def to_b2vec(self, pt):
pt = self.parent.to_world(pt)
ptx, pty = pt
ptx /= self.parent.ppm
pty /= self.parent.ppm
pt = box2d.b2Vec2(ptx, pty)
return pt
def to_b2vec(self,pt):
pt = self.parent.to_world(pt)
ptx, pty = pt
ptx /= self.parent.ppm
pty /= self.parent.ppm
pt = box2d.b2Vec2(ptx, pty)
return pt
def _rect(self, pos, width, height, angle=0, dynamic=True, density=1.0, restitution=0.16, friction=0.5):
# Add a rect without correcting any settings
# meaning, pos and vertices are in meters
# angle is now in radians ((degrees * pi) / 180))
x, y = pos
bodyDef = box2d.b2BodyDef()
bodyDef.position.Set(x, y)
userData = { 'color' : self.parent.get_color() }
bodyDef.userData = userData
# Create the Body
if not dynamic:
density = 0
bodyDef.sleepFlag = True
body = self.parent.world.CreateBody(bodyDef)
self.parent.element_count += 1
# Add a shape to the Body
boxDef = box2d.b2PolygonDef()
boxDef.SetAsBox(width, height, box2d.b2Vec2(0,0), angle)
boxDef.density = density
boxDef.restitution = restitution
boxDef.friction = friction
body.CreateShape(boxDef)
body.SetMassFromShapes()
return body
def _poly(self, pos, vertices, dynamic=True, density=1.0, restitution=0.16, friction=0.5):
# add a centered poly at pos without correcting any settings
# meaning, pos and vertices are in meters
x, y = pos
bodyDef = box2d.b2BodyDef()
bodyDef.position.Set(x, y)
bodyDef.sleepFlag = True
userData = { 'color' : self.parent.get_color() }
bodyDef.userData = userData
# Create the Body
if not dynamic:
density = 0
body = self.parent.world.CreateBody(bodyDef)
self.parent.element_count += 1
# Add a shape to the Body
polyDef = box2d.b2PolygonDef()
polyDef.vertexCount = len(vertices)
for i in range(len(vertices)):
vx, vy = vertices[i]
polyDef.setVertex(i, box2d.b2Vec2(vx, vy))
polyDef.density = density
polyDef.restitution = restitution
polyDef.friction = friction
body.CreateShape(polyDef)
body.SetMassFromShapes()
return body
def prismaticJoint(self,b1,b2,Axis=(0.0,1.0),lower=-2,upper=2):
jointDef = box2d.b2PrismaticJointDef()
worldAxis = box2d.b2Vec2(Axis[0],Axis[1])
jointDef.Initialize(b1, b2, b1.GetWorldCenter(), worldAxis)
jointDef.lowerTranslation = lower
jointDef.upperTranslation = upper
jointDef.enableLimit = True
self.parent.world.CreateJoint(jointDef)
def prismaticJoint(self, b1, b2, Axis=(0.0, 1.0), lower=-2, upper=2):
jointDef = box2d.b2PrismaticJointDef()
worldAxis = box2d.b2Vec2(Axis[0], Axis[1])
jointDef.Initialize(b1, b2, b1.GetWorldCenter(), worldAxis)
jointDef.lowerTranslation = lower
jointDef.upperTranslation = upper
jointDef.enableLimit = True
self.parent.world.CreateJoint(jointDef)
def checkDef(pd):
"""Check the polygon definition for invalid vertices, etc.
