def __init__(self):
super(Raycast, self).__init__()
self.world.gravity = (0, 0)
# The ground
ground = self.world.CreateBody(shapes=b2EdgeShape(vertices=[(-40, 0), (40, 0)]))
# The various shapes
w = 1.0
b = w / (2.0 + sqrt(2.0))
s = sqrt(2.0) * b
self.shapes = [
b2PolygonShape(vertices=[(-0.5, 0), (0.5, 0), (0, 1.5)]),
b2PolygonShape(vertices=[(-0.1, 0), (0.1, 0), (0, 1.5)]),
b2PolygonShape(
vertices=[
(0.5 * s, 0),
(0.5 * w, b),
(0.5 * w, b + s),
(0.5 * s, w),
(-0.5 * s, w),
(-0.5 * w, b + s),
(-0.5 * w, b),
(-0.5 * s, 0.0),
]
),
b2PolygonShape(box=(0.5, 0.5)),
b2CircleShape(radius=0.5),
]
self.angle = 0
self.callbacks = [RayCastClosestCallback, RayCastAnyCallback, RayCastMultipleCallback]
self.callback_class = self.callbacks[0]
def create_blob(world, center, radius, circle_radius=0.5, shape_num=24,
angularDamping=0.5, linearDamping=0.5, friction=0.5,
density=5.0, **kwargs):
def get_pos(angle):
return (cos(angle * pi / 180.0) * radius + center[0],
sin(angle * pi / 180.0) * radius + center[1])
circle = b2CircleShape(radius=circle_radius)
fixture = b2FixtureDef(shape=circle, friction=friction, density=density,
restitution=0.0)
bodies = [world.CreateDynamicBody(position=get_pos(
i), fixtures=fixture) for i in range(0, 360, int(360 / shape_num))]
joints = []
prev_body = bodies[-1]
for body in bodies:
joint = world.CreateDistanceJoint(
bodyA=prev_body,
bodyB=body,
anchorA=prev_body.position,
anchorB=body.position,
dampingRatio=10.0)
joints.append(joint)
prev_body = body
return bodies, joints
def __init__(self):
super(OneSidedPlatform, self).__init__()
# The ground
ground = self.world.CreateBody(
shapes=b2EdgeShape(vertices=[(-20, 0), (20, 0)])
)
# The platform
half_height = 0.5
ypos = 10
body = self.world.CreateBody(
position=(0, ypos),
shapes=b2PolygonShape(box=(3, half_height))
)
self.platform = body.fixtures[0]
# The circular character
self.character_radius = 0.5
body = self.world.CreateDynamicBody(
position=(0, 12),
fixtures=b2FixtureDef(shape=b2CircleShape(
radius=self.character_radius), density=1.0),
)
self.character = body.fixtures[0]
body.linearVelocity = (0, -50)
self.bottom = ypos - half_height # The bottom of the platform
self.top = ypos + half_height # The top of the platform
self.state = 'unknown'
def __init__(self):
super(Liquid, self).__init__()
self.per_particle_mass = self.total_mass / self.num_particles
ground = self.world.CreateStaticBody(
shapes=[
b2PolygonShape(box=[5.0, 0.5]),
b2PolygonShape(box=[1.0, 0.2, (0, 4), -0.2]),
b2PolygonShape(box=[1.5, 0.2, (-1.2, 5.2), -1.5]),
b2PolygonShape(box=[0.5, 50.0, (5, 0), 0.0]),
b2PolygonShape(box=[0.5, 3.0, (-8, 0), 0.0]),
b2PolygonShape(box=[2.0, 0.1, (-6, -2.8), 0.1]),
b2CircleShape(radius=0.5, pos=(-.5, -4)),
]
)
cx = 0
cy = 25
box_width = 2.0
box_height = 20.0
self.liquid = []
for i in range(self.num_particles):
self.createDroplet((b2Random(cx - box_width * 0.5,
cx + box_width * 0.5),
b2Random(cy - box_height * 0.5,
cy + box_height * 0.5)))
self.createBoxSurfer()
if hasattr(self, 'settings'):
self.settings.enableSubStepping = False
def __init__(self):
super(Bridge, self).__init__()
# The ground
ground = self.world.CreateBody(
shapes=b2EdgeShape(vertices=[(-40, 0), (40, 0)])
)
create_bridge(self.world, ground, (1.0, 0.25),
(-14.5, 5), self.numPlanks, 0.2, 20)
fixture = b2FixtureDef(
shape=b2PolygonShape(vertices=[(-0.5, 0.0),
(0.5, 0.0),
(0.0, 1.5),
]),
density=1.0
)
for i in range(2):
self.world.CreateDynamicBody(
position=(-8 + 8 * i, 12),
fixtures=fixture,
)
fixture = b2FixtureDef(shape=b2CircleShape(radius=0.5), density=1)
for i in range(3):
self.world.CreateDynamicBody(
position=(-6 + 6 * i, 10),
fixtures=fixture,
)
def create_car(world, offset, wheel_radius, wheel_separation, density=1.0,
wheel_friction=0.9, scale=(1.0, 1.0), chassis_vertices=None,
wheel_axis=(0.0, 1.0), wheel_torques=[20.0, 10.0],
wheel_drives=[True, False], hz=4.0, zeta=0.7, **kwargs):
"""
"""
x_offset, y_offset = offset
scale_x, scale_y = scale
if chassis_vertices is None:
chassis_vertices = [
(-1.5, -0.5),
(1.5, -0.5),
(1.5, 0.0),
(0.0, 0.9),
(-1.15, 0.9),
(-1.5, 0.2),
]
chassis_vertices = [(scale_x * x, scale_y * y)
for x, y in chassis_vertices]
radius_scale = sqrt(scale_x ** 2 + scale_y ** 2)
wheel_radius *= radius_scale
chassis = world.CreateDynamicBody(
position=(x_offset, y_offset),
fixtures=b2FixtureDef(
shape=b2PolygonShape(vertices=chassis_vertices),
density=density,
)
)
wheels, springs = [], []
wheel_xs = [-wheel_separation * scale_x /
2.0, wheel_separation * scale_x / 2.0]
for x, torque, drive in zip(wheel_xs, wheel_torques, wheel_drives):
wheel = world.CreateDynamicBody(
position=(x_offset + x, y_offset - wheel_radius),
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=wheel_radius),
density=density,
)
)
spring = world.CreateWheelJoint(
bodyA=chassis,
bodyB=wheel,
anchor=wheel.position,
axis=wheel_axis,
motorSpeed=0.0,
maxMotorTorque=torque,
enableMotor=drive,
frequencyHz=hz,
dampingRatio=zeta
)
wheels.append(wheel)
springs.append(spring)
return chassis, wheels, springs
def Keyboard(self, key):
if key == Keys.K_b:
if self.bullet:
self.world.DestroyBody(self.bullet)
self.bullet = None
circle = b2FixtureDef(shape=b2CircleShape(radius=0.25), density=20, restitution=0.05)
self.bullet = self.world.CreateDynamicBody(
position=(-31, 5), bullet=True, fixtures=circle, linearVelocity=(400, 0)
)
def CreateCircle(self, pos):
fixture = b2FixtureDef(shape=b2CircleShape(radius=self.radius,
pos=(0, 0)),
density=1, friction=0.1)
self.world.CreateDynamicBody(
position=pos,
fixtures=fixture
)
def create_cloth(world, segment_count, body_size, position=(0, 30),
group_index=-1, bar_height=0.5, base_hz=15,
base_damping=0.11, density=0.2):
segment_w, segment_h = segment_count
body_spacing_w = body_size * 2
total_w = body_spacing_w * segment_w
position = b2Vec2(*position)
# The static bar at the top which holds the cloth
bar = world.CreateStaticBody(position=position)
bar.CreatePolygonFixture(box=(total_w / 2.0 + body_spacing_w,
bar_height / 2.0),
groupIndex=group_index)
box_fixture = b2FixtureDef(shape=b2CircleShape(radius=body_size),
groupIndex=group_index, density=density)
weld_joints = []
distance_joints = []
cloth = [[None] * segment_h for x in range(segment_w)]
for y in range(segment_h):
pos = position - (total_w / 2.0, y * body_spacing_w)
for x in range(segment_w):
pos += (body_spacing_w, 0.0)
body = world.CreateDynamicBody(position=pos, fixtures=box_fixture)
cloth[x][y] = body
if y == 0:
joint = world.CreateWeldJoint(bodyA=body, bodyB=bar,
anchor=body.position)
weld_joints.append(joint)
connect_bodies = []
for y in range(segment_h):
for x in range(segment_w):
if x <= segment_w - 2:
left_body = cloth[x][y]
right_body = cloth[x + 1][y]
connect_bodies.append((left_body, right_body))
if y > 0:
left_body = cloth[x][y]
right_body = cloth[x][y - 1]
connect_bodies.append((left_body, right_body))
for bodyA, bodyB in connect_bodies:
joint = world.CreateDistanceJoint(
bodyA=bodyA,
bodyB=bodyB,
anchorA=bodyA.position,
anchorB=bodyB.position,
frequencyHz=base_hz + b2Random(0, base_hz / 2.0),
dampingRatio=base_damping + b2Random(0.01, base_damping),
)
distance_joints.append(joint)
return cloth, weld_joints, distance_joints
def __init__(self):
super(Pinball, self).__init__()
# The ground
ground = self.world.CreateBody(
shapes=b2LoopShape(vertices=[(0, -2), (8, 6),
(8, 20), (-8, 20),
(-8, 6)]),
)
# Flippers
p1, p2 = (-2, 0), (2, 0)
fixture = b2FixtureDef(shape=b2PolygonShape(box=(1.75, 0.1)), density=1)
flipper = {'fixtures': fixture}
self.leftFlipper = self.world.CreateDynamicBody(
position=p1,
**flipper
)
self.rightFlipper = self.world.CreateDynamicBody(
position=p2,
**flipper
)
rjd = b2RevoluteJointDef(
bodyA=ground,
bodyB=self.leftFlipper,
localAnchorA=p1,
localAnchorB=(0, 0),
enableMotor=True,
enableLimit=True,
maxMotorTorque=1000,
motorSpeed=0,
lowerAngle=-30.0 * b2_pi / 180.0,
upperAngle=5.0 * b2_pi / 180.0,
)
self.leftJoint = self.world.CreateJoint(rjd)
rjd.motorSpeed = 0
rjd.localAnchorA = p2
rjd.bodyB = self.rightFlipper
rjd.lowerAngle = -5.0 * b2_pi / 180.0
rjd.upperAngle = 30.0 * b2_pi / 180.0
self.rightJoint = self.world.CreateJoint(rjd)
# Ball
self.ball = self.world.CreateDynamicBody(
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=0.2),
density=1.0),
bullet=True,
position=(1, 15))
self.pressed = False
def __init__(self, radius, centerpos, colour=None,
dens=1, frict=0.5, rest=0.25):
b2_centerpos = get_b2pos(centerpos)
r = radius / PPM
self.body = world.CreateDynamicBody(position=b2_centerpos)
circle = b2CircleShape(pos=(0, 0), radius=r)
ball = self.body.CreateFixture(shape=circle, density=dens, friction=frict, restitution=rest)
if not colour:
self.colour = colour_x(gamma_min=150)
else:
self.colour = colour
def __init__(self):
super(EdgeShapes, self).__init__()
self.ground = self.world.CreateStaticBody(
shapes=[b2EdgeShape(vertices=v) for v in get_sinusoid_vertices(-20.0, VERTEX_COUNT)]
)
self.shapes = [
b2PolygonShape(vertices=[(-0.5, 0), (0.5, 0), (0, 1.5)]),
b2PolygonShape(vertices=[(-0.1, 0), (0.1, 0), (0, 1.5)]),
b2PolygonShape(vertices=get_octagon_vertices(1.0)),
b2PolygonShape(box=(0.5, 0.5)),
b2CircleShape(radius=0.5),
]
self.angle = 0
self.callback = RayCastCallback()
def LaunchBomb(self, position, velocity):
"""
A bomb is a simple circle which has the specified position and velocity.
position and velocity must be b2Vec2's.
