def update(self):
# Decision-making time
if self.mind: self.mind.think()
# Put our actions into physics
for wheel in self.wheels:
wheel.updateFriction()
wheel.updateDrive(self.controlState)
lockAngle = 35*DEGTORAD
turnSpeedPerSec = 160 * DEGTORAD
turnPerTimeStep = turnSpeedPerSec / 60.0
desiredAngle = 0
if self.controlState & WDC_LEFT:
desiredAngle = -lockAngle
elif self.controlState & WDC_RIGHT:
desiredAngle = lockAngle
angleToTurn = desiredAngle - self.flJoint.angle
# Some problem with the API, therefore workaround:
angleToTurn = b2.b2Clamp((angleToTurn,0),
(-turnPerTimeStep,0),
(turnPerTimeStep,0)).x
newAngle = self.flJoint.angle + angleToTurn
self.flJoint.limits = (newAngle, newAngle)
self.frJoint.limits = (newAngle, newAngle)
