thrust_extra_friction = 0.02
self._player_maximum_turn_thrust = 1
self._thrust_extra_turn_thrust = -0.3
self._base_rotational_friction = 0.1
self._thrust_extra_rotational_friction = 0.05
ship_body_def = Box2D.b2BodyDef()
ship_body_def.position = (
5 + random() * (RIGHT_BORDER_X - 10),
5 + random() * (TOP_BORDER_Y - 10)
)
ship_body_def.angle = random() * pi * 2
ship_body_def.linearVelocity = (0,0)
ship_body_def.linearDamping = self._player_base_friction
ship_body_def.angularVelocity = 0
ship_body_def.angularDamping = self._base_rotational_friction
ship_body_def.fixtures = [ship_fixture]
ship_body_def.type = Box2D.b2_dynamicBody
ship_body_def.allowSleep = False
self._player_ship = self._physics_world.CreateBody(ship_body_def)
self._asteroids = self._create_starting_asteroids()
self._asteroids_to_kill = []
self._asteroid_extra_spawn_accumulator = 0
self._asteroids_avoided_count = 0
self._borders = borders.add_borders(self._physics_world, LEFT_BORDER_X, RIGHT_BORDER_X, BOTTOM_BORDER_Y, TOP_BORDER_Y)
self._asteroid_play_space = asteroid_play_space.add_asteroid_play_space(self._physics_world, LEFT_BORDER_X, RIGHT_BORDER_X, BOTTOM_BORDER_Y, TOP_BORDER_Y)
self.player_current_health = MAX_PLAYER_HEALTH
def load(self, angle, radius, length):
_x, _y=length*math.cos(angle),length*math.sin(angle)
position= self.parent.body.position.x+_x, self.parent.body.position.y+_y
bd=box2d.b2BodyDef()
bd.fixedRotation=False
bd.position=position
sd=box2d.b2CircleDef()
sd.radius=radius
sd.density=1.0
sd.filter.categoryBits= PistonBall.catBits
self.body=WorldConfig.world.CreateBody(bd)
self.body.CreateShape(sd)
self.body.SetMassFromShapes()
self.body.userData=self
pjd=box2d.b2PrismaticJointDef()
pjd.Initialize(self.parent.body, self.body, self.parent.body.position, (math.cos(angle), math.sin(angle)))
pjd.motorSpeed = 30.0
pjd.maxMotorForce = 1000.0
pjd.enableMotor = True
pjd.lowerTranslation = 0.0
pjd.upperTranslation = 10.0
pjd.enableLimit = True
self.joint=WorldConfig.world.CreateJoint(pjd).getAsType()
def create_body(world, shape_type, position = (0, 0), angle = 0, friction = None, restitution = None, density = None, linear_damping = None, is_sensor = False, fixed_rotation = False, body_type = Box2D.b2_dynamicBody, user_data = None, **kwargs): """Creates a body. All parameters should be self-explanatory with a quick skim of the Box2D manual. **kwargs will be set on the shape type after its construction.""" shape = shape_type() for i, j in kwargs.iteritems(): setattr(shape, i, j) fixture_def = Box2D.b2FixtureDef() if friction is not None: fixture_def.friction = friction if restitution is not None: fixture_def.restitution = restitution if density is not None: fixture_def.density = density fixture_def.shape = shape fixture_def.isSensor = is_sensor body_def = Box2D.b2BodyDef() body_def.type = body_type body_def.position = position body_def.angle = angle body = world.CreateBody(body_def) body.CreateFixture(fixture_def) body.userData = user_data if linear_damping: body.linearDamping = linear_damping body.fixedRotation = fixed_rotation return body
def __init__(self,world,top,size):
scenter=(top[0]+(size[0]/2),
top[1]+(size[1]/2))
wcenter=world.s2wPos(scenter)
extends=world.s2wScale(size)
#print 'top: '+str(top)
#print 'scenter: '+str(scenter)
#print 'wcenter: '+str(wcenter)
#print world.w2sPos(wcenter)
#print 'size: '+str(size)
#print 'extends: '+str(extends)