Return: True if valid, False if invalid
"""
# if pd.vertexCount < 3 or pd.vertexCount > box2d.b2_maxPolygonVertices:
#raise ValueError, "Invalid vertexCount"
threshold = FLT_EPSILON * FLT_EPSILON
verts = pd.getVertices_b2Vec2()
normals = []
v0 = verts[0]
for i in range(pd.vertexCount):
if i == pd.vertexCount - 1:
v1 = verts[0]
else:
v1 = verts[i + 1]
edge = v1 - v0
# if edge.LengthSquared() < threshold:
# raise ValueError, "edge.LengthSquared < FLT_EPSILON**2"
normals.append(box2d.b2Cross(edge, 1.0))
normals[-1].Normalize()
v0 = v1
centroid = ComputeCentroid(pd)
d = box2d.b2Vec2()
for i in range(pd.vertexCount):
i1 = i - 1
if i1 < 0: i1 = pd.vertexCount - 1
i2 = i
n1 = normals[i1]
n2 = normals[i2]
v = verts[i] - centroid
d.x = box2d.b2Dot(n1, v) - box2d.b2_toiSlop
d.y = box2d.b2Dot(n2, v) - box2d.b2_toiSlop
# Shifting the edge inward by b2_toiSlop should
# not cause the plane to pass the centroid.
# Your shape has a radius/extent less than b2_toiSlop.
# if d.x < 0.0 or d.y <= 0.0:
# raise ValueError, "Your shape has a radius/extent less than b2_toiSlop."
A = box2d.b2Mat22()
A.col1.x = n1.x
A.col2.x = n1.y
A.col1.y = n2.x
A.col2.y = n2.y
#coreVertices[i] = A.Solve(d) + m_centroid
return True
def checkDef(pd):
"""Check the polygon definition for invalid vertices, etc.
Return: True if valid, False if invalid
"""
# if pd.vertexCount < 3 or pd.vertexCount > box2d.b2_maxPolygonVertices:
# raise ValueError, "Invalid vertexCount"
threshold = FLT_EPSILON * FLT_EPSILON
verts = pd.getVertices_b2Vec2()
normals = []
v0 = verts[0]
for i in range(pd.vertexCount):
if i == pd.vertexCount - 1:
v1 = verts[0]
else:
v1 = verts[i + 1]
edge = v1 - v0
# if edge.LengthSquared() < threshold:
# raise ValueError, "edge.LengthSquared < FLT_EPSILON**2"
normals.append(box2d.b2Cross(edge, 1.0))
normals[-1].Normalize()
v0 = v1
centroid = ComputeCentroid(pd)
d = box2d.b2Vec2()
for i in range(pd.vertexCount):
i1 = i - 1
if i1 < 0:
i1 = pd.vertexCount - 1
i2 = i
n1 = normals[i1]
n2 = normals[i2]
