def add_slide_joint(
self, pos: Union[tuple[float, float], Vector], shape: pymunk.Shape,
limit: Union[float, tuple[float, float]]) -> pymunk.SlideJoint:
"""
new static slide joint
Parameters
----------
pos : Union[tuple[float, float], Vector]
position of the slide joint
shape : pymunk.Shape
the shape to attach to\\
can be Circle, Segment and Poly
limit : Union[float, tuple[float, float]]
max distance limit, optional lower limit
"""
pos = pos[0], pos[1]
rotation_limit_body = pymunk.Body(body_type=pymunk.Body.STATIC)
rotation_limit_body.position = pos
body = shape.body
up = limit if isinstance(limit, (float, int)) else max(limit)
low = 0 if isinstance(limit, (float, int)) else min(limit)
rotation_limit_joint = pymunk.SlideJoint(body, rotation_limit_body,
pos, (0, 0), low, up)
self._space.add(rotation_limit_joint)
return rotation_limit_joint
def add_L(space):
#Create the rotation center body to act as a static point in the joint
#so that the line can rotate around it. NO SHAPE/Collision hull added to it
rotation_center_body = pymunk.Body(body_type=pymunk.Body.STATIC)
rotation_center_body.position = (250, 250)
#Create a static body to limit the motion
rotation_limit_body = pymunk.Body(body_type=pymunk.Body.STATIC)
rotation_limit_body.position = (100, 250)
#The L shape to be added to the screen is not static anymore
#mass 10 and random moment wrt the rotation center
body = pymunk.Body(10, 10000)
body.position = (250, 250)
#Create the lines
l1 = pymunk.Segment(body, (-150, 0), (100, 0), 5)
l2 = pymunk.Segment(body, (-150, 0), (-150, 50), 5)
#Joint functions take in
#1st body, 2nd body, 1st body joint location, 2nd_body joint location
#Create a pinjoint between body and rotation_center_body
rotation_center_joint = pymunk.PinJoint(body, rotation_center_body, (0, 0),
(0, 0))
#Create a slidejoint between body and rotation_center_body
#joint_limit defines the min and max the body will slide wrt to each other
joint_limit = 50
rotation_limit_joint = pymunk.SlideJoint(body, rotation_limit_body,
(-150, 0), (0, 0), 0, joint_limit)
space.add(l1, l2, body, rotation_center_joint, rotation_limit_joint)
return l1, l2
def add_L(space):
"""Add a inverted L shape with two joints"""
rotation_center_body = pymunk.Body(body_type=pymunk.Body.STATIC)
rotation_center_body.position = (300, 300)
rotation_limit_body = pymunk.Body(body_type=pymunk.Body.STATIC)
rotation_limit_body.position = (200, 300)
body = pymunk.Body(10, 10000)
body.position = (300, 300)
l1 = pymunk.Segment(body, (-150, 0), (255.0, 0.0), 5.0)
l2 = pymunk.Segment(body, (-150.0, 0), (-150.0, -50.0), 5.0)
l1.friction = 1
l2.friction = 1
l1.mass = 1
l2.mass = 1
rotation_center_joint = pymunk.PinJoint(body, rotation_center_body, (0, 0),
(0, 0))
joint_limit = 25
rotation_limit_joint = pymunk.SlideJoint(body, rotation_limit_body,
(-100, 0), (0, 0), 0, joint_limit)
space.add(l1, l2, body, rotation_center_joint) #, rotation_limit_joint)
return l1, l2
def __init__(self, a, b, c1=None, c2=None, segments=10, density=0.01, colour=(0, 0, 0, 1), thickness=4):
"""Tether between points a and b.
if c1 and c2 are given, these are bodies that will be jointed to each end of the tether.
"""
self.density = density
self.colour = colour
self.thickness = thickness
self.shapes = []
self.bodies = []
self.joints = []
a = v(a)
b = v(b)
segment_length = (b - a).length / segments
for i in xrange(segments + 1):
frac = float(i) / segments
pos = frac * b + (1 - frac) * a
body = self.create_node(pos)
if self.bodies:
last = self.bodies[-1]
self.joints.append(pymunk.SlideJoint(last, body, (0, 0), (0, 0), 0, segment_length))
self.bodies.append(body)
if c1:
self.joints.append(
pymunk.PivotJoint(c1, self.bodies[0], self.bodies[0].position),
)
if c2:
self.joints.append(
pymunk.PivotJoint(c2, self.bodies[-1], self.bodies[-1].position),
)
for j in self.joints:
j.error_bias = 0.9 ** 30.0
self.vertices = pyglet.graphics.vertex_list(len(self.bodies), 'v2f')
def __init__(self,
pos,
max_angle=math.pi / 6,
on_left=False,
length=24.0,
friction=1.0,
color=hinge_color,
weighted=False):
if weighted:
init_angle = -max_angle if on_left else max_angle
else:
init_angle = 0
super().__init__(pos, length, friction, color, init_angle=init_angle)
self.on_left = on_left
self.length = length
# Joint Body
offset = 1.0
