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() if __name__=="__main__": test_main.main(VaryingFriction)
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() if __name__=="__main__": test_main.main(Bridge)
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() if __name__=="__main__": test_main.main(VaryingRestitution)
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) : self.DrawString(5, self.textLine, "Keys: left = a, brake = s, right = d, toggle motor = m") self.textLine += 15 super(TheoJansen, self).Step(settings) def Keyboard(self, key) : if key==K_a: self.m_chassis.WakeUp() self.m_motorJoint.SetMotorSpeed(-self.m_motorSpeed) elif key==K_s: self.m_chassis.WakeUp() self.m_motorJoint.SetMotorSpeed(0.0) elif key==K_d: self.m_chassis.WakeUp() self.m_motorJoint.SetMotorSpeed(self.m_motorSpeed) elif key==K_m: self.m_chassis.WakeUp() self.m_motorJoint.EnableMotor(not self.m_motorJoint.IsMotorEnabled()) if __name__=="__main__": test_main.main(TheoJansen)
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 DestroyBody(self) : for body in self.bodies: self.bodies.remove(body) self.world.DestroyBody(body) return def Keyboard(self, key) : if key==K_1 or key==K_2 or key==K_3 or key==K_4 or key==K_5: self.Create(key - K_1) elif key==K_d: self.DestroyBody() def Step(self, settings) : super(PolyShapes, self).Step(settings) self.DrawString(5, self.textLine, "Press 1-5 to drop stuff") self.textLine += 15 if __name__=="__main__": test_main.main(PolyShapes)
def main(): test_main.main() run_tests(services)
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() if __name__=="__main__": test_main.main(CollisionFiltering)
def Step(self, settings): """Called upon every step. You should always call -> super(Your_Test_Class, self).Step(settings) at the _end_ of your function. """ # do stuff self.DrawString(0,self.textLine,"*** Base your own testbeds on me! ***") self.textLine+=15 super(Empty, self).Step(settings) def JointDestroyed(self, joint): """ The joint passed in was removed. """ pass def BoundaryViolated(self, body): """ The body went out of the world's extents. """ pass if __name__=="__main__": test_main.main(Empty)
# 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 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) if __name__=="__main__": test_main.main(DistanceTest)
# draw velocity vector print v self.debugDraw.DrawSegment(center, center + v, box2d.b2Color(1.0, 1.0, 1.0)) for force in self.craft.get_force_vectors(): world_force, world_point, color = force self.debugDraw.DrawSegment(world_point, world_point + (world_force / 100.0), color) self.craft.clear_force_vectors() def JointDestroyed(self, joint): """ The joint passed in was removed. """ print "BOOM!" pass def BoundaryViolated(self, body): """ The body went out of the world's extents. """ pass if __name__ == "__main__": test_main.main(Masheet)
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() if __name__=="__main__": test_main.main(Dominos)
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 if __name__=="__main__": test_main.main(Pyramid)
nuke = [] nukeCount = 0 # Traverse the contact results. Destroy bodies that # are touching heavier bodies. body_pairs = [(p.shape1.GetBody(), p.shape2.GetBody()) for p in self.points] for body1, body2 in body_pairs: mass1, mass2 = body1.GetMass(), body2.GetMass() if mass1 > 0.0 and mass2 > 0.0: if mass2 > mass1: nuke_body = body1 else: nuke_body = body2 if nuke_body not in nuke: nuke.append(nuke_body) if len(nuke) == k_maxNuke: break # Destroy the bodies, skipping duplicates. for b in nuke: print "Nuking:", b self.world.DestroyBody(b) super(CollisionProcessing, self).Step(settings) if __name__=="__main__": test_main.main(CollisionProcessing)
