def __init__(self): super(SensorTest, self).__init__() bd=box2d.b2BodyDef() bd.position.Set(0.0, -10.0) ground = self.world.CreateBody(bd) sd=box2d.b2PolygonDef() sd.SetAsBox(50.0, 10.0) ground.CreateShape(sd) cd=box2d.b2CircleDef() cd.isSensor = True cd.radius = 5.0 cd.localPosition.Set(0.0, 20.0) self.m_sensor = ground.CreateShape(cd) sd=box2d.b2CircleDef() sd.radius = 1.0 sd.density = 1.0 for i in range(7): bd=box2d.b2BodyDef() bd.position.Set(-10.0 + 3.0 * i, 20.0) body = self.world.CreateBody(bd) body.CreateShape(sd) body.SetMassFromShapes()
def __init__(self): super(VaryingRestitution, self).__init__() sd=box2d.b2PolygonDef() sd.SetAsBox(50.0, 10.0) bd=box2d.b2BodyDef() bd.position.Set(0.0, -10.0) ground = self.world.CreateBody(bd) ground.CreateShape(sd) sd=box2d.b2CircleDef() sd.radius = 1.0 sd.density = 1.0 restitution = [0.0, 0.1, 0.3, 0.5, 0.75, 0.9, 1.0] for i in range(7): bd=box2d.b2BodyDef() bd.position.Set(-10.0 + 3.0 * i, 20.0) body = self.world.CreateBody(bd) sd.restitution = restitution[i] body.CreateShape(sd) body.SetMassFromShapes()
def Keyboard(self, key) : if key==K_c: if not self.m_shape2: sd=box2d.b2CircleDef() sd.radius = 3.0 sd.density = 10.0 sd.localPosition.Set(0.5, -4.0) self.m_shape2 = self.m_body.CreateShape(sd) self.m_body.SetMassFromShapes() self.m_body.WakeUp() elif key==K_d: if self.m_shape2: self.m_body.DestroyShape(self.m_shape2) self.m_shape2 = None self.m_body.SetMassFromShapes() self.m_body.WakeUp()
def Keyboard(self, key) : if key == K_COMMA: if self.m_bullet: self.world.DestroyBody(self.m_bullet) self.m_bullet = None sd=box2d.b2CircleDef() sd.density = 20.0 sd.radius = 0.25 sd.restitution = 0.05 bd=box2d.b2BodyDef() bd.isBullet = True bd.allowSleep = False bd.position.Set(-31.0, 5.0) self.m_bullet = self.world.CreateBody(bd) self.m_bullet.CreateShape(sd) self.m_bullet.SetMassFromShapes() self.m_bullet.SetLinearVelocity(box2d.b2Vec2(400.0, 0.0))
def __init__(self): super(Test_Biped, self).__init__() k_restitution = 1.4 bd=box2d.b2BodyDef() bd.position.Set(0.0, 20.0) body = self.world.CreateBody(bd) sd=box2d.b2PolygonDef() sd.density = 0.0 sd.restitution = k_restitution sd.SetAsBox(0.1, 10.0, box2d.b2Vec2(-10.0, 0.0), 0.0) body.CreateShape(sd) sd.SetAsBox(0.1, 10.0, box2d.b2Vec2(10.0, 0.0), 0.0) body.CreateShape(sd) sd.SetAsBox(0.1, 10.0, box2d.b2Vec2(0.0, -10.0), 0.5 * box2d.b2_pi) body.CreateShape(sd) sd.SetAsBox(0.1, 10.0, box2d.b2Vec2(0.0, 10.0), -0.5 * box2d.b2_pi) body.CreateShape(sd) self.m_biped = Biped(self.world, box2d.b2Vec2(0.0, 20.0)) for i in range(8): bd=box2d.b2BodyDef() bd.position.Set(5.0, 20.0 + i) bd.isBullet = True body = self.world.CreateBody(bd) body.SetLinearVelocity(box2d.b2Vec2(0.0, -100.0)) body.SetAngularVelocity(box2d.b2Random(-50.0, 50.0)) sd=box2d.b2CircleDef() sd.radius = 0.25 sd.density = 15.0 sd.restitution = k_restitution body.CreateShape(sd) body.SetMassFromShapes()
def __init__(self): super(Bridge, self).__init__() sd = box2d.b2PolygonDef() sd.SetAsBox(50.0, 10.0) bd = box2d.b2BodyDef() bd.position.Set(0.0, -10.0) ground = self.world.CreateBody(bd) ground.CreateShape(sd) sd = box2d.b2PolygonDef() sd.SetAsBox(0.5, 0.125) sd.density = 20.0 sd.friction = 0.2 jd = box2d.b2RevoluteJointDef() numPlanks = 30 prevBody = ground for i in range(numPlanks): bd = box2d.b2BodyDef() bd.position.Set(-14.5 + 1.0 * i, 5.0) body = self.world.CreateBody(bd) body.CreateShape(sd) body.SetMassFromShapes() anchor=box2d.b2Vec2(-15.0 + 1.0 * i, 5.0) jd.Initialize(prevBody, body, anchor) self.world.CreateJoint(jd) prevBody = body anchor = box2d.b2Vec2(-15.0 + 1.0 * numPlanks, 5.0) jd.Initialize(prevBody, ground, anchor) self.world.CreateJoint(jd) for i in range(2): sd=box2d.b2PolygonDef() sd.vertexCount = 3 sd.setVertex(0,-0.5, 0.0) sd.setVertex(1,0.5, 0.0) sd.setVertex(2,0.0, 1.5) sd.density = 1.0 bd=box2d.b2BodyDef() bd.position.Set(-8.0 + 8.0 * i, 12.0) body = self.world.CreateBody(bd) body.CreateShape(sd) body.SetMassFromShapes() for i in range(3): sd=box2d.b2CircleDef() sd.radius = 0.5 sd.density = 1.0 bd=box2d.b2BodyDef() bd.position.Set(-6.0 + 6.0 * i, 10.0) body = self.world.CreateBody(bd) body.CreateShape(sd) body.SetMassFromShapes()
