def fixed_joint_demo(screen):
bodies = []
joints = []
restitution = 0.5
fric_coeff = 0.15
r = Rect([120, 100], [60, 60],
restitution=restitution,
fric_coeff=fric_coeff)
bodies.append(r)
r.add_force(Gravity(g=100))
r2 = Rect([160, 100], [60, 60],
restitution=restitution,
fric_coeff=fric_coeff)
bodies.append(r2)
joints += [FixedJoint(r, r2)]
r2.add_no_contact(r)
r2.add_force(Gravity(g=100))
inclination = math.pi / 32
r = Rect([inclination, 500, 500], [900, 10],
restitution=restitution,
fric_coeff=fric_coeff)
bodies.append(r)
joints.append(TotalConstraint(r))
recorder = None
# recorder = Recorder(DT, screen)
world = World(bodies, joints, dt=DT)
run_world(world, run_time=TIME, screen=screen, recorder=recorder)
def testRect(self):
r1 = Rect([0, 0], [1, 1], vel=[0, 0])
r2 = Rect([0, 0, 0], [1, 1])
r3 = Rect(torch.tensor([0, 0], dtype=DTYPE), [1, 1], vel=torch.tensor([0, 0], dtype=DTYPE))
r4 = Rect(torch.tensor([0, 0, 0], dtype=DTYPE), [1, 1], vel=torch.tensor([1, 1, 1], dtype=DTYPE))
r5 = Rect([0, 0, 0], [1, 1], [0, 0, 0], mass=torch.tensor(1, dtype=DTYPE))
r1.add_no_contact(r2)
r2.add_force(Gravity())
r2.apply_forces(1)
r3.set_p(r3.p.new_tensor([1, 1, 1]))
r4.move(0.1)
def make_world(paddle_params, blocks_params, ball_params, ball_vel):
bodies = []
constraints = []
# Add ball if it exists
ball_pos, ball_rad = ball_params
ball_body = Circle(ball_pos,
ball_rad,
vel=ball_vel,
mass=BALL_MASS,
restitution=STD_RESTITUTION,
fric_coeff=FRIC_COEFF,
col=BALL_COLOR,
thickness=0)
bodies.append(ball_body)
# Add paddle
paddle_pos, paddle_dims = paddle_params
paddle_body = Rect(paddle_pos,
paddle_dims,
restitution=STD_RESTITUTION,
fric_coeff=FRIC_COEFF,
col=PADDLE_COLOR,
thickness=0)
bodies.append(paddle_body)
constraints += [
# YConstraint(paddle_body),
# RotConstraint(paddle_body)
]
paddle_idx = len(bodies) - 1
# Add walls
left_wall = Rect([WALL_WIDTH / 2.0, STOPPER_LINE / 2.0],
[WALL_WIDTH, STOPPER_LINE],
restitution=STD_RESTITUTION,
fric_coeff=FRIC_COEFF,
col=WALL_COLOR,
thickness=0)
constraints.append(TotalConstraint(left_wall))
left_wall.add_no_contact(paddle_body)
bodies.append(left_wall)
right_wall = Rect([
SCREEN_WIDTH - WALL_WIDTH / 2.0, (STOPPER_LINE + STOPPER_HEIGHT) / 2.0
], [WALL_WIDTH, STOPPER_LINE + STOPPER_HEIGHT],
restitution=STD_RESTITUTION,
fric_coeff=FRIC_COEFF,
col=WALL_COLOR,
thickness=0)
constraints.append(TotalConstraint(right_wall))
paddle_body.add_no_contact(right_wall)
bodies.append(right_wall)
roof = Rect([SCREEN_WIDTH / 2.0, ROOF_LINE / 2.0],
[SCREEN_WIDTH - 2 * WALL_WIDTH, ROOF_LINE],
restitution=STD_RESTITUTION,
fric_coeff=FRIC_COEFF,
col=WALL_COLOR,
thickness=0)
roof.add_no_contact(paddle_body)
roof.add_no_contact(left_wall)
roof.add_no_contact(right_wall)
constraints.append(TotalConstraint(roof))
bodies.append(roof)
# Add stoppers
left_stopper = Rect(
[STOPPER_WIDTH / 2.0, STOPPER_LINE + STOPPER_HEIGHT / 2.0],
[STOPPER_WIDTH, STOPPER_HEIGHT],
restitution=STOPPER_RESTITUTION,
fric_coeff=FRIC_COEFF,
col=LEFT_STOPPER_COLOR,
thickness=0)
constraints.append(TotalConstraint(left_stopper))
bodies.append(left_stopper)
left_stopper.add_no_contact(left_wall)
left_stopper.add_no_contact(ball_body)
right_stopper = Rect([
SCREEN_WIDTH + STOPPER_WIDTH / 2.0, STOPPER_LINE + STOPPER_HEIGHT / 2.0
], [STOPPER_WIDTH, STOPPER_HEIGHT],
restitution=STOPPER_RESTITUTION,
fric_coeff=FRIC_COEFF,
col=WALL_COLOR,
thickness=0)
constraints.append(TotalConstraint(right_stopper))
bodies.append(right_stopper)
right_stopper.add_no_contact(right_wall)
right_stopper.add_no_contact(ball_body)
# Add blocks
blocks_bodies = []
for block_params in blocks_params:
block_pos, block_dims = block_params
import math # XXX
level = int((block_pos[1] - block_dims[1] / 2 - BLOCKS_TOP_LEFT[0]) /
BLOCK_HEIGHT)
# TODO Define restitution by level? (different levels have different bounces)
block_restitution = 1
block_body = Rect(block_pos,
block_dims,
restitution=block_restitution,
fric_coeff=FRIC_COEFF,
col=BLOCK_COLORS[level],
thickness=0)
bodies.append(block_body)
blocks_bodies.append(block_body)
constraints.append(TotalConstraint(block_body))
block_body.add_no_contact(left_wall)
block_body.add_no_contact(right_wall)
for other_block in blocks_bodies[:-1]:
block_body.add_no_contact(other_block)
return World(bodies, constraints,
dt=DT), ball_body, paddle_body, blocks_bodies, paddle_idx