def __init__(self, b2world_interface, init_pos, base, init_angle, hand_shape='rectangle', hand_size=(0.3, 1)):
world = b2world_interface.world
self.hand = world.CreateDynamicBody(position=init_pos, angle=init_angle)
self.hand_shape = hand_shape
self.hand_size = hand_size
# forceunit for circle and rect
if hand_shape == 'rectangle':
rshape = b2PolygonShape(box=hand_size)
self.forceunit = 30.0
elif hand_shape == 'circle':
rshape = b2CircleShape(radius=hand_size)
self.forceunit = 100.0
elif hand_shape == 'polygon':
rshape = b2PolygonShape(vertices=hand_size)
else:
raise Exception("%s is not a correct shape" % hand_shape)
self.hand.CreateFixture(
shape=rshape,
density=.1,
friction=.1
)
self.hand.userData = "hand"
friction_joint = world.CreateFrictionJoint(
bodyA=base,
bodyB=self.hand,
maxForce=2,
maxTorque=2,
)
b2world_interface.add_bodies(self.hand)
def replace_body(old_body,
new_position,
scale,
shape='box',
category_bits=0x0001,
mask_bits=(0x0001 | 0x0002 | 0x0003)):
if shape == 'box':
new_shape = b2PolygonShape(
box=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO,
scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
elif shape == 'circle':
new_shape = b2CircleShape(
radius=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
else:
new_shape = b2PolygonShape(
box=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO,
scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
new_body = defines.world.CreateDynamicBody(
position=new_position,
angle=old_body.angle,
angularDamping=old_body.angularDamping,
linearDamping=old_body.linearDamping,
shapes=new_shape,
bullet=old_body.bullet,
shapeFixture=b2FixtureDef(density=2.0,
categoryBits=category_bits,
maskBits=mask_bits))
return new_body
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 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):
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 create_body(base, b2world_interface, body_shape, body_size, body_friction, body_density, obj_loc):
world = b2world_interface.world
link = world.CreateDynamicBody(position=obj_loc)
if body_shape == 'rectangle':
linkshape = b2PolygonShape(box=body_size)
elif body_shape == 'circle':
linkshape = b2CircleShape(radius=body_size)
elif body_shape == 'polygon':
linkshape = b2PolygonShape(vertices=body_size)
else:
raise Exception("%s is not a correct shape" % body_shape)
link.CreateFixture(
shape=linkshape,
density=body_density,
friction=body_friction,
)
friction_joint = world.CreateFrictionJoint(
bodyA=base,
bodyB=link,
maxForce=5,
maxTorque=2,
)
b2world_interface.add_bodies([link])
return link
def __init__(self, robot_config, b2_world, ground):
self.robot_config = robot_config
self._robot_state = DefaultRobotState(self.robot_config)
# adding the rods
rod_fixture = b2FixtureDef(
shape=b2PolygonShape(box=(0.5 * robot_config.rod_diameter,
0.5 * robot_config.rod_length)),
density=robot_config.rod_density)
rod_fixture.filter.groupIndex = -1
self.rods = []
y_pos = 0.5 * robot_config.rod_length
for _ in range(2):
b2_rod = b2_world.CreateDynamicBody(
position=(robot_config.position, y_pos), fixtures=rod_fixture)
self.rods.append(b2_rod)
y_pos += robot_config.rod_length
# adding the rackets
racket_fixture = b2FixtureDef(
shape=b2PolygonShape(box=(0.5 * robot_config.racket_diameter,
0.5 * robot_config.racket_thickness)),
density=robot_config.racket_density,
restitution=robot_config.racket_restitution)
self.racket = b2_world.CreateDynamicBody(