def __init__(self): super(TheoJansen, self).__init__() self.m_offset.Set(0.0, 8.0) self.m_motorSpeed = 2.0 self.m_motorOn = True pivot=box2d.b2Vec2(0.0, 0.8) sd=box2d.b2PolygonDef() sd.SetAsBox(50.0, 10.0) bd=box2d.b2BodyDef() bd.position.Set(0.0, -10.0) ground = self.world.CreateBody(bd) ground.CreateShape(sd) sd.SetAsBox(0.5, 5.0, box2d.b2Vec2(-50.0, 15.0), 0.0) ground.CreateShape(sd) sd.SetAsBox(0.5, 5.0, box2d.b2Vec2(50.0, 15.0), 0.0) ground.CreateShape(sd) for i in range(40): sd = box2d.b2CircleDef() sd.density = 1.0 sd.radius = 0.25 bd=box2d.b2BodyDef() bd.position.Set(-40.0 + 2.0 * i, 0.5) body = self.world.CreateBody(bd) body.CreateShape(sd) body.SetMassFromShapes() sd=box2d.b2PolygonDef() sd.density = 1.0 sd.SetAsBox(2.5, 1.0) sd.filter.groupIndex = -1 bd=box2d.b2BodyDef() bd.position = pivot + self.m_offset self.m_chassis = self.world.CreateBody(bd) self.m_chassis.CreateShape(sd) self.m_chassis.SetMassFromShapes() sd = box2d.b2CircleDef() sd.density = 1.0 sd.radius = 1.6 sd.filter.groupIndex = -1 bd=box2d.b2BodyDef() bd.position = pivot + self.m_offset self.m_wheel = self.world.CreateBody(bd) self.m_wheel.CreateShape(sd) self.m_wheel.SetMassFromShapes() jd=box2d.b2RevoluteJointDef() jd.Initialize(self.m_wheel, self.m_chassis, pivot + self.m_offset) jd.collideConnected = False jd.motorSpeed = self.m_motorSpeed jd.maxMotorTorque = 400.0 jd.enableMotor = self.m_motorOn self.m_motorJoint = self.world.CreateJoint(jd).getAsType() wheelAnchor = pivot + box2d.b2Vec2(0.0, -0.8) self.CreateLeg(-1.0, wheelAnchor) self.CreateLeg(1.0, wheelAnchor) self.m_wheel.SetXForm(self.m_wheel.GetPosition(), 120.0 * box2d.b2_pi / 180.0) self.CreateLeg(-1.0, wheelAnchor) self.CreateLeg(1.0, wheelAnchor) self.m_wheel.SetXForm(self.m_wheel.GetPosition(), -120.0 * box2d.b2_pi / 180.0) self.CreateLeg(-1.0, wheelAnchor) self.CreateLeg(1.0, wheelAnchor)
def __init__(self): super(ElasticBody, self).__init__() bodies = self.bodies for i in range(64): bodies.append(None) # Bottom static body sd = box2d.b2PolygonDef() sd.SetAsBox(50.0, 2.0) sd.friction = 0.1 sd.restitution = 0.1 bd = box2d.b2BodyDef() bd.position.Set(-1.0, -7.5) self.m_ground = self.world.CreateBody(bd) self.m_ground.CreateShape(sd) # Upper static body sd = box2d.b2PolygonDef() sd.SetAsBox(20.0, 0.50, box2d.b2Vec2(0, 0), 0.047 * box2d.b2_pi) sd.friction = 0.01 sd.restitution = 0.001 bd = box2d.b2BodyDef() bd.position.Set(-20, 93.0) g = self.world.CreateBody(bd) g.CreateShape(sd) sd.SetAsBox(15, 0.50, box2d.b2Vec2(-15.0, 12.5), 0.0) g.CreateShape(sd) sd.SetAsBox(20, 0.5, box2d.b2Vec2(0.0, -25.0), -0.5) g.CreateShape(sd) # Left channel left wall sd = box2d.b2PolygonDef() sd.SetAsBox(0.7, 55.0) sd.friction = 0.1 sd.restitution = 0.1 bd = box2d.b2BodyDef() bd.position.Set(-49.3, 50.0) g = self.world.CreateBody(bd) g.CreateShape(sd) # Right wall sd = box2d.b2PolygonDef() sd.SetAsBox(0.7, 55.0) sd.friction = 0.1 sd.restitution = 0.1 bd = box2d.b2BodyDef() bd.position.Set(45, 50.0) g = self.world.CreateBody(bd) g.CreateShape(sd) # Left channel right upper wall sd = box2d.b2PolygonDef() sd.SetAsBox(0.5, 