def __init__(self):
super(BoxCutter, self).__init__()
# The ground
self.ground = self.world.CreateStaticBody(
userData='ground',
shapes=[
b2EdgeShape(vertices=[(-50, 0), (50, 0)]),
b2EdgeShape(vertices=[(-50, 0), (-50, 10)]),
b2EdgeShape(vertices=[(50, 0), (50, 10)]),
]
)
self.laser_body = self.world.CreateDynamicBody(
userData='laser',
position=(0, 2),
fixtures=b2FixtureDef(
density=4.0,
shape=b2PolygonShape(box=(LASER_HALF_WIDTH, 1))
)
)
for i in range(2):
self.world.CreateDynamicBody(
userData=LASER_SPLIT_TAG,
position=(3.0 + i * 6, 8),
fixtures=b2FixtureDef(
density=5.0,
shape=b2PolygonShape(box=(3, 3))
)
)
def __init__(self):
super(VerticalStack, self).__init__()
columns = 5
rows = 16
ground = self.world.CreateStaticBody(shapes=[
b2EdgeShape(vertices=[(-40, 0), (40, 0)]),
b2EdgeShape(vertices=[(20, 0), (20, 20)]),
])
box = b2FixtureDef(shape=b2PolygonShape(box=(0.5, 0.5)),
density=1,
friction=0.3)
circle = b2FixtureDef(shape=b2CircleShape(radius=0.5),
density=1,
friction=0.3)
box_start = -10
box_space = 2.5
circle_start = 8
circle_space = 2.5
for j in range(columns):
for i in range(rows):
self.world.CreateDynamicBody(
fixtures=box,
position=(box_start + box_space * j, 0.752 + 1.54 * i))
self.world.CreateDynamicBody(
fixtures=circle,
position=(circle_start + circle_space * j,
0.752 + 1.54 * i))
def __init__(self):
super(Bridge, self).__init__()
# The ground
ground = self.world.CreateBody(
shapes=b2EdgeShape(vertices=[(-40, 0), (40, 0)])
)
create_bridge(self.world, ground, (1.0, 0.25),
(-14.5, 5), self.numPlanks, 0.2, 20)
fixture = b2FixtureDef(
shape=b2PolygonShape(vertices=[(-0.5, 0.0),
(0.5, 0.0),
(0.0, 1.5),
]),
density=1.0
)
for i in range(2):
self.world.CreateDynamicBody(
position=(-8 + 8 * i, 12),
fixtures=fixture,
)
fixture = b2FixtureDef(shape=b2CircleShape(radius=0.5), density=1)
for i in range(3):
self.world.CreateDynamicBody(
position=(-6 + 6 * i, 10),
fixtures=fixture,
)
def __init__(self):
super(OneSidedPlatform, self).__init__()
# The ground
ground = self.world.CreateBody(shapes=b2EdgeShape(vertices=[(-20,
0), (20,
0)]))
# The platform
half_height = 0.5
ypos = 10
body = self.world.CreateBody(position=(0, ypos),
shapes=b2PolygonShape(box=(3,
half_height)))
self.platform = body.fixtures[0]
# The circular character
self.character_radius = 0.5
body = self.world.CreateDynamicBody(
position=(0, 12),
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=self.character_radius),
density=1.0),
)
self.character = body.fixtures[0]
body.linearVelocity = (0, -50)
self.bottom = ypos - half_height # The bottom of the platform
self.top = ypos + half_height # The top of the platform
self.state = 'unknown'
def __init__(self):
super(RocketDemo, self).__init__()
self.settings.drawJoints = False
self.settings.drawMenu = False
self.settings.drawStats = False
self.settings.velocityIterations = 3
self.settings.positionIterations = 1
self.settings.hz = 20.0
self.redrawInterval = 0
# self.world.gravity = b2Vec2(0.0, 0.0)
self.rockets = []
# self.genetic = Genetic(
# lambda chromosomes: self.startEpoch(chromosomes),
# PControlChromosome)
self.genetic = IslandGenetic(
lambda chromosomes: self.startEpoch(chromosomes),
IslandChromosome) # THIS IS FOR ISLAND GENETIC ALGORITHM
self.world.CreateBody(
shapes=b2EdgeShape(vertices=[(-20, -2), (20, -2)]))
self.target = self.createTarget((0, 60))
def __init__(self):
Framework.__init__(self)
self.using_contacts = True
ground = self.world.CreateStaticBody(
shapes=[b2EdgeShape(vertices=[(-20, 0), (20, 0)])],
)
# Platform
self.platform = self.world.CreateStaticBody(
position=(-5, 5),
allowSleep=False,
fixtures=b2FixtureDef(friction=0.8,
shape=b2PolygonShape(box=(10.0, 5.0)),),
)
self.platform_fixture = self.platform.fixtures[0]
# Boxes
for i in range(5):
self.platform = self.world.CreateDynamicBody(
position=(-10.0 + 2.0 * i, 7.0),
fixtures=b2FixtureDef(density=20.0,
shape=b2PolygonShape(box=(0.5, 0.5)),),
)
def __init__(self):
super(Bridge, self).__init__()
# The ground
ground = self.world.CreateBody(shapes=b2EdgeShape(vertices=[(-40,
0), (40,
0)]))
create_bridge(self.world, ground, (1.0, 0.25), (-14.5, 5),
self.numPlanks, 0.2, 20)
fixture = b2FixtureDef(shape=b2PolygonShape(vertices=[
(-0.5, 0.0),
(0.5, 0.0),
(0.0, 1.5),
]),
density=1.0)
for i in range(2):
self.world.CreateDynamicBody(
position=(-8 + 8 * i, 12),
fixtures=fixture,
)
fixture = b2FixtureDef(shape=b2CircleShape(radius=0.5), density=1)
for i in range(3):
self.world.CreateDynamicBody(
position=(-6 + 6 * i, 10),
fixtures=fixture,
)
def __init__(self):
super(OneSidedPlatform, self).__init__()
# The ground
ground = self.world.CreateBody(
shapes=b2EdgeShape(vertices=[(-20, 0), (20, 0)])
)
# The platform
half_height = 0.5
ypos = 10
body = self.world.CreateBody(
position=(0, ypos),
shapes=b2PolygonShape(box=(3, half_height))
)
self.platform = body.fixtures[0]
# The circular character
self.character_radius = 0.5
body = self.world.CreateDynamicBody(
position=(0, 12),
fixtures=b2FixtureDef(shape=b2CircleShape(
radius=self.character_radius), density=1.0),
)
self.character = body.fixtures[0]
body.linearVelocity = (0, -50)
self.bottom = ypos - half_height # The bottom of the platform
self.top = ypos + half_height # The top of the platform
self.state = 'unknown'
def createWorld(self):
self._isLiving = True
self._auto = True
self._pid_control = PIDControl(1, 0.05, 0.1) # kp, ki, kd
self.ground = self.world.CreateBody(
shapes=b2EdgeShape(vertices=[(-25, 0), (25, 0)])
)
self.carBody = self.world.CreateDynamicBody(
position=(0, 3),
fixtures=b2FixtureDef(
shape=b2PolygonShape(box=(5, 1)), density=1)
)
self.carLwheel = self.world.CreateDynamicBody(
position=(-3, 1),
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=1), density=2, friction=1)
)
self.carRwheel = self.world.CreateDynamicBody(
position=(3, 1),
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=1), density=2, friction=1)
)
self.pendulum = self.world.CreateDynamicBody(
position=(0, 13),
fixtures=b2FixtureDef(
shape=b2PolygonShape(box=(0.5, 10)), density=1),
)
self.pendelumJoin = self.world.CreateRevoluteJoint(
bodyA=self.carBody,
bodyB=self.pendulum,
anchor=(0, 3),
maxMotorTorque=1,
enableMotor=True
)
self.pendelumRJoin =self.world.CreateRevoluteJoint(
bodyA=self.carBody,
bodyB=self.carRwheel,
anchor=(3, 1),
maxMotorTorque=1,
enableMotor=True,
)
self.pendelumLJoin = self.world.CreateRevoluteJoint(
bodyA=self.carBody,
bodyB=self.carLwheel,
anchor=(-3, 1),
maxMotorTorque=1,
enableMotor=True,
)
def __init__(self):
Framework.__init__(self)
self.using_contacts = True
ground = self.world.CreateStaticBody(
shapes=[b2EdgeShape(vertices=[(-20, 0), (20, 0)])], )
