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
|
#!/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 Prismatic (Framework):
name="Prismatic"
_pickle_vars=['joint']
def __init__(self):
super(Prismatic, 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()
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()
# Bouncy limit
pjd.Initialize(ground, body, (0.0, 0.0), (1.0, 0.0))
# Non-bouncy limit
#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.joint = self.world.CreateJoint(pjd).getAsType()
def Keyboard(self, key):
if not self.joint:
return
if key==K_l:
self.joint.EnableLimit(not self.joint.IsLimitEnabled())
elif key==K_m:
self.joint.EnableMotor(not self.joint.IsMotorEnabled())
elif key==K_p:
self.joint.SetMotorSpeed(-self.joint.GetMotorSpeed())
def Step(self, settings):
self.DrawStringCR("Keys: (l) limits, (m) motors, (p) speed")
if self.joint:
force = self.joint.GetMotorForce()
self.DrawStringCR("Motor Force = %f.0" % force)
super(Prismatic, self).Step(settings)
if __name__=="__main__":
main(Prismatic)
|
