def Step(self, settings) :
x1=box2d.b2Vec2()
x2=box2d.b2Vec2()
distance = box2d.b2Distance(x1, x2, self.m_shape1, self.m_body1.GetXForm(), self.m_shape2, self.m_body2.GetXForm())
self.DrawString(5, self.textLine, "distance = %g" % distance)
self.textLine += 15
# ?
#g_GJK_Iterations = 5
#self.DrawString(5, self.textLine, "iterations = %d" % g_GJK_Iterations)
#self.textLine += 15
# glPointSize(4.0)
# glColor3(1.0, 0.0, 0.0)
# glBegin(GL_POINTS)
# glVertex2(x1.x, x1.y)
# glVertex2(x2.x, x2.y)
# glEnd()
# glPointSize(1.0)
#
# glColor3(1.0, 1.0, 0.0)
# glBegin(GL_LINES)
# glVertex2(x1.x, x1.y)
# glVertex2(x2.x, x2.y)
# glEnd()
settings.pause = True
super(DistanceTest, self).Step(settings)
settings.pause = False
def __init__(self):
super(Pyramid, 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()
a = 0.5
sd.SetAsBox(a, a)
sd.density = 5.0
x=box2d.b2Vec2(-10.0, 0.75)
y=box2d.b2Vec2()
deltaX=box2d.b2Vec2(0.5625, 2.0)
deltaY=box2d.b2Vec2(1.125, 0.0)
for i in range(25):
y = x.copy()
for j in range(i, 25):
bd=box2d.b2BodyDef()
bd.position = y
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
y += deltaY
x += deltaX
def Keyboard(self, key) :
if key==K_w:
f = self.m_body.GetWorldVector(box2d.b2Vec2(0.0, -200.0))
p = self.m_body.GetWorldPoint(box2d.b2Vec2(0.0, 2.0))
self.m_body.ApplyForce(f, p)
elif key==K_a:
self.m_body.ApplyTorque(20.0)
elif key==K_d:
self.m_body.ApplyTorque(-20.0)
def __init__(self):
super(Chain, 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)
sd=box2d.b2PolygonDef()
sd.SetAsBox(0.6, 0.125)
sd.density = 20.0
sd.friction = 0.2
jd=box2d.b2RevoluteJointDef()
jd.collideConnected = False
y = 25.0
prevBody=ground
for i in range(30):
bd=box2d.b2BodyDef()
bd.position.Set(0.5 + i, y)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
anchor=box2d.b2Vec2(i, y)
jd.Initialize(prevBody, body, anchor)
self.world.CreateJoint(jd).getAsType()
prevBody = body
def __init__(self):
super(DistanceTest, self).__init__()
sd=box2d.b2PolygonDef()
sd.SetAsBox(1.0, 1.0)
sd.density = 0.0
bd=box2d.b2BodyDef()
bd.position.Set(0.0, 10.0)
self.m_body1 = self.world.CreateBody(bd)
self.m_shape1 = self.m_body1.CreateShape(sd)
sd=box2d.b2PolygonDef()
sd.vertexCount = 3
sd.setVertex(0,-1.0, 0.0)
sd.setVertex(1,1.0, 0.0)
sd.setVertex(2,0.0, 15.0)
sd.density = 1.0
bd=box2d.b2BodyDef()
#bd.position.Set(-48.377853, 0.49244255)
#bd.rotation = 90.475891
bd.position.Set(0.0, 10.0)
self.m_body2 = self.world.CreateBody(bd)
self.m_shape2 = self.m_body2.CreateShape(sd)
self.m_body2.SetMassFromShapes()
self.world.SetGravity(box2d.b2Vec2(0.0, 0.0))
self.world.SetPositionCorrection(False)
def __init__(self):
super(Pulleys, 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)
a = 2.0
b = 4.0
y = 16.0
L = 12.0
sd=box2d.b2PolygonDef()
sd.SetAsBox(a, b)
sd.density = 5.0
bd=box2d.b2BodyDef()
bd.position.Set(-10.0, y)
body1 = self.world.CreateBody(bd)
body1.CreateShape(sd)
body1.SetMassFromShapes()
bd.position.Set(10.0, y)
body2 = self.world.CreateBody(bd)
body2.CreateShape(sd)
body2.SetMassFromShapes()
pulleyDef=box2d.b2PulleyJointDef()
anchor1=box2d.b2Vec2(-10.0, y + b)
anchor2=box2d.b2Vec2(10.0, y + b)
groundAnchor1=box2d.b2Vec2(-10.0, y + b + L)
groundAnchor2=box2d.b2Vec2(10.0, y + b + L)
pulleyDef.Initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 2.0)
self.m_joint1 = self.world.CreateJoint(pulleyDef).getAsType()
def __init__(self):
super(VerticalStack, self).__init__()
sd=box2d.b2PolygonDef()
sd.SetAsBox(50.0, 10.0, box2d.b2Vec2(0.0, -10.0), 0.0)
bd=box2d.b2BodyDef()
bd.position.Set(0.0, 0.0)
ground = self.world.CreateBody(bd)
ground.CreateShape(sd)
sd.SetAsBox(0.1, 10.0, box2d.b2Vec2(20.0, 10.0), 0.0)
ground.CreateShape(sd)
xs = [0.0, -10.0, -5.0, 5.0, 10.0]
for j in range(5):
sd=box2d.b2PolygonDef()
sd.SetAsBox(0.5, 0.5)
sd.density = 1.0
sd.friction = 0.3
for i in range(12):
bd=box2d.b2BodyDef()