position=(robot_config.position, 2. * robot_config.rod_length +
0.5 * robot_config.racket_thickness),
fixtures=racket_fixture)
# adding joints
self.joints = [None, None, None]
# items : rods + racket
dyn_items = self.rods + [self.racket]
previous_dyn_item = ground
previous_length = 0
for index, (robot_item,
dyn_item) in enumerate(zip(robot_config.items, dyn_items)):
self.joints[index] = b2_world.CreateRevoluteJoint(
bodyA=previous_dyn_item,
bodyB=dyn_item,
anchor=(robot_config.position, previous_length),
lowerAngle=-robot_item.joint_limit,
upperAngle=+robot_item.joint_limit,
enableLimit=True,
enableMotor=True)
previous_length = previous_length + robot_item.length
previous_dyn_item = dyn_item
def addShape(self, world, shape):
if self._body is not None:
# shortcuts
createShape = self._body.CreateFixturesFromShapes
# add shapes
for s in shape:
if isinstance(s, Rect):
createShape(b2PolygonShape(vertices=[s.topleft, s.bottomleft, s.bottomright, s.topright]))
else:
createShape(b2PolygonShape(vertices=s))
def __init__(self):
Framework.__init__(self)
ground = self.world.CreateStaticBody(
position=(0,0),
shapes=b2PolygonShape(box=(1000,1)),
)
a=14.5
b=12.2
vertices=[]
for i in range(16):
ell_x=a*math.cos(22.5*i*math.pi/180)
ell_y=b*math.sin(22.5*i*math.pi/180)
vertices.append((ell_x,ell_y))
self.qross = self.world.CreateDynamicBody(
position=(0, 20),
allowSleep=True,
fixtures=b2FixtureDef(density=2.0, friction=0.6,
shape=b2PolygonShape(vertices=vertices),),
)
self.ball = self.world.CreateStaticBody(
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=2.2),
density=1.0),
bullet=True,
position=(0, 1000))
leg = self.world.CreateDynamicBody(
position=(0, 20),
allowSleep=True,
fixtures=b2FixtureDef(density=2.0, friction=0.0,
shape=b2PolygonShape(vertices=[(20,1.3),
(0,1.3),
(0,0),
(20,0)]),),
)
self.world.CreateRevoluteJoint(
bodyA=leg,
bodyB=self.qross,
anchor=(0, 20),
)
self.joint = self.world.CreateMotorJoint(bodyA=leg, bodyB=self.qross,
maxForce=0, maxTorque=500000)
self.go = False
self.time = 0.0
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(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(ApplyForce, self).__init__()
self.world.gravity = (0.0, 0.0)
# The boundaries
ground = self.world.CreateBody(position=(0, 20))
ground.CreateEdgeChain(
[(-20, -20),
(-20, 20),
(20, 20),
(20, -20),
(-20, -20)]
)
# TODO: make note of transform.R.set() -> transform.angle =
xf1 = b2Transform()
xf1.angle = 0.3524 * b2_pi
xf1.position = xf1.R * (1.0, 0.0)
xf2 = b2Transform()
xf2.angle = -0.3524 * b2_pi
xf2.position = xf2.R * (-1.0, 0.0)
self.body = self.world.CreateDynamicBody(
position=(0, 2),
angle=b2_pi,
angularDamping=5,
linearDamping=0.1,
shapes=[b2PolygonShape(vertices=[xf1 * (-1, 0), xf1 * (1, 0),
xf1 * (0, .5)]),
b2PolygonShape(vertices=[xf2 * (-1, 0), xf2 * (1, 0),
xf2 * (0, .5)])],
shapeFixture=b2FixtureDef(density=2.0),
)
gravity = 10.0
fixtures = b2FixtureDef(shape=b2PolygonShape(box=(0.5, 0.5)),
density=1, friction=0.3)
for i in range(10):
body = self.world.CreateDynamicBody(
position=(0, 5 + 1.54 * i), fixtures=fixtures)
# For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
r = sqrt(2.0 * body.inertia / body.mass)
self.world.CreateFrictionJoint(
bodyA=ground,
bodyB=body,
localAnchorA=(0, 0),
localAnchorB=(0, 0),
collideConnected=True,
maxForce=body.mass * gravity,
maxTorque=body.mass * r * gravity
)
def create_jar(world, properties, scene_width, scene_height, shape, color,