v = verts[i] - centroid
d.x = box2d.b2Dot(n1, v) - box2d.b2_toiSlop
d.y = box2d.b2Dot(n2, v) - box2d.b2_toiSlop
# Shifting the edge inward by b2_toiSlop should
# not cause the plane to pass the centroid.
# Your shape has a radius/extent less than b2_toiSlop.
# if d.x < 0.0 or d.y <= 0.0:
# raise ValueError, "Your shape has a radius/extent less than b2_toiSlop."
A = box2d.b2Mat22()
A.col1.x = n1.x
A.col2.x = n1.y
A.col1.y = n2.x
A.col2.y = n2.y
# coreVertices[i] = A.Solve(d) + m_centroid
return True
def joint(self, *args):
print "* Add Joint:", args
if len(args) == 4:
# Distance Joint
b1, b2, p1, p2 = args
p1 = self.parent.to_world(p1)
p2 = self.parent.to_world(p2)
p1x, p1y = p1
p2x, p2y = p2
p1x /= self.parent.ppm
p1y /= self.parent.ppm
p2x /= self.parent.ppm
p2y /= self.parent.ppm
p1 = box2d.b2Vec2(p1x, p1y)
p2 = box2d.b2Vec2(p2x, p2y)
jointDef = box2d.b2DistanceJointDef()
jointDef.Initialize(b1, b2, p1, p2)
jointDef.collideConnected = True
self.parent.world.CreateJoint(jointDef)
elif len(args) == 3:
# Revolute Joint
pass
elif len(args) == 1:
# Fixed Joint to the Background, assume the center of the body
b1 = self.parent.world.GetGroundBody()
b2 = args[0]
p1 = b2.GetWorldCenter()
jointDef = box2d.b2RevoluteJointDef()
jointDef.Initialize(b1, b2, p1)
self.parent.world.CreateJoint(jointDef)
def joint(self, *args):
print "* Add Joint:", args
if len(args) == 4:
# Distance Joint
b1, b2, p1, p2 = args
p1 = self.parent.to_world(p1)
p2 = self.parent.to_world(p2)
p1x, p1y = p1
p2x, p2y = p2
p1x /= self.parent.ppm
p1y /= self.parent.ppm
p2x /= self.parent.ppm
p2y /= self.parent.ppm
p1 = box2d.b2Vec2(p1x, p1y)
p2 = box2d.b2Vec2(p2x, p2y)
jointDef = box2d.b2DistanceJointDef()
jointDef.Initialize(b1, b2, p1, p2)
jointDef.collideConnected = True
self.parent.world.CreateJoint(jointDef)
elif len(args) == 3:
# Revolute Joint
pass
elif len(args) == 1:
# Fixed Joint to the Background, assume the center of the body
b1 = self.parent.world.GetGroundBody()
b2 = args[0]
p1 = b2.GetWorldCenter()
jointDef = box2d.b2RevoluteJointDef()
jointDef.Initialize(b1, b2, p1)
self.parent.world.CreateJoint(jointDef)
def ComputeCentroid(pd):
count = pd.vertexCount
if count < 3:
return False
c = box2d.b2Vec2(0, 0)
area = 0.0
# pRef is the reference point for forming triangles.
# It's location doesn't change the result (except for rounding error).
pRef = box2d.b2Vec2(0.0, 0.0)
inv3 = 1.0 / 3.0
for i in range(count):
# Triangle vertices.
p1 = pRef
p2 = pd.getVertex(i)
if i + 1 < count:
p3 = pd.getVertex(i + 1)
else:
p3 = pd.getVertex(0)
e1 = p2 - p1
e2 = p3 - p1
D = box2d.b2Cross(e1, e2)
triangleArea = 0.5 * D
area += triangleArea
# Area weighted centroid
c += triangleArea * inv3 * (p1 + p2 + p3)
# Centroid
# if area < FLT_EPSILON:
# raise ValueError, "ComputeCentroid: area < FLT_EPSILON"
return c / area
def ComputeCentroid(pd):
count = pd.vertexCount
if count < 3:
return False
c = box2d.b2Vec2(0, 0)
area = 0.0
# pRef is the reference point for forming triangles.
# It's location doesn't change the result (except for rounding error).
pRef = box2d.b2Vec2(0.0, 0.0)
inv3 = 1.0 / 3.0
for i in range(count):
# Triangle vertices.
p1 = pRef
p2 = pd.getVertex(i)
if i + 1 < count:
p3 = pd.getVertex(i + 1)
else:
p3 = pd.getVertex(0)
e1 = p2 - p1
e2 = p3 - p1
D = box2d.b2Cross(e1, e2)
triangleArea = 0.5 * D
area += triangleArea
# Area weighted centroid
c += triangleArea * inv3 * (p1 + p2 + p3)
# Centroid
# if area < FLT_EPSILON:
#raise ValueError, "ComputeCentroid: area < FLT_EPSILON"
return c / area
def mouseJoint(self, body, pos):
pos = self.parent.to_world(pos)
x, y = pos
x /= self.parent.ppm
y /= self.parent.ppm
mj = box2d.b2MouseJointDef()
mj.body1 = self.parent.world.GetGroundBody()
mj.body2 = body
mj.target = box2d.b2Vec2(x, y)
mj.maxForce = 100.0 * body.GetMass() # give humans POWER!
