def create_body(self, pos):
x, y = pos
self.lend = self.create_left_end(pos)
self.segments = []
self.ends = []
if self.lend:
prevBody = self.lend.body
self.ends.append(self.lend)
else:
prevBody = None
for i in range(self.length):
sd = b2PolygonDef()
sd.SetAsBox(self.PIECE_LENGTH, self.radius)
sd.density = self.density
sd.friction = 1
sd.restitution = 0
sd.filter.groupIndex = -1
bd = b2BodyDef()
bd.linearDamping = 0
bd.angularDamping = 0.2
bd.position = (x + self.PIECE_LENGTH * 2 * i - self.PIECE_LENGTH, y)
body = world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
self.segments.append(body)
if prevBody:
jd = b2RevoluteJointDef()
anchor = (x + self.PIECE_LENGTH * (2 * i - 1), y)
jd.Initialize(prevBody, body, anchor)
world.CreateJoint(jd).getAsType()
prevBody = body
self.rend = self.create_right_end((x + self.PIECE_LENGTH * (self.length - 1) * 2, y))
if self.rend:
jd = b2RevoluteJointDef()
anchor = (x + self.PIECE_LENGTH * (self.length - 1) * 2, y)
jd.Initialize(prevBody, self.rend.body, anchor)
world.CreateJoint(jd).getAsType()
self.ends.append(self.rend)
def __init__(self):
super(Pinball, self).__init__()
# The ground
ground = self.world.CreateBody(
shapes=b2LoopShape(vertices=[(0, -2), (8, 6),
(8, 20), (-8, 20),
(-8, 6)]),
)
# Flippers
p1, p2 = (-2, 0), (2, 0)
fixture = b2FixtureDef(shape=b2PolygonShape(box=(1.75, 0.1)), density=1)
flipper = {'fixtures': fixture}
self.leftFlipper = self.world.CreateDynamicBody(
position=p1,
**flipper
)
self.rightFlipper = self.world.CreateDynamicBody(
position=p2,
**flipper
)
rjd = b2RevoluteJointDef(
bodyA=ground,
bodyB=self.leftFlipper,
localAnchorA=p1,
localAnchorB=(0, 0),
enableMotor=True,
enableLimit=True,
maxMotorTorque=1000,
motorSpeed=0,
lowerAngle=-30.0 * b2_pi / 180.0,
upperAngle=5.0 * b2_pi / 180.0,
)
self.leftJoint = self.world.CreateJoint(rjd)
rjd.motorSpeed = 0
rjd.localAnchorA = p2
rjd.bodyB = self.rightFlipper
rjd.lowerAngle = -5.0 * b2_pi / 180.0
rjd.upperAngle = 30.0 * b2_pi / 180.0
self.rightJoint = self.world.CreateJoint(rjd)
# Ball
self.ball = self.world.CreateDynamicBody(
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=0.2),
density=1.0),
bullet=True,
position=(1, 15))
self.pressed = False
def pick_up(self, body, pos):
if self.joint:
return
# jd = b2DistanceJointDef()
# jd.Initialize(self.body, body, b2Vec2(0.65, 0), b2Vec2(0, 4))
# jd.length = 0.5
jd = b2RevoluteJointDef()
jd.Initialize(self.body, body, self.body.position)
self.joint = world.CreateJoint(jd).getAsType()
def spawn_heli(hx, hy):
global heli, cable, hook
heli = Heli((hx, hy + 3.5))
cable = Cable((hx + 3, hy + 1.5))
jd = b2RevoluteJointDef()
jd.Initialize(heli.body, cable.segments[0], (hx + 1, hy + 1.5))
heli.cable_joint = world.CreateJoint(jd).getAsType()
objects.append(heli)
objects.append(cable)
hook = cable.rend
def create_body(self, pos):
pos = b2Vec2(*pos)
super(Truck, self).create_body(pos)
self.wheels = []
self.joints = []
for i, p in enumerate(self.WHEEL_POSITIONS):
p = pos + p
w = Wheel(p)
jdef = b2RevoluteJointDef()
jdef.enableMotor = i < 2
jdef.motorSpeed = 0
jdef.maxMotorTorque = 6000
jdef.Initialize(self.body, w.body, p)
j = world.CreateJoint(jdef).asRevoluteJoint()
self.joints.append(j)
self.wheels.append(w)
def setup_scene():
global batch, heli, hook
batch = pyglet.graphics.Batch()
# Gradient sky
l, b = world_to_screen((0, FLOOR))
r, t = world_to_screen((W, H))
horizon = 177 / 255.0, 202 / 255.0, 1.0
zenith = 68 / 255.0, 0.5, 1.0
batch.add(4, gl.GL_QUADS, None,
('v2f', [l, b, l, t, r, t, r, b]),
('c3f', sum([horizon, zenith, zenith, horizon], ())),
)
# Create the ground
group = pyglet.sprite.SpriteGroup(
earth_tex, gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA
)