diameter, x, y, angle, isDynamic):
# constants from PHYRE
BASE_RATIO = Constant.JAR_BASE_RATIO
WIDTH_RATIO = Constant.JAR_WIDTH_RATIO
jar_height = scene_width * Constant._jar_diameter_to_default_scale(
diameter)
jar_width = jar_height * WIDTH_RATIO
jar_base_width = jar_width * BASE_RATIO
jar_thickness = Constant._jar_thickness_from_height(
scene_width, jar_height)
vertices_list, _ = Constant._build_jar_vertices(height=jar_height,
width=jar_width,
base_width=jar_base_width,
thickness=jar_thickness)
jar_center = _get_jar_center(scene_width, scene_height, x, y, angle,
jar_height, jar_thickness)
literal1_shape = b2PolygonShape()
literal2_shape = b2PolygonShape()
bottom_shape = b2PolygonShape()
_set_vertices(literal1_shape, vertices_list[0])
_set_vertices(literal2_shape, vertices_list[1])
_set_vertices(bottom_shape, vertices_list[2])
literal1_fixture = b2FixtureDef(shape=literal1_shape,
density=properties.densities["jar"],
friction=properties.frictions["jar"],
restitution=properties.restitutions["jar"])
literal2_fixture = b2FixtureDef(shape=literal2_shape,
density=properties.densities["jar"],
friction=properties.frictions["jar"],
restitution=properties.restitutions["jar"])
bottom_fixture = b2FixtureDef(shape=bottom_shape,
density=properties.densities["jar"],
friction=properties.frictions["jar"],
restitution=properties.restitutions["jar"])
if isDynamic:
body = world.CreateDynamicBody(
position=jar_center,
fixtures=[literal1_fixture, literal2_fixture, bottom_fixture],
angle=2 * b2_pi * angle)
else:
body = world.CreateStaticBody(
position=jar_center,
fixtures=[literal1_fixture, literal2_fixture, bottom_fixture],
angle=2 * b2_pi * angle)
return body
def __init__(self):
super(ApplyForce, self).__init__()
self.world.gravity = (0.0, 0.0)
# The boundaries
ground = self.world.CreateBody(position=(0, 20))
ground.CreateEdgeChain(
[(-20, -20),
(-20, 20),
(20, 20),
(20, -20),
(-20, -20)]
)
# TODO: make note of transform.R.set() -> transform.angle =
xf1 = b2Transform()
xf1.angle = 0.3524 * b2_pi
xf1.position = xf1.R * (1.0, 0.0)
xf2 = b2Transform()
xf2.angle = -0.3524 * b2_pi
xf2.position = xf2.R * (-1.0, 0.0)
self.body = self.world.CreateDynamicBody(
position=(0, 2),
angle=b2_pi,
angularDamping=5,
linearDamping=0.1,
shapes=[b2PolygonShape(vertices=[xf1 * (-1, 0), xf1 * (1, 0),
xf1 * (0, .5)]),
b2PolygonShape(vertices=[xf2 * (-1, 0), xf2 * (1, 0),
xf2 * (0, .5)])],
shapeFixture=b2FixtureDef(density=2.0),
)
gravity = 10.0
fixtures = b2FixtureDef(shape=b2PolygonShape(box=(0.5, 0.5)),
density=1, friction=0.3)
for i in range(10):
body = self.world.CreateDynamicBody(
position=(0, 5 + 1.54 * i), fixtures=fixtures)
# For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
r = sqrt(2.0 * body.inertia / body.mass)
self.world.CreateFrictionJoint(
bodyA=ground,
bodyB=body,
localAnchorA=(0, 0),
localAnchorB=(0, 0),
collideConnected=True,
maxForce=body.mass * gravity,
maxTorque=body.mass * r * gravity
)
def CreateBody(self, world, TILE_SIZE):
pos = b2Vec2(self.pos.x * TILE_SIZE, -self.pos.y * TILE_SIZE)
dim = b2Vec2(self.dim.w * TILE_SIZE, self.dim.h * TILE_SIZE)
bodyDef = b2BodyDef()
bodyDef.type = b2_staticBody
bodyDef.userData = self
bodyDef.position = pos
body = world.CreateBody(bodyDef)
fixture = None
if (self.name == "building"):
dim.x /= 2.0
dim.y /= 2.0
pos.x += self.dim.w * TILE_SIZE / 2.0
pos.y -= self.dim.h * TILE_SIZE / 2.0
body.position = pos
polygonShape = b2PolygonShape()