joint_body = pymunk.Body(body_type=pymunk.Body.STATIC)
joint_body.position = [self.pos[0] - offset, self.pos[1]]
# Joint
joint_limit = 2 * offset * math.sin(max_angle / 2)
self.joint = pymunk.SlideJoint(
self.body, joint_body,
(-offset * math.cos(init_angle), -offset * math.sin(init_angle)),
(0, 0), 0, joint_limit)
def __init__(self,
space: pymunk.Space,
x,
y,
tethered_object: pymunk.Body,
screen=None,
tether_offset=(0, 0),
distance_cutoff=1000):
super().__init__(
values.torque, values.max_rpm, values.tether_length,
values.shaft_diameter / 2 + values.inner_radius_padding,
values.tether_diameter, values.packing_factor)
self.space = space
self.pos = (x, y)
self.object = tethered_object
self.distance_cutoff = distance_cutoff
self.create_body(self.space,
*self.pos,
screen=screen,
tether_offset=tether_offset)
self.update_distance(self.object)
self.engaged = self.curr_used_length > self.distance_cutoff
self.constraint = pymunk.SlideJoint(self.spool, self.object, (0, 0),
(0, 0), 0, self.tether_length)
def __init__(self, cml_bond, atomA, atomB, space, batch):
self.joints = list()
self.vertex = None
self.cml_bond = cml_bond
self.batch = batch
self.space = space
self.atomA = atomA
self.atomB = atomB
bond_length = self.get_bond_lenght(cml_bond)
slide_joint = pymunk.SlideJoint(atomA.body, atomB.body, (0, 0), (0, 0),
10, bond_length)
slide_joint.max_force = 15000000
self.joints.append(slide_joint)
self.space.add(slide_joint)
if self.cml_bond.bonds > 0:
self.vertex = self.create_vertex()
groove_joint_a = self.create_groove_joint(atomA, atomB)
groove_joint_b = self.create_groove_joint(atomB, atomA)
self.joints.append(groove_joint_a)
self.joints.append(groove_joint_b)
self.space.add(groove_joint_a)
self.space.add(groove_joint_b)
def add_rels(self, param_load=None):
param = np.zeros((self.n_ball * (self.n_ball - 1) // 2, 2))
self.param_dim = param.shape[0]
if param_load is not None:
print("Load param for init env")
cnt = 0
rels_idx = []
for i in range(self.n_ball):
for j in range(i):
rel_type = rand_int(
0,
self.n_rel_type) if param_load is None else param_load[cnt,
0]
param[cnt, 0] = rel_type
rels_idx.append([i, j])
pos_i = self.balls[i].position
pos_j = self.balls[j].position
if rel_type == 0:
# no relation
pass
elif rel_type == 1:
# spring
rest_length = rand_float(
20, 120) if param_load is None else param_load[cnt, 1]
param[cnt, 1] = rest_length
c = pymunk.DampedSpring(self.balls[i],
self.balls[j], (0, 0), (0, 0),
rest_length=rest_length,
stiffness=20,
damping=0.)
self.space.add(c)
elif rel_type == 2:
# string
rest_length = calc_dis(
pos_i,
pos_j) if param_load is None else param_load[cnt, 1]
param[cnt, 1] = rest_length
c = pymunk.SlideJoint(self.balls[i], self.balls[j], (0, 0),
(0, 0), rest_length - 5,
rest_length + 5)
self.space.add(c)
else:
raise AssertionError("Unknown relation type")
cnt += 1
if param_load is not None:
assert ((param == param_load).all())
self.rels_idx = rels_idx
self.param = param
def testAnchor(self):
a, b = p.Body(10, 10), p.Body(20, 20)
j = p.SlideJoint(a, b, (1, 2), (3, 4), 0, 10)
self.assertEqual(j.anchor_a, (1, 2))
self.assertEqual(j.anchor_b, (3, 4))
j.anchor_a = (5, 6)
j.anchor_b = (7, 8)
self.assertEqual(j.anchor_a, (5, 6))
self.assertEqual(j.anchor_b, (7, 8))
def grab(self):
if framework.grabbables:
for item in filter(self.in_reach, framework.grabbables):
if len(self.grab_joints) < 3:
self.grab_joints.append(
pymunk.SlideJoint(self.body,
item.body, (0, 0), (0, 0),
min=5,
max=14))
framework.space.add(self.grab_joints[-1])
def __init__(self,
b,
b2,
a=(0, 0),
a2=(0, 0),
min=50,
max=100,
collide=True):
joint = pymunk.SlideJoint(b, b2, a, a2, min, max)
joint.collide_bodies = collide
space.add(joint)
def tether(self, object1, object2, position1, position2, length):
body1 = self._find_body(object1)
body2 = self._find_body(object2)
joint = pymunk.SlideJoint(body1, body2, position1.array(),
position2.array(), 0, length)
self.space.add(joint)
tether = _Tether(object1, object2, joint)
self._tethers[object1.key] = tether
self._tethers[object2.key] = tether
def CollisionAbsorber(arbiter, space, data):
absorber = arbiter.shapes[0]
absorbable = arbiter.shapes[1]
joint = pymunk.SlideJoint(absorber.body, absorbable.body, (0, 0), (0, 0),
0, 40)
space.add(joint)
# absorbable.body.velocity = pymunk.Vec2d()
absorbable.sensor = True
