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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 TimeOfImpact (Framework):
name="TimeOfImpact"
body1=None
body2=None
shape1=None
shape2=None
_pickle_vars=['body1', 'body2', 'shape1', 'shape2']
def __init__(self):
super(TimeOfImpact, self).__init__()
sd=box2d.b2PolygonDef()
sd.density = 0.0
sd.SetAsBox(0.1, 10.0, (10.0, 0.0), 0.0)
bd=box2d.b2BodyDef()
bd.position = (0.0, 20.0)
bd.angle = 0.0
self.body1 = self.world.CreateBody(bd)
self.shape1 = self.body1.CreateShape(sd)
sd=box2d.b2PolygonDef()
sd.SetAsBox(0.25, 0.25)
sd.density = 1.0
bd=box2d.b2BodyDef()
bd.position = (9.6363468, 28.050615)
bd.angle = 1.6408679
self.body2 = self.world.CreateBody(bd)
self.shape2 = self.body2.CreateShape(sd).getAsType()
self.body2.SