def __init__(self, world, position, width=1.6, length=4.0, tire_width=.25, tire_length=.8, skidmarks=None, body_density=1.0):
mass = width * length * body_density
inertia = moment_for_box(mass, width, length)
self.world = world
body = Body(mass, inertia, )
body.position = position
shape = Poly.create_box(body, size=(width, length))
super(Car, self).__init__(world, body, shape)
slot_density = .01
slot_radius = .1
slot_mass = slot_density * (slot_radius ** 2) * pi
slot_inertia = moment_for_circle(slot_mass, 0.0, slot_radius)
#self.slot = Body(slot_mass, slot_inertia)
flpos = position[0] - width / 2.0 - tire_width * 2, position[1] + length / 2.0
self.front_left = Tire(self, flpos, tire_width, tire_length, skidmarks=skidmarks, powered=False, density=body_density)
frpos = position[0] + width / 2.0 + tire_width * 2, position[1] + length / 2.0
self.front_right = Tire(self, frpos, tire_width, tire_length, skidmarks=skidmarks, powered=False, density=body_density)
rlpos = position[0] - width / 2.0 - tire_width * 2, position[1] - length / 2.0
self.rear_left = Tire(self, rlpos, tire_width * 1.5, tire_length, steerable=False, skidmarks=skidmarks, density=body_density)
rrpos = position[0] + width / 2.0 + tire_width * 2, position[1] - length / 2.0
self.rear_right = Tire(self, rrpos, tire_width * 1.5, tire_length, steerable=False, skidmarks=skidmarks, density=body_density)
self.tires = [self.front_left, self.front_right, self.rear_left, self.rear_right]
class Platform(object):
def __init__(self, x, y, width=400, height=50):
self.width = width
self.height = height
verts = [
(- self.width / 2, - self.height / 2),# left top
(- self.width / 2, + self.height / 2),# left bottom
(+ self.width / 2, + self.height / 2),# right bottom
(+ self.width / 2, - self.height / 2),# right top
]
verts = map(Vec2d, verts)
self.mass = self.width * self.height * 1
self.body = Body(
self.mass, moment_for_poly(self.mass, verts))
self.body.position = (x, y)
self.start_pos = Vec2d(x, y)
self.shape = Poly(self.body, verts, (0, 0))
@property
def verts(self):
return self.shape.get_points()
@property
def centre(self):
verts = self.verts
return (verts[0] + verts[2]) / 2
def createShape(self, verticies):
assert len(verticies) >= 2
verticies = self.verticies = map(Vec2d, verticies)
if is_clockwise(verticies): # fix it if it is clockwise
average = sum(verticies) / len(verticies)
verticies.sort(key=lambda v: (average-v).get_angle())
assert not is_clockwise(verticies), 'OMG, my code is wrong! the poly points are still clockwise'
assert is_convex(verticies), 'Shape verticies must be convex!'
if len(verticies) in self.specialPolyTypes:
self.polyType = self.specialPolyTypes[len(verticies)]
else:
self.polyType = pg.GL_POLYGON
self.shape = Poly(self.body, verticies)
# note: collisionLayers and collisionType get created by physics.py
self.shape.layers = self.collisionLayers
self.shape.collision_type = self.collisionType
self.shapes = [self.shape]
bb = self.shape.cache_bb()
self.size = Vec2d(bb.right-bb.left, bb.top-bb.bottom)
def create_body(self):
verts = map(Vec2d, self.get_verts())
self.body = Body(self.mass, moment_for_poly(self.mass, verts))
self.body.position = (self.x, self.y)
self.shape = Poly(self.body, verts, (0, 0))