# For this test we are using continuous physics for all boxes.
# This is a stress test, you normally wouldn't do this for
# performance reasons.
#bd.isBullet = True
bd.allowSleep = True
#x = b2Random(-0.1, 0.1)
#x = i % 2 == 0 ? -0.025 : 0.025
bd.position.Set(xs[j], 0.752 + 1.54 * i)
#bd.position.Set(xs[j], 2.51 + 4.02 * i)
body = self.world.CreateBody(bd) #
body.CreateShape(sd)
body.SetMassFromShapes()
self.m_bullet = None
def Keyboard(self, key) :
p = self.m_body2.GetPosition=box2d.b2Vec2()
a = self.m_body2.GetAngle()
if key==K_a:
p.x -= 0.1
elif key==K_d:
p.x += 0.1
elif key==K_s:
p.y -= 0.1
elif key==K_w:
p.y += 0.1
elif key==K_q:
a += 0.1 * box2d.b2_pi
elif key==K_e:
a -= 0.1 * box2d.b2_pi
self.m_body2.SetXForm(p, a)
def Step(self, settings) :
sweep1=box2d.b2Sweep()
sweep1.c0.Set(0.0, 20.0)
sweep1.a0 = 0.0
sweep1.c = sweep1.c0
sweep1.a = sweep1.a0
sweep1.t0 = 0.0
sweep1.localCenter = self.m_body1.GetLocalCenter()
sweep2=box2d.b2Sweep()
sweep2.c0.Set(9.6363468, 28.050615)
sweep2.a0 = 1.6408679
sweep2.c = sweep2.c0 + box2d.b2Vec2(-0.075121880, 0.27358246)
sweep2.a = sweep2.a0 - 10.434675
sweep2.t0 = 0.0
sweep2.localCenter = self.m_body2.GetLocalCenter()
toi = box2d.b2TimeOfImpact(self.m_shape1, sweep1, self.m_shape2, sweep2)
self.DrawString(5, self.textLine, "toi = %g" % (toi))
self.textLine += 15
xf2=box2d.b2XForm ()
sweep2.GetXForm(xf2, toi)
vertexCount = self.m_shape2.GetVertexCount()
vertices = []
localVertices = self.m_shape2.getVertices_b2Vec2()
for vertex in localVertices:
vertices.append( box2d.b2Mul(xf2, vertex).tuple() )
self.debugDraw.DrawPolygon(vertices, vertexCount, box2d.b2Color(0.5, 0.7, 0.9))
localVertices = self.m_shape2.getCoreVertices_b2Vec2()
for vertex in localVertices:
vertices.append( box2d.b2Mul(xf2, vertex).tuple() )
self.debugDraw.DrawPolygon(vertices, vertexCount, box2d.b2Color(0.5, 0.7, 0.9))
settings.pause = True
super(TimeOfImpact, self).Step(settings)
settings.pause = False
def 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(ShapeEditing, 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)
bodydef=box2d.b2BodyDef()
bodydef.position.Set(0.0, 10.0)
self.m_body = self.world.CreateBody(bodydef)
sd=box2d.b2PolygonDef()
sd.SetAsBox(4.0, 4.0, box2d.b2Vec2(0.0, 0.0), 0.0)
sd.density = 10.0
self.m_shape1 = self.m_body.CreateShape(sd)
self.m_body.SetMassFromShapes()
self.m_shape2 = None
def __init__(self):
super(TimeOfImpact, self).__init__()
sd=box2d.b2PolygonDef()
sd.density = 0.0
sd.SetAsBox(0.1, 10.0, box2d.b2Vec2(10.0, 0.0), 0.0)
bd=box2d.b2BodyDef()
bd.position.Set(0.0, 20.0)
bd.angle = 0.0
self.m_body1 = self.world.CreateBody(bd)
self.m_shape1 = self.m_body1.CreateShape(sd)
sd=box2d.b2PolygonDef()
sd.SetAsBox(0.25, 0.25)
sd.density = 1.0
bd=box2d.b2BodyDef()
bd.position.Set(9.6363468, 28.050615)
bd.angle = 1.6408679
self.m_body2 = self.world.CreateBody(bd)
self.m_shape2 = self.m_body2.CreateShape(sd).getAsType()
self.m_body2.SetMassFromShapes()
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(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 CreateLeg(self, s, wheelAnchor) :
p1=box2d.b2Vec2(5.4 * s, -6.1)
p2=box2d.b2Vec2(7.2 * s, -1.2)
p3=box2d.b2Vec2(4.3 * s, -1.9)
p4=box2d.b2Vec2(3.1 * s, 0.8)
p5=box2d.b2Vec2(6.0 * s, 1.5)
p6=box2d.b2Vec2(2.5 * s, 3.7)
sd1=box2d.b2PolygonDef()
sd2=box2d.b2PolygonDef()
sd1.vertexCount = 3
