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#!/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)
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