#print world.w2sScale(extends)
# Physics
walldef=Box2D.b2BodyDef()
walldef.position=Box2D.b2Vec2(wcenter[0],wcenter[1])
walldef.userData={}
wallbody=world.world.CreateBody(walldef)
wallbody.iswall=True
wallshape=Box2D.b2PolygonDef()
width, height = extends
wallshape.SetAsBox(width/2, height/2)
wallbody.CreateShape(wallshape)
# Display
self.image=pygame.Surface(size)
self.image.fill((56,71,216))
self.rect = self.image.get_rect()
self.rect.topleft=top
def load(self, size):
bd=box2d.b2BodyDef()
bd.position=self.shape.center[0], self.shape.center[1]
sd=box2d.b2PolygonDef()
sd.SetAsBox(size[0]/2.0, size[1]/2.0)
sd.filter.categoryBits= BallGen.catBits
self.body=WorldConfig.world.CreateBody(bd)
self.body.CreateShape(sd)
self.body.SetMassFromShapes()
self.body.userData = self
sd.density=2.0
sd.SetAsBox(0.1, 1.8)
bd.isBullet=True
bd.position=self.body.position.x+1, self.body.position.y+4
body_bar=WorldConfig.world.CreateBody(bd)
body_bar.CreateShape(sd)
body_bar.SetMassFromShapes()
jd= box2d.b2RevoluteJointDef()
jd.Initialize(self.body, body_bar, (self.body.position.x+1, self.body.position.y+size[1]/2.0))
jd.maxMotorTorque= 30000.0
jd.motorSpeed = 2* box2d.b2_pi
jd.enableMotor = True
WorldConfig.world.CreateJoint(jd).getAsType()
self.body_bar=body_bar
def __init__(self, screen_size, gravity=(
0.0, -9.0), ppm=100.0, renderer='pygame'):
""" Init the world with boundaries and gravity, and init colors.
Parameters:
screen_size .. (w, h) -- screen size in pixels [int]
gravity ...... (x, y) in m/s^2 [float] default: (0.0, -9.0)
ppm .......... pixels per meter [float] default: 100.0
renderer ..... which drawing method to use (str) default: 'pygame'
Return: class Elements()
"""
self.set_screenSize(screen_size)
self.set_drawingMethod(renderer)
# Create Subclasses
self.add = add_objects.Add(self)
self.callbacks = callbacks.CallbackHandler(self)
self.camera = camera.Camera(self)
# Gravity + Bodies will sleep on outside
self.gravity = gravity
self.doSleep = True
# Create the World
self.world = box2d.b2World(self.gravity, self.doSleep)
bodyDef = box2d.b2BodyDef()
self.world.groundBody = self.world.CreateBody(bodyDef)
# Init Colors
self.init_colors()
# Set Pixels per Meter
self.ppm = ppm
def __init__(self,centre,radius,tc = None,angle=0):
self.dead = False
self.tc = tc
if tc != None:
self.InitPolygons(tc)
self.visible = True
else:
self.visible = False
self.bodydef = box2d.b2BodyDef()
#This is inefficient, but it doesn't want to grab properly otherwise. Shitty hack but whatever
self.bodydef.allowSleep = False
self.midpoint = radius*math.sqrt(2)*globals.physics.scale_factor
self.bodydef.position = box2d.b2Vec2(*(centre*globals.physics.scale_factor))
self.bodydef.angle = angle
self.shape = self.CreateShape(radius)
self.shape.isSensor = self.is_sensor
if not self.static:
self.shape.userData = self
if self.filter_group != None:
self.shape.filter.groupIndex = self.filter_group
self.bodydef.isBullet = self.isBullet
self.body = globals.physics.world.CreateBody(self.bodydef)
self.shape.density = self.mass
self.shape.friction = 0.7
self.shapeI = self.body.CreateShape(self.shape)
self.child_joint = None
self.parent_joint = None
self.ExtraShapes()
self.PhysUpdate([])
self.health = Gobject.initial_health
def LaunchBomb(self, position, velocity):
"""
A bomb is a simple circle which has the specified position and velocity.
position and velocity must be b2Vec2's.