sd2.vertexCount = 3
sd1.filter.groupIndex = -1
sd2.filter.groupIndex = -1
sd1.density = 1.0
sd2.density = 1.0
if s > 0.0:
sd1.setVertex(0, p1)
sd1.setVertex(1, p2)
sd1.setVertex(2, p3)
sd2.setVertex(0, box2d.b2Vec2_zero)
sd2.setVertex(1, p5 - p4)
sd2.setVertex(2, p6 - p4)
else:
sd1.setVertex(0, p1)
sd1.setVertex(1, p3)
sd1.setVertex(2, p2)
sd2.setVertex(0, box2d.b2Vec2_zero)
sd2.setVertex(1, p6 - p4)
sd2.setVertex(2, p5 - p4)
bd1=box2d.b2BodyDef()
bd2=box2d.b2BodyDef()
bd1.position = self.m_offset
bd2.position = p4 + self.m_offset
bd1.angularDamping = 10.0
bd2.angularDamping = 10.0
body1 = self.world.CreateBody(bd1)
body2 = self.world.CreateBody(bd2)
body1.CreateShape(sd1)
body2.CreateShape(sd2)
body1.SetMassFromShapes()
body2.SetMassFromShapes()
djd=box2d.b2DistanceJointDef()
# Using a soft distance constraint can reduce some jitter.
# It also makes the structure seem a bit more fluid by
# acting like a suspension system.
#djd.dampingRatio = 0.5
#djd.frequencyHz = 10.0
# svn r149, not usable yet
djd.Initialize(body1, body2, p2 + self.m_offset, p5 + self.m_offset)
self.world.CreateJoint(djd).getAsType()
djd.Initialize(body1, body2, p3 + self.m_offset, p4 + self.m_offset)
self.world.CreateJoint(djd).getAsType()
djd.Initialize(body1, self.m_wheel, p3 + self.m_offset, wheelAnchor + self.m_offset)
self.world.CreateJoint(djd).getAsType()
djd.Initialize(body2, self.m_wheel, p6 + self.m_offset, wheelAnchor + self.m_offset)
self.world.CreateJoint(djd).getAsType()
rjd=box2d.b2RevoluteJointDef()
rjd.Initialize(body2, self.m_chassis, p4 + self.m_offset)
self.world.CreateJoint(rjd).getAsType()
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 Step(self, settings):
bodies = self.bodies
for i in range(8):
for j in range(8):
zero = box2d.b2Vec2(0.0, 0.0)
down = box2d.b2Vec2(0.0, -0.5)
up = box2d.b2Vec2(0.0, 0.5)
right = box2d.b2Vec2(0.5, 0.0)
left = box2d.b2Vec2(-0.5, 0.0)
ind = i * 8 + j
indr = ind + 1
indd = ind + 8
spring = 500.0
damp = 5.0
if j < 7:
self.AddSpringForce((bodies[ind]), zero, (bodies[indr]), zero, spring, damp, 1.0)
self.AddSpringForce((bodies[ind]), right, (bodies[indr]), left, 0.5 * spring, damp, 0.0)
if i < 7:
self.AddSpringForce((bodies[ind]), zero, (bodies[indd]), zero, spring, damp, 1.0)
self.AddSpringForce((bodies[ind]), up, (bodies[indd]), down, 0.5 * spring, damp, 0.0)
inddr = indd + 1
inddl = indd - 1
drdist = math.sqrt(2.0)
if i < 7 and j < 7:
self.AddSpringForce((bodies[ind]), zero, (bodies[inddr]), zero, spring, damp, drdist)
if i < 7 and j > 0:
self.AddSpringForce((bodies[ind]), zero, (bodies[inddl]), zero, spring, damp, drdist)
indr = ind + 2
indd = ind + 8 * 2
if j < 6:
self.AddSpringForce((bodies[ind]), zero, (bodies[indr]), zero, spring, damp, 2.0)
if i < 6:
self.AddSpringForce((bodies[ind]), zero, (bodies[indd]), zero, spring, damp, 2.0)
inddr = indd + 2
inddl = indd - 2
drdist = math.sqrt(2.0) * 2.0
if i < 6 and j < 6:
self.AddSpringForce((bodies[ind]), zero, (bodies[inddr]), zero, spring, damp, drdist)
if i < 6 and j > 1:
self.AddSpringForce((bodies[ind]), zero, (bodies[inddl]), zero, spring, damp, drdist)
# Check if bodies are near elevator
# Look if the body to lift is near the elevator
p1 = bodies[0].GetWorldCenter()
p2 = bodies[63].GetWorldCenter()
# self.m_elev: elevator prism. joint
e = self.m_elev.GetWorldCenter() + box2d.b2Vec2(0, 7)
