def add_joint(self, name, joint_type, obj1_name, obj2_name, joint_args, anchor_offset=None):
joint = None
if anchor_offset is None:
anchor_offset = 0
anchor = self.bodies[obj1_name].worldCenter + anchor_offset
if joint_type == 'revolute':
joint = self.world.CreateRevoluteJoint(
bodyA = self.bodies[obj1_name],
bodyB = self.bodies[obj2_name],
anchor = anchor,
**joint_args
)
elif joint_type == 'prismatic':
joint = self.world.CreatePrismaticJoint(
bodyA = self.bodies[obj1_name],
bodyB = self.bodies[obj2_name],
anchor = anchor,
**joint_args
)
elif joint_type == 'weld':
joint = self.world.CreateWeldJoint(
bodyA = self.bodies[obj1_name],
bodyB = self.bodies[obj2_name],
anchor = anchor
)
joint.frequencyHz = 0
joint.dampingRatio = 1
elif joint_type == 'rope':
r_joint = Box2D.b2RopeJointDef(
bodyA = self.bodies[obj1_name],
bodyB = self.bodies[obj2_name],
**joint_args
)
joint = self.world.CreateJoint(r_joint)
if joint is not None:
self.joints[name] = joint
else:
raise ValueError('Unsupported joint type ' + joint_type + ' was specified')
def __init__(self, figura_1, figura_2, figura_1_punto, figura_2_punto, longitud_maxima, fisica=None, con_colision=True):
""" Inicializa la constante
:param figura_1: Una de las figuras a conectar por la constante.
:param figura_2: La otra figura a conectar por la constante.
:param figura_1_punto: Punto de conexiin de la figura_1
:param figura_2_punto: Punto de conexion de la figura_2
:param longitud_maxima: Longitu Maxima de distancia que puede alcanzar la conexion
:param fisica: Referencia al motor de física.
:param con_colision: Indica si se permite colisión entre las dos figuras.
"""
if not fisica:
fisica = pilas.escena_actual().fisica
if not isinstance(figura_1, Figura) or not isinstance(figura_2, Figura):
raise Exception("Las dos figuras tienen que ser objetos de la clase Figura.")
constante = box2d.b2RopeJointDef(bodyA=figura_1._cuerpo, bodyB=figura_2._cuerpo)
constante.localAnchorA = convertir_a_metros(figura_1_punto[0]), convertir_a_metros(figura_1_punto[1])
constante.localAnchorB = convertir_a_metros(figura_2_punto[0]), convertir_a_metros(figura_2_punto[1])
constante.maxLength = convertir_a_metros(longitud_maxima)
constante.collideConnected = con_colision
self.constante = fisica.mundo.CreateJoint(constante)
def create_jointDef(jsw_joint, b2_world):
"""create a b2JointDef from the json parameters of the joint
:param jsw_joint: dictionary defining the parameters of the joint
:type jsw_joint: dict(sting: variant)
:param b2_world: an handler to a b2World object
:type b2_world: b2World reference
:return: the joint definition object
:rtype: b2JointDef
"""
joint_type = jsw_joint["type"] # naming
# ---------------------------------------------------
if joint_type == "revolute": # Done
jointDef = b2.b2RevoluteJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableLimit", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setAttr(jsw_joint, "jointSpeed", jointDef, "motorSpeed")
setAttr(jsw_joint, "lowerLimit", jointDef, "lowerAngle")
setAttr(jsw_joint, "maxMotorTorque", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "upperLimit", jointDef, "upperAngle")
# ---------------------------------------------------
elif joint_type == "distance": # Done
jointDef = b2.b2DistanceJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "dampingRatio", jointDef)
setAttr(jsw_joint, "frequency", jointDef, "frequencyHz")
setAttr(jsw_joint, "length", jointDef)
# ---------------------------------------------------
elif joint_type == "prismatic": # Done
jointDef = b2.b2PrismaticJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableLimit", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setB2Vec2Attr(jsw_joint, "localAxisA", jointDef, "axis")
setAttr(jsw_joint, "lowerLimit", jointDef, "lowerTranslation")
setAttr(jsw_joint, "maxMotorForce", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "upperLimit", jointDef, "upperTranslation")
# ---------------------------------------------------
elif joint_type == "wheel": # Done
jointDef = b2.b2WheelJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setB2Vec2Attr(jsw_joint, "localAxisA", jointDef)
setAttr(jsw_joint, "maxMotorTorque", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "springDampingRatio", jointDef, "dampingRatio")
setAttr(jsw_joint, "springFrequency", jointDef, "frequencyHz")
# ---------------------------------------------------
elif joint_type == "rope": # Done
jointDef = b2.b2RopeJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxLength", jointDef)
# ---------------------------------------------------
elif joint_type == "motor": # Done
jointDef = b2.b2MotorJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxForce", jointDef)
setAttr(jsw_joint, "maxTorque", jointDef)
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "linearOffset")
setAttr(jsw_joint, "correctionFactor", jointDef)
# ---------------------------------------------------
elif joint_type == "weld": # Done
jointDef = b2.b2WeldJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "dampingRatio", jointDef)
setAttr(jsw_joint, "frequency", jointDef, "frequencyHz")
# ---------------------------------------------------
elif joint_type == "friction": # Done
jointDef = b2.b2FrictionJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxForce", jointDef)
setAttr(jsw_joint, "maxTorque", jointDef)
else:
print("unsupported joint type")
return jointDef
def create_jointDef(jsw_joint, b2_world):
joint_type = jsw_joint["type"] # naming
#---------------------------------------------------
if joint_type == "revolute": # Done
jointDef = b2.b2RevoluteJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableLimit", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setAttr(jsw_joint, "jointSpeed", jointDef, "motorSpeed")