"""
if self.bomb:
self.world.DestroyBody(self.bomb)
self.bomb = None
bd = box2d.b2BodyDef()
bd.allowSleep = True
bd.position = position
bd.isBullet = True
self.bomb = self.world.CreateBody(bd)
self.bomb.SetLinearVelocity(velocity)
sd = box2d.b2CircleDef()
sd.radius = 0.3
sd.density = 20.0
sd.restitution = 0.1
minV = position - (0.3, 0.3)
maxV = position + (0.3, 0.3)
aabb = box2d.b2AABB()
aabb.lowerBound = minV
aabb.upperBound = maxV
if self.world.InRange(aabb):
self.bomb.CreateShape(sd)
self.bomb.SetMassFromShapes()
def addRevolute(self):
sd=box2d.b2PolygonDef()
sd.SetAsBox(1, 0.2)
sd.density = 2.0
sd.filter.groupIndex=-2
bd1=box2d.b2BodyDef()
ppos= self.body.GetWorldCenter()
bd1.position = (ppos.x-0.2, ppos.y+0.8)
body_arm1 = WorldConfig.world.CreateBody(bd1)
body_arm1.CreateShape(sd)
body_arm1.SetMassFromShapes()
jointDef1 = box2d.b2RevoluteJointDef()
jointDef1.Initialize(self.body, body_arm1, (body_arm1.position.x-1, body_arm1.position.y))
# jointDef1.collideConnected = True
jointDef1.lowerAngle = 0.1 * box2d.b2_pi # -90 degrees
jointDef1.upperAngle = 0.2 * box2d.b2_pi # 45 degrees
jointDef1.enableLimit = True
# jointDef1.maxMotorTorque= 100.0
jointDef1.motorSpeed = 0.0
jointDef1.enableMotor = True
WorldConfig.world.CreateJoint(jointDef1).getAsType()
self.bodies.append(body_arm1)
bd1.position = (body_arm1.position.x+2, body_arm1.position.y)
body_arm2 = WorldConfig.world.CreateBody(bd1)
body_arm2.CreateShape(sd)
body_arm2.SetMassFromShapes()
jointDef1.Initialize(body_arm1, body_arm2, (body_arm2.position.x-1, body_arm2.position.y))
# jointDef1.collideConnected = True
jointDef1.lowerAngle = -0.25 * box2d.b2_pi # -90 degrees
jointDef1.upperAngle = -0.1 * box2d.b2_pi # 45 degrees
jointDef1.enableLimit = True
# jointDef1.maxMotorTorque= 1000.0
jointDef1.motorSpeed = 0.0
jointDef1.enableMotor = True
WorldConfig.world.CreateJoint(jointDef1).getAsType()
self.bodies.append(body_arm2)
bd1.position = (body_arm2.position.x+2, body_arm2.position.y)
body_arm3 = WorldConfig.world.CreateBody(bd1)
body_arm3.CreateShape(sd)
body_arm3.SetMassFromShapes()
jointDef1.Initialize(body_arm2, body_arm3, (body_arm3.position.x-1, body_arm3.position.y))
# jointDef1.collideConnected = True
jointDef1.lowerAngle = -0.25 * box2d.b2_pi # -90 degrees
jointDef1.upperAngle = -0.1 * box2d.b2_pi # 45 degrees
jointDef1.enableLimit = True
# jointDef1.maxMotorTorque= 1000.0
jointDef1.motorSpeed = 0.0
jointDef1.enableMotor = True
WorldConfig.world.CreateJoint(jointDef1).getAsType()
self.bodies.append(body_arm3)
def __init__(self, world, x, y):
bodyDef = b2.b2BodyDef()
bodyDef.position = (x, y)
self.body = world.CreateBody(bodyDef)
shapeDef = b2.b2CircleDef()
shapeDef.radius = 0.25
shapeDef.isSensor = True
self.body.CreateShape(shapeDef)
self.body.userData = self
def add_borders(world : Box2D.b2World, left_border : float, right_border : float, bottom_border : float, top_border : float):
fixture_defs = _create_fixtures(left_border, right_border, bottom_border, top_border)