# maybe not the best way to do it...
# Bodies reached the elevator side
if p1.x > e.x or p2.x > e.x:
# go up
if (p1.y < e.y or p2.y < e.y) and (
self.m_joint_elev.GetJointTranslation() <= self.m_joint_elev.GetLowerLimit() + 1
):
self.m_joint_elev.SetMotorSpeed(20)
# print "lift goes up trans: %G" % self.m_joint_elev.GetJointTranslation()
# go down
if self.m_joint_elev.GetJointTranslation() >= self.m_joint_elev.GetUpperLimit() - 2:
self.m_joint_elev.SetMotorSpeed(-15)
# printf("lift goes down: %G\n",self.m_joint_elev.GetJointTranslation())
super(ElasticBody, self).Step(settings)
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(ContactCallbackTest, self).__init__()
sd=box2d.b2PolygonDef()
sd.friction = 0
sd.vertexCount = 3
sd.setVertex(0,10,10)
sd.setVertex(1,9,7)
sd.setVertex(2,10,0)
self.world.GetGroundBody().CreateShape(sd)
sd.setVertex(0,9,7)
sd.setVertex(1,8,0)
sd.setVertex(2,10,0)
self.world.GetGroundBody().CreateShape(sd)
sd.setVertex(0,9,7)
sd.setVertex(1,8,5)
sd.setVertex(2,8,0)
self.world.GetGroundBody().CreateShape(sd)
sd.setVertex(0,8,5)
sd.setVertex(1,7,4)
sd.setVertex(2,8,0)
self.world.GetGroundBody().CreateShape(sd)
sd.setVertex(0,7,4)
sd.setVertex(1,5,0)
sd.setVertex(2,8,0)
self.world.GetGroundBody().CreateShape(sd)
sd.setVertex(0,7,4)
sd.setVertex(1,5,3)
sd.setVertex(2,5,0)
self.world.GetGroundBody().CreateShape(sd)
sd.setVertex(0,5,3)
sd.setVertex(1,2,2)
sd.setVertex(2,5,0)
self.world.GetGroundBody().CreateShape(sd)
sd.setVertex(0,2,2)
sd.setVertex(1,0,0)
sd.setVertex(2,5,0)
self.world.GetGroundBody().CreateShape(sd)
sd.setVertex(0,2,2)
sd.setVertex(1,-2,2)
sd.setVertex(2,0,0)
self.world.GetGroundBody().CreateShape(sd)
sd.setVertex(2,-2,2)
sd.setVertex(1,0,0)
sd.setVertex(0,-5,0)
self.world.GetGroundBody().CreateShape(sd)
sd.setVertex(2,-5,3)
sd.setVertex(1,-2,2)
sd.setVertex(0,-5,0)
self.world.GetGroundBody().CreateShape(sd)
sd.setVertex(2,-7,4)
sd.setVertex(1,-5,3)
sd.setVertex(0,-5,0)
self.world.GetGroundBody().CreateShape(sd)
sd.setVertex(2,-7,4)
sd.setVertex(1,-5,0)
sd.setVertex(0,-8,0)
self.world.GetGroundBody().CreateShape(sd)
sd.setVertex(2,-8,5)
sd.setVertex(1,-7,4)
sd.setVertex(0,-8,0)
self.world.GetGroundBody().CreateShape(sd)
sd.setVertex(2,-9,7)
sd.setVertex(1,-8,5)
sd.setVertex(0,-8,0)
self.world.GetGroundBody().CreateShape(sd)
sd.setVertex(2,-9,7)
sd.setVertex(1,-8,0)
sd.setVertex(0,-10,0)
self.world.GetGroundBody().CreateShape(sd)
sd.setVertex(2,-10,10)
sd.setVertex(1,-9,7)
sd.setVertex(0,-10,0)
self.world.GetGroundBody().CreateShape(sd)
sd.SetAsBox(.5,6,box2d.b2Vec2(10.5,6),0)
self.world.GetGroundBody().CreateShape(sd)
sd.SetAsBox(.5,6,box2d.b2Vec2(-10.5,6),0)
self.world.GetGroundBody().CreateShape(sd)
bd=box2d.b2BodyDef()
bd.position.Set(9.5,60)
self.m_ball = self.world.CreateBody( bd )
cd=box2d.b2PolygonDef()
cd.vertexCount = 8
w = 1.0
b = w / (2.0 + math.sqrt(2.0))
s = math.sqrt(2.0) * b
cd.setVertex(0,0.5 * s, 0.0)
cd.setVertex(1,0.5 * w, b)
cd.setVertex(2,0.5 * w, b + s)
cd.setVertex(3,0.5 * s, w)
cd.setVertex(4,-0.5 * s, w)
cd.setVertex(5,-0.5 * w, b + s)
cd.setVertex(6,-0.5 * w, b)
cd.setVertex(7,-0.5 * s, 0.0)
cd.density = 1.0
self.m_ball_shape = self.m_ball.CreateShape(cd)
self.m_ball.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 DefaultVertices(self) :
global k_scale
# feet
for poly in (self.LFootPoly, self.RFootPoly):
poly.vertexCount = 5
poly.setVertex(0, k_scale * box2d.b2Vec2(.033,.143))
poly.setVertex(1, k_scale * box2d.b2Vec2(.023,.033))
poly.setVertex(2, k_scale * box2d.b2Vec2(.267,.035))