# Platform
self.platform = self.world.CreateStaticBody(
position=(-5, 5),
allowSleep=False,
fixtures=b2FixtureDef(
friction=0.8,
shape=b2PolygonShape(box=(10.0, 5.0)),
),
)
self.platform_fixture = self.platform.fixtures[0]
# Boxes
for i in range(5):
self.platform = self.world.CreateDynamicBody(
position=(-10.0 + 2.0 * i, 7.0),
fixtures=b2FixtureDef(
density=20.0,
shape=b2PolygonShape(box=(0.5, 0.5)),
),
)
def __init__(self):
super(Raycast, self).__init__()
self.world.gravity = (0, 0)
# The ground
ground = self.world.CreateBody(shapes=b2EdgeShape(vertices=[(-40, 0), (40, 0)]))
# The various shapes
w = 1.0
b = w / (2.0 + sqrt(2.0))
s = sqrt(2.0) * b
self.shapes = [
b2PolygonShape(vertices=[(-0.5, 0), (0.5, 0), (0, 1.5)]),
b2PolygonShape(vertices=[(-0.1, 0), (0.1, 0), (0, 1.5)]),
b2PolygonShape(
vertices=[
(0.5 * s, 0),
(0.5 * w, b),
(0.5 * w, b + s),
(0.5 * s, w),
(-0.5 * s, w),
(-0.5 * w, b + s),
(-0.5 * w, b),
(-0.5 * s, 0.0),
]
),
b2PolygonShape(box=(0.5, 0.5)),
b2CircleShape(radius=0.5),
]
self.angle = 0
self.callbacks = [RayCastClosestCallback, RayCastAnyCallback, RayCastMultipleCallback]
self.callback_class = self.callbacks[0]
def __init__(self):
super(Pyramid, self).__init__()
# The ground
ground = self.world.CreateStaticBody(shapes=b2EdgeShape(
vertices=[(-40, 0), (40, 0)]))
box_half_size = (0.5, 0.5)
box_density = 5.0
box_rows = 20
x = b2Vec2(-7, 0.75)
deltaX = (0.5625, 1.25)
deltaY = (1.125, 0)
for i in range(box_rows):
y = x.copy()
for j in range(i, box_rows):
self.world.CreateDynamicBody(
position=y,
fixtures=b2FixtureDef(
shape=b2PolygonShape(box=box_half_size),
density=box_density))
y += deltaY
x += deltaX
def __init__(self):
super(Pyramid, self).__init__()
# The ground
ground = self.world.CreateStaticBody(
shapes=b2EdgeShape(vertices=[(-40, 0), (40, 0)])
)
box_half_size = (0.5, 0.5)
box_density = 5.0
box_rows = 20
x = b2Vec2(-7, 0.75)
deltaX = (0.5625, 1.25)
deltaY = (1.125, 0)
for i in range(box_rows):
y = x.copy()
for j in range(i, box_rows):
self.world.CreateDynamicBody(
position=y,
fixtures=b2FixtureDef(
shape=b2PolygonShape(box=box_half_size),
density=box_density)
)
y += deltaY
x += deltaX
def __init__(self):
super(Spring, self).__init__()
ground = self.world.CreateStaticBody(
position=(0, 0),
shapes=[b2EdgeShape(vertices=[(-50, 0), (50, 0)])],
)
self.bodyA = self.world.CreateDynamicBody(
position=(0, 10),
fixtures=b2FixtureDef(
shape=b2PolygonShape(box=(1, 1)), density=1.0)
)
self.bodyB = self.world.CreateDynamicBody(
position=(0, 5),
fixtures=b2FixtureDef(
shape=b2CircleShape(radius = 0.5), density=1.0, restitution=0)
)
dfn = b2DistanceJointDef(
frequencyHz=2.5,
dampingRatio=0,
bodyA=self.bodyA,
bodyB=self.bodyB,
anchorA=(0, 10),
anchorB=(0, 5),
collideConnected=True
)
self.world.CreateJoint(dfn)
def __init__(self):
super(BodyTypes, self).__init__()
# The ground
ground = self.world.CreateBody(
shapes=b2EdgeShape(vertices=[(-20, 0), (20, 0)])
)
# The attachment
self.attachment = self.world.CreateDynamicBody(
position=(0, 3),
fixtures=b2FixtureDef(
shape=b2PolygonShape(box=(0.5, 2)), density=2.0),
)
# The platform
fixture = b2FixtureDef(
shape=b2PolygonShape(box=(4, 0.5)),
density=2,
friction=0.6,
)
self.platform = self.world.CreateDynamicBody(
position=(0, 5),
fixtures=fixture,
)
# The joints joining the attachment/platform and ground/platform
self.world.CreateRevoluteJoint(
bodyA=self.attachment,
bodyB=self.platform,
anchor=(0, 5),
maxMotorTorque=50,
enableMotor=True
)
self.world.CreatePrismaticJoint(
bodyA=ground,
bodyB=self.platform,
anchor=(0, 5),
axis=(1, 0),
maxMotorForce=1000,
enableMotor=True,
lowerTranslation=-10,
upperTranslation=10,
enableLimit=True
)
# And the payload that initially sits upon the platform
# Reusing the fixture we previously defined above
fixture.shape.box = (0.75, 0.75)
self.payload = self.world.CreateDynamicBody(
position=(0, 8),
fixtures=fixture,
)
def __init__(self):
super(Rope, self).__init__()
# The ground
ground = self.world.CreateBody(
shapes=b2EdgeShape(vertices=[(-40, 0), (40, 0)]))
shape = b2PolygonShape(box=(0.5, 0.125))
fd = b2FixtureDef(
shape=shape,
friction=0.2,
density=20,
categoryBits=0x0001,
maskBits=(0xFFFF & ~0x0002),
)
N = 10
y = 15.0
prevBody = ground
for i in range(N):
if i < N - 1:
body = self.world.CreateDynamicBody(
position=(0.5 + i, y),
fixtures=fd,
)
else:
shape.box = (1.5, 1.5)
fd.density = 100
fd.categoryBits = 0x0002
body = self.world.CreateDynamicBody(
position=(i, y),
fixtures=fd,
angularDamping=0.4,
)
self.world.CreateRevoluteJoint(
bodyA=prevBody,
bodyB=body,
anchor=(i, y),
collideConnected=False,
)
prevBody = body
extraLength = 0.01
self.rd = rd = b2RopeJointDef(
bodyA=ground,
bodyB=body,
maxLength=N - 1.0 + extraLength,
localAnchorA=(0, y),
localAnchorB=(0, 0)
)
self.rope = self.world.CreateJoint(rd)
def __init__(self):
super(Tower, self).__init__()
#Ground
ground = self.world.CreateStaticBody(
position=(0, 0),
shapes=[b2EdgeShape(vertices=[(-30, 0), (30, 0)])] #,
## b2PolygonShape(box=(0.2, 5, (0.5, 5),0))]
)
## self.world.CreateStaticBody(
## shapes=[b2PolygonShape(box=[1, 1, (5, 15), 0]),
## b2PolygonShape(box=[1, 1, (-2, 12), 0]),
## ]
## )
self._x = 0
## self.body = self.world.CreateDynamicBody(
## position=(0.5, 10),
## fixtures=b2FixtureDef(
## shape=b2PolygonShape(box=(4, 0.1)), density=1.0),
## )
# Small circle
#circle = b2FixtureDef(
#shape=b2CircleShape(radius=0.25),
#density=100.0,
#)
# Generate bullet (circle)
#self.bullet = self.world.CreateBody(
#position=(self._x, 30),
#bullet=True,
#type=b2_dynamicBody,
#fixtures=circle,
#linearVelocity=(0, -50)
#)
self.stack1 = self.world.CreateDynamicBody(
position=(self._x, 0),
## bullet=True,
type=b2_dynamicBody,
fixtures=b2FixtureDef(shape=b2PolygonShape(box=(5, 7)),
density=100.0),
linearVelocity=(0, -50))
self.stack2 = self.world.CreateDynamicBody(
position=(self._x, 0),
## bullet=True,
type=b2_dynamicBody,
fixtures=b2FixtureDef(shape=b2PolygonShape(box=(4, 4)),
density=100.0),
linearVelocity=(0, -50))
def __init__(self):
super(Rope, self).__init__()
# The ground
ground = self.world.CreateBody(shapes=b2EdgeShape(vertices=[(-40,
0), (40,
0)]))
shape = b2PolygonShape(box=(0.5, 0.125))
fd = b2FixtureDef(
shape=shape,
friction=0.2,
density=20,
categoryBits=0x0001,
maskBits=(0xFFFF & ~0x0002),
)
N = 10
y = 15.0
prevBody = ground
for i in range(N):
if i < N - 1:
body = self.world.CreateDynamicBody(
position=(0.5 + i, y),
fixtures=fd,
)
else:
shape.box = (1.5, 1.5)
fd.density = 100
fd.categoryBits = 0x0002
body = self.world.CreateDynamicBody(
position=(i, y),
fixtures=fd,
angularDamping=0.4,
)
self.world.CreateRevoluteJoint(