return True
def testPickle(self):
a, b = p.Body(10, 10), p.Body(20, 20)
j = p.SlideJoint(a, b, (1, 2), (3, 4), 5, 6)
s = pickle.dumps(j)
j2 = pickle.loads(s)
self.assertEqual(j.anchor_a, j2.anchor_a)
self.assertEqual(j.anchor_b, j2.anchor_b)
self.assertEqual(j.min, j2.min)
self.assertEqual(j.max, j2.max)
self.assertEqual(j.a.mass, j2.a.mass)
self.assertEqual(j.b.mass, j2.b.mass)
def __init__(self, pos):
center = pymunk.Body(0, 0, pymunk.Body.STATIC)
center.position = pos
limit = pymunk.Body(0, 0, pymunk.Body.STATIC)
limit.position = pos[0] - 100, pos[1]
body = pymunk.Body(100, 100000)
body.position = pos
seg1 = pymunk.Segment(body, (-100, 0), (100, 0), 10)
seg2 = pymunk.Segment(body, (-100, 0), (-100, 50), 10)
joint = pymunk.PinJoint(body, center, (0, 0), (0, 0))
joint2 = pymunk.SlideJoint(body, limit, (-100, 0), (0, 0), 0, 30)
App.current.space.add(seg1, seg2, body, joint, joint2)
def add_l(space):
rotation_center_body = pymunk.Body(body_type=pymunk.Body.STATIC)
rotation_center_body.position = (300, 300)
rotation_limit_body = pymunk.Body(body_type=pymunk.Body.STATIC)
rotation_limit_body.position = (200, 300)
body = pymunk.Body(10, 10000)
body.position = (300, 300)
i1 = pymunk.Segment(body, (-150, 0), (255.0, 0.0), 5.0)
i2 = pymunk.Segment(body, (-150.0, 0), (-150.0, 50.0), 5.0)
rotation_center_joint = pymunk.PinJoint(body, rotation_center_body, (0, 0),
(0, 0))
joint_limit = 25
rotation_limit_joint = pymunk.SlideJoint(body, rotation_limit_body,
(-100, 0), (0, 0), 0, joint_limit)
space.add(i1, i2, body, rotation_center_joint, rotation_limit_joint)
def add_L(space):
rotation_center_body = pymunk.Body()
rotation_center_body.position = (300, 300)
rotation_limit_body = pymunk.Body()
rotation_limit_body.position = (200, 300)
body = pymunk.Body(10, 10000)
body.position = (300, 300)
l1 = pymunk.Segment(body, (-150, 0), (255.0, 0.0), 5.0)
l2 = pymunk.Segment(body, (-150.0, 0), (-150.0, 50.0), 5.0)
rotation_center_joint = pymunk.PinJoint(body, rotation_center_body, (0, 0),
(0, 0))
joint_limit = 25
rotation_limit_joint = pymunk.SlideJoint(body, rotation_limit_body,
(-100, 0), (0, 0), 0, joint_limit)
space.add(l1, l2, body, rotation_center_joint, rotation_limit_joint)
return l1, l2
def add_L_pulley(self, space):
rotation_center_body = pm.Body(body_type=pm.Body.STATIC)
rotation_center_body.position = (300, 300)
rotation_limit_body = pm.Body(body_type=pm.Body.STATIC)
rotation_limit_body.position = (200, 300)
body1 = pm.Body(10, 10000)
body1.position = (300, 300)
l1 = pm.Segment(body1, (-100, 125), (100.0, 125.0), 1)
l2 = pm.Segment(body1, (100.0, 125), (100.0, 150.0), 1)
rotation_center_joint = pm.PinJoint(body1, rotation_center_body, (0, 25), (0, 25))
joint_limit = 200
rotation_limit_joint = pm.SlideJoint(body1, rotation_limit_body, (-150, 125), (0, 125), 0, joint_limit)
self.space.add(l1, l2, body1, rotation_center_joint, rotation_limit_joint)
return l1, l2
def add_L(space):
rotation_center_body = pymunk.Body()
rotation_center_body.position = (300, 300)
rotation_limit_body = pymunk.Body()
rotation_limit_body.position = (200, 300)
body = pymunk.Body(5, 1000)
body.position = (300, 300)
l1 = add_line(space, body, start=(-150, 0), end=(255, 0), radius=5)
l2 = add_line(space, body, start=(-150, 0), end=(-150, 50), radius=5)
# l3 = add_line(space, body, start=(0, 100), end=(0, 400), radius=8)
# l4 = add_line_from_body(space, body, 150, 5)
rotation_center_joint = pymunk.PinJoint(body, rotation_center_body, (0, 0),
(0, 0))
joint_limit = 25
rotation_limit_joint = pymunk.SlideJoint(body, rotation_limit_body,
(-100, 0), (0, 0), 0, joint_limit)
# space.add(l1, l2, body, rotation_center_joint, rotation_limit_joint)
space.add(body, rotation_center_joint)
return l1, l2
def add_L(self, space):
"""Add a inverted L shape with two joints"""
rotation_center_body = pm.Body(body_type=pm.Body.STATIC)
rotation_center_body.position = (300, 300)
rotation_limit_body = pm.Body(body_type=pm.Body.STATIC)
rotation_limit_body.position = (300, 300)
body = pm.Body(650, 650)
body.position = (300, 600)
l1 = pm.Segment(rotation_limit_body, (25, -20), (25, 200.0), 1.0)
l2 = pm.Segment(rotation_limit_body, (-25, -20), (-25, 200.0), 1.0)
l3 = pm.Segment(rotation_limit_body, (25, -20), (85.0, -90.0), 1.3)