"""
if self.bomb:
self.world.DestroyBody(self.bomb)
self.bomb = None
self.bomb = self.world.CreateDynamicBody(
allowSleep=True,
position=position,
linearVelocity=velocity,
fixtures=b2FixtureDef(shape=b2CircleShape(radius=0.3),
density=20,
restitution=0.1))
def __init__(self):
super(Pinball, self).__init__()
# The ground
ground = self.world.CreateBody(shapes=b2LoopShape(
vertices=[(0, -2), (8, 6), (8, 20), (-8, 20), (-8, 6)]), )
# Flippers
p1, p2 = (-2, 0), (2, 0)
fixture = b2FixtureDef(shape=b2PolygonShape(box=(1.75, 0.1)),
density=1)
flipper = {'fixtures': fixture}
self.leftFlipper = self.world.CreateDynamicBody(position=p1, **flipper)
self.rightFlipper = self.world.CreateDynamicBody(position=p2,
**flipper)
rjd = b2RevoluteJointDef(
bodyA=ground,
bodyB=self.leftFlipper,
localAnchorA=p1,
localAnchorB=(0, 0),
enableMotor=True,
enableLimit=True,
maxMotorTorque=1000,
motorSpeed=0,
lowerAngle=-30.0 * b2_pi / 180.0,
upperAngle=5.0 * b2_pi / 180.0,
)
self.leftJoint = self.world.CreateJoint(rjd)
rjd.motorSpeed = 0
rjd.localAnchorA = p2
rjd.bodyB = self.rightFlipper
rjd.lowerAngle = -5.0 * b2_pi / 180.0
rjd.upperAngle = 30.0 * b2_pi / 180.0
self.rightJoint = self.world.CreateJoint(rjd)
# Ball
self.ball = self.world.CreateDynamicBody(fixtures=b2FixtureDef(
shape=b2CircleShape(radius=0.2), density=1.0),
bullet=True,
position=(1, 15))
self.pressed = False
def setupWorld(self):
# circle shape
shape = b2CircleShape(radius=50 / settings.B2D_PPM)
# fixture
fixture = b2FixtureDef()
fixture.density = 1
fixture.friction = 0.3
fixture.shape = shape
#fixture.userData = new UserDataInfo(name, bRadius * 2, bRadius * 2)
# body definition
bodyDef = b2BodyDef()
bodyDef.position.Set((300) / settings.B2D_PPM,
(300) / settings.B2D_PPM)
bodyDef.type = b2_dynamicBody
bodyDef.fixedRotation = False
circle = self.addActor(ActorB2D((300, 300), (50, 50)),
bodyDef=bodyDef,
fixture=fixture)
box = self.addActor(ActorB2D((100, 400), (40, 20)), False)
#j = self.m_b2dWorld.CreateRevoluteJoint(bodyA=box.m_body,
# bodyB=circle.m_body,
# localAnchorA=(0, 5),
# localAnchorB=(0, 0),
# enableMotor=False,
# maxMotorTorque=1000,
# enableLimit=True,
# lowerAngle=0,
# upperAngle=1)
j = self.m_b2dWorld.CreateRevoluteJoint(
bodyA=box.m_body,
bodyB=circle.m_body,
localAnchorA=(0, 5),
localAnchorB=(0, 0),
enableMotor=True,
maxMotorTorque=1000,
motorSpeed=1, #rad/s
enableLimit=False,
lowerAngle=0,
upperAngle=1)
self.m_joints.append(j)
def __init__(self):
super(EdgeShapes, self).__init__()
self.ground = self.world.CreateStaticBody(shapes=[
b2EdgeShape(vertices=v)
for v in get_sinusoid_vertices(-20.0, VERTEX_COUNT)
])
self.shapes = [
b2PolygonShape(vertices=[(-0.5, 0), (0.5, 0), (0, 1.5)]),
b2PolygonShape(vertices=[(-0.1, 0), (0.1, 0), (0, 1.5)]),
b2PolygonShape(vertices=get_octagon_vertices(1.0)),
b2PolygonShape(box=(0.5, 0.5)),
b2CircleShape(radius=0.5),
]
self.angle = 0
self.callback = RayCastCallback()
def create_vehicle(world, chassis_vertices, wheels_data):
chassis_vertices = sorted(chassis_vertices, key=lambda cord: cord[0])
shapes = [
b2PolygonShape(
vertices=[
chassis_vertices[i],
chassis_vertices[i + 1],
chassis_vertices[i + 2],
chassis_vertices[i + 3],
]
)
for i in range(0, len(chassis_vertices) - 2, 2)
]
chassis = world.CreateDynamicBody(
position=(0, 10),
shapes=shapes,
shapeFixture=b2FixtureDef(density=1, filter=b2Filter(groupIndex=-1)),
)
wheels, springs = [], []
for wheel_spec in wheels_data:
wheel = world.CreateDynamicBody(
position=(wheel_spec["position_x"], wheel_spec["position_y"]),
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=wheel_spec["radius"]),
density=wheel_spec["density"],
filter=b2Filter(groupIndex=-1),
),
)
spring = world.CreateWheelJoint(
bodyA=chassis,
bodyB=wheel,
anchor=wheel.position,
axis=(wheel_spec["wheel_axis_x"], wheel_spec["wheel_axis_y"]),
motorSpeed=wheel_spec["speed"],
maxMotorTorque=wheel_spec["torque"],
enableMotor=wheel_spec["enable_motor"],
dampingRatio=wheel_spec["damping_ratio"],
frequencyHz=4.0,
)
wheels.append(wheel)
springs.append(spring)
return chassis, wheels, springs
def __init__(self):
super(Restitution, self).__init__()
# The ground
ground = self.world.CreateStaticBody(
shapes=b2EdgeShape(vertices=[(-20, 0), (20, 0)])
)
radius = 1.0
density = 1.0
# The bodies
for i, restitution in enumerate([0.0, 0.1, 0.3, 0.5, 0.75, 0.9, 1.0]):
self.world.CreateDynamicBody(
position=(-10 + 3.0 * i, 20),
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=radius),
density=density, restitution=restitution)
)
def __init__(self):
super(Restitution, self).__init__()
# The ground
ground = self.world.CreateStaticBody(
shapes=b2EdgeShape(vertices=[(-20, 0), (20, 0)])
)
radius = 1.0
density = 1.0
# The bodies
for i, restitution in enumerate([0.0, 0.1, 0.3, 0.5, 0.75, 0.9, 1.0]):
self.world.CreateDynamicBody(
position=(-10 + 3.0 * i, 20),
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=radius),
density=density, restitution=restitution)
)
def LaunchBomb(self, position, velocity):
"""
A bomb is a simple circle which has the specified position and velocity.
position and velocity must be b2Vec2's.
