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)
