def __init__(self): super(ElasticBody, self).__init__() bodies = self.bodies for i in range(64): bodies.append(None) # Bottom static body sd = box2d.b2PolygonDef() sd.SetAsBox(50.0, 2.0) sd.friction = 0.1 sd.restitution = 0.1 bd = box2d.b2BodyDef() bd.position.Set(-1.0, -7.5) self.m_ground = self.world.CreateBody(bd) self.m_ground.CreateShape(sd) # Upper static body sd = box2d.b2PolygonDef() sd.SetAsBox(20.0, 0.50, box2d.b2Vec2(0, 0), 0.047 * box2d.b2_pi) sd.friction = 0.01 sd.restitution = 0.001 bd = box2d.b2BodyDef() bd.position.Set(-20, 93.0) g = self.world.CreateBody(bd) g.CreateShape(sd) sd.SetAsBox(15, 0.50, box2d.b2Vec2(-15.0, 12.5), 0.0) g.CreateShape(sd) sd.SetAsBox(20, 0.5, box2d.b2Vec2(0.0, -25.0), -0.5) g.CreateShape(sd) # Left channel left wall sd = box2d.b2PolygonDef() sd.SetAsBox(0.7, 55.0) sd.friction = 0.1 sd.restitution = 0.1 bd = box2d.b2BodyDef() bd.position.Set(-49.3, 50.0) g = self.world.CreateBody(bd) g.CreateShape(sd) # Right wall sd = box2d.b2PolygonDef() sd.SetAsBox(0.7, 55.0) sd.friction = 0.1 sd.restitution = 0.1 bd = box2d.b2BodyDef() bd.position.Set(45, 50.0) g = self.world.CreateBody(bd) g.CreateShape(sd) # Left channel right upper wall sd = box2d.b2PolygonDef() sd.SetAsBox(0.5, 20.0) sd.friction = 0.05 sd.restitution = 0.01 bd = box2d.b2BodyDef() bd.position.Set(-42.0, 70.0) bd.angle = -0.03 * box2d.b2_pi g = self.world.CreateBody(bd) g.CreateShape(sd) # Left channel right lower wall sd = box2d.b2PolygonDef() sd.SetAsBox(0.50, 23.0) sd.friction = 0.05 sd.restitution = 0.01 bd = box2d.b2BodyDef() bd.position.Set(-44.0, 27.0) g = self.world.CreateBody(bd) g.CreateShape(sd) # Bottom motors cd = box2d.b2CircleDef() cd.radius = 3.0 cd.density = 15.0 cd.friction = 1 cd.restitution = 0.2 # 1. bd.position.Set(-40.0, 2.5) body = self.world.CreateBody(bd) body.CreateShape(cd) body.SetMassFromShapes() jr = box2d.b2RevoluteJointDef() jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1)) jr.maxMotorTorque = 30000 jr.enableMotor = True jr.motorSpeed = 20 self.world.CreateJoint(jr).getAsType() # 1. left down bd.position.Set(-46.0, -2.5) cd.radius = 1.5 jr.motorSpeed = -20 body = self.world.CreateBody(bd) body.CreateShape(cd) sd.SetAsBox(2.0, 0.50) body.CreateShape(sd) body.SetMassFromShapes() jr.Initialize(g, body, body.GetWorldCenter()) self.world.CreateJoint(jr).getAsType() # 2. cd.radius = 3.0 jr.motorSpeed = 20 bd.position.Set(-32.0, 2.5) body = self.world.CreateBody(bd) body.CreateShape(cd) body.SetMassFromShapes() jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1)) self.world.CreateJoint(jr).getAsType() # 3. jr.motorSpeed = 20 bd.position.Set(-24.0, 1.5) body = self.world.CreateBody(bd) body.CreateShape(cd) body.SetMassFromShapes() jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1)) self.world.CreateJoint(jr).getAsType() # 