bodyA=prevBody,
bodyB=body,
anchor=(i, y),
collideConnected=False,
)
prevBody = body
extraLength = 0.01
self.rd = rd = b2RopeJointDef(bodyA=ground,
bodyB=body,
maxLength=N - 1.0 + extraLength,
localAnchorA=(0, y),
localAnchorB=(0, 0))
self.rope = self.world.CreateJoint(rd)
def gen_terrain():
old_height = 0
shapes, terrain_spec = [], []
for i in range(0, 800, 10):
height = random() * i / 20
terrain_spec.append((-10 + i, old_height))
terrain_spec.append((i, height))
(-10 + i, old_height), (i, height)
shapes.append(
b2EdgeShape(vertices=[(-10 + i, old_height), (i, height)]))
old_height = height
return shapes, terrain_spec
def __init__(self):
super(EdgeTest, self).__init__()
v1 = (-10.0, 0.0)
v2 = (-7.0, -1.0)
v3 = (-4.0, 0.0)
v4 = (0.0, 0.0)
v5 = (4.0, 0.0)
v6 = (7.0, 1.0)
v7 = (10.0, 0.0)
shapes = [b2EdgeShape(vertices=[None, v1, v2, v3]),
b2EdgeShape(vertices=[v1, v2, v3, v4]),
b2EdgeShape(vertices=[v2, v3, v4, v5]),
b2EdgeShape(vertices=[v3, v4, v5, v6]),
b2EdgeShape(vertices=[v4, v5, v6, v7]),
b2EdgeShape(vertices=[v5, v6, v7])
]
ground = self.world.CreateStaticBody(shapes=shapes)
box = self.world.CreateDynamicBody(
position=(0.5, 0.6),
allowSleep=False,
shapes=b2PolygonShape(box=(0.5, 0.5))
)
def __init__(self):
super(EdgeTest, self).__init__()
v1 = (-10.0, 0.0)
v2 = (-7.0, -1.0)
v3 = (-4.0, 0.0)
v4 = (0.0, 0.0)
v5 = (4.0, 0.0)
v6 = (7.0, 1.0)
v7 = (10.0, 0.0)
shapes = [b2EdgeShape(vertices=[None, v1, v2, v3]),
b2EdgeShape(vertices=[v1, v2, v3, v4]),
b2EdgeShape(vertices=[v2, v3, v4, v5]),
b2EdgeShape(vertices=[v3, v4, v5, v6]),
b2EdgeShape(vertices=[v4, v5, v6, v7]),
b2EdgeShape(vertices=[v5, v6, v7])
]
ground = self.world.CreateStaticBody(shapes=shapes)
box = self.world.CreateDynamicBody(
position=(0.5, 0.6),
allowSleep=False,
shapes=b2PolygonShape(box=(0.5, 0.5))
)
def __init__(self):
super(Confined, self).__init__()
# The ground
ground = self.world.CreateStaticBody(shapes=[
b2EdgeShape(vertices=[(-10, 0), (10, 0)]),
b2EdgeShape(vertices=[(-10, 0), (-10, 20)]),
b2EdgeShape(vertices=[(10, 0), (10, 20)]),
b2EdgeShape(vertices=[(-10, 20), (10, 20)]),
])
# The bodies
self.radius = radius = 0.5
columnCount = 5
rowCount = 5
for j in range(columnCount):
for i in range(rowCount):
self.CreateCircle((-10 + (2.1 * j + 1 + 0.01 * i) * radius,
(2 * i + 1) * radius))
self.world.gravity = (0, 0)
def __init__(self):
super(Confined, self).__init__()
# The ground
ground = self.world.CreateStaticBody(
shapes=[b2EdgeShape(vertices=[(-10, 0), (10, 0)]),
b2EdgeShape(vertices=[(-10, 0), (-10, 20)]),
b2EdgeShape(vertices=[(10, 0), (10, 20)]),
b2EdgeShape(vertices=[(-10, 20), (10, 20)]),
])
# The bodies
self.radius = radius = 0.5
columnCount = 5
rowCount = 5
for j in range(columnCount):
for i in range(rowCount):
self.CreateCircle((-10 + (2.1 * j + 1 + 0.01 * i) * radius,
(2 * i + 1) * radius))
self.world.gravity = (0, 0)
def __init__(self):
super(fallingObjects, self).__init__()
#Groud
ground = self.world.CreateStaticBody(
position=(0, 0),
shapes=[
b2EdgeShape(vertices=[(-30, 0), (30, 0)]),
b2PolygonShape(box=(0.2, 5, (0.5, 5), 0))
])
self.world.CreateStaticBody(shapes=[
b2PolygonShape(box=[1, 1, (5, 15), 0]),
b2PolygonShape(box=[1, 1, (-2, 12), 0]),
])
self._x = 0.20352793
self.body = self.world.CreateDynamicBody(
position=(0.5, 10),
fixtures=b2FixtureDef(shape=b2PolygonShape(box=(4, 0.1)),
density=1.0),
)
# Small circle
#circle = b2FixtureDef(
#shape=b2CircleShape(radius=0.25),
#density=100.0,
#)
# Generate bullet (circle)
#self.bullet = self.world.CreateBody(
#position=(self._x, 30),
#bullet=True,
#type=b2_dynamicBody,
#fixtures=circle,
#linearVelocity=(0, -50)
#)
self.bullet = self.world.CreateDynamicBody(
position=(self._x, 30),
bullet=True,
fixtures=b2FixtureDef(shape=b2PolygonShape(box=(0.25, 0.25)),
density=100.0),
linearVelocity=(0, -50))
self.bullet1 = self.world.CreateDynamicBody(
position=(self._x, 30),
bullet=True,
fixtures=b2FixtureDef(shape=b2PolygonShape(box=(0.25, 0.25)),
density=100.0),
linearVelocity=(0, -50))
def __init__(self):
super(VerticalStack, self).__init__()
columns = 5
rows = 16
ground = self.world.CreateStaticBody(
shapes=[b2EdgeShape(vertices=[(-40, 0), (40, 0)]), b2EdgeShape(vertices=[(20, 0), (20, 20)])]
)
box = b2FixtureDef(shape=b2PolygonShape(box=(0.5, 0.5)), density=1, friction=0.3)
circle = b2FixtureDef(shape=b2CircleShape(radius=0.5), density=1, friction=0.3)
box_start = -10
box_space = 2.5
circle_start = 8
circle_space = 2.5
for j in range(columns):
for i in range(rows):
self.world.CreateDynamicBody(fixtures=box, position=(box_start + box_space * j, 0.752 + 1.54 * i))
self.world.CreateDynamicBody(
fixtures=circle, position=(circle_start + circle_space * j, 0.752 + 1.54 * i)
)
def __init__(self):
Framework.__init__(self)
ground = self.world.CreateStaticBody(
position=(0, 20),
shapes=[b2EdgeShape(vertices=[(-20, 0), (20, 0)])],
)
a = 0.5
depth = 0
self.root = self.add_node(ground, (0, 0), depth, 3.0, a)
self.world.CreateRevoluteJoint(bodyA=ground, bodyB=self.root,
localAnchorA=(0, 0), localAnchorB=(0, a))
def __init__(self):
super(BoxCutter, self).__init__()
# The ground
self.ground = self.world.CreateStaticBody(
userData='ground',
shapes=[
b2EdgeShape(vertices=[(-50, 0), (50, 0)]),
b2EdgeShape(vertices=[(-50, 0), (-50, 10)]),
b2EdgeShape(vertices=[(50, 0), (50, 10)]),
])
self.laser_body = self.world.CreateDynamicBody(
userData='laser',
position=(0, 2),
fixtures=b2FixtureDef(density=4.0,
shape=b2PolygonShape(box=(LASER_HALF_WIDTH,
1))))
for i in range(2):
self.world.CreateDynamicBody(userData=LASER_SPLIT_TAG,
position=(3.0 + i * 6, 8),
fixtures=b2FixtureDef(
density=5.0,
shape=b2PolygonShape(box=(3, 3))))
def __init__(self):
super(EdgeShapes, self).__init__()
self.ground = self.world.CreateStaticBody(
shapes=[b2EdgeShape(vertices=v)
for v in get_sinusoid_vertices(-20.0, VERTEX_COUNT)])
self.shapes = [
b2PolygonShape(vertices=[(-0.5, 0), (0.5, 0), (0, 1.5)]),
b2PolygonShape(vertices=[(-0.1, 0), (0.1, 0), (0, 1.5)]),
b2PolygonShape(vertices=get_octagon_vertices(1.0)),
b2PolygonShape(box=(0.5, 0.5)),
b2CircleShape(radius=0.5),
]
self.angle = 0
self.callback = RayCastCallback()
def __init__(self):
Framework.__init__(self)
ground = self.world.CreateStaticBody(
position=(0, 20),
shapes=[b2EdgeShape(vertices=[(-20, 0), (20, 0)])],
)
a = 0.5
depth = 0
self.root = self.add_node(ground, (0, 0), depth, 3.0, a)
self.world.CreateRevoluteJoint(bodyA=ground,
bodyB=self.root,
localAnchorA=(0, 0),
localAnchorB=(0, a))
def __init__(self, num_goals):
super(SimpleHA2D, self).__init__()
self.world.gravity = (
0, 0) #So that this is a flat 2D world with no grvity.