20.0) sd.friction = 0.05 sd.restitution = 0.01 bd = box2d.b2BodyDef() bd.position.Set(-42.0, 70.0) bd.angle = -0.03 * box2d.b2_pi g = self.world.CreateBody(bd) g.CreateShape(sd) # Left channel right lower wall sd = box2d.b2PolygonDef() sd.SetAsBox(0.50, 23.0) sd.friction = 0.05 sd.restitution = 0.01 bd = box2d.b2BodyDef() bd.position.Set(-44.0, 27.0) g = self.world.CreateBody(bd) g.CreateShape(sd) # Bottom motors cd = box2d.b2CircleDef() cd.radius = 3.0 cd.density = 15.0 cd.friction = 1 cd.restitution = 0.2 # 1. bd.position.Set(-40.0, 2.5) body = self.world.CreateBody(bd) body.CreateShape(cd) body.SetMassFromShapes() jr = box2d.b2RevoluteJointDef() jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1)) jr.maxMotorTorque = 30000 jr.enableMotor = True jr.motorSpeed = 20 self.world.CreateJoint(jr).getAsType() # 1. left down bd.position.Set(-46.0, -2.5) cd.radius = 1.5 jr.motorSpeed = -20 body = self.world.CreateBody(bd) body.CreateShape(cd) sd.SetAsBox(2.0, 0.50) body.CreateShape(sd) body.SetMassFromShapes() jr.Initialize(g, body, body.GetWorldCenter()) self.world.CreateJoint(jr).getAsType() # 2. cd.radius = 3.0 jr.motorSpeed = 20 bd.position.Set(-32.0, 2.5) body = self.world.CreateBody(bd) body.CreateShape(cd) body.SetMassFromShapes() jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1)) self.world.CreateJoint(jr).getAsType() # 3. jr.motorSpeed = 20 bd.position.Set(-24.0, 1.5) body = self.world.CreateBody(bd) body.CreateShape(cd) body.SetMassFromShapes() jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1)) self.world.CreateJoint(jr).getAsType() # 4. bd.position.Set(-16.0, 0.8) body = self.world.CreateBody(bd) body.CreateShape(cd) body.SetMassFromShapes() jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1)) self.world.CreateJoint(jr).getAsType() # 5. bd.position.Set(-8.0, 0.5) body = self.world.CreateBody(bd) body.CreateShape(cd) body.SetMassFromShapes() jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1)) self.world.CreateJoint(jr).getAsType() # 6. bd.position.Set(0.0, 0.1) body = self.world.CreateBody(bd) body.CreateShape(cd) body.SetMassFromShapes() jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1)) self.world.CreateJoint(jr).getAsType() # 7. bd.position.Set(8.0, -0.5) body = self.world.CreateBody(bd) body.CreateShape(cd) sd.SetAsBox(3.7, 0.5) body.CreateShape(sd) body.SetMassFromShapes() jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1)) self.world.CreateJoint(jr).getAsType() # 8. right rotator sd.SetAsBox(5, 0.5) sd.density = 2.0 bd.position.Set(18.0, 1) rightmotor = self.world.CreateBody(bd) # rightmotor.CreateShape(sd) sd.SetAsBox(4.5, 0.5, box2d.b2Vec2(0, 0), box2d.b2_pi / 3) rightmotor.CreateShape(sd) sd.SetAsBox(4.5, 0.5, box2d.b2Vec2(0, 0), box2d.b2_pi * 2 / 3) rightmotor.CreateShape(sd) cd.radius = 4.2 rightmotor.CreateShape(cd) rightmotor.SetMassFromShapes() jr.Initialize(g, rightmotor, rightmotor.GetWorldCenter()) jr.maxMotorTorque = 70000 jr.motorSpeed = -4 self.world.CreateJoint(jr).getAsType() # 9. left rotator sd.SetAsBox(8.5, 0.5) sd.density = 2.0 bd.position.Set(-34.0, 17) body = self.world.CreateBody(bd) body.CreateShape(sd) sd.SetAsBox(8.5, 0.5, box2d.b2Vec2(0, 0), box2d.b2_pi * 0.5) body.CreateShape(sd) cd.radius = 7 cd.friction = 0.9 body.CreateShape(cd) body.SetMassFromShapes() jr.Initialize(g, body, body.GetWorldCenter()) jr.maxMotorTorque = 100000 jr.motorSpeed = -5 self.world.CreateJoint(jr).getAsType() # big compressor sd.SetAsBox(3.0, 4) sd.density = 10.0 bd.position.Set(-16.0, 17) hammerleft = self.world.CreateBody(bd) hammerleft.CreateShape(sd) hammerleft.SetMassFromShapes() jd = box2d.b2DistanceJointDef() jd.Initialize(body, hammerleft, body.GetWorldCenter() + box2d.b2Vec2(0, 6), hammerleft.GetWorldCenter()) self.world.CreateJoint(jd).getAsType() bd.position.Set(4.0, 17) hammerright = self.world.CreateBody(bd) hammerright.CreateShape(sd) hammerright.SetMassFromShapes() jd.Initialize(body, hammerright, body.GetWorldCenter() - box2d.b2Vec2(0, 6), hammerright.GetWorldCenter()) self.world.CreateJoint(jd).getAsType() # pusher sd.SetAsBox(6, 0.75) bd.position.Set(-21.0, 9) pusher = self.world.CreateBody(bd) # pusher.CreateShape(sd) sd.SetAsBox(2, 1.5, box2d.b2Vec2(-5, 0), 0) pusher.SetMassFromShapes() pusher.CreateShape(sd) jd.Initialize( rightmotor, pusher, rightmotor.GetWorldCenter() + box2d.b2Vec2(-8.0, 0), pusher.GetWorldCenter() + box2d.b2Vec2(5.0, 0), ) self.world.CreateJoint(jd).getAsType() # Static bodies above motors sd = box2d.b2PolygonDef() cd = box2d.b2CircleDef() sd.SetAsBox(9.0, 0.5) sd.friction = 0.05 sd.restitution = 0.01 bd = box2d.b2BodyDef() bd.position.Set(-15.5, 12) bd.angle = 0.0 g = self.world.CreateBody(bd) g.CreateShape(sd) sd.SetAsBox(8, 0.5, box2d.b2Vec2(23, 0), 0) g.CreateShape(sd) # compressor statics sd.SetAsBox(7.0, 0.5, box2d.b2Vec2(-2, 9), 0) g.CreateShape(sd) sd.SetAsBox(9.0, 0.5, box2d.b2Vec2(22, 9), 0) g.CreateShape(sd) sd.SetAsBox(19.0, 0.5, box2d.b2Vec2(-9, 15), -0.05) g.CreateShape(sd) sd.SetAsBox(4.7, 0.5, box2d.b2Vec2(15, 11.5), -0.5) g.CreateShape(sd) # below compressor sd.SetAsBox(26.0, 0.3, box2d.b2Vec2(17, -4.4), -0.02) g.CreateShape(sd) cd.radius = 1.0 cd.friction = 1.0 cd.localPosition = box2d.b2Vec2(29, -6) g.CreateShape(cd) cd.radius = 0.7 cd.localPosition = box2d.b2Vec2(-2, -4.5) g.CreateShape(cd) # Elevator bd = box2d.b2BodyDef() cd = box2d.b2CircleDef() sd = box2d.b2PolygonDef() bd.position.Set(40.0, 4.0) self.m_elev = self.world.CreateBody(bd) sd.SetAsBox(0.5, 2.5, box2d.b2Vec2(3.0, -3.0), 0) sd.density = 1 sd.friction = 0.01 self.m_elev.CreateShape(sd) sd.SetAsBox(7.0, 0.5, box2d.b2Vec2(-3.5, -5.5), 0) self.m_elev.CreateShape(sd) sd.SetAsBox(0.5, 2.5, box2d.b2Vec2(-11, -3.5), 0) self.m_elev.CreateShape(sd) self.m_elev.SetMassFromShapes() jp = box2d.b2PrismaticJointDef() jp.Initialize(self.m_ground, self.m_elev, bd.position, box2d.b2Vec2(0.0, 1.0)) jp.lowerTranslation = 0.0 jp.upperTranslation = 100.0 jp.enableLimit = True jp.enableMotor = True jp.maxMotorForce = 10000 jp.motorSpeed = 0 self.m_joint_elev = self.world.CreateJoint(jp).getAsType() # Korb sd.SetAsBox(2.3, 0.5, box2d.b2Vec2(1, 0.0), 0.0) sd.density = 0.5 bd.position.Set(29.0, 6.5) body = self.world.CreateBody(bd) # body.CreateShape(sd) sd.SetAsBox(2.5, 0.5, box2d.b2Vec2(3.0, -2), box2d.b2_pi / 2) body.CreateShape(sd) sd.SetAsBox(4.6, 0.5, box2d.b2Vec2(7.8, -4.0), 0) body.CreateShape(sd) sd.SetAsBox(0.5, 4.5, box2d.b2Vec2(12, 0.0), 0) body.CreateShape(sd) sd.SetAsBox(0.5, 0.5, box2d.b2Vec2(13, 4.0), 0) body.CreateShape(sd) cd.radius = 0.7 cd.density = 1 cd.friction = 0.01 cd.localPosition = box2d.b2Vec2(0, 0) body.CreateShape(cd) body.SetMassFromShapes() jr = box2d.b2RevoluteJointDef() jr.Initialize(self.m_elev, body, bd.position) jr.enableLimit = True jr.lowerAngle = -0.2 jr.upperAngle = box2d.b2_pi * 1.1 jr.collideConnected = True self.world.CreateJoint(jr).getAsType() # upper body exit sd.SetAsBox(14.0, 0.5, box2d.b2Vec2(-3.5, -10.0), 0.0) bd.position.Set(17.5, 96.0) body = self.world.CreateBody(bd) body.CreateShape(sd) # "Elastic body" 64 bodies - something like a lin. elastic compound # connected via dynamic forces (springs) sd = box2d.b2PolygonDef() sd.SetAsBox(0.55, 0.55) sd.density = 1.5 sd.friction = 0.01 sd.filter.groupIndex = -1 startpoint = box2d.b2Vec2(30, 20) bd = box2d.b2BodyDef() bd.isBullet = False bd.allowSleep = False for i in range(8): for j in range(8): bd.position.Set(j * 1.02, 2.51 + 1.02 * i) bd.position += startpoint body = self.world.CreateBody(bd) # bodies[8 * i + j] = body body.CreateShape(sd) body.SetMassFromShapes()
