#!/usr/bin/python # # C++ version Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com # Python version Copyright (c) 2008 kne / sirkne at gmail dot com # # Implemented using the pybox2d SWIG interface for Box2D (pybox2d.googlecode.com) # # This software is provided 'as-is', without any express or implied # warranty. In no event will the authors be held liable for any damages # arising from the use of this software. # Permission is granted to anyone to use this software for any purpose, # including commercial applications, and to alter it and redistribute it # freely, subject to the following restrictions: # 1. The origin of this software must not be misrepresented; you must not # claim that you wrote the original software. If you use this software # in a product, an acknowledgment in the product documentation would be # appreciated but is not required. # 2. Altered source versions must be plainly marked as such, and must not be # misrepresented as being the original software. # 3. This notice may not be removed or altered from any source distribution. from test_main import * global k_scale k_scale = 3.0 class Test_Biped(Framework): name = "Biped" biped = None _pickle_vars=[] def __init__(self): super(Test_Biped, self).__init__() k_restitution = 1.4 bd=box2d.b2BodyDef() bd.position = (0.0, 20.0) body = self.world.CreateBody(bd) sd=box2d.b2PolygonDef() sd.density = 0.0 sd.restitution = k_restitution sd.SetAsBox(0.1, 10.0, (-10.0, 0.0), 0.0) body.CreateShape(sd) sd.SetAsBox(0.1, 10.0, (10.0, 0.0), 0.0) body.CreateShape(sd) sd.SetAsBox(0.1, 10.0, (0.0, -10.0), 0.5 * box2d.b2_pi) body.CreateShape(sd) sd.SetAsBox(0.1, 10.0, (0.0, 10.0), -0.5 * box2d.b2_pi) body.CreateShape(sd) self.biped = Biped(self.world, box2d.b2Vec2(0.0, 20.0)) for i in range(8): bd=box2d.b2BodyDef() bd.position = (5.0, 20.0 + i) bd.isBullet = True body = self.world.CreateBody(bd) body.SetLinearVelocity(box2d.b2Vec2(0.0, -100.0)) body.SetAngularVelocity(box2d.b2Random(-50.0, 50.0)) sd=box2d.b2CircleDef() sd.radius = 0.25 sd.density = 15.0 sd.restitution = k_restitution body.CreateShape(sd) body.SetMassFromShapes() class Biped(object): world = None LFoot=None RFoot=None LCalf=None RCalf=None LThigh=None RThigh=None Pelvis=None Stomach=None Chest=None Neck=None Head=None LUpperArm=None RUpperArm=None LForearm=None RForearm=None LHand=None RHand=None LAnkle=None RAnkle=None LKnee=None RKnee=None LHip=None RHip=None LowerAbs=None UpperAbs=None LowerNeck=None UpperNeck=None LShoulder=None RShoulder=None LElbow=None RElbow=None LWrist=None RWrist=None def __init__(self, world, position): self.world = world bdef = BipedDef() bd=box2d.b2BodyDef() # create body parts bd = bdef.LFootDef bd.position += position self.LFoot = self.world.CreateBody(bd) self.LFoot.CreateShape(bdef.LFootPoly) self.LFoot.SetMassFromShapes() bd = bdef.RFootDef bd.position += position self.RFoot = self.world.CreateBody(bd) self.RFoot.CreateShape(bdef.RFootPoly) self.RFoot.SetMassFromShapes() bd = bdef.LCalfDef bd.position += position self.LCalf = self.world.CreateBody(bd) self.LCalf.CreateShape(bdef.LCalfPoly) self.LCalf.SetMassFromShapes() bd = bdef.RCalfDef bd.position += position self.RCalf = self.world.CreateBody(bd) self.RCalf.CreateShape(bdef.RCalfPoly) self.RCalf.SetMassFromShapes() bd = bdef.LThighDef bd.position += position self.LThigh = self.world.CreateBody(bd) self.LThigh.CreateShape(bdef.LThighPoly) self.LThigh.SetMassFromShapes() bd = bdef.RThighDef bd.position += position self.RThigh = self.world.CreateBody(bd) self.RThigh.CreateShape(bdef.RThighPoly) self.RThigh.SetMassFromShapes() bd = bdef.PelvisDef bd.position += position self.Pelvis = self.world.CreateBody(bd) self.Pelvis.CreateShape(bdef.PelvisPoly) self.Pelvis.SetMassFromShapes() bd = bdef.StomachDef bd.position += position self.Stomach = self.world.CreateBody(bd) self.Stomach.CreateShape(bdef.StomachPoly) self.Stomach.SetMassFromShapes() bd = bdef.ChestDef bd.position += position self.Chest = self.world.CreateBody(bd) self.Chest.CreateShape(bdef.ChestPoly) self.Chest.SetMassFromShapes() bd = bdef.NeckDef bd.position += position self.Neck = self.world.CreateBody(bd) self.Neck.CreateShape(bdef.NeckPoly) self.Neck.SetMassFromShapes() bd = bdef.HeadDef bd.position += position self.Head = self.world.CreateBody(bd) self.Head.CreateShape(bdef.HeadCirc) self.Head.SetMassFromShapes() bd = bdef.LUpperArmDef bd.position += position self.LUpperArm = self.world.CreateBody(bd) self.LUpperArm.CreateShape(bdef.LUpperArmPoly) self.LUpperArm.SetMassFromShapes() bd = bdef.RUpperArmDef bd.position += position self.RUpperArm = self.world.CreateBody(bd) self.RUpperArm.CreateShape(bdef.RUpperArmPoly) self.RUpperArm.SetMassFromShapes() bd = bdef.LForearmDef bd.position += position self.LForearm = self.world.CreateBody(bd) self.LForearm.CreateShape(bdef.LForearmPoly) self.LForearm.SetMassFromShapes() bd = bdef.RForearmDef bd.position += position self.RForearm = self.world.CreateBody(bd) self.RForearm.CreateShape(bdef.RForearmPoly) self.RForearm.SetMassFromShapes() bd = bdef.LHandDef bd.position += position self.LHand = self.world.CreateBody(bd) self.LHand.CreateShape(bdef.LHandPoly) self.LHand.SetMassFromShapes() bd = bdef.RHandDef bd.position += position self.RHand = self.world.CreateBody(bd) self.RHand.CreateShape(bdef.RHandPoly) self.RHand.SetMassFromShapes() # link body parts bdef.LAnkleDef.body1 = self.LFoot bdef.LAnkleDef.body2 = self.LCalf bdef.RAnkleDef.body1 = self.RFoot bdef.RAnkleDef.body2 = self.RCalf bdef.LKneeDef.body1 = self.LCalf bdef.LKneeDef.body2 = self.LThigh bdef.RKneeDef.body1 = self.RCalf bdef.RKneeDef.body2 = self.RThigh bdef.LHipDef.body1 = self.LThigh bdef.LHipDef.body2 = self.Pelvis bdef.RHipDef.body1 = self.RThigh bdef.RHipDef.body2 = self.Pelvis bdef.LowerAbsDef.body1 = self.Pelvis bdef.LowerAbsDef.body2 = self.Stomach bdef.UpperAbsDef.body1 = self.Stomach bdef.UpperAbsDef.body2 = self.Chest bdef.LowerNeckDef.body1 = self.Chest bdef.LowerNeckDef.body2 = self.Neck bdef.UpperNeckDef.body1 = self.Chest bdef.UpperNeckDef.body2 = self.Head bdef.LShoulderDef.body1 = self.Chest bdef.LShoulderDef.body2 = self.LUpperArm bdef.RShoulderDef.body1 = self.Chest bdef.RShoulderDef.body2 = self.RUpperArm bdef.LElbowDef.body1 = self.LForearm bdef.LElbowDef.body2 = self.LUpperArm bdef.RElbowDef.body1 = self.RForearm bdef.RElbowDef.body2 = self.RUpperArm bdef.LWristDef.body1 = self.LHand bdef.LWristDef.body2 = self.LForearm bdef.RWristDef.body1 = self.RHand bdef.RWristDef.body2 = self.RForearm # create joints self.LAnkle = self.world.CreateJoint(bdef.LAnkleDef).getAsType() self.RAnkle = self.world.CreateJoint(bdef.RAnkleDef).getAsType() self.LKnee = self.world.CreateJoint(bdef.LKneeDef).getAsType() self.RKnee = self.world.CreateJoint(bdef.RKneeDef).getAsType() self.LHip = self.world.CreateJoint(bdef.LHipDef).getAsType() self.RHip = self.world.CreateJoint(bdef.RHipDef).getAsType() self.LowerAbs = self.world.CreateJoint(bdef.LowerAbsDef).getAsType() self.UpperAbs = self.world.CreateJoint(bdef.UpperAbsDef).getAsType() self.LowerNeck = self.world.CreateJoint(bdef.LowerNeckDef).getAsType() self.UpperNeck = self.world.CreateJoint(bdef.UpperNeckDef).getAsType() self.LShoulder = self.world.CreateJoint(bdef.LShoulderDef).getAsType() self.RShoulder = self.world.CreateJoint(bdef.RShoulderDef).getAsType() self.LElbow = self.world.CreateJoint(bdef.LElbowDef).getAsType() self.RElbow = self.world.CreateJoint(bdef.RElbowDef).getAsType() self.LWrist = self.world.CreateJoint(bdef.LWristDef).getAsType() self.RWrist = self.world.CreateJoint(bdef.RWristDef).getAsType() class BipedDef(object): # BodyDefs LFootDef=box2d.b2BodyDef() RFootDef=box2d.b2BodyDef() LCalfDef=box2d.b2BodyDef() RCalfDef=box2d.b2BodyDef() LThighDef=box2d.b2BodyDef() RThighDef=box2d.b2BodyDef() PelvisDef=box2d.b2BodyDef() StomachDef=box2d.b2BodyDef() ChestDef=box2d.b2BodyDef() NeckDef=box2d.b2BodyDef() HeadDef=box2d.b2BodyDef() LUpperArmDef=box2d.b2BodyDef() RUpperArmDef=box2d.b2BodyDef() LForearmDef=box2d.b2BodyDef() RForearmDef=box2d.b2BodyDef() LHandDef=box2d.b2BodyDef() RHandDef=box2d.b2BodyDef() # Polygons LFootPoly=box2d.b2PolygonDef() RFootPoly=box2d.b2PolygonDef() LCalfPoly=box2d.b2PolygonDef() RCalfPoly=box2d.b2PolygonDef() LThighPoly=box2d.b2PolygonDef() RThighPoly=box2d.b2PolygonDef() PelvisPoly=box2d.b2PolygonDef() StomachPoly=box2d.b2PolygonDef() ChestPoly=box2d.b2PolygonDef() NeckPoly=box2d.b2PolygonDef() LUpperArmPoly=box2d.b2PolygonDef() RUpperArmPoly=box2d.b2PolygonDef() LForearmPoly=box2d.b2PolygonDef() RForearmPoly=box2d.b2PolygonDef() LHandPoly=box2d.b2PolygonDef() RHandPoly=box2d.b2PolygonDef() # Circles HeadCirc=box2d.b2CircleDef() # Revolute Joints LAnkleDef=box2d.b2RevoluteJointDef() RAnkleDef=box2d.b2RevoluteJointDef() LKneeDef=box2d.b2RevoluteJointDef() RKneeDef=box2d.b2RevoluteJointDef() LHipDef=box2d.b2RevoluteJointDef() RHipDef=box2d.b2RevoluteJointDef() LowerAbsDef=box2d.b2RevoluteJointDef() UpperAbsDef=box2d.b2RevoluteJointDef() LowerNeckDef=box2d.b2RevoluteJointDef() UpperNeckDef=box2d.b2RevoluteJointDef() LShoulderDef=box2d.b2RevoluteJointDef() RShoulderDef=box2d.b2RevoluteJointDef() LElbowDef=box2d.b2RevoluteJointDef() RElbowDef=box2d.b2RevoluteJointDef() LWristDef=box2d.b2RevoluteJointDef() RWristDef=box2d.b2RevoluteJointDef() count = 0 def __init__(self): # So much cleaner in Python than C++ :) self.iter_polys = ( self.LFootPoly, self.RFootPoly, self.LCalfPoly, self.RCalfPoly, self.LThighPoly, self.RThighPoly, self.PelvisPoly, self.StomachPoly, self.ChestPoly, self.NeckPoly, self.LUpperArmPoly, self.RUpperArmPoly, self.LForearmPoly, self.RForearmPoly, self.LHandPoly, self.RHandPoly , self.HeadCirc ) self.iter_defs = ( self.LFootDef, self.RFootDef, self.LCalfDef, self.RCalfDef, self.LThighDef, self.RThighDef, self.PelvisDef, self.StomachDef, self.ChestDef, self.NeckDef, self.HeadDef, self.LUpperArmDef, self.RUpperArmDef, self.LForearmDef, self.RForearmDef, self.LHandDef, self.RHandDef ) self.iter_joints=( self.LAnkleDef, self.RAnkleDef, self.LKneeDef, self.RKneeDef, self.LHipDef, self.RHipDef, self.LowerAbsDef, self.UpperAbsDef, self.LowerNeckDef, self.UpperNeckDef, self.LShoulderDef, self.RShoulderDef, self.LElbowDef, self.RElbowDef, self.LWristDef, self.RWristDef ) self.SetMotorTorque(2.0) self.SetMotorSpeed(0.0) self.SetDensity(20.0) self.SetRestitution(0.0) self.SetLinearDamping(0.0) self.SetAngularDamping(0.005) self.count -= 1 self.SetGroupIndex(self.count) self.EnableMotor() self.EnableLimit() self.DefaultVertices() self.DefaultPositions() self.DefaultJoints() self.LFootPoly.friction = self.RFootPoly.friction = 0.85 def IsFast(self, b): pass def SetGroupIndex(self, i): for o in self.iter_polys: o.filter.groupIndex = i def SetLinearDamping(self, f): for d in self.iter_defs: d.linearDamping = f def SetAngularDamping(self, f): for d in self.iter_defs: d.angularDamping = f def SetMotorTorque(self, f): for j in self.iter_joints: j.maxMotorTorque = f def SetMotorSpeed(self, f): for j in self.iter_joints: j.motorSpeed = f def SetDensity(self, f): for o in self.iter_polys: o.density = f def SetRestitution(self, f): for o in self.iter_polys: o.restitution = f def EnableLimit(self): self.SetLimit(True) def DisableLimit(self): self.SetLimit(False) def SetLimit(self, b): for j in self.iter_joints: j.enableLimit = b def EnableMotor(self): self.SetMotor(True) def DisableMotor(self): self.SetMotor(False) def SetMotor(self, b): for j in self.iter_joints: j.enableMotor = b def DefaultVertices(self): global k_scale # feet for poly in (self.LFootPoly, self.RFootPoly): poly.setVertices([ k_scale * box2d.b2Vec2(.033,.143), k_scale * box2d.b2Vec2(.023,.033), k_scale * box2d.b2Vec2(.267,.035), k_scale * box2d.b2Vec2(.265,.065), k_scale * box2d.b2Vec2(.117,.143)]) # calves for poly in (self.LCalfPoly, self.RCalfPoly): poly.setVertices([ k_scale * box2d.b2Vec2(.089,.016), k_scale * box2d.b2Vec2(.178,.016), k_scale * box2d.b2Vec2(.205,.417), k_scale * box2d.b2Vec2(.095,.417)]) # thighs for poly in (self.LThighPoly, self.RThighPoly): poly.setVertices([ k_scale * box2d.b2Vec2(.137,.032), k_scale * box2d.b2Vec2(.243,.032), k_scale * box2d.b2Vec2(.318,.343), k_scale * box2d.b2Vec2(.142,.343)]) # pelvis self.PelvisPoly.setVertices([ k_scale * box2d.b2Vec2(.105,.051), k_scale * box2d.b2Vec2(.277,.053), k_scale * box2d.b2Vec2(.320,.233), k_scale * box2d.b2Vec2(.112,.233), k_scale * box2d.b2Vec2(.067,.152)]) # stomach self.StomachPoly.setVertices([ k_scale * box2d.b2Vec2(.088,.043), k_scale * box2d.b2Vec2(.284,.043), k_scale * box2d.b2Vec2(.295,.231), k_scale * box2d.b2Vec2(.100,.231)]) # chest self.ChestPoly.setVertices([ k_scale * box2d.b2Vec2(.091,.042), k_scale * box2d.b2Vec2(.283,.042), k_scale * box2d.b2Vec2(.177,.289), k_scale * box2d.b2Vec2(.065,.289)]) # head self.HeadCirc.radius = k_scale * .115 # neck self.NeckPoly.setVertices([ k_scale * box2d.b2Vec2(.038,.054), k_scale * box2d.b2Vec2(.149,.054), k_scale * box2d.b2Vec2(.154,.102), k_scale * box2d.b2Vec2(.054,.113)]) # upper arms for poly in (self.LUpperArmPoly, self.RUpperArmPoly): poly.setVertices([ k_scale * box2d.b2Vec2(.092,.059), k_scale * box2d.b2Vec2(.159,.059), k_scale * box2d.b2Vec2(.169,.335), k_scale * box2d.b2Vec2(.078,.335), k_scale * box2d.b2Vec2(.064,.248)]) # forearms for poly in (self.LForearmPoly, self.RForearmPoly): poly.setVertices([ k_scale * box2d.b2Vec2(.082,.054), k_scale * box2d.b2Vec2(.138,.054), k_scale * box2d.b2Vec2(.149,.296), k_scale * box2d.b2Vec2(.088,.296)]) # hands for poly in (self.LHandPoly, self.RHandPoly): poly.setVertices([ k_scale * box2d.b2Vec2(.066,.031), k_scale * box2d.b2Vec2(.123,.020), k_scale * box2d.b2Vec2(.160,.127), k_scale * box2d.b2Vec2(.127,.178), k_scale * box2d.b2Vec2(.074,.178)]) def DefaultJoints(self): global k_scale #b.LAnkleDef.body1 = LFoot #b.LAnkleDef.body2 = LCalf #b.self.RAnkleDef.body1 = self.RFoot #b.self.RAnkleDef.body2 = self.RCalf # ankles anchor = k_scale * box2d.b2Vec2(-.045,-.75) self.LAnkleDef.localAnchor1 = self.RAnkleDef.localAnchor1 = anchor - self.LFootDef.position self.LAnkleDef.localAnchor2 = self.RAnkleDef.localAnchor2 = anchor - self.LCalfDef.position self.LAnkleDef.referenceAngle = self.RAnkleDef.referenceAngle = 0.0 self.LAnkleDef.lowerAngle = self.RAnkleDef.lowerAngle = -0.523598776 self.LAnkleDef.upperAngle = self.RAnkleDef.upperAngle = 0.523598776 #b.self.LKneeDef.body1 = self.LCalf #b.self.LKneeDef.body2 = self.LThigh #b.self.RKneeDef.body1 = self.RCalf #b.self.RKneeDef.body2 = self.RThigh # knees anchor = k_scale * box2d.b2Vec2(-.030,-.355) self.LKneeDef.localAnchor1 = self.RKneeDef.localAnchor1 = anchor - self.LCalfDef.position self.LKneeDef.localAnchor2 = self.RKneeDef.localAnchor2 = anchor - self.LThighDef.position self.LKneeDef.referenceAngle = self.RKneeDef.referenceAngle = 0.0 self.LKneeDef.lowerAngle = self.RKneeDef.lowerAngle = 0 self.LKneeDef.upperAngle = self.RKneeDef.upperAngle = 2.61799388 #b.self.LHipDef.body1 = self.LThigh #b.self.LHipDef.body2 = Pelvis #b.self.RHipDef.body1 = self.RThigh #b.self.RHipDef.body2 = Pelvis # hips anchor = k_scale * box2d.b2Vec2(.005,-.045) self.LHipDef.localAnchor1 = self.RHipDef.localAnchor1 = anchor - self.LThighDef.position self.LHipDef.localAnchor2 = self.RHipDef.localAnchor2 = anchor - self.PelvisDef.position self.LHipDef.referenceAngle = self.RHipDef.referenceAngle = 0.0 self.LHipDef.lowerAngle = self.RHipDef.lowerAngle = -2.26892803 self.LHipDef.upperAngle = self.RHipDef.upperAngle = 0 #b.self.LowerAbsDef.body1 = Pelvis #b.self.LowerAbsDef.body2 = Stomach # lower abs anchor = k_scale * box2d.b2Vec2(.035,.135) self.LowerAbsDef.localAnchor1 = anchor - self.PelvisDef.position self.LowerAbsDef.localAnchor2 = anchor - self.StomachDef.position self.LowerAbsDef.referenceAngle = 0.0 self.LowerAbsDef.lowerAngle = -0.523598776 self.LowerAbsDef.upperAngle = 0.523598776 #b.UpperAbsDef.body1 = Stomach #b.UpperAbsDef.body2 = Chest # upper abs anchor = k_scale * box2d.b2Vec2(.045,.320) self.UpperAbsDef.localAnchor1 = anchor - self.StomachDef.position self.UpperAbsDef.localAnchor2 = anchor - self.ChestDef.position self.UpperAbsDef.referenceAngle = 0.0 self.UpperAbsDef.lowerAngle = -0.523598776 self.UpperAbsDef.upperAngle = 0.174532925 #b.self.LowerNeckDef.body1 = Chest #b.self.LowerNeckDef.body2 = Neck # lower neck anchor = k_scale * box2d.b2Vec2(-.015,.575) self.LowerNeckDef.localAnchor1 = anchor - self.ChestDef.position self.LowerNeckDef.localAnchor2 = anchor - self.NeckDef.position self.LowerNeckDef.referenceAngle = 