def __init__(self, a, b):
self.LHS=a
self.RHS=b
d1 = pymunk.DampedSpring(a.body, b.body, (R,R),(-R,R), 0, S, D)
d2 = pymunk.DampedSpring(a.body, b.body, (R,R/2),(-R,R/2), 0, S, D)
d3 = pymunk.DampedSpring(a.body, b.body, (R,-R/2),(-R,-R/2), 0, S, D)
d4 = pymunk.DampedSpring(a.body, b.body, (R,-R),(-R,-R), 0 , S, D)
#d1.collide_bodies=False
self.joints=[d1,d2,d3,d4]
self.LHS.right_bond=self
self.RHS.left_bond=self
a.world.space.add(d1,d2,d3,d4)
def add_spring_constraint(self,
b1,
b2,
loc1=(0, 0),
loc2=(0, 0),
params=None):
if params == None:
rest_length = np.random.randint(SPRING_LIMITS[0][0],
SPRING_LIMITS[0][1])
stiffness = np.random.randint(SPRING_LIMITS[1][0],
SPRING_LIMITS[1][1])
# damping = np.random.gamma(1, 0.5)
damping = 0
params = [rest_length, stiffness, damping]
# if self.verbose:
# print('Adding spring to {}-{}; {}, {}'.format(self.bodies.index(b1), self.bodies.index(b2), params[0], params[1]))
spring_joint = pymunk.DampedSpring(b1, b2, loc1, loc2, params[0],
params[1], params[2])
self.space.add(spring_joint)
if type(self) == SimulationScene:
indices = (self.bodies.index(b1), self.bodies.index(b2))
self.constraints[(min(indices), max(indices))] = spring_joint
return spring_joint
def add_player(space, pos):
body = pymunk.Body(100, pymunk.inf) ####Body
body.position = pos
bodyShape = pymunk.Circle(body, 20, (0, 0))
bodyShape.friction = 0.1
bodyShape.elasticity = 0.0
bodyShape.filter = pymunk.ShapeFilter(mask=pymunk.ShapeFilter.ALL_MASKS
^ 1)
bodyShape.collision_type = 1
space.add(body, bodyShape)
contact = pymunk.Body(10, 1000) ####Sole
contact.position = (pos[0], pos[1] - 100)
contactRadius = 2
contactShape = pymunk.Segment(contact, (0, 0), (0, 100), 4)
contactShape.filter = pymunk.ShapeFilter(categories=1)
contactShape.friction = 3.5
contactShape.elasticity = 0.0
contactShape.collision_type = 2
space.add(contact, contactShape)
##################Adding constraints to a system################
slider = pymunk.GrooveJoint(contact, body, (0, -100), (0, 200), (0, 0))
space.add(slider)
spring = pymunk.DampedSpring(contact, body, (0, 0), (0, 0), 100, 20000,
200)
space.add(spring)
return [body, contact, spring]
def testDebugDrawZeroLengthSpring(self):
if sys.version_info < (3, 0):
return
s = p.Space()
b1 = p.Body(1, 3)
c = p.DampedSpring(b1, s.static_body, (0, 0), (0, 0), 0, 10, 1)
s.add(b1, c)
s.step(1)
o = p.SpaceDebugDrawOptions()
new_out = io.StringIO()
sys.stdout = new_out
try:
s.debug_draw(o)
finally:
sys.stdout = sys.__stdout__
expected = (
"draw_dot (5.0, Vec2d(0.0, 0.0), SpaceDebugColor(r=142.0, g=68.0, b=173.0, a=255.0))\n"
"draw_dot (5.0, Vec2d(0.0, 0.0), SpaceDebugColor(r=142.0, g=68.0, b=173.0, a=255.0)) \n"
"draw_segment (Vec2d(0.0, 0.0), Vec2d(0.0, 0.0), SpaceDebugColor(r=142.0, g=68.0, b=173.0, a=255.0))\n"
"draw_segment (Vec2d(0.0, 0.0), Vec2d(0.0, 0.0), SpaceDebugColor(r=142.0, g=68.0, b=173.0, a=255.0))\n"
)
actual = new_out.getvalue()
try:
self.assertEqual(expected, actual)
except:
print("\nExpected", expected)
print("\nActual", actual)
raise
def add_joint(a, b):
rl = a.position.get_distance(b.position) * 0.9
stiffness = 5000.