border_body_def = Box2D.b2BodyDef()
border_body_def.fixtures = fixture_defs
border_body_def.type = Box2D.b2_staticBody
border_body_def.position = (0, 0)
return world.CreateBody(border_body_def)
def __init__(self, world, x, y): bodyDef = b2.b2BodyDef() bodyDef.position = (x, y) self.body = world.CreateBody(bodyDef) shapeDef = b2.b2CircleDef() shapeDef.radius = 0.25 shapeDef.isSensor = True self.body.CreateShape(shapeDef) self.body.userData = self
def __init__(self, world, x, y, w, h): bodyDef = b2.b2BodyDef() bodyDef.position = (x + w/2.0, y + h/2.0) self.body = world.CreateBody(bodyDef) shapeDef = b2.b2PolygonDef() shapeDef.SetAsBox(w/2.0, h/2.0) shapeDef.friction = 0.4 shapeDef.restitution = 1 self.body.CreateShape(shapeDef) self.body.userData = self
def __init__(self, world, x, y, vertices):
bodyDef = b2.b2BodyDef()
bodyDef.position = (x, y)
self.body = world.CreateBody(bodyDef)
shapeDef = b2.b2PolygonDef()
shapeDef.setVertices_tuple(vertices)
shapeDef.friction = 0.4
shapeDef.restitution = 1
self.body.CreateShape(shapeDef)
self.body.userData = self
def load(self):
bd=box2d.b2BodyDef()
bd.position=self.shape.center[0], self.shape.center[1]
sd=box2d.b2PolygonDef()
sd.SetAsBox(self.shape.width / 2, self.shape.height / 2)
sd.filter.categoryBits= RockGen.catBits
self.body=WorldConfig.world.CreateBody(bd)
self.body.CreateShape(sd)
self.body.userData = self
def load(self, position):
bodyDef = box2d.b2BodyDef()
bodyDef.position =position
bodyDef.isBullet = True
body = WorldConfig.world.CreateBody(bodyDef)
body.CreateShape(self.getShapeDef())
body.SetMassFromShapes()
body.userData = self
self.body=body
def create_ground(self, x, y, w, h):
props = BodyProperties()
sd = box2d.b2PolygonDef()
sd.SetAsBox(w, h)
bd = box2d.b2BodyDef()
bd.position = (x, y)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetUserData(props)
return body
def __init__(self, definition, position=(0,0), angle=0):
self.definition = definition
bd=box2d.b2BodyDef()
bd.position = position
bd.angle = angle
self.body = definition.world.CreateBody(bd)
self.body.CreateShape(definition.shape_def)
self.body.SetMassFromShapes()
def __init__(self, world, x, y, vertices): bodyDef = b2.b2BodyDef() bodyDef.position = (x, y) self.body = world.CreateBody(bodyDef) shapeDef = b2.b2PolygonDef() shapeDef.setVertices_tuple(vertices) shapeDef.friction = 0.4 shapeDef.restitution = 1 self.body.CreateShape(shapeDef) self.body.userData = self
def __init__(self, world, x, y, w, h):
bodyDef = b2.b2BodyDef()
bodyDef.position = (x + w / 2.0, y + h / 2.0)
self.body = world.CreateBody(bodyDef)
shapeDef = b2.b2PolygonDef()
shapeDef.SetAsBox(w / 2.0, h / 2.0)
shapeDef.friction = 0.4
shapeDef.restitution = 1
self.body.CreateShape(shapeDef)
self.body.userData = self
def createBody(self):
bodyDef = b2d.b2BodyDef()
bodyDef.position = self.position
bodyDef.fixedRotation = self.fixedRotation
bodyDef.angle = self.angle
bodyDef.linearDamping = self.linearDamping
self.body = self.world.CreateBody(bodyDef)
self.body.SetUserData(self)
