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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 MotorsAndLimits (Framework):
name="MotorsAndLimits"
joint1=None
joint2=None
joint3=None
_pickle_vars = ['joint1', 'joint2', 'joint3']
def __init__(self):
super(MotorsAndLimits, self).__init__()
sd=box2d.b2PolygonDef()
sd.SetAsBox(50.0, 10.0)
bd=box2d.b2BodyDef()
bd.position = (0.0, -10.0)
ground = self.world.CreateBody(bd)
ground.CreateShape(sd)
sd=box2d.b2PolygonDef()
sd.SetAsBox(2.0, 0.5)
sd.density = 5.0
sd.friction = 0.05
bd=box2d.b2BodyDef()
rjd=box2d.b2RevoluteJointDef()
prevBody=ground
y = 8.0
bd.position = (3.0, y)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
rjd.Initialize(prevBody, body, (0.0, y))
rjd.motorSpeed = 1.0 * box2d.b2_pi
rjd.maxMotorTorque = 10000.0
rjd.enableMotor = True
self.joint1 = self.world.CreateJoint(rjd).getAsType()
prevBody = body
bd.position = (9.0, y)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
rjd.Initialize(prevBody, body, (6.0, y))
rjd.motorSpeed = 0.5 * box2d.b2_pi
rjd.maxMotorTorque = 2000.0
rjd.enableMotor = True
rjd.lowerAngle = - 0.5 * box2d.b2_pi
rjd.upperAngle = 0.5 * box2d.b2_pi
rjd.enableLimit = True
self.joint2 = self.world.CreateJoint(rjd).getAsType()
bd.position = (-10.0, 10.0)
bd.angle = 0.5 * box2d.b2_pi
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
pjd=box2d.b2PrismaticJointDef()
pjd.Initialize(ground, body, (-10.0, 10.0), (1.0, 0.0))
pjd.motorSpeed = 10.0
pjd.maxMotorForce = 1000.0
pjd.enableMotor = True
pjd.lowerTranslation = 0.0
pjd.upperTranslation = 20.0
pjd.enableLimit = True
self.joint3 = self.world.CreateJoint(pjd).getAsType()
def Keyboard(self, key):
if not self.joint1 or not self.joint2 or not self.joint3:
return
if key==K_l:
self.joint2.EnableLimit(not self.joint2.IsLimitEnabled())
self.joint3.EnableLimit(not self.joint3.IsLimitEnabled())
self.joint2.GetBody1().WakeUp()
self.joint3.GetBody2().WakeUp()
elif key==K_m:
self.joint1.EnableMotor(not self.joint1.IsMotorEnabled())
self.joint2.EnableMotor(not self.joint2.IsMotorEnabled())
self.joint3.EnableMotor(not self.joint3.IsMotorEnabled())
self.joint2.GetBody1().WakeUp()
self.joint3.GetBody2().WakeUp()
elif key==K_p:
self.joint3.GetBody2().WakeUp()
self.joint3.SetMotorSpeed(-self.joint3.GetMotorSpeed())
def Step(self, settings):
self.DrawStringCR("Keys: (l) limits, (m) motors, (p) prismatic speed")
if self.joint1 and self.joint2 and self.joint3:
torque1 = self.joint1.GetMotorTorque()
torque2 = self.joint2.GetMotorTorque()
force3 = self.joint3.GetMotorForce()
self.DrawStringCR("Motor Torque = %.0f, %.0f : Motor Force = %.0f" % (torque1,torque2, force3))
super(MotorsAndLimits, self).Step(settings)
if __name__=="__main__":
main(MotorsAndLimits)
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