class Meta:
bodyA = XmlAttr("bodyA", String(), required=True)
bodyB = XmlAttr("bodyB", String(), required=True)
anchor = XmlAttr("anchor", Tuple(Float(), Float()))
localAnchorA = XmlAttr("localAnchorA", Tuple(Float(), Float()))
localAnchorB = XmlAttr("localAnchorB", Tuple(Float(), Float()))
axis = XmlAttr("axis", Tuple(Float(), Float()))
limit = XmlAttr("limit", Tuple(Angle(), Angle()))
ctrllimit = XmlAttr("ctrllimit", Tuple(Angle(), Angle()))
typ = XmlAttr("type",
Choice("revolute", "friction", "prismatic"),
required=True)
name = XmlAttr("name", String())
motor = XmlAttr("motor", Bool())
class Meta:
color = XmlAttr("color", List(Float()))
name = XmlAttr("name", String())
typ = XmlAttr("type",
Choice("static", "kinematic", "dynamic"),
required=True)
fixtures = XmlChildren("fixture", lambda: XmlFixture)
position = XmlAttr("position", Point2D())
class Meta:
typ = XmlAttr(
"type",
Choice(
"xpos",
"ypos",
"xvel",
"yvel",
"apos",
"avel",
"dist",
"angle",
))
transform = XmlAttr("transform", Choice("id", "sin", "cos"))
body = XmlAttr("body", String())
to = XmlAttr("to", String())
joint = XmlAttr("joint", String())
local = XmlAttr("local", Point2D())
com = XmlAttr("com", List(String()))
class Meta:
typ = XmlAttr("type", Choice("force", "torque"), required=True)
body = XmlAttr("body",
String(),
help="name of the body to apply force on")
bodies = XmlAttr("bodies",
List(String()),
help="names of the bodies to apply force on")
joint = XmlAttr("joint", String(), help="name of the joint")
anchor = XmlAttr(
"anchor",
Point2D(),
help="location of the force in local coordinate frame")
direction = XmlAttr(
"direction",
Point2D(),
help="direction of the force in local coordinate frame")
ctrllimit = XmlAttr("ctrllimit",
Tuple(Float(), Float()),
help="limit of the control input in Newton")