def load(self, size):
bd=box2d.b2BodyDef()
bd.position=self.shape.center[0], self.shape.center[1]
sd=box2d.b2PolygonDef()
sd.SetAsBox(size[0]/2.0, size[1]/2.0)
sd.filter.categoryBits= Launcher.catBits
self.body=WorldConfig.world.CreateBody(bd)
self.body.CreateShape(sd)
self.body.SetMassFromShapes()
self.body.userData = self
def createGround(position=[0, -20]):
global world
groundBodyDef = Box2D.b2BodyDef()
groundBodyDef.position = Box2D.b2Vec2(0, -20)
groundBody = world.CreateBody(groundBodyDef)
groundBox = Box2D.b2PolygonShape()
groundBox.SetAsBox(100, 10)
fixture = groundBody.CreateFixturesFromShapes(groundBox, friction=100)
return groundBody
def create(self, world, carBody, carPos, cfg):
self.maxForwardSpeed = cfg.maxForwardSpeed
self.maxBackwardSpeed = cfg.maxBackwardSpeed
self.maxDriveForce = cfg.maxDriveForce
self.maxLateralImpulse = cfg.maxLateralImpulse
bodyDef = b2.b2BodyDef()
bodyDef.type = b2.b2_dynamicBody
bodyDef.position = b2.b2Vec2(carPos) + b2.b2Vec2(cfg.position)
self.body = world.CreateBody(bodyDef)
fx = self.body.CreatePolygonFixture(box=(cfg.size.width, cfg.size.height),
density=cfg.density)
def construct(self, world, cfg):
# Agent body
bodyDef = b2.b2BodyDef()
bodyDef.type = b2.b2_dynamicBody
bodyDef.linearDamping = cfg.linearDamping
bodyDef.angularDamping = cfg.angularDamping
bodyDef.position = cfg.position
self.body = world.CreateBody(bodyDef)
self.body.userData = self
verts = ((1.5,0.0),
(3.0,2.5),
(2.8,5.5),
(1.0,10.0),
(-1.0,10.0),
(-2.8,5.5),
(-3.0,2.5),
(-1.5,0.0)
)
self.body.CreatePolygonFixture(vertices=verts,
friction=cfg.friction,
density=cfg.density,
restitution=cfg.restitution
)
self.flJoint = self.addWheel(self.frontLeftWheel,
world,
self.body,
cfg.position,
cfg.wheels.frontLeft
)
self.frJoint = self.addWheel(self.frontRightWheel,
world,
self.body,
cfg.position,
cfg.wheels.frontRight
)
self.addWheel(self.rearLeftWheel,
world,
self.body,
cfg.position,
cfg.wheels.rearLeft
)
self.addWheel(self.rearRightWheel,
world,
self.body,
cfg.position,
cfg.wheels.rearRight
)
# Create Sensor
self.addSensor(world, cfg.sensor)
# Create the mind or remain mindless
if not cfg.mind: return
self.mind = programed.MindProgram()
self.mind.configure(cfg.mind, self)
def test_helloworld(self):
gravity = Box2D.b2Vec2(0, -10)
doSleep = True
world = Box2D.b2World(gravity, doSleep)
groundBodyDef = Box2D.b2BodyDef()
groundBodyDef.position = [0, -10]
groundBody = world.CreateBody(groundBodyDef)
groundBox = Box2D.b2PolygonShape()
groundBox.SetAsBox(50, 10)
groundBody.CreateFixturesFromShapes(groundBox)
bodyDef = Box2D.b2BodyDef()
bodyDef.type = Box2D.b2_dynamicBody
bodyDef.position = (0, 4)
body = world.CreateBody(bodyDef)
dynamicBox = Box2D.b2PolygonShape()
dynamicBox.SetAsBox(1, 1)
fixtureDef = Box2D.b2FixtureDef()
fixtureDef.shape = dynamicBox
fixtureDef.density = 1
fixtureDef.friction = 0.3
body.CreateFixture(fixtureDef)
timeStep = 1.0 / 60
vel_iters, pos_iters = 6, 2
for i in range(60):
world.Step(timeStep, vel_iters, pos_iters)
