def __init__(self, a, b, *args):
"""a and b are the two bodies to connect, and pivot is the point in
world coordinates of the pivot. Because the pivot location is given in
world coordinates, you must have the bodies moved into the correct
positions already.
Alternatively you can specify the joint based on a pair of anchor
points, but make sure you have the bodies in the right place as the
joint will fix itself as soon as you start simulating the space.
That is, either create the joint with PivotJoint(a, b, pivot) or
PivotJoint(a, b, anchr1, anchr2).
a : `Body`
The first of the two bodies
b : `Body`
The second of the two bodies
args : [Vec2d] or [Vec2d,Vec2d]
Either one pivot point, or two anchor points
"""
if len(args) == 1:
self._constraint = cp.cpPivotJointNew(a._body, b._body, args[0])
elif len(args) == 2:
self._constraint = cp.cpPivotJointNew2(a._body, b._body, args[0], args[1])
else:
raise Exception("You must specify either one pivot point or two anchor points")
self._ccontents = self._constraint.contents
self._pjc = cp.cast(self._constraint, ct.POINTER(cp.cpPivotJoint)).contents
self._a = a
self._b = b
def __init__(self, a, b, *args):
"""a and b are the two bodies to connect, and pivot is the point in
world coordinates of the pivot. Because the pivot location is given in
world coordinates, you must have the bodies moved into the correct
positions already.
Alternatively you can specify the joint based on a pair of anchor
points, but make sure you have the bodies in the right place as the
joint will fix itself as soon as you start simulating the space.
That is, either create the joint with PivotJoint(a, b, pivot) or
PivotJoint(a, b, anchr1, anchr2).
a : `Body`
The first of the two bodies
b : `Body`
The second of the two bodies
args : [Vec2d] or [Vec2d,Vec2d]
Either one pivot point, or two anchor points
"""
if len(args) == 1:
self._constraint = cp.cpPivotJointNew(a._body, b._body, args[0])
elif len(args) == 2:
self._constraint = cp.cpPivotJointNew2(a._body, b._body, args[0],
args[1])
else:
raise Exception(
"You must specify either one pivot point or two anchor points")
self._ccontents = self._constraint.contents
self._pjc = cp.cast(self._constraint,
ct.POINTER(cp.cpPivotJoint)).contents
self._a = a
self._b = b
def __init__(self, a, b, groove_a, groove_b, anchr2):
"""The groove goes from groove_a to groove_b on body a, and the pivot
is attached to anchr2 on body b. All coordinates are body local.
"""
self._constraint = cp.cpGrooveJointNew(a._body, b._body, groove_a, groove_b, anchr2)
self._ccontents = self._constraint.contents
self._pjc = cp.cast(self._constraint, ct.POINTER(cp.cpGrooveJoint)).contents
self._a = a
self._b = b
def __init__(self, a, b, anchr1, anchr2, min, max):
"""a and b are the two bodies to connect, anchr1 and anchr2 are the
anchor points on those bodies, and min and max define the allowed
distances of the anchor points.
"""
self._constraint = cp.cpSlideJointNew(a._body, b._body, anchr1, anchr2, min, max)
self._ccontents = self._constraint.contents
self._sjc = cp.cast(self._constraint, ct.POINTER(cp.cpSlideJoint)).contents
self._a = a
self._b = b
def __init__(self, a, b, anchr1=(0,0), anchr2=(0,0)):
"""a and b are the two bodies to connect, and anchr1 and anchr2 are the
anchor points on those bodies.
"""
self._constraint = cp.cpPinJointNew(a._body, b._body, anchr1, anchr2)
self._ccontents = self._constraint.contents
self._pjc = cp.cast(self._constraint, ct.POINTER(cp.cpPinJoint)).contents
self._a = a
self._b = b
def __init__(self, a, b, phase, ratchet):
"""Works like a socket wrench. ratchet is the distance between
"clicks", phase is the initial offset to use when deciding where the
ratchet angles are.
