def xml_2_b2bodies(world: b2World, xmlStr):
tree = ET.ElementTree(ET.fromstring(xmlStr))
for body in tree.getroot().findall("body"):
id = int(body.attrib["index"])
type = body.attrib["type"]
p = body.find("position")
px, py = float(p.attrib['x']), float(p.attrib['y'])
v = body.find("velocity")
vx, vy = float(v.attrib['vx']), float(v.attrib['vy'])
shape = body.find("shape").attrib['value']
spin = float(body.find("spin").attrib['omega'])
mass = float(body.find("mass").attrib['value'])
orientation = float(body.find("orientation").attrib['theta'])
inertia = float(body.find("inertia").attrib['value'])
if type == "free":
bod = world.CreateDynamicBody(
position=b2Vec2(px, py),
fixtures=eval(shape).fixture,
)
elif type == "fixed":
bod = world.CreateStaticBody(
position=b2Vec2(px, py),
fixtures=eval(shape).fixture,
)
bod.userData = BodyData(b_id=id, shape=shape)
bod.mass = mass
bod.inertia = inertia
bod.linearVelocity = b2Vec2(vx, vy)
bod.angle = orientation
bod.angularVelocity = spin
def add_borders(world : Box2D.b2World, left_border : float, right_border : float, bottom_border : float, top_border : float):
fixture_defs = _create_fixtures(left_border, right_border, bottom_border, top_border)
border_body_def = Box2D.b2BodyDef()
border_body_def.fixtures = fixture_defs
border_body_def.type = Box2D.b2_staticBody
border_body_def.position = (0, 0)
return world.CreateBody(border_body_def)
def create_body(world: b2World,
body_type,
fixture_def,
position=b2Vec2(0, 0)) -> b2Body:
body_def = b2BodyDef()
body_def.type = body_type
body_def.position = position
body = world.CreateBody(body_def)
body.CreateFixture(fixture_def)
return body
def __init__(self, space: Box2D.b2World, pos, orientation, physics_pars,
facing_axis, color, **kwargs):
if self.__class__ == Box2DSegment:
raise NotImplementedError(
'Abstract class Box2DSegment cannot be instantiated.')
self.physics_pars = physics_pars
self._color = color
self._body: Box2D.b2Body = space.CreateDynamicBody(
position=Box2D.b2Vec2(*pos),
angle=orientation,
linearDamping=physics_pars['lin_damping'],
angularDamping=physics_pars['ang_damping'])
self._body.linearVelocity = Box2D.b2Vec2(*[.0, .0])
self._body.angularVelocity = .0
self._body.bullet = True
# overriden by LarvaBody
self.facing_axis = facing_axis
def add_asteroid_play_space(world: Box2D.b2World, left_border: float,
right_border: float, bottom_border: float,
top_border: float):
fixture_shape = Box2D.b2PolygonShape()
width = right_border - left_border + PLAYSPACE_PADDING
height = top_border - bottom_border + PLAYSPACE_PADDING
fixture_shape.SetAsBox(
width, height,
Box2D.b2Vec2(left_border + width / 2, bottom_border + height / 2), 0)
fixture_def = Box2D.b2FixtureDef()
fixture_def.shape = fixture_shape
fixture_def.isSensor = True
play_space_body_def = Box2D.b2BodyDef()
play_space_body_def.fixtures = [fixture_def]
play_space_body_def.type = Box2D.b2_staticBody
play_space_body_def.position = (0, 0)
return world.CreateBody(play_space_body_def)
def __init__(self, world: Box2D.b2World, position=None, orientation=None):
if self.__class__ == Body:
raise NotImplementedError(
'Abstract class Body cannot be instantiated.')
self._color = np.array((93, 133, 195))
self._highlight_color = np.array((238, 80, 62))
if position is None:
position = [.0, .0]
position = np.asarray(position)
if orientation is None:
orientation = .0
self._world = world
self._body: Box2D.b2Body = world.CreateDynamicBody(
position=Box2D.b2Vec2(*(_world_scale * position)),
angle=orientation,
linearDamping=self._linear_damping,
angularDamping=self._angular_damping)
self._body.linearVelocity = Box2D.b2Vec2(*[.0, .0])
self._body.angularVelocity = .0