self.m_shape1 = self.m_body.CreateShape(sd) self.m_body.SetMassFromShapes() self.m_shape2 = None def Keyboard(self, key) : if key==K_c: if not self.m_shape2: sd=box2d.b2CircleDef() sd.radius = 3.0 sd.density = 10.0 sd.localPosition.Set(0.5, -4.0) self.m_shape2 = self.m_body.CreateShape(sd) self.m_body.SetMassFromShapes() self.m_body.WakeUp() elif key==K_d: if self.m_shape2: self.m_body.DestroyShape(self.m_shape2) self.m_shape2 = None self.m_body.SetMassFromShapes() self.m_body.WakeUp() def Step(self, settings) : self.DrawString(5, self.textLine, "Press: (c) create a shape, (d) destroy a shape.") self.textLine += 15 super(ShapeEditing, self).Step(settings) if __name__=="__main__": test_main.main(ShapeEditing)
def Keyboard(self, key) : if key==K_l: self.m_joint2.EnableLimit(not self.m_joint2.IsLimitEnabled()) self.m_joint3.EnableLimit(not self.m_joint3.IsLimitEnabled()) self.m_joint2.GetBody1().WakeUp() self.m_joint3.GetBody2().WakeUp() elif key==K_m: self.m_joint1.EnableMotor(not self.m_joint1.IsMotorEnabled()) self.m_joint2.EnableMotor(not self.m_joint2.IsMotorEnabled()) self.m_joint3.EnableMotor(not self.m_joint3.IsMotorEnabled()) self.m_joint2.GetBody1().WakeUp() self.m_joint3.GetBody2().WakeUp() elif key==K_p: self.m_joint3.GetBody2().WakeUp() self.m_joint3.SetMotorSpeed(-self.m_joint3.GetMotorSpeed()) def Step(self, settings): self.DrawString(5, self.textLine, "Keys: (l) limits, (m) motors, (p) prismatic speed") self.textLine += 15 torque1 = self.m_joint1.GetMotorTorque() torque2 = self.m_joint2.GetMotorTorque() force3 = self.m_joint3.GetMotorForce() self.DrawString(5, self.textLine, "Motor Torque = %.0f, %.0f : Motor Force = %.0f" % (torque1,torque2, force3)) self.textLine += 15 super(MotorsAndLimits, self).Step(settings) if __name__=="__main__": test_main.main(MotorsAndLimits)
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 Step(self, settings) : self.DrawString(5, self.textLine, "Press: (,) to launch a bullet.") self.textLine += 15 super(VerticalStack, self).Step(settings) if __name__=="__main__": test_main.main(VerticalStack)
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 if __name__=="__main__": test_main.main(TimeOfImpact)
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() if __name__=="__main__": test_main.main(CCDTest)
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 if __name__=="__main__": test_main.main(Chain)
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 Step(self, settings) : self.DrawString(5, self.textLine, "Keys: left = a, brake = s, right = d") self.textLine += 15 super(Car, self).Step(settings) def Keyboard(self, key) : if key==K_a: self.m_leftJoint.SetMaxMotorTorque(800.0) self.m_leftJoint.SetMotorSpeed(12.0) elif key==K_s: self.m_leftJoint.SetMaxMotorTorque(100.0) self.m_leftJoint.SetMotorSpeed(0.0) elif key==K_d: self.m_leftJoint.SetMaxMotorTorque(1200.0) self.m_leftJoint.SetMotorSpeed(-36.0) if __name__=="__main__": test_main.main(Car)
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() if __name__=="__main__": test_main.main(CompoundShapes)
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 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) if __name__=="__main__": test_main.main(Test_Biped)
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() def Keyboard(self, key) : if key==K_f: self.m_joint2.m_enableMotor = not self.m_joint2.m_enableMotor self.m_joint2.GetBody2().WakeUp() elif key==K_m: self.m_joint1.m_enableMotor = not self.m_joint1.m_enableMotor self.m_joint1.GetBody2().WakeUp() def Step(self, settings) : self.DrawString(5, self.textLine, "Keys: (f) toggle friction, (m) toggle motor") self.textLine += 15 torque = self.m_joint1.GetMotorTorque() self.DrawString(5, self.textLine, "Motor Torque = %.0f" % (torque)) self.textLine += 15 super(SliderCrank, self).Step(settings) if __name__=="__main__": test_main.main(SliderCrank)