damping = 100
j = pymunk.DampedSpring(a, b, (0, 0), (0, 0), rl, stiffness, damping)
j.max_bias = 1000
space.add(j)
def update(self, time: float, dt: float):
if self.move_normal is not None:
for i, foot in enumerate(self.feet):
#want_contact = .0 < math.sin(self.feet_rotation_movement * 10. + i / len(self.feet) * math.pi * 2)
want_contact = .0 < foot.normal().dot(self.move_normal)
if want_contact and not foot.world_joint:
#foot_world_pos = self.object.position + foot.relative_pos.rotated(self.object.rotation)
foot_world_pos = foot.object.position
info = self.space.point_query_nearest(
point=foot_world_pos + .1 * self.move_normal,
max_distance=foot.radius*1.3,
shape_filter=ShapeFilter(mask=ShapeFilter.ALL_MASKS() ^ 0b1),
)
if info:
# print("connect", foot.object, info.point, info.shape)
foot.world_joint = pymunk.DampedSpring(
a=foot.object.body,
b=info.shape.body,
anchor_a=(0, 0),
anchor_b=info.shape.body.world_to_local(info.point),
rest_length=0,#foot.radius,
stiffness=10000,
damping=10,
)
self.space.add(foot.world_joint)
foot.object.color = (1, 2, 1, 1)
if not want_contact and foot.world_joint:
# print("disconnect", foot.object)
self.space.remove(foot.world_joint)
foot.world_joint = None
foot.object.color = (1, 1, 1, 1)
def main():
pygame.init()
screen = pygame.display.set_mode((1000, 1000))
pygame.display.set_caption("Ball moving")
clock = pygame.time.Clock()
space = pymunk.Space()
space.gravity = (0.0, 0.0)
objects = []
draw_options = pymunk.pygame_util.DrawOptions(screen)
harmonic_center_body = pymunk.Body(body_type=pymunk.Body.STATIC)
joint_x = random.randint(300, 700)
joint_y = random.randint(300, 700)
harmonic_center_body.position = (joint_x, joint_y)
x_pos = random.randint(300, 700)
y_pos = random.randint(300, 700)
vel = random.randint(2, 20)
string = (joint_x - x_pos, joint_y - y_pos)
mag = math.sqrt(string[0]**2 + string[1]**2)
velocity = (string[1] / mag * vel, string[0] / mag * vel)
shape = add_ball(space, 1, 20, (x_pos, y_pos), velocity, 0)
stiffness = random.randint(10, 120)
harmonic_center_joint = pymunk.DampedSpring(shape.body,
harmonic_center_body, (0, 0),
(0, 0), 0, stiffness, 0)
space.add(harmonic_center_joint)
objects.append(shape)
while True:
for event in pygame.event.get():
if event.type == QUIT:
sys.exit(0)
elif event.type == KEYDOWN and event.key == K_ESCAPE:
sys.exit(0)
space.step(1 / 50.0)
screen.fill((255, 255, 255))
# objects_to_remove = []
# for obj in objects:
# print (obj)
# if obj.body.position.y > 150:
# objects_to_remove.append(obj)
# for obj in objects_to_remove:
# space.remove(obj, obj.body)
# objects.remove(obj)
space.debug_draw(draw_options)
pygame.display.flip()
clock.tick(50)
def add_rels(self, param_load=None):
param = np.zeros((self.n_ball * (self.n_ball - 1) // 2, 2))
self.param_dim = param.shape[0]
if param_load is not None:
print("Load param for init env")
cnt = 0
rels_idx = []
for i in range(self.n_ball):
for j in range(i):
rel_type = rand_int(
0,
self.n_rel_type) if param_load is None else param_load[cnt,
0]
param[cnt, 0] = rel_type
rels_idx.append([i, j])
pos_i = self.balls[i].position
pos_j = self.balls[j].position
if rel_type == 0:
# no relation
pass
elif rel_type == 1:
# spring
rest_length = rand_float(
20, 120) if param_load is None else param_load[cnt, 1]
param[cnt, 1] = rest_length
c = pymunk.DampedSpring(self.balls[i],
self.balls[j], (0, 0), (0, 0),
rest_length=rest_length,
stiffness=20,
damping=0.)