l4 = pm.Segment(rotation_limit_body, (-25, -20), (-85.0, -90.0), 1.3)
l8 = pm.Segment(body, (-250, -200), (200.0, -200.0), 5.0)
rotation_center_joint = pm.PinJoint(body, rotation_center_body, (0, -200), (0, -200))
joint_limit = .03
rotation_limit_joint = pm.SlideJoint(body, rotation_limit_body, (-20, -200), (0, -200), 0, joint_limit)
space.add(l1, l2, l3, l4, l8, rotation_limit_body, rotation_center_body, body, rotation_center_joint,
rotation_limit_joint)
return l8
def add_actor(self, position=(0, 0)):
self.actor_c_b = pymunk.Body(body_type=pymunk.Body.KINEMATIC)
self.actor_c_b.position = position
self.space.add(self.actor_c_b)
self.actor_b = self.add_box(20, 1, 'ACT')
self.actor_b.position = position
for s in self.actor_b.shapes:
s.color = (0, 100, 100, 255)
pivot = pymunk.PivotJoint(self.actor_c_b, self.actor_b, (0, 0), (0, 0))
self.space.add(pivot)
pivot.max_bias = 0
pivot.max_force = 10000
gear = pymunk.GearJoint(self.actor_c_b, self.actor_b, 0.0, 0.1)
self.space.add(gear)
gear.error_bias = 0
gear.max_bias = 1.2
gear.max_force = 50000
pin = pymunk.SlideJoint(self.actor_c_b, self.actor_b, (0,0), (0,0), 0.5, 1)
self.space.add(pin)
def __init__(self, x, y, width, height, image, data):
self.mass = 10
self.moment = 100000
self.fence = 20
self.width = width
self.height = height
self.limit = 25
self.distance = 100
self.centerBody = pymunk.Body()
self.centerBody.position = (x, y)
self.limitBody = pymunk.Body()
self.limitBody.position = (x - self.distance, y)
self.mainBody = pymunk.Body(self.mass, self.moment)
self.mainBody.position = (x, y)
self.seesaw = pymunk.Segment(self.mainBody, (-self.width // 2, 0),
(self.width // 2, 0), self.height)
self.centerBody = pymunk.PinJoint(self.mainBody, self.centerBody,
(0, 0), (0, 0))
self.limitBody = pymunk.SlideJoint(self.mainBody, self.limitBody,
(-self.distance, 0), (0, 0), 0,
self.limit)
data.space.add(self.seesaw, self.mainBody, self.centerBody,
self.limitBody)
self.image = image
return body
txts = {}
box_offset = 0, 0
b1 = add_ball(space, (50, 60), box_offset)
b2 = add_ball(space, (150, 60), box_offset)
c = pymunk.PinJoint(b1, b2, (20, 0), (-20, 0))
txts[box_offset] = inspect.getdoc(c)
space.add(c)
box_offset = box_size, 0
b1 = add_ball(space, (50, 60), box_offset)
b2 = add_ball(space, (150, 60), box_offset)
c = pymunk.SlideJoint(b1, b2, (20, 0), (-20, 0), 40, 80)
txts[box_offset] = inspect.getdoc(c)
space.add(c)
box_offset = box_size * 2, 0
b1 = add_ball(space, (50, 60), box_offset)
b2 = add_ball(space, (150, 60), box_offset)
c = pymunk.PivotJoint(b1, b2, Vec2d(box_offset) + (100, 60))
txts[box_offset] = inspect.getdoc(c)
space.add(c)
box_offset = box_size * 3, 0
b1 = add_ball(space, (50, 60), box_offset)
b2 = add_ball(space, (150, 60), box_offset)
c = pymunk.GrooveJoint(b1, b2, (50, 50), (50, -50), (-50, 0))
txts[box_offset] = inspect.getdoc(c)
def fill_space(space, custom_color=(255, 255, 0, 255)):
captions = []
### Static
captions.append(((50, 680), "Static Shapes"))
#Static Segments
segments = [
pymunk.Segment(space.static_body, (10, 400), (10, 600), 0),
pymunk.Segment(space.static_body, (20, 400), (20, 600), 1),
pymunk.Segment(space.static_body, (30, 400), (30, 600), 3),
pymunk.Segment(space.static_body, (50, 400), (50, 600), 5)
]
space.add(segments)
b = pymunk.Body(body_type=pymunk.Body.STATIC)
b.position = (40, 630)
b.angle = 3.14 / 7
s = pymunk.Segment(b, (-30, 0), (30, 0), 2)
space.add(s)
# Static Circles
b = pymunk.Body(body_type=pymunk.Body.STATIC)
b.position = (120, 630)
s = pymunk.Circle(b, 10)
space.add(s)
b = pymunk.Body(body_type=pymunk.Body.STATIC)
b.position = (120, 630)
s = pymunk.Circle(b, 10, (-30, 0))
space.add(s)
b = pymunk.Body(body_type=pymunk.Body.STATIC)
b.position = (120, 560)
b.angle = 3.14 / 4
s = pymunk.Circle(b, 40)
space.add(s)
# Static Polys
b = pymunk.Body(body_type=pymunk.Body.STATIC)
b.position = (120, 460)
b.angle = 3.14 / 4
s = pymunk.Poly(b, [(0, -25), (30, 25), (-30, 25)])
space.add(s)
b = pymunk.Body(body_type=pymunk.Body.STATIC)
b.position = (120, 500)
t = pymunk.Transform(ty=-100)
s = pymunk.Poly(b, [(0, -25), (30, 25), (-30, 25)], t, radius=3)
space.add(s)
b = pymunk.Body(body_type=pymunk.Body.STATIC)
b.position = (50, 430)
t = pymunk.Transform(ty=-100)
s = pymunk.Poly(b, [(0, -50), (50, 0), (30, 50), (-30, 50), (-50, 0)], t)
