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._a = a
self._b = b
self._joint = cp.cpPinJointNew(a._body, b._body, anchr1, anchr2)
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, 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 get_initial_state(self):
# return first state
self.space = space = cp.cpSpaceNew()
space.contents.gravity = vec2d(0.0, -900.0)
space.contents.damping = 0.01
cp.cpSpaceResizeStaticHash(space, 50.0, 200)
cp.cpSpaceResizeActiveHash(space, 50.0, 10)
self.ball = ball = Ball(space, 5, 10, pos=(310, 180))
self.floor = Wall(space, (-60000,40), (60000,40))
self.base = base = Box(space, 5, 50, 20, (300,100))
cp.cpResetShapeIdCounter()
joint = cp.cpPinJointNew(
ball.body, base.body, vec2d(0,0), vec2d(0,0)
)
self.save_angle()
cp.cpSpaceAddJoint(space, joint)
if self.rl.episodes%100==0:
self.save()
return self.get_state()