0.0 self.LowerNeckDef.lowerAngle = -0.174532925 self.LowerNeckDef.upperAngle = 0.174532925 #b.self.UpperNeckDef.body1 = Chest #b.self.UpperNeckDef.body2 = Head # upper neck anchor = k_scale * box2d.b2Vec2(-.005,.630) self.UpperNeckDef.localAnchor1 = anchor - self.ChestDef.position self.UpperNeckDef.localAnchor2 = anchor - self.HeadDef.position self.UpperNeckDef.referenceAngle = 0.0 self.UpperNeckDef.lowerAngle = -0.610865238 self.UpperNeckDef.upperAngle = 0.785398163 #b.self.LShoulderDef.body1 = Chest #b.self.LShoulderDef.body2 = self.LUpperArm #b.self.RShoulderDef.body1 = Chest #b.self.RShoulderDef.body2 = self.RUpperArm # shoulders anchor = k_scale * box2d.b2Vec2(-.015,.545) self.LShoulderDef.localAnchor1 = self.RShoulderDef.localAnchor1 = anchor - self.ChestDef.position self.LShoulderDef.localAnchor2 = self.RShoulderDef.localAnchor2 = anchor - self.LUpperArmDef.position self.LShoulderDef.referenceAngle = self.RShoulderDef.referenceAngle = 0.0 self.LShoulderDef.lowerAngle = self.RShoulderDef.lowerAngle = -1.04719755 self.LShoulderDef.upperAngle = self.RShoulderDef.upperAngle = 3.14159265 #b.self.LElbowDef.body1 = self.LForearm #b.self.LElbowDef.body2 = self.LUpperArm #b.self.RElbowDef.body1 = self.RForearm #b.self.RElbowDef.body2 = self.RUpperArm # elbows anchor = k_scale * box2d.b2Vec2(-.005,.290) self.LElbowDef.localAnchor1 = self.RElbowDef.localAnchor1 = anchor - self.LForearmDef.position self.LElbowDef.localAnchor2 = self.RElbowDef.localAnchor2 = anchor - self.LUpperArmDef.position self.LElbowDef.referenceAngle = self.RElbowDef.referenceAngle = 0.0 self.LElbowDef.lowerAngle = self.RElbowDef.lowerAngle = -2.7925268 self.LElbowDef.upperAngle = self.RElbowDef.upperAngle = 0 #b.self.LWristDef.body1 = self.LHand #b.self.LWristDef.body2 = self.LForearm #b.self.RWristDef.body1 = self.RHand #b.self.RWristDef.body2 = self.RForearm # wrists anchor = k_scale * box2d.b2Vec2(-.010,.045) self.LWristDef.localAnchor1 = self.RWristDef.localAnchor1 = anchor - self.LHandDef.position self.LWristDef.localAnchor2 = self.RWristDef.localAnchor2 = anchor - self.LForearmDef.position self.LWristDef.referenceAngle = self.RWristDef.referenceAngle = 0.0 self.LWristDef.lowerAngle = self.RWristDef.lowerAngle = -0.174532925 self.LWristDef.upperAngle = self.RWristDef.upperAngle = 0.174532925 def DefaultPositions(self): global k_scale for foot in (self.LFootDef, self.RFootDef): foot.position = k_scale * box2d.b2Vec2(-.122,-.901) for calf in (self.LCalfDef, self.RCalfDef): calf.position = k_scale * box2d.b2Vec2(-.177,-.771) for thigh in (self.LThighDef, self.RThighDef): thigh.position = k_scale * box2d.b2Vec2(-.217,-.391) for upperarm in (self.LUpperArmDef, self.RUpperArmDef): upperarm.position = k_scale * box2d.b2Vec2(-.127,.228) for forearm in (self.LForearmDef, self.RForearmDef): forearm.position = k_scale * box2d.b2Vec2(-.117,-.011) for hand in (self.LHandDef, self.RHandDef): hand.position = k_scale * box2d.b2Vec2(-.112,-.136) self.PelvisDef.position = k_scale * box2d.b2Vec2(-.177,-.101) self.StomachDef.position= k_scale * box2d.b2Vec2(-.142,.088) self.ChestDef.position = k_scale * box2d.b2Vec2(-.132,.282) self.NeckDef.position = k_scale * box2d.b2Vec2(-.102,.518) self.HeadDef.position = k_scale * box2d.b2Vec2(.022,.738) if __name__=="__main__": main(Test_Biped)