self.shape.layers = self.layers
# this is so you can get to it from collision handlers.
# eg. arbiter.shapes[0].parent
self.shape.parent = self
def __init__(self, space, rect, playfield=None):
super(PlungerAssembly, self).__init__()
self.chute_counter = 0
self.rect = pygame.Rect(0, 0, 0, 0)
spring_strength = 100 * plunger_mass
chute_opening = playfield.position + rect.center - (rect.width / 2 - ball_radius * 4, 0)
plunger_rect = pygame.Rect(0, 0, rect.width * .2, ball_radius / 2)
anchor0 = chute_opening - playfield.position - (ball_radius * 3, 0)
anchor1 = anchor0 + (rect.width * .8, 0)
anchor2 = -plunger_rect.width / 2, 0
plunger_body = Body(plunger_mass, pymunk.inf)
plunger_shape = Poly.create_box(plunger_body, plunger_rect.size)
plunger_shape.layers = 1
plunger_shape.friction = 0
plunger_shape.elasticity = 1.0
plunger_shape.collision_type = plunger_type
plunger_body.position = chute_opening + (plunger_rect.width / 2, 0)
j0 = GrooveJoint(playfield, plunger_body, anchor0, anchor1, anchor2)
j1 = DampedSpring(playfield, plunger_body, anchor0, anchor2, 0, spring_strength, 5)
s0 = Circle(Body(), ball_radius / 2)
s0.layers = 1
s0.sensor = True
s0.collision_type = sensor0_type
s0.body.position = chute_opening + (ball_radius * 4, 0)
s1 = Circle(Body(), ball_radius * 3)
s1.layers = 1
s1.sensor = True
s1.collision_type = sensor1_type
s1.body.position = chute_opening
def inc_counter(space, arbiter):
self.chute_counter += 1
return True
def dec_counter(space, arbiter):
self.chute_counter -= 1
f = space.add_collision_handler
f(sensor1_type, plunger_type, begin=inc_counter, separate=dec_counter)
self.playfield = playfield
self.plunger_offset = playfield.position - plunger_body.position + (ball_radius * 3, 0)
self.spring = j1
self.spring_length = rect.width / 2
self.spring_strength = spring_strength
self.plunger_body = plunger_body
self.ball_chute = pygame.Rect(0, 0, ball_radius * 2, ball_radius * 2)
self.ball_chute.center = chute_opening
self._original_image = pygame.Surface(plunger_rect.size)
self._original_image.fill((192, 255, 255))
self.shapes = [plunger_shape, s0, s1, j0, j1]
self.visible = 0
def _create_poly(self):
"""
Create the polygon used for ray-casting. (Ultrasonic sensor)
:return: a Pymunk Poly object.
"""
body = Body(body_type=Body.STATIC)
body.position = Vec2d(self.center_x, self.center_y)
return Poly.create_box(body, (self.width, self.height))
def init_space():
sp = Space()
sp.gravity = (0, 50)
chain = make_pivot_chain(sp, (0, 0), (240, 30), 30)
sp.add(constraint.PivotJoint(chain[0], sp.static_body, chain[0].position))
# Cria quadrado
L = 25
player = Body(mass=1, moment=100)
shape = Poly(player, [(-L, -L), (L, -L), (L, L), (-L, L)])
player.position = (90, 60)
player.velocity = (-25, 25)
shape.elasticity = 1.0
shape.color = pyxel.COLOR_RED
shape.collision_type = 42
ball = Body(mass=1, moment=200)
ball_shape = Circle(ball, 20)
ball.position = (player.position.x, 130)
ball_shape.elasticity = 1.0
shape.color = pyxel.COLOR_NAVY
ball_shape.collision_type = 42
joint1 = constraint.DampedSpring(player, ball, (0, 0), (20, 0), 20, 3, 0.5)
joint2 = constraint.PivotJoint(sp.static_body, player, (65, 35))
joint1.collide_bodies = False
sp.add(joint1, joint2)
body2 = Body(1, 100)
sp.add(body2)
sp.add(Poly(body2, [(-3, 3), (3, 3), (3, -3), (-3, -3)]))
body2.position = 220, 50
sp.add(constraint.DampedRotarySpring(body2, ball, 0, 2, 1))
sp.body2 = body2
# Cria margens
line = Body(body_type=Body.STATIC)
e = 0
lines = [
Segment(line, (-e, -e), (240 + e, -e), 2),
Segment(line, (-e, 180 + e), (240 + e, 180 + e), 2),
Segment(line, (-e, -e), (-e, 180 + e), 2),
Segment(line, (240 + e, -e), (240 + e, 180 + e), 2),
]
for line in lines:
line.elasticity = 1.0
lines = []
