def __init__(self):
super(PolyCollision, self).__init__()
sd=box2d.b2PolygonDef() #box2d.b2PolygonDef sd
sd.setVertex(0,-9.0, -1.1)
sd.setVertex(1,7.0, -1.1)
sd.setVertex(2,5.0, -0.9)
sd.setVertex(3,-11.0, -0.9)
sd.vertexCount = 4
sd.density = 0.0
bd=box2d.b2BodyDef() #box2d.b2BodyDef bd
bd.position.Set(0.0, 10.0)
self.m_body1 = self.world.CreateBody(bd)
self.m_body1.CreateShape(sd)
sd=box2d.b2PolygonDef() #box2d.b2PolygonDef sd
sd.SetAsBox(0.5, 0.5)
sd.density = 1.0
bd=box2d.b2BodyDef() #box2d.b2BodyDef bd
bd.position.Set(0.0, 10.0)
self.m_body2 = self.world.CreateBody(bd)
self.m_body2.CreateShape(sd)
self.m_body2.SetMassFromShapes()
self.world.SetGravity(box2d.b2Vec2_zero)
self.world.SetPositionCorrection(False)
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 __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(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 __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(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 __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 __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(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 Create(self, index) :
bd=box2d.b2BodyDef()
x = box2d.b2Random(-2.0, 2.0)
bd.position.Set(x, 10.0)
bd.angle = box2d.b2Random(-box2d.b2_pi, box2d.b2_pi)
if (index == 4) :
bd.angularDamping = 0.02
self.bodies.append(self.world.CreateBody(bd) )
if (index < 4) :
self.bodies[-1].CreateShape(self.sds[index])
else :
self.bodies[-1].CreateShape(self.circleDef)
self.bodies[-1].SetMassFromShapes()
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 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 __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(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(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(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(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(PolyShapes, self).__init__()
# Ground body
sds = self.sds
sd=box2d.b2PolygonDef()
sd.SetAsBox(50.0, 10.0)
sd.friction = 0.3
sd.filter.categoryBits = 0x0001
for i in range(4):
sds.append(box2d.b2PolygonDef())
bd=box2d.b2BodyDef()
bd.position.Set(0.0, -10.0)
ground = self.world.CreateBody(bd)
ground.CreateShape(sd)
sds[0].vertexCount = 3
sds[0].setVertex(0,-0.5, 0.0)
sds[0].setVertex(1,0.5, 0.0)
sds[0].setVertex(2,0.0, 1.5)
sds[0].density = 1.0
sds[0].friction = 0.3
sds[0].filter.categoryBits = 0x0002
#sds[0].maskBits = 0x0003
sds[1].vertexCount = 3
sds[1].setVertex(0,-0.1, 0.0)
sds[1].setVertex(1,0.1, 0.0)
sds[1].setVertex(2,0.0, 1.5)
sds[1].density = 1.0
sds[1].friction = 0.3
sds[1].filter.categoryBits = 0x0004
sds[2].vertexCount = 8
w = 1.0
b = w / (2.0 + math.sqrt(2.0))
s = math.sqrt(2.0) * b
sds[2].setVertex(0,0.5 * s, 0.0)
sds[2].setVertex(1,0.5 * w, b)
sds[2].setVertex(2,0.5 * w, b + s)
sds[2].setVertex(3,0.5 * s, w)
sds[2].setVertex(4,-0.5 * s, w)
sds[2].setVertex(5,-0.5 * w, b + s)
sds[2].setVertex(6,-0.5 * w, b)
sds[2].setVertex(7,-0.5 * s, 0.0)
sds[2].density = 1.0
sds[2].friction = 0.3
sds[2].filter.categoryBits = 0x0004
#sds[3].SetAsBox(15.0, 15.0) # svn r153
sds[3].vertexCount = 4
sds[3].setVertex(0,-0.5, 0.0)
sds[3].setVertex(1,0.5, 0.0)
sds[3].setVertex(2,0.5, 1.0)
sds[3].setVertex(3,-0.5, 1.0)
sds[3].density = 1.0
sds[3].friction = 0.3
sds[3].filter.categoryBits = 0x0004
self.circleDef.radius = 0.5
self.circleDef.density = 1.0
self.bodyIndex = 0
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(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(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(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(VaryingFriction, self).__init__()
sd=box2d.b2PolygonDef()
sd.SetAsBox(50.0, 20.0)
bd=box2d.b2BodyDef()
bd.position.Set(0.0, -20.0)
ground = self.world.CreateBody(bd)
ground.CreateShape(sd)
sd=box2d.b2PolygonDef()
sd.SetAsBox(13.0, 0.25)
bd=box2d.b2BodyDef()
bd.position.Set(-4.0, 22.0)
bd.angle = -0.25
ground = self.world.CreateBody(bd)
ground.CreateShape(sd)
sd=box2d.b2PolygonDef()
sd.SetAsBox(0.25, 1.0)
bd=box2d.b2BodyDef()
bd.position.Set(10.5, 19.0)
ground = self.world.CreateBody(bd)
ground.CreateShape(sd)
sd=box2d.b2PolygonDef()
sd.SetAsBox(13.0, 0.25)
bd=box2d.b2BodyDef()
bd.position.Set(4.0, 14.0)
bd.angle = 0.25
ground = self.world.CreateBody(bd)
ground.CreateShape(sd)
sd=box2d.b2PolygonDef()
sd.SetAsBox(0.25, 1.0)
bd=box2d.b2BodyDef()
bd.position.Set(-10.5, 11.0)
ground = self.world.CreateBody(bd)
ground.CreateShape(sd)
sd=box2d.b2PolygonDef()
sd.SetAsBox(13.0, 0.25)
bd=box2d.b2BodyDef()
bd.position.Set(-4.0, 6.0)
bd.angle = -0.25
ground = self.world.CreateBody(bd)
ground.CreateShape(sd)
sd=box2d.b2PolygonDef()
sd.SetAsBox(0.5, 0.5)
sd.density = 25.0
friction = [0.75, 0.5, 0.35, 0.1, 0.0]
for i in range(5):
bd=box2d.b2BodyDef()
bd.position.Set(-15.0 + 4.0 * i, 28.0)
body = self.world.CreateBody(bd)
sd.friction = friction[i]
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, world, position):
self.world = world
bdef = BipedDef()
bd=box2d.b2BodyDef()
# create body parts
bd = bdef.LFootDef
bd.position += position
self.LFoot = self.world.CreateBody(bd)
self.LFoot.CreateShape(bdef.LFootPoly)
self.LFoot.SetMassFromShapes()
bd = bdef.RFootDef
bd.position += position
self.RFoot = self.world.CreateBody(bd)
self.RFoot.CreateShape(bdef.RFootPoly)
self.RFoot.SetMassFromShapes()
bd = bdef.LCalfDef
bd.position += position
self.LCalf = self.world.CreateBody(bd)
self.LCalf.CreateShape(bdef.LCalfPoly)
self.LCalf.SetMassFromShapes()
bd = bdef.RCalfDef
bd.position += position
self.RCalf = self.world.CreateBody(bd)
self.RCalf.CreateShape(bdef.RCalfPoly)
self.RCalf.SetMassFromShapes()
bd = bdef.LThighDef
bd.position += position
self.LThigh = self.world.CreateBody(bd)
self.LThigh.CreateShape(bdef.LThighPoly)
self.LThigh.SetMassFromShapes()
bd = bdef.RThighDef
bd.position += position
self.RThigh = self.world.CreateBody(bd)
self.RThigh.CreateShape(bdef.RThighPoly)
self.RThigh.SetMassFromShapes()
bd = bdef.PelvisDef
bd.position += position
self.Pelvis = self.world.CreateBody(bd)
self.Pelvis.CreateShape(bdef.PelvisPoly)
self.Pelvis.SetMassFromShapes()
bd = bdef.StomachDef
bd.position += position
self.Stomach = self.world.CreateBody(bd)
self.Stomach.CreateShape(bdef.StomachPoly)
self.Stomach.SetMassFromShapes()
bd = bdef.ChestDef
bd.position += position
self.Chest = self.world.CreateBody(bd)
self.Chest.CreateShape(bdef.ChestPoly)
self.Chest.SetMassFromShapes()
bd = bdef.NeckDef
bd.position += position
self.Neck = self.world.CreateBody(bd)
self.Neck.CreateShape(bdef.NeckPoly)
self.Neck.SetMassFromShapes()
bd = bdef.HeadDef
bd.position += position
self.Head = self.world.CreateBody(bd)