self.parent.mouseJoint = self.parent.world.CreateJoint(mj).getAsType()
body.WakeUp()
def mouseJoint(self, body, pos):
pos = self.parent.to_world(pos)
x, y = pos
x /= self.parent.ppm
y /= self.parent.ppm
mj = box2d.b2MouseJointDef()
mj.body1 = self.parent.world.GetGroundBody()
mj.body2 = body
mj.target = box2d.b2Vec2(x, y)
mj.maxForce = 100.0 * body.GetMass() # give humans POWER!
self.parent.mouseJoint = self.parent.world.CreateJoint(mj).getAsType()
body.WakeUp()
def _rect(self,
pos,
width,
height,
angle=0,
dynamic=True,
density=1.0,
restitution=0.16,
friction=0.5):
# Add a rect without correcting any settings
# meaning, pos and vertices are in meters
# angle is now in radians ((degrees * pi) / 180))
x, y = pos
bodyDef = box2d.b2BodyDef()
bodyDef.position.Set(x, y)
userData = {'color': self.parent.get_color()}
bodyDef.userData = userData
# Create the Body
if not dynamic:
density = 0
bodyDef.sleepFlag = True
body = self.parent.world.CreateBody(bodyDef)
self.parent.element_count += 1
# Add a shape to the Body
boxDef = box2d.b2PolygonDef()
boxDef.SetAsBox(width, height, box2d.b2Vec2(0, 0), angle)
boxDef.density = density
boxDef.restitution = restitution
boxDef.friction = friction
body.CreateShape(boxDef)
body.SetMassFromShapes()
return body
def _poly(self,
pos,
vertices,
dynamic=True,
density=1.0,
restitution=0.16,
friction=0.5):
# add a centered poly at pos without correcting any settings
# meaning, pos and vertices are in meters
x, y = pos
bodyDef = box2d.b2BodyDef()
bodyDef.position.Set(x, y)
bodyDef.sleepFlag = True
userData = {'color': self.parent.get_color()}
bodyDef.userData = userData
# Create the Body
if not dynamic:
density = 0
body = self.parent.world.CreateBody(bodyDef)
self.parent.element_count += 1
# Add a shape to the Body
polyDef = box2d.b2PolygonDef()
polyDef.vertexCount = len(vertices)
for i in range(len(vertices)):
vx, vy = vertices[i]
polyDef.setVertex(i, box2d.b2Vec2(vx, vy))
polyDef.density = density
polyDef.restitution = restitution
polyDef.friction = friction
body.CreateShape(polyDef)
body.SetMassFromShapes()
return body
def concavePoly(
self,
vertices,
dynamic=True,
density=1.0,
restitution=0.16,
friction=0.5,
screenCoord=True):
# 1. Step: Reduce
# Detect if the polygon is closed or open
if vertices[0] != vertices[-1]:
is_closed = False
else:
is_closed = True
# Continue reducing the vertecs
x, y = c = tools_poly.calc_center(vertices)
vertices = tools_poly.poly_center_vertices(vertices)
# Bring coordinates into the world coordinate system (flip, camera
# offset, ...)
if screenCoord:
x, y = self.parent.to_world(c)
else:
x, y = c
# If required, translate pixel -> meters
if self.parent.input == INPUT_PIXELS:
# translate pixel -> meters
x /= self.parent.ppm
y /= self.parent.ppm
# Let's add the body
bodyDef = box2d.b2BodyDef()
bodyDef.position = (x, y)
userData = {'color': self.parent.get_color()}
bodyDef.userData = userData
# Create the Body
if not dynamic:
density = 0
else:
bodyDef.type = box2d.b2_dynamicBody
body = self.parent.world.CreateBody(bodyDef)
self.parent.element_count += 1
# Create the reusable Box2D polygon and circle definitions
polyDef = box2d.b2PolygonShape()
polyDef.vertexCount = 4 # rectangle
polyDef.density = density
polyDef.restitution = restitution
polyDef.friction = friction
circleShape = box2d.b2CircleShape()
circleShape.radius = radius
circleDef = box2d.b2FixtureDef()
circleDef.shape = circleShape
circleDef.density = density
circleDef.restitution = restitution
circleDef.friction = friction
# Set the scale factor
factor = 8.0
v2 = box2d.b2Vec2(*vertices[0])
for v in vertices[1:]:
v1 = v2.copy()
v2 = box2d.b2Vec2(*v)
vdir = v2 - v1 # (v2x-v1x, v2y-v1y)
vdir.Normalize()
# we need a little size for the end part
vn = box2d.b2Vec2(-vdir.y * factor, vdir.x * factor)
v = [v1 + vn, v1 - vn, v2 - vn, v2 + vn]
# Create a line (rect) for each part of the polygon,
# and attach it to the body
polyDef.setVertices([vi / self.parent.ppm for vi in v])
try:
polyDef.checkValues()
except ValueError:
print "concavePoly: Created an invalid polygon!"