def __init__(self): super(Car, self).__init__() # car body poly1=box2d.b2PolygonDef() poly2=box2d.b2PolygonDef() # bottom half poly1.vertexCount = 5 poly1.setVertex(4,-2.2,-0.74) poly1.setVertex(3,-2.2,0) poly1.setVertex(2,1.0,0) poly1.setVertex(1,2.2,-0.2) poly1.setVertex(0,2.2,-0.74) poly1.filter.groupIndex = -1 poly1.density = 20.0 poly1.friction = 0.68 poly1.filter.groupIndex = -1 # top half poly2.vertexCount = 4 poly2.setVertex(3,-1.7,0) poly2.setVertex(2,-1.3,0.7) poly2.setVertex(1,0.5,0.74) poly2.setVertex(0,1.0,0) poly2.filter.groupIndex = -1 poly2.density = 5.0 poly2.friction = 0.68 poly2.filter.groupIndex = -1 bd=box2d.b2BodyDef() bd.position.Set(-35.0, 2.8) self.m_vehicle = self.world.CreateBody(bd) self.m_vehicle.CreateShape(poly1) self.m_vehicle.CreateShape(poly2) self.m_vehicle.SetMassFromShapes() # vehicle wheels circ = box2d.b2CircleDef() circ.density = 40.0 circ.radius = 0.38608 circ.friction = 0.8 circ.filter.groupIndex = -1 bd=box2d.b2BodyDef() bd.allowSleep = False bd.position.Set(-33.8, 2.0) self.m_rightWheel = self.world.CreateBody(bd) self.m_rightWheel.CreateShape(circ) self.m_rightWheel.SetMassFromShapes() bd.position.Set(-36.2, 2.0) self.m_leftWheel = self.world.CreateBody(bd) self.m_leftWheel.CreateShape(circ) self.m_leftWheel.SetMassFromShapes() # join wheels to chassis anchor=box2d.b2Vec2() jd=box2d.b2RevoluteJointDef() jd.Initialize(self.m_vehicle, self.m_leftWheel, self.m_leftWheel.GetWorldCenter()) jd.collideConnected = False jd.enableMotor = True jd.maxMotorTorque = 10.0 jd.motorSpeed = 0.0 self.m_leftJoint = self.world.CreateJoint(jd).getAsType() jd.Initialize(self.m_vehicle, self.m_rightWheel, self.m_rightWheel.GetWorldCenter()) jd.collideConnected = False self.m_rightJoint = self.world.CreateJoint(jd).getAsType() # ground box=box2d.b2PolygonDef() box.SetAsBox(19.5, 0.5) box.friction = 0.62 bd=box2d.b2BodyDef() bd.position.Set(-25.0, 1.0) ground = self.world.CreateBody(bd) ground.CreateShape(box) # more ground box=box2d.b2PolygonDef() bd=box2d.b2BodyDef() box.SetAsBox(9.5, 0.5, box2d.b2Vec2_zero, 0.1 * box2d.b2_pi) box.friction = 0.62 bd.position.Set(27.0 - 30.0, 3.1) ground = self.world.CreateBody(bd) ground.CreateShape(box) # more ground box=box2d.b2PolygonDef() bd=box2d.b2BodyDef() box.SetAsBox(9.5, 0.5, box2d.b2Vec2_zero, -0.1 * box2d.b2_pi) box.friction = 0.62 bd.position.Set(55.0 - 30.0, 3.1) ground = self.world.CreateBody(bd) ground.CreateShape(box) # more ground box=box2d.b2PolygonDef() bd=box2d.b2BodyDef() box.SetAsBox(9.5, 0.5, box2d.b2Vec2_zero, 0.03 * box2d.b2_pi) box.friction = 0.62 bd.position.Set(41.0, 2.0) ground = self.world.CreateBody(bd) ground.CreateShape(box) # more ground box=box2d.b2PolygonDef() bd=box2d.b2BodyDef() box.SetAsBox(5.0, 0.5, box2d.b2Vec2_zero, 0.15 * box2d.b2_pi) box.friction = 0.62 bd.position.Set(50.0, 4.0) ground = self.world.CreateBody(bd) ground.CreateShape(box) # more ground box=box2d.b2PolygonDef() bd=box2d.b2BodyDef() box.SetAsBox(20.0, 0.5) box.friction = 0.62 bd.position.Set(85.0, 2.0) ground = self.world.CreateBody(bd) ground.CreateShape(box)
def __init__(self): super(CCDTest, self).__init__() # Note that this test has a lot of commented-out versions that aren't implemented here. # See the original source code for more (Box2D/Examples/TestBed/Tests/CCDTest.h) k_restitution = 1.4 bd=box2d.b2BodyDef() bd.position.Set(0.0, 20.0) body = self.world.CreateBody(bd) sd=box2d.b2PolygonDef() sd.density = 0.0 sd.restitution = k_restitution sd.SetAsBox(0.1, 10.0, box2d.b2Vec2(-10.0, 0.0), 0.0) body.CreateShape(sd) sd.SetAsBox(0.1, 10.0, box2d.b2Vec2(10.0, 0.0), 0.0) body.CreateShape(sd) sd.SetAsBox(0.1, 10.0, box2d.b2Vec2(0.0, -10.0), 0.5 * box2d.b2_pi) body.CreateShape(sd) sd.SetAsBox(0.1, 10.0, box2d.b2Vec2(0.0, 10.0), -0.5 * box2d.b2_pi) body.CreateShape(sd) 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, 15.0 ) body = self.world.CreateBody(bd) body.CreateShape(sd_bottom) body.CreateShape(sd_left) body.CreateShape(sd_right) body.SetMassFromShapes() return for i in range(0): bd=box2d.b2BodyDef() bd.position.Set(0.0, 15.0 + i) bd.isBullet = True body = self.world.CreateBody(bd) body.SetAngularVelocity(box2d.b2Random(-50.0, 50.0)) sd=box2d.b2CircleDef() sd.radius = 0.25 sd.density = 1.0 sd.restitution = 0.0 body.CreateShape(sd) body.SetMassFromShapes()
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()
def __init__(self): super(CollisionFiltering, self).__init__() # Ground body sd=box2d.b2PolygonDef() sd.SetAsBox(50.0, 10.0) sd.friction = 0.3 bd=box2d.b2BodyDef() bd.position.Set(0.0, -10.0) ground = self.world.CreateBody(bd) ground.CreateShape(sd) # Small triangle triangleShapeDef=box2d.b2PolygonDef() triangleShapeDef.vertexCount = 3 triangleShapeDef.setVertex(0,-1.0, 0.0) triangleShapeDef.setVertex(1,1.0, 0.0) triangleShapeDef.setVertex(2,0.0, 2.0) triangleShapeDef.density = 1.0 triangleShapeDef.filter.groupIndex = self.k_smallGroup triangleShapeDef.filter.categoryBits = self.k_triangleCategory triangleShapeDef.filter.maskBits = self.k_triangleMask triangleBodyDef=box2d.b2BodyDef() triangleBodyDef.position.Set(-5.0, 2.0) body1 = self.world.CreateBody(triangleBodyDef) body1.CreateShape(triangleShapeDef) body1.SetMassFromShapes() # Large triangle (recycle definitions) triangleShapeDef.setVertex(0, 2.0*triangleShapeDef.getVertex(0)) triangleShapeDef.setVertex(1, 2.0*triangleShapeDef.getVertex(1)) triangleShapeDef.setVertex(2, 2.0*triangleShapeDef.getVertex(2)) triangleShapeDef.filter.groupIndex = self.k_largeGroup triangleBodyDef.position.Set(-5.0, 6.0) triangleBodyDef.fixedRotation = True body2 = self.world.CreateBody(triangleBodyDef) body2.CreateShape(triangleShapeDef) body2.SetMassFromShapes() # Small box boxShapeDef=box2d.b2PolygonDef() boxShapeDef.SetAsBox(1.0, 0.5) boxShapeDef.density = 1.0 boxShapeDef.filter.groupIndex = self.k_smallGroup boxShapeDef.filter.categoryBits = self.k_boxCategory boxShapeDef.filter.maskBits = self.k_boxMask boxBodyDef=box2d.b2BodyDef() boxBodyDef.position.Set(0.0, 2.0) body3 = self.world.CreateBody(boxBodyDef) body3.CreateShape(boxShapeDef) body3.SetMassFromShapes() # Large box (recycle definitions) boxShapeDef.SetAsBox(2.0, 1.0) boxShapeDef.filter.groupIndex = self.k_largeGroup boxBodyDef.position.Set(0.0, 6.0) body4 = self.world.CreateBody(boxBodyDef) body4.CreateShape(boxShapeDef) body4.SetMassFromShapes() # Small circle circleShapeDef=box2d.b2CircleDef() circleShapeDef.radius = 1.0 circleShapeDef.density = 1.0 circleShapeDef.filter.groupIndex = self.k_smallGroup circleShapeDef.filter.categoryBits = self.k_circleCategory circleShapeDef.filter.maskBits = self.k_circleMask circleBodyDef=box2d.b2BodyDef() circleBodyDef.position.Set(5.0, 2.0) body5 = self.world.CreateBody(circleBodyDef) body5.CreateShape(circleShapeDef) body5.SetMassFromShapes() # Large circle circleShapeDef.radius *= 2.0 circleShapeDef.filter.groupIndex = self.k_largeGroup circleBodyDef.position.Set(5.0, 6.0) body6 = self.world.CreateBody(circleBodyDef) body6.CreateShape(circleShapeDef) body6.SetMassFromShapes()