polygonShape.SetAsBox(dim.x, dim.y)
fixture = body.CreateFixture(shape=polygonShape)
elif (self.name == "pickup"):
circleShape = b2CircleShape()
circleShape.radius = dim.x
fixtureDef = b2FixtureDef()
fixtureDef.shape = circleShape
fixtureDef.isSensor = True
fixture = body.CreateFixture(fixtureDef)
self.done = False
fixture.userData = self
body.userData = self
self.m_body = body
return body
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(Distance, self).__init__()
# Transform A -- a simple translation/offset of (0,-0.2)
self.transformA = b2Transform()
self.transformA.SetIdentity()
self.transformA.position = (0, -0.2)
# Transform B -- a translation and a rotation
self.transformB = b2Transform()
self.positionB = b2Vec2(12.017401, 0.13678508)
self.angleB = -0.0109265
self.transformB.Set(self.positionB, self.angleB)
# The two shapes, transformed by the respective transform[A,B]
self.polygonA = b2PolygonShape(box=(10, 0.2))
self.polygonB = b2PolygonShape(box=(2, 0.1))
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))
)
class TileMap(Entity):
boxShape = b2PolygonShape()
boxShape.SetAsBox(1, 1)
boxFixtureDef = b2FixtureDef(shape=boxShape, density=1)
def __init__(self, pos=(0, 0), size=(10, 10)):
super().__init__()
self.pos = pos
#self.size = size
raw = Image.open('q4_map.png')
pixels = raw.load()
self.size = raw.width, raw.height
self.blocks = dict()
for x in range(self.size[0]):
for y in range(self.size[1]):
if pixels[x, y][3] == 0:
self.blocks[x, y] = None
else:
self.blocks[x, y] = SolidBlock(self, (x, y))
self.blocks[x, y].add()
kitten = image.load('q4_map.png')
self.texture = kitten.get_texture()
def render(self):
#glBindTexture(self.texture.target, self.texture.id)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
self.texture.blit(self.pos[0], self.pos[1])
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 create_bar(world, properties, scene_width, scene_height, shape, color,
diameter, x, y, angle, isDynamic):
# constant from PHYRE
BAR_HEIGHT = scene_width * Constant.BAR_HEIGHT_RATIO
center = (Transform.width_percent_to_x(scene_width, x),
Transform.height_percent_to_y(scene_height, y))
bar_shape = b2PolygonShape(
box=(Transform.diameter_percent_to_length(scene_width, diameter) / 2,
BAR_HEIGHT / 2))
bar_fixture = b2FixtureDef(shape=bar_shape,
density=properties.densities["bar"],
friction=properties.frictions["bar"],
restitution=properties.restitutions["bar"])
if isDynamic:
body = world.CreateDynamicBody(position=center,
fixtures=bar_fixture,
angle=2 * b2_pi * angle)
else:
body = world.CreateStaticBody(position=center,
fixtures=bar_fixture,
angle=2 * b2_pi * angle)
return body
def add_node(self, parent, local_anchor, depth, offset, a):
density = 20.0
h = (0, a)
p = parent.position + local_anchor - h
fixture = b2FixtureDef(shape=b2PolygonShape(box=(0.25 * a, a)),
density=density)
body = self.world.CreateDynamicBody(position=p, fixtures=fixture)
if depth == self.max_depth:
return body
a1 = (offset, -a)
a2 = (-offset, -a)
body1 = self.add_node(body, a1, depth + 1, 0.5 * offset, a)
body2 = self.add_node(body, a2, depth + 1, 0.5 * offset, a)
self.world.CreateRevoluteJoint(bodyA=body,
bodyB=body1,
localAnchorA=a1,
localAnchorB=h)
self.world.CreateRevoluteJoint(bodyA=body,
bodyB=body2,
localAnchorA=a2,
localAnchorB=h)
return body
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 add_agent(self, y, x):
self.agent_init_position = (x, y)
agent_vertices = [(0.5 - self.agent_radius, 0.5 - self.agent_radius),