self.space.add(c)
elif rel_type == 2:
# string
rest_length = calc_dis(
pos_i,
pos_j) if param_load is None else param_load[cnt, 1]
param[cnt, 1] = rest_length
c = pymunk.SlideJoint(self.balls[i], self.balls[j], (0, 0),
(0, 0), rest_length - 5,
rest_length + 5)
self.space.add(c)
else:
raise AssertionError("Unknown relation type")
cnt += 1
if param_load is not None:
assert ((param == param_load).all())
self.rels_idx = rels_idx
self.param = param
def input(self):
events = pygame.event.get()
for event in events:
if event.type == pygame.QUIT:
self.stop()
if event.type == pygame.VIDEORESIZE:
self.width = event.dict['size'][0]
self.height = event.dict['size'][1]
self.screen = pygame.display.set_mode(
(self.width, self.height),
pygame.HWSURFACE | pygame.DOUBLEBUF | pygame.RESIZABLE)
self.widthPixelsPerVirtualPixel = self.width / self.virtualWidth
self.heightPixelsPerVirtualPixel = self.height / self.virtualHeight
if event.type == pygame.MOUSEBUTTONDOWN:
self.clickPosition = list(pygame.mouse.get_pos())
self.clickPosition[0] = self.clickPosition[
0] / self.widthPixelsPerVirtualPixel
self.clickPosition[1] = self.clickPosition[
1] / self.heightPixelsPerVirtualPixel
self.holdingState = True
elif event.type == pygame.MOUSEBUTTONUP:
self.releasePosition = list(pygame.mouse.get_pos())
self.releasePosition[0] = self.releasePosition[
0] / self.widthPixelsPerVirtualPixel
self.releasePosition[1] = self.releasePosition[
1] / self.heightPixelsPerVirtualPixel
self.holdingState = False
self.shapes.sliceShapes(
[self.clickPosition, self.releasePosition])
if event.type == pygame.MOUSEMOTION:
self.previousPosition = self.currentPosition
self.currentPosition = list(pygame.mouse.get_pos())
self.currentPosition[0] = self.currentPosition[
0] / self.widthPixelsPerVirtualPixel
self.currentPosition[1] = self.currentPosition[
1] / self.heightPixelsPerVirtualPixel
self.a.position = self.currentPosition
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_SPACE:
self.shapes.createShape(self.virtualWidth / 2,
self.virtualHeight / 2)
if event.key == pygame.K_z:
b = self.space.point_query_nearest(self.currentPosition,
20,
pymunk.ShapeFilter())
if b != None:
if self.c != None:
self.space.remove(self.c)
self.c = pymunk.DampedSpring(
self.a, b[0].body, (0, 0),
b[0].body.center_of_gravity, 10, 30, 0)
self.space.add(self.c)
if event.key == pygame.K_x:
if self.c != None:
self.space.remove(self.c)
self.c = None
def mk_static_body(b, x, y):
static_body = pymunk.Body(body_type=pymunk.Body.STATIC)
static_body.position = vec2d.Vec2d(x, y)
l = static_body.position.get_distance(b.position) * 0.9
damping = 15
stiffness = 20
j = pymunk.DampedSpring(static_body, b, (0, 0), (0, 0), l, stiffness,
damping)
space.add(j)
def create_wheel(self, wheel_side):
if wheel_side not in ['rear', 'front']:
raise Exception('Wheel position must be front or rear')
wheel_objects = []
wheel_mass = getattr(self, wheel_side + '_wheel_mass')
wheel_radius = getattr(self, wheel_side + '_wheel_radius')
wheel_position = getattr(self, wheel_side + '_wheel_position')
wheel_friction = getattr(self, wheel_side + '_wheel_friction')
wheel_elasticity = getattr(self, wheel_side + '_wheel_elasticity')
wheel_damp_position = getattr(self,
wheel_side + '_wheel_damp_position')
wheel_damp_length = getattr(self, wheel_side + '_wheel_damp_length')
wheel_damp_stiffness = getattr(self,
wheel_side + '_wheel_damp_stiffness')
wheel_damp_damping = getattr(self, wheel_side + '_wheel_damp_damping')
wheel_body = pymunk.Body(
wheel_mass,
pymunk.moment_for_box(wheel_mass,
(wheel_radius * 2, wheel_radius * 2)))
