def create_jointDef(jsw_joint, b2_world):
joint_type = jsw_joint["type"] # naming
#---------------------------------------------------
if joint_type == "revolute": # Done
jointDef = b2.b2RevoluteJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableLimit", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setAttr(jsw_joint, "jointSpeed", jointDef, "motorSpeed")
setAttr(jsw_joint, "lowerLimit", jointDef, "lowerAngle")
setAttr(jsw_joint, "maxMotorTorque", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "upperLimit", jointDef, "upperAngle")
#---------------------------------------------------
elif joint_type == "distance": # Done
jointDef = b2.b2DistanceJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "dampingRatio", jointDef)
setAttr(jsw_joint, "frequency", jointDef, "frequencyHz")
setAttr(jsw_joint, "length", jointDef)
#---------------------------------------------------
elif joint_type == "prismatic": # Done
jointDef = b2.b2PrismaticJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableLimit", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setB2Vec2Attr(jsw_joint, "localAxisA", jointDef, "axis")
setAttr(jsw_joint, "lowerLimit", jointDef, "lowerTranslation")
setAttr(jsw_joint, "maxMotorForce", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "upperLimit", jointDef, "upperTranslation")
#---------------------------------------------------
elif joint_type == "wheel": # Done
jointDef = b2.b2WheelJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setB2Vec2Attr(jsw_joint, "localAxisA", jointDef)
setAttr(jsw_joint, "maxMotorTorque", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "springDampingRatio", jointDef, "dampingRatio")
setAttr(jsw_joint, "springFrequency", jointDef, "frequencyHz")
#---------------------------------------------------
elif joint_type == "rope": # Done
jointDef = b2.b2RopeJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxLength", jointDef)
#---------------------------------------------------
elif joint_type == "motor": # Done
jointDef = b2.b2MotorJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxForce", jointDef)
setAttr(jsw_joint, "maxTorque", jointDef)
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "linearOffset")
setAttr(jsw_joint, "correctionFactor", jointDef)
#---------------------------------------------------
elif joint_type == "weld": # Done
jointDef = b2.b2WeldJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "dampingRatio", jointDef)
setAttr(jsw_joint, "frequency", jointDef, "frequencyHz")
#---------------------------------------------------
elif joint_type == "friction": # Done
jointDef = b2.b2FrictionJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxForce", jointDef)
setAttr(jsw_joint, "maxTorque", jointDef)
else:
print("unsupported joint type")
return jointDef
def create_jointDef(jsw_joint, b2_world):
"""create a b2JointDef from the json parameters of the joint
:param jsw_joint: dictionary defining the parameters of the joint
:type jsw_joint: dict(sting: variant)
:param b2_world: an handler to a b2World object
:type b2_world: b2World reference
:return: the joint definition object
:rtype: b2JointDef
"""
joint_type = jsw_joint["type"] # naming
# ---------------------------------------------------
if joint_type == "revolute": # Done
jointDef = b2.b2RevoluteJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableLimit", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setAttr(jsw_joint, "jointSpeed", jointDef, "motorSpeed")
setAttr(jsw_joint, "lowerLimit", jointDef, "lowerAngle")
setAttr(jsw_joint, "maxMotorTorque", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "upperLimit", jointDef, "upperAngle")
# ---------------------------------------------------
elif joint_type == "distance": # Done
jointDef = b2.b2DistanceJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "dampingRatio", jointDef)
setAttr(jsw_joint, "frequency", jointDef, "frequencyHz")
setAttr(jsw_joint, "length", jointDef)
# ---------------------------------------------------
elif joint_type == "prismatic": # Done
jointDef = b2.b2PrismaticJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableLimit", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setB2Vec2Attr(jsw_joint, "localAxisA", jointDef, "axis")
setAttr(jsw_joint, "lowerLimit", jointDef, "lowerTranslation")
setAttr(jsw_joint, "maxMotorForce", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "upperLimit", jointDef, "upperTranslation")
# ---------------------------------------------------
elif joint_type == "wheel": # Done
jointDef = b2.b2WheelJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setB2Vec2Attr(jsw_joint, "localAxisA", jointDef)
setAttr(jsw_joint, "maxMotorTorque", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "springDampingRatio", jointDef, "dampingRatio")
setAttr(jsw_joint, "springFrequency", jointDef, "frequencyHz")
# ---------------------------------------------------
elif joint_type == "rope": # Done
jointDef = b2.b2RopeJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxLength", jointDef)
# ---------------------------------------------------
elif joint_type == "motor": # Done
jointDef = b2.b2MotorJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxForce", jointDef)
setAttr(jsw_joint, "maxTorque", jointDef)
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "linearOffset")
setAttr(jsw_joint, "correctionFactor", jointDef)
# ---------------------------------------------------
elif joint_type == "weld": # Done
jointDef = b2.b2WeldJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "dampingRatio", jointDef)
setAttr(jsw_joint, "frequency", jointDef, "frequencyHz")
# ---------------------------------------------------
elif joint_type == "friction": # Done
jointDef = b2.b2FrictionJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxForce", jointDef)
setAttr(jsw_joint, "maxTorque", jointDef)
else:
print("unsupported joint type")
return jointDef
def create_jointDef(jsw_joint, b2_world):
joint_type = jsw_joint["type"] # naming
#---------------------------------------------------
if joint_type == "revolute": # Done
jointDef = b2.b2RevoluteJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableLimit", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setAttr(jsw_joint, "jointSpeed", jointDef, "motorSpeed")
setAttr(jsw_joint, "lowerLimit", jointDef, "lowerAngle")
setAttr(jsw_joint, "maxMotorTorque", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "upperLimit", jointDef, "upperAngle")
#---------------------------------------------------
elif joint_type == "distance": # Done
jointDef = b2.b2DistanceJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "dampingRatio", jointDef)
setAttr(jsw_joint, "frequency", jointDef, "frequencyHz")
setAttr(jsw_joint, "length", jointDef)
#---------------------------------------------------
elif joint_type == "prismatic": # Done
jointDef = b2.b2PrismaticJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableLimit", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setB2Vec2Attr(jsw_joint, "localAxisA", jointDef, "axis")
setAttr(jsw_joint, "lowerLimit", jointDef, "lowerTranslation")
setAttr(jsw_joint, "maxMotorForce", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "upperLimit", jointDef, "upperTranslation")
#---------------------------------------------------
elif joint_type == "wheel": # Done
jointDef = b2.b2WheelJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setB2Vec2Attr(jsw_joint, "localAxisA", jointDef)
setAttr(jsw_joint, "maxMotorTorque", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "springDampingRatio", jointDef, "dampingRatio")
setAttr(jsw_joint, "springFrequency", jointDef, "frequencyHz")
#---------------------------------------------------
elif joint_type == "rope": # Done
jointDef = b2.b2RopeJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxLength", jointDef)
#---------------------------------------------------
elif joint_type == "motor": # Done
jointDef = b2.b2MotorJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxForce", jointDef)
setAttr(jsw_joint, "maxTorque", jointDef)
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "linearOffset")
setAttr(jsw_joint, "correctionFactor", jointDef)
#---------------------------------------------------
elif joint_type == "weld": # Done
jointDef = b2.b2WeldJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "dampingRatio", jointDef)
setAttr(jsw_joint, "frequency", jointDef, "frequencyHz")
#---------------------------------------------------
elif joint_type == "friction": # Done
jointDef = b2.b2FrictionJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxForce", jointDef)
setAttr(jsw_joint, "maxTorque", jointDef)
else:
print ("unsupported joint type")
return jointDef