poly.setVertex(3, k_scale * box2d.b2Vec2(.265,.065))
poly.setVertex(4, k_scale * box2d.b2Vec2(.117,.143))
# calves
for poly in (self.LCalfPoly, self.RCalfPoly):
poly.vertexCount = 4
poly.setVertex(0, k_scale * box2d.b2Vec2(.089,.016))
poly.setVertex(1, k_scale * box2d.b2Vec2(.178,.016))
poly.setVertex(2, k_scale * box2d.b2Vec2(.205,.417))
poly.setVertex(3, k_scale * box2d.b2Vec2(.095,.417))
# thighs
for poly in (self.LThighPoly, self.RThighPoly):
poly.vertexCount = 4
poly.setVertex(0, k_scale * box2d.b2Vec2(.137,.032))
poly.setVertex(1, k_scale * box2d.b2Vec2(.243,.032))
poly.setVertex(2, k_scale * box2d.b2Vec2(.318,.343))
poly.setVertex(3, k_scale * box2d.b2Vec2(.142,.343))
# pelvis
self.PelvisPoly.vertexCount = 5
self.PelvisPoly.setVertex(0, k_scale * box2d.b2Vec2(.105,.051))
self.PelvisPoly.setVertex(1, k_scale * box2d.b2Vec2(.277,.053))
self.PelvisPoly.setVertex(2, k_scale * box2d.b2Vec2(.320,.233))
self.PelvisPoly.setVertex(3, k_scale * box2d.b2Vec2(.112,.233))
self.PelvisPoly.setVertex(4, k_scale * box2d.b2Vec2(.067,.152))
# stomach
self.StomachPoly.vertexCount = 4
self.StomachPoly.setVertex(0, k_scale * box2d.b2Vec2(.088,.043))
self.StomachPoly.setVertex(1, k_scale * box2d.b2Vec2(.284,.043))
self.StomachPoly.setVertex(2, k_scale * box2d.b2Vec2(.295,.231))
self.StomachPoly.setVertex(3, k_scale * box2d.b2Vec2(.100,.231))
# chest
self.ChestPoly.vertexCount = 4
self.ChestPoly.setVertex(0, k_scale * box2d.b2Vec2(.091,.042))
self.ChestPoly.setVertex(1, k_scale * box2d.b2Vec2(.283,.042))
self.ChestPoly.setVertex(2, k_scale * box2d.b2Vec2(.177,.289))
self.ChestPoly.setVertex(3, k_scale * box2d.b2Vec2(.065,.289))
# head
self.HeadCirc.radius = k_scale * .115
# neck
self.NeckPoly.vertexCount = 4
self.NeckPoly.setVertex(0, k_scale * box2d.b2Vec2(.038,.054))
self.NeckPoly.setVertex(1, k_scale * box2d.b2Vec2(.149,.054))
self.NeckPoly.setVertex(2, k_scale * box2d.b2Vec2(.154,.102))
self.NeckPoly.setVertex(3, k_scale * box2d.b2Vec2(.054,.113))
# upper arms
for poly in (self.LUpperArmPoly, self.RUpperArmPoly):
poly.vertexCount = 5
poly.setVertex(0, k_scale * box2d.b2Vec2(.092,.059))
poly.setVertex(1, k_scale * box2d.b2Vec2(.159,.059))
poly.setVertex(2, k_scale * box2d.b2Vec2(.169,.335))
poly.setVertex(3, k_scale * box2d.b2Vec2(.078,.335))
poly.setVertex(4, k_scale * box2d.b2Vec2(.064,.248))
# forearms
for poly in (self.LForearmPoly, self.RForearmPoly):
poly.vertexCount = 4
poly.setVertex(0, k_scale * box2d.b2Vec2(.082,.054))
poly.setVertex(1, k_scale * box2d.b2Vec2(.138,.054))
poly.setVertex(2, k_scale * box2d.b2Vec2(.149,.296))
poly.setVertex(3, k_scale * box2d.b2Vec2(.088,.296))
# hands
for poly in (self.LHandPoly, self.RHandPoly):
poly.vertexCount = 5
poly.setVertex(0, k_scale * box2d.b2Vec2(.066,.031))
poly.setVertex(1, k_scale * box2d.b2Vec2(.123,.020))
poly.setVertex(2, k_scale * box2d.b2Vec2(.160,.127))
poly.setVertex(3, k_scale * box2d.b2Vec2(.127,.178))
poly.setVertex(4, k_scale * box2d.b2Vec2(.074,.178))
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()
# misrepresented as being the original software. # 3. This notice may not be removed or altered from any source distribution. import pygame from pygame.locals import * import test_main from test_main import box2d from foilsim import * from foilsim.simutils import * import math from operator import add velocity_20_mph = box2d.b2Vec2(-8.94, 0.0) velocity_5_mph = velocity_20_mph / 4.0 class Masheet(test_main.Framework): """You can use this class as an outline for your tests. """ name = "Kite" # Name of the class to display def __init__(self): """ Initialize all of your objects here. Be sure to call the Framework's initializer first. """ super(Masheet, self).__init__() #self.world.SetGravity(b2Vec2(0.0, 0.0))
def __init__(self):