# 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) # Add a spring force def AddSpringForce(self, bA, localA, bB, localB, k, friction, desiredDist): pA = bA.GetWorldPoint(localA) pB = bB.GetWorldPoint(localB) diff = pB - pA # Find velocities of attach points vA = bA.GetLinearVelocity() - box2d.b2Cross(bA.GetWorldVector(localA), bA.GetAngularVelocity()) vB = bB.GetLinearVelocity() - box2d.b2Cross(bB.GetWorldVector(localB), bB.GetAngularVelocity()) vdiff = vB - vA dx = diff.Normalize() # normalizes diff and puts length into dx vrel = vdiff.x * diff.x + vdiff.y * diff.y forceMag = -k * (dx - desiredDist) - friction * vrel diff *= forceMag bB.ApplyForce(diff, bA.GetWorldPoint(localA)) diff *= -1.0 bA.ApplyForce(diff, bB.GetWorldPoint(localB)) if __name__ == "__main__": test_main.main(ElasticBody)
shape1, shape2=point.shape1, point.shape2 other=None if shape1 == self.m_sensor: other = shape2.GetBody() elif shape2 == self.m_sensor: other = shape1.GetBody() else: continue ground = self.m_sensor.GetBody() circle = self.m_sensor.getAsType() center = ground.GetWorldPoint(circle.GetLocalPosition()) d = center - point.position # Not in the bindings yet FLT_EPSILON = 1.192092896e-07 if (d.LengthSquared() < FLT_EPSILON * FLT_EPSILON) : continue d.Normalize() F = 100.0 * d other.ApplyForce(F, point.position) super(SensorTest, self).Step(settings) if __name__=="__main__": test_main.main(SensorTest)
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 Step(self, settings) : ratio = self.m_joint1.GetRatio() L = self.m_joint1.GetLength1() + ratio * self.m_joint1.GetLength2() self.DrawString(5, self.textLine, "L1 + %.2f * L2 = %.2f" % (ratio, L)) self.textLine += 15 super(Pulleys, self).Step(settings) if __name__=="__main__": test_main.main(Pulleys)
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 Step(self, settings): strings = [] for point in self.points: if point.state ==fwContactTypes.contactAdded: strings.append("added: " + str(point.shape1) + " . " + str(point.shape2) + ":" + str(point.id.key)) elif point.state ==fwContactTypes.contactRemoved: strings.append("removed: " + str(point.shape1) + " . " + str(point.shape2) + ":" + str(point.id.key)) elif point.state ==fwContactTypes.contactPersisted: strings.append("persisted:" + str(point.shape1) + " . " + str(point.shape2) + ":" + str(point.id.key)) if len(strings) > 15: strings = strings[:14] for string in strings: self.DrawString(5, self.textLine, string) self.textLine += 15 super(ContactCallbackTest, self).Step(settings) if __name__=="__main__": test_main.main(ContactCallbackTest)
center = self.craft.get_center() self.setCenter(center * self._viewZoom) # draw velocity vector print v self.debugDraw.DrawSegment(center, center + v, box2d.b2Color(1.0, 1.0, 1.0)) for force in self.craft.get_force_vectors(): world_force, world_point, color = force self.debugDraw.DrawSegment(world_point, world_point + (world_force / 100.0), color) self.craft.clear_force_vectors() def JointDestroyed(self, joint): """ The joint passed in was removed. """ print "BOOM!" pass def BoundaryViolated(self, body): """ The body went out of the world's extents. """ pass if __name__=="__main__": test_main.main(Masheet)
self.world.SetGravity(box2d.b2Vec2_zero) self.world.SetPositionCorrection(False) def Step(self, settings) : settings.pause = True super(PolyCollision, self).Step(settings) settings.pause = False def Keyboard(self, key) : p = self.m_body2.GetPosition() 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) if __name__=="__main__": test_main.main(PolyCollision)
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 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) if __name__=="__main__": test_main.main(ApplyForce)
jd4.body1 = body1 jd4.body2 = body2 jd4.joint1 = self.m_joint1 jd4.joint2 = self.m_joint2 jd4.ratio = circle2.radius / circle1.radius self.m_joint4 = self.world.CreateJoint(jd4).getAsType() jd5=box2d.b2GearJointDef() jd5.body1 = body2 jd5.body2 = body3 jd5.joint1 = self.m_joint2 jd5.joint2 = self.m_joint3 jd5.ratio = -1.0 / circle2.radius self.m_joint5 = self.world.CreateJoint(jd5).getAsType() def Step(self, settings): ratio = self.m_joint4.GetRatio() value = self.m_joint1.GetJointAngle() + ratio * self.m_joint2.GetJointAngle() self.DrawString(5, self.textLine, "theta1 + %.2f * theta2 = %.2f" % (ratio, value)) self.textLine += 15 ratio = self.m_joint5.GetRatio() value = self.m_joint2.GetJointAngle() + ratio * self.m_joint3.GetJointTranslation() self.DrawString(5, self.textLine, "theta2 + %.2f * delta = %.2f" % (ratio, value)) self.textLine += 15 super(Gears, self).Step(settings) if __name__=="__main__": test_main.main(Gears)