world.ClearForces()
def test_helloworld(self):
gravity = Box2D.b2Vec2(0, -10)
doSleep = True
world = Box2D.b2World(gravity, doSleep)
groundBodyDef = Box2D.b2BodyDef()
groundBodyDef.position = [0, -10]
groundBody = world.CreateBody(groundBodyDef)
groundBox = Box2D.b2PolygonShape()
groundBox.SetAsBox(50, 10)
groundBody.CreateFixturesFromShapes(groundBox)
bodyDef = Box2D.b2BodyDef()
bodyDef.type = Box2D.b2_dynamicBody
bodyDef.position = (0, 4)
body = world.CreateBody(bodyDef)
dynamicBox = Box2D.b2PolygonShape()
dynamicBox.SetAsBox(1, 1)
fixtureDef = Box2D.b2FixtureDef()
fixtureDef.shape = dynamicBox
fixtureDef.density = 1
fixtureDef.friction = 0.3
body.CreateFixture(fixtureDef)
timeStep = 1.0 / 60
vel_iters, pos_iters = 6, 2
for i in range(60):
world.Step(timeStep, vel_iters, pos_iters)
world.ClearForces()
def create_character(self, x, y):
props = BodyProperties(isCharacter=True)
sd = box2d.b2PolygonDef()
sd.SetAsBox(10.0, 10.0)
sd.density = 1.0
bd = box2d.b2BodyDef()
bd.position = (x, y)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetUserData(props)
return body
def aball(world, x, y, r):
sd = box2d.b2PolygonShape()
sd.SetAsBox(r, r)
sd.restitution = 0.05
bd = box2d.b2BodyDef()
bd.position = (x, y)
body = world.CreateDynamicBody(position=(x, y))
# body = world.CreateBody(bd)
groundBoxFixture = box2d.b2FixtureDef(shape=sd)
body.CreateFixture(groundBoxFixture)
# body.ResetMassData()
return body
def __init__(self, wld, robot):
self.wld = wld
w = wld.w
self.robot = robot # Fired by this robot
self._fuse = None
self._exploding = False
r = robot.turret
pos = r.position
vel = r.linearVelocity
ang = r.angle
blocalvel = box2d.b2Vec2(conf.bulletspeed, 0)
bwvel = r.GetWorldVector(blocalvel)
bvel = bwvel + vel
#print bvel, bvel.Length()
bodyDef = box2d.b2BodyDef()
blocalpos = box2d.b2Vec2(.1, 0)
bwpos = r.GetWorldVector(blocalpos)
bpos = bwpos + pos
bodyDef.position = bpos
bodyDef.angle = ang
bodyDef.isBullet = True
bodyDef.linearDamping = 0
bodyDef.userData = {}
body = w.CreateBody(bodyDef)
#print body
#print 'IB', body.isBullet
body.linearVelocity = bvel
shapeDef = box2d.b2PolygonDef()
shapeDef.SetAsBox(.1, .1)
shapeDef.density = conf.bullet_density
shapeDef.restitution = 0
shapeDef.friction = 0
shapeDef.filter.groupIndex = -robot.n
b = body.CreateShape(shapeDef)
b.userData = {}
body.SetMassFromShapes()
body.userData['actor'] = self
body.userData['kind'] = 'bullet'
body.userData['shooter'] = robot
self.body = body
v = wld.v.addbullet(pos)
self.v = v
class SquareParticle(Particle):
def __init__(self, mass, I, loc, vel, ang, ang_vel):
Particle.__init__(self, mass, I, loc, vel, ang, ang_vel)
self.hp = 150
self.polygon = 1
def display(self):
p0 = self.loc + np.array([-self.dis, -self.dis])
p1 = self.loc + np.array([self.dis, -self.dis])
p2 = self.loc + np.array([self.dis, self.dis])
p3 = self.loc + np.array([-self.dis, self.dis])
return p0, p1, p2, p3
bd = b2.b2BodyDef()
def _init_box2d(self):
assert (self.x is not None)
assert (self.z is not None)
