def createWorld(self, world):
world.setGravity(Vector2(0, 0))
k_restitution = 0.4
bd = BodyDef()
bd.position.set(0, 20)
ground = world.createBody(bd)
shape = EdgeShape()
sd = FixtureDef()
sd.shape = shape
sd.density = 0
sd.restitution = k_restitution
shape.set(Vector2(-20, -20), Vector2(-20, 20))
ground.createFixture(sd)
shape.set(Vector2(20, -20), Vector2(20, 20))
ground.createFixture(sd)
shape.set(Vector2(-20, 20), Vector2(20, 20))
ground.createFixture(sd)
shape.set(Vector2(-20, -20), Vector2(20, -20))
ground.createFixture(sd)
shape.dispose()
xf1 = Transform(Vector2(), 0.3524 * Math.PI)
xf1.setPosition(xf1.mul(Vector2(1, 0)))
vertices = [None, None, None]
vertices[0] = xf1.mul(Vector2(-1, 0))
vertices[1] = xf1.mul(Vector2(1, 0))
vertices[2] = xf1.mul(Vector2(0, 0.5))
poly1 = PolygonShape()
poly1.set(vertices)
sd1 = FixtureDef()
sd1.shape = poly1
sd1.density = 4.0
xf2 = Transform(Vector2(), -0.3524 * Math.PI)
xf2.setPosition(xf2.mul(Vector2(-1, 0)))
vertices[0] = xf2.mul(Vector2(-1, 0))
vertices[1] = xf2.mul(Vector2(1, 0))
vertices[2] = xf2.mul(Vector2(0, 0.5))
poly2 = PolygonShape()
poly2.set(vertices)
sd2 = FixtureDef()
sd2.shape = poly2
sd2.density = 2.0
bd = BodyDef()
bd.type = BodyType.DynamicBody
bd.angularDamping = 5.0
bd.linearDamping = 0.1
bd.position.set(0, 2)
bd.angle = Math.PI
bd.allowSleep = False
self.m_body = world.createBody(bd)
self.m_body.createFixture(sd1)
self.m_body.createFixture(sd2)
poly1.dispose()
poly2.dispose()
shape = PolygonShape()
shape.setAsBox(0.5, 0.5)
fd = FixtureDef()
fd.shape = shape
fd.density = 1.0
fd.friction = 0.3
for i in range(10):
bd = BodyDef()
bd.type = BodyType.DynamicBody
bd.position.set(0, 5 + 1.54 * i)
body = world.createBody(bd)
body.createFixture(fd)
gravity = 10.0
I = body.getInertia()
mass = body.getMass()
radius = Math.sqrt(2 * I / mass)
jd = FrictionJointDef()
jd.localAnchorA.set(0, 0)
jd.localAnchorB.set(0, 0)
jd.bodyA = ground
jd.bodyB = body
jd.collideConnected = True
jd.maxForce = mass * gravity
jd.maxTorque = mass * radius * gravity
world.createJoint(jd)
shape.dispose()
def createWorld(self, world):
shape = EdgeShape()
shape.set(Vector2(-40.0, 0), Vector2(40, 0))
fd = FixtureDef()
fd.shape = shape
fd.friction = 0.3
bd = BodyDef()
ground = world.createBody(bd)
ground.createFixture(fd)
shape.dispose()
vertices = []
vertices.append(Vector2(-1, 0))
vertices.append(Vector2(1, 0))
vertices.append(Vector2(0, 2))
polygon = PolygonShape()
polygon.set(vertices)
triangleShapeDef = FixtureDef()
triangleShapeDef.shape = polygon
triangleShapeDef.density = 1.0
triangleShapeDef.filter.groupIndex = self.k_smallGroup
triangleShapeDef.filter.categoryBits = self.k_triangleCategory
triangleShapeDef.filter.maskBits = self.k_triangleMask
triangleBodyDef = BodyDef()
triangleBodyDef.type = BodyType.DynamicBody
triangleBodyDef.position.set(-5, 2)
body1 = world.createBody(triangleBodyDef)
body1.createFixture(triangleShapeDef)
vertices[0].scl(2)
vertices[1].scl(2)
vertices[2].scl(2)
polygon.set(vertices)
triangleShapeDef.filter.groupIndex = self.k_largeGroup
triangleBodyDef.position.set(-5, 6)
triangleBodyDef.fixedRotation = True
body2 = world.createBody(triangleBodyDef)
body2.createFixture(triangleShapeDef)
bd = BodyDef()
bd.type = BodyType.DynamicBody
bd.position.set(-5, 10)
body = world.createBody(bd)
p = PolygonShape()
p.setAsBox(0.5, 1.0)
body.createFixture(p, 1)
jd = PrismaticJointDef()
jd.bodyA = body2
jd.bodyB = body
jd.enableLimit = True
jd.localAnchorA.set(0, 4)
jd.localAnchorB.set(0, 0)
jd.localAxisA.set(0, 1)
jd.lowerTranslation = -1
jd.upperTranslation = 1
world.createJoint(jd)
p.dispose()
polygon.setAsBox(1, 0.5)
boxShapeDef = FixtureDef()
boxShapeDef.shape = polygon
boxShapeDef.density = 1
boxShapeDef.restitution = 0.1
boxShapeDef.filter.groupIndex = self.k_smallGroup
boxShapeDef.filter.categoryBits = self.k_boxCategory
boxShapeDef.filter.maskBits = self.k_boxMask
boxBodyDef = BodyDef()
boxBodyDef.type = BodyType.DynamicBody
boxBodyDef.position.set(0, 2)
body3 = world.createBody(boxBodyDef)
body3.createFixture(boxShapeDef)
polygon.setAsBox(2, 1)
boxShapeDef.filter.groupIndex = self.k_largeGroup
boxBodyDef.position.set(0, 6)
body4 = world.createBody(boxBodyDef)
body4.createFixture(boxShapeDef)
circle = CircleShape()
circle.setRadius(1)
circleShapeDef = FixtureDef()
circleShapeDef.shape = circle
circleShapeDef.density = 1.0
circleShapeDef.filter.groupIndex = self.k_smallGroup
circleShapeDef.filter.categoryBits = self.k_circleCategory
circleShapeDef.filter.maskBits = self.k_circleMask
circleBodyDef = BodyDef()
circleBodyDef.type = BodyType.DynamicBody
circleBodyDef.position.set(5, 2)
body5 = world.createBody(circleBodyDef)
body5.createFixture(circleShapeDef)
circle.setRadius(2)
circleShapeDef.filter.groupIndex = self.k_largeGroup
circleBodyDef.position.set(5, 6)
body6 = world.createBody(circleBodyDef)
body6.createFixture(circleShapeDef)