wheel_body.position = (wheel_position[0] * self.x_modification,
wheel_position[1])
wheel_shape = pymunk.Poly.create_box(
wheel_body, (wheel_radius * 2, wheel_radius * 2))
wheel_shape.filter = pymunk.ShapeFilter(group=self.car_group)
wheel_shape.color = 255, 34, 150
wheel_shape.friction = wheel_friction
wheel_shape.elasticity = wheel_elasticity
wheel_objects.append(wheel_shape)
wheel_grove = pymunk.GrooveJoint(
self.car_body, wheel_body,
(wheel_damp_position[0] * self.x_modification,
wheel_damp_position[1]),
(wheel_damp_position[0] * self.x_modification,
wheel_damp_position[1] - wheel_damp_length * 1.5), (0, 0))
wheel_objects.append(wheel_grove)
wheel_damp = pymunk.DampedSpring(
wheel_body,
self.car_body,
anchor_a=(0, 0),
anchor_b=(wheel_damp_position[0] * self.x_modification,
wheel_damp_position[1]),
rest_length=wheel_damp_length,
stiffness=wheel_damp_stiffness,
damping=wheel_damp_damping)
wheel_objects.append(wheel_damp)
wheel_motor = None
if (wheel_side == 'rear' and self.drive in [self.AWD, self.FR]) or (
wheel_side == 'front' and self.drive in [self.AWD, self.FF]):
wheel_motor = pymunk.SimpleMotor(wheel_body, self.car_body, 0)
return wheel_body, wheel_motor, wheel_objects
def createSpring(self, bodyA, bodyB, anchorA, anchorB, restLength):
joint = pymunk.DampedSpring(bodyA,
bodyB,
anchorA,
anchorB,
restLength,
stiffness=0.5,
damping=0.5)
self.space.add(joint)
def testAnchor(self):
a, b = p.Body(10, 10), p.Body(20, 20)
j = p.DampedSpring(a, b, (1, 2), (3, 4), 0, 0, 0)
self.assertEqual(j.anchor_a, (1, 2))
self.assertEqual(j.anchor_b, (3, 4))
j.anchor_a = (5, 6)
j.anchor_b = (7, 8)
self.assertEqual(j.anchor_a, (5, 6))
self.assertEqual(j.anchor_b, (7, 8))
def build(space, group):
# type: (pymunk.Space, pygame.sprite.AbstractGroup) -> CatModel
"""
Builds our unicycle cat.
:param space: The pymunk space to put the cat in.
:param group: The pygame sprite group to put the cat in.
"""
scale = 2
normal_rect = pygame.Rect(0, 0, 32 * scale, 40 * scale)
cat_model = CatModel()
sprites = []
pymunk_objects = []
filter1 = pymunk.ShapeFilter(group=0b000001)
# Main body
body_body = pymunk.Body(0.00001, pymunk.inf)
body_body.position = normal_rect.topleft
cat_model.main_body = body_body
pymunk_objects.append(body_body)
# seat
seat_body = build_seat(filter1, normal_rect, pymunk_objects, sprites)
# build feet
cat_model.feet, feet_sprite = build_feet(filter1, normal_rect,
pymunk_objects, body_body,
seat_body)
sprites.append(feet_sprite)
# Add motor
cat_model.motor = pymunk.SimpleMotor(body_body, cat_model.feet, 0.0)
pymunk_objects.append(cat_model.motor)
# cat
cat_body, cat_rect = build_cat(normal_rect, pymunk_objects, sprites)
# hold cat the the seat
spring = pymunk.DampedSpring(seat_body, cat_body, normal_rect.midtop,
cat_rect.midbottom, 0, 1, 0)
pymunk_objects.append(spring)
# tilt corrector
spring = pymunk.DampedRotarySpring(body_body, seat_body, radians(0), 60000,
20000)
spring.collide_bodies = False
pymunk_objects.append(spring)
cat_model.sprites = sprites
cat_model.pymunk_objects = pymunk_objects
space.add(pymunk_objects)
group.add(*sprites)
return cat_model
def __init__(self, space, p1, shape1, p2, shape2, length, stiffness,
damping):
# Associate the joint with the location of one of the bodies so
# it is removed when that body is out of the simulation
self.body = shape1.body
self.shape = pymunk.DampedSpring(shape1.body, shape2.body, p1, p2,
length, stiffness, damping)
super().__init__()
space.add(self.shape)
def on_mouse_press(x, y, button, modifiers):
mouse_body.position = x,y
hit = space.point_query_nearest((x,y), 10, pymunk.ShapeFilter())
if hit != None:
global selected