# construct box2d world for lidar.
self.world = Box2D.b2World()
verts = zip(self.x, self.z)
nverts = len(verts)
for i in range(nverts - 1):
p0, p1 = verts[i], verts[i + 1]
edge = Box2D.b2EdgeShape(vertices=[p0, p1])
body = Box2D.b2BodyDef(
type=Box2D.b2_staticBody,
fixtures=Box2D.b2FixtureDef(shape=edge, friction=0),
)
self.world.CreateBody(body)
def __init__(self, w, pos, size):
walldef = box2d.b2BodyDef()
walldef.position = pos
walldef.userData = {}
wallbod = w.CreateBody(walldef)
wallbod.userData['actor'] = None
wallbod.userData['kind'] = 'wall'
wallbod.iswall = True
wallshp = box2d.b2PolygonShape()
width, height = size
wallshp.SetAsBox(width, height)
wallbod.CreatePolygonFixture(box=(width, height), density=1, friction=0.3)
v = view.Wall(pos, size)
self.v = v
def __init__(self, wld, robot):
self.wld = wld
w = wld.w
self.robot = robot # Fired by this robot
self._fuse = None
self._exploding = False
r = robot.turret
pos = r.position
vel = r.linearVelocity
ang = r.angle
blocalvel = box2d.b2Vec2(conf.bulletspeed, 0)
bwvel = r.GetWorldVector(blocalvel)
bvel = bwvel + vel
#print bvel, bvel.length
bodyDef = box2d.b2BodyDef(type=box2d.b2_dynamicBody,)
blocalpos = box2d.b2Vec2(.1, 0)
bwpos = r.GetWorldVector(blocalpos)
bpos = bwpos + pos
bodyDef.position = bpos
bodyDef.angle = ang
bodyDef.isBullet = True
bodyDef.linearDamping = 0
bodyDef.userData = {}
body = w.CreateBody(bodyDef)
#print body
#print 'IB', body.isBullet
body.linearVelocity = bvel
body.CreatePolygonFixture(
box=(0.1,0.1),
friction=0,
density=conf.bullet_density,
restitution=0,
filter = box2d.b2Filter(
groupIndex = -robot.n,))
body.userData['actor'] = self
body.userData['kind'] = 'bullet'
body.userData['shooter'] = robot
self.body = body
v = wld.v.addbullet(pos)
self.v = v
def _create_single_asteroid(self):
direction = random() * 2 * pi
border_collided_with, collision_point = self._find_border_from_center(direction)
# place asteroid beyond border
border_offsets = {
Borders.LEFT: (-ASTEROID_RADIUS, 0),
Borders.TOP: (0, ASTEROID_RADIUS),
Borders.RIGHT: (ASTEROID_RADIUS, 0),
Borders.BOTTOM: (0, -ASTEROID_RADIUS)
}
border_offset = border_offsets[border_collided_with]
asteroid_spawn_location = tuple(collision_coordinate + offset_coordinate for collision_coordinate, offset_coordinate in zip(collision_point, border_offset))
# make asteroids fly in
def create_velocity_generator(start_angle, end_angle):
angle_range = end_angle - start_angle
def generate_velocity():
chosen_angle = start_angle + random() * angle_range
return (cos(chosen_angle) * ASTEROID_SPAWN_SPEED, -sin(chosen_angle) * ASTEROID_SPAWN_SPEED)
return generate_velocity
border_velocity_generators = {
Borders.LEFT: create_velocity_generator (-1 * pi / 4, 1 * pi / 4),
Borders.TOP: create_velocity_generator ( 1 * pi / 4, 3 * pi / 4),
Borders.RIGHT: create_velocity_generator ( 3 * pi / 4, 5 * pi / 4),
Borders.BOTTOM: create_velocity_generator ( 5 * pi / 4, 7 * pi / 4)
}
velocity = border_velocity_generators[border_collided_with]()
max_rotational_velocity = 0.01
asteroid_body_def = Box2D.b2BodyDef()
asteroid_body_def.position = asteroid_spawn_location
asteroid_body_def.angle = random() * pi * 2
asteroid_body_def.linearVelocity = velocity
asteroid_body_def.linearDamping = 0
asteroid_body_def.angularVelocity = (random() * 2 - 1) * max_rotational_velocity
asteroid_body_def.angularDamping = 0
asteroid_body_def.fixtures = [self._asteroid_fixture]
asteroid_body_def.type = Box2D.b2_dynamicBody
asteroid_body_def.allowSleep = False
new_asteroid = self._physics_world.CreateBody(asteroid_body_def)
return new_asteroid
def __init__(self, w, pos, size):
walldef = box2d.b2BodyDef()
walldef.position = pos
walldef.userData = {}