4. bd.position.Set(-16.0, 0.8) body = self.world.CreateBody(bd) body.CreateShape(cd) body.SetMassFromShapes() jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1)) self.world.CreateJoint(jr).getAsType() # 5. bd.position.Set(-8.0, 0.5) body = self.world.CreateBody(bd) body.CreateShape(cd) body.SetMassFromShapes() jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1)) self.world.CreateJoint(jr).getAsType() # 6. bd.position.Set(0.0, 0.1) body = self.world.CreateBody(bd) body.CreateShape(cd) body.SetMassFromShapes() jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1)) self.world.CreateJoint(jr).getAsType() # 7. bd.position.Set(8.0, -0.5) body = self.world.CreateBody(bd) body.CreateShape(cd) sd.SetAsBox(3.7, 0.5) body.CreateShape(sd) body.SetMassFromShapes() jr.Initialize(g, body, body.GetWorldCenter() + box2d.b2Vec2(0, 1)) self.world.CreateJoint(jr).getAsType() # 8. right rotator sd.SetAsBox(5, 0.5) sd.density = 2.0 bd.position.Set(18.0, 1) rightmotor = self.world.CreateBody(bd) # rightmotor.CreateShape(sd) sd.SetAsBox(4.5, 0.5, box2d.b2Vec2(0, 0), box2d.b2_pi / 3) rightmotor.CreateShape(sd) sd.SetAsBox(4.5, 0.5, box2d.b2Vec2(0, 0), box2d.b2_pi * 2 / 3) rightmotor.CreateShape(sd) cd.radius = 4.2 rightmotor.CreateShape(cd) rightmotor.SetMassFromShapes() jr.Initialize(g, rightmotor, rightmotor.GetWorldCenter()) jr.maxMotorTorque = 70000 jr.motorSpeed = -4 self.world.CreateJoint(jr).getAsType() # 9. left rotator sd.SetAsBox(8.5, 0.5) sd.density = 2.0 bd.position.Set(-34.0, 17) body = self.world.CreateBody(bd) body.CreateShape(sd) sd.SetAsBox(8.5, 0.5, box2d.b2Vec2(0, 0), box2d.b2_pi * 0.5) body.CreateShape(sd) cd.radius = 7 cd.friction = 0.9 body.CreateShape(cd) body.SetMassFromShapes() jr.Initialize(g, body, body.GetWorldCenter()) jr.maxMotorTorque = 100000 jr.motorSpeed = -5 self.world.CreateJoint(jr).getAsType() # big compressor sd.SetAsBox(3.0, 4) sd.density = 10.0 bd.position.Set(-16.0, 17) hammerleft = self.world.CreateBody(bd) hammerleft.CreateShape(sd) hammerleft.SetMassFromShapes() jd = box2d.b2DistanceJointDef() jd.Initialize(body, hammerleft, body.GetWorldCenter() + box2d.b2Vec2(0, 6), hammerleft.GetWorldCenter()) self.world.CreateJoint(jd).getAsType() bd.position.Set(4.0, 17) hammerright = self.world.CreateBody(bd) hammerright.CreateShape(sd) hammerright.SetMassFromShapes() jd.Initialize(body, hammerright, body.GetWorldCenter() - box2d.b2Vec2(0, 6), hammerright.GetWorldCenter()) self.world.CreateJoint(jd).getAsType() # pusher sd.SetAsBox(6, 0.75) bd.position.Set(-21.0, 9) pusher = self.world.CreateBody(bd) # pusher.CreateShape(sd) sd.SetAsBox(2, 1.5, box2d.b2Vec2(-5, 0), 