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
|
#!/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 SensorTest (Framework):
name="SensorTest"
sensor=None
_pickle_vars=['sensor']
def __init__(self):
super(SensorTest, self).__init__()
bd=box2d.b2BodyDef()
bd.position = (0.0, -10.0)
ground = self.world.CreateBody(bd)
sd=box2d.b2PolygonDef()
sd.SetAsBox(50.0, 10.0)
ground.CreateShape(sd)
if True:
sd=box2d.b2PolygonDef()
sd.SetAsBox(10.0, 2.0, (0.0, 20.0), 0.0)
sd.isSensor = True
self.sensor = ground.CreateShape(sd)
else:
# Alternative test:
cd=box2d.b2CircleDef()
cd.isSensor = True
cd.radius = 5.0
cd.localPosition = (0.0, 20.0)
self.sensor = ground.CreateShape(cd)
sd=box2d.b2CircleDef()
sd.radius = 1.0
sd.density = 1.0
for i in range(10):
bd=box2d.b2BodyDef()
bd.position = (0.0 + 3.0 * i, 20.0)
body = self.world.CreateBody(bd)
body.CreateShape(sd)
body.SetMassFromShapes()
def Step(self, settings):
# Traverse the contact results. Apply a force on shapes
# that overlap the sensor.
for point in self.points:
if point.state == fwContactTypes.contactPersisted:
continue
shape1, shape2=point.shape1, point.shape2
other=None
if shape1 == self.sensor:
other = shape2.GetBody()
elif shape2 == self.sensor:
other = shape1.GetBody()
else:
continue
ground = self.sensor.GetBody()
typedshape = self.sensor.getAsType()
if self.sensor.GetType() == box2d.e_circleShape:
center = ground.GetWorldPoint(typedshape.GetLocalPosition())
elif self.sensor.GetType() == box2d.e_polygonShape:
center = ground.GetWorldPoint(typedshape.GetCentroid())
else:
print "don't know how to get the center of this shape, using (0,0)"
center = ground.GetWorldPoint(box2d.b2Vec2(0.0, 0.0))
d = center - point.position
if d.LengthSquared() < box2d.B2_FLT_EPSILON * box2d.B2_FLT_EPSILON:
continue
d.Normalize()
F = 100.0 * d
other.ApplyForce(F, point.position)
super(SensorTest, self).Step(settings)
if __name__=="__main__":
main(SensorTest)
|