"""
if self.bomb:
self.world.DestroyBody(self.bomb)
self.bomb = None
self.bomb = self.world.CreateDynamicBody(
allowSleep=True,
position=position,
linearVelocity=velocity,
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=0.3),
density=20,
restitution=0.1)
)
def __init__(self):
super(TwoBallExample, self).__init__()
self.world.gravity = (0.0, -10.0)
# The boundaries
ground = self.world.CreateBody(position=(0, 25.6))
ground.CreateEdgeChain(
[(-25.6, -25.6),
(-25.6, 25.6),
(25.6, 25.6),
(25.6, -25.6),
(-25.6, -25.6)]
)
fixtures = b2FixtureDef(shape=b2CircleShape(radius=1.0),
density=1, friction=0.3, restitution=0.5)
body = self.world.CreateDynamicBody(
position=(0, 10), fixtures=fixtures)
def new_physic_object(shape='box',
scale=1,
is_a_bullet=False,
pos=(0, 0),
angular_dampning=0,
linear_dampning=0,
category_bits=0x0001,
mask_bits=(0x0001 | 0x0002 | 0x0003),
den=2.0):
debug_graphic = loader.loadModel("models/physic_square")
debug_graphic.reparentTo(camera)
if shape == 'circle':
tex = loader.loadTexture("textures/round.png")
else:
tex = loader.loadTexture("textures/physic_texture.png")
debug_graphic.setTexture(tex, 1)
debug_graphic.setBin("unsorted", 0)
debug_graphic.setDepthTest(False)
if shape == 'box':
new_shape = b2PolygonShape(
box=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO,
scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
elif shape == 'circle':
new_shape = b2CircleShape(
radius=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
else:
new_shape = b2PolygonShape(
box=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO,
scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
body = defines.world.CreateDynamicBody(position=pos,
angle=0,
angularDamping=angular_dampning,
linearDamping=linear_dampning,
shapes=new_shape,
bullet=is_a_bullet,
shapeFixture=b2FixtureDef(
density=den,
categoryBits=category_bits,
maskBits=mask_bits))
return debug_graphic, body
def create_new_body(self):
self.body = self.game.world.CreateDynamicBody(
position=(
self.x * self.game.physics_scale,
self.y * self.game.physics_scale,
),
userData=self,
)
fixture_def = b2FixtureDef(
shape=b2CircleShape(radius=self.radius * self.game.physics_scale),
friction=0.2,
density=1.0,
categoryBits=Category.ENEMY,
maskBits=(Category.ENEMY
| Category.CHARACTER
| Category.CHARACTER_BULLET
| Category.WALL
| Category.CORPSE),
)
# noinspection PyUnusedLocal
fixture = self.body.CreateFixture(fixture_def)
def replace_body(old_body, new_position, scale, shape='box',
category_bits=0x0001, mask_bits=(0x0001 | 0x0002 | 0x0003)):
if shape == 'box':
new_shape = b2PolygonShape(box=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO, scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
elif shape == 'circle':
new_shape= b2CircleShape(radius=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
else:
new_shape= b2PolygonShape(box=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO, scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
new_body = defines.world.CreateDynamicBody(
position=new_position,
angle=old_body.angle,
angularDamping=old_body.angularDamping,
linearDamping=old_body.linearDamping,
shapes=new_shape,
bullet=old_body.bullet,
shapeFixture=b2FixtureDef(density=2.0,
categoryBits=category_bits,
maskBits=mask_bits )
)
return new_body
def __createCollisionBody(self, pos, size, shape, ud = None):
#collisionbody
body = self.mWorld.CreateDynamicBody(position = pos)
if shape == EnemyShape.CIRCLE:
shape = b2CircleShape(radius=size.x/2)
elif shape == EnemyShape.POLYGON:
shape = b2PolygonShape()
shape.SetAsBox(size.x/2, size.y/2)
elif shape == EnemyShape.LINE:
shape = b2EdgeShape()
shape.vertices = b2Vec2(-size.x / 2.0, -size.y / 2.0), b2Vec2(size.x / 2.0, size.y / 2.0)
fd = b2FixtureDef()
fd.shape = shape
fd.isSensor = True
body.CreateFixture(fd)
body.isbullet = False
body.fixedRotation = True
body.userData = self if ud == None else ud
return body
def create_blob(world,
center,
radius,
circle_radius=0.5,
shape_num=24,
angularDamping=0.5,
linearDamping=0.5,
friction=0.5,
density=5.0,
**kwargs):
def get_pos(angle):
return (cos(angle * pi / 180.0) * radius + center[0],
sin(angle * pi / 180.0) * radius + center[1])
circle = b2CircleShape(radius=circle_radius)
fixture = b2FixtureDef(shape=circle,
friction=friction,
density=density,
restitution=0.0)
bodies = [
world.CreateDynamicBody(position=get_pos(i), fixtures=fixture)
for i in range(0, 360, int(360 / shape_num))
]
joints = []
prev_body = bodies[-1]
for body in bodies:
joint = world.CreateDistanceJoint(bodyA=prev_body,
bodyB=body,
anchorA=prev_body.position,
anchorB=body.position,
dampingRatio=10.0)
joints.append(joint)
prev_body = body
return bodies, joints
def __init__(self, position, physworld, gravity):
self.mWorld = physworld
self.mGravity = gravity
self.mPlayerState = PlayerState.IDLE
#create player physicsbody
pos = b2Vec2(position[0] + self.PLAYER_WIDTH/5, position[1] + self.PLAYER_HEIGHT/2.5)
body = self.mWorld.CreateDynamicBody(position = pos)
shape = b2PolygonShape()
fd = b2FixtureDef()
fd.shape = shape
fd.isSensor = True
#footsensor
shape.SetAsBox(self.PLAYER_WIDTH/5, 0.1, (0, 0.35), 0)
fd.userData = Sensor.PLAYER_FOOTSENSOR
body.CreateFixture(fd)
#gravitysensor/deathsensor
shape.SetAsBox(0.15,0.3)
fd.userData = Sensor.PLAYER_DEATHSENSOR
body.CreateFixture(fd)
#footcollision
shape = b2CircleShape(radius=0.2, pos=(0,0.15))
fd.friction = 0
fd.shape = shape
fd.userData = self
fd.isSensor = False
body.CreateFixture(fd)
#collisionbody
body.CreatePolygonFixture(box=(self.PLAYER_WIDTH/5, self.PLAYER_HEIGHT/2.5), density=0, friction=0)
body.bullet = True
body.fixedRotation = True
body.userData = self
super(Player, self).__init__(pos, b2Vec2(self.PLAYER_WIDTH, self.PLAYER_HEIGHT), body, b2Vec2(0,0), 3.5, b2Vec2(0,0))
def _reset(self):
self._destroy()
membrane_base.reset_helper(self)
# Creating the object to manipulate
object_fixture = b2FixtureDef(
shape = b2CircleShape(radius=membrane_base.OBJ_SIZE/2),
density = 0.3,
friction = 0.6,
restitution = 0.5
)
object_position = (self.np_random.uniform(membrane_base.OBJ_POS_OFFSET,membrane_base.BOX_WIDTH-membrane_base.OBJ_POS_OFFSET), membrane_base.BOX_HEIGHT/3)
self.object = self.world.CreateDynamicBody(
position = object_position,
fixtures = object_fixture,
linearDamping = 0.3 # Control this parameter for surface friction
)
self.object.color1 = (1,1,0)
self.object.color2 = (0,0,0)
self.drawlist = self.drawlist + [self.object]
return self._step(np.array([0,0,0,0,0]))[0] # action: zero motor speed
def __init__(self):
super(VerticalStack, self).__init__()
columns = 5
rows = 16
ground = self.world.CreateStaticBody(
shapes=[b2EdgeShape(vertices=[(-40, 0), (40, 0)]), b2EdgeShape(vertices=[(20, 0), (20, 20)])]
)
box = b2FixtureDef(shape=b2PolygonShape(box=(0.5, 0.5)), density=1, friction=0.3)
circle = b2FixtureDef(shape=b2CircleShape(radius=0.5), density=1, friction=0.3)
box_start = -10
box_space = 2.5
circle_start = 8
circle_space = 2.5
for j in range(columns):
for i in range(rows):
self.world.CreateDynamicBody(fixtures=box, position=(box_start + box_space * j, 0.752 + 1.54 * i))
self.world.CreateDynamicBody(
fixtures=circle, position=(circle_start + circle_space * j, 0.752 + 1.54 * i)
)
def __init__(self, **kwargs):
super(flockSettings, self).__init__()
# display
self.render = False
self.record = False
self.record_dir = "../imgs/"
self.verbose_display = True
# environment
self.start_spread = 20
self.start_point = [0, 0]
self.agent_rotation_speed = 0.8 * (2 * np.pi)
self.agent_force = 20
self.time_limit = 60
circle = b2FixtureDef(shape=b2CircleShape(radius=0.5),
density=1,
friction=0.3)
self.bodySettings = {
"fixtures": circle,
"linearDamping": 5,
"fixedRotation": True
}
# task
self.action_mode = "discrete"
self.reward_mode = "binary"
self._reward_radius = 7
self.target_mindist = 25
self.target_maxdist = 60
self.coord = "polar"
for kw in kwargs:
setattr(self, kw, kwargs[kw])
self.reward_radius = self._reward_radius if self.reward_mode == "binary" else 1
def _reset(self):
self._destroy()
membrane_base.reset_helper(self)
# Creating the object to manipulate
object_fixture = b2FixtureDef(
shape=b2CircleShape(radius=membrane_base.OBJ_SIZE / 2),
density=0.3,
friction=0.6,
restitution=0.5)
object_position = (membrane_base.BOX_WIDTH / 2,
membrane_base.OBJ_SIZE / 2 +
membrane_base.LINK_HEIGHT)
self.object = self.world.CreateDynamicBody(
position=object_position,
fixtures=object_fixture,
linearDamping=0.6 # Control this parameter for surface friction
)
self.object.color1 = (1, 1, 0)
self.object.color2 = (0, 0, 0)
self.drawlist = self.drawlist + [self.object]
self.target_pos = [
np.random.rand() *
(membrane_base.BOX_WIDTH - membrane_base.OBJ_SIZE) +
membrane_base.OBJ_SIZE / 2,
np.random.rand() + 5
]
for i in range(5):
self.pd_control_list[i] = self.PDControl(PD_CONTROL_KP,
PD_CONTROL_KD)
return self._step(np.array([0, 0, 0, 0,
0]))[0] # action: zero motor speed
def __init__(self):
super(VerticalStack, self).__init__()
columns = 5
rows = 16
ground = self.world.CreateStaticBody(
shapes=[
b2EdgeShape(vertices=[(-40, 0), (40, 0)]),
b2EdgeShape(vertices=[(20, 0), (20, 20)]),
]
)
box = b2FixtureDef(
shape=b2PolygonShape(box=(0.5, 0.5)),
density=1,
friction=0.3)
circle = b2FixtureDef(
shape=b2CircleShape(radius=0.5),
density=1,
friction=0.3)
box_start = -10
box_space = 2.5
circle_start = 8
circle_space = 2.5
for j in range(columns):
for i in range(rows):
self.world.CreateDynamicBody(
fixtures=box,
position=(box_start + box_space * j, 0.752 + 1.54 * i)
)
self.world.CreateDynamicBody(
fixtures=circle,
position=(circle_start + circle_space *
j, 0.752 + 1.54 * i)
)
def __init__(self):
super(Raycast, self).__init__()
self.world.gravity = (0, 0)
# The ground
ground = self.world.CreateBody(shapes=b2EdgeShape(vertices=[(-40,
0), (40,
0)]))
# The various shapes
w = 1.0
b = w / (2.0 + sqrt(2.0))
s = sqrt(2.0) * b
self.shapes = [
b2PolygonShape(vertices=[(-0.5, 0), (0.5, 0), (0, 1.5)]),
b2PolygonShape(vertices=[(-0.1, 0), (0.1, 0), (0, 1.5)]),
b2PolygonShape(
vertices=[(0.5 * s,
0), (0.5 * w,
b), (0.5 * w,
b + s), (0.5 * s,
w), (-0.5 * s,
w), (-0.5 * w, b +
s), (-0.5 * w,
b), (-0.5 * s,
0.0)]),
b2PolygonShape(box=(0.5, 0.5)),
b2CircleShape(radius=0.5),
]
self.angle = 0
self.callbacks = [
RayCastClosestCallback, RayCastAnyCallback, RayCastMultipleCallback
]
self.callback_class = self.callbacks[0]
def new_physic_object(shape='box', scale=1,
is_a_bullet=False, pos=(0, 0),
angular_dampning=0, linear_dampning=0,
category_bits=0x0001, mask_bits=(0x0001 | 0x0002 | 0x0003),
den=2.0):
debug_graphic = loader.loadModel("models/physic_square")
debug_graphic.reparentTo(camera)
if shape == 'circle':
tex = loader.loadTexture("textures/round.png")
else:
tex = loader.loadTexture("textures/physic_texture.png")
debug_graphic.setTexture(tex, 1)
debug_graphic.setBin("unsorted", 0)
debug_graphic.setDepthTest(False)
if shape == 'box':
new_shape = b2PolygonShape(box=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO, scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
elif shape == 'circle':
new_shape= b2CircleShape(radius=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
else:
new_shape = b2PolygonShape(box=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO, scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
body = defines.world.CreateDynamicBody(
position=pos,
angle=0,
angularDamping=angular_dampning,
linearDamping=linear_dampning,
shapes=new_shape,
bullet=is_a_bullet,
shapeFixture=b2FixtureDef(density=den,
categoryBits=category_bits,
maskBits=mask_bits)
)
return debug_graphic, body
def __init__(self):
super(CollisionFiltering, self).__init__()
# Ground body
world = self.world
ground = world.CreateBody(shapes=b2EdgeShape(vertices=[(-40, 0), (40,
0)]))