# Adiciona elementos ao espaço
sp.add(player, shape, ball, ball_shape, *lines)
sp.player = player
#handler = sp.add_collision_handler(42, 42)
#handler.begin = lambda *args: False
return sp
def __createPolyShape(self, info: 'Dict[str, Any]',
default_elasticity: float = None,
default_friction: float = None) -> 'pymunk.Shape':
points = tuple((point.get('x', 0), point.get('y', 0))
for point in info['Point'])
shape = Poly(None, points)
self.__setGeneralProperties(shape, info,
default_elasticity=default_elasticity,
default_friction=default_friction)
return shape
def __init__(self, center, width, height):
# Create body
body = Body(0, 0, Body.STATIC)
body.position = center
points = [Vec2d(width,height),Vec2d(-width,height),-Vec2d(width,height),Vec2d(width,-height)]
self.width = width
self.height = height
self.points = [p+center for p in points]
self.shape = Poly(body,points)
self.shape.color = (200, 200, 200)
self.shape.elasticity = 0.05
self.shape.collision_type = CollisionType.Obstacle
def create_body(self):
verts = self.get_verts()
self.body = Body(self.mass, moment_for_poly(self.mass, verts))
self.body.position = self.branch.tip()
self.shape = Poly(self.body, verts)
# platforms should only collide with other platforms and woger
self.shape.layers = self.layers
self.shape.group = self.group
self.shape.collision_type = CollisionType.BOUGH
self.shape.parent = self
def __init__(self, world, x=0, y=0, w=16, h=16, sprite="block"):
# x, y = int(x), int(y)
x, y = int(x - w / 2), int(y - h / 2)
# print(x, y)
shape = Poly(world.phys_space.static_body,
world.shapes.rect(w, h, x=x, y=y))
super().__init__(world, shape, x=x, y=y)
self.spriteobject = SpriteObject(world.get_texture(sprite),
x,
y,
w=w,
h=h,
batch="objects")
def __init__(self):
self.mass = 1 # 1 kg
# 0.1 meter radius, converted to pixels for display
#self.radius = 0.05 * M_TO_PIXELS
# Bupimo: 0.111 meter radius, converted to pixels for display
self.radius = 0.111 * M_TO_PIXELS
# moment of inertia for disk
rob_I = moment_for_circle(self.mass, 0, self.radius)
self.body = Body(self.mass, rob_I)
self.body.position = 0, 0
self.body.angle = 0
self.body.velocity = 0, 0
self.body.angular_velocity = 0
"""
self.shape = Circle(self.body, self.radius)
self.shape.color = 127, 0, 255 # a pinkish blue
self.shape.filter = ShapeFilter(categories = ROBOT_MASK)
"""
"""
r = self.radius
p = self.radius / 2.0 # Amount the wedge part pokes out.
vertices = [(r+p, r),
(-r/3, r),
(-r, 0),
(-r/3, -r),
(r/3, -r) ]
"""
r = self.radius
d = self.radius * 1.5 # Amount the wedge part pokes out.
vertices = [(0, -r),
(d, 0),
(0, r)]
# Now add the semicircular back part
n = 3
angles = [pi/2 + i*(pi/n) for i in range(1, n)]
for a in angles:
vertices.append((r*cos(a), r*sin(a)))
vertices = vertices[::-1]
self.shape = Poly(self.body, vertices)
self.shape.color = 127, 0, 255 # a pinkish blue
self.shape.filter = ShapeFilter(categories = ROBOT_MASK)
self.command = Twist()
def poly(self, vertices, *, radius=0, **kwargs):
"""
Creates polygon from the given list of vertices.
"""
cm = center_of_mass(vertices)
vertices = [v - cm for v in vertices]
body = self._make_body(**kwargs)
shape = Poly(body, vertices, radius=radius)
shape = self._make_shape(shape, **kwargs)
body.position = cm
self.space.add(body, shape)
return body
def __init__(self):
self.mass = 1 # 1 kg
# e-puck: 0.037 meter radius, converted to pixels for display
#self.radius = 3.7 * CM_TO_PIXELS
# Bupimo: 9 cm radius, converted to pixels for display
self.radius = 9 * CM_TO_PIXELS
self.circular = False;
if self.circular:
rob_I = moment_for_circle(self.mass, 0, self.radius)
self.body = Body(self.mass, rob_I)
self.shape = Circle(self.body, self.radius)
else:
r = self.radius
d = self.radius * 1.5 # Amount the wedge part pokes out.
