file=jsonfile)
if b.name == 'Hull':
print('\t\t"InitialForceScale" : ' +
str(20 * raptor_walker.INITIAL_RANDOM) + ',',
file=jsonfile)
else:
print('\t\t"InitialForceScale" : 0,', file=jsonfile)
print('\t\t"Depth" : ' + str(b.depth), file=jsonfile)
print('\t},', file=jsonfile)
# Write joints
for i, jnt in enumerate(joints):
bA = jnt.bodyA.userData
bB = jnt.bodyB.userData
# Convert anchors into local space
anchorA = Box2D.b2Rot(-bA.angle) * (jnt.anchorA - bA.position)
anchorB = Box2D.b2Rot(-bB.angle) * (jnt.anchorB - bB.position)
anchorA = [anchorA[i] * S for i in range(2)]
anchorB = [anchorB[i] * S for i in range(2)]
a = bA._tmp_index
b = bB._tmp_index
#lowerLimit = jnt.lowerLimit
#upperLimit = jnt.upperLimit
lowerLimit = lower_limits[i]
upperLimit = upper_limits[i]
print('\t"Joint' + str(i) + '.' + bA.name + '.' + bB.name +
'" : {',
file=jsonfile)
print('\t\t"DataType" : "JointMotor",', file=jsonfile)
print('\t\t"BodyA" : "' + bA.name + '",', file=jsonfile)
print('\t\t"BodyB" : "' + bB.name + '",', file=jsonfile)