super(MotorsAndLimits, 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(2.0, 0.5)
sd.density = 5.0
sd.friction = 0.05
bd=box2d.b2BodyDef()
rjd=box2d.b2RevoluteJointDef()
prevBody=ground
y = 8.0
bd.position.Set(3.0, y)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
rjd.Initialize(prevBody, body, box2d.b2Vec2(0.0, y))
rjd.motorSpeed = 1.0 * box2d.b2_pi
rjd.maxMotorTorque = 10000.0
rjd.enableMotor = True
self.m_joint1 = self.world.CreateJoint(rjd).getAsType()
prevBody = body
bd.position.Set(9.0, y)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
rjd.Initialize(prevBody, body, box2d.b2Vec2(6.0, y))
rjd.motorSpeed = 0.5 * box2d.b2_pi
rjd.maxMotorTorque = 2000.0
rjd.enableMotor = True
rjd.lowerAngle = - 0.5 * box2d.b2_pi
rjd.upperAngle = 0.5 * box2d.b2_pi
rjd.enableLimit = True
self.m_joint2 = self.world.CreateJoint(rjd).getAsType()
bd.position.Set(-10.0, 10.0)
bd.angle = 0.5 * box2d.b2_pi
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
pjd=box2d.b2PrismaticJointDef()
pjd.Initialize(ground, body, box2d.b2Vec2(-10.0, 10.0), box2d.b2Vec2(1.0, 0.0))
pjd.motorSpeed = 10.0
pjd.maxMotorForce = 1000.0
pjd.enableMotor = True
pjd.lowerTranslation = 0.0
pjd.upperTranslation = 20.0
pjd.enableLimit = True
self.m_joint3 = self.world.CreateJoint(pjd).getAsType()
def __init__(self):
super(ApplyForce, self).__init__()
self.world.SetGravity(box2d.b2Vec2(0.0, 0.0))
k_restitution = 0.4
bd=box2d.b2BodyDef()
bd.position.Set(0.0, 20.0)
ground = self.world.CreateBody(bd)
sd=box2d.b2PolygonDef()
sd.density = 0.0
sd.restitution = k_restitution
sd.SetAsBox(0.2, 20.0, box2d.b2Vec2(-20.0, 0.0), 0.0)
ground.CreateShape(sd)
sd.SetAsBox(0.2, 20.0, box2d.b2Vec2(20.0, 0.0), 0.0)
ground.CreateShape(sd)
sd.SetAsBox(0.2, 20.0, box2d.b2Vec2(0.0, -20.0), 0.5 * box2d.b2_pi)
ground.CreateShape(sd)
sd.SetAsBox(0.2, 20.0, box2d.b2Vec2(0.0, 20.0), -0.5 * box2d.b2_pi)
ground.CreateShape(sd)
xf1 = box2d.b2XForm ()
xf1.R.Set(0.3524 * box2d.b2_pi)
xf1.position = box2d.b2Mul(xf1.R, box2d.b2Vec2(1.0, 0.0))
sd1=box2d.b2PolygonDef()
sd1.vertexCount = 3
sd1.setVertex(0, box2d.b2Mul(xf1, box2d.b2Vec2(-1.0, 0.0)))
sd1.setVertex(1, box2d.b2Mul(xf1, box2d.b2Vec2(1.0, 0.0)))
sd1.setVertex(2, box2d.b2Mul(xf1, box2d.b2Vec2(0.0, 0.5)))
sd1.density = 2.0
xf2 = box2d.b2XForm ()
xf2.R.Set(-0.3524 * box2d.b2_pi)
xf2.position = box2d.b2Mul(xf2.R, box2d.b2Vec2(-1.0, 0.0))
sd2=box2d.b2PolygonDef()
sd2.vertexCount = 3
sd2.setVertex(0, box2d.b2Mul(xf2, box2d.b2Vec2(-1.0, 0.0)))
sd2.setVertex(1, box2d.b2Mul(xf2, box2d.b2Vec2(1.0, 0.0)))
sd2.setVertex(2, box2d.b2Mul(xf2, box2d.b2Vec2(0.0, 0.5)))
sd2.density = 2.0
bd=box2d.b2BodyDef()
bd.angularDamping = 2.0
bd.linearDamping = 0.1
bd.position.Set(0.0, 1.05)
bd.angle = box2d.b2_pi
self.m_body = self.world.CreateBody(bd)
self.m_body.CreateShape(sd1)
self.m_body.CreateShape(sd2)
self.m_body.SetMassFromShapes()
def DefaultPositions(self) :
global k_scale
for foot in (self.LFootDef, self.RFootDef):
foot.position = k_scale * box2d.b2Vec2(-.122,-.901)
for calf in (self.LCalfDef, self.RCalfDef):
calf.position = k_scale * box2d.b2Vec2(-.177,-.771)
for thigh in (self.LThighDef, self.RThighDef):
thigh.position = k_scale * box2d.b2Vec2(-.217,-.391)
for upperarm in (self.LUpperArmDef, self.RUpperArmDef):