vertices = [(0, -r),
(d, 0),
(0, r)]
#vertices = [(0, -r),
# (d/4, 0),
# (d/2, r)]
# Now add the semicircular back part
n = 5
angles = [pi/2 + i*(pi/n) for i in range(1, n)]
for a in angles:
vertices.append((r*cos(a), r*sin(a)))
rob_I = moment_for_poly(self.mass, vertices)
self.body = Body(self.mass, rob_I)
self.shape = Poly(self.body, vertices)
# EXPERIMENTAL: Add bristles to robot
# rest_length = 100
# stiffness = 500
# damping = 10
# self.bristle_body = pymunk.DampedSpring(self.body, body, \
# (0,0), (0,0), rest_length, stiffness, damping)
# self.sim.env.add(self.spring_body)
self.body.position = 0, 0
self.body.angle = 0
self.body.velocity = 0, 0
self.body.angular_velocity = 0
self.shape.color = 0, 255, 0
self.shape.filter = ShapeFilter(categories = ROBOT_MASK)
self.command = Twist()
def create_triangle(p1=(0, 0),
p2=(1, 0),
p3=(.5, .866),
x=0,
y=0,
m=1,
scalar=1,
bt=Body.DYNAMIC):
'''
given points (p1..p3), mass (m), x-position (x), y-position (y),
scalar <to augment default equilateral triangle>, body_type (bt),
The default values for p1,p2,p3 make an approx. equilateral triangle.
return (body, shape) tuple for a triangle
'''
vertices = (p1, p2, p3) # equilateral
vertices = tuple((v[0] * scalar, v[1] * scalar) for v in vertices)
shape = Poly(body=None, vertices=vertices) # will set body later
vertices = shape.get_vertices() # because Vec2d of vertices is needed
moment = moment_for_poly(mass=m, vertices=vertices)
body = Body(mass=m, moment=moment)
body.position = (x, y)
shape.body = body # set body here because init None above
return body, shape
def create_pentagon(p1=(0, 0),
p2=(2, 0),
p3=(3, 2),
p4=(1, 4),
p5=(-1, 2),
x=0,
y=0,
m=1,
scalar=1,
bt=Body.DYNAMIC):
'''
given points (p1..p5), mass (m), x-position (x), y-position (y),
scalar <to augment default points>, body_type (bt),
return (body, shape) tuple for a pentagon
'''
vertices = (p1, p2, p3, p4, p5)
vertices = tuple((v[0] * scalar, v[1] * scalar) for v in vertices)
shape = Poly(body=None, vertices=vertices) # will set body later
vertices = shape.get_vertices() # because Vec2d of vertices is needed
moment = moment_for_poly(mass=m, vertices=vertices)
body = Body(mass=m, moment=moment)
body.position = (x, y)
shape.body = body # set body here because init None above
return body, shape
def init_space():
sp = Space()
h = 20 * sqrt(2)
player = Body(mass=1, moment=400)
shape = Poly(player, [(-20, -h / 3), (20, -h / 3), (0, 2 / 3 * h)])
player.position = (90, 90)
shape.elasticity = 1.0
shape.color = pyxel.COLOR_YELLOW
line = Body(body_type=Body.STATIC)
lines = [
Segment(line, (0, 1), (240, 1), 2),
Segment(line, (0, 179), (240, 179), 2),
Segment(line, (1, 0), (1, 180), 2),
Segment(line, (239, 0), (239, 180), 2),
]
for line in lines:
line.elasticity = 1.0
line.color = pyxel.COLOR_PEACH
sp.add(player, shape, *lines)
sp.player = player
return sp
class GameRect(object):
def __init__(self, x, y, width, height):
self.x = x
self.y = y
self.width = width
self.height = height
self.mass = self.width * self.height / 10000
self.layers = LayerType.EVERYTHING # collide with everything
self.status = None
def get_verts(self):
return [
(+ self.width / 2, - self.height / 2), # right bottom
(- self.width / 2, - self.height / 2), # left bottom
(- self.width / 2, + self.height / 2), # left top
(+ self.width / 2, + self.height / 2), # right top
]
def create_body(self):
verts = map(Vec2d, self.get_verts())
self.body = Body(self.mass, moment_for_poly(self.mass, verts))
self.body.position = (self.x, self.y)
self.shape = Poly(self.body, verts, (0, 0))