wallbod = w.CreateBody(walldef)
wallbod.userData['actor'] = None
wallbod.userData['kind'] = 'wall'
wallbod.iswall = True
wallshp = box2d.b2PolygonDef()
width, height = size
wallshp.SetAsBox(width, height)
wallbod.CreateShape(wallshp)
self.body = wallbod
self.width = size[0]
self.height = size[1]
v = view.Wall(pos, size)
self.v = v
def abox(world, x, y, w, h):
sd = box2d.b2PolygonShape()
sd.SetAsBox(w, h)
sd.density = 2.0
sd.friction = 0.3
sd.restitution = 0.2
bd = box2d.b2BodyDef()
bd.position = (x, y)
body = world.CreateDynamicBody(position=(x, y))
# body = world.CreateBody(bd)
groundBoxFixture = box2d.b2FixtureDef(shape=sd)
body.CreateFixture(groundBoxFixture)
body.ResetMassData()
body.inertia = .02
body.mass = 1
return body
def geraBody(world, obj):
bodyDef = b2.b2BodyDef()
bodyDef.position = obj["pos"]
bodyDef.type = obj["type"]
bodyDef.angle = obj["angle"]
body = world.CreateBody(bodyDef)
fixDef = b2.b2FixtureDef()
fixDef.shape = obj["shape"]
fixDef.restitution = obj["restitution"]
fixDef.friction = obj["friction"]
fixDef.density = obj["density"]
body.CreateFixture(fixDef)
body.userData = obj
return body
def add_body(b2_world, jsw, jsw_body):
"""add a body described in the json file
:param b2_world: an handler to a b2World object
:type b2_world: b2World reference
:param jsw: dictionary defining all the gropups of data
in the json file
:type jsw: dict(sting: variant)
:param jsw_body: dictionary defining the parameters of the body
:type jsw_body: dict(sting: variant)
:return: the joint name and the joint reference
:rtype: tuple(string, b2Body)
"""
# create body definition
bodyDef = b2.b2BodyDef()
# Done with minor issues
# missing pybox2d inertiaScale
setAttr(jsw, "allowSleep", bodyDef)
setAttr(jsw_body, "angle", bodyDef)
setAttr(jsw_body, "angularDamping", bodyDef)
setAttr(jsw_body, "angularVelocity", bodyDef)
setAttr(jsw_body, "awake", bodyDef)
setAttr(jsw_body, "bullet", bodyDef)
setAttr(jsw_body, "fixedRotation", bodyDef)
setAttr(jsw_body, "linearDamping", bodyDef)
setB2Vec2Attr(jsw_body, "linearVelocity", bodyDef)
setB2Vec2Attr(jsw_body, "position", bodyDef)
setAttr(jsw_body, "gravityScale", bodyDef) # pybox2d non documented
# setAttr(jsw_body, "massData-I", bodyDef, "inertiaScale")
setAttr(jsw_body, "type", bodyDef)
setAttr(jsw_body, "awake", bodyDef)
# create body
body_ref = b2_world.CreateBody(bodyDef)
for fixture in jsw_body["fixture"]:
add_fixture(body_ref, jsw, fixture)
return jsw_body["name"], body_ref
def _buildPhysics(self,width,height,canRotate,isStatic,friction=FRICTION):
bodyDef = Box2D.b2BodyDef()
bodyDef.position = (self.physicalPosition[0],self.physicalPosition[1])
bodyDef.fixedRotation = not canRotate
bodyDef.linearDamping = 0.15
self.body = self.physicsWorld.CreateBody(bodyDef)
#self.body.SetUserData(self)
shapeDef = Box2D.b2PolygonDef()
shapeDef.SetAsBox((width / 2.0) / PIXELS_PER_METER, (height / 2.0) / PIXELS_PER_METER)
if isStatic:
shapeDef.density = 0
else:
shapeDef.density = DENSITY
shapeDef.linearDamping = AIR_RESISTANCE
shapeDef.friction = friction
self.body.CreateShape(shapeDef)
self.body.SetMassFromShapes()
def create_obstacle(self, obstacle_spec):
obstacle_body_def = Box2D.b2BodyDef()
obstacle_body_def.position = (0, 0)
obstacle_body = self.world.CreateBody(obstacle_body_def)
v = []
for vertex in obstacle_spec["geometry"]['coordinates']:
v.append((vertex[0], vertex[1]))
obstacle_box = Box2D.b2PolygonShape(vertices=v)
obstacle_box_fixture = Box2D.b2FixtureDef(shape=obstacle_box)
if "properties" in obstacle_spec:
if obstacle_spec["properties"]['collisionGroup']:
obstacle_box_fixture.filter.groupIndex = obstacle_spec["properties"]['collisionGroup']
obstacle_body.CreateFixture(obstacle_box_fixture)
