def make_battery(world, position=(0, 0, 0)):
mass = Mass()
mass.setBox(battery_density, 70, 25, 35)
body = Body(world)
body.setMass(mass)
body.setPosition(position)
return body
def make_servo(world, position=(0, 0, 0)):
mass = Mass()
mass.setBox(servo_density, 40, 20, 35)
body = Body(world)
body.setMass(mass)
body.setPosition(position)
return body
def make_lower_leg(world):
lower_leg_mass = Mass()
lower_leg_mass.setBox(body_density, 30, 100, 5)
lower_leg = Body(world)
lower_leg.setMass(lower_leg_mass)
servo = make_servo(world)
fix(world, lower_leg, servo)
return lower_leg
def __init__(self, world, pos, size, mass):
self.world = world
self.pos = pos
# Create a body inside the world
self.body = Body(world)
M = Mass()
M.setSphere(2500.0, size)
M.mass = mass
self.body.setMass(M)
self.body.setPosition(pos)
# draw body
self.rbody = sphere(pos=pos, radius=size)
def make_body(world):
mass = Mass()
mass.setBox(body_density, 240, 27, 150)
body = Body(world)
body.setMass(mass)
fix(world, body, make_battery(world, (0, 27 / 2, -(150 / 2 - 35 / 2))))
fix(world, body, make_battery(world, (0, 27 / 2, 150 / 2 - 35 / 2)))
fix(world, body, make_servo(world, (240 / 2 - 30, 0, 150 / 2)))
fix(world, body, make_servo(world, (240 / 2 - 30, 0, -150 / 2)))
fix(world, body, make_servo(world, (-(240 / 2 - 30), 0, 150 / 2)))
fix(world, body, make_servo(world, (-(240 / 2 - 30), 0, -150 / 2)))
return body
def __init__(self, world, space, pos, size, mass, color=(0.7, 0.7, 0.7)):
self.world = world
self.pos = pos
# Create a body inside the world
self.body = Body(world)
M = Mass()
M.setSphere(2500, size)
M.mass = mass
self.body.setMass(M)
self.body.setPosition(pos)
if space:
# setect colisions
self.geom = GeomSphere(space, size)
self.geom.setBody(self.body)
# draw body
self.rbody = sphere(pos=pos, radius=size, color=color)
def __init__(self, world, space, pos, size, mass, color=(0.7, 0.7, 0.7)):
self.world = world
self.pos = pos
# Create a body inside the world
self.body = Body(world)
M = Mass()
M.setSphere(2500, size)
M.mass = mass
self.body.setMass(M)
self.body.setPosition(pos)
if space:
# setect colisions
self.geom = GeomSphere(space, size)
self.geom.setBody(self.body)
# draw body
self.rbody = sphere(pos=pos, radius=size, color=color)
def make_upper_leg(world):
upper_leg_mass = Mass()
upper_leg_mass.setBox(body_density, 30, 100, 5)
upper_leg = Body(world)
upper_leg.setMass(upper_leg_mass)
return upper_leg
def create_mass(self, density, dimensions):
width, height, depth = dimensions
mass = Mass()
mass.setBox(density, width, height, depth)
return mass