# Define the groups that fixtures can fall into
# Note that negative groups never collide with other negative ones.
smallGroup = 1
largeGroup = -1
# And the categories
# Note that these are bit-locations, and as such are written in
# hexadecimal.
# defaultCategory = 0x0001
triangleCategory = 0x0002
boxCategory = 0x0004
circleCategory = 0x0008
# And the masks that define which can hit one another
# A mask of 0xFFFF means that it will collide with everything else in
# its group. The box mask below uses an exclusive OR (XOR) which in
# effect toggles the triangleCategory bit, making boxMask = 0xFFFD.
# Such a mask means that boxes never collide with triangles. (if
# you're still confused, see the implementation details below)
triangleMask = 0xFFFF
boxMask = 0xFFFF ^ triangleCategory
circleMask = 0xFFFF
# The actual implementation determining whether or not two objects
# collide is defined in the C++ source code, but it can be overridden
# in Python (with b2ContactFilter).
# The default behavior goes like this:
# if (filterA.groupIndex == filterB.groupIndex and filterA.groupIndex != 0):
# collide if filterA.groupIndex is greater than zero (negative groups never collide)
# else:
# collide if (filterA.maskBits & filterB.categoryBits) != 0 and (filterA.categoryBits & filterB.maskBits) != 0
#
# So, if they have the same group index (and that index isn't the
# default 0), then they collide if the group index is > 0 (since
# negative groups never collide)
# (Note that a body with the default filter settings will always
# collide with everything else.)
# If their group indices differ, then only if their bitwise-ANDed
# category and mask bits match up do they collide.
#
# For more help, some basics of bit masks might help:
# -> http://en.wikipedia.org/wiki/Mask_%28computing%29
# Small triangle
triangle = b2FixtureDef(
shape=b2PolygonShape(vertices=[(-1, 0), (1, 0), (0, 2)]),
density=1,
filter=b2Filter(
groupIndex=smallGroup,
categoryBits=triangleCategory,
maskBits=triangleMask,
))
world.CreateDynamicBody(
position=(-5, 2),
fixtures=triangle,
)
# Large triangle (recycle definitions)
triangle.shape.vertices = [
2.0 * b2Vec2(v) for v in triangle.shape.vertices
]
triangle.filter.groupIndex = largeGroup
trianglebody = world.CreateDynamicBody(
position=(-5, 6),
fixtures=triangle,
fixedRotation=True, # <--
)
# note that the large triangle will not rotate
# Small box
box = b2FixtureDef(shape=b2PolygonShape(box=(1, 0.5)),
density=1,
restitution=0.1,
filter=b2Filter(
groupIndex=smallGroup,
categoryBits=boxCategory,
maskBits=boxMask,
))
world.CreateDynamicBody(
position=(0, 2),
fixtures=box,
)
# Large box
box.shape.box = (2, 1)
box.filter.groupIndex = largeGroup
world.CreateDynamicBody(
position=(0, 6),
fixtures=box,
)
# Small circle
circle = b2FixtureDef(shape=b2CircleShape(radius=1),
density=1,
filter=b2Filter(
groupIndex=smallGroup,
categoryBits=circleCategory,
maskBits=circleMask,
))
world.CreateDynamicBody(
position=(5, 2),
fixtures=circle,
)
# Large circle
circle.shape.radius *= 2
circle.filter.groupIndex = largeGroup
world.CreateDynamicBody(
position=(5, 6),
fixtures=circle,
)
# Create a joint for fun on the big triangle
# Note that it does not inherit or have anything to do with the
# filter settings of the attached triangle.
box = b2FixtureDef(shape=b2PolygonShape(box=(0.5, 1)), density=1)
testbody = world.CreateDynamicBody(
position=(-5, 10),
fixtures=box,
)
world.CreatePrismaticJoint(
bodyA=trianglebody,
bodyB=testbody,
enableLimit=True,
localAnchorA=(0, 4),
localAnchorB=(0, 0),
localAxisA=(0, 1),
lowerTranslation=-1,
upperTranslation=1,
)
def __init__(self):
super(CollisionFiltering, self).__init__()
# Ground body
world = self.world
ground = world.CreateBody(
shapes=b2EdgeShape(vertices=[(-40, 0), (40, 0)])
)
# Define the groups that fixtures can fall into
# Note that negative groups never collide with other negative ones.
smallGroup = 1
largeGroup = -1
# And the categories
# Note that these are bit-locations, and as such are written in
# hexadecimal.
# defaultCategory = 0x0001
triangleCategory = 0x0002
boxCategory = 0x0004
circleCategory = 0x0008
# And the masks that define which can hit one another
# A mask of 0xFFFF means that it will collide with everything else in
# its group. The box mask below uses an exclusive OR (XOR) which in
# effect toggles the triangleCategory bit, making boxMask = 0xFFFD.
# Such a mask means that boxes never collide with triangles. (if
# you're still confused, see the implementation details below)
triangleMask = 0xFFFF
boxMask = 0xFFFF ^ triangleCategory
circleMask = 0xFFFF
# The actual implementation determining whether or not two objects
# collide is defined in the C++ source code, but it can be overridden
# in Python (with b2ContactFilter).
# The default behavior goes like this:
# if (filterA.groupIndex == filterB.groupIndex and filterA.groupIndex != 0):
# collide if filterA.groupIndex is greater than zero (negative groups never collide)
# else:
# collide if (filterA.maskBits & filterB.categoryBits) != 0 and (filterA.categoryBits & filterB.maskBits) != 0
#
# So, if they have the same group index (and that index isn't the
# default 0), then they collide if the group index is > 0 (since
# negative groups never collide)
# (Note that a body with the default filter settings will always
# collide with everything else.)
# If their group indices differ, then only if their bitwise-ANDed
# category and mask bits match up do they collide.
#
# For more help, some basics of bit masks might help:
# -> http://en.wikipedia.org/wiki/Mask_%28computing%29
# Small triangle
triangle = b2FixtureDef(
shape=b2PolygonShape(vertices=[(-1, 0), (1, 0), (0, 2)]),
density=1,
filter=b2Filter(
groupIndex=smallGroup,
categoryBits=triangleCategory,
maskBits=triangleMask,
)
)
world.CreateDynamicBody(
position=(-5, 2),
fixtures=triangle,
)
# Large triangle (recycle definitions)
triangle.shape.vertices = [
2.0 * b2Vec2(v) for v in triangle.shape.vertices]
triangle.filter.groupIndex = largeGroup
trianglebody = world.CreateDynamicBody(
position=(-5, 6),
fixtures=triangle,
fixedRotation=True, # <--
)
# note that the large triangle will not rotate
# Small box
box = b2FixtureDef(
shape=b2PolygonShape(box=(1, 0.5)),
density=1,
restitution=0.1,
filter = b2Filter(
groupIndex=smallGroup,
categoryBits=boxCategory,
maskBits=boxMask,
)
)
world.CreateDynamicBody(
position=(0, 2),
fixtures=box,
)
# Large box
box.shape.box = (2, 1)
box.filter.groupIndex = largeGroup
world.CreateDynamicBody(
position=(0, 6),
fixtures=box,
)
# Small circle
circle = b2FixtureDef(
shape=b2CircleShape(radius=1),
density=1,
filter=b2Filter(
groupIndex=smallGroup,
categoryBits=circleCategory,
maskBits=circleMask,
)
)
world.CreateDynamicBody(
position=(5, 2),
fixtures=circle,
)
# Large circle
circle.shape.radius *= 2
circle.filter.groupIndex = largeGroup
world.CreateDynamicBody(
position=(5, 6),
fixtures=circle,
)
# Create a joint for fun on the big triangle
# Note that it does not inherit or have anything to do with the
# filter settings of the attached triangle.
box = b2FixtureDef(shape=b2PolygonShape(box=(0.5, 1)), density=1)
testbody = world.CreateDynamicBody(
position=(-5, 10),
fixtures=box,
)
world.CreatePrismaticJoint(
bodyA=trianglebody,
bodyB=testbody,
enableLimit=True,
localAnchorA=(0, 4),
localAnchorB=(0, 0),
localAxisA=(0, 1),
lowerTranslation=-1,
upperTranslation=1,
)
def __init__(self, world, position, orientation, robot_color=(1.0, 0.0, 0.0), radius=3, type='kinematic'):
# self.direction_vec = world.CreateKinematicBody(position=position, shape=[b2EdgeShape(vertices=[position, (radius*math.cos(orientation), radius*math.sin(orientation))])])
self.robot = world.CreateKinematicBody(position=position, angle=orientation, shapes=[b2CircleShape(pos=position, radius=radius)])
self.robot_color = robot_color
self.radius = radius
def __init__(self, args=None):
"""
Initialize all of your objects here.
Be sure to call the Framework's initializer first.