space.add(s)
### Kinematic
captions.append(((220, 680), "Kinematic Shapes"))
# Kinematic Segments
b = pymunk.Body(body_type=pymunk.Body.KINEMATIC)
segments = [
pymunk.Segment(b, (180, 400), (180, 600), 0),
pymunk.Segment(b, (190, 400), (190, 600), 1),
pymunk.Segment(b, (200, 400), (200, 600), 3),
pymunk.Segment(b, (220, 400), (220, 600), 5)
]
space.add(segments)
b = pymunk.Body(body_type=pymunk.Body.KINEMATIC)
b.position = (210, 630)
b.angle = 3.14 / 7
s = pymunk.Segment(b, (-30, 0), (30, 0), 2)
space.add(s)
# Kinematic Circles
b = pymunk.Body(body_type=pymunk.Body.KINEMATIC)
b.position = (290, 630)
s = pymunk.Circle(b, 10)
space.add(s)
b = pymunk.Body(body_type=pymunk.Body.KINEMATIC)
b.position = (290, 630)
s = pymunk.Circle(b, 10, (-30, 0))
space.add(s)
b = pymunk.Body(body_type=pymunk.Body.KINEMATIC)
b.position = (290, 560)
b.angle = 3.14 / 4
s = pymunk.Circle(b, 40)
space.add(s)
# Kinematic Polys
b = pymunk.Body(body_type=pymunk.Body.KINEMATIC)
b.position = (290, 460)
b.angle = 3.14 / 4
s = pymunk.Poly(b, [(0, -25), (30, 25), (-30, 25)])
space.add(s)
b = pymunk.Body(body_type=pymunk.Body.KINEMATIC)
b.position = (290, 500)
t = pymunk.Transform(ty=-100)
s = pymunk.Poly(b, [(0, -25), (30, 25), (-30, 25)], t, radius=3)
space.add(s)
b = pymunk.Body(body_type=pymunk.Body.KINEMATIC)
b.position = (230, 430)
t = pymunk.Transform(ty=-100)
s = pymunk.Poly(b, [(0, -50), (50, 0), (30, 50), (-30, 50), (-50, 0)], t)
space.add(s)
### Dynamic
captions.append(((390, 680), "Dynamic Shapes"))
#Dynamic Segments
b = pymunk.Body(1, 1)
segments = [
pymunk.Segment(b, (350, 400), (350, 600), 0),
pymunk.Segment(b, (360, 400), (360, 600), 1),
pymunk.Segment(b, (370, 400), (370, 600), 3),
pymunk.Segment(b, (390, 400), (390, 600), 5),
]
space.add(segments)
b = pymunk.Body(1, 1)
b.position = (380, 630)
b.angle = 3.14 / 7
s = pymunk.Segment(b, (-30, 0), (30, 0), 2)
space.add(s)
# Dynamic Circles
b = pymunk.Body(1, 1)
b.position = (460, 630)
s = pymunk.Circle(b, 10)
space.add(s)
b = pymunk.Body(1, 1)
b.position = (460, 630)
s = pymunk.Circle(b, 10, (-30, 0))
space.add(s)
b = pymunk.Body(1, 1)
b.position = (460, 560)
b.angle = 3.14 / 4
s = pymunk.Circle(b, 40)
space.add(s)
# Dynamic Polys
b = pymunk.Body(1, 1)
b.position = (460, 460)
b.angle = 3.14 / 4
s = pymunk.Poly(b, [(0, -25), (30, 25), (-30, 25)])
space.add(s)
b = pymunk.Body(1, 1)
b.position = (460, 500)
s = pymunk.Poly(b, [(0, -25), (30, 25), (-30, 25)],
pymunk.Transform(ty=-100),
radius=3)
space.add(s)
b = pymunk.Body(1, 1)
b.position = (400, 430)
s = pymunk.Poly(b, [(0, -50), (50, 0), (30, 50), (-30, 50), (-50, 0)],
pymunk.Transform(ty=-100))
space.add(s)
###Constraints
# PinJoints
captions.append(((560, 660), "Pin Joints"))
a = pymunk.Body(1, 1)
a.position = (550, 600)
sa = pymunk.Circle(a, 20)
b = pymunk.Body(1, 1)
b.position = (650, 620)
sb = pymunk.Circle(b, 20)
j = pymunk.PinJoint(a, b)
space.add(sa, sb, a, b, j)
a = pymunk.Body(1, 1)
a.position = (550, 550)
sa = pymunk.Circle(a, 20)
b = pymunk.Body(1, 1)
b.position = (650, 570)
sb = pymunk.Circle(b, 20)
j = pymunk.PinJoint(a, b, anchor_a=(0, 20), anchor_b=(0, -20))
space.add(sa, sb, a, b, j)
# SlideJoints
captions.append(((560, 490), "Slide Joint"))
a = pymunk.Body(1, 1)
a.position = (550, 430)
sa = pymunk.Circle(a, 20)
b = pymunk.Body(1, 1)
b.position = (650, 450)
sb = pymunk.Circle(b, 20)
j = pymunk.SlideJoint(a,
b,
anchor_a=(0, 20),
anchor_b=(0, -20),
min=10,
max=30)
space.add(sa, sb, a, b, j)
# PivotJoints
captions.append(((560, 390), "Pivot Joint"))
a = pymunk.Body(1, 1)
a.position = (550, 330)
sa = pymunk.Circle(a, 20)
b = pymunk.Body(1, 1)
b.position = (650, 350)
sb = pymunk.Circle(b, 20)
j = pymunk.PivotJoint(a, b, (600, 320))
space.add(sa, sb, a, b, j)
# GrooveJoints
captions.append(((760, 660), "Groove Joint"))
a = pymunk.Body(1, 1)
a.position = (750, 600)
sa = pymunk.Circle(a, 20)
b = pymunk.Body(1, 1)
b.position = (850, 620)
sb = pymunk.Circle(b, 20)
j = pymunk.GrooveJoint(a, b, (790, 610), (790, 620), (840, 620))
space.add(sa, sb, a, b, j)
# DampedSpring
captions.append(((760, 550), "Damped Spring"))
a = pymunk.Body(1, 1)
a.position = (750, 480)
sa = pymunk.Circle(a, 20)
b = pymunk.Body(1, 1)
b.position = (850, 500)
sb = pymunk.Circle(b, 20)
j = pymunk.DampedSpring(a, b, (0, 0), (0, 10), 100, 1, 1)
