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_physical_entity(self):
body = self._engine.CreateDynamicBody(position=self.physical_position,
fixedRotation=True)
body.CreatePolygonFixture(
box=((self.width / 2.0) / self._world.physical_scale,
(self.height / 2.0) / self._world.physical_scale),
density=1.0,
friction=0.0,
restitution=0.0)
# Constrain missile movements to Y axis.
joint = box_2d.b2PrismaticJointDef()
joint.Initialize(body, self._world.ground, body.worldCenter,
(0.0, 1.0))
joint.collideConnected = True
self._engine.CreateJoint(joint)
return body
def addPrismatic(self):
sd1=box2d.b2CircleDef()
sd1.radius = 2
sd1.density = 2.0
bd1=box2d.b2BodyDef()
ppos= self.body.GetWorldCenter()
bd1.position = (ppos.x+6, ppos.y)
body_punch = WorldConfig.world.CreateBody(bd1)
body_punch.CreateShape(sd1)
body_punch.SetMassFromShapes()
jointDef = box2d.b2PrismaticJointDef()
jointDef.Initialize(self.body, body_punch,playerPos, (1.0,0.0))
jointDef.lowerTranslation = 0.0
jointDef.upperTranslation = 10
jointDef.enableLimit = True
jointDef.motorSpeed = 100.0
jointDef.enableMotor = True
WorldConfig.world.CreateJoint(jointDef).getAsType()
self.bodies.append(body_punch)
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
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