upperarm.position = k_scale * box2d.b2Vec2(-.127,.228)
for forearm in (self.LForearmDef, self.RForearmDef):
forearm.position = k_scale * box2d.b2Vec2(-.117,-.011)
for hand in (self.LHandDef, self.RHandDef):
hand.position = k_scale * box2d.b2Vec2(-.112,-.136)
self.PelvisDef.position = k_scale * box2d.b2Vec2(-.177,-.101)
self.StomachDef.position= k_scale * box2d.b2Vec2(-.142,.088)
self.ChestDef.position = k_scale * box2d.b2Vec2(-.132,.282)
self.NeckDef.position = k_scale * box2d.b2Vec2(-.102,.518)
self.HeadDef.position = k_scale * box2d.b2Vec2(.022,.738)
def DefaultJoints(self) :
global k_scale
#b.LAnkleDef.body1 = LFoot
#b.LAnkleDef.body2 = LCalf
#b.self.RAnkleDef.body1 = self.RFoot
#b.self.RAnkleDef.body2 = self.RCalf
# ankles
anchor = k_scale * box2d.b2Vec2(-.045,-.75)
self.LAnkleDef.localAnchor1 = self.RAnkleDef.localAnchor1 = anchor - self.LFootDef.position
self.LAnkleDef.localAnchor2 = self.RAnkleDef.localAnchor2 = anchor - self.LCalfDef.position
self.LAnkleDef.referenceAngle = self.RAnkleDef.referenceAngle = 0.0
self.LAnkleDef.lowerAngle = self.RAnkleDef.lowerAngle = -0.523598776
self.LAnkleDef.upperAngle = self.RAnkleDef.upperAngle = 0.523598776
#b.self.LKneeDef.body1 = self.LCalf
#b.self.LKneeDef.body2 = self.LThigh
#b.self.RKneeDef.body1 = self.RCalf
#b.self.RKneeDef.body2 = self.RThigh
# knees
anchor = k_scale * box2d.b2Vec2(-.030,-.355)
self.LKneeDef.localAnchor1 = self.RKneeDef.localAnchor1 = anchor - self.LCalfDef.position
self.LKneeDef.localAnchor2 = self.RKneeDef.localAnchor2 = anchor - self.LThighDef.position
self.LKneeDef.referenceAngle = self.RKneeDef.referenceAngle = 0.0
self.LKneeDef.lowerAngle = self.RKneeDef.lowerAngle = 0
self.LKneeDef.upperAngle = self.RKneeDef.upperAngle = 2.61799388
#b.self.LHipDef.body1 = self.LThigh
#b.self.LHipDef.body2 = Pelvis
#b.self.RHipDef.body1 = self.RThigh
#b.self.RHipDef.body2 = Pelvis
# hips
anchor = k_scale * box2d.b2Vec2(.005,-.045)
self.LHipDef.localAnchor1 = self.RHipDef.localAnchor1 = anchor - self.LThighDef.position
self.LHipDef.localAnchor2 = self.RHipDef.localAnchor2 = anchor - self.PelvisDef.position
self.LHipDef.referenceAngle = self.RHipDef.referenceAngle = 0.0
self.LHipDef.lowerAngle = self.RHipDef.lowerAngle = -2.26892803
self.LHipDef.upperAngle = self.RHipDef.upperAngle = 0
#b.self.LowerAbsDef.body1 = Pelvis
#b.self.LowerAbsDef.body2 = Stomach
# lower abs
anchor = k_scale * box2d.b2Vec2(.035,.135)
self.LowerAbsDef.localAnchor1 = anchor - self.PelvisDef.position
self.LowerAbsDef.localAnchor2 = anchor - self.StomachDef.position
self.LowerAbsDef.referenceAngle = 0.0
self.LowerAbsDef.lowerAngle = -0.523598776
self.LowerAbsDef.upperAngle = 0.523598776
#b.UpperAbsDef.body1 = Stomach
#b.UpperAbsDef.body2 = Chest
# upper abs
anchor = k_scale * box2d.b2Vec2(.045,.320)
self.UpperAbsDef.localAnchor1 = anchor - self.StomachDef.position
self.UpperAbsDef.localAnchor2 = anchor - self.ChestDef.position
self.UpperAbsDef.referenceAngle = 0.0
self.UpperAbsDef.lowerAngle = -0.523598776
self.UpperAbsDef.upperAngle = 0.174532925
#b.self.LowerNeckDef.body1 = Chest
#b.self.LowerNeckDef.body2 = Neck
# lower neck
anchor = k_scale * box2d.b2Vec2(-.015,.575)
self.LowerNeckDef.localAnchor1 = anchor - self.ChestDef.position
self.LowerNeckDef.localAnchor2 = anchor - self.NeckDef.position
self.LowerNeckDef.referenceAngle = 0.0
self.LowerNeckDef.lowerAngle = -0.174532925
self.LowerNeckDef.upperAngle = 0.174532925
#b.self.UpperNeckDef.body1 = Chest
#b.self.UpperNeckDef.body2 = Head