self.num_goals = num_goals
self.autonomy_goals = []
self.human_goals = []
self.autonomy_velocity = b2Vec2(0.0, 0.0)
self.human_velocity = b2Vec2(0.0, 0.0)
ground = self.world.CreateStaticBody(
position=(0, 0),
shapes=[b2EdgeShape(vertices=[(0, 35), (0, -35)])])
self.autonomy_robot = Robot(self.world, position=(5, 9), radius=1)
self.human_robot = Robot(self.world, position=(-5, 9), radius=1)
def __init__(self):
super(Restitution, self).__init__()
# The ground
ground = self.world.CreateStaticBody(shapes=b2EdgeShape(
vertices=[(-20, 0), (20, 0)]))
radius = 1.0
density = 1.0
# The bodies
for i, restitution in enumerate([0.0, 0.1, 0.3, 0.5, 0.75, 0.9, 1.0]):
self.world.CreateDynamicBody(
position=(-10 + 3.0 * i, 20),
fixtures=b2FixtureDef(shape=b2CircleShape(radius=radius),
density=density,
restitution=restitution))
def create_track(world):
ground = world.CreateStaticBody(
shapes=b2EdgeShape(vertices=[(-20, 1000), (-19, 0)]), userData="track")
x, y1, dx = -19, 0, 5
vertices = [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 2.5, 1.5, 0, 0, 2, 5, 9, 7, 5,
0, -3, -2, 0, 3, 6, -10, 0, 0, 0, 1, 2, 3, 1, 0, 0, 1000
]
for y2 in vertices: # iterate through vertices twice
ground.CreateEdgeFixture(
vertices=[(x, y1), (x + dx, y2)],
density=0,
friction=100,
)
y1 = y2
x += dx
def __init__(self):
super(EdgeShapes, self).__init__()
self.ground = self.world.CreateStaticBody(
shapes=[b2EdgeShape(vertices=v) for v in get_sinusoid_vertices(-20.0, VERTEX_COUNT)]
)
self.shapes = [
b2PolygonShape(vertices=[(-0.5, 0), (0.5, 0), (0, 1.5)]),
b2PolygonShape(vertices=[(-0.1, 0), (0.1, 0), (0, 1.5)]),
b2PolygonShape(vertices=get_octagon_vertices(1.0)),
b2PolygonShape(box=(0.5, 0.5)),
b2CircleShape(radius=0.5),
]
self.angle = 0
self.callback = RayCastCallback()
def __init__(self):
super(Breakable, self).__init__()
# The ground
self.world.CreateBody(shapes=b2EdgeShape(vertices=[(-40, 0), (40, 0)]))
# The breakable body
self.shapes = (b2PolygonShape(box=(0.5, 0.5, (-0.5, 0), 0)),
b2PolygonShape(box=(0.5, 0.5, (0.5, 0), 0)))
self.body = self.world.CreateDynamicBody(
position=(0, 40),
angle=0.25 * b2_pi,
shapes=self.shapes,
shapeFixture=b2FixtureDef(density=1),
)
self.fixtures = self.body.fixtures
def __init__(self):
super(Web, self).__init__()
self.Print("hashdfasj", (127, 127, 255))
# The ground
ground = self.world.CreateBody(shapes=b2EdgeShape(vertices=[(-40,
0), (40,
0)]))
fixture = b2FixtureDef(shape=b2PolygonShape(box=(0.5, 0.5)),
density=5,
friction=0.2)
self.bodies = [
self.world.CreateDynamicBody(position=pos, fixtures=fixture)
for pos in ((-5, 5), (5, 5), (5, 15), (-5, 15))
]
bodies = self.bodies
# Create the joints between each of the bodies and also the ground
# bodyA bodyB localAnchorA localAnchorB
sets = [
(ground, bodies[0], (-10, 0), (-0.5, -0.5)),
(ground, bodies[1], (10, 0), (0.5, -0.5)),
(ground, bodies[2], (10, 20), (0.5, 0.5)),
(ground, bodies[3], (-10, 20), (-0.5, 0.5)),
(bodies[0], bodies[1], (0.5, 0), (-0.5, 0)),
(bodies[1], bodies[2], (0, 0.5), (0, -0.5)),
(bodies[2], bodies[3], (-0.5, 0), (0.5, 0)),
(bodies[3], bodies[0], (0, -0.5), (0, 0.5)),
]
# We will define the positions in the local body coordinates, the length
# will automatically be set by the __init__ of the b2DistanceJointDef
self.joints = []
for bodyA, bodyB, localAnchorA, localAnchorB in sets:
dfn = b2DistanceJointDef(
frequencyHz=4.0,
dampingRatio=0.5,
bodyA=bodyA,
bodyB=bodyB,
localAnchorA=localAnchorA,
localAnchorB=localAnchorB,
)
self.joints.append(self.world.CreateJoint(dfn))
def __init__(self, name, creatures):
Environment.name = name
self.env = super(Environment, self).__init__()
self.settings.drawJoints = False
Environment.step_limit = STEP_LIMIT
_ = self.world.CreateBody(shapes=b2EdgeShape(vertices=[(-1000,
-1), (1000,
-1)]))
Environment.description = []
Environment.creature_bodies = {}
for creature in creatures:
body = {}
for edge in creature.edges:
vertex = creature.vertices[edge[0]], creature.vertices[edge[1]]
point = line_to_rectangle(*vertex, THICKNESS)
fixture = b2FixtureDef(
shape=b2PolygonShape(vertices=point),
density=DENSITY,
friction=FRICTION,
)
fixture.filter.groupIndex = -1
body[tuple(edge)] = self.world.CreateDynamicBody(
fixtures=fixture, )
for edge in creature.edges:
adjacent = find_adjacent_edges(edge, creature.edges)
for a_edge in adjacent:
anchor = int(creature.vertices[edge[0]][0]), int(
creature.vertices[edge[0]][1])
self.world.CreateRevoluteJoint(
bodyA=body[tuple(edge)],
bodyB=body[tuple(a_edge)],
anchor=anchor,
collideConnected=True,
motorSpeed=MOTOR_SPEED,
maxMotorTorque=MAX_MOTOR_TORQUE,
enableMotor=True,
)
Environment.creature_bodies[creature.identity] = body[tuple(edge)]
if len(creatures) == 1:
Environment.description.append(
f"Creature #{creatures[0].identity}")
def __init__(self):
super(Breakable, self).__init__()
# The ground
self.world.CreateBody(shapes=b2EdgeShape(vertices=[(-40, 0), (40, 0)]))
# The breakable body
self.shapes = (b2PolygonShape(box=(0.5, 0.5, (-0.5, 0), 0)),
b2PolygonShape(box=(0.5, 0.5, (0.5, 0), 0))
)
self.body = self.world.CreateDynamicBody(
position=(0, 40),
angle=0.25 * b2_pi,
shapes=self.shapes,
shapeFixture=b2FixtureDef(density=1),
)
self.fixtures = self.body.fixtures
def __init__(self):
super(Restitution, self).__init__()
# The ground
ground = self.world.CreateStaticBody(
shapes=b2EdgeShape(vertices=[(-20, 0), (20, 0)])
)
radius = 1.0
density = 1.0
# The bodies
for i, restitution in enumerate([0.0, 0.1, 0.3, 0.5, 0.75, 0.9, 1.0]):
self.world.CreateDynamicBody(
position=(-10 + 3.0 * i, 20),
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=radius),
density=density, restitution=restitution)
)
def __init__(self):
super(randomBox, self).__init__()
ground = self.world.CreateStaticBody(
position=(0, 0),
shapes=[b2EdgeShape(vertices=[(-50, 0), (50, 0)])])
rect_density = 30.0
struct_length = random.randint(1, 4)
struct_height = random.randint(4, 8)
for i in range(struct_length):
for j in range(struct_height):