l, b = world_to_screen((0, 0))
r, t = world_to_screen((W, FLOOR))
batch.add(4, gl.GL_QUADS, group,
('v2f', [l, b, l, t, r, t, r, b]),
('t2f', [0, 0.5, 0, 1, 10, 1, 10, 0.5]),
)
heli = Heli((20, FLOOR + 3.5))
cable = Cable((23, FLOOR + 1.5))
jd = b2RevoluteJointDef()
jd.Initialize(heli.body, cable.segments[0], (21, FLOOR + 1.5))
heli.cable_joint = world.CreateJoint(jd).getAsType()
objects.append(Crate((60, FLOOR + 2)))
objects.append(heli)
objects.append(cable)
hook = cable.rend
def __init__(self, world, pos=None):
if (pos is None):
pos = b2Vec2(0, 0)
self.m_tires = []
# create car body
bodyDef = b2BodyDef()
bodyDef.type = b2_dynamicBody
bodyDef.restitution = 0.1
bodyDef.position = pos
self.m_body = world.CreateBody(bodyDef)
self.m_body.angularDamping = 5
self.m_body.linearDamping = 1
vertices = []
for i in xrange(4):
vertices.append(b2Vec2())
vertices[0].Set(-5.6, 0)
vertices[1].Set(-5.6, 20)
vertices[2].Set(5.6, 20)
vertices[3].Set(5.6, 0)
'''
vertices[0].Set(3, 0)
vertices[1].Set(6, 5)
vertices[2].Set(5.6, 11)
vertices[3].Set(2, 20)
vertices[4].Set(-2, 20)
vertices[5].Set(-5.6, 11)
vertices[6].Set(-6, 5)
vertices[7].Set(-3, 0)
'''
polygonShape = b2PolygonShape(vertices=vertices)
self.m_body.CreateFixture(
shape=polygonShape,
density=100.0,
)
# prepare common joint parameters
jointDef = b2RevoluteJointDef()
jointDef.bodyA = self.m_body
jointDef.enableLimit = True
jointDef.lowerAngle = 0
jointDef.upperAngle = 0
jointDef.localAnchorB.SetZero() # center of tire
maxForwardSpeed = 150
maxBackwardSpeed = -40
backTireMaxDriveForce = 50
frontTireMaxDriveForce = 100
backTireMaxLateralImpulse = 1.5
frontTireMaxLateralImpulse = 0.5
# back left tire
tire = TDTire(world, self)
tire.setCharacteristics(
maxForwardSpeed,
maxBackwardSpeed,
backTireMaxDriveForce,
backTireMaxLateralImpulse)
jointDef.bodyB = tire.m_body
jointDef.localAnchorA.Set(-6, 1.5)
world.CreateJoint(jointDef)
self.m_tires.append(tire)
# back right tire
tire = TDTire(world, self)
tire.setCharacteristics(
maxForwardSpeed,
maxBackwardSpeed,
backTireMaxDriveForce,
backTireMaxLateralImpulse)
jointDef.bodyB = tire.m_body
jointDef.localAnchorA.Set(6, 1.5)
world.CreateJoint(jointDef)
self.m_tires.append(tire)
# front left tire
tire = TDTire(world, self)
tire.setCharacteristics(
maxForwardSpeed,
maxBackwardSpeed,
frontTireMaxDriveForce,
frontTireMaxLateralImpulse)
jointDef.bodyB = tire.m_body
jointDef.localAnchorA.Set(-6, 17)
self.flJoint = world.CreateJoint(jointDef)
self.m_tires.append(tire)
# front right tire
tire = TDTire(world, self)
tire.setCharacteristics(
maxForwardSpeed,
maxBackwardSpeed,
frontTireMaxDriveForce,
frontTireMaxLateralImpulse)
jointDef.bodyB = tire.m_body
jointDef.localAnchorA.Set(6, 17)
self.frJoint = world.CreateJoint(jointDef)
self.m_tires.append(tire)
(-50, 10))
chass_b = Polygon(vertices=vert_b, colour=(1.00, 0.25, 0.25),
density=20, friction=0.6)
chass_t = Polygon(vertices=vert_t, colour=(0.25, 0.25, 1.00),
density=5, friction=0.6)
chassis = world.create_body((0, 15), chass_b, chass_t)
circ_r = Circle(5, colour=(0.50, 0.50, 0.75), density=40, friction=0.8)
circ_f = Circle(5, colour=(0.75, 0.50, 0.50), density=40, friction=0.8)
wheel_r = world.create_body((-55, 5), circ_r)
wheel_f = world.create_body((-15, 5), circ_f)
jd = b2RevoluteJointDef()
jd.Initialize(chassis, wheel_r, wheel_r.GetWorldCenter())
jd.enableMotor = True
jd.maxMotorTorque = 50000
drive = world.create_joint(jd)
jd.Initialize(chassis, wheel_f, wheel_f.GetWorldCenter())
world.create_joint(jd)
window = Window(world, caption='Cayley', resizable=True, visible=False)
window.set_screen_margin(0.1)
window.focus_camera(0, 200)
window.set_visible()
window.center_on_screen()
clock.schedule_interval(world.update, 1/60.)
