def get_initial_state(self):
# return first state
self.space = space = cp.cpSpaceNew()
space.contents.gravity = vec2d(0.0, -900.0)
space.contents.damping = 0.01
cp.cpSpaceResizeStaticHash(space, 50.0, 200)
cp.cpSpaceResizeActiveHash(space, 50.0, 10)
self.ball = ball = Ball(space, 5, 10, pos=(310, 180))
self.floor = Wall(space, (-60000,40), (60000,40))
self.base = base = Box(space, 5, 50, 20, (300,100))
cp.cpResetShapeIdCounter()
joint = cp.cpPinJointNew(
ball.body, base.body, vec2d(0,0), vec2d(0,0)
)
self.save_angle()
cp.cpSpaceAddJoint(space, joint)
if self.rl.episodes%100==0:
self.save()
return self.get_state()
def __init__(self, iterations=10, elastic_iterations=10):
"""Create a new instace of the Space
If the objects in your Space does not have any elasticity set
elastic_iterations to 0 to gain a little speedup.
:Parameters:
iterations : int
Number of iterations to use in the impulse solver to solve
contacts.
elastic_iterations : int
Number of iterations to use in the impulse solver to solve
elastic contacts.
"""
self._space = cp.cpSpaceNew(iterations)
self._space.contents.elasticIterations = elastic_iterations
self._callbacks = {} # To prevent the gc to collect the callbacks.
self._default_callback = None
self._shapes = {}
self._static_shapes = {}
self._bodies = set()
self._joints = set()
anims = chipmunk_body_anims(body)
sprite.x, sprite.y, sprite.rot = anims
return shape, sprite
if __name__ == "__main__":
pygame.init()
pygame.display.set_mode((800, 600), pygame.OPENGL | pygame.DOUBLEBUF)
rabbyt.set_viewport((800, 600))
rabbyt.set_default_attribs()
### Physics stuff
cp.cpInitChipmunk()
space = cp.cpSpaceNew()
space.contents.gravity = vec2d(0.0, -900.0)
cp.cpSpaceResizeStaticHash(space, 50.0, 2000)
cp.cpSpaceResizeActiveHash(space, 50.0, 100)
wallBody = cp.cpBodyNew(1e100, 1e100)
wallShape = cp.cpSegmentShapeNew(wallBody, vec2d(-300, -300),
vec2d(300, -300), 0.0)
wallShape.contents.u = 1.0
wallShape.contents.collision_type = COLLTYPE_DEFAULT
cp.cpSpaceAddStaticShape(space, wallShape)
shapes = []
sprites = []
cp.cpSpaceAddShape(space, shape)
anims = chipmunk_body_anims(body)
sprite.x, sprite.y, sprite.rot = anims
return shape, sprite
if __name__ == "__main__":
pygame.init()
pygame.display.set_mode((800,600), pygame.OPENGL | pygame.DOUBLEBUF)
rabbyt.set_viewport((800, 600))
rabbyt.set_default_attribs()
### Physics stuff
cp.cpInitChipmunk()
space = cp.cpSpaceNew()
space.contents.gravity = vec2d(0.0, -900.0)
cp.cpSpaceResizeStaticHash(space, 50.0, 2000)
cp.cpSpaceResizeActiveHash(space, 50.0, 100)
wallBody = cp.cpBodyNew(1e100, 1e100)
wallShape = cp.cpSegmentShapeNew(wallBody, vec2d(-300, -300),
vec2d(300, -300), 0.0)
wallShape.contents.u = 1.0
wallShape.contents.collision_type = COLLTYPE_DEFAULT
cp.cpSpaceAddStaticShape(space, wallShape)
shapes = []
sprites = []
