def __init__(self):
super(ElasticBody, self).__init__()
bodies = self.bodies
for i in range(64):
bodies.append(None)
# Bottom static body
sd = box2d.b2PolygonDef()
sd.SetAsBox(50.0, 2.0)
sd.friction = 0.1
sd.restitution = 0.1
bd = box2d.b2BodyDef()
bd.position.Set(-1.0, -7.5)
self.m_ground = self.world.CreateBody(bd)
self.m_ground.CreateShape(sd)
# Upper static body
sd = box2d.b2PolygonDef()
sd.SetAsBox(20.0, 0.50, box2d.b2Vec2(0, 0), 0.047 * box2d.b2_pi)
sd.friction = 0.01
sd.restitution = 0.001
bd = box2d.b2BodyDef()
bd.position.Set(-20, 93.0)
g = self.world.CreateBody(bd)
g.CreateShape(sd)
sd.SetAsBox(15, 0.50, box2d.b2Vec2(-15.0, 12.5), 0.0)
g.CreateShape(sd)
sd.SetAsBox(20, 0.5, box2d.b2Vec2(0.0, -25.0), -0.5)
g.CreateShape(sd)
# Left channel left wall
sd = box2d.b2PolygonDef()
sd.SetAsBox(0.7, 55.0)
sd.friction = 0.1
sd.restitution = 0.1
bd = box2d.b2BodyDef()
bd.position.Set(-49.3, 50.0)
g = self.world.CreateBody(bd)
g.CreateShape(sd)
# Right wall
sd = box2d.b2PolygonDef()
sd.SetAsBox(0.7, 55.0)
sd.friction = 0.1
sd.restitution = 0.1
bd = box2d.b2BodyDef()
bd.position.Set(45, 50.0)
g = self.world.CreateBody(bd)
g.CreateShape(sd)
# Left channel right upper wall
sd = box2d.b2PolygonDef()
sd.SetAsBox(0.5, 20.0)
sd.friction = 0.05
sd.restitution = 0.01
bd = box2d.b2BodyDef()
bd.position.Set(-42.0, 70.0)
bd.angle = -0.03 * box2d.b2_pi
g = self.world.CreateBody(bd)
g.CreateShape(sd)
# Left channel right lower wall
sd = box2d.b2PolygonDef()
sd.SetAsBox(0.50, 23.0)
sd.friction = 0.05
sd.restitution = 0.01
bd = box2d.b2BodyDef()
bd.position.Set(-44.0, 27.0)
g = self.world.CreateBody(bd)
g.CreateShape(sd)
# Bottom motors
cd = box2d.b2CircleDef()
cd.radius = 3.0
cd.density = 15.0
cd.friction = 1
cd.restitution = 0.2
# 1.
bd.position.Set(-40.0, 2.5)
body = self.world.CreateBody(bd)
body.CreateShape(cd)
body.SetMassFromShapes()
jr = box2d.b2RevoluteJointDef()
jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1))
jr.maxMotorTorque = 30000
jr.enableMotor = True
jr.motorSpeed = 20
self.world.CreateJoint(jr).getAsType()
# 1. left down
bd.position.Set(-46.0, -2.5)
cd.radius = 1.5
jr.motorSpeed = -20
body = self.world.CreateBody(bd)
body.CreateShape(cd)
sd.SetAsBox(2.0, 0.50)
body.CreateShape(sd)
body.SetMassFromShapes()
jr.Initialize(g, body, body.GetWorldCenter())
self.world.CreateJoint(jr).getAsType()
# 2.
cd.radius = 3.0
jr.motorSpeed = 20
bd.position.Set(-32.0, 2.5)
body = self.world.CreateBody(bd)
body.CreateShape(cd)
body.SetMassFromShapes()
jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1))
self.world.CreateJoint(jr).getAsType()
# 3.
jr.motorSpeed = 20
bd.position.Set(-24.0, 1.5)
body = self.world.CreateBody(bd)
body.CreateShape(cd)
body.SetMassFromShapes()
jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1))
self.world.CreateJoint(jr).getAsType()