self.world.CreateDynamicBody(
position=position_vectors(),
fixtures=b2FixtureDef(
shape=b2PolygonShape(box=box_sizes()),
density=rect_density))
def __init__(self):
super(Web, self).__init__()
# The ground
ground = self.world.CreateBody(
shapes=b2EdgeShape(vertices=[(-40, 0), (40, 0)])
)
fixture = b2FixtureDef(shape=b2PolygonShape(box=(0.5, 0.5)),
density=5, friction=0.2)
self.bodies = [self.world.CreateDynamicBody(
position=pos,
fixtures=fixture
) for pos in ((-5, 5), (5, 5), (5, 15), (-5, 15))]
bodies = self.bodies
# Create the joints between each of the bodies and also the ground
# bodyA bodyB localAnchorA localAnchorB
sets = [(ground, bodies[0], (-10, 0), (-0.5, -0.5)),
(ground, bodies[1], (10, 0), (0.5, -0.5)),
(ground, bodies[2], (10, 20), (0.5, 0.5)),
(ground, bodies[3], (-10, 20), (-0.5, 0.5)),
(bodies[0], bodies[1], (0.5, 0), (-0.5, 0)),
(bodies[1], bodies[2], (0, 0.5), (0, -0.5)),
(bodies[2], bodies[3], (-0.5, 0), (0.5, 0)),
(bodies[3], bodies[0], (0, -0.5), (0, 0.5)),
]
# We will define the positions in the local body coordinates, the length
# will automatically be set by the __init__ of the b2DistanceJointDef
self.joints = []
for bodyA, bodyB, localAnchorA, localAnchorB in sets:
dfn = b2DistanceJointDef(
frequencyHz=4.0,
dampingRatio=0.5,
bodyA=bodyA,
bodyB=bodyB,
localAnchorA=localAnchorA,
localAnchorB=localAnchorB,
)
self.joints.append(self.world.CreateJoint(dfn))
def __init__(self):
Framework.__init__(self)
ground = self.world.CreateStaticBody(
shapes=[b2EdgeShape(vertices=[(-20, 0), (20, 0)])],
)
# Define motorized body
body = self.world.CreateDynamicBody(
position=(0, 8),
allowSleep=False,
fixtures=b2FixtureDef(density=2.0, friction=0.6,
shape=b2PolygonShape(box=(2.0, 0.5)),),
)
self.joint = self.world.CreateMotorJoint(bodyA=ground, bodyB=body,
maxForce=1000, maxTorque=1000)
self.go = False
self.time = 0.0
def __init__(self):
Framework.__init__(self)
ground = self.world.CreateStaticBody(
shapes=[b2EdgeShape(vertices=[(-20, 0), (20, 0)])],
)
# Define motorized body
body = self.world.CreateDynamicBody(
position=(0, 8),
allowSleep=False,
fixtures=b2FixtureDef(density=2.0, friction=0.6,
shape=b2PolygonShape(box=(2.0, 0.5)),),
)
self.joint = self.world.CreateMotorJoint(bodyA=ground, bodyB=body,
maxForce=1000, maxTorque=1000)
self.go = False
self.time = 0.0
def __createCollisionBody(self, pos, size, shape, ud = None):
#collisionbody
body = self.mWorld.CreateDynamicBody(position = pos)
if shape == EnemyShape.CIRCLE:
shape = b2CircleShape(radius=size.x/2)
elif shape == EnemyShape.POLYGON:
shape = b2PolygonShape()
shape.SetAsBox(size.x/2, size.y/2)
elif shape == EnemyShape.LINE:
shape = b2EdgeShape()
shape.vertices = b2Vec2(-size.x / 2.0, -size.y / 2.0), b2Vec2(size.x / 2.0, size.y / 2.0)
fd = b2FixtureDef()
fd.shape = shape
fd.isSensor = True
body.CreateFixture(fd)
body.isbullet = False
body.fixedRotation = True
body.userData = self if ud == None else ud
return body
def __init__(self):
super(Bullet, self).__init__()
ground = self.world.CreateStaticBody(
position=(0, 0),
shapes=[b2EdgeShape(vertices=[(-10, 0), (10, 0)]),
b2PolygonShape(box=(0.2, 1, (0.5, 1), 0))]
)
self._x = 0.20352793
self.body = self.world.CreateDynamicBody(
position=(0, 4),
fixtures=b2FixtureDef(
shape=b2PolygonShape(box=(2, 0.1)), density=1.0),
)
self.bullet = self.world.CreateDynamicBody(
position=(self._x, 10),
bullet=True,
fixtures=b2FixtureDef(shape=b2PolygonShape(
box=(0.25, 0.25)), density=100.0),
linearVelocity=(0, -50)
)
def __init__(self):
super(Bullet, self).__init__()
ground = self.world.CreateStaticBody(
position=(0, 0),
shapes=[
b2EdgeShape(vertices=[(-10, 0), (10, 0)]),
b2PolygonShape(box=(0.2, 1, (0.5, 1), 0))
])
self._x = 0.20352793
self.body = self.world.CreateDynamicBody(
position=(0, 4),
fixtures=b2FixtureDef(shape=b2PolygonShape(box=(2, 0.1)),
density=1.0),
)
self.bullet = self.world.CreateDynamicBody(
position=(self._x, 10),
bullet=True,
fixtures=b2FixtureDef(shape=b2PolygonShape(box=(0.25, 0.25)),
density=100.0),
linearVelocity=(0, -50))
def __init__(self):
super(BodyTypes, self).__init__()
# The ground
ground = self.world.CreateBody(shapes=b2EdgeShape(vertices=[(-20, 0), (20, 0)]))
# The attachment
self.attachment = self.world.CreateDynamicBody(
position=(0, 3), fixtures=b2FixtureDef(shape=b2PolygonShape(box=(0.5, 2)), density=2.0)
)
# The platform
fixture = b2FixtureDef(shape=b2PolygonShape(box=(4, 0.5)), density=2, friction=0.6)
self.platform = self.world.CreateDynamicBody(position=(0, 5), fixtures=fixture)
# The joints joining the attachment/platform and ground/platform
self.world.CreateRevoluteJoint(
bodyA=self.attachment, bodyB=self.platform, anchor=(0, 5), maxMotorTorque=50, enableMotor=True
)
self.world.CreatePrismaticJoint(
bodyA=ground,
bodyB=self.platform,
anchor=(0, 5),
axis=(1, 0),
maxMotorForce=1000,
enableMotor=True,
lowerTranslation=-10,
upperTranslation=10,
enableLimit=True,
)
# And the payload that initially sits upon the platform
# Reusing the fixture we previously defined above
fixture.shape.box = (0.75, 0.75)
self.payload = self.world.CreateDynamicBody(position=(0, 8), fixtures=fixture)
def __init__(self):
super(Raycast, self).__init__()
self.world.gravity = (0, 0)
# The ground
ground = self.world.CreateBody(shapes=b2EdgeShape(vertices=[(-40,
0), (40,
0)]))
# The various shapes
w = 1.0
b = w / (2.0 + sqrt(2.0))
s = sqrt(2.0) * b
self.shapes = [
b2PolygonShape(vertices=[(-0.5, 0), (0.5, 0), (0, 1.5)]),
b2PolygonShape(vertices=[(-0.1, 0), (0.1, 0), (0, 1.5)]),
b2PolygonShape(
vertices=[(0.5 * s,
0), (0.5 * w,
b), (0.5 * w,
b + s), (0.5 * s,
w), (-0.5 * s,
w), (-0.5 * w, b +
s), (-0.5 * w,
b), (-0.5 * s,
0.0)]),
b2PolygonShape(box=(0.5, 0.5)),
b2CircleShape(radius=0.5),
]
self.angle = 0
self.callbacks = [
RayCastClosestCallback, RayCastAnyCallback, RayCastMultipleCallback
]
self.callback_class = self.callbacks[0]
def __init__(self, args=None):
"""
Initialize all of your objects here.
