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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 *
import math
class ElasticBody (Framework):
name="ElasticBody"
bodies=[]
ground=None
elev=None
joint_elev=None
_pickle_vars=['bodies', 'ground', 'elev', 'joint_elev']
def __init__(self):
super(ElasticBody, self).__init__()
# Bottom static body
sd=box2d.b2PolygonDef()
sd.SetAsBox(50.0, 2.0)
sd.friction = 0.1
sd.restitution = 0.1
bd=box2d.b2BodyDef()
bd.position = (-1.0, -7.5)
self.ground = self.world.CreateBody(bd)
self.ground.CreateShape(sd)
# Upper static body
sd=box2d.b2PolygonDef()
sd.SetAsBox(20.0, 0.50,(0,0),0.047*box2d.b2_pi)
sd.friction = 0.01
sd.restitution = 0.001
bd=box2d.b2BodyDef()
bd.position = (-20, 93.0)
g = self.world.CreateBody(bd)
g.CreateShape(sd)
sd.SetAsBox(15, 0.50,(-15.0,12.5),0.0)
g.CreateShape(sd)
sd.SetAsBox(20,0.5,(0.0,-25.0),-0.5)
g.CreateShape(sd)
# Left channel left wall
sd=box2d.b2PolygonDef()
sd.SetAsBox(0.7, 55.0)
sd.friction = 0.1
sd.restitution = 0.1
bd=box2d.b2BodyDef()
bd.position = (-49.3, 50.0)
g = self.world.CreateBody(bd)
g.CreateShape(sd)
# Right wall
sd=box2d.b2PolygonDef()
sd.SetAsBox(0.7, 55.0)
sd.friction = 0.1
sd.restitution = 0.1
bd=box2d.b2BodyDef()
bd.position = (45, 50.0)
g = self.world.CreateBody(bd)
g.CreateShape(sd)
# Left channel right upper wall
sd=box2d.b2PolygonDef()
sd.SetAsBox(0.5, 20.0)
sd.friction = 0.05
sd.restitution = 0.01
bd=box2d.b2BodyDef()
bd.position = (-42.0, 70.0)
bd.angle = -0.03*box2d.b2_pi
g = self.world.CreateBody(bd)
g.CreateShape(sd)
# Left channel right lower wall
sd=box2d.b2PolygonDef()
sd.SetAsBox(0.50, 23.0)
sd.friction = 0.05
sd.restitution = 0.01
bd=box2d.b2BodyDef()
bd.position = (-44.0, 27.0)
g = self.world.CreateBody(bd)
g.CreateShape(sd)
# Bottom motors
cd=box2d.b2CircleDef()
cd.radius = 3.0
cd.density = 15.0
cd.friction = 1
cd.restitution = 0.2
# 1.
bd.position = (-40.0,2.5)
body = self.world.CreateBody(bd)
body.CreateShape(cd)
body.SetMassFromShapes()
jr=box2d.b2RevoluteJointDef()
jr.Initialize (g,body,body.GetWorldCenter()+(0,1))
jr.maxMotorTorque = 30000
jr.enableMotor = True
jr.motorSpeed = 20
self.world.CreateJoint(jr).getAsType()
# 1. left down
bd.position = (-46.0,-2.5)
cd.radius = 1.5
jr.motorSpeed = -20
body = self.world.CreateBody(bd)
body.CreateShape(cd)
sd.SetAsBox(2.0, 0.50)
body.CreateShape(sd)
body.SetMassFromShapes()
jr.Initialize (g,body,body.GetWorldCenter())
self.world.CreateJoint(jr).getAsType()
# 2.
cd.radius = 3.0
jr.motorSpeed = 20
bd.position = (-32.0,2.5)
body = self.world.CreateBody(bd)
body.CreateShape(cd)
body.SetMassFromShapes()
jr.Initialize (g,body,body.GetWorldCenter()+(0,1))
self.world.CreateJoint(jr).getAsType()
# 3.
jr.motorSpeed = 20
bd.position = (-24.0,1.5)
body = self.world.CreateBody(bd)
body.CreateShape(cd)
body.SetMassFromShapes()
jr.Initialize (g,body,body.GetWorldCenter()+(0,1))
self.world.CreateJoint(jr).getAsType()
