def __init__(self):
super(ApplyForce, self).__init__()
self.world.SetGravity(box2d.b2Vec2(0.0, 0.0))
k_restitution = 0.4
bd=box2d.b2BodyDef()
bd.position.Set(0.0, 20.0)
ground = self.world.CreateBody(bd)
sd=box2d.b2PolygonDef()
sd.density = 0.0
sd.restitution = k_restitution
sd.SetAsBox(0.2, 20.0, box2d.b2Vec2(-20.0, 0.0), 0.0)
ground.CreateShape(sd)
sd.SetAsBox(0.2, 20.0, box2d.b2Vec2(20.0, 0.0), 0.0)
ground.CreateShape(sd)
sd.SetAsBox(0.2, 20.0, box2d.b2Vec2(0.0, -20.0), 0.5 * box2d.b2_pi)
ground.CreateShape(sd)
sd.SetAsBox(0.2, 20.0, box2d.b2Vec2(0.0, 20.0), -0.5 * box2d.b2_pi)
ground.CreateShape(sd)
xf1 = box2d.b2XForm ()
xf1.R.Set(0.3524 * box2d.b2_pi)
xf1.position = box2d.b2Mul(xf1.R, box2d.b2Vec2(1.0, 0.0))
sd1=box2d.b2PolygonDef()
sd1.vertexCount = 3
sd1.setVertex(0, box2d.b2Mul(xf1, box2d.b2Vec2(-1.0, 0.0)))
sd1.setVertex(1, box2d.b2Mul(xf1, box2d.b2Vec2(1.0, 0.0)))
sd1.setVertex(2, box2d.b2Mul(xf1, box2d.b2Vec2(0.0, 0.5)))
sd1.density = 2.0
xf2 = box2d.b2XForm ()
xf2.R.Set(-0.3524 * box2d.b2_pi)
xf2.position = box2d.b2Mul(xf2.R, box2d.b2Vec2(-1.0, 0.0))
sd2=box2d.b2PolygonDef()
sd2.vertexCount = 3
sd2.setVertex(0, box2d.b2Mul(xf2, box2d.b2Vec2(-1.0, 0.0)))
sd2.setVertex(1, box2d.b2Mul(xf2, box2d.b2Vec2(1.0, 0.0)))
sd2.setVertex(2, box2d.b2Mul(xf2, box2d.b2Vec2(0.0, 0.5)))
sd2.density = 2.0
bd=box2d.b2BodyDef()
bd.angularDamping = 2.0
bd.linearDamping = 0.1
bd.position.Set(0.0, 1.05)
bd.angle = box2d.b2_pi
self.m_body = self.world.CreateBody(bd)
self.m_body.CreateShape(sd1)
self.m_body.CreateShape(sd2)
self.m_body.SetMassFromShapes()
def Step(self, settings) :
sweep1=box2d.b2Sweep()
sweep1.c0.Set(0.0, 20.0)
sweep1.a0 = 0.0
sweep1.c = sweep1.c0
sweep1.a = sweep1.a0
sweep1.t0 = 0.0
sweep1.localCenter = self.m_body1.GetLocalCenter()
sweep2=box2d.b2Sweep()
sweep2.c0.Set(9.6363468, 28.050615)
sweep2.a0 = 1.6408679
sweep2.c = sweep2.c0 + box2d.b2Vec2(-0.075121880, 0.27358246)
sweep2.a = sweep2.a0 - 10.434675
sweep2.t0 = 0.0
sweep2.localCenter = self.m_body2.GetLocalCenter()
toi = box2d.b2TimeOfImpact(self.m_shape1, sweep1, self.m_shape2, sweep2)
self.DrawString(5, self.textLine, "toi = %g" % (toi))
self.textLine += 15
xf2=box2d.b2XForm ()
sweep2.GetXForm(xf2, toi)
vertexCount = self.m_shape2.GetVertexCount()
vertices = []
localVertices = self.m_shape2.getVertices_b2Vec2()
for vertex in localVertices:
vertices.append( box2d.b2Mul(xf2, vertex).tuple() )
self.debugDraw.DrawPolygon(vertices, vertexCount, box2d.b2Color(0.5, 0.7, 0.9))
localVertices = self.m_shape2.getCoreVertices_b2Vec2()
for vertex in localVertices:
vertices.append( box2d.b2Mul(xf2, vertex).tuple() )
self.debugDraw.DrawPolygon(vertices, vertexCount, box2d.b2Color(0.5, 0.7, 0.9))