0) pusher.SetMassFromShapes() pusher.CreateShape(sd) jd.Initialize( rightmotor, pusher, rightmotor.GetWorldCenter() + box2d.b2Vec2(-8.0, 0), pusher.GetWorldCenter() + box2d.b2Vec2(5.0, 0), ) self.world.CreateJoint(jd).getAsType() # Static bodies above motors sd = box2d.b2PolygonDef() cd = box2d.b2CircleDef() sd.SetAsBox(9.0, 0.5) sd.friction = 0.05 sd.restitution = 0.01 bd = box2d.b2BodyDef() bd.position.Set(-15.5, 12) bd.angle = 0.0 g = self.world.CreateBody(bd) g.CreateShape(sd) sd.SetAsBox(8, 0.5, box2d.b2Vec2(23, 0), 0) g.CreateShape(sd) # compressor statics sd.SetAsBox(7.0, 0.5, box2d.b2Vec2(-2, 9), 0) g.CreateShape(sd) sd.SetAsBox(9.0, 0.5, box2d.b2Vec2(22, 9), 0) g.CreateShape(sd) sd.SetAsBox(19.0, 0.5, box2d.b2Vec2(-9, 15), -0.05) g.CreateShape(sd) sd.SetAsBox(4.7, 0.5, box2d.b2Vec2(15, 11.5), -0.5) g.CreateShape(sd) # below compressor sd.SetAsBox(26.0, 0.3, box2d.b2Vec2(17, -4.4), -0.02) g.CreateShape(sd) cd.radius = 1.0 cd.friction = 1.0 cd.localPosition = box2d.b2Vec2(29, -6) g.CreateShape(cd) cd.radius = 0.7 cd.localPosition = box2d.b2Vec2(-2, -4.5) g.CreateShape(cd) # Elevator bd = box2d.b2BodyDef() cd = box2d.b2CircleDef() sd = box2d.b2PolygonDef() bd.position.Set(40.0, 4.0) self.m_elev = self.world.CreateBody(bd) sd.SetAsBox(0.5, 2.5, box2d.b2Vec2(3.0, -3.0), 0) sd.density = 1 sd.friction = 0.01 self.m_elev.CreateShape(sd) sd.SetAsBox(7.0, 0.5, box2d.b2Vec2(-3.5, -5.5), 0) self.m_elev.CreateShape(sd) sd.SetAsBox(0.5, 2.5, box2d.b2Vec2(-11, -3.5), 0) self.m_elev.CreateShape(sd) self.m_elev.SetMassFromShapes() jp = box2d.b2PrismaticJointDef() jp.Initialize(self.m_ground, self.m_elev, bd.position, box2d.b2Vec2(0.0, 1.0)) jp.lowerTranslation = 0.0 jp.upperTranslation = 100.0 jp.enableLimit = True jp.enableMotor = True jp.maxMotorForce = 10000 jp.motorSpeed = 0 self.m_joint_elev = self.world.CreateJoint(jp).getAsType() # Korb sd.SetAsBox(2.3, 0.5, box2d.b2Vec2(1, 0.0), 0.0) sd.density = 0.5 bd.position.Set(29.0, 6.5) body = self.world.CreateBody(bd) # body.CreateShape(sd) sd.SetAsBox(2.5, 0.5, box2d.b2Vec2(3.0, -2), box2d.b2_pi / 2) body.CreateShape(sd) sd.SetAsBox(4.6, 0.5, box2d.b2Vec2(7.8, -4.0), 0) body.CreateShape(sd) sd.SetAsBox(0.5, 4.5, box2d.b2Vec2(12, 0.0), 0) body.CreateShape(sd) sd.SetAsBox(0.5, 0.5, box2d.b2Vec2(13, 4.0), 0) body.CreateShape(sd) cd.radius = 0.7 cd.density = 1 cd.friction = 0.01 cd.localPosition = box2d.b2Vec2(0, 0) body.CreateShape(cd) body.SetMassFromShapes() jr = box2d.b2RevoluteJointDef() jr.Initialize(self.m_elev, body, bd.position) jr.enableLimit = True jr.lowerAngle = -0.2 jr.upperAngle = box2d.b2_pi * 1.1 jr.collideConnected = True self.world.CreateJoint(jr).getAsType() # upper body exit sd.SetAsBox(14.0, 0.5, box2d.b2Vec2(-3.5, -10.0), 0.0) bd.position.Set(17.5, 96.0) body = self.world.CreateBody(bd) body.CreateShape(sd) # "Elastic body" 64 bodies - something like a lin. elastic compound # connected via dynamic forces (springs) sd = box2d.b2PolygonDef() sd.SetAsBox(0.55, 0.55) sd.density = 1.5 sd.friction = 0.01 sd.filter.groupIndex = -1 startpoint = box2d.b2Vec2(30, 20) bd = box2d.b2BodyDef() bd.isBullet = False bd.allowSleep = False for i in range(8): for j in range(8): bd.position.Set(j * 1.02, 2.51 + 1.02 * i) bd.position += startpoint body = self.world.CreateBody(bd) # bodies[8 * i + j] = body body.CreateShape(sd) body.SetMassFromShapes()
def CreateLeg(self, s, wheelAnchor) : p1=box2d.b2Vec2(5.4 * s, -6.1) p2=box2d.b2Vec2(7.2 * s, -1.2) p3=box2d.b2Vec2(4.3 * s, -1.9) p4=box2d.b2Vec2(3.1 * s, 0.8) p5=box2d.b2Vec2(6.0 * s, 1.5) p6=box2d.b2Vec2(2.5 * s, 3.7) sd1=box2d.b2PolygonDef() sd2=box2d.b2PolygonDef() sd1.vertexCount = 3 sd2.vertexCount = 3 sd1.filter.groupIndex = -1 sd2.filter.groupIndex = -1 sd1.density = 1.0 sd2.density = 1.0 if s > 0.0: sd1.setVertex(0, p1) sd1.setVertex(1, p2) sd1.setVertex(2, p3) sd2.setVertex(0, box2d.b2Vec2_zero) sd2.setVertex(1, p5 - p4) sd2.setVertex(2, p6 - p4) else: sd1.setVertex(0, p1) sd1.setVertex(1, p3) sd1.setVertex(2, p2) sd2.setVertex(0, box2d.b2Vec2_zero) sd2.setVertex(1, p6 - p4) sd2.setVertex(2, p5 - p4) bd1=box2d.b2BodyDef() bd2=box2d.b2BodyDef() bd1.position = self.m_offset bd2.position = p4 + self.m_offset bd1.angularDamping = 10.0 bd2.angularDamping = 10.0 body1 = self.world.CreateBody(bd1) body2 = self.world.CreateBody(bd2) body1.CreateShape(sd1) body2.CreateShape(sd2) body1.SetMassFromShapes() body2.SetMassFromShapes() djd=box2d.b2DistanceJointDef() # Using a soft distance constraint can reduce some jitter. # It also makes the structure seem a bit more fluid by # acting like a suspension system. #djd.dampingRatio = 0.5 #djd.frequencyHz = 10.0 # svn r149, not usable yet djd.Initialize(body1, body2, p2 + self.m_offset, p5 + self.m_offset) self.world.CreateJoint(djd).getAsType() djd.Initialize(body1, body2, p3 + self.m_offset, p4 + self.m_offset) self.world.CreateJoint(djd).getAsType() djd.Initialize(body1, self.m_wheel, p3 + self.m_offset, wheelAnchor + self.m_offset) self.world.CreateJoint(djd).getAsType() djd.Initialize(body2, self.m_wheel, p6 + self.m_offset, wheelAnchor + self.m_offset) self.world.CreateJoint(djd).getAsType() rjd=box2d.b2RevoluteJointDef() rjd.Initialize(body2, self.m_chassis, p4 + self.m_offset) self.world.CreateJoint(rjd).getAsType()