def __init__(self): super(Dominos, self).__init__() sd=box2d.b2PolygonDef() sd.SetAsBox(50.0, 10.0) bd=box2d.b2BodyDef() bd.position.Set(0.0, -10.0) b1 = self.world.CreateBody(bd) b1.CreateShape(sd) sd=box2d.b2PolygonDef() sd.SetAsBox(6.0, 0.25) bd=box2d.b2BodyDef() bd.position.Set(-1.5, 10.0) ground = self.world.CreateBody(bd) ground.CreateShape(sd) sd=box2d.b2PolygonDef() sd.SetAsBox(0.1, 1.0) sd.density = 20.0 sd.friction = 0.1 for i in range(10): bd=box2d.b2BodyDef() bd.position.Set(-6.0 + 1.0 * i, 11.25) body = self.world.CreateBody(bd) body.CreateShape(sd) body.SetMassFromShapes() sd=box2d.b2PolygonDef() sd.SetAsBox(7.0, 0.25, box2d.b2Vec2_zero, 0.3) bd=box2d.b2BodyDef() bd.position.Set(1.0, 6.0) ground = self.world.CreateBody(bd) ground.CreateShape(sd) sd=box2d.b2PolygonDef() sd.SetAsBox(0.25, 1.5) bd=box2d.b2BodyDef() bd.position.Set(-7.0, 4.0) b2 = self.world.CreateBody(bd) b2.CreateShape(sd) sd=box2d.b2PolygonDef() sd.SetAsBox(6.0, 0.125) sd.density = 10.0 bd=box2d.b2BodyDef() bd.position.Set(-0.9, 1.0) bd.angle = -0.15 b3 = self.world.CreateBody(bd) b3.CreateShape(sd) b3.SetMassFromShapes() jd=box2d.b2RevoluteJointDef() anchor=box2d.b2Vec2() anchor.Set(-2.0, 1.0) jd.Initialize(b1, b3, anchor) jd.collideConnected = True self.world.CreateJoint(jd).getAsType() sd=box2d.b2PolygonDef() sd.SetAsBox(0.25, 0.25) sd.density = 10.0 bd=box2d.b2BodyDef() bd.position.Set(-10.0, 15.0) b4 = self.world.CreateBody(bd) b4.CreateShape(sd) b4.SetMassFromShapes() anchor.Set(-7.0, 15.0) jd.Initialize(b2, b4, anchor) self.world.CreateJoint(jd).getAsType() bd=box2d.b2BodyDef() bd.position.Set(6.5, 3.0) b5 = self.world.CreateBody(bd) sd=box2d.b2PolygonDef() sd.density = 10.0 sd.friction = 0.1 sd.SetAsBox(1.0, 0.1, box2d.b2Vec2(0.0, -0.9), 0.0) b5.CreateShape(sd) sd.SetAsBox(0.1, 1.0, box2d.b2Vec2(-0.9, 0.0), 0.0) b5.CreateShape(sd) sd.SetAsBox(0.1, 1.0, box2d.b2Vec2(0.9, 0.0), 0.0) b5.CreateShape(sd) b5.SetMassFromShapes() anchor.Set(6.0, 2.0) jd.Initialize(b1, b5, anchor) self.world.CreateJoint(jd).getAsType() sd=box2d.b2PolygonDef() sd.SetAsBox(1.0, 0.1) sd.density = 30.0 sd.friction = 0.2 bd=box2d.b2BodyDef() bd.position.Set(6.5, 4.1) b6 = self.world.CreateBody(bd) b6.CreateShape(sd) b6.SetMassFromShapes() anchor.Set(7.5, 4.0) jd.Initialize(b5, b6, anchor) self.world.CreateJoint(jd).getAsType() sd=box2d.b2PolygonDef() sd.SetAsBox(0.1, 1.0) sd.density = 10.0 bd=box2d.b2BodyDef() bd.position.Set(7.4, 1.0) b7 = self.world.CreateBody(bd) b7.CreateShape(sd) b7.SetMassFromShapes() djd=box2d.b2DistanceJointDef() djd.body1 = b3 djd.body2 = b7 djd.localAnchor1.Set(6.0, 0.0) djd.localAnchor2.Set(0.0, -1.0) d = djd.body2.GetWorldPoint(djd.localAnchor2) - djd.body1.GetWorldPoint(djd.localAnchor1) djd.length = d.Length() self.world.CreateJoint(djd).getAsType() sd=box2d.b2CircleDef() sd.radius = 0.2 sd.density = 10.0 for i in range(4): bd=box2d.b2BodyDef() bd.position.Set(5.9 + 2.0 * sd.radius * i, 2.4) body = self.world.CreateBody(bd) body.CreateShape(sd) body.SetMassFromShapes()
def __init__(self): super(CollisionProcessing, self).