self.shape.layers = self.layers
# this is so you can get to it from collision handlers.
# eg. arbiter.shapes[0].parent
self.shape.parent = self
def update(self):
pass
def add_to_space(self, space):
space.add(self.body)
space.add(self.shape)
def remove_from_space(self, space):
space.remove(self.body)
space.remove(self.shape)
@property
def verts(self):
"This is the position of the item's verts as calculated by pymunk"
return self.shape.get_points()
def __init__(self, x, y, width=400, height=50):
self.width = width
self.height = height
verts = [
(- self.width / 2, - self.height / 2),# left top
(- self.width / 2, + self.height / 2),# left bottom
(+ self.width / 2, + self.height / 2),# right bottom
(+ self.width / 2, - self.height / 2),# right top
]
verts = map(Vec2d, verts)
self.mass = self.width * self.height * 1
self.body = Body(
self.mass, moment_for_poly(self.mass, verts))
self.body.position = (x, y)
self.start_pos = Vec2d(x, y)
self.shape = Poly(self.body, verts, (0, 0))
class PhysicsEntity(GameEntity):
# PLEASE NOTE: every PhysicsEntity should be listed in
# game/physics.py ==> physicsEntities
groups = {'all', 'updating', 'game', 'physics'}
mass = 10.
moment = 30. # pymunk.moment_for_poly(mass, verticies)
level = None # The level that contains the physics Space
# this is for the following funciton
specialPolyTypes = {
2 : gl.GL_LINES,
3 : gl.GL_TRIANGLES,
4 : gl.GL_QUADS,
}
# creates a shape for the Entities physics body with the given verticies
def createShape(self, verticies):
assert len(verticies) >= 2
verticies = self.verticies = map(Vec2d, verticies)
if is_clockwise(verticies): # fix it if it is clockwise
average = sum(verticies) / len(verticies)
verticies.sort(key=lambda v: (average-v).get_angle())
assert not is_clockwise(verticies), 'OMG, my code is wrong! the poly points are still clockwise'
assert is_convex(verticies), 'Shape verticies must be convex!'
if len(verticies) in self.specialPolyTypes:
self.polyType = self.specialPolyTypes[len(verticies)]
else:
self.polyType = pg.GL_POLYGON
self.shape = Poly(self.body, verticies)
# note: collisionLayers and collisionType get created by physics.py
self.shape.layers = self.collisionLayers
self.shape.collision_type = self.collisionType
self.shapes = [self.shape]
bb = self.shape.cache_bb()
self.size = Vec2d(bb.right-bb.left, bb.top-bb.bottom)
def create_body(self):
verts = self.get_verts()
self.body = Body(self.mass, moment_for_poly(self.mass, verts))
root = Vec2d(0, 0)
if isinstance(self.parent, Branch):
root = self.parent.tip()
self.body.position = root - self.tail(verts)
self.shape = Poly(self.body, verts)
# branch should not collide with other branches, which will
# overlap slightly at the joints
self.shape.group = GroupType.BRANCH
# branches should collide only with ground
self.shape.layers = LayerType.BACKGROUND
self.collision_type = CollisionType.BRANCH
def create_rect(w=1, h=1, scalar=1, m=1, x=0, y=0, bt=Body.DYNAMIC):
'''
given the width (w), height (h), mass (m), x-position (x), y-position (y),
scalar <to augment default square>, and the body_type (bt).
returns a `rigid body` which is a shapeless object that
has physical properties (mass, position, rotation, velocity, etc)
ALSO returns a Poly which is the Shape that really gets drawn
'''
poly_size = (w * scalar, h * scalar)
poly = Poly.create_box(body=None, size=poly_size)
# moment depends on mass and size.
# bigger poly >> bigger moment.
# more massive >> bigger moment
moment_of_inertia = moment_for_poly(m, poly.get_vertices())
body = Body(mass=m, moment=moment_of_inertia, body_type=bt)
body.position = (x, y)
poly.body = body
return body, poly
class GameRect(object):
def __init__(self, x, y, width, height):
self.x = x
self.y = y
self.width = width
self.height = height
self.mass = self.width * self.height / 10000
self.layers = LayerType.EVERYTHING # collide with everything
self.status = None
def get_verts(self):
return [
(+self.width / 2, -self.height / 2), # right bottom
(-self.width / 2, -self.height / 2), # left bottom
(-self.width / 2, +self.height / 2), # left top
(+self.width / 2, +self.height / 2), # right top
]
def create_body(self):
verts = map(Vec2d, self.get_verts())
self.body = Body(self.mass, moment_for_poly(self.mass, verts))
self.body.position = (self.x, self.y)
self.shape = Poly(self.body, verts, (0, 0))