"""
if args == None:
args = {
"start_y": 10,
"len_torso": 6,
"len_crank_arm": 2,
"len_leg": 14,
"motor_torque": 400,
"motor_speed": 5
}
super(Robot, self).__init__()
self.count = 0
self.points = []
self.group = -1
self.start_y = args["start_y"]
self.len_torso = args["len_torso"]
self.len_crank_arm = args["len_crank_arm"]
self.len_leg = args["len_leg"]
self.motor_torque = args["motor_torque"]
self.motor_speed = args["motor_speed"]
#Non controlled constants
torso_width = .001
other_width = .001
leg_angle = numpy.arctan(self.len_torso / self.len_crank_arm)
ground = self.world.CreateStaticBody(
position=(0, 0),
shapes=[b2EdgeShape(vertices=[(-1000, 0), (1000, 0)])])
self.torso = self.world.CreateDynamicBody(
position=(0, self.start_y),
fixedRotation=False,
fixtures=b2FixtureDef(
shape=b2PolygonShape(box=(torso_width, self.len_torso / 2)),
density=1.3,
filter=b2Filter(groupIndex=self.group, )),
)
tail_angle = -numpy.pi / 3
len_tail = .035
self.tail = self.world.CreateDynamicBody(
position=(len_tail * numpy.sin(tail_angle),
self.start_y - len_tail * numpy.cos(tail_angle)),
fixtures=b2FixtureDef(shape=b2PolygonShape(box=(torso_width,
len_tail)),
density=1,
filter=b2Filter(groupIndex=self.group, )),
angle=tail_angle,
)
self.crank_arm = self.world.CreateDynamicBody(
position=(0, self.start_y + self.len_torso / 2),
fixtures=b2FixtureDef(shape=b2PolygonShape(box=(self.len_crank_arm,
other_width)),
density=.1,
filter=b2Filter(groupIndex=self.group, )),
)
#Creating the legs
l = numpy.sqrt(self.len_torso**2 + self.len_crank_arm**2)
x = (self.len_leg - 2 * l) * numpy.cos(leg_angle) / 2
y = (self.len_leg - 2 * l) * numpy.sin(leg_angle) / 2
self.right_leg = self.world.CreateDynamicBody(
position=(x, self.start_y - y - self.len_torso / 2),
angle=(-1 * leg_angle + numpy.pi / 2),
fixtures=b2FixtureDef(shape=b2PolygonShape(box=(other_width,
self.len_leg / 2)),
density=.50,
filter=b2Filter(groupIndex=self.group),
friction=1,
restitution=0),
)
self.left_leg = self.world.CreateDynamicBody(
position=(-x, self.start_y - y - self.len_torso / 2),
angle=(leg_angle + numpy.pi / 2),
fixtures=b2FixtureDef(shape=b2PolygonShape(box=(other_width,
self.len_leg / 2)),
density=1.0,
filter=b2Filter(groupIndex=self.group),
friction=1,
restitution=0),
)
self.right_foot = self.world.CreateDynamicBody(
position=(self.len_leg / 2 * numpy.cos(leg_angle),
self.len_leg * numpy.sin(leg_angle)),
fixtures=b2FixtureDef(shape=b2CircleShape(radius=.003),
density=0.1,
filter=b2Filter(groupIndex=self.group, )),
)
self.left_foot = self.world.CreateDynamicBody(
position=(-1 * self.len_leg / 2 * numpy.cos(leg_angle),
self.len_leg * numpy.sin(leg_angle)),
fixtures=b2FixtureDef(shape=b2CircleShape(radius=.003),
density=0.1,
filter=b2Filter(groupIndex=self.group, )),
)
slot_joint_right = self.world.CreateDynamicBody(
position=(0, self.torso.worldCenter[1] - self.len_torso / 2),
angle=(-1 * leg_angle + numpy.pi / 2),
fixtures=b2FixtureDef(shape=b2CircleShape(radius=.0005),
density=1.0,
filter=b2Filter(groupIndex=self.group, )),
)
slot_joint_left = self.world.CreateDynamicBody(
position=(0, self.torso.worldCenter[1] - self.len_torso / 2),
angle=(leg_angle + numpy.pi / 2),
fixtures=b2FixtureDef(shape=b2CircleShape(radius=.0005),
density=1.0,
filter=b2Filter(groupIndex=self.group, )),
)
#Attach Feat to legs
self.right_foot_weld = self.world.CreateWeldJoint(
bodyA=self.right_foot,
bodyB=self.right_leg,
anchor=(self.torso.worldCenter[0] +
self.len_leg / 2 * numpy.cos(leg_angle),
self.torso.worldCenter[1] +
self.len_leg * numpy.sin(leg_angle)),
)
self.left_foot_weld = self.world.CreateWeldJoint(
bodyA=self.left_foot,
bodyB=self.left_leg,
anchor=(self.torso.worldCenter[0] -
self.len_leg / 2 * numpy.cos(leg_angle),
self.torso.worldCenter[1] +
self.len_leg * numpy.sin(leg_angle)),
)
#Motor Joint
self.motor = self.world.CreateRevoluteJoint(
bodyA=self.torso,
bodyB=self.crank_arm,
anchor=(self.torso.worldCenter[0],
self.torso.worldCenter[1] + self.len_torso / 2),
motorSpeed=self.motor_speed,
maxMotorTorque=self.motor_torque,
enableMotor=True,
)
#Joints at end of pivot
self.right_joint = self.world.CreateRevoluteJoint(
bodyA=self.crank_arm,
bodyB=self.right_leg,
anchor=(self.crank_arm.worldCenter[0] - self.len_crank_arm,
self.crank_arm.worldCenter[1]),
)
self.left_joint = self.world.CreateRevoluteJoint(
bodyA=self.crank_arm,
bodyB=self.left_leg,
anchor=(self.crank_arm.worldCenter[0] + self.len_crank_arm,
self.crank_arm.worldCenter[1]),
)
#Making the slot joint composed of rev joint and prismatic joints
self.left_joint_rev = self.world.CreateRevoluteJoint(
bodyA=slot_joint_right,
bodyB=self.torso,
anchor=(0, self.start_y - self.len_torso / 2),
)
self.right_joint_rev = self.world.CreateRevoluteJoint(
bodyA=slot_joint_left,
bodyB=self.torso,
anchor=(0, self.start_y - self.len_torso / 2),
)
self.right_slide_pris = self.world.CreatePrismaticJoint(
bodyA=slot_joint_right,
bodyB=self.right_leg,
anchor=(self.torso.worldCenter[0],
self.torso.worldCenter[0] - self.len_torso / 2),
localAxisA=(0, 1),
)
self.left_slide_pris = self.world.CreatePrismaticJoint(
bodyA=slot_joint_left,
bodyB=self.left_leg,
anchor=(self.torso.worldCenter[0],
self.torso.worldCenter[0] - self.len_torso / 2),
localAxisA=(0, 1),
)
self.tail_joint = self.world.CreateWeldJoint(
bodyA=self.tail,
bodyB=self.torso,
anchor=(0, self.start_y - self.len_torso / 2),
)
def __init__(self):
super(CollisionProcessing, self).__init__()
# Tell the framework we're going to use contacts, so keep track of them
# every Step.
self.using_contacts = True
# Ground body
world = self.world
ground = world.CreateBody(shapes=b2EdgeShape(vertices=[(-50,
0), (50,
0)], ))
xlow, xhi = -5, 5
ylow, yhi = 2, 35
random_vector = lambda: b2Vec2(b2Random(xlow, xhi), b2Random(
ylow, yhi))
# Small triangle
triangle = b2FixtureDef(
shape=b2PolygonShape(vertices=[(-1, 0), (1, 0), (0, 2)]),
density=1,
)
world.CreateBody(
type=b2_dynamicBody,
position=random_vector(),
fixtures=triangle,
)
# Large triangle (recycle definitions)
triangle.shape.vertices = [
2.0 * b2Vec2(v) for v in triangle.shape.vertices
]
tri_body = world.CreateBody(
type=b2_dynamicBody,
position=random_vector(),
fixtures=triangle,
fixedRotation=True, # <--
)
# note that the large triangle will not rotate
# Small box
box = b2FixtureDef(
shape=b2PolygonShape(box=(1, 0.5)),
density=1,
restitution=0.1,
)
world.CreateBody(
type=b2_dynamicBody,
position=random_vector(),
fixtures=box,
)
# Large box
box.shape.box = (2, 1)
world.CreateBody(
type=b2_dynamicBody,
position=random_vector(),
fixtures=box,
)
# Small circle
circle = b2FixtureDef(
shape=b2CircleShape(radius=1),
density=1,
)
world.CreateBody(
type=b2_dynamicBody,
position=random_vector(),
fixtures=circle,
)
# Large circle
circle.shape.radius *= 2
world.CreateBody(
type=b2_dynamicBody,
position=random_vector(),
fixtures=circle,
)
def _reset(self):
self._destroy()
# Creating the Exterior Box that defines the 2D Plane
self.exterior_box = self.world.CreateStaticBody(
position=(0, 0), shapes=b2LoopShape(vertices=EXT_BOX_POLY))
self.exterior_box.color1 = (0, 0, 0)
self.exterior_box.color2 = (0, 0, 0)
# Creating the object to manipulate
object_fixture = b2FixtureDef(shape=b2CircleShape(radius=BOX_WIDTH *
OBJ_SIZE / 2),
density=0.3,
friction=0.6,
restitution=0.5)
# Randomizing object's initial position
# object_position = (
# self.np_random.uniform(BOX_WIDTH*OBJ_POS_OFFSET,BOX_WIDTH-BOX_WIDTH*OBJ_POS_OFFSET),
# BOX_HEIGHT/5
# )
# object_position = (
# self.np_random.uniform(BOX_WIDTH*OBJ_POS_OFFSET,BOX_WIDTH-BOX_WIDTH*OBJ_POS_OFFSET),
# self.np_random.uniform(BOX_WIDTH*OBJ_POS_OFFSET,BOX_HEIGHT-BOX_WIDTH*OBJ_POS_OFFSET)
# )
object_position = (self.np_random.uniform(
BOX_WIDTH * OBJ_POS_OFFSET,
BOX_WIDTH - BOX_WIDTH * OBJ_POS_OFFSET), BOX_HEIGHT / 3)
self.object = self.world.CreateDynamicBody(
position=object_position,
fixtures=object_fixture,
linearDamping=0.3 # Control this parameter for surface friction
)
self.object.at_target = False
self.object.at_target_count = 0
self.object.color1 = (1, 1, 0)
self.object.color2 = (0, 0, 0)
# Creating 5 actuators
actuator_fixture = b2FixtureDef(
shape=b2CircleShape(radius=BOX_WIDTH * ACTUATOR_TIP_SIZE / 2),
density=1,
friction=0.6,
restitution=0.0,
groupIndex=-1)
for i in range(5):
actuator = self.world.CreateDynamicBody(
position=((BOX_SIDE_OFFSET + GAP * i) * BOX_WIDTH, 0),
fixtures=actuator_fixture)
actuator.color1 = (0, 0, 0.5)
actuator.color2 = (0, 0, 0)
actuator.joint = self.world.CreatePrismaticJoint(
bodyA=self.exterior_box,
bodyB=actuator,
anchor=actuator.position,
axis=(0, 1),
lowerTranslation=0,
upperTranslation=ACTUATOR_TRANSLATION_MAX,
enableLimit=True,
maxMotorForce=1000.0,
motorSpeed=0,
enableMotor=True)
self.actuator_list.append(actuator)
self.drawlist = self.actuator_list + [self.object]
if self.with_linkage:
# Creating the linkages that will form the semi-flexible membrane
link_fixture = b2FixtureDef(
shape=b2PolygonShape(box=(LINK_WIDTH * BOX_WIDTH / 2,
LINK_HEIGHT * BOX_WIDTH / 2)),
density=1,
friction=0.6,
restitution=0.0,
groupIndex=-1 # neg index to prevent collision
)
for i in range(4):
link_left = self.world.CreateDynamicBody(
position=(BOX_WIDTH *
(BOX_SIDE_OFFSET + GAP * i + LINK_WIDTH / 2), 0),
fixtures=link_fixture)
link_left.color1 = (0, 1, 1)
link_left.color2 = (1, 0, 1)
self.link_left_list.append(link_left)
link_right = self.world.CreateDynamicBody(
position=(BOX_WIDTH * (BOX_SIDE_OFFSET + GAP *
(i + 1) - LINK_WIDTH / 2), 0),
fixtures=link_fixture)
link_right.color1 = (0, 1, 1)
link_right.color2 = (1, 0, 1)
self.link_right_list.append(link_right)
joint_left = self.world.CreateRevoluteJoint(
bodyA=self.actuator_list[i],
bodyB=link_left,
anchor=self.actuator_list[i].worldCenter,
collideConnected=False)
joint_right = self.world.CreateRevoluteJoint(
bodyA=self.actuator_list[i + 1],
bodyB=link_right,
anchor=self.actuator_list[i + 1].worldCenter,
collideConnected=False)
joint_middle = self.world.CreatePrismaticJoint(
bodyA=link_left,
bodyB=link_right,
anchor=(link_right.position.x - BOX_WIDTH *
(LINK_WIDTH / 2 + LINK_HEIGHT / 2),
link_right.position.y),
axis=(1, 0),
lowerTranslation=0,
upperTranslation=BOX_WIDTH * LINK_WIDTH * 2 / 3,
enableLimit=True)
# Adding linkages to the drawlist
self.drawlist = self.link_left_list + self.link_right_list + self.drawlist
return self._step(np.array([0, 0, 0, 0,
0]))[0] # action: zero motor speed
def create_car(world,
offset,
wheel_radius,
wheel_separation,
density=1.0,
wheel_friction=0.9,
scale=(1.0, 1.0),
chassis_vertices=None,
wheel_axis=(0.0, 1.0),
wheel_torques=[20.0, 10.0],
wheel_drives=[True, False],
hz=4.0,
zeta=0.7,
**kwargs):
"""
"""
x_offset, y_offset = offset
scale_x, scale_y = scale
if chassis_vertices is None:
chassis_vertices = [
(-1.5, -0.5),
(1.5, -0.5),
(1.5, 0.0),
(0.0, 0.9),
(-1.15, 0.9),
(-1.5, 0.2),
]
chassis_vertices = [(scale_x * x, scale_y * y)
for x, y in chassis_vertices]
radius_scale = sqrt(scale_x**2 + scale_y**2)
wheel_radius *= radius_scale
chassis = world.CreateDynamicBody(
position=(x_offset, y_offset),
fixtures=b2FixtureDef(
shape=b2PolygonShape(vertices=chassis_vertices),
density=density,
))
wheels, springs = [], []
wheel_xs = [
-wheel_separation * scale_x / 2.0, wheel_separation * scale_x / 2.0
]
for x, torque, drive in zip(wheel_xs, wheel_torques, wheel_drives):
wheel = world.CreateDynamicBody(
position=(x_offset + x, y_offset - wheel_radius),
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=wheel_radius),
density=density,
))
spring = world.CreateWheelJoint(bodyA=chassis,
bodyB=wheel,
anchor=wheel.position,
axis=wheel_axis,
motorSpeed=0.0,
maxMotorTorque=torque,
enableMotor=drive,
frequencyHz=hz,
dampingRatio=zeta)
wheels.append(wheel)
springs.append(spring)
return chassis, wheels, springs
def nice_car(world,
wheel_radius=1.2,
density=1.0,
offset=(0, 0),
wheel_friction=0.9,
wheel_axis=(0.0, 1.0),
wheel_torques=[200.0, 10.0],
wheel_drives=[True, False],
hz=4.0,
zeta=0.7,
**kwargs):
x_offset, y_offset = offset
chassis = world.CreateDynamicBody(position=(x_offset, y_offset))
chassis.CreatePolygonFixture(vertices=[(0, 0), (0, 2), (1, 3)],
groupIndex=-1,
density=1,
friction=0.3,
restitution=0.3)
chassis.CreatePolygonFixture(vertices=[(0, 0), (1, 3), (3, 3)],
groupIndex=-1,
density=1,
friction=0.3,
restitution=0.3)
chassis.CreatePolygonFixture(vertices=[(0, 0), (3, 3), (2, 1)],
groupIndex=-1,
density=1,
friction=0.3,
restitution=0.3)
chassis.CreatePolygonFixture(vertices=[(0, 0), (2, 1), (4, 0)],
groupIndex=-1,
density=1,
friction=0.3,
restitution=0.3)
chassis.CreatePolygonFixture(vertices=[(0, 0), (4, 0), (1, -1)],
groupIndex=-1,
density=1,
friction=0.3,
restitution=0.3)
chassis.CreatePolygonFixture(vertices=[(0, 0), (1, -1), (1, -3)],
groupIndex=-1,
density=1,
friction=0.3,
restitution=0.3)
chassis.CreatePolygonFixture(vertices=[(0, 0), (1, -3), (-1, -1)],
groupIndex=-1,
density=1,
friction=0.3,
restitution=0.3)
chassis.CreatePolygonFixture(vertices=[(0, 0), (-1, -1), (-3, 0)],
groupIndex=-1,
density=1,
friction=0.3,
restitution=0.3)
chassis.CreatePolygonFixture(vertices=[(0, 0), (-3, 0), (-2, 2)],
groupIndex=-1,
density=1,
friction=0.3,
restitution=0.3)
chassis.CreatePolygonFixture(vertices=[(0, 0), (-2, 2), (0, 2)],
groupIndex=-1,
density=1,
friction=0.3,
restitution=0.3)
wheels, springs = [], []
wheel = world.CreateDynamicBody(
position=(x_offset + 1, y_offset - wheel_radius - 3),
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=wheel_radius),
density=density,
groupIndex=-1,
friction=1000,
))
spring = world.CreateWheelJoint(
bodyA=chassis,
bodyB=wheel,
localAnchorA=(1, -3),
localAnchorB=(0, 0),
axis=(1, 0),
motorSpeed=-10,
maxMotorTorque=200,
enableMotor=False,
frequencyHz=60,
dampingRatio=1.0,
)
wheels.append(wheel)
springs.append(spring)
wheel = world.CreateDynamicBody(
position=(x_offset - 3, y_offset - wheel_radius - 0),
fixtures=b2FixtureDef(shape=b2CircleShape(radius=wheel_radius),
density=density,
groupIndex=-1))
spring = world.CreateWheelJoint(bodyA=chassis,
bodyB=wheel,
localAnchorA=(-3, 0),
localAnchorB=(0, 0),
motorSpeed=-10,
axis=(1, 0),
maxMotorTorque=200,
enableMotor=False,
frequencyHz=60,
dampingRatio=1.0)
wheels.append(wheel)
springs.append(spring)
return springs
def __init__(self):
super(CharacterCollision, self).__init__()
ground = self.world.CreateStaticBody(
position=(0, 0),
shapes=b2EdgeShape(vertices=[(-20, 0), (20, 0)])
)
# Collinear edges
self.world.CreateStaticBody(
shapes=[b2EdgeShape(vertices=[(-8, 1), (-6, 1)]),
b2EdgeShape(vertices=[(-6, 1), (-4, 1)]),
b2EdgeShape(vertices=[(-4, 1), (-2, 1)]),
]
)
# Square tiles
self.world.CreateStaticBody(
shapes=[b2PolygonShape(box=[1, 1, (4, 3), 0]),
b2PolygonShape(box=[1, 1, (6, 3), 0]),
b2PolygonShape(box=[1, 1, (8, 3), 0]),
]
)
# Square made from an edge loop. Collision should be smooth.
body = self.world.CreateStaticBody()
body.CreateLoopFixture(vertices=[(-1, 3), (1, 3), (1, 5), (-1, 5)])
# Edge loop.
body = self.world.CreateStaticBody(position=(-10, 4))
body.CreateLoopFixture(vertices=[
(0.0, 0.0), (6.0, 0.0),
(6.0, 2.0), (4.0, 1.0),
(2.0, 2.0), (0.0, 2.0),
(-2.0, 2.0), (-4.0, 3.0),
(-6.0, 2.0), (-6.0, 0.0), ]
)
# Square character 1
self.world.CreateDynamicBody(
position=(-3, 8),
fixedRotation=True,
allowSleep=False,
fixtures=b2FixtureDef(shape=b2PolygonShape(
box=(0.5, 0.5)), density=20.0),
)
# Square character 2
body = self.world.CreateDynamicBody(
position=(-5, 5),
fixedRotation=True,
allowSleep=False,
)
body.CreatePolygonFixture(box=(0.25, 0.25), density=20.0)
# Hexagon character
a = b2_pi / 3.0
self.world.CreateDynamicBody(
position=(-5, 8),
fixedRotation=True,
allowSleep=False,
fixtures=b2FixtureDef(
shape=b2PolygonShape(
vertices=[(0.5 * cos(i * a), 0.5 * sin(i * a))
for i in range(6)]),
density=20.0
),
)
# Circle character
self.world.CreateDynamicBody(
position=(3, 5),
fixedRotation=True,
allowSleep=False,
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=0.5),
density=20.0
),
)
def __init__(self):
super(TheoJansen, self).__init__()
#
ball_count = 40
pivot = b2Vec2(0, 0.8)
# The ground
ground = self.world.CreateStaticBody(
shapes=[
b2EdgeShape(vertices=[(-50, 0), (50, 0)]),
b2EdgeShape(vertices=[(-50, 0), (-50, 10)]),
b2EdgeShape(vertices=[(50, 0), (50, 10)]),
]
)
box = b2FixtureDef(
shape=b2PolygonShape(box=(0.5, 0.5)),
density=1,
friction=0.3)
circle = b2FixtureDef(
shape=b2CircleShape(radius=0.25),
density=1)
# Create the balls on the ground
for i in range(ball_count):
self.world.CreateDynamicBody(
fixtures=circle,
position=(-40 + 2.0 * i, 0.5),
)
# The chassis
chassis_fixture = b2FixtureDef(
shape=b2PolygonShape(box=(2.5, 1)),
density=1,
friction=0.3,
groupIndex=-1)
self.chassis = self.world.CreateDynamicBody(
fixtures=chassis_fixture,
position=pivot + self.offset)
# Chassis wheel
wheel_fixture = b2FixtureDef(
shape=b2CircleShape(radius=1.6),
density=1,
friction=0.3,
groupIndex=-1)
self.wheel = self.world.CreateDynamicBody(
fixtures=wheel_fixture,
position=pivot + self.offset)
# Add a joint between the chassis wheel and the chassis itself
self.motorJoint = self.world.CreateRevoluteJoint(
bodyA=self.wheel,
bodyB=self.chassis,
anchor=pivot + self.offset,
collideConnected=False,
motorSpeed=self.motorSpeed,
maxMotorTorque=400,
enableMotor=self.motorOn)
wheelAnchor = pivot + (0, -0.8)
self.CreateLeg(-1, wheelAnchor)
self.CreateLeg(1, wheelAnchor)
self.wheel.transform = (self.wheel.position, 120.0 * b2_pi / 180)
self.CreateLeg(-1, wheelAnchor)
self.CreateLeg(1, wheelAnchor)
self.wheel.transform = (self.wheel.position, -120.0 * b2_pi / 180)
self.CreateLeg(-1, wheelAnchor)
self.CreateLeg(1, wheelAnchor)
def __init__(self):
super(TheoJansen, self).__init__()