Be sure to call the Framework's initializer first.
"""
if args == None:
args = {
"start_y": 10,
"len_torso": 6,
"len_crank_arm": 2,
"len_leg": 14,
"motor_torque": 400,
"motor_speed": 5
}
super(Robot, self).__init__()
self.count = 0
self.points = []
self.group = -1
self.start_y = args["start_y"]
self.len_torso = args["len_torso"]
self.len_crank_arm = args["len_crank_arm"]
self.len_leg = args["len_leg"]
self.motor_torque = args["motor_torque"]
self.motor_speed = args["motor_speed"]
#Non controlled constants
torso_width = .001
other_width = .001
leg_angle = numpy.arctan(self.len_torso / self.len_crank_arm)
ground = self.world.CreateStaticBody(
position=(0, 0),
shapes=[b2EdgeShape(vertices=[(-1000, 0), (1000, 0)])])
self.torso = self.world.CreateDynamicBody(
position=(0, self.start_y),
fixedRotation=False,
fixtures=b2FixtureDef(
shape=b2PolygonShape(box=(torso_width, self.len_torso / 2)),
density=1.3,
filter=b2Filter(groupIndex=self.group, )),
)
tail_angle = -numpy.pi / 3
len_tail = .035
self.tail = self.world.CreateDynamicBody(
position=(len_tail * numpy.sin(tail_angle),
self.start_y - len_tail * numpy.cos(tail_angle)),
fixtures=b2FixtureDef(shape=b2PolygonShape(box=(torso_width,
len_tail)),
density=1,
filter=b2Filter(groupIndex=self.group, )),
angle=tail_angle,
)
self.crank_arm = self.world.CreateDynamicBody(
position=(0, self.start_y + self.len_torso / 2),
fixtures=b2FixtureDef(shape=b2PolygonShape(box=(self.len_crank_arm,
other_width)),
density=.1,
filter=b2Filter(groupIndex=self.group, )),
)
#Creating the legs
l = numpy.sqrt(self.len_torso**2 + self.len_crank_arm**2)
x = (self.len_leg - 2 * l) * numpy.cos(leg_angle) / 2
y = (self.len_leg - 2 * l) * numpy.sin(leg_angle) / 2
self.right_leg = self.world.CreateDynamicBody(
position=(x, self.start_y - y - self.len_torso / 2),
angle=(-1 * leg_angle + numpy.pi / 2),
fixtures=b2FixtureDef(shape=b2PolygonShape(box=(other_width,
self.len_leg / 2)),
density=.50,
filter=b2Filter(groupIndex=self.group),
friction=1,
restitution=0),
)
self.left_leg = self.world.CreateDynamicBody(
position=(-x, self.start_y - y - self.len_torso / 2),
angle=(leg_angle + numpy.pi / 2),
fixtures=b2FixtureDef(shape=b2PolygonShape(box=(other_width,
self.len_leg / 2)),
density=1.0,
filter=b2Filter(groupIndex=self.group),
friction=1,
restitution=0),
)
self.right_foot = self.world.CreateDynamicBody(
position=(self.len_leg / 2 * numpy.cos(leg_angle),
self.len_leg * numpy.sin(leg_angle)),
fixtures=b2FixtureDef(shape=b2CircleShape(radius=.003),
density=0.1,
filter=b2Filter(groupIndex=self.group, )),
)
self.left_foot = self.world.CreateDynamicBody(
position=(-1 * self.len_leg / 2 * numpy.cos(leg_angle),
self.len_leg * numpy.sin(leg_angle)),
fixtures=b2FixtureDef(shape=b2CircleShape(radius=.003),
density=0.1,
filter=b2Filter(groupIndex=self.group, )),
)
slot_joint_right = self.world.CreateDynamicBody(
position=(0, self.torso.worldCenter[1] - self.len_torso / 2),
angle=(-1 * leg_angle + numpy.pi / 2),
fixtures=b2FixtureDef(shape=b2CircleShape(radius=.0005),
density=1.0,
filter=b2Filter(groupIndex=self.group, )),
)
slot_joint_left = self.world.CreateDynamicBody(
position=(0, self.torso.worldCenter[1] - self.len_torso / 2),
angle=(leg_angle + numpy.pi / 2),
fixtures=b2FixtureDef(shape=b2CircleShape(radius=.0005),
density=1.0,
filter=b2Filter(groupIndex=self.group, )),
)
#Attach Feat to legs
self.right_foot_weld = self.world.CreateWeldJoint(
bodyA=self.right_foot,
bodyB=self.right_leg,
anchor=(self.torso.worldCenter[0] +
self.len_leg / 2 * numpy.cos(leg_angle),
self.torso.worldCenter[1] +
self.len_leg * numpy.sin(leg_angle)),
)
self.left_foot_weld = self.world.CreateWeldJoint(
bodyA=self.left_foot,
bodyB=self.left_leg,
anchor=(self.torso.worldCenter[0] -
self.len_leg / 2 * numpy.cos(leg_angle),
self.torso.worldCenter[1] +
self.len_leg * numpy.sin(leg_angle)),
)
#Motor Joint
self.motor = self.world.CreateRevoluteJoint(
bodyA=self.torso,
bodyB=self.crank_arm,
anchor=(self.torso.worldCenter[0],
self.torso.worldCenter[1] + self.len_torso / 2),
motorSpeed=self.motor_speed,
maxMotorTorque=self.motor_torque,
enableMotor=True,
)
#Joints at end of pivot
self.right_joint = self.world.CreateRevoluteJoint(
bodyA=self.crank_arm,
bodyB=self.right_leg,
anchor=(self.crank_arm.worldCenter[0] - self.len_crank_arm,
self.crank_arm.worldCenter[1]),
)
self.left_joint = self.world.CreateRevoluteJoint(
bodyA=self.crank_arm,
bodyB=self.left_leg,
anchor=(self.crank_arm.worldCenter[0] + self.len_crank_arm,
self.crank_arm.worldCenter[1]),
)
#Making the slot joint composed of rev joint and prismatic joints
self.left_joint_rev = self.world.CreateRevoluteJoint(
bodyA=slot_joint_right,
bodyB=self.torso,
anchor=(0, self.start_y - self.len_torso / 2),
)
self.right_joint_rev = self.world.CreateRevoluteJoint(
bodyA=slot_joint_left,
bodyB=self.torso,
anchor=(0, self.start_y - self.len_torso / 2),
)
self.right_slide_pris = self.world.CreatePrismaticJoint(
bodyA=slot_joint_right,
bodyB=self.right_leg,
anchor=(self.torso.worldCenter[0],
self.torso.worldCenter[0] - self.len_torso / 2),
localAxisA=(0, 1),
)
self.left_slide_pris = self.world.CreatePrismaticJoint(
bodyA=slot_joint_left,
bodyB=self.left_leg,
anchor=(self.torso.worldCenter[0],
self.torso.worldCenter[0] - self.len_torso / 2),
localAxisA=(0, 1),
)
self.tail_joint = self.world.CreateWeldJoint(
bodyA=self.tail,
bodyB=self.torso,
anchor=(0, self.start_y - self.len_torso / 2),
)
def __init__(self):
super(Car, self).__init__()
# The ground -- create some terrain
ground = self.world.CreateStaticBody(shapes=b2EdgeShape(
vertices=[(-20, 0), (20, 0)]))
x, y1, dx = 20, 0, 5
vertices = [0.25, 1, 4, 0, 0, -1, -2, -2, -1.25, 0]
for y2 in vertices * 2: # iterate through vertices twice
ground.CreateEdgeFixture(
vertices=[(x, y1), (x + dx, y2)],
density=0,
friction=0.6,
)
y1 = y2
x += dx
x_offsets = [0, 80, 40, 20, 40]
x_lengths = [40, 40, 10, 40, 0]
y2s = [0, 0, 5, 0, 20]
for x_offset, x_length, y2 in zip(x_offsets, x_lengths, y2s):
x += x_offset
ground.CreateEdgeFixture(
vertices=[(x, 0), (x + x_length, y2)],
density=0,
friction=0.6,
)
# Teeter
body = self.world.CreateDynamicBody(
position=(140, 0.90),
fixtures=b2FixtureDef(
shape=b2PolygonShape(box=(10, 0.25)),
density=1.0,
))
self.world.CreateRevoluteJoint(
bodyA=ground,
bodyB=body,
anchor=body.position,
lowerAngle=-8.0 * b2_pi / 180.0,
upperAngle=8.0 * b2_pi / 180.0,
enableLimit=True,
)
# Bridge
create_bridge(self.world, ground, (2.0, 0.25), (161.0, -0.125),
self.bridgePlanks)
# Boxes
for y_pos in [0.5, 1.5, 2.5, 3.5, 4.5]:
self.world.CreateDynamicBody(position=(230, y_pos),
fixtures=b2FixtureDef(
shape=b2PolygonShape(box=(0.5,
0.5)),
density=0.5,
))
car, wheels, springs = create_car(self.world,
offset=(0.0, 1.0),
wheel_radius=0.4,
wheel_separation=2.0,
scale=(1, 1))
self.car = car
self.wheels = wheels
self.springs = springs
def __init__(self):
super(CollisionFiltering, self).__init__()
# Ground body
world = self.world
ground = world.CreateBody(
shapes=b2EdgeShape(vertices=[(-40, 0), (40, 0)])
)