body = hit.shape.body
rest_length = mouse_body.position.get_distance(body.position)
stiffness = 1000
damping = 10
selected = pymunk.DampedSpring(mouse_body, body, (0,0), (0,0), rest_length, stiffness, damping)
space.add(selected)
def add_joint(a, b):
global spring_stiffness
global spring_damping_factor
global spring_max_force
rl = a.position.get_distance(b.position) * 1.0 # @parameter
stiffness = spring_stiffness / (9 / num_levels)
damping = spring_damping_factor
j = pymunk.DampedSpring(a, b, (0, 0), (0, 0), rl, stiffness, damping)
# j.max_bias = 1000 # @parameter
j.max_force = spring_max_force
space.add(j)
def create_physics(self):
constraint = pymunk.DampedSpring(
self.a.body,
self.b.body,
anchor_a=self.anchor_a,
anchor_b=self.anchor_b,
rest_length=self.rest_length,
stiffness=self.stiffness,
damping=self.damping,
)
self._constraint = constraint
self.engine.space.add(constraint)
def handle_moving_platform(self, shape):
logger.info('loading moving platform %s', shape)
assert (not shape.body.is_static)
shape.layers = 3
shape.collision_type = 0
shape.body.velocity_func = ignore_gravity
shape.body.moment = pymunk.inf
shape.cache_bb()
bb = shape.bb
rect = pygame.Rect(
(bb.left, bb.top, bb.right - bb.left, bb.top - bb.bottom))
rect.normalize()
height = 100
anchor1 = shape.body.position
anchor2 = shape.body.position - (0, height)
joint = pymunk.GrooveJoint(self.space.static_body, shape.body, anchor1,
anchor2, (0, 0))
spring = pymunk.DampedSpring(self.space.static_body, shape.body,
anchor2, (0, 0), height, 10000, 50)
self.space.add(joint, spring)
gids = [self.tmx_data.map_gid(i)[0][0] for i in (1, 2, 3)]
colorkey = (255, 0, 255)
tile_width = self.tmx_data.tilewidth
s = pygame.Surface((rect.width, rect.height))
s.set_colorkey(colorkey)
s.fill(colorkey)
tile = self.tmx_data.getTileImageByGid(gids[0])
s.blit(tile, (0, 0))
tile = self.tmx_data.getTileImageByGid(gids[1])
for x in range(0, rect.width - tile_width, tile_width):
s.blit(tile, (x, 0))
tile = self.tmx_data.getTileImageByGid(gids[2])
s.blit(tile, (rect.width - tile_width, 0))
spr = sprite.BoxSprite(shape)
spr.original_surface = s
m = models.Basic()
m.sprite = spr
self.add_model(m)
def testPickle(self):
a, b = p.Body(10, 10), p.Body(20, 20)
j = p.DampedSpring(a, b, (1, 2), (3, 4), 5, 6, 7)
s = pickle.dumps(j)
j2 = pickle.loads(s)
self.assertEqual(j.anchor_a, j2.anchor_a)
self.assertEqual(j.anchor_b, j2.anchor_b)
self.assertEqual(j.rest_length, j2.rest_length)
self.assertEqual(j.stiffness, j2.stiffness)
self.assertEqual(j.damping, j2.damping)
self.assertEqual(j.a.mass, j2.a.mass)
self.assertEqual(j.b.mass, j2.b.mass)
def create_wheel(self, wheel_side):
if wheel_side not in ['rear', 'front']:
raise Exception('Wheel position must be front or rear')
wheel_objects = []
wheel_mass = getattr(self, wheel_side + '_wheel_mass')
wheel_radius = getattr(self, wheel_side + '_wheel_radius')
wheel_position = getattr(self, wheel_side + '_wheel_position')
wheel_friction = getattr(self, wheel_side + '_wheel_friction')
wheel_elasticity = getattr(self, wheel_side + '_wheel_elasticity')
wheel_joint = getattr(self, wheel_side + '_wheel_joint')
wheel_damp_position = getattr(self, wheel_side + '_wheel_damp_position')
wheel_damp_length = getattr(self, wheel_side + '_wheel_damp_length')
wheel_damp_stiffness = getattr(self, wheel_side + '_wheel_damp_stiffness')
wheel_damp_damping = getattr(self, wheel_side + '_wheel_damp_damping')
wheel_body = pymunk.Body(wheel_mass, pymunk.moment_for_circle(wheel_mass, 0, wheel_radius))
wheel_body.position = (wheel_position[0] * self.x_modification, wheel_position[1])