(0.5 - self.agent_radius, 0.5 + self.agent_radius),
(0.5 + self.agent_radius, 0.5 + self.agent_radius),
(0.5 + self.agent_radius, 0.5 - self.agent_radius)]
agent_fixture = b2FixtureDef(
shape=b2PolygonShape(vertices=agent_vertices),
friction=0.4,
restitution=0.3,
)
self.agent_body = self.world.CreateDynamicBody(
position=(x, y),
fixtures=agent_fixture,
fixedRotation=True,
)
visual_radius = 1.5 * self.agent_radius
agent_vertices_visual = [(0.5 - visual_radius, 0.5 - visual_radius),
(0.5 - visual_radius, 0.5 + visual_radius),
(0.5 + visual_radius, 0.5 + visual_radius),
(0.5 + visual_radius, 0.5 - visual_radius)]
drawing_util.add_polygon(self.display_objects,
self.agent_body,
agent_vertices_visual,
'agent',
drawing_layer=5,
color=self.agent_color)
self.position_indicator = drawing_util.DummyBody(b2Vec2(x, y), angle=0)
self.target_indicator = drawing_util.DummyBody(b2Vec2(x, y), angle=0)
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(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, position, world, gravity):
self.mWorld = world
self.mGravity = gravity
pos = b2Vec2(position[0] + self.BOX_WIDTH/2, position[1] + self.BOX_HEIGHT/2)
#create box physicsbody
body = world.CreateDynamicBody(position = pos)
shape = b2PolygonShape()
fd = b2FixtureDef()
fd.shape = shape
fd.isSensor = True
#gravitysensor
shape.SetAsBox(0.1,0.1)
fd.userData = Sensor.GRAVITYZONESENSOR
body.CreateFixture(fd)
#collisionbody
body.CreatePolygonFixture(box=(self.BOX_WIDTH/2, self.BOX_HEIGHT/2), density=6, friction=0)
body.fixedRotation = True
body.bullet = True
body.allowSleep = False
body.mass = 2
body.userData = self
super(Box, self).__init__(pos, b2Vec2(self.BOX_WIDTH, self.BOX_HEIGHT), body, b2Vec2(0,0), 0, b2Vec2(0,0))
def __init__(self, im, x, y):
im_w2 = im.width // 2
im_h2 = im.height // 2
coll_shape = b2PolygonShape(box=(im_w2, im_h2))
super(Actor1, self).__init__(sf.Sprite(im), shape=coll_shape)
self.object.origin = (im_w2, im_h2)
self.object.position = (x, y)
def create_creature_bodies(world, creatures):
''' Creates a list of creature bodies and returns reference bodies '''
reference_body = {}
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)] = 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])
world.CreateRevoluteJoint(
bodyA=body[tuple(edge)],
bodyB=body[tuple(a_edge)],
anchor=anchor,
collideConnected=True,
motorSpeed=MOTOR_SPEED,
maxMotorTorque=MAX_MOTOR_TORQUE,
enableMotor=True,
)
reference_body[creature.identity] = body[tuple(edge)]
return reference_body
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(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 _reset(self):
self._destroy()
membrane_base.reset_helper(self)
# Creating the object to manipulate
object_fixture = b2FixtureDef(shape=b2PolygonShape(box=(OBJ_SIZE / 2,
OBJ_SIZE / 2)),
density=1,
friction=0.6,
restitution=0.0)
object_position = (membrane_base.BOX_WIDTH / 2,
OBJ_SIZE / 2 + membrane_base.LINK_HEIGHT)
self.object = self.world.CreateDynamicBody(
position=object_position,
fixtures=object_fixture,
linearDamping=0.6 # Control this parameter for surface friction
)
self.object.color1 = (1, 1, 0)
self.object.color2 = (0, 0, 0)
self.drawlist = self.drawlist + [self.object]
return self._step(np.array([0, 0, 0, 0,
0]))[0] # action: zero motor speed
def __init__(self, im, x, y):
im_w2 = im.width//2
im_h2 = im.height//2
coll_shape = b2PolygonShape(box=(im_w2, im_h2))
