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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 *
class Car (Framework):
name="Car"
leftWheel=None
rightWheel=None
vehicle=None
leftJoint=None
rightJoint=None
_pickle_vars=['leftWheel','rightWheel','vehicle','leftJoint','rightJoint']
def __init__(self):
super(Car, self).__init__()
# car body
poly1=box2d.b2PolygonDef()
poly2=box2d.b2PolygonDef()
# bottom half
poly1.vertexCount = 5
poly1.setVertex(4,-2.2,-0.74)
poly1.setVertex(3,-2.2,0)
poly1.setVertex(2,1.0,0)
poly1.setVertex(1,2.2,-0.2)
poly1.setVertex(0,2.2,-0.74)
poly1.filter.groupIndex = -1
poly1.density = 20.0
poly1.friction = 0.68
poly1.filter.groupIndex = -1
# top half
poly2.vertexCount = 4
poly2.setVertex(3,-1.7,0)
poly2.setVertex(2,-1.3,0.7)
poly2.setVertex(1,0.5,0.74)
poly2.setVertex(0,1.0,0)
poly2.filter.groupIndex = -1
poly2.density = 5.0
poly2.friction = 0.68
poly2.filter.groupIndex = -1
bd=box2d.b2BodyDef()
bd.position = (-35.0, 2.8)
self.vehicle = self.world.CreateBody(bd)
self.vehicle.CreateShape(poly1)
self.vehicle.CreateShape(poly2)
self.vehicle.SetMassFromShapes()
# vehicle wheels
circ = box2d.b2CircleDef()
circ.density = 40.0
circ.radius = 0.38608
circ.friction = 0.8
circ.filter.groupIndex = -1
bd=box2d.b2BodyDef()
bd.allowSleep = False
bd.position = (-33.8, 2.0)
self.rightWheel = self.world.CreateBody(bd)
self.rightWheel.CreateShape(circ)
self.rightWheel.SetMassFromShapes()
bd.position = (-36.2, 2.0)
self.leftWheel = self.world.CreateBody(bd)
self.leftWheel.CreateShape(circ)
self.leftWheel.SetMassFromShapes()
# join wheels to chassis
jd=box2d.b2RevoluteJointDef()
jd.Initialize(self.vehicle, self.leftWheel, self.leftWheel.GetWorldCenter())
jd.collideConnected = False
jd.enableMotor = True
jd.maxMotorTorque = 10.0
jd.motorSpeed = 0.0
self.leftJoint = self.world.CreateJoint(jd).getAsType()
jd.Initialize(self.vehicle, self.rightWheel, self.rightWheel.GetWorldCenter())
jd.collideConnected = False
self.rightJoint = self.world.CreateJoint(jd).getAsType()
# ground
box=box2d.b2PolygonDef()
box.SetAsBox(19.5, 0.5)
box.friction = 0.62
bd=box2d.b2BodyDef()
bd.position = (-25.0, 1.0)
ground = self.world.CreateBody(bd)
ground.CreateShape(box)
# more ground
box=box2d.b2PolygonDef()
bd=box2d.b2BodyDef()
box.SetAsBox(9.5, 0.5, (0,0), 0.1 * box2d.b2_pi)
box.friction = 0.62
bd.position = (27.0 - 30.0, 3.1)
ground = self.world.CreateBody(bd)
ground.CreateShape(box)
# more ground
box=box2d.b2PolygonDef()
bd=box2d.b2BodyDef()
box.SetAsBox(9.5, 0.5, (0,0), -0.1 * box2d.b2_pi)
box.friction = 0.62
bd.position = (55.0 - 30.0, 3.1)
ground = self.world.CreateBody(bd)
ground.CreateShape(box)
# more ground
box=box2d.b2PolygonDef()
bd=box2d.b2BodyDef()
box.SetAsBox(9.5, 0.5, (0,0), 0.03 * box2d.b2_pi)
box.friction = 0.62
bd.position = (41.0, 2.0)
ground = self.world.CreateBody(bd)
ground.CreateShape(box)
# more ground
box=box2d.b2PolygonDef()
bd=box2d.b2BodyDef()
box.SetAsBox(5.0, 0.5, (0,0), 0.15 * box2d.b2_pi)
box.friction = 0.62
bd.position = (50.0, 4.0)
ground = self.world.CreateBody(bd)
ground.CreateShape(box)
# more ground
box=box2d.b2PolygonDef()
bd=box2d.b2BodyDef()
box.SetAsBox(20.0, 0.5)
box.friction = 0.62
bd.position = (85.0, 2.0)
ground = self.world.CreateBody(bd)
ground.CreateShape(box)
def Step(self, settings):
self.DrawStringCR("Keys: left = a, brake = s, right = d")
super(Car, self).Step(settings)
def Keyboard(self, key):
if not self.leftJoint:
return
if key==K_a:
self.leftJoint.SetMaxMotorTorque(800.0)
self.leftJoint.SetMotorSpeed(12.0)
elif key==K_s:
self.leftJoint.SetMaxMotorTorque(100.0)
self.leftJoint.SetMotorSpeed(0.0)
elif key==K_d:
self.leftJoint.SetMaxMotorTorque(1200.0)
self.leftJoint.SetMotorSpeed(-36.0)
if __name__=="__main__":
main(Car)
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