wheel_shape = pymunk.Circle(wheel_body, wheel_radius)
wheel_shape.filter = pymunk.ShapeFilter(group=self.car_group)
wheel_shape.color = 255, 34, 150
wheel_shape.friction = wheel_friction
wheel_shape.elasticity = wheel_elasticity
wheel_objects.append(wheel_shape)
wheel_joint = pymunk.PinJoint(wheel_body, self.car_body, anchor_b=(wheel_joint[0] * self.x_modification, wheel_joint[1]))
wheel_objects.append(wheel_joint)
wheel_damp = pymunk.DampedSpring(wheel_body, self.car_body, anchor_a=(0, 0),
anchor_b=(wheel_damp_position[0] * self.x_modification, wheel_damp_position[1]),
rest_length=wheel_damp_length,
stiffness=wheel_damp_stiffness,
damping=wheel_damp_damping)
wheel_objects.append(wheel_damp)
wheel_stop = pymunk.Poly(self.car_body, [(0, 0), (0, 1), (wheel_radius * 2 * self.x_modification, 1), (wheel_radius * 2 * self.x_modification, 0)],
transform=pymunk.Transform(tx=wheel_damp_position[0] * self.x_modification - wheel_radius * self.x_modification, ty=wheel_damp_position[1]))
wheel_objects.append(wheel_stop)
wheel_stop.color = 0, 255, 0
wheel_motor = None
if (wheel_side == 'rear' and self.drive in [self.AWD, self.FR]) or (wheel_side == 'front' and self.drive in [self.AWD, self.FF]):
wheel_motor = pymunk.SimpleMotor(wheel_body, self.car_body, 0)
# wheel_objects.append(motor)
return wheel_body, wheel_motor, wheel_objects
def on_mouse_press(self, x, y, button, modifiers):
self.mouse_body.position = x, y
hit = self.env.point_query_nearest((x, y), 10, pymunk.ShapeFilter())
if hit != None:
body = hit.shape.body
if body.body_type == pymunk.Body.DYNAMIC:
rest_length = self.mouse_body.position.get_distance(\
body.position)
stiffness = 500
damping = 10
self.spring_body = pymunk.DampedSpring(self.mouse_body, body, \
(0,0), (0,0), rest_length, stiffness, damping)
self.env.add(self.spring_body)
elif body.body_type == pymunk.Body.STATIC: # e.g. landmarks
self.selected_static_body = body
self.env.remove(body)
self.env.remove(body.shapes)
def make_damped_spring(self, x, y):
shape_selected = self.get_shape(x, y)
if shape_selected is None:
return
if self.shape_1 is None:
print("Shape 1 Selected")
self.shape_1 = shape_selected
elif self.shape_2 is None:
print("Shape 2 Selected")
self.shape_2 = shape_selected
joint = pymunk.DampedSpring(self.shape_1.shape.body, self.shape_2.shape.body, (0, 0), (0, 0), 45, 300, 30)
self.space.add(joint)
self.joints.append(joint)
self.shape_1 = None
self.shape_2 = None
print("Joint Made")
def __init__(self, neuron_1, neuron_2):
joints_count = 3
self.connected_neurons = (neuron_1, neuron_2)
self._is_connected = False
self.connection_progress = 0.0
self.connect_speed = 4
self.neurons = (neuron_1, neuron_2)
self.joints = [
pymunk.DampedSpring(
neuron_1.body,
neuron_2.body,
(n * 50 / joints_count, n * 50 / joints_count),
(n * 50 / joints_count, n * 50 / joints_count),
rest_length=0,
stiffness=5,
damping=5) for n in range(joints_count)
]
def add_spring(space):
spring_anchor_body = pymunk.Body(body_type=pymunk.Body.STATIC)
spring_anchor_body.position = (590, 108)
spring_ground = pymunk.Segment(spring_anchor_body, (-40, 0), (40, 0), 3)
body = pymunk.Body(10, 1000000000000000000000000000000000000)
body.position = (580, 158)
spring_top = pymunk.Poly.create_box(body, (40, 30))
spring_top.color = spring_color
rest_length = 100
stiffness = 3000
damping = 150
dampened_spring = pymunk.DampedSpring(body, spring_anchor_body, (0, 0),
(0, 0), rest_length, stiffness,
damping)
space.add(spring_top, body, spring_anchor_body, spring_ground,
dampened_spring)
return dampened_spring
def create_spring(self, b1, b2):
""" Метод для создания пружины.
