class Sphere(object):
def __init__(self, world, pos, size, mass):
self.world = world
self.pos = pos
# Create a body inside the world
self.body = Body(world)
M = Mass()
M.setSphere(2500.0, size)
M.mass = mass
self.body.setMass(M)
self.body.setPosition(pos)
# draw body
self.rbody = sphere(pos=pos, radius=size)
def getPosition(self):
return self.body.getPosition()
def getLinearVel(self):
return self.body.getLinearVel()
def addForce(self, force):
return self.body.addForce(force)
def static(self):
self.sj = BallJoint(self.world)
self.sj.attach(self.body, environment)
self.sj.setAnchor(self.pos)
def joint(self, body):
self.j = BallJoint(self.world)
self.j.attach(self.body, body.body)
self.j.setAnchor( body.pos )
def draw(self):
self.rbody.pos = self.getPosition()
def make_battery(world, position=(0, 0, 0)):
mass = Mass()
mass.setBox(battery_density, 70, 25, 35)
body = Body(world)
body.setMass(mass)
body.setPosition(position)
return body
def make_servo(world, position=(0, 0, 0)):
mass = Mass()
mass.setBox(servo_density, 40, 20, 35)
body = Body(world)
body.setMass(mass)
body.setPosition(position)
return body
def make_lower_leg(world):
lower_leg_mass = Mass()
lower_leg_mass.setBox(body_density, 30, 100, 5)
lower_leg = Body(world)
lower_leg.setMass(lower_leg_mass)
servo = make_servo(world)
fix(world, lower_leg, servo)
return lower_leg
def make_body(world):
mass = Mass()
mass.setBox(body_density, 240, 27, 150)
body = Body(world)
body.setMass(mass)
fix(world, body, make_battery(world, (0, 27 / 2, -(150 / 2 - 35 / 2))))
fix(world, body, make_battery(world, (0, 27 / 2, 150 / 2 - 35 / 2)))
fix(world, body, make_servo(world, (240 / 2 - 30, 0, 150 / 2)))
fix(world, body, make_servo(world, (240 / 2 - 30, 0, -150 / 2)))
fix(world, body, make_servo(world, (-(240 / 2 - 30), 0, 150 / 2)))
fix(world, body, make_servo(world, (-(240 / 2 - 30), 0, -150 / 2)))
return body
def make_upper_leg(world):
upper_leg_mass = Mass()
upper_leg_mass.setBox(body_density, 30, 100, 5)
upper_leg = Body(world)
upper_leg.setMass(upper_leg_mass)
return upper_leg