settings.pause = True
super(TimeOfImpact, self).Step(settings)
settings.pause = False
def __init__(self):
super(CompoundShapes, self).__init__()
bd=box2d.b2BodyDef()
bd.position.Set(0.0, -10.0)
body = self.world.CreateBody(bd)
sd=box2d.b2PolygonDef()
sd.SetAsBox(50.0, 10.0)
body.CreateShape(sd)
sd1=box2d.b2CircleDef()
sd1.radius = 0.5
sd1.localPosition.Set(-0.5, 0.5)
sd1.density = 2.0
sd2=box2d.b2CircleDef()
sd2.radius = 0.5
sd2.localPosition.Set(0.5, 0.5)
sd2.density = 0.0
for i in range(10):
x = box2d.b2Random(-0.1, 0.1)
bd=box2d.b2BodyDef()
bd.position.Set(x + 5.0, 1.05 + 2.5 * i)
bd.angle = box2d.b2Random(-box2d.b2_pi, box2d.b2_pi)
body = self.world.CreateBody(bd)
body.CreateShape(sd1)
body.CreateShape(sd2)
body.SetMassFromShapes()
sd1=box2d.b2PolygonDef()
sd1.SetAsBox(0.25, 0.5)
sd1.density = 2.0
sd2=box2d.b2PolygonDef()
sd2.SetAsBox(0.25, 0.5, box2d.b2Vec2(0.0, -0.5), 0.5 * box2d.b2_pi)
sd2.density = 2.0
for i in range(10):
x = box2d.b2Random(-0.1, 0.1)
bd=box2d.b2BodyDef()
bd.position.Set(x - 5.0, 1.05 + 2.5 * i)
bd.angle = box2d.b2Random(-box2d.b2_pi, box2d.b2_pi)
body = self.world.CreateBody(bd)
body.CreateShape(sd1)
body.CreateShape(sd2)
body.SetMassFromShapes()
xf1 = box2d.b2XForm()
xf1.R.Set(0.3524 * box2d.b2_pi)
xf1.position = box2d.b2Mul(xf1.R, box2d.b2Vec2(1.0, 0.0))
sd1=box2d.b2PolygonDef()
sd1.vertexCount = 3
sd1.setVertex(0, box2d.b2Mul(xf1, box2d.b2Vec2(-1.0, 0.0)))
sd1.setVertex(1, box2d.b2Mul(xf1, box2d.b2Vec2(1.0, 0.0)))
sd1.setVertex(2, box2d.b2Mul(xf1, box2d.b2Vec2(0.0, 0.5)))
sd1.density = 2.0
xf2 = box2d.b2XForm()
xf2.R.Set(-0.3524 * box2d.b2_pi)
xf2.position = box2d.b2Mul(xf2.R, box2d.b2Vec2(-1.0, 0.0))
sd2=box2d.b2PolygonDef()
sd2.vertexCount = 3
sd2.setVertex(0, box2d.b2Mul(xf2, box2d.b2Vec2(-1.0, 0.0)))
sd2.setVertex(1, box2d.b2Mul(xf2, box2d.b2Vec2(1.0, 0.0)))
sd2.setVertex(2, box2d.b2Mul(xf2, box2d.b2Vec2(0.0, 0.5)))
sd2.density = 2.0
for i in range(10):
x = box2d.b2Random(-0.1, 0.1)
bd=box2d.b2BodyDef()
bd.position.Set(x, 2.05 + 2.5 * i)
bd.angle = 0.0
body = self.world.CreateBody(bd)
body.CreateShape(sd1)
body.CreateShape(sd2)
body.SetMassFromShapes()
sd_bottom=box2d.b2PolygonDef()
sd_bottom.SetAsBox( 1.5, 0.15 )
sd_bottom.density = 4.0
sd_left=box2d.b2PolygonDef()
sd_left.SetAsBox(0.15, 2.7, box2d.b2Vec2(-1.45, 2.35), 0.2)
sd_left.density = 4.0
sd_right=box2d.b2PolygonDef()
sd_right.SetAsBox(0.15, 2.7, box2d.b2Vec2(1.45, 2.35), -0.2)
sd_right.density = 4.0
bd=box2d.b2BodyDef()
bd.position.Set( 0.0, 2.0 )
body = self.world.CreateBody(bd)
body.CreateShape(sd_bottom)
body.CreateShape(sd_left)
body.CreateShape(sd_right)
body.SetMassFromShapes()