# Define the groups that fixtures can fall into
# Note that negative groups never collide with other negative ones.
smallGroup = 1
largeGroup = -1
# And the categories
# Note that these are bit-locations, and as such are written in
# hexadecimal.
# defaultCategory = 0x0001
triangleCategory = 0x0002
boxCategory = 0x0004
circleCategory = 0x0008
# And the masks that define which can hit one another
# A mask of 0xFFFF means that it will collide with everything else in
# its group. The box mask below uses an exclusive OR (XOR) which in
# effect toggles the triangleCategory bit, making boxMask = 0xFFFD.
# Such a mask means that boxes never collide with triangles. (if
# you're still confused, see the implementation details below)
triangleMask = 0xFFFF
boxMask = 0xFFFF ^ triangleCategory
circleMask = 0xFFFF
# The actual implementation determining whether or not two objects
# collide is defined in the C++ source code, but it can be overridden
# in Python (with b2ContactFilter).
# The default behavior goes like this:
# if (filterA.groupIndex == filterB.groupIndex and filterA.groupIndex != 0):
# collide if filterA.groupIndex is greater than zero (negative groups never collide)
# else:
# collide if (filterA.maskBits & filterB.categoryBits) != 0 and (filterA.categoryBits & filterB.maskBits) != 0
#
# So, if they have the same group index (and that index isn't the
# default 0), then they collide if the group index is > 0 (since
# negative groups never collide)
# (Note that a body with the default filter settings will always
# collide with everything else.)
# If their group indices differ, then only if their bitwise-ANDed
# category and mask bits match up do they collide.
#
# For more help, some basics of bit masks might help:
# -> http://en.wikipedia.org/wiki/Mask_%28computing%29
# Small triangle
triangle = b2FixtureDef(
shape=b2PolygonShape(vertices=[(-1, 0), (1, 0), (0, 2)]),
density=1,
filter=b2Filter(
groupIndex=smallGroup,
categoryBits=triangleCategory,
maskBits=triangleMask,
)
)
world.CreateDynamicBody(
position=(-5, 2),
fixtures=triangle,
)
# Large triangle (recycle definitions)
triangle.shape.vertices = [
2.0 * b2Vec2(v) for v in triangle.shape.vertices]
triangle.filter.groupIndex = largeGroup
trianglebody = world.CreateDynamicBody(
position=(-5, 6),
fixtures=triangle,
fixedRotation=True, # <--
)
# note that the large triangle will not rotate
# Small box
box = b2FixtureDef(
shape=b2PolygonShape(box=(1, 0.5)),
density=1,
restitution=0.1,
filter = b2Filter(
groupIndex=smallGroup,
categoryBits=boxCategory,
maskBits=boxMask,
)
)
world.CreateDynamicBody(
position=(0, 2),
fixtures=box,
)
# Large box
box.shape.box = (2, 1)
box.filter.groupIndex = largeGroup
world.CreateDynamicBody(
position=(0, 6),
fixtures=box,
)
# Small circle
circle = b2FixtureDef(
shape=b2CircleShape(radius=1),
density=1,
filter=b2Filter(
groupIndex=smallGroup,
categoryBits=circleCategory,
maskBits=circleMask,
)
)
world.CreateDynamicBody(
position=(5, 2),
fixtures=circle,
)
# Large circle
circle.shape.radius *= 2
circle.filter.groupIndex = largeGroup
world.CreateDynamicBody(
position=(5, 6),
fixtures=circle,
)
# Create a joint for fun on the big triangle
# Note that it does not inherit or have anything to do with the
# filter settings of the attached triangle.
box = b2FixtureDef(shape=b2PolygonShape(box=(0.5, 1)), density=1)
testbody = world.CreateDynamicBody(
position=(-5, 10),
fixtures=box,
)
world.CreatePrismaticJoint(
bodyA=trianglebody,
bodyB=testbody,
enableLimit=True,
localAnchorA=(0, 4),
localAnchorB=(0, 0),
localAxisA=(0, 1),
lowerTranslation=-1,
upperTranslation=1,
)
def __init__(self):
super(CharacterCollision, self).__init__()
ground = self.world.CreateStaticBody(
position=(0, 0),
shapes=b2EdgeShape(vertices=[(-20, 0), (20, 0)])
)
# Collinear edges
self.world.CreateStaticBody(
shapes=[b2EdgeShape(vertices=[(-8, 1), (-6, 1)]),
b2EdgeShape(vertices=[(-6, 1), (-4, 1)]),
b2EdgeShape(vertices=[(-4, 1), (-2, 1)]),
]
)
# Square tiles
self.world.CreateStaticBody(
shapes=[b2PolygonShape(box=[1, 1, (4, 3), 0]),
b2PolygonShape(box=[1, 1, (6, 3), 0]),
b2PolygonShape(box=[1, 1, (8, 3), 0]),
]
)
# Square made from an edge loop. Collision should be smooth.
body = self.world.CreateStaticBody()
body.CreateLoopFixture(vertices=[(-1, 3), (1, 3), (1, 5), (-1, 5)])