# 4.
bd.position.Set(-16.0, 0.8)
body = self.world.CreateBody(bd)
body.CreateShape(cd)
body.SetMassFromShapes()
jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1))
self.world.CreateJoint(jr).getAsType()
# 5.
bd.position.Set(-8.0, 0.5)
body = self.world.CreateBody(bd)
body.CreateShape(cd)
body.SetMassFromShapes()
jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1))
self.world.CreateJoint(jr).getAsType()
# 6.
bd.position.Set(0.0, 0.1)
body = self.world.CreateBody(bd)
body.CreateShape(cd)
body.SetMassFromShapes()
jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1))
self.world.CreateJoint(jr).getAsType()
# 7.
bd.position.Set(8.0, -0.5)
body = self.world.CreateBody(bd)
body.CreateShape(cd)
sd.SetAsBox(3.7, 0.5)
body.CreateShape(sd)
body.SetMassFromShapes()
jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1))
self.world.CreateJoint(jr).getAsType()
# 8. right rotator
sd.SetAsBox(5, 0.5)
sd.density = 2.0
bd.position.Set(18.0, 1)
rightmotor = self.world.CreateBody(bd) #
rightmotor.CreateShape(sd)
sd.SetAsBox(4.5, 0.5, box2d.b2Vec2(0, 0), box2d.b2_pi / 3)
rightmotor.CreateShape(sd)
sd.SetAsBox(4.5, 0.5, box2d.b2Vec2(0, 0), box2d.b2_pi * 2 / 3)
rightmotor.CreateShape(sd)
cd.radius = 4.2
rightmotor.CreateShape(cd)
rightmotor.SetMassFromShapes()
jr.Initialize(g, rightmotor, rightmotor.GetWorldCenter())
jr.maxMotorTorque = 70000
jr.motorSpeed = -4
self.world.CreateJoint(jr).getAsType()
# 9. left rotator
sd.SetAsBox(8.5, 0.5)
sd.density = 2.0
bd.position.Set(-34.0, 17)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
sd.SetAsBox(8.5, 0.5, box2d.b2Vec2(0, 0), box2d.b2_pi * 0.5)
body.CreateShape(sd)
cd.radius = 7
cd.friction = 0.9
body.CreateShape(cd)
body.SetMassFromShapes()
jr.Initialize(g, body, body.GetWorldCenter())
jr.maxMotorTorque = 100000
jr.motorSpeed = -5
self.world.CreateJoint(jr).getAsType()
# big compressor
sd.SetAsBox(3.0, 4)
sd.density = 10.0
bd.position.Set(-16.0, 17)
hammerleft = self.world.CreateBody(bd)
hammerleft.CreateShape(sd)
hammerleft.SetMassFromShapes()
jd = box2d.b2DistanceJointDef()
jd.Initialize(body, hammerleft, body.GetWorldCenter() + box2d.b2Vec2(0, 6), hammerleft.GetWorldCenter())
self.world.CreateJoint(jd).getAsType()
bd.position.Set(4.0, 17)
hammerright = self.world.CreateBody(bd)
hammerright.CreateShape(sd)
hammerright.SetMassFromShapes()
jd.Initialize(body, hammerright, body.GetWorldCenter() - box2d.b2Vec2(0, 6), hammerright.GetWorldCenter())
self.world.CreateJoint(jd).getAsType()
# pusher
sd.SetAsBox(6, 0.75)
bd.position.Set(-21.0, 9)
pusher = self.world.CreateBody(bd) #
pusher.CreateShape(sd)
sd.SetAsBox(2, 1.5, box2d.b2Vec2(-5, 0), 0)
pusher.SetMassFromShapes()
pusher.CreateShape(sd)
jd.Initialize(