def __init__(self): super(Dominos, self).__init__() sd=box2d.b2PolygonDef() sd.SetAsBox(50.0, 10.0) bd=box2d.b2BodyDef() bd.position.Set(0.0, -10.0) b1 = self.world.CreateBody(bd) b1.CreateShape(sd) sd=box2d.b2PolygonDef() sd.SetAsBox(6.0, 0.25) bd=box2d.b2BodyDef() bd.position.Set(-1.5, 10.0) ground = self.world.CreateBody(bd) ground.CreateShape(sd) sd=box2d.b2PolygonDef() sd.SetAsBox(0.1, 1.0) sd.density = 20.0 sd.friction = 0.1 for i in range(10): bd=box2d.b2BodyDef() bd.position.Set(-6.0 + 1.0 * i, 11.25) body = self.world.CreateBody(bd) body.CreateShape(sd) body.SetMassFromShapes() sd=box2d.b2PolygonDef() sd.SetAsBox(7.0, 0.25, box2d.b2Vec2_zero, 0.3) bd=box2d.b2BodyDef() bd.position.Set(1.0, 6.0) ground = self.world.CreateBody(bd) ground.CreateShape(sd) sd=box2d.b2PolygonDef() sd.SetAsBox(0.25, 1.5) bd=box2d.b2BodyDef() bd.position.Set(-7.0, 4.0) b2 = self.world.CreateBody(bd) b2.CreateShape(sd) sd=box2d.b2PolygonDef() sd.SetAsBox(6.0, 0.125) sd.density = 10.0 bd=box2d.b2BodyDef() bd.position.Set(-0.9, 1.0) bd.angle = -0.15 b3 = self.world.CreateBody(bd) b3.CreateShape(sd) b3.SetMassFromShapes() jd=box2d.b2RevoluteJointDef() anchor=box2d.b2Vec2() anchor.Set(-2.0, 1.0) jd.Initialize(b1, b3, anchor) jd.collideConnected = True self.world.CreateJoint(jd).getAsType() sd=box2d.b2PolygonDef() sd.SetAsBox(0.25, 0.25) sd.density = 10.0 bd=box2d.b2BodyDef() bd.position.Set(-10.0, 15.0) b4 = self.world.CreateBody(bd) b4.CreateShape(sd) b4.SetMassFromShapes() anchor.Set(-7.0, 15.0) jd.Initialize(b2, b4, anchor) self.world.CreateJoint(jd).getAsType() bd=box2d.b2BodyDef() bd.position.Set(6.5, 3.0) b5 = self.world.CreateBody(bd) sd=box2d.b2PolygonDef() sd.density = 10.0 sd.friction = 0.1 sd.SetAsBox(1.0, 0.1, box2d.b2Vec2(0.0, -0.9), 0.0) b5.CreateShape(sd) sd.SetAsBox(0.1, 1.0, box2d.b2Vec2(-0.9, 0.0), 0.0) b5.CreateShape(sd) sd.SetAsBox(0.1, 1.0, box2d.b2Vec2(0.9, 0.0), 0.0) b5.CreateShape(sd) b5.SetMassFromShapes() anchor.Set(6.0, 2.0) jd.Initialize(b1, b5, anchor) self.world.CreateJoint(jd).getAsType() sd=box2d.b2PolygonDef() sd.SetAsBox(1.0, 0.1) sd.density = 30.0 sd.friction = 0.2 bd=box2d.b2BodyDef() bd.position.Set(6.5, 4.1) b6 = self.world.CreateBody(bd) b6.CreateShape(sd) b6.SetMassFromShapes() anchor.Set(7.5, 4.0) jd.Initialize(b5, b6, anchor) self.world.CreateJoint(jd).getAsType() sd=box2d.b2PolygonDef() sd.SetAsBox(0.1, 1.0) sd.density = 10.0 bd=box2d.b2BodyDef() bd.position.Set(7.4, 1.0) b7 = self.world.CreateBody(bd) b7.CreateShape(sd) b7.SetMassFromShapes() djd=box2d.b2DistanceJointDef() djd.body1 = b3 djd.body2 = b7 djd.localAnchor1.Set(6.0, 0.0) djd.localAnchor2.Set(0.0, -1.0) d = djd.body2.GetWorldPoint(djd.localAnchor2) - djd.body1.GetWorldPoint(djd.localAnchor1) djd.length = d.Length() self.world.CreateJoint(djd).getAsType() sd=box2d.b2CircleDef() sd.radius = 0.2 sd.density = 10.0 for i in range(4): bd=box2d.b2BodyDef() bd.position.Set(5.9 + 2.0 * sd.radius * i, 2.4) body = self.world.CreateBody(bd) body.CreateShape(sd) body.SetMassFromShapes()