# Edge loop.
body = self.world.CreateStaticBody(position=(-10, 4))
body.CreateLoopFixture(vertices=[
(0.0, 0.0), (6.0, 0.0),
(6.0, 2.0), (4.0, 1.0),
(2.0, 2.0), (0.0, 2.0),
(-2.0, 2.0), (-4.0, 3.0),
(-6.0, 2.0), (-6.0, 0.0), ]
)
# Square character 1
self.world.CreateDynamicBody(
position=(-3, 8),
fixedRotation=True,
allowSleep=False,
fixtures=b2FixtureDef(shape=b2PolygonShape(
box=(0.5, 0.5)), density=20.0),
)
# Square character 2
body = self.world.CreateDynamicBody(
position=(-5, 5),
fixedRotation=True,
allowSleep=False,
)
body.CreatePolygonFixture(box=(0.25, 0.25), density=20.0)
# Hexagon character
a = b2_pi / 3.0
self.world.CreateDynamicBody(
position=(-5, 8),
fixedRotation=True,
allowSleep=False,
fixtures=b2FixtureDef(
shape=b2PolygonShape(
vertices=[(0.5 * cos(i * a), 0.5 * sin(i * a))
for i in range(6)]),
density=20.0
),
)
# Circle character
self.world.CreateDynamicBody(
position=(3, 5),
fixedRotation=True,
allowSleep=False,
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=0.5),
density=20.0
),
)
def __init__(self):
super(TheoJansen, self).__init__()
#
ball_count = 40
pivot = b2Vec2(0, 0.8)
# The ground
ground = self.world.CreateStaticBody(
shapes=[
b2EdgeShape(vertices=[(-50, 0), (50, 0)]),
b2EdgeShape(vertices=[(-50, 0), (-50, 10)]),
b2EdgeShape(vertices=[(50, 0), (50, 10)]),
]
)
box = b2FixtureDef(
shape=b2PolygonShape(box=(0.5, 0.5)),
density=1,
friction=0.3)
circle = b2FixtureDef(
shape=b2CircleShape(radius=0.25),
density=1)
# Create the balls on the ground
for i in range(ball_count):
self.world.CreateDynamicBody(
fixtures=circle,
position=(-40 + 2.0 * i, 0.5),
)
# The chassis
chassis_fixture = b2FixtureDef(
shape=b2PolygonShape(box=(2.5, 1)),
density=1,
friction=0.3,
groupIndex=-1)
self.chassis = self.world.CreateDynamicBody(
fixtures=chassis_fixture,
position=pivot + self.offset)
# Chassis wheel
wheel_fixture = b2FixtureDef(
shape=b2CircleShape(radius=1.6),
density=1,
friction=0.3,
groupIndex=-1)
self.wheel = self.world.CreateDynamicBody(
fixtures=wheel_fixture,
position=pivot + self.offset)
# Add a joint between the chassis wheel and the chassis itself
self.motorJoint = self.world.CreateRevoluteJoint(
bodyA=self.wheel,
bodyB=self.chassis,
anchor=pivot + self.offset,
collideConnected=False,
motorSpeed=self.motorSpeed,
maxMotorTorque=400,
enableMotor=self.motorOn)
wheelAnchor = pivot + (0, -0.8)
self.CreateLeg(-1, wheelAnchor)
self.CreateLeg(1, wheelAnchor)
self.wheel.transform = (self.wheel.position, 120.0 * b2_pi / 180)
self.CreateLeg(-1, wheelAnchor)
self.CreateLeg(1, wheelAnchor)
self.wheel.transform = (self.wheel.position, -120.0 * b2_pi / 180)
self.CreateLeg(-1, wheelAnchor)
self.CreateLeg(1, wheelAnchor)
def __init__(self):
super(Car, self).__init__()
# The ground -- create some terrain
ground = self.world.CreateStaticBody(
shapes=b2EdgeShape(vertices=[(-20, 0), (20, 0)])
)
x, y1, dx = 20, 0, 5
vertices = [0.25, 1, 4, 0, 0, -1, -2, -2, -1.25, 0]
for y2 in vertices * 2: # iterate through vertices twice
ground.CreateEdgeFixture(
vertices=[(x, y1), (x + dx, y2)],
density=0,
friction=0.6,
)
y1 = y2
x += dx
x_offsets = [0, 80, 40, 20, 40]
x_lengths = [40, 40, 10, 40, 0]
y2s = [0, 0, 5, 0, 20]
for x_offset, x_length, y2 in zip(x_offsets, x_lengths, y2s):
x += x_offset
ground.CreateEdgeFixture(
vertices=[(x, 0), (x + x_length, y2)],
density=0,
friction=0.6,
)
# Teeter
body = self.world.CreateDynamicBody(
position=(140, 0.90),
fixtures=b2FixtureDef(
shape=b2PolygonShape(box=(10, 0.25)),
density=1.0,
)
)
self.world.CreateRevoluteJoint(
bodyA=ground,
bodyB=body,
anchor=body.position,
lowerAngle=-8.0 * b2_pi / 180.0,
upperAngle=8.0 * b2_pi / 180.0,
enableLimit=True,
)
# Bridge
create_bridge(self.world, ground, (2.0, 0.25),
(161.0, -0.125), self.bridgePlanks)
# Boxes
for y_pos in [0.5, 1.5, 2.5, 3.5, 4.5]:
self.world.CreateDynamicBody(
position=(230, y_pos),
fixtures=b2FixtureDef(
shape=b2PolygonShape(box=(0.5, 0.5)),
density=0.5,
)
)
car, wheels, springs = create_car(self.world, offset=(
0.0, 1.0), wheel_radius=0.4, wheel_separation=2.0, scale=(1, 1))
self.car = car
self.wheels = wheels
self.springs = springs
def __init__(self):
super(CollisionProcessing, self).__init__()
# Tell the framework we're going to use contacts, so keep track of them
# every Step.
self.using_contacts = True
# Ground body
world = self.world
ground = world.CreateBody(
shapes=b2EdgeShape(vertices=[(-50, 0), (50, 0)],)
)
xlow, xhi = -5, 5
ylow, yhi = 2, 35
random_vector = lambda: b2Vec2(
b2Random(xlow, xhi), b2Random(ylow, yhi))
# Small triangle
triangle = b2FixtureDef(
shape=b2PolygonShape(vertices=[(-1, 0), (1, 0), (0, 2)]),
density=1,
)
world.CreateBody(
type=b2_dynamicBody,
position=random_vector(),
fixtures=triangle,
)
# Large triangle (recycle definitions)
triangle.shape.vertices = [
2.0 * b2Vec2(v) for v in triangle.shape.vertices]
tri_body = world.CreateBody(type=b2_dynamicBody,
position=random_vector(),
fixtures=triangle,
fixedRotation=True, # <--
)
# note that the large triangle will not rotate
# Small box
box = b2FixtureDef(
shape=b2PolygonShape(box=(1, 0.5)),
density=1,
restitution=0.1,
)
world.CreateBody(
type=b2_dynamicBody,
position=random_vector(),
fixtures=box,
)
# Large box
box.shape.box = (2, 1)
world.CreateBody(
type=b2_dynamicBody,
position=random_vector(),
fixtures=box,
)
# Small circle
circle = b2FixtureDef(
shape=b2CircleShape(radius=1),
density=1,
)
world.CreateBody(
type=b2_dynamicBody,
position=random_vector(),
fixtures=circle,
)
# Large circle
circle.shape.radius *= 2
world.CreateBody(
type=b2_dynamicBody,
position=random_vector(),
fixtures=circle,
)
def __init__(self):
super(Cantilever, self).__init__()
# The ground
ground = self.world.CreateBody(
shapes=b2EdgeShape(vertices=[(-40, 0), (40, 0)]))
plank = b2FixtureDef(
shape=b2PolygonShape(box=(0.5, 0.125)),
friction=0.2,
density=20
)
# Create one cantilever (Only the left end is fixed)
prevBody = ground
for i in range(self.numPlanks):
body = self.world.CreateDynamicBody(
position=(-14.5 + i, 5),
fixtures=plank,
)
self.world.CreateWeldJoint(
bodyA=prevBody,
bodyB=body,
anchor=(-15 + i, 5),
)
prevBody = body
# Create another higher up
prevBody = ground
for i in range(self.numPlanks):
body = self.world.CreateDynamicBody(
position=(-14.5 + i, 15),
fixtures=plank,
)
self.world.CreateWeldJoint(
bodyA=prevBody,
bodyB=body,
anchor=(-15 + i, 15),
)
prevBody = body
# And the left-most unconnected one (technically not a cantilever)
prevBody = ground
for i in range(self.numPlanks):
body = self.world.CreateDynamicBody(
position=(-4.5 + i, 5),
fixtures=plank,
)
if i > 0: # skip the joint on the first one
self.world.CreateWeldJoint(
bodyA=prevBody,
bodyB=body,
anchor=(-5 + i, 5),
)
prevBody = body
# And the right-most unconnected one, using joint damping
prevBody = ground
for i in range(self.numPlanks):
body = self.world.CreateDynamicBody(
position=(5.5 + i, 10),
fixtures=plank,
)
if i > 0: # skip the joint on the first one
self.world.CreateWeldJoint(
bodyA=prevBody,
bodyB=body,
anchor=(5 + i, 10),
frequencyHz=8.0,
dampingRatio=0.7,
)
prevBody = body
# And a few random shapes to play with
# First a set of triangles,
fixture = b2FixtureDef(shape=b2PolygonShape(vertices=[(-0.5, 0.0),
(0.5, 0.0),
(0.0, 1.5),
]),
density=1.0)
for i in range(2):
self.world.CreateDynamicBody(
position=(-8 + 8 * i, 12),
fixtures=fixture,
)
# And then a few circles
fixture = b2FixtureDef(shape=b2CircleShape(radius=0.5), density=1)
for i in range(3):
self.world.CreateDynamicBody(
position=(-6 + 6 * i, 10),
fixtures=fixture,
)