rightmotor,
pusher,
rightmotor.GetWorldCenter() + box2d.b2Vec2(-8.0, 0),
pusher.GetWorldCenter() + box2d.b2Vec2(5.0, 0),
)
self.world.CreateJoint(jd).getAsType()
# Static bodies above motors
sd = box2d.b2PolygonDef()
cd = box2d.b2CircleDef()
sd.SetAsBox(9.0, 0.5)
sd.friction = 0.05
sd.restitution = 0.01
bd = box2d.b2BodyDef()
bd.position.Set(-15.5, 12)
bd.angle = 0.0
g = self.world.CreateBody(bd)
g.CreateShape(sd)
sd.SetAsBox(8, 0.5, box2d.b2Vec2(23, 0), 0)
g.CreateShape(sd)
# compressor statics
sd.SetAsBox(7.0, 0.5, box2d.b2Vec2(-2, 9), 0)
g.CreateShape(sd)
sd.SetAsBox(9.0, 0.5, box2d.b2Vec2(22, 9), 0)
g.CreateShape(sd)
sd.SetAsBox(19.0, 0.5, box2d.b2Vec2(-9, 15), -0.05)
g.CreateShape(sd)
sd.SetAsBox(4.7, 0.5, box2d.b2Vec2(15, 11.5), -0.5)
g.CreateShape(sd)
# below compressor
sd.SetAsBox(26.0, 0.3, box2d.b2Vec2(17, -4.4), -0.02)
g.CreateShape(sd)
cd.radius = 1.0
cd.friction = 1.0
cd.localPosition = box2d.b2Vec2(29, -6)
g.CreateShape(cd)
cd.radius = 0.7
cd.localPosition = box2d.b2Vec2(-2, -4.5)
g.CreateShape(cd)
# Elevator
bd = box2d.b2BodyDef()
cd = box2d.b2CircleDef()
sd = box2d.b2PolygonDef()
bd.position.Set(40.0, 4.0)
self.m_elev = self.world.CreateBody(bd)
sd.SetAsBox(0.5, 2.5, box2d.b2Vec2(3.0, -3.0), 0)
sd.density = 1
sd.friction = 0.01
self.m_elev.CreateShape(sd)
sd.SetAsBox(7.0, 0.5, box2d.b2Vec2(-3.5, -5.5), 0)
self.m_elev.CreateShape(sd)
sd.SetAsBox(0.5, 2.5, box2d.b2Vec2(-11, -3.5), 0)
self.m_elev.CreateShape(sd)
self.m_elev.SetMassFromShapes()
jp = box2d.b2PrismaticJointDef()
jp.Initialize(self.m_ground, self.m_elev, bd.position, box2d.b2Vec2(0.0, 1.0))
jp.lowerTranslation = 0.0
jp.upperTranslation = 100.0
jp.enableLimit = True
jp.enableMotor = True
jp.maxMotorForce = 10000
jp.motorSpeed = 0
self.m_joint_elev = self.world.CreateJoint(jp).getAsType()
# Korb
sd.SetAsBox(2.3, 0.5, box2d.b2Vec2(1, 0.0), 0.0)
sd.density = 0.5
bd.position.Set(29.0, 6.5)
body = self.world.CreateBody(bd) #
body.CreateShape(sd)
sd.SetAsBox(2.5, 0.5, box2d.b2Vec2(3.0, -2), box2d.b2_pi / 2)
body.CreateShape(sd)
sd.SetAsBox(4.6, 0.5, box2d.b2Vec2(7.8, -4.0), 0)
body.CreateShape(sd)
sd.SetAsBox(0.5, 4.5, box2d.b2Vec2(12, 0.0), 0)
body.CreateShape(sd)
sd.SetAsBox(0.5, 0.5, box2d.b2Vec2(13, 4.0), 0)
body.CreateShape(sd)
cd.radius = 0.7
cd.density = 1
cd.friction = 0.01
cd.localPosition = box2d.b2Vec2(0, 0)
body.CreateShape(cd)
body.SetMassFromShapes()
jr = box2d.b2RevoluteJointDef()
jr.Initialize(self.m_elev, body, bd.position)
jr.enableLimit = True
jr.lowerAngle = -0.2
jr.upperAngle = box2d.b2_pi * 1.1
jr.collideConnected = True
self.world.CreateJoint(jr).getAsType()
# upper body exit
sd.SetAsBox(14.0, 0.5, box2d.b2Vec2(-3.5, -10.0), 0.0)