super(Actor1, self).__init__(sf.Sprite(im), shape=coll_shape)
self.object.origin = (im_w2, im_h2)
self.object.position = (x, y)
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(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(Distance, self).__init__()
# Transform A -- a simple translation/offset of (0,-0.2)
self.transformA = b2Transform()
self.transformA.SetIdentity()
self.transformA.position = (0, -0.2)
# Transform B -- a translation and a rotation
self.transformB = b2Transform()
self.positionB = b2Vec2(12.017401, 0.13678508)
self.angleB = -0.0109265
self.transformB.Set(self.positionB, self.angleB)
# The two shapes, transformed by the respective transform[A,B]
self.polygonA = b2PolygonShape(box=(10, 0.2))
self.polygonB = b2PolygonShape(box=(2, 0.1))
def create_car(world, offset, wheel_radius, wheel_separation, density=1.0,
wheel_friction=0.9, scale=(1.0, 1.0), chassis_vertices=None,
wheel_axis=(0.0, 1.0), wheel_torques=[20.0, 10.0],
wheel_drives=[True, False], hz=4.0, zeta=0.7, **kwargs):
"""
"""
x_offset, y_offset = offset
scale_x, scale_y = scale
if chassis_vertices is None:
chassis_vertices = [
(-1.5, -0.5),
(1.5, -0.5),
(1.5, 0.0),
(0.0, 0.9),
(-1.15, 0.9),
(-1.5, 0.2),
]
chassis_vertices = [(scale_x * x, scale_y * y)
for x, y in chassis_vertices]
radius_scale = sqrt(scale_x ** 2 + scale_y ** 2)
wheel_radius *= radius_scale
chassis = world.CreateDynamicBody(
position=(x_offset, y_offset),
fixtures=b2FixtureDef(
shape=b2PolygonShape(vertices=chassis_vertices),
density=density,
)
)
wheels, springs = [], []
wheel_xs = [-wheel_separation * scale_x /
2.0, wheel_separation * scale_x / 2.0]
for x, torque, drive in zip(wheel_xs, wheel_torques, wheel_drives):
wheel = world.CreateDynamicBody(
position=(x_offset + x, y_offset - wheel_radius),
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=wheel_radius),
density=density,
)
)
spring = world.CreateWheelJoint(
bodyA=chassis,
bodyB=wheel,
anchor=wheel.position,
axis=wheel_axis,
motorSpeed=0.0,
maxMotorTorque=torque,
enableMotor=drive,
frequencyHz=hz,
dampingRatio=zeta
)
wheels.append(wheel)
springs.append(spring)
return chassis, wheels, springs
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,new_display):
self.b2_game_world = b2World() # default gravity is (0,-10) and doSleep is True
self.groundBody = self.b2_game_world.CreateStaticBody(position=(0, -48),
shapes=b2PolygonShape(box=(80, 10)),
)
# Create a dynamic body at (0, 4)
self.game_display = new_display
def make_edges(world):
'''Create static bodies to represent the edges of the table.'''
positions = [(TABLE_WIDTH / 2.0, EDGE_WIDTH), (EDGE_WIDTH,TABLE_HEIGHT / 2), (TABLE_WIDTH - EDGE_WIDTH,TABLE_HEIGHT / 2), (TABLE_WIDTH / 2.0, TABLE_HEIGHT - EDGE_WIDTH)]
dimensions = [(TABLE_WIDTH / 2,EDGE_WIDTH), (EDGE_WIDTH, TABLE_HEIGHT / 2), (EDGE_WIDTH, TABLE_HEIGHT / 2), (TABLE_WIDTH / 2, EDGE_WIDTH)]
edge_color = (150, 111, 51)
edges = [world.CreateStaticBody(position=pos, shapes=b2PolygonShape(box=dim), restitution=RESTITUTION, userData=edge_color) for pos, dim in zip(positions, dimensions)]
for edge in edges:
edge.fixtures[0].friction = FRICTION
return edges
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, world):
self.posx = 0
self.posy = 0
self.width = 50
self.height = 50
self.color = (255, 0, 0)
self.shape = b2PolygonShape(box=(0.5, 0.125))
self.shape.box = (1.5, 1.5)
self.body = world.CreateDynamicBody(position=(self.posx, self.posy))