(0, 0) и (0, 0) означают, что концы пружин будут находиться там же где и body указанных Ду.
Добавляем созданную пружину в пространство симуляции.
Аргументы:
----------
b1 : DooFixed
Первый фиксированный Ду.
b2 : DooFixed
Второй фиксированный Ду.
lenght : float или int
Длина пружины в расслабленном состоянии (без воздействия внешних сил).
"""
d = self.world.distance_between_bodies(b1, b2)
ds = pm.DampedSpring(b1, b2, (0, 0), (0, 0), d, self.spring_strength,
self.damping)
self.space.add(ds)
def draw(self, delta):
'''
Draws stuff on the screen
'''
if self.spring:
if self.spring in self.space.constraints:
self.space.remove(self.spring)
self.spring = None
if self.thing:
self.spring = pymunk.DampedSpring(self.thing.body, self.floor.body, \
self.thing_clickpos_rel, \
self.floor.body.world_to_local(self.thing_movepos), \
0.0, 3000.0, 0.1)
self.space.add(self.spring)
self.screen.fill(THECOLORS['white'])
# Background
self.screen.blit(self.img_background, \
pygame.Rect(0, 0, self.screen_width, self.screen_height))
# Screw
self.screen.blit(self.img_screw, \
pygame.Rect(- 600 + self.cart.body.position[0] \
, 409, 1200, 60))
# Base
self.screen.blit(self.img_base, \
pygame.Rect(0, 0, self.screen_width, self.screen_height))
# Cart
self.screen.blit(self.img_cart, \
pygame.Rect(- 50 + self.cart.body.position[0] \
, 387, 78, 70))
# Pole
self.draw_pole((self.cart.body.position[0], 400), \
self.pole.body.angle)
#pymunk.pygame_util.draw_space(self.screen, \
# self.space)
# Spring
if self.thing:
pygame.draw.line(self.screen, THECOLORS['black'], \
self._invy(self.thing.body.local_to_world(self.thing_clickpos_rel)), \
self._invy(self.thing_movepos))
pygame.display.flip()
self.clock.tick(1.0 / delta)
def add_rels(self):
param = np.zeros((self.n_ball * (self.n_ball - 1) // 2, 2))
self.param_dim = param.shape[0]
cnt = 0
for i in range(self.n_ball):
for j in range(i):
# rel_type = rand_int(0, self.n_rel_type)
rel_type = cnt % self.n_rel_type
param[cnt, 0] = rel_type
cnt += 1
pos_i = self.balls[i].position
pos_j = self.balls[j].position
if rel_type == 0:
# no relation
pass
elif rel_type == 1:
# spring
c = pymunk.DampedSpring(self.balls[i],
self.balls[j], (0, 0), (0, 0),
rest_length=60,
stiffness=20,
damping=0.)
self.space.add(c)
elif rel_type == 2:
# rod
c = pymunk.PinJoint(self.balls[i], self.balls[j], (0, 0),
(0, 0))
self.space.add(c)
else:
raise AssertionError("Unknown relation type")
self.param = param
for i in range(len(bs) - 1):
add_joint(bs[i], bs[i + 1])
i2 = i + 20
if len(bs) > i2:
add_joint(bs[i], bs[i2])
### WEB ATTACH POINTS
static_bs = []
for b in bs[-17::4]:
static_body = pymunk.Body(body_type=pymunk.Body.STATIC)
static_body.position = b.position
static_bs.append(static_body)
# j = pymunk.PivotJoint(static_body, b, static_body.position)
j = pymunk.DampedSpring(static_body, b, (0, 0), (0, 0), 0, 0, 0)
j.damping = 100
j.stiffness = 20000
space.add(j)
### ALL SETUP DONE
def update(dt):
# Note that we dont use dt as input into step. That is because the
# simulation will behave much better if the step size doesnt change
# between frames.
r = 10
for x in range(r):
space.step(1.0 / 30.0 / r)
def main():
pygame.init()
screen = pygame.display.set_mode(display_size, display_flags)
width, height = screen.get_size()
def to_pygame(p):
"""Small hack to convert pymunk to pygame coordinates"""
return int(p.x), int(-p.y + height)
def from_pygame(p):
return to_pygame(p)
clock = pygame.time.Clock()
running = True
font = pygame.font.Font(None, 16)
### Physics stuff
space = pm.Space()
space.gravity = (0.0, -1900.0)
space.damping = 0.999 # to prevent it from blowing up.