bd.position.Set(17.5, 96.0)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
# "Elastic body" 64 bodies - something like a lin. elastic compound
# connected via dynamic forces (springs)
sd = box2d.b2PolygonDef()
sd.SetAsBox(0.55, 0.55)
sd.density = 1.5
sd.friction = 0.01
sd.filter.groupIndex = -1
startpoint = box2d.b2Vec2(30, 20)
bd = box2d.b2BodyDef()
bd.isBullet = False
bd.allowSleep = False
for i in range(8):
for j in range(8):
bd.position.Set(j * 1.02, 2.51 + 1.02 * i)
bd.position += startpoint
body = self.world.CreateBody(bd) #
bodies[8 * i + j] = body
body.CreateShape(sd)
body.SetMassFromShapes()
def __init__(self):
super(MotorsAndLimits, self).__init__()
sd=box2d.b2PolygonDef()
sd.SetAsBox(50.0, 10.0)
bd=box2d.b2BodyDef()
bd.position.Set(0.0, -10.0)
ground = self.world.CreateBody(bd)
ground.CreateShape(sd)
sd=box2d.b2PolygonDef()
sd.SetAsBox(2.0, 0.5)
sd.density = 5.0
sd.friction = 0.05
bd=box2d.b2BodyDef()
rjd=box2d.b2RevoluteJointDef()
prevBody=ground
y = 8.0
bd.position.Set(3.0, y)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
rjd.Initialize(prevBody, body, box2d.b2Vec2(0.0, y))
rjd.motorSpeed = 1.0 * box2d.b2_pi
rjd.maxMotorTorque = 10000.0
rjd.enableMotor = True
self.m_joint1 = self.world.CreateJoint(rjd).getAsType()
prevBody = body
bd.position.Set(9.0, y)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
rjd.Initialize(prevBody, body, box2d.b2Vec2(6.0, y))
rjd.motorSpeed = 0.5 * box2d.b2_pi
rjd.maxMotorTorque = 2000.0
rjd.enableMotor = True
rjd.lowerAngle = - 0.5 * box2d.b2_pi
rjd.upperAngle = 0.5 * box2d.b2_pi
rjd.enableLimit = True
self.m_joint2 = self.world.CreateJoint(rjd).getAsType()
bd.position.Set(-10.0, 10.0)
bd.angle = 0.5 * box2d.b2_pi
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
pjd=box2d.b2PrismaticJointDef()
pjd.Initialize(ground, body, box2d.b2Vec2(-10.0, 10.0), box2d.b2Vec2(1.0, 0.0))
pjd.motorSpeed = 10.0
pjd.maxMotorForce = 1000.0
pjd.enableMotor = True
pjd.lowerTranslation = 0.0
pjd.upperTranslation = 20.0
pjd.enableLimit = True
self.m_joint3 = self.world.CreateJoint(pjd).getAsType()
def __init__(self):
super(SliderCrank, self).__init__()
sd=box2d.b2PolygonDef()
sd.SetAsBox(50.0, 10.0)
bd=box2d.b2BodyDef()
bd.position.Set(0.0, -10.0)
ground = self.world.CreateBody(bd)
ground.CreateShape(sd)
# Define crank.
sd=box2d.b2PolygonDef()
sd.SetAsBox(0.5, 2.0)
sd.density = 1.0
rjd=box2d.b2RevoluteJointDef()
prevBody=ground
bd=box2d.b2BodyDef()
bd.position.Set(0.0, 7.0)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
rjd.Initialize(prevBody, body, box2d.b2Vec2(0.0, 5.0))
rjd.motorSpeed = 1.0 * box2d.b2_pi
rjd.maxMotorTorque = 10000.0
rjd.enableMotor = True
self.m_joint1 = self.world.CreateJoint(rjd).getAsType()