"""
self._constraint = cp.cpRatchetJointNew(a._body, b._body, phase, ratchet)
self._ccontents = self._constraint.contents
self._dsc = cp.cast(self._constraint, ct.POINTER(cp.cpRatchetJoint)).contents
self._a = a
self._b = b
def __init__(self, a, b, min, max):
"""Constrains the relative rotations of two bodies. min and max are
the angular limits in radians. It is implemented so that it's possible
to for the range to be greater than a full revolution.
"""
self._constraint = cp.cpRotaryLimitJointNew(a._body, b._body, min, max)
self._ccontents = self._constraint.contents
self._rlc = cp.cast(self._constraint, ct.POINTER(cp.cpRotaryLimitJoint)).contents
self._a = a
self._b = b
def __init__(self, a, b, rate):
"""Keeps the relative angular velocity of a pair of bodies constant.
rate is the desired relative angular velocity. You will usually want
to set an force (torque) maximum for motors as otherwise they will be
able to apply a nearly infinite torque to keep the bodies moving.
"""
self._constraint = cp.cpSimpleMotorNew(a._body, b._body, rate)
self._ccontents = self._constraint.contents
self._dsc = cp.cast(self._constraint, ct.POINTER(cp.cpSimpleMotor)).contents
self._a = a
self._b = b
def __init__(self, a, b, phase, ratio):
"""Keeps the angular velocity ratio of a pair of bodies constant.
ratio is always measured in absolute terms. It is currently not
possible to set the ratio in relation to a third body's angular
velocity. phase is the initial angular offset of the two bodies.
"""
self._constraint = cp.cpGearJointNew(a._body, b._body, phase, ratio)
self._ccontents = self._constraint.contents
self._dsc = cp.cast(self._constraint, ct.POINTER(cp.cpGearJoint)).contents
self._a = a
self._b = b
def __init__(self, a, b, groove_a, groove_b, anchr2):
"""The groove goes from groove_a to groove_b on body a, and the pivot
is attached to anchr2 on body b. All coordinates are body local.
"""
self._constraint = cp.cpGrooveJointNew(a._body, b._body, groove_a,
groove_b, anchr2)
self._ccontents = self._constraint.contents
self._pjc = cp.cast(self._constraint,
ct.POINTER(cp.cpGrooveJoint)).contents
self._a = a
self._b = b
def __init__(self, a, b, anchr1, anchr2):
"""a and b are the two bodies to connect, and anchr1 and anchr2 are the
anchor points on those bodies.
"""
self._constraint = cp.cpPinJointNew(a._body, b._body, anchr1, anchr2)
self._ccontents = self._constraint.contents
self._pjc = cp.cast(self._constraint,
ct.POINTER(cp.cpPinJoint)).contents
self._a = a
self._b = b
def __init__(self, a, b, min, max):
"""Constrains the relative rotations of two bodies. min and max are
the angular limits in radians. It is implemented so that it's possible
to for the range to be greater than a full revolution.
"""
self._constraint = cp.cpRotaryLimitJointNew(a._body, b._body, min, max)
self._ccontents = self._constraint.contents
self._rlc = cp.cast(self._constraint,
ct.POINTER(cp.cpRotaryLimitJoint)).contents
self._a = a
self._b = b
def __init__(self, a, b, anchr1, anchr2, min, max):
"""a and b are the two bodies to connect, anchr1 and anchr2 are the
anchor points on those bodies, and min and max define the allowed
distances of the anchor points.
"""
self._constraint = cp.cpSlideJointNew(a._body, b._body, anchr1, anchr2,
min, max)
self._ccontents = self._constraint.contents
self._sjc = cp.cast(self._constraint,
ct.POINTER(cp.cpSlideJoint)).contents
self._a = a
self._b = b
def __init__(self, a, b, rate):
"""Keeps the relative angular velocity of a pair of bodies constant.
rate is the desired relative angular velocity. You will usually want
to set an force (torque) maximum for motors as otherwise they will be
able to apply a nearly infinite torque to keep the bodies moving.