# 4.
bd.position = (-16.0,0.8)
body = self.world.CreateBody(bd)
body.CreateShape(cd)
body.SetMassFromShapes()
jr.Initialize (g,body,body.GetWorldCenter()+(0,1))
self.world.CreateJoint(jr).getAsType()
# 5.
bd.position = (-8.0,0.5)
body = self.world.CreateBody(bd)
body.CreateShape(cd)
body.SetMassFromShapes()
jr.Initialize (g,body,body.GetWorldCenter()+(0,1))
self.world.CreateJoint(jr).getAsType()
# 6.
bd.position = (0.0,0.1)
body = self.world.CreateBody(bd)
body.CreateShape(cd)
body.SetMassFromShapes()
jr.Initialize (g,body,body.GetWorldCenter()+(0,1))
self.world.CreateJoint(jr).getAsType()
# 7.
bd.position = (8.0,-0.5)
body = self.world.CreateBody(bd)
body.CreateShape(cd)
sd.SetAsBox(3.7, 0.5)
body.CreateShape(sd)
body.SetMassFromShapes()
jr.Initialize (g,body,body.GetWorldCenter()+(0,1))
self.world.CreateJoint(jr).getAsType()
# 8. right rotator
sd.SetAsBox(5, 0.5)
sd.density = 2.0
bd.position = (18.0,1)
rightmotor = self.world.CreateBody(bd) #
rightmotor.CreateShape(sd)
sd.SetAsBox(4.5, 0.5, (0,0),box2d.b2_pi/3)
rightmotor.CreateShape(sd)
sd.SetAsBox(4.5, 0.5, (0,0),box2d.b2_pi*2/3)
rightmotor.CreateShape(sd)
cd.radius = 4.2
rightmotor.CreateShape(cd)
rightmotor.SetMassFromShapes()
jr.Initialize (g,rightmotor,rightmotor.GetWorldCenter())
jr.maxMotorTorque = 70000
jr.motorSpeed = -4
self.world.CreateJoint(jr).getAsType()
# 9. left rotator
sd.SetAsBox(8.5, 0.5)
sd.density = 2.0
bd.position = (-34.0,17)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
sd.SetAsBox(8.5, 0.5, (0,0),box2d.b2_pi*.5)
body.CreateShape(sd)
cd.radius = 7
cd.friction = 0.9
body.CreateShape(cd)
body.SetMassFromShapes()
jr.Initialize (g,body,body.GetWorldCenter())
jr.maxMotorTorque = 100000
jr.motorSpeed = -5
self.world.CreateJoint(jr).getAsType()
# big compressor
sd.SetAsBox(3.0,4)
sd.density = 10.0
bd.position = (-16.0,17)
hammerleft = self.world.CreateBody(bd)
hammerleft.CreateShape(sd)
hammerleft.SetMassFromShapes()
jd=box2d.b2DistanceJointDef()
jd.Initialize(body, hammerleft, body.GetWorldCenter()+(0,6), hammerleft.GetWorldCenter() )
self.world.CreateJoint(jd).getAsType()
bd.position = (4.0,17)
hammerright = self.world.CreateBody(bd)
hammerright.CreateShape(sd)
hammerright.SetMassFromShapes()
jd.Initialize(body, hammerright, body.GetWorldCenter()-(0,6), hammerright.GetWorldCenter() )
self.world.CreateJoint(jd).getAsType()
# pusher
sd.SetAsBox(6,0.75)
bd.position = (-21.0,9)
pusher = self.world.CreateBody(bd) #
pusher.CreateShape(sd)
sd.SetAsBox(2,1.5,(-5,0),0)
pusher.SetMassFromShapes()
pusher.CreateShape(sd)
jd.Initialize(rightmotor,pusher,rightmotor.GetWorldCenter()+(-8.0,0),
pusher.GetWorldCenter()+(5.0,0) )
self.world.CreateJoint(jd).getAsType()
# Static bodies above motors
sd=box2d.b2PolygonDef()
cd=box2d.b2CircleDef()
sd.SetAsBox(9.0, 0.5)
sd.friction = 0.05
sd.restitution = 0.01