prevBody = body
# Define follower.
sd.SetAsBox(0.5, 4.0)
bd.position.Set(0.0, 13.0)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
rjd.Initialize(prevBody, body, box2d.b2Vec2(0.0, 9.0))
rjd.enableMotor = False
self.world.CreateJoint(rjd).getAsType()
prevBody = body
# Define piston
sd.SetAsBox(1.5, 1.5)
bd.position.Set(0.0, 17.0)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
rjd.Initialize(prevBody, body, box2d.b2Vec2(0.0, 17.0))
self.world.CreateJoint(rjd).getAsType()
pjd=box2d.b2PrismaticJointDef()
pjd.Initialize(ground, body, box2d.b2Vec2(0.0, 17.0), box2d.b2Vec2(0.0, 1.0))
pjd.maxMotorForce = 1000.0
pjd.enableMotor = True
self.m_joint2 = self.world.CreateJoint(pjd).getAsType()
# Create a payload
sd.density = 2.0
bd.position.Set(0.0, 23.0)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
def __init__(self):
super(Gears, self).__init__()
bd=box2d.b2BodyDef()
bd.position.Set(0.0, -10.0)
ground = self.world.CreateBody(bd)
sd=box2d.b2PolygonDef()
sd.SetAsBox(50.0, 10.0)
ground.CreateShape(sd)
circle1=box2d.b2CircleDef()
circle1.radius = 1.0
circle1.density = 5.0
circle2=box2d.b2CircleDef()
circle2.radius = 2.0
circle2.density = 5.0
box=box2d.b2PolygonDef()
box.SetAsBox(0.5, 5.0)
box.density = 5.0
bd1=box2d.b2BodyDef()
bd1.position.Set(-3.0, 12.0)
body1 = self.world.CreateBody(bd1)
body1.CreateShape(circle1)
body1.SetMassFromShapes()
jd1=box2d.b2RevoluteJointDef()
jd1.body1 = ground
jd1.body2 = body1
jd1.localAnchor1 = ground.GetLocalPoint(bd1.position)
jd1.localAnchor2 = body1.GetLocalPoint(bd1.position)
jd1.referenceAngle = body1.GetAngle() - ground.GetAngle()
self.m_joint1 = self.world.CreateJoint(jd1).getAsType()
bd2=box2d.b2BodyDef()
bd2.position.Set(0.0, 12.0)
body2 = self.world.CreateBody(bd2)
body2.CreateShape(circle2)
body2.SetMassFromShapes()
jd2=box2d.b2RevoluteJointDef()
jd2.Initialize(ground, body2, bd2.position)
self.m_joint2 = self.world.CreateJoint(jd2).getAsType()
bd3=box2d.b2BodyDef()
bd3.position.Set(2.5, 12.0)
body3 = self.world.CreateBody(bd3)
body3.CreateShape(box)
body3.SetMassFromShapes()
jd3=box2d.b2PrismaticJointDef()
jd3.Initialize(ground, body3, bd3.position, box2d.b2Vec2(0.0, 1.0))
jd3.lowerTranslation = -5.0
jd3.upperTranslation = 5.0
jd3.enableLimit = True
self.m_joint3 = self.world.CreateJoint(jd3).getAsType()
jd4=box2d.b2GearJointDef()
jd4.body1 = body1
jd4.body2 = body2
jd4.joint1 = self.m_joint1
jd4.joint2 = self.m_joint2
jd4.ratio = circle2.radius / circle1.radius
self.m_joint4 = self.world.CreateJoint(jd4).getAsType()
jd5=box2d.b2GearJointDef()
jd5.body1 = body2
jd5.body2 = body3
jd5.joint1 = self.m_joint2
jd5.joint2 = self.m_joint3
jd5.ratio = -1.0 / circle2.radius
self.m_joint5 = self.world.CreateJoint(jd5).getAsType()
