def draw_extra(self):
if self.mouse_joint:
body = self.mouse_joint.GetBody2()
p1 = body.GetWorldPoint(self.mouse_joint.localAnchor)
p2 = self.mouse_joint.target
self.debugDraw.DrawSegment(p1, p2, box2d.b2Color(1, 1, 1))
#message_label = self.builder.get_object('messages_label')
#if self.builder.get_object('messages_expander').get_expanded() == True:
# self.builder.get_object('messages_label'
# ).set_text('\n'.join(self.text_lines))
cr = self.debugDraw.cr
cr.restore()
cr.scale(1.5,1.5)
pos = 20
for line in self.text_lines:
cr.move_to(10, pos)
cr.show_text(line)
pos += 10
class FrameworkBase(b2.b2ContactListener):
"""
The base of the main Box2D GUI framework.
"""
name = "None"
description = None
TEXTLINE_START = 30
colors = {
'joint_line': b2.b2Color(0.8, 0.8, 0.8),
'contact_add': b2.b2Color(0.3, 0.95, 0.3),
'contact_persist': b2.b2Color(0.3, 0.3, 0.95),
'contact_normal': b2.b2Color(0.4, 0.9, 0.4),
}
def __reset(self):
""" Reset all of the variables to their starting values.
Not to be called except at initialization."""
# Box2D-related
self.points = []
self.settings = fwSettings
self.using_contacts = False
self.stepCount = 0
# Box2D-callbacks
self.destructionListener = None
self.renderer = None
def __init__(self):
super(FrameworkBase, self).__init__()
self.__reset()
# Box2D Initialization
self.world = b2.b2World(gravity=(0, -10), doSleep=True)
self.world.contactListener = self
self.t_steps, self.t_draws = [], []
def __del__(self):
pass
def Step(self, settings, action=None):
"""
The main physics step.
Takes care of physics drawing
(callbacks are executed after the world.Step() )
and drawing additional information.
"""
assert action is None,\
'action should only be used in subclass'
self.stepCount += 1
# Don't do anything if the setting's Hz are <= 0
if settings.hz > 0.0:
timeStep = 1.0 / settings.hz
else:
timeStep = 0.0
# Set the flags based on what the settings show
if self.renderer:
self.renderer.flags = dict(drawShapes=settings.drawShapes,
drawJoints=settings.drawJoints,
drawAABBs=settings.drawAABBs,
drawPairs=settings.drawPairs,
drawCOMs=settings.drawCOMs,
convertVertices=isinstance(
self.renderer, b2.b2DrawExtended))
# Set the other settings that aren't contained in the flags
self.world.warmStarting = settings.enableWarmStarting
self.world.continuousPhysics = settings.enableContinuous
self.world.subStepping = settings.enableSubStepping
# Reset the collision points
self.points = []
# Tell Box2D to step
t_step = time()
self.world.Step(timeStep, settings.velocityIterations,
settings.positionIterations)
t_step = time() - t_step
# Update the debug draw settings so that the vertices will be properly
# converted to screen coordinates
t_draw = time()
if self.renderer:
self.renderer.StartDraw()
self.world.DrawDebugData()
if self.renderer:
# Draw each of the contact points in different colors.
if self.settings.drawContactPoints:
for point in self.points:
if point['state'] == b2.b2_addState:
self.renderer.DrawPoint(
self.renderer.to_screen(point['position']),
settings.pointSize, self.colors['contact_add'])
elif point['state'] == b2.b2_persistState:
self.renderer.DrawPoint(
self.renderer.to_screen(point['position']),
settings.pointSize, self.colors['contact_persist'])
if settings.drawContactNormals:
for point in self.points:
p1 = self.renderer.to_screen(point['position'])
p2 = self.renderer.axisScale * point['normal'] + p1
self.renderer.DrawSegment(p1, p2,
self.colors['contact_normal'])
self.renderer.EndDraw()
t_draw = time() - t_draw
t_draw = max(b2.b2_epsilon, t_draw)
t_step = max(b2.b2_epsilon, t_step)
self.t_draws.append(1.0 / t_draw)
self.t_steps.append(1.0 / t_step)
def SimulationLoop(self, action):
"""
The main simulation loop. Don't override this, override Step instead.
"""
# Reset the text line to start the text from the top
self.textLine = self.TEXTLINE_START
# Draw the name of the test running
self.Print(self.name, (127, 127, 255))
if self.description:
# Draw the name of the test running
for s in self.description.split('\n'):
self.Print(s, (127, 255, 127))
self.Step(self.settings, action)
def PreSolve(self, contact, old_manifold):
"""
This is a critical function when there are many contacts in the world.
It should be optimized as much as possible.