self.Head.CreateShape(bdef.HeadCirc)
self.Head.SetMassFromShapes()
bd = bdef.LUpperArmDef
bd.position += position
self.LUpperArm = self.world.CreateBody(bd)
self.LUpperArm.CreateShape(bdef.LUpperArmPoly)
self.LUpperArm.SetMassFromShapes()
bd = bdef.RUpperArmDef
bd.position += position
self.RUpperArm = self.world.CreateBody(bd)
self.RUpperArm.CreateShape(bdef.RUpperArmPoly)
self.RUpperArm.SetMassFromShapes()
bd = bdef.LForearmDef
bd.position += position
self.LForearm = self.world.CreateBody(bd)
self.LForearm.CreateShape(bdef.LForearmPoly)
self.LForearm.SetMassFromShapes()
bd = bdef.RForearmDef
bd.position += position
self.RForearm = self.world.CreateBody(bd)
self.RForearm.CreateShape(bdef.RForearmPoly)
self.RForearm.SetMassFromShapes()
bd = bdef.LHandDef
bd.position += position
self.LHand = self.world.CreateBody(bd)
self.LHand.CreateShape(bdef.LHandPoly)
self.LHand.SetMassFromShapes()
bd = bdef.RHandDef
bd.position += position
self.RHand = self.world.CreateBody(bd)
self.RHand.CreateShape(bdef.RHandPoly)
self.RHand.SetMassFromShapes()
# link body parts
bdef.LAnkleDef.body1 = self.LFoot
bdef.LAnkleDef.body2 = self.LCalf
bdef.RAnkleDef.body1 = self.RFoot
bdef.RAnkleDef.body2 = self.RCalf
bdef.LKneeDef.body1 = self.LCalf
bdef.LKneeDef.body2 = self.LThigh
bdef.RKneeDef.body1 = self.RCalf
bdef.RKneeDef.body2 = self.RThigh
bdef.LHipDef.body1 = self.LThigh
bdef.LHipDef.body2 = self.Pelvis
bdef.RHipDef.body1 = self.RThigh
bdef.RHipDef.body2 = self.Pelvis
bdef.LowerAbsDef.body1 = self.Pelvis
bdef.LowerAbsDef.body2 = self.Stomach
bdef.UpperAbsDef.body1 = self.Stomach
bdef.UpperAbsDef.body2 = self.Chest
bdef.LowerNeckDef.body1 = self.Chest
bdef.LowerNeckDef.body2 = self.Neck
bdef.UpperNeckDef.body1 = self.Chest
bdef.UpperNeckDef.body2 = self.Head
bdef.LShoulderDef.body1 = self.Chest
bdef.LShoulderDef.body2 = self.LUpperArm
bdef.RShoulderDef.body1 = self.Chest
bdef.RShoulderDef.body2 = self.RUpperArm
bdef.LElbowDef.body1 = self.LForearm
bdef.LElbowDef.body2 = self.LUpperArm
bdef.RElbowDef.body1 = self.RForearm
bdef.RElbowDef.body2 = self.RUpperArm
bdef.LWristDef.body1 = self.LHand
bdef.LWristDef.body2 = self.LForearm
bdef.RWristDef.body1 = self.RHand
bdef.RWristDef.body2 = self.RForearm
# create joints
self.LAnkle = self.world.CreateJoint(bdef.LAnkleDef).getAsType()
self.RAnkle = self.world.CreateJoint(bdef.RAnkleDef).getAsType()
self.LKnee = self.world.CreateJoint(bdef.LKneeDef).getAsType()
self.RKnee = self.world.CreateJoint(bdef.RKneeDef).getAsType()
self.LHip = self.world.CreateJoint(bdef.LHipDef).getAsType()
self.RHip = self.world.CreateJoint(bdef.RHipDef).getAsType()
self.LowerAbs = self.world.CreateJoint(bdef.LowerAbsDef).getAsType()
self.UpperAbs = self.world.CreateJoint(bdef.UpperAbsDef).getAsType()
self.LowerNeck = self.world.CreateJoint(bdef.LowerNeckDef).getAsType()
self.UpperNeck = self.world.CreateJoint(bdef.UpperNeckDef).getAsType()
self.LShoulder = self.world.CreateJoint(bdef.LShoulderDef).getAsType()
self.RShoulder = self.world.CreateJoint(bdef.RShoulderDef).getAsType()
self.LElbow = self.world.CreateJoint(bdef.LElbowDef).getAsType()
self.RElbow = self.world.CreateJoint(bdef.RElbowDef).getAsType()
self.LWrist = self.world.CreateJoint(bdef.LWristDef).getAsType()
self.RWrist = self.world.CreateJoint(bdef.RWristDef).getAsType()
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()