space.add(sa, sb, a, b, j)
# DampedRotarySpring
captions.append(((740, 430), "Damped Rotary Spring"))
a = pymunk.Body(1, 1)
a.position = (750, 350)
sa = pymunk.Circle(a, 20)
b = pymunk.Body(1, 1)
b.position = (850, 380)
sb = pymunk.Circle(b, 20)
j = pymunk.DampedRotarySpring(a, b, 10, 1, 1)
space.add(sa, sb, a, b, j)
# RotaryLimitJoint
captions.append(((740, 300), "Rotary Limit Joint"))
a = pymunk.Body(1, 1)
a.position = (750, 220)
sa = pymunk.Circle(a, 20)
b = pymunk.Body(1, 1)
b.position = (850, 250)
sb = pymunk.Circle(b, 20)
j = pymunk.RotaryLimitJoint(a, b, 1, 2)
b.angle = 3
space.add(sa, sb, a, b, j)
# RatchetJoint
captions.append(((740, 170), "Ratchet Joint"))
a = pymunk.Body(1, 1)
a.position = (750, 100)
sa = pymunk.Circle(a, 20)
b = pymunk.Body(1, 1)
b.position = (850, 120)
sb = pymunk.Circle(b, 20)
j = pymunk.RatchetJoint(a, b, 1, 0.1)
b.angle = 3
space.add(sa, sb, a, b, j)
# GearJoint and SimpleMotor omitted since they are similar to the already
# added joints
# TODO: more stuff here :)
### Other
# Objects in custom color
captions.append(((150, 150), "Custom Color (static & dynamic)"))
b = pymunk.Body(body_type=pymunk.Body.STATIC)
b.position = (200, 200)
s = pymunk.Circle(b, 40)
s.color = custom_color
space.add(s)
b = pymunk.Body(1, 1)
b.position = (300, 200)
s = pymunk.Circle(b, 40)
s.color = custom_color
space.add(s)
# Collision
captions.append(((450, 150), "Collisions"))
b = pymunk.Body(body_type=pymunk.Body.STATIC)
b.position = (470, 200)
s = pymunk.Circle(b, 40)
space.add(s)
b = pymunk.Body(1, 1)
b.position = (500, 250)
s = pymunk.Circle(b, 40)
space.add(s)
# Sleeping
captions.append(((50, 150), "Sleeping"))
b = pymunk.Body(1, 1)
b.position = (75, 200)
space.sleep_time_threshold = 0.01
s = pymunk.Circle(b, 40)
space.add(s, b)
b.sleep()
space.step(0.000001)
return captions
def testSlideJoint(self):
a, b = p.Body(10, 10), p.Body(20, 20)
j = p.SlideJoint(a, b, (1, 0), (10, 0), 7, 12)
self.assertEqual(j.max, 12)
self.assertEqual(j.anchr1, (1, 0))
def main():
pygame.init()
screen = pygame.display.set_mode((600, 600))
pygame.display.set_caption("Joints. Just wait and the L will tip over")
clock = pygame.time.Clock()
running = True
### Physics stuff
space = pm.Space()
space.gravity = 0.0, -900.0
## Balls
balls = []
### static stuff
rot_center_body = pm.Body()
rot_center_body.position = (300, 300)
### To hold back the L
rot_limit_body = pm.Body()
rot_limit_body.position = (200, 300)
### The moving L shape
l1 = [(-150, 0), (255.0, 0.0)]
l2 = [(-150.0, 0), (-150.0, 50.0)]
body = pm.Body(10, 10000)
body.position = (300, 300)
lines = [
pm.Segment(body, l1[0], l1[1], 5.0),
pm.Segment(body, l2[0], l2[1], 5.0)
]
space.add(body)
space.add(lines)
### The L rotates around this
rot_center = pm.PinJoint(body, rot_center_body, (0, 0), (0, 0))
### And is constrained by this
joint_limit = 25
rot_limit = pm.SlideJoint(body, rot_limit_body, (-100, 0), (0, 0), 0,
joint_limit)
space.add(rot_center, rot_limit)
ticks_to_next_ball = 10
while running:
for event in pygame.event.get():
if event.type == QUIT:
running = False
elif event.type == KEYDOWN and event.key == K_ESCAPE:
running = False
elif event.type == KEYDOWN and event.key == K_p:
pygame.image.save(screen, "slide_and_pinjoint.png")
ticks_to_next_ball -= 1
if ticks_to_next_ball <= 0:
ticks_to_next_ball = 25
mass = 1
radius = 14
inertia = pm.moment_for_circle(mass, 0, radius, (0, 0))
body = pm.Body(mass, inertia)
x = random.randint(120, 380)
body.position = x, 550
shape = pm.Circle(body, radius, (0, 0))
space.add(body, shape)
balls.append(shape)
### Clear screen
screen.fill(THECOLORS["white"])
### Draw stuff
balls_to_remove = []
for ball in balls:
if ball.body.position.y < 150: balls_to_remove.append(ball)
p = to_pygame(ball.body.position)
pygame.draw.circle(screen, THECOLORS["blue"], p, int(ball.radius),
2)
for ball in balls_to_remove:
space.remove(ball, ball.body)
balls.remove(ball)
for line in lines:
body = line.body
pv1 = body.position + line.a.rotated(body.angle)
pv2 = body.position + line.b.rotated(body.angle)
p1 = to_pygame(pv1)
p2 = to_pygame(pv2)
pygame.draw.lines(screen, THECOLORS["lightgray"], False, [p1, p2],
4)
### The rotation center of the L shape
pygame.draw.circle(screen, THECOLORS["red"],
to_pygame(rot_center_body.position), 5)