bd=box2d.b2BodyDef()
bd.position = (-15.5, 12)
bd.angle = 0.0
g = self.world.CreateBody(bd)
g.CreateShape(sd)
sd.SetAsBox(8, 0.5, (23,0),0)
g.CreateShape(sd)
# compressor statics
sd.SetAsBox(7.0, 0.5, (-2,9),0)
g.CreateShape(sd)
sd.SetAsBox(9.0, 0.5, (22,9),0)
g.CreateShape(sd)
sd.SetAsBox(19.0, 0.5, (-9,15),-0.05)
g.CreateShape(sd)
sd.SetAsBox(4.7, 0.5, (15,11.5),-0.5)
g.CreateShape(sd)
# below compressor
sd.SetAsBox(26.0, 0.3, (17,-4.4),-0.02)
g.CreateShape(sd)
cd.radius = 1.0
cd.friction = 1.0
cd.localPosition = (29,-6)
g.CreateShape(cd)
cd.radius = 0.7
cd.localPosition = (-2,-4.5)
g.CreateShape(cd)
# Elevator
bd=box2d.b2BodyDef()
cd=box2d.b2CircleDef()
sd=box2d.b2PolygonDef()
bd.position = (40.0,4.0)
self.elev = self.world.CreateBody(bd)
sd.SetAsBox(0.5, 2.5,(3.0,-3.0), 0)
sd.density = 1
sd.friction = 0.01
self.elev.CreateShape(sd)
sd.SetAsBox(7.0, 0.5, (-3.5,-5.5), 0)
self.elev.CreateShape(sd)
sd.SetAsBox(0.5, 2.5, (-11,-3.5), 0)
self.elev.CreateShape(sd)
self.elev.SetMassFromShapes()
jp=box2d.b2PrismaticJointDef()
jp.Initialize(self.ground,self.elev, bd.position, (0.0, 1.0))
jp.lowerTranslation = 0.0
jp.upperTranslation = 100.0
jp.enableLimit = True
jp.enableMotor = True
jp.maxMotorForce = 10000
jp.motorSpeed = 0
self.joint_elev = self.world.CreateJoint(jp).getAsType()
# Korb
sd.SetAsBox(2.3, 0.5,(1,0.0), 0.0)
sd.density = 0.5
bd.position = (29.0,6.5)
body = self.world.CreateBody(bd) #
body.CreateShape(sd)
sd.SetAsBox(2.5, 0.5,(3.0,-2), box2d.b2_pi/2)
body.CreateShape(sd)
sd.SetAsBox(4.6, 0.5,(7.8,-4.0), 0)
body.CreateShape(sd)
sd.SetAsBox(0.5, 4.5,(12,0.0), 0)
body.CreateShape(sd)
sd.SetAsBox(0.5, 0.5,(13,4.0), 0)
body.CreateShape(sd)
cd.radius = 0.7
cd.density = 1
cd.friction = 0.01
cd.localPosition = (0,0)
body.CreateShape(cd)
body.SetMassFromShapes()
jr=box2d.b2RevoluteJointDef()
jr.Initialize(self.elev,body, bd.position)
jr.enableLimit = True
jr.lowerAngle = -0.2
jr.upperAngle = box2d.b2_pi*1.1
jr.collideConnected = True
self.world.CreateJoint(jr).getAsType()
# upper body exit
sd.SetAsBox(14.0, 0.5,(-3.5,-10.0), 0.0)
bd.position = (17.5,96.0)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
# "Elastic body" 64 bodies - something like a lin. elastic compound
# connected via dynamic forces (springs)
bodies = self.bodies
for i in range(64):
bodies.append(None)
sd=box2d.b2PolygonDef()
sd.SetAsBox(0.55, 0.55)
sd.density = 1.5
sd.friction = 0.01
sd.filter.groupIndex = -1
startpoint=(30,20)
bd=box2d.b2BodyDef()
bd.isBullet = False
bd.allowSleep = False
for i in range(8):
for j in range(8):
bd.position = (j*1.02, 2.51 + 1.02 * i)
bd.position += startpoint
body = self.world.CreateBody(bd)
bodies[8*i+j] = body
body.CreateShape(sd)
body.SetMassFromShapes()
# Apply dynamic forces (springs) and check elevator state
def Step(self, settings):