self.shape.layers = self.layers
# this is so you can get to it from collision handlers.
# eg. arbiter.shapes[0].parent
self.shape.parent = self
def update(self):
pass
def add_to_space(self, space):
space.add(self.body)
space.add(self.shape)
def remove_from_space(self, space):
space.remove(self.body)
space.remove(self.shape)
@property
def verts(self):
"This is the position of the item's verts as calculated by pymunk"
return self.shape.get_points()
def init_space():
sp = Space()
sp.gravity = (0, 50)
sp.damping = 1.0
floor = Body(body_type=Body.STATIC)
stick = Body(mass=100, moment=100 * 50**2)
L = 20
shapes = [
Poly(stick, [(-L, -L), (L, -L), (L, L), (0, L + L / 2), (-L, L)],
radius=3),
Segment(floor, (1, 179), (239, 179), 1),
Segment(floor, (1, 1), (239, 1), 1),
Segment(floor, (1, 1), (1, 179), 1),
Segment(floor, (239, 1), (239, 179), 1),
]
stick.position = (120, L)
bodies = []
for _ in range(L):
r = random.uniform(2, 6)
mass = pi * r**2
body = Body(mass=mass, moment=mass * r**2 / 2)
circle = Circle(body, r)
x = random.uniform(r, 240 - r)
y = random.uniform(r, 180 - r)
body.position = (x, y)
vx = random.uniform(-L, L)
vy = random.uniform(-L, L)
body.velocity = (vx, vy)
bodies.append(body)
shapes.append(circle)
circle.color = random.randint(1, 15)
for shape in shapes:
shape.elasticity = 1.0
sp.add(floor, stick, *bodies, *shapes)
return sp
def __init__(self, space, rect, playfield=None, win=False, returns=False):
super(Pocket, self).__init__()
color = (220, 100, 0)
inside = rect.inflate(-10, -10)
cover = Poly.create_box(playfield, inside.size, rect.center)
self.shapes = [cover]
if win:
self.shapes.extend((
Segment(playfield, rect.topleft, rect.bottomleft, 1),
Segment(playfield, rect.bottomleft, rect.bottomright, 1),
Segment(playfield, rect.bottomright, rect.topright, 1)))
self._original_image = pygame.Surface(rect.size, pygame.SRCALPHA)
pygame.draw.rect(self._original_image, color, rect)
self.rect = pygame.Rect(rect)
if win:
self.shape.collision_type = pocket_win_type
elif returns:
self.shape.collision_type = pocket_return_type
else:
self.shape.collision_type = pocket_fail_type
def __init__(self, space, rect, playfield=None, win=False, returns=False):
super(Pocket, self).__init__()
color = (220, 100, 0)
inside = rect.inflate(-10, -10)
cover = Poly.create_box(playfield, inside.size, rect.center)
self.shapes = [cover]
if win:
self.shapes.extend(
(Segment(playfield, rect.topleft, rect.bottomleft, 1),
Segment(playfield, rect.bottomleft, rect.bottomright, 1),
Segment(playfield, rect.bottomright, rect.topright, 1)))
self._original_image = pygame.Surface(rect.size, pygame.SRCALPHA)
pygame.draw.rect(self._original_image, color, rect)
self.rect = pygame.Rect(rect)
if win:
self.shape.collision_type = pocket_win_type
elif returns:
self.shape.collision_type = pocket_return_type
else:
self.shape.collision_type = pocket_fail_type
def __init__(self, car, position, width=10.0, length=20.0, steerable=True, skidmarks=None, powered=True, density=1.0):
world = car.world
self.steerable = steerable
self.powered = powered
self.skidding = False
mass = width * length * density
inertia = moment_for_box(mass, width, length)
self.world = world
body = Body(mass, inertia, )
body.position = position
shape= Poly.create_box(body, size=(width, length))
super(Tire, self).__init__(world, body, shape)