### The limits where it can move.
pygame.draw.circle(screen, THECOLORS["green"],
to_pygame(rot_limit_body.position), joint_limit, 2)
### Update physics
dt = 1.0 / 50.0 / 10.0
for x in range(10):
space.step(dt)
### Flip screen
pygame.display.flip()
clock.tick(50)
def main():
if viz:
pygame.init()
screen = pygame.display.set_mode((1000, 1000))
pygame.display.set_caption("double_ball")
clock = pygame.time.Clock()
print(clock)
draw_options = pymunk.pygame_util.DrawOptions(screen)
space = pymunk.Space()
space.gravity = (0.0, 0.0)
item_details = []
items = []
def add_ball(pos, vel):
shape = create_ball(space, 1, 10, pos, vel, 0)
item_details.append(['obj', len(items), None])
items.append(shape)
return shape
# ticks_to_next_ball = 10
if simtype == 'none':
pos = [(random.randint(300, 700), random.randint(300, 700))
for i in range(2)]
vel = [(random.randint(-200, 200), random.randint(-200, 200))
for i in range(2)]
shapes = [add_ball(pos[i], vel[i]) for i in range(2)]
elif simtype == 'pin':
pos = [(random.randint(300, 700), random.randint(300, 700))
for i in range(2)]
vel = [(random.randint(-400, 400), random.randint(-400, 400))
for i in range(2)]
shapes = [add_ball(pos[i], vel[i]) for i in range(2)]
pin_joint = pymunk.PinJoint(shapes[0].body, shapes[1].body, (0, 0),
(0, 0))
item_details.append([
'con',
len(items),
['pin', items.index(shapes[0]),
items.index(shapes[1])]
])
items.append(pin_joint)
space.add(pin_joint)
elif simtype == 'slide':
pos = [(random.randint(300, 700), random.randint(300, 700))
for i in range(2)]
vel = [(random.randint(-400, 400), random.randint(-400, 400))
for i in range(2)]
shapes = [add_ball(pos[i], vel[i]) for i in range(2)]
cur_dist = ((pos[1][0] - pos[0][0])**2 +
(pos[1][1] - pos[0][1])**2)**(1 / 2)
mn = random.random() * cur_dist
mx = (1 + random.random()) * cur_dist
slide_joint = pymunk.SlideJoint(shapes[0].body, shapes[1].body, (0, 0),
(0, 0), mn, mx)
item_details.append([
'con',
len(items),
['slide',
items.index(shapes[0]),
items.index(shapes[1]), mn, mx]
])
items.append(slide_joint)
space.add(slide_joint)
elif simtype == 'spring-undamped':
pos = [(random.randint(300, 700), random.randint(300, 700))
for i in range(2)]
vel = [(random.randint(-200, 200), random.randint(-200, 200))
for i in range(2)]
shapes = [add_ball(pos[i], vel[i]) for i in range(2)]
rest_length = random.randint(0, 200)
stiffness = random.randint(4, 80)
spring_joint = pymunk.DampedSpring(shapes[0].body, shapes[1].body,
(0, 0), (0, 0), rest_length,
stiffness, 0)
item_details.append([
'con',
len(items),
[
'spring',
items.index(shapes[0]),
items.index(shapes[1]), rest_length, stiffness, 0
]
])
items.append(spring_joint)
space.add(spring_joint)
elif simtype == 'spring-damped':
pos = [(random.randint(300, 700), random.randint(300, 700))
for i in range(2)]
vel = [(random.randint(-200, 200), random.randint(-200, 200))
for i in range(2)]
shapes = [add_ball(pos[i], vel[i]) for i in range(2)]
rest_length = random.randint(0, 200)
stiffness = random.randint(10, 120)
damping = 0.1 / random.random()
spring_joint = pymunk.DampedSpring(shapes[0].body, shapes[1].body,
(0, 0), (0, 0), rest_length,
stiffness, damping)
item_details.append([
'con',
len(items),
[
'spring',
items.index(shapes[0]),
items.index(shapes[1]), rest_length, stiffness, damping
]
])
items.append(spring_joint)
space.add(spring_joint)
else:
sys.exit("ERROR: non-valid simulation type")
locations = []
timestep = 0
while True:
if not viz and timestep >= 200:
break
timestep += 1
if viz:
screen.fill((255, 255, 255))
for event in pygame.event.get():
if event.type == QUIT:
sys.exit(0)
elif event.type == KEYDOWN and event.key == K_ESCAPE:
sys.exit(0)
space.step(1 / 50.0)
if viz:
space.debug_draw(draw_options)
pygame.display.flip()
clock.tick(50)
else:
step_obj = []
for item in item_details:
if item[0] == 'obj':
pos = tuple(items[item[1]].body.position)
vel = tuple(items[item[1]].body.velocity)
step_obj.append([item[1], pos, vel])
locations.append(step_obj)
if not viz:
with open(os.path.join(data_folder, simtype + '_' + str(now) + '.pkl'),
'wb') as f:
constraints = []
for item in item_details:
if item[0] == 'con':
constraints.append([item[1]] + item[2])
save_data = {'obj': locations, 'con': constraints}
pickle.dump(save_data, f)
def testMax(self):
a, b = p.Body(10, 10), p.Body(20, 20)
j = p.SlideJoint(a, b, (0, 0), (0, 0), 0, 1)
self.assertEqual(j.max, 1)
j.max = 2
self.assertEqual(j.max, 2)
def testMin(self):
a, b = p.Body(10, 10), p.Body(20, 20)
j = p.SlideJoint(a, b, (0, 0), (0, 0), 1, 0)
self.assertEqual(j.min, 1)
j.min = 2
self.assertEqual(j.min, 2)
def main():
driver_type = 5
full_screen = False
stencil_buffer = False
vsync = False
run_app = True
from video_choice_dialog import has_pywingui
if has_pywingui:
from video_choice_dialog import ChoiceDialog, IDOK, IDCANCEL
dialog = ChoiceDialog()