#
ball_count = 40
pivot = b2Vec2(0, 0.8)
# The ground
ground = self.world.CreateStaticBody(
shapes=[
b2EdgeShape(vertices=[(-50, 0), (50, 0)]),
b2EdgeShape(vertices=[(-50, 0), (-50, 10)]),
b2EdgeShape(vertices=[(50, 0), (50, 10)]),
]
)
box = b2FixtureDef(
shape=b2PolygonShape(box=(0.5, 0.5)),
density=1,
friction=0.3)
circle = b2FixtureDef(
shape=b2CircleShape(radius=0.25),
density=1)
# Create the balls on the ground
for i in range(ball_count):
self.world.CreateDynamicBody(
fixtures=circle,
position=(-40 + 2.0 * i, 0.5),
)
# The chassis
chassis_fixture = b2FixtureDef(
shape=b2PolygonShape(box=(2.5, 1)),
density=1,
friction=0.3,
groupIndex=-1)
self.chassis = self.world.CreateDynamicBody(
fixtures=chassis_fixture,
position=pivot + self.offset)
# Chassis wheel
wheel_fixture = b2FixtureDef(
shape=b2CircleShape(radius=1.6),
density=1,
friction=0.3,
groupIndex=-1)
self.wheel = self.world.CreateDynamicBody(
fixtures=wheel_fixture,
position=pivot + self.offset)
# Add a joint between the chassis wheel and the chassis itself
self.motorJoint = self.world.CreateRevoluteJoint(
bodyA=self.wheel,
bodyB=self.chassis,
anchor=pivot + self.offset,
collideConnected=False,
motorSpeed=self.motorSpeed,
maxMotorTorque=400,
enableMotor=self.motorOn)
wheelAnchor = pivot + (0, -0.8)
self.CreateLeg(-1, wheelAnchor)
self.CreateLeg(1, wheelAnchor)
self.wheel.transform = (self.wheel.position, 120.0 * b2_pi / 180)
self.CreateLeg(-1, wheelAnchor)
self.CreateLeg(1, wheelAnchor)
self.wheel.transform = (self.wheel.position, -120.0 * b2_pi / 180)
self.CreateLeg(-1, wheelAnchor)
self.CreateLeg(1, wheelAnchor)
def _reset(self):
self._destroy()
self.game_over = False # To be used later
# Creating the Exterior Box that defines the 2D Plane
self.exterior_box = self.world.CreateStaticBody(
position=(0, 0), shapes=b2LoopShape(vertices=EXT_BOX_POLY))
self.exterior_box.color1 = (0, 0, 0)
self.exterior_box.color2 = (0, 0, 0)
# Creating the object to manipulate
object_fixture = b2FixtureDef(shape=b2CircleShape(radius=BOX_WIDTH /
20),
density=1,
friction=0.6)
self.object = self.world.CreateDynamicBody(position=(5,
BOX_HEIGHT / 2),
fixtures=object_fixture)
self.object.at_target = False
self.object.at_target_count = 0
self.object.color1 = (1, 1, 0)
self.object.color2 = (0, 0, 0)
# Creating 5 actuators
self.actuator_list = []
self.actuator_joint_list = []
actuator_fixture = b2FixtureDef(shape=b2CircleShape(radius=BOX_WIDTH /
50.0),
density=1,
friction=0.6,
groupIndex=-1)
for i in range(5):
actuator = self.world.CreateDynamicBody(
position=(BOX_WIDTH / 5 * i + BOX_WIDTH / 10, BOX_HEIGHT / 10),
fixtures=actuator_fixture)
actuator.color1 = (1, 0, 0)
actuator.color2 = (1, 0, 0)
#SHOULD STAY COMMENTED
# actuator = self.world.CreateKinematicBody(
# position = (BOX_WIDTH/5*i+BOX_WIDTH/10, BOX_HEIGHT/10),
# shapes = b2CircleShape(radius=BOX_WIDTH/50.0), # diameter is 1/5th of the space allocated for each actuator
# )
actuator_joint = self.world.CreatePrismaticJoint(
bodyA=self.exterior_box,
bodyB=actuator,
anchor=actuator.position,
axis=(0, 1),
lowerTranslation=0,
upperTranslation=ACTUATOR_TRANSLATION_MAX,
enableLimit=True,
maxMotorForce=1000.0,
motorSpeed=0,
enableMotor=True)
self.actuator_list.append(actuator)
self.actuator_joint_list.append(actuator_joint)
# Creating the linkages that will form the semi-flexible membrane
self.link_left_list = [] # four links
self.link_right_list = [] # four links
link_fixture = b2FixtureDef(
shape=b2PolygonShape(box=(BOX_WIDTH / 12, BOX_WIDTH / 70.0)),
density=1,
friction=0.6,
groupIndex=-1 # neg index to prevent collision
)
for i in range(1, 5):
link_left = self.world.CreateDynamicBody(
position=(BOX_WIDTH / 5 * i - BOX_WIDTH / 10 + BOX_WIDTH / 12,
BOX_HEIGHT / 10),
fixtures=link_fixture)
link_left.color1 = (0, 1, 1)
link_left.color2 = (1, 0, 1)
self.link_left_list.append(link_left)
link_right = self.world.CreateDynamicBody(
position=(BOX_WIDTH / 5 * i + BOX_WIDTH / 10 - BOX_WIDTH / 12,
BOX_HEIGHT / 10),
fixtures=link_fixture)
link_right.color1 = (0, 1, 1)
link_right.color2 = (1, 0, 1)
self.link_right_list.append(link_right)
joint_left = self.world.CreateRevoluteJoint(
bodyA=self.actuator_list[i - 1],
bodyB=link_left,
anchor=self.actuator_list[i - 1].worldCenter,
collideConnected=False)
joint_right = self.world.CreateRevoluteJoint(
bodyA=self.actuator_list[i],
bodyB=link_right,
anchor=self.actuator_list[i].worldCenter,
collideConnected=False)
joint_middle = self.world.CreatePrismaticJoint(
bodyA=link_left,
bodyB=link_right,
anchor=(link_right.position.x - BOX_WIDTH / 12 +
BOX_WIDTH / 70, link_right.position.y),
axis=(1, 0),
lowerTranslation=0,
upperTranslation=BOX_WIDTH / 6 - BOX_WIDTH / 35,
enableLimit=True)
self.drawlist = self.link_right_list + self.link_left_list + [
self.object
]
self.drawlist = self.drawlist + self.actuator_list
return self._step(np.array([0, 0, 0, 0,
0]))[0] # action: zero motor speed
def __init__(self):
super(Cantilever, self).__init__()
# The ground
ground = self.world.CreateBody(
shapes=b2EdgeShape(vertices=[(-40, 0), (40, 0)]))
plank = b2FixtureDef(
shape=b2PolygonShape(box=(0.5, 0.125)),
friction=0.2,
density=20
)
# Create one cantilever (Only the left end is fixed)
prevBody = ground
for i in range(self.numPlanks):
body = self.world.CreateDynamicBody(
position=(-14.5 + i, 5),
fixtures=plank,
)
self.world.CreateWeldJoint(
bodyA=prevBody,
bodyB=body,
anchor=(-15 + i, 5),
)
prevBody = body
# Create another higher up
prevBody = ground
for i in range(self.numPlanks):
body = self.world.CreateDynamicBody(
position=(-14.5 + i, 15),
fixtures=plank,
)
self.world.CreateWeldJoint(
bodyA=prevBody,
bodyB=body,
anchor=(-15 + i, 15),
)
prevBody = body
# And the left-most unconnected one (technically not a cantilever)
prevBody = ground
for i in range(self.numPlanks):
body = self.world.CreateDynamicBody(
position=(-4.5 + i, 5),
fixtures=plank,
)
if i > 0: # skip the joint on the first one
self.world.CreateWeldJoint(
bodyA=prevBody,
bodyB=body,
anchor=(-5 + i, 5),
)
prevBody = body
# And the right-most unconnected one, using joint damping
prevBody = ground
for i in range(self.numPlanks):
body = self.world.CreateDynamicBody(
position=(5.5 + i, 10),
fixtures=plank,
)
if i > 0: # skip the joint on the first one
self.world.CreateWeldJoint(
bodyA=prevBody,
bodyB=body,
anchor=(5 + i, 10),
frequencyHz=8.0,
dampingRatio=0.7,
)
prevBody = body
# And a few random shapes to play with
# First a set of triangles,
fixture = b2FixtureDef(shape=b2PolygonShape(vertices=[(-0.5, 0.0),
(0.5, 0.0),
(0.0, 1.5),
]),
density=1.0)
for i in range(2):
self.world.CreateDynamicBody(
position=(-8 + 8 * i, 12),
fixtures=fixture,
)
# And then a few circles
fixture = b2FixtureDef(shape=b2CircleShape(radius=0.5), density=1)
for i in range(3):
self.world.CreateDynamicBody(
position=(-6 + 6 * i, 10),
fixtures=fixture,
)
def __init__(self):
super(Cantilever, self).__init__()
# The ground
ground = self.world.CreateBody(shapes=b2EdgeShape(vertices=[(-40,
0), (40,
0)]))
plank = b2FixtureDef(shape=b2PolygonShape(box=(0.5, 0.125)),
friction=0.2,
density=20)
# Create one cantilever (Only the left end is fixed)
prevBody = ground
for i in range(self.numPlanks):
body = self.world.CreateDynamicBody(
position=(-14.5 + i, 5),
fixtures=plank,
)
self.world.CreateWeldJoint(
bodyA=prevBody,
bodyB=body,
anchor=(-15 + i, 5),
)
prevBody = body
# Create another higher up
prevBody = ground
for i in range(self.numPlanks):
body = self.world.CreateDynamicBody(
position=(-14.5 + i, 15),
fixtures=plank,
)
self.world.CreateWeldJoint(
bodyA=prevBody,
bodyB=body,
anchor=(-15 + i, 15),
)
prevBody = body
# And the left-most unconnected one (technically not a cantilever)
prevBody = ground
for i in range(self.numPlanks):
body = self.world.CreateDynamicBody(
position=(-4.5 + i, 5),
fixtures=plank,
)
if i > 0: # skip the joint on the first one
self.world.CreateWeldJoint(
bodyA=prevBody,
bodyB=body,
anchor=(-5 + i, 5),
)
prevBody = body
# And the right-most unconnected one, using joint damping
prevBody = ground
for i in range(self.numPlanks):
body = self.world.CreateDynamicBody(
position=(5.5 + i, 10),
fixtures=plank,
)
if i > 0: # skip the joint on the first one
self.world.CreateWeldJoint(
bodyA=prevBody,
bodyB=body,
anchor=(5 + i, 10),
frequencyHz=8.0,
dampingRatio=0.7,
)
prevBody = body
# And a few random shapes to play with
# First a set of triangles,
fixture = b2FixtureDef(shape=b2PolygonShape(vertices=[
(-0.5, 0.0),
(0.5, 0.0),
(0.0, 1.5),
]),
density=1.0)
for i in range(2):
self.world.CreateDynamicBody(
position=(-8 + 8 * i, 12),
fixtures=fixture,
)
# And then a few circles
fixture = b2FixtureDef(shape=b2CircleShape(radius=0.5), density=1)
for i in range(3):
self.world.CreateDynamicBody(
position=(-6 + 6 * i, 10),
fixtures=fixture,
)
def reset_helper(env_obj):