## self.bodyDef = box2d.b2BodyDef()
## self.bodyDef.position = position
## body = world.CreateBody(self.bodyDef)
## super(Tire, self).__init__(world, body)
## self.shapeDef = box2d.b2PolygonDef()
## self.shapeDef.density = 1
## self.shapeDef.SetAsBox(width, length)
## self.shap = self.body.CreateShape(self.shapeDef)
## self.body.SetMassFromShapes()
# our joint
joint = PivotJoint(self.body, car.body, self.position)
joint.error_bias = pow(1.0 - 0.1, 60.0) * 10
self.world.add(joint)
#joint = PinJoint(self.body, car.body)
#self.world.add(joint)
self.rot_joint = RotaryLimitJoint(self.body, car.body, 0, 0)
self.world.add(self.rot_joint)
def __init__(self,center,angle,type,team,goal):
# Params based on vehicle type
self.width = self.widths[type]
self.height = self.lengths[type]
mass = self.masses[type]
self.points = [Vec2d(self.height,self. width), Vec2d(-self.height, self.width),
-Vec2d(self.height, self.width), Vec2d(self.height, -self.width)]
inertia = moment_for_poly(mass,self.points)
# Basic params
self.type = type
self.team = team
self.goal = goal
# Flags
self.finished = False
self.crashed = False
# Direction
self.direction = Vec2d(1,0)
self.direction.rotate(angle)
# Position
self.position = LanePosition.OffRoad
# For reward
self.prevPos = center
# Create body
body = Body(mass, inertia, Body.DYNAMIC)
body.position = center
body.angle = angle
body.velocity_func = friction_car
self.shape = Poly(body, self.points)
self.shape.color = (0, 255, 0)
self.shape.elasticity = 0.05
self.shape.collision_type = CollisionType.Car
def __init__(self,
arm_anchor_points,
arm_segment_lengths,
target_position,
target_rotation=0,
do_render=False,
sparse=True,
object_size=OBJECT_SIZE):
super().__init__(do_render, sparse, MAX_MOTOR_FORCE)
self.target_size = TARGET_SIZE
self.target_position = target_position
self.target_rotation = target_rotation
self.space.gravity = (0.0, -900.0)
floor = pymunk.Segment(self.space.static_body,
(int(-5 * ENV_SIZE), int(0.17 * ENV_SIZE)),
(int(5 * ENV_SIZE), int(0.17 * ENV_SIZE)),
0.017 * ENV_SIZE)
floor.elasticity = 0.1
floor.friction = 0.5
floor.collision_type = NO_COLLISION_TYPE
self.space.add(floor)
for i, anchor_point in enumerate(arm_anchor_points):
self.add_arm(arm_segment_lengths[i], anchor_point)
self.object_size = (object_size, object_size)
object_mass = TARGET_MASS
object_moment = pymunk.moment_for_box(object_mass, self.object_size)
self.object_body = Body(object_mass, object_moment)
self.object_body.position = ENV_SIZE / 2, object_size / 2 + int(
0.187 * ENV_SIZE)
self.object_shape = Poly.create_box(self.object_body, self.object_size)
self.object_shape.elasticity = 0.1
self.object_shape.friction = 1.0
self.space.add(self.object_body, self.object_shape)
def __init__(self, x, y, mass=1):
super().__init__()
self.position = (x, y)
self.motors = []
self.shape = Poly(self, [(-30, -5), (+40, -5), (+30, +5), (-30, +10)],
radius=2)
self.shape.mass = mass
self.shape.visible = True
self.shape.color = pyxel.COLOR_RED
self.front_wheel = Wheel(+25, -6, self, mass=1 / 10)
self.back_wheel = Wheel(-20, -6, self, mass=1 / 10, radius=12)
self.motor_wheel = self.back_wheel
ref = self
self.carts = []
for _ in range(1):
ref = cart = Cart(-50, 10, ref)
self.carts.append(cart)
self.gear = 1
self.gear_ratios = [-1, 1, 2, 3, 5, 7]
def create_shape(self):
shape = Poly(self.body, self.item.geometry.verts, (0, 0))
shape.elasticity = 1.0
shape.friction = 0.0
return shape
def get_shape(self, body):
shape = Poly(body, self.verts, (0, 0))
shape.elasticity = 0.5
shape.friction = 10.0
return shape
def draw_shape_polygon(self,
body: pymunk.Body,
poly: pymunk.Poly,
color,
filled: bool = False) -> None:
self.draw_polygon_on_body(body, color, filled, poly.get_vertices())
