1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
|
#!/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 CollisionProcessing (Framework):
name="CollisionProcessing"
def __init__(self):
super(CollisionProcessing, self).__init__()
# Ground body
sd=box2d.b2PolygonDef()
sd.SetAsBox(50.0, 10.0)
sd.friction = 0.3
bd=box2d.b2BodyDef()
bd.position = (0.0, -10.0)
ground = self.world.CreateBody(bd)
ground.CreateShape(sd)
xLo = -5.0
xHi = 5.0
yLo = 2.0
yHi = 35.0
# Small triangle
triangleShapeDef=box2d.b2PolygonDef()
triangleShapeDef.vertexCount = 3
triangleShapeDef.setVertex(0,-1.0, 0.0)
triangleShapeDef.setVertex(1,1.0, 0.0)
triangleShapeDef.setVertex(2,0.0, 2.0)
triangleShapeDef.density = 1.0
triangleBodyDef=box2d.b2BodyDef()
triangleBodyDef.position = (box2d.b2Random(xLo, xHi), box2d.b2Random(yLo, yHi))
body1 = self.world.CreateBody(triangleBodyDef)
body1.CreateShape(triangleShapeDef)
body1.SetMassFromShapes()
# Large triangle (recycle definitions)
triangleShapeDef.setVertex(0, 2.0*triangleShapeDef.getVertex(0))
triangleShapeDef.setVertex(1, 2.0*triangleShapeDef.getVertex(1))
triangleShapeDef.setVertex(2, 2.0*triangleShapeDef.getVertex(2))
triangleBodyDef.position = (box2d.b2Random(xLo, xHi), box2d.b2Random(yLo, yHi))
body2 = self.world.CreateBody(triangleBodyDef)
body2.CreateShape(triangleShapeDef)
body2.SetMassFromShapes()
# Small box
boxShapeDef=box2d.b2PolygonDef()
boxShapeDef.SetAsBox(1.0, 0.5)
boxShapeDef.density = 1.0
boxBodyDef=box2d.b2BodyDef()
boxBodyDef.position = (box2d.b2Random(xLo, xHi), box2d.b2Random(yLo, yHi))
body3 = self.world.CreateBody(boxBodyDef)
body3.CreateShape(boxShapeDef)
body3.SetMassFromShapes()
# Large box (recycle definitions)
boxShapeDef.SetAsBox(2.0, 1.0)
boxBodyDef.position = (box2d.b2Random(xLo, xHi), box2d.b2Random(yLo, yHi))
body4 = self.world.CreateBody(boxBodyDef)
body4.CreateShape(boxShapeDef)
body4.SetMassFromShapes()
# Small circle
circleShapeDef=box2d.b2CircleDef()
circleShapeDef.radius = 1.0
circleShapeDef.density = 1.0
circleBodyDef=box2d.b2BodyDef()
circleBodyDef.position = (box2d.b2Random(xLo, xHi), box2d.b2Random(yLo, yHi))
body5 = self.world.CreateBody(circleBodyDef)
body5.CreateShape(circleShapeDef)
body5.SetMassFromShapes()
# Large circle
circleShapeDef.radius *= 2.0
circleBodyDef.position = (box2d.b2Random(xLo, xHi), box2d.b2Random(yLo, yHi))
body6 = self.world.CreateBody(circleBodyDef)
body6.CreateShape(circleShapeDef)
body6.SetMassFromShapes()
def Step(self, settings):
# We are going to destroy some bodies according to contact
# points. We must buffer the bodies that should be destroyed
# because they may belong to multiple contact points.
nuke = []
# Traverse the contact results. Destroy bodies that
# are touching heavier bodies.
body_pairs = [(p.shape1.GetBody(), p.shape2.GetBody()) for p in self.points]
for body1, body2 in body_pairs:
mass1, mass2 = body1.GetMass(), body2.GetMass()
if mass1 > 0.0 and mass2 > 0.0:
if mass2 > mass1:
nuke_body = body1
else:
nuke_body = body2
if nuke_body not in nuke:
nuke.append(nuke_body)
# Destroy the bodies, skipping duplicates.
for b in nuke:
print "Nuking:", b
self.world.DestroyBody(b)
nuke = None
super(CollisionProcessing, self).Step(settings)
if __name__=="__main__":
main(CollisionProcessing)
|