mouse_body = pm.Body(body_type=pm.Body.KINEMATIC)
bodies = []
for x in range(-100, 150, 50):
x += width / 2
offset_y = height / 2
mass = 10
radius = 25
moment = pm.moment_for_circle(mass, 0, radius, (0, 0))
body = pm.Body(mass, moment)
body.position = (x, -125 + offset_y)
body.start_position = Vec2d(body.position)
shape = pm.Circle(body, radius)
shape.elasticity = 0.9999999
space.add(body, shape)
bodies.append(body)
pj = pm.PinJoint(space.static_body, body, (x, 125 + offset_y), (0, 0))
space.add(pj)
reset_bodies(space)
selected = None
if not is_interactive:
pygame.time.set_timer(USEREVENT + 1, 70000) # apply force
pygame.time.set_timer(USEREVENT + 2, 120000) # reset
pygame.event.post(pygame.event.Event(USEREVENT + 1))
pygame.mouse.set_visible(False)
while running:
for event in pygame.event.get():
if event.type == QUIT:
running = False
elif event.type == KEYDOWN and event.key == K_p:
pygame.image.save(screen, "newtons_cradle.png")
if event.type == pygame.USEREVENT + 1:
r = random.randint(1, 4)
for body in bodies[0:r]:
body.apply_impulse_at_local_point((-6000, 0))
if event.type == pygame.USEREVENT + 2:
reset_bodies(space)
elif event.type == KEYDOWN and event.key == K_r and is_interactive:
reset_bodies(space)
elif event.type == KEYDOWN and event.key == K_f and is_interactive:
r = random.randint(1, 4)
for body in bodies[0:r]:
body.apply_impulse_at_local_point((-6000, 0))
elif event.type == MOUSEBUTTONDOWN and is_interactive:
if selected != None:
space.remove(selected)
p = from_pygame(Vec2d(event.pos))
hit = space.point_query_nearest(p, 0, pm.ShapeFilter())
if hit != None:
shape = hit.shape
rest_length = mouse_body.position.get_distance(
shape.body.position)
ds = pm.DampedSpring(mouse_body, shape.body, (0, 0),
(0, 0), rest_length, 1000, 10)
space.add(ds)
selected = ds
elif event.type == MOUSEBUTTONUP and is_interactive:
if selected != None:
space.remove(selected)
selected = None
elif event.type == KEYDOWN:
running = False
elif event.type == MOUSEBUTTONDOWN:
running = False
mpos = pygame.mouse.get_pos()
p = from_pygame(Vec2d(mpos))
mouse_body.position = p
### Clear screen
screen.fill(THECOLORS["black"])
### Draw stuff
for c in space.constraints:
pv1 = c.a.position + c.anchor_a
pv2 = c.b.position + c.anchor_b
p1 = to_pygame(pv1)
p2 = to_pygame(pv2)
pygame.draw.aalines(screen, THECOLORS["lightgray"], False,
[p1, p2])
for ball in space.shapes:
p = to_pygame(ball.body.position)
drawcircle(screen, ball.color, p, int(ball.radius), 0)
#pygame.draw.circle(screen, ball.color, p, int(ball.radius), 0)
### Update physics
fps = 50
iterations = 25
dt = 1.0 / float(fps) / float(iterations)
for x in range(
iterations): # 10 iterations to get a more stable simulation
space.step(dt)
### Flip screen
if is_interactive:
screen.blit(
font.render("fps: " + str(clock.get_fps()), 1,
THECOLORS["white"]), (0, 0))
screen.blit(
font.render("Press left mouse button and drag to interact", 1,
THECOLORS["darkgrey"]), (5, height - 35))
screen.blit(
font.render("Press R to reset, any other key to quit", 1,
THECOLORS["darkgrey"]), (5, height - 20))
pygame.display.flip()
clock.tick(fps)