# upper neck
anchor = k_scale * box2d.b2Vec2(-.005,.630)
self.UpperNeckDef.localAnchor1 = anchor - self.ChestDef.position
self.UpperNeckDef.localAnchor2 = anchor - self.HeadDef.position
self.UpperNeckDef.referenceAngle = 0.0
self.UpperNeckDef.lowerAngle = -0.610865238
self.UpperNeckDef.upperAngle = 0.785398163
#b.self.LShoulderDef.body1 = Chest
#b.self.LShoulderDef.body2 = self.LUpperArm
#b.self.RShoulderDef.body1 = Chest
#b.self.RShoulderDef.body2 = self.RUpperArm
# shoulders
anchor = k_scale * box2d.b2Vec2(-.015,.545)
self.LShoulderDef.localAnchor1 = self.RShoulderDef.localAnchor1 = anchor - self.ChestDef.position
self.LShoulderDef.localAnchor2 = self.RShoulderDef.localAnchor2 = anchor - self.LUpperArmDef.position
self.LShoulderDef.referenceAngle = self.RShoulderDef.referenceAngle = 0.0
self.LShoulderDef.lowerAngle = self.RShoulderDef.lowerAngle = -1.04719755
self.LShoulderDef.upperAngle = self.RShoulderDef.upperAngle = 3.14159265
#b.self.LElbowDef.body1 = self.LForearm
#b.self.LElbowDef.body2 = self.LUpperArm
#b.self.RElbowDef.body1 = self.RForearm
#b.self.RElbowDef.body2 = self.RUpperArm
# elbows
anchor = k_scale * box2d.b2Vec2(-.005,.290)
self.LElbowDef.localAnchor1 = self.RElbowDef.localAnchor1 = anchor - self.LForearmDef.position
self.LElbowDef.localAnchor2 = self.RElbowDef.localAnchor2 = anchor - self.LUpperArmDef.position
self.LElbowDef.referenceAngle = self.RElbowDef.referenceAngle = 0.0
self.LElbowDef.lowerAngle = self.RElbowDef.lowerAngle = -2.7925268
self.LElbowDef.upperAngle = self.RElbowDef.upperAngle = 0
#b.self.LWristDef.body1 = self.LHand
#b.self.LWristDef.body2 = self.LForearm
#b.self.RWristDef.body1 = self.RHand
#b.self.RWristDef.body2 = self.RForearm
# wrists
anchor = k_scale * box2d.b2Vec2(-.010,.045)
self.LWristDef.localAnchor1 = self.RWristDef.localAnchor1 = anchor - self.LHandDef.position
self.LWristDef.localAnchor2 = self.RWristDef.localAnchor2 = anchor - self.LForearmDef.position
self.LWristDef.referenceAngle = self.RWristDef.referenceAngle = 0.0
self.LWristDef.lowerAngle = self.RWristDef.lowerAngle = -0.174532925
self.LWristDef.upperAngle = self.RWristDef.upperAngle = 0.174532925
def __init__(self):
super(SliderCrank, 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)
# Define crank.
sd=box2d.b2PolygonDef()
sd.SetAsBox(0.5, 2.0)
sd.density = 1.0
rjd=box2d.b2RevoluteJointDef()
prevBody=ground
bd=box2d.b2BodyDef()
bd.position.Set(0.0, 7.0)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
rjd.Initialize(prevBody, body, box2d.b2Vec2(0.0, 5.0))
rjd.motorSpeed = 1.0 * box2d.b2_pi
rjd.maxMotorTorque = 10000.0
rjd.enableMotor = True
self.m_joint1 = self.world.CreateJoint(rjd).getAsType()
prevBody = body
# Define follower.
sd.SetAsBox(0.5, 4.0)
bd.position.Set(0.0, 13.0)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
rjd.Initialize(prevBody, body, box2d.b2Vec2(0.0, 9.0))
rjd.enableMotor = False
self.world.CreateJoint(rjd).getAsType()
prevBody = body
# Define piston
sd.SetAsBox(1.5, 1.5)
bd.position.Set(0.0, 17.0)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
rjd.Initialize(prevBody, body, box2d.b2Vec2(0.0, 17.0))
self.world.CreateJoint(rjd).getAsType()
pjd=box2d.b2PrismaticJointDef()
pjd.Initialize(ground, body, box2d.b2Vec2(0.0, 17.0), box2d.b2Vec2(0.0, 1.0))
pjd.maxMotorForce = 1000.0
pjd.enableMotor = True
self.m_joint2 = self.world.CreateJoint(pjd).getAsType()
# Create a payload
sd.density = 2.0
bd.position.Set(0.0, 23.0)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()