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 __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, world):
self.posx = 0
self.posy = 0
self.width = 50
self.height = 50
self.color = (255,0,0)
self.shape = b2PolygonShape(box=(0.5, 0.125))
self.shape.box = (1.5, 1.5)
self.body = world.CreateDynamicBody(
position = (self.posx, self.posy)
)
def __init__(self):
super(Tiles, self).__init__()
a = 0.5
def ground_positions():
N = 200
M = 10
position = b2Vec2(0, 0)
for i in range(M):
position.x = -N * a
for j in range(N):
yield position
position.x += 2.0 * a
position.y -= 2.0 * a
ground = self.world.CreateStaticBody(
position=(0, -a),
shapes=[b2PolygonShape(box=(a, a, position, 0))
for position in ground_positions()]
)
count = 20
def dynamic_positions():
x = b2Vec2(-7.0, 0.75)
deltaX = (0.5625, 1.25)
deltaY = (1.125, 0.0)
for i in range(count):
y = x.copy()
for j in range(i, count):
yield y
y += deltaY
x += deltaX
for pos in dynamic_positions():
self.world.CreateDynamicBody(
position=pos,
fixtures=b2FixtureDef(
shape=b2PolygonShape(box=(a, a)), density=5)
)
def make_pockets(world):
positions = [(EDGE_WIDTH * 2, EDGE_WIDTH * 2),
(TABLE_WIDTH - EDGE_WIDTH * 2, EDGE_WIDTH * 2),
(TABLE_WIDTH - EDGE_WIDTH * 2, TABLE_HEIGHT - EDGE_WIDTH * 2),
(EDGE_WIDTH * 2, TABLE_HEIGHT - EDGE_WIDTH * 2)]
num_vertices = 12
offsets = [0.0, 90.0, 180.0, 270.0]
vertices = [make_semicircle(num_vertices, offset) for offset in offsets]
shapes = [b2PolygonShape(vertices=verts) for verts in vertices]
pocket_color = (5,5,5)
pockets = [world.CreateStaticBody(position=pos, shapes=shape, restitution=RESTITUTION, userData=pocket_color) for pos, shape in zip(positions, shapes)]
return pockets
def __init__(self):
Framework.__init__(self)
ground = self.world.CreateBody()
body = self.world.CreateDynamicBody(
position=(0, 10),
allowSleep=False,
shapeFixture=b2FixtureDef(density=5.0),
shapes=[
b2PolygonShape(box=(0.5, 10, (10, 0), 0)),
b2PolygonShape(box=(0.5, 10, (-10, 0), 0)),
b2PolygonShape(box=(10, 0.5, (0, 10), 0)),
b2PolygonShape(box=(10, 0.5, (0, -10), 0)),
]
)
self.joint = self.world.CreateRevoluteJoint(bodyA=ground, bodyB=body,
localAnchorA=(0, 10), localAnchorB=(0, 0),
referenceAngle=0, motorSpeed=0.05 * b2_pi,
enableMotor=True, maxMotorTorque=1.0e8)
def __init__(self):
super(Liquid, self).__init__()
self.per_particle_mass = self.total_mass / self.num_particles
ground = self.world.CreateStaticBody(
shapes=[
b2PolygonShape(box=[5.0, 0.5]),
b2PolygonShape(box=[1.0, 0.2, (0, 4), -0.2]),
b2PolygonShape(box=[1.5, 0.2, (-1.2, 5.2), -1.5]),
b2PolygonShape(box=[0.5, 50.0, (5, 0), 0.0]),
b2PolygonShape(box=[0.5, 3.0, (-8, 0), 0.0]),
b2PolygonShape(box=[2.0, 0.1, (-6, -2.8), 0.1]),
b2CircleShape(radius=0.5, pos=(-.5, -4)),
]
)
cx = 0
cy = 25
box_width = 2.0
box_height = 20.0
self.liquid = []
for i in range(self.num_particles):
self.createDroplet((b2Random(cx - box_width * 0.5,
cx + box_width * 0.5),
b2Random(cy - box_height * 0.5,
cy + box_height * 0.5)))
self.createBoxSurfer()
if hasattr(self, 'settings'):
self.settings.enableSubStepping = False
def Step(self, settings):
Framework.Step(self, settings)
self.count -= 1
if self.count == 0:
return
self.world.CreateDynamicBody(
position=(0, 10),
allowSleep=False,
fixtures=b2FixtureDef(
density=1.0, shape=b2PolygonShape(box=(0.125, 0.125))),
)
def replace_body(old_body, new_position, scale, shape='box',
category_bits=0x0001, mask_bits=(0x0001 | 0x0002 | 0x0003)):
if shape == 'box':