"""
if not (self.settings.drawContactPoints
or self.settings.drawContactNormals or self.using_contacts):
return
elif len(self.points) > self.settings.maxContactPoints:
return
manifold = contact.manifold
if manifold.pointCount == 0:
return
_, state2 = b2.b2GetPointStates(old_manifold, manifold)
if not state2:
return
worldManifold = contact.worldManifold
for i, _ in enumerate(state2):
self.points.append({
'fixtureA': contact.fixtureA,
'fixtureB': contact.fixtureB,
'position': worldManifold.points[i],
'normal': worldManifold.normal,
'state': state2[i]
})
def Step(self, settings):
"""
The main physics step.
Takes care of physics drawing (callbacks are executed after the world.Step() )
and drawing additional information.
"""
# Don't do anything if the setting's Hz are <= 0
if settings.hz > 0.0:
timeStep = 1.0 / settings.hz
else:
timeStep = 0.0
# If paused, display so
if settings.pause:
if settings.singleStep:
settings.singleStep=False
else:
timeStep = 0.0
self.DrawStringCR("****PAUSED****")
# Set the flags based on what the settings show (uses a bitwise or mask)
flags = 0
if settings.drawShapes: flags |= box2d.b2DebugDraw.e_shapeBit
if settings.drawJoints: flags |= box2d.b2DebugDraw.e_jointBit
if settings.drawControllers:flags |= box2d.b2DebugDraw.e_controllerBit
if settings.drawCoreShapes: flags |= box2d.b2DebugDraw.e_coreShapeBit
if settings.drawAABBs: flags |= box2d.b2DebugDraw.e_aabbBit
if settings.drawOBBs: flags |= box2d.b2DebugDraw.e_obbBit
if settings.drawPairs: flags |= box2d.b2DebugDraw.e_pairBit
if settings.drawCOMs: flags |= box2d.b2DebugDraw.e_centerOfMassBit
self.debugDraw.SetFlags(flags)
# Set the other settings that aren't contained in the flags
self.world.SetWarmStarting(settings.enableWarmStarting)
self.world.SetContinuousPhysics(settings.enableTOI)
# Reset the collision points
self.points = []
# Tell Box2D to step
self.world.Step(timeStep, settings.velocityIterations, settings.positionIterations)
self.world.Validate()
# Destroy bodies that have left the world AABB (can be removed if not using pickling)
for obj in self.destroyList:
self.world.DestroyBody(obj)
self.destroyList = []
# If the bomb is frozen, get rid of it.
if self.bomb and self.bomb.IsFrozen():
self.world.DestroyBody(self.bomb)
self.bomb = None
if settings.drawStats:
self.DrawStringCR("proxies(max) = %d(%d), pairs(max) = %d(%d)" % (
self.world.GetProxyCount(), box2d.b2_maxProxies, self.world.GetPairCount(), box2d.b2_maxPairs) )
self.DrawStringCR("bodies/contacts/joints = %d/%d/%d" %
(self.world.GetBodyCount(), self.world.GetContactCount(), self.world.GetJointCount()))
self.DrawStringCR("hz %d vel/pos iterations %d/%d" %
(settings.hz, settings.velocityIterations, settings.positionIterations))
self.DrawStringCR("heap bytes = %d" % box2d.cvar.b2_byteCount)
if settings.drawFPS: #python version only
self.DrawStringCR("FPS %d" % self.fps)
# If there's a mouse joint, draw the connection between the object and the current pointer position.
if self.mouseJoint:
body = self.mouseJoint.GetBody2()
p1 = body.GetWorldPoint(self.mouseJoint.localAnchor)
p2 = self.mouseJoint.target
self.debugDraw.DrawPoint(p1, settings.pointSize, box2d.b2Color(0,1.0,0))
self.debugDraw.DrawPoint(p2, settings.pointSize, box2d.b2Color(0,1.0,0))
self.debugDraw.DrawSegment(p1, p2, box2d.b2Color(0.8,0.8,0.8))
# Draw the slingshot bomb
if self.bombSpawning:
self.debugDraw.DrawPoint(self.bombSpawnPoint, settings.pointSize, box2d.b2Color(0,0,1.0))
self.debugDraw.DrawSegment(self.bombSpawnPoint, self.mouseWorld, box2d.b2Color(0.8,0.8,0.8))
# Draw each of the contact points in different colors.
if self.settings.drawContactPoints:
#k_impulseScale = 0.1
k_axisScale = 0.3
for point in self.points:
if point.state == fwContactTypes.contactAdded:
self.debugDraw.DrawPoint(point.position, settings.pointSize, box2d.b2Color(0.3, 0.95, 0.3))
elif point.state == fwContactTypes.contactPersisted:
self.debugDraw.DrawPoint(point.position, settings.pointSize, box2d.b2Color(0.3, 0.3, 0.95))
else: #elif point.state == fwContactTypes.contactRemoved:
self.debugDraw.DrawPoint(point.position, settings.pointSize, box2d.b2Color(0.95, 0.3, 0.3))
if settings.drawContactNormals:
p1 = point.position
p2 = p1 + k_axisScale * point.normal
self.debugDraw.DrawSegment(p1, p2, box2d.b2Color(0.4, 0.9, 0.4))