setAttr(jsw_joint, "lowerLimit", jointDef, "lowerAngle")
setAttr(jsw_joint, "maxMotorTorque", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "upperLimit", jointDef, "upperAngle")
#---------------------------------------------------
elif joint_type == "distance": # Done
jointDef = b2.b2DistanceJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "dampingRatio", jointDef)
setAttr(jsw_joint, "frequency", jointDef, "frequencyHz")
setAttr(jsw_joint, "length", jointDef)
#---------------------------------------------------
elif joint_type == "prismatic": # Done
jointDef = b2.b2PrismaticJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableLimit", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setB2Vec2Attr(jsw_joint, "localAxisA", jointDef, "axis")
setAttr(jsw_joint, "lowerLimit", jointDef, "lowerTranslation")
setAttr(jsw_joint, "maxMotorForce", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "upperLimit", jointDef, "upperTranslation")
#---------------------------------------------------
elif joint_type == "wheel": # Done
jointDef = b2.b2WheelJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setB2Vec2Attr(jsw_joint, "localAxisA", jointDef)
setAttr(jsw_joint, "maxMotorTorque", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "springDampingRatio", jointDef, "dampingRatio")
setAttr(jsw_joint, "springFrequency", jointDef, "frequencyHz")
#---------------------------------------------------
elif joint_type == "rope": # Done
jointDef = b2.b2RopeJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxLength", jointDef)
#---------------------------------------------------
elif joint_type == "motor": # Done
jointDef = b2.b2MotorJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxForce", jointDef)
setAttr(jsw_joint, "maxTorque", jointDef)
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "linearOffset")
setAttr(jsw_joint, "correctionFactor", jointDef)
#---------------------------------------------------
elif joint_type == "weld": # Done
jointDef = b2.b2WeldJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "dampingRatio", jointDef)
setAttr(jsw_joint, "frequency", jointDef, "frequencyHz")
#---------------------------------------------------
elif joint_type == "friction": # Done
jointDef = b2.b2FrictionJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxForce", jointDef)
setAttr(jsw_joint, "maxTorque", jointDef)
else:
print("unsupported joint type")
return jointDef
def create_jointDef(jsw_joint, b2_world):
joint_type = jsw_joint["type"] # naming
#---------------------------------------------------
if joint_type == "revolute": # Done
jointDef = b2.b2RevoluteJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableLimit", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setAttr(jsw_joint, "jointSpeed", jointDef, "motorSpeed")
setAttr(jsw_joint, "lowerLimit", jointDef, "lowerAngle")
setAttr(jsw_joint, "maxMotorTorque", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "upperLimit", jointDef, "upperAngle")
#---------------------------------------------------
elif joint_type == "distance": # Done
jointDef = b2.b2DistanceJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "dampingRatio", jointDef)
setAttr(jsw_joint, "frequency", jointDef, "frequencyHz")
setAttr(jsw_joint, "length", jointDef)
#---------------------------------------------------
elif joint_type == "prismatic": # Done
jointDef = b2.b2PrismaticJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableLimit", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setB2Vec2Attr(jsw_joint, "localAxisA", jointDef, "axis")
setAttr(jsw_joint, "lowerLimit", jointDef, "lowerTranslation")
setAttr(jsw_joint, "maxMotorForce", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "upperLimit", jointDef, "upperTranslation")
#---------------------------------------------------
elif joint_type == "wheel": # Done
jointDef = b2.b2WheelJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "enableMotor", jointDef)
setB2Vec2Attr(jsw_joint, "localAxisA", jointDef)
setAttr(jsw_joint, "maxMotorTorque", jointDef)
setAttr(jsw_joint, "motorSpeed", jointDef)
setAttr(jsw_joint, "springDampingRatio", jointDef, "dampingRatio")
setAttr(jsw_joint, "springFrequency", jointDef, "frequencyHz")
#---------------------------------------------------
elif joint_type == "rope": # Done
jointDef = b2.b2RopeJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxLength", jointDef)
#---------------------------------------------------
elif joint_type == "motor": # Done
jointDef = b2.b2MotorJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxForce", jointDef)
setAttr(jsw_joint, "maxTorque", jointDef)
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "linearOffset")
setAttr(jsw_joint, "correctionFactor", jointDef)
#---------------------------------------------------
elif joint_type == "weld": # Done
jointDef = b2.b2WeldJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "refAngle", jointDef, "referenceAngle")
setAttr(jsw_joint, "dampingRatio", jointDef)
setAttr(jsw_joint, "frequency", jointDef, "frequencyHz")
#---------------------------------------------------
elif joint_type == "friction": # Done
jointDef = b2.b2FrictionJointDef()
jointDef.bodyA = get_body(b2_world, jsw_joint["bodyA"])
jointDef.bodyB = get_body(b2_world, jsw_joint["bodyB"])
setB2Vec2Attr(jsw_joint, "anchorA", jointDef, "localAnchorA")
setB2Vec2Attr(jsw_joint, "anchorB", jointDef, "localAnchorB")
setAttr(jsw_joint, "collideConnected", jointDef)
setAttr(jsw_joint, "maxForce", jointDef)
setAttr(jsw_joint, "maxTorque", jointDef)
else:
print ("unsupported joint type")
return jointDef