bodies = self.bodies
for i in range(8):
for j in range(8):
zero =(0.0,0.0)
down =(0.0, -0.5)
up =(0.0, 0.5)
right=(0.5, 0.0)
left =(-0.5, 0.0)
ind = i*8+j
indr = ind+1
indd = ind+8
spring = 500.0
damp = 5.0
if j<7:
self.AddSpringForce((bodies[ind]),zero,(bodies[indr]),zero,spring, damp, 1.0)
self.AddSpringForce((bodies[ind]),right,(bodies[indr]),left,0.5*spring, damp, 0.0)
if i<7:
self.AddSpringForce((bodies[ind]),zero,(bodies[indd]),zero,spring, damp, 1.0)
self.AddSpringForce((bodies[ind]),up,(bodies[indd]),down,0.5*spring,damp,0.0)
inddr = indd + 1
inddl = indd - 1
drdist = math.sqrt(2.0)
if i < 7 and j < 7:
self.AddSpringForce((bodies[ind]),zero,(bodies[inddr]),zero,spring, damp, drdist)
if i < 7 and j > 0:
self.AddSpringForce((bodies[ind]),zero,(bodies[inddl]),zero,spring, damp, drdist)
indr = ind+2
indd = ind+8*2
if j<6:
self.AddSpringForce((bodies[ind]),zero,(bodies[indr]),zero,spring, damp, 2.0)
if i<6:
self.AddSpringForce((bodies[ind]),zero,(bodies[indd]),zero,spring,damp,2.0)
inddr = indd + 2
inddl = indd - 2
drdist = math.sqrt(2.0)*2.0
if i < 6 and j < 6:
self.AddSpringForce((bodies[ind]),zero,(bodies[inddr]),zero,spring, damp, drdist)
if i < 6 and j > 1:
self.AddSpringForce((bodies[ind]),zero,(bodies[inddl]),zero,spring, damp, drdist)
# Check if bodies are near elevator
# Look if the body to lift is near the elevator
p1 = bodies[0].GetWorldCenter()
p2 = bodies[63].GetWorldCenter()
# self.elev: elevator prism. joint
e = self.elev.GetWorldCenter() + (0,7)
# maybe not the best way to do it...
# Bodies reached the elevator side
if p1.x>e.x or p2.x>e.x: # go up
if (p1.y<e.y or p2.y<e.y ) and ( self.joint_elev.GetJointTranslation()<=self.joint_elev.GetLowerLimit()+1):
self.joint_elev.SetMotorSpeed(20)
#print "lift goes up trans: %G" % self.joint_elev.GetJointTranslation()
# go down
if self.joint_elev.GetJointTranslation() >= self.joint_elev.GetUpperLimit()-2:
self.joint_elev.SetMotorSpeed(-15)
#printf("lift goes down: %G\n",self.joint_elev.GetJointTranslation())
super(ElasticBody, self).Step(settings)
# Add a spring force
def AddSpringForce(self, bA, localA, bB, localB, k, friction, desiredDist):
pA = bA.GetWorldPoint(localA)
pB = bB.GetWorldPoint(localB)
diff=pB - pA
#Find velocities of attach points
vA = bA.GetLinearVelocity() - box2d.b2Cross(bA.GetWorldVector(localA), bA.GetAngularVelocity())
vB = bB.GetLinearVelocity() - box2d.b2Cross(bB.GetWorldVector(localB), bB.GetAngularVelocity())
vdiff=vB-vA
dx = diff.Normalize() #normalizes diff and puts length into dx
vrel = vdiff.x*diff.x + vdiff.y*diff.y
forceMag = -k*(dx-desiredDist) - friction*vrel
diff *= forceMag
bB.ApplyForce(diff, bA.GetWorldPoint(localA))
diff *= -1.0
bA.ApplyForce(diff, bB.GetWorldPoint(localB))
if __name__=="__main__":
main(ElasticBody)
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