dialog.driver_type = driver_type
dialog.full_screen = full_screen
dialog.stencil_buffer = stencil_buffer
dialog.vsync = vsync
dialogResult = dialog.DoModal()
if dialogResult == IDOK:
driver_type = dialog.driver_type
full_screen = dialog.full_screen
stencil_buffer = dialog.stencil_buffer
vsync = dialog.vsync
elif dialogResult == IDCANCEL:
run_app = False
if run_app:
import pymunk as pm
import os, math, random
X, Y, Z = 0, 1, 2 # Easy indexing
info_text = '\nJoints. Just wait and the L will tip over'
### Physics stuff
space = pm.Space()
space.gravity = 0.0, -900.0
## Balls
balls = []
### static stuff
rot_center_body = pm.Body()
rot_center_body.position = (300, 300)
### To hold back the L
rot_limit_body = pm.Body()
rot_limit_body.position = (200, 300)
### The moving L shape
l1 = [(-150, 0), (255.0, 0.0)]
l2 = [(-150.0, 0), (-150.0, 50.0)]
body = pm.Body(10, 10000)
body.position = (300, 300)
lines = [
pm.Segment(body, l1[0], l1[1], 5.0),
pm.Segment(body, l2[0], l2[1], 5.0)
]
space.add(body)
space.add(lines)
### The L rotates around this
rot_center = pm.PinJoint(body, rot_center_body, (0, 0), (0, 0))
### And is constrained by this
joint_limit = 25
rot_limit = pm.SlideJoint(body, rot_limit_body, (-100, 0), (0, 0), 0,
joint_limit)
space.add(rot_center, rot_limit)
ticks_to_next_ball = 10
screen_x, screen_y = 640, 480
def reverse_coords(p):
"""Small hack to convert pymunk to pygame coordinates"""
return p.x, -p.y + screen_y
### pyIrrlicht block
import pyirrlicht as irr
if not driver_type:
driver_type = irr.EDT_SOFTWARE
class UserIEventReceiver(irr.IEventReceiver):
KeyIsDown = {}
for key in range(irr.KEY_KEY_CODES_COUNT):
KeyIsDown[key] = False
def OnEvent(self, evt):
event = irr.SEvent(evt)
if event.EventType is irr.EET_KEY_INPUT_EVENT:
self.KeyIsDown[
event.KeyInput.Key] = event.KeyInput.PressedDown
return False
def IsKeyDown(self, keyCode):
return self.KeyIsDown[keyCode]
window_size = irr.dimension2du(screen_x, screen_y)
device = irr.createDevice(driver_type, window_size, 16, full_screen,
stencil_buffer, vsync)
if device:
window_caption = __doc__
device.setWindowCaption(window_caption)
device.setResizable(True)
video_driver = device.getVideoDriver()
scene_manager = device.getSceneManager()
gui_environment = device.getGUIEnvironment()
font = irr.CGUITTFont(
gui_environment, os.environ['SYSTEMROOT'] + '/Fonts/arial.ttf',
16)
if not font:
font = gui_environment.getBuiltInFont()
gui_environment.getSkin().setFont(font)
static_text = gui_environment.addStaticText(
window_caption + info_text, irr.recti(10, 10, screen_x - 20,
50), True)
color_red = irr.SColor(255, 255, 0, 0)
color_green = irr.SColor(255, 0, 255, 0)
color_blue = irr.SColor(255, 0, 0, 255)
color_black = irr.SColor(255, 0, 0, 0)
color_lightgray = irr.SColor(255, 200, 200, 200)
color_text = irr.SColor(255, 0, 0, 0)
color_screen = irr.SColor(255, 100, 100, 100)
lastFPS = -1
i_event_receiver = UserIEventReceiver()
device.setEventReceiver(i_event_receiver)
update_physics = False
while device.run():
if device.isWindowActive():
if i_event_receiver.IsKeyDown(irr.KEY_ESCAPE):
break
if device.getTimer().getTime() > 30:
ticks_to_next_ball -= 1
if ticks_to_next_ball <= 0:
ticks_to_next_ball = 25
mass = 1
radius = 14
inertia = pm.moment_for_circle(
mass, 0, radius, (0, 0))
body = pm.Body(mass, inertia)
x = random.randint(120, 380)
body.position = x, 550
shape = pm.Circle(body, radius, (0, 0))
space.add(body, shape)
balls.append(shape)
device.getTimer().setTime(0)
update_physics = True
### Draw stuff
if video_driver.beginScene(True, True, color_screen):
balls_to_remove = []
for ball in balls:
if ball.body.position.y < 150:
balls_to_remove.append(ball)
x1, y1 = reverse_coords(ball.body.position)
video_driver.draw2DPolygon_f(
x1, y1, ball.radius, color_blue)
for ball in balls_to_remove:
space.remove(ball, ball.body)
balls.remove(ball)
for line in lines:
body = line.body
pv1 = body.position + line.a.rotated(body.angle)
pv2 = body.position + line.b.rotated(body.angle)
x1, y1 = reverse_coords(pv1)
x2, y2 = reverse_coords(pv2)
video_driver.draw2DLine_f(x1, y1, x2, y2,
color_lightgray)
### The rotation center of the L shape
x, y = reverse_coords(rot_center_body.position)
video_driver.draw2DPolygon_f(x, y, 5, color_red)
### The limits where it can move.
x, y = reverse_coords(rot_limit_body.position)
video_driver.draw2DPolygon_f(x, y, joint_limit,
color_green, 100)
gui_environment.drawAll()
video_driver.endScene()
### Update physics
if update_physics:
dt = 1.0 / 50.0 / 10.0
for x in range(10):
space.step(dt)
update_physics = False
device.sleep(1)
fps = video_driver.getFPS()
if lastFPS != fps:
caption = '%s [%s] FPS:%d' % (
window_caption, video_driver.getName(), fps)
device.setWindowCaption(caption)
static_text.setText(caption + info_text)
lastFPS = fps
else:
device._yield()
device.closeDevice()
else:
print('ERROR createDevice')