return None
body.CreateFixture(polyDef)
# Now add a circle to the points between the rects
# to avoid sharp edges and gaps
if not is_closed and v2.tuple() == vertices[-1]:
# Don't add a circle at the end
break
circleDef.localPosition = v2 / self.parent.ppm
body.CreateFixture(circleDef)
# Return hard and soft reduced vertices
return body
def concavePoly(self,
vertices,
dynamic=True,
density=1.0,
restitution=0.16,
friction=0.5,
screenCoord=True):
# 1. Step: Reduce
# Detect if the polygon is closed or open
if vertices[0] != vertices[-1]:
is_closed = False
else:
is_closed = True
# Continue reducing the vertecs
x, y = c = tools_poly.calc_center(vertices)
vertices = tools_poly.poly_center_vertices(vertices)
# Bring coordinates into the world coordinate system (flip, camera
# offset, ...)
if screenCoord:
x, y = self.parent.to_world(c)
else:
x, y = c
# If required, translate pixel -> meters
if self.parent.input == INPUT_PIXELS:
# translate pixel -> meters
x /= self.parent.ppm
y /= self.parent.ppm
# Let's add the body
bodyDef = box2d.b2BodyDef()
bodyDef.position = (x, y)
userData = {'color': self.parent.get_color()}
bodyDef.userData = userData
# Create the Body
if not dynamic:
density = 0
else:
bodyDef.type = box2d.b2_dynamicBody
body = self.parent.world.CreateBody(bodyDef)
self.parent.element_count += 1
# Create the reusable Box2D polygon and circle definitions
polyDef = box2d.b2PolygonShape()
polyDef.vertexCount = 4 # rectangle
polyDef.density = density
polyDef.restitution = restitution
polyDef.friction = friction
circleShape = box2d.b2CircleShape()
circleShape.radius = radius
circleDef = box2d.b2FixtureDef()
circleDef.shape = circleShape
circleDef.density = density
circleDef.restitution = restitution
circleDef.friction = friction
# Set the scale factor
factor = 8.0
v2 = box2d.b2Vec2(*vertices[0])
for v in vertices[1:]:
v1 = v2.copy()
v2 = box2d.b2Vec2(*v)
vdir = v2 - v1 # (v2x-v1x, v2y-v1y)
vdir.Normalize()
# we need a little size for the end part
vn = box2d.b2Vec2(-vdir.y * factor, vdir.x * factor)
v = [v1 + vn, v1 - vn, v2 - vn, v2 + vn]
# Create a line (rect) for each part of the polygon,
# and attach it to the body
polyDef.setVertices([vi / self.parent.ppm for vi in v])
try:
polyDef.checkValues()
except ValueError:
print "concavePoly: Created an invalid polygon!"
return None
body.CreateFixture(polyDef)
# Now add a circle to the points between the rects
# to avoid sharp edges and gaps
if not is_closed and v2.tuple() == vertices[-1]:
# Don't add a circle at the end
break
circleDef.localPosition = v2 / self.parent.ppm
body.CreateFixture(circleDef)
# Return hard and soft reduced vertices
return body
