def setupObjects():
global bodies, stencilMat
x = RigidBody(3.0, (3.0,size1[1]/2.0), shape=size1)
x.grounded = True
ypos = [ x.pos[0] + x.shape[0]/2.0 + size2[0]*math.cos(radians(initAngle))/2.0,
x.pos[1] + x.shape[1]/2.0 + size2[0]*math.sin(radians(initAngle))/2.0]
y = RigidBody(1.0, ypos, theta=initAngle, shape=size2)
bodies = [x, y]
stencilMat[7, 2] = -y.I
print stencilMat
def setupObjects():
global bodies, stencilMat
x = RigidBody(mass1, initialPosition1, shape=size1)
x.grounded = True
y = RigidBody(mass2, initialPosition2, theta=initAngle, shape=size2)
y.grounded = True
bodies = [x, y]
stencilMat[3,0] = y.mass
stencilMat[4,1] = y.mass
stencilMat[5,2] = y.I
print stencilMat
def setupObjects():
global bodies
x = RigidBody(1, (50, 70))
x.addForce([0, -20],[5,5])
x.addForce([0, 10],[-5, -5])
x.grounded = True
y = RigidBody(1, (20, 80))
y.addForce([3, -10],[0,0])
bodies = [x, y]
def setupObjects():
global arb, gravity
x = RigidBody(mass1, initialPosition1, shape=size1)
x.grounded = True
y = RigidBody(mass2, initialPosition2, theta=initAngle, shape=size2)
y.grounded = True
arb = ArticulatedBody()
arb.addBody(x)
arb.addBody(y)
arb.add2BodyConstraint((0, r2, 1, r3))
arb.add1BodyConstraint((0, r1))
g1 = tuple(x.mass*comp for comp in gravity)
g2 = tuple(y.mass*comp for comp in gravity)
arb.addExternalForce(0, (g1, (0,0)))
arb.addExternalForce(1, (g2, (0,0)))
arb.finalize()
print arb.matrix
print arb.externalForces