"""
self._constraint = cp.cpSimpleMotorNew(a._body, b._body, rate)
self._ccontents = self._constraint.contents
self._dsc = cp.cast(self._constraint,
ct.POINTER(cp.cpSimpleMotor)).contents
self._a = a
self._b = b
def __init__(self, a, b, phase, ratio):
"""Keeps the angular velocity ratio of a pair of bodies constant.
ratio is always measured in absolute terms. It is currently not
possible to set the ratio in relation to a third body's angular
velocity. phase is the initial angular offset of the two bodies.
"""
self._constraint = cp.cpGearJointNew(a._body, b._body, phase, ratio)
self._ccontents = self._constraint.contents
self._dsc = cp.cast(self._constraint,
ct.POINTER(cp.cpGearJoint)).contents
self._a = a
self._b = b
def __init__(self, a, b, phase, ratchet):
"""Works like a socket wrench. ratchet is the distance between
"clicks", phase is the initial offset to use when deciding where the
ratchet angles are.
"""
self._constraint = cp.cpRatchetJointNew(a._body, b._body, phase,
ratchet)
self._ccontents = self._constraint.contents
self._dsc = cp.cast(self._constraint,
ct.POINTER(cp.cpRatchetJoint)).contents
self._a = a
self._b = b
def __init__(self, a, b, rest_angle, stiffness, damping):
"""Like a damped spring, but works in an angular fashion.
:Parameters:
rest_angle
The relative angle in radians that the bodies want to have
stiffness
The spring constant (Young's modulus).
damping
How soft to make the damping of the spring.
"""
self._constraint = cp.cpDampedRotarySpringNew(a._body, b._body, rest_angle, stiffness, damping)
self._ccontents = self._constraint.contents
self._dsc = cp.cast(self._constraint, ct.POINTER(cp.cpDampedRotarySpring)).contents
self._a = a
self._b = b
def __init__(self, a, b, anchr1, anchr2, rest_length, stiffness, damping):
"""Defined much like a slide joint.
:Parameters:
rest_length : float
The distance the spring wants to be.
stiffness : float
The spring constant (Young's modulus).
damping : float
How soft to make the damping of the spring.
"""
self._constraint = cp.cpDampedSpringNew(a._body, b._body, anchr1, anchr2, rest_length, stiffness, damping)
self._ccontents = self._constraint.contents
self._dsc = cp.cast(self._constraint, ct.POINTER(cp.cpDampedSpring)).contents
self._a = a
self._b = b
def __init__(self, a, b, anchr1, anchr2, rest_length, stiffness, damping):
"""Defined much like a slide joint.
:Parameters:
rest_length : float
The distance the spring wants to be.
stiffness : float
The spring constant (Young's modulus).
damping : float
How soft to make the damping of the spring.
"""
self._constraint = cp.cpDampedSpringNew(a._body, b._body, anchr1,
anchr2, rest_length, stiffness,
damping)
self._ccontents = self._constraint.contents
self._dsc = cp.cast(self._constraint,
ct.POINTER(cp.cpDampedSpring)).contents
self._a = a
self._b = b
def __init__(self, a, b, rest_angle, stiffness, damping):
"""Like a damped spring, but works in an angular fashion.
:Parameters:
rest_angle
The relative angle in radians that the bodies want to have
stiffness
The spring constant (Young's modulus).
damping
How soft to make the damping of the spring.
"""
self._constraint = cp.cpDampedRotarySpringNew(a._body, b._body,
rest_angle, stiffness,
damping)
self._ccontents = self._constraint.contents
self._dsc = cp.cast(self._constraint,
ct.POINTER(cp.cpDampedRotarySpring)).contents
self._a = a
self._b = b