new_shape = b2PolygonShape(box=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO, scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
elif shape == 'circle':
new_shape= b2CircleShape(radius=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
else:
new_shape= b2PolygonShape(box=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO, scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
new_body = defines.world.CreateDynamicBody(
position=new_position,
angle=old_body.angle,
angularDamping=old_body.angularDamping,
linearDamping=old_body.linearDamping,
shapes=new_shape,
bullet=old_body.bullet,
shapeFixture=b2FixtureDef(density=2.0,
categoryBits=category_bits,
maskBits=mask_bits )
)
return new_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(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 new_physic_object(shape='box', scale=1,
is_a_bullet=False, pos=(0, 0),
angular_dampning=0, linear_dampning=0,
category_bits=0x0001, mask_bits=(0x0001 | 0x0002 | 0x0003),
den=2.0):
debug_graphic = loader.loadModel("models/physic_square")
debug_graphic.reparentTo(camera)
if shape == 'circle':
tex = loader.loadTexture("textures/round.png")
else:
tex = loader.loadTexture("textures/physic_texture.png")
debug_graphic.setTexture(tex, 1)
debug_graphic.setBin("unsorted", 0)
debug_graphic.setDepthTest(False)
if shape == 'box':
new_shape = b2PolygonShape(box=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO, scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
elif shape == 'circle':
new_shape= b2CircleShape(radius=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
else:
new_shape = b2PolygonShape(box=(scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO, scale * defines.GRAPHIC_TO_PHYSIC_SCALE_RATIO))
body = defines.world.CreateDynamicBody(
position=pos,
angle=0,
angularDamping=angular_dampning,
linearDamping=linear_dampning,
shapes=new_shape,
bullet=is_a_bullet,
shapeFixture=b2FixtureDef(density=den,
categoryBits=category_bits,
maskBits=mask_bits)
)
return debug_graphic, body
def __init__(self, physworld, gravity, size, lifetime, pos):
self.mWorld = physworld
self.mGravity = gravity
self.mSize = size
self.mLifetime = lifetime
self.mIsAlive = True
#create body
self.mBody = self.mWorld.CreateDynamicBody(position = pos)
shape = b2PolygonShape()
shape.SetAsBox(self.mSize.x/2.0,self.mSize.y/2.0)
fd = b2FixtureDef()
fd.shape = shape
fd.categoryBits = Filter.CATEGORY_FX
fd.maskBits = Filter.MASK_FX
self.mBody.CreateFixture(fd)
self.mBody.userData = self
def __init__(self,
boxes,
boxes_density,
boxes_restitution,
boxes_friction,
boxes_pos,
boxes_angle,
grip_strength,
gravity = (0, -9.81),
timestep = 1.0/10,
vel_iters = 10,
pos_iters = 8):
# init box2d world
self.world = b2World(gravity = gravity, doSleep = True)
# gripper max force
self.grip_strength = grip_strength
# set simulation parameters
self.timestep = timestep
self.vel_iters = vel_iters
self.pos_iters = pos_iters
# initialize all the boxes
self.box_bodies = []
self.box_fixtures = []
for b, d, r, f, p, a in zip(boxes,
boxes_density,
boxes_restitution,
boxes_friction,
boxes_pos,
boxes_angle):
self.box_bodies.append(self.world.CreateDynamicBody(position = p,
angle = a))
fixture = self.box_bodies[-1].CreatePolygonFixture(box=b,
density = d,
friction = f,
restitution = r)
self.box_fixtures.append(fixture)
# initialize the floor
self.floor_body = self.world.CreateStaticBody(
position = (0,0),
shape = b2PolygonShape(box = (50,2))
)