# Creating the Exterior Box that defines the 2D Plane
env_obj.exterior_box = env_obj.world.CreateStaticBody(
position=(0, 0), shapes=b2LoopShape(vertices=EXT_BOX_POLY))
env_obj.exterior_box.color1 = (0, 0, 0)
env_obj.exterior_box.color2 = (0, 0, 0)
# Creating 5 actuators
actuator_fixture = b2FixtureDef(
shape=b2CircleShape(radius=ACTUATOR_TIP_SIZE / 2),
density=1,
friction=0.6,
restitution=0.0,
groupIndex=-1)
for i in range(5):
actuator = env_obj.world.CreateDynamicBody(position=(BOX_SIDE_OFFSET +
GAP * i, 0),
fixtures=actuator_fixture)
actuator.color1 = (0, 0, 0.5)
actuator.color2 = (0, 0, 0)
actuator.joint = env_obj.world.CreatePrismaticJoint(
bodyA=env_obj.exterior_box,
bodyB=actuator,
anchor=actuator.position,
axis=(0, 1),
lowerTranslation=0,
upperTranslation=ACTUATOR_TRANSLATION_MAX,
enableLimit=True,
maxMotorForce=10000.0,
motorSpeed=0,
enableMotor=True)
env_obj.actuator_list.append(actuator)
env_obj.drawlist = env_obj.actuator_list
# Creating the linkages that will form the semi-flexible membrane
link_fixture = b2FixtureDef(
shape=b2PolygonShape(box=(LINK_WIDTH / 2, LINK_HEIGHT / 2)),
density=1,
friction=0.6,
restitution=0.0,
groupIndex=-1 # neg index to prevent collision
)
for i in range(4):
link_left = env_obj.world.CreateDynamicBody(
position=(BOX_SIDE_OFFSET + (GAP * i + LINK_WIDTH / 2), 0),
fixtures=link_fixture)
link_left.color1 = (0, 1, 1)
link_left.color2 = (1, 0, 1)
env_obj.link_left_list.append(link_left)
link_right = env_obj.world.CreateDynamicBody(
position=(BOX_SIDE_OFFSET + (GAP * (i + 1) - LINK_WIDTH / 2), 0),
fixtures=link_fixture)
link_right.color1 = (0, 1, 1)
link_right.color2 = (1, 0, 1)
env_obj.link_right_list.append(link_right)
joint_left = env_obj.world.CreateRevoluteJoint(
bodyA=env_obj.actuator_list[i],
bodyB=link_left,
anchor=env_obj.actuator_list[i].worldCenter,
collideConnected=False)
joint_right = env_obj.world.CreateRevoluteJoint(
bodyA=env_obj.actuator_list[i + 1],
bodyB=link_right,
anchor=env_obj.actuator_list[i + 1].worldCenter,
collideConnected=False)
joint_middle = env_obj.world.CreatePrismaticJoint(
bodyA=link_left,
bodyB=link_right,
anchor=(link_right.position.x - (LINK_WIDTH / 2 + LINK_HEIGHT / 2),
(link_left.position.y + link_right.position.y) / 2.0),
axis=(1, 0),
lowerTranslation=0,
upperTranslation=UPPER_TRANSLATION_MIDDLE_JOINT,
enableLimit=True)
# Adding linkages to the drawlist
env_obj.drawlist = env_obj.link_left_list + env_obj.link_right_list + env_obj.drawlist
def __init__(self, world, position, radius=3, type='kinematic'):
if type == 'kinematic':
self.robot = world.CreateKinematicBody(
position=position,
shapes=[b2CircleShape(pos=position, radius=radius)])
def __init__(self, world, position, radius):
self.static_goal = world.CreateStaticBody(
position=position,
shapes=[b2CircleShape(pos=position,
radius=radius)] #change this to circles
)
def __init__(self):
super(GP, self).__init__()
self.primitive_set = {
'L': self.create_arm,
'E': self.create_endpoint,
'S': self.create_split,
'W': self.create_wheel
}
self.creatures = []
self.simulation_time = 0
self.generation = 0
self.best_fitness = 0
self.fitnesses = []
self.average_complexity = 0
self.complexities = []
self.average_depth = 0
self.depths = []
self.fitness_file = 'fitness.csv'
self.complexity_file = 'complexities.csv'
self.depth_file = 'depths.csv'
# The ground
ground = self.world.CreateStaticBody(shapes=[
b2EdgeShape(vertices=[(-1000, 0), (1000, 0)]),
])
self.obstacle_count = 400
# Pre-defined obstacle types
self.box = b2FixtureDef(
shape=b2PolygonShape(box=(0.6, 0.6)), #large
density=1,
friction=0.3)
self.circle = b2FixtureDef(
shape=b2CircleShape(radius=0.2), #small
density=1)
self.triangle = b2FixtureDef(
shape=b2PolygonShape(vertices=[(0, -0.5), (1,
2.2), (2,
-0.5)]), #middle
density=1)
# Randomly generated obstacle shapes and distances
obstacle_set = [self.box, self.circle, self.triangle]
self.obstacles = []
for i in np.random.uniform(-50, 1000, self.obstacle_count):
obstacle = self.world.CreateStaticBody(
fixtures=random.choice(obstacle_set), position=(i, 0.5))
self.obstacles.append(obstacle)
# Create initial population
for i in range(self.population_size):
self.creatures.append(self.create_prototype())
with open(self.fitness_file, 'w', newline='') as f:
wr = csv.writer(f)
wr.writerow(['generation', 'best fitness'])
with open(self.complexity_file, 'w', newline='') as f:
wr = csv.writer(f)
wr.writerow(['generation', 'average complexity'])
with open(self.depth_file, 'w', newline='') as f:
wr = csv.writer(f)
wr.writerow(['generation', 'average depth'])
def __init__(self):
super(Membrane, self).__init__()
# Creating the Exterior Box that defines the 2D Plane
self.exterior_box = self.world.CreateStaticBody(
position=(0, 0), shapes=b2LoopShape(vertices=EXT_BOX_POLY))
# Creating the object to manipulate
ball_fixture = b2FixtureDef(shape=b2CircleShape(radius=BOX_WIDTH / 40),
density=1,
friction=0.6)
self.ball = self.world.CreateDynamicBody(position=(BOX_WIDTH / 2,
BOX_HEIGHT / 2),
fixtures=ball_fixture)
# Creating 5 actuators
self.actuator_list = []
self.actuator_joint_list = []
actuator_fixture = b2FixtureDef(shape=b2CircleShape(radius=BOX_WIDTH /
50.0),
density=1,
friction=0.6,
groupIndex=-1)
for i in range(5):
actuator = self.world.CreateDynamicBody(
position=(BOX_WIDTH / 5 * i + BOX_WIDTH / 10, BOX_HEIGHT / 10),
fixtures=actuator_fixture)
# actuator = self.world.CreateKinematicBody(
# position = (BOX_WIDTH/5*i+BOX_WIDTH/10, BOX_HEIGHT/10),
# shapes = b2CircleShape(radius=BOX_WIDTH/50.0), # diameter is 1/5th of the space allocated for each actuator
# )
actuator_joint = self.world.CreatePrismaticJoint(
bodyA=self.exterior_box,
bodyB=actuator,
anchor=actuator.position,
axis=(0, 1),
lowerTranslation=0,
upperTranslation=BOX_WIDTH * 5.0 / 6.0,
enableLimit=True,
maxMotorForce=1000.0,
motorSpeed=0,
enableMotor=True)
self.actuator_list.append(actuator)
self.actuator_joint_list.append(actuator_joint)
self.actuator_joint_list[0].motorSpeed = 1.0
self.actuator_joint_list[3].motorSpeed = 0.5
self.actuator_joint_list[2].motorSpeed = 0.1
# Creating the linkages that will form the semi-flexible membrane
self.link_left_list = [] # four links
self.link_right_list = [] # four links
link_fixture = b2FixtureDef(
shape=b2PolygonShape(box=(BOX_WIDTH / 12, BOX_WIDTH / 70.0)),
density=1,
friction=0.6,
groupIndex=-1 # neg index to prevent collision
)
for i in range(1, 5):
link_left = self.world.CreateDynamicBody(
position=(BOX_WIDTH / 5 * i - BOX_WIDTH / 10 + BOX_WIDTH / 12,
BOX_HEIGHT / 10),
fixtures=link_fixture)
self.link_left_list.append(link_left)
link_right = self.world.CreateDynamicBody(
position=(BOX_WIDTH / 5 * i + BOX_WIDTH / 10 - BOX_WIDTH / 12,
BOX_HEIGHT / 10),
fixtures=link_fixture)
self.link_right_list.append(link_right)
joint_left = self.world.CreateRevoluteJoint(
bodyA=self.actuator_list[i - 1],
bodyB=link_left,
anchor=self.actuator_list[i - 1].worldCenter,
collideConnected=False)
joint_right = self.world.CreateRevoluteJoint(
bodyA=self.actuator_list[i],
bodyB=link_right,
anchor=self.actuator_list[i].worldCenter,
collideConnected=False)
joint_middle = self.world.CreatePrismaticJoint(
bodyA=link_left,
bodyB=link_right,
anchor=(link_right.position.x - BOX_WIDTH / 12 +
BOX_WIDTH / 70, link_right.position.y),
axis=(1, 0),
lowerTranslation=0,
upperTranslation=BOX_WIDTH / 6 - BOX_WIDTH / 35,
enableLimit=True)
def __init__(self):
super(CollisionProcessing, self).__init__()
# Tell the framework we're going to use contacts, so keep track of them
# every Step.
self.using_contacts = True
# Ground body
world = self.world
ground = world.CreateBody(
shapes=b2EdgeShape(vertices=[(-50, 0), (50, 0)],)
)
xlow, xhi = -5, 5
ylow, yhi = 2, 35
random_vector = lambda: b2Vec2(
b2Random(xlow, xhi), b2Random(ylow, yhi))
# Small triangle
triangle = b2FixtureDef(
shape=b2PolygonShape(vertices=[(-1, 0), (1, 0), (0, 2)]),
density=1,
)
world.CreateBody(
type=b2_dynamicBody,
position=random_vector(),
fixtures=triangle,
)
# Large triangle (recycle definitions)
triangle.shape.vertices = [
2.0 * b2Vec2(v) for v in triangle.shape.vertices]
tri_body = world.CreateBody(type=b2_dynamicBody,
position=random_vector(),
fixtures=triangle,
fixedRotation=True, # <--
)
# note that the large triangle will not rotate
# Small box
box = b2FixtureDef(
shape=b2PolygonShape(box=(1, 0.5)),
density=1,
restitution=0.1,
)
world.CreateBody(
type=b2_dynamicBody,
position=random_vector(),
fixtures=box,
)
# Large box
box.shape.box = (2, 1)
world.CreateBody(
type=b2_dynamicBody,
position=random_vector(),
fixtures=box,
)
# Small circle
circle = b2FixtureDef(
shape=b2CircleShape(radius=1),
density=1,
)
world.CreateBody(
type=b2_dynamicBody,
position=random_vector(),
fixtures=circle,
)
# Large circle
circle.shape.radius *= 2
world.CreateBody(
type=b2_dynamicBody,
position=random_vector(),
fixtures=circle,
)