__init__() # Ground body sd=box2d.b2PolygonDef() sd.SetAsBox(50.0, 10.0) sd.friction = 0.3 bd=box2d.b2BodyDef() bd.position.Set(0.0, -10.0) ground = self.world.CreateBody(bd) ground.CreateShape(sd) xLo = -5.0 xHi = 5.0 yLo = 2.0 yHi = 35.0 # Small triangle triangleShapeDef=box2d.b2PolygonDef() triangleShapeDef.vertexCount = 3 triangleShapeDef.setVertex(0,-1.0, 0.0) triangleShapeDef.setVertex(1,1.0, 0.0) triangleShapeDef.setVertex(2,0.0, 2.0) triangleShapeDef.density = 1.0 triangleBodyDef=box2d.b2BodyDef() triangleBodyDef.position.Set(box2d.b2Random(xLo, xHi), box2d.b2Random(yLo, yHi)) body1 = self.world.CreateBody(triangleBodyDef) body1.CreateShape(triangleShapeDef) body1.SetMassFromShapes() # Large triangle (recycle definitions) triangleShapeDef.setVertex(0, 2.0*triangleShapeDef.getVertex(0)) triangleShapeDef.setVertex(1, 2.0*triangleShapeDef.getVertex(1)) triangleShapeDef.setVertex(2, 2.0*triangleShapeDef.getVertex(2)) triangleBodyDef.position.Set(box2d.b2Random(xLo, xHi), box2d.b2Random(yLo, yHi)) body2 = self.world.CreateBody(triangleBodyDef) body2.CreateShape(triangleShapeDef) body2.SetMassFromShapes() # Small box boxShapeDef=box2d.b2PolygonDef() boxShapeDef.SetAsBox(1.0, 0.5) boxShapeDef.density = 1.0 boxBodyDef=box2d.b2BodyDef() boxBodyDef.position.Set(box2d.b2Random(xLo, xHi), box2d.b2Random(yLo, yHi)) body3 = self.world.CreateBody(boxBodyDef) body3.CreateShape(boxShapeDef) body3.SetMassFromShapes() # Large box (recycle definitions) boxShapeDef.SetAsBox(2.0, 1.0) boxBodyDef.position.Set(box2d.b2Random(xLo, xHi), box2d.b2Random(yLo, yHi)) body4 = self.world.CreateBody(boxBodyDef) body4.CreateShape(boxShapeDef) body4.SetMassFromShapes() # Small circle circleShapeDef=box2d.b2CircleDef() circleShapeDef.radius = 1.0 circleShapeDef.density = 1.0 circleBodyDef=box2d.b2BodyDef() circleBodyDef.position.Set(box2d.b2Random(xLo, xHi), box2d.b2Random(yLo, yHi)) body5 = self.world.CreateBody(circleBodyDef) body5.CreateShape(circleShapeDef) body5.SetMassFromShapes() # Large circle circleShapeDef.radius *= 2.0 circleBodyDef.position.Set(box2d.b2Random(xLo, xHi), box2d.b2Random(yLo, yHi)) body6 = self.world.CreateBody(circleBodyDef) body6.CreateShape(circleShapeDef) body6.SetMassFromShapes()
def __init__(self): super(Gears, self).__init__() bd=box2d.b2BodyDef() bd.position.Set(0.0, -10.0) ground = self.world.CreateBody(bd) sd=box2d.b2PolygonDef() sd.SetAsBox(50.0, 10.0) ground.CreateShape(sd) circle1=box2d.b2CircleDef() circle1.radius = 1.0 circle1.density = 5.0 circle2=box2d.b2CircleDef() circle2.radius = 2.0 circle2.density = 5.0 box=box2d.b2PolygonDef() box.SetAsBox(0.5, 5.0) box.density = 5.0 bd1=box2d.b2BodyDef() bd1.position.Set(-3.0, 12.0) body1 = self.world.CreateBody(bd1) body1.CreateShape(circle1) body1.SetMassFromShapes() jd1=box2d.b2RevoluteJointDef() jd1.body1 = ground jd1.body2 = body1 jd1.localAnchor1 = ground.GetLocalPoint(bd1.position) jd1.localAnchor2 = body1.GetLocalPoint(bd1.position) jd1.referenceAngle = body1.GetAngle() - ground.GetAngle() self.m_joint1 = self.world.CreateJoint(jd1).getAsType() bd2=box2d.b2BodyDef() bd2.position.Set(0.0, 12.0) body2 = self.world.CreateBody(bd2) body2.CreateShape(circle2) body2.SetMassFromShapes() jd2=box2d.b2RevoluteJointDef() jd2.Initialize(ground, body2, bd2.position) self.m_joint2 = self.world.CreateJoint(jd2).getAsType() bd3=box2d.b2BodyDef() bd3.position.Set(2.5, 12.0) body3 = self.world.CreateBody(bd3) body3.CreateShape(box) body3.SetMassFromShapes() jd3=box2d.b2PrismaticJointDef() jd3.Initialize(ground, body3, bd3.position, box2d.b2Vec2(0.0, 1.0)) jd3.lowerTranslation = -5.0 jd3.upperTranslation = 5.0 jd3.enableLimit = True self.m_joint3 = self.world.CreateJoint(jd3).getAsType() jd4=box2d.b2GearJointDef() jd4.body1 = body1 jd4.body2 = body2 jd4.joint1 = self.m_joint1 jd4.joint2 = self.m_joint2 jd4.ratio = circle2.radius / circle1.radius self.m_joint4 = self.world.CreateJoint(jd4).getAsType() jd5=box2d.b2GearJointDef() jd5.body1 = body2 jd5.body2 = body3 jd5.joint1 = self.m_joint2 jd5.joint2 = self.m_joint3 jd5.ratio = -1.0 / circle2.radius self.m_joint5 = self.world.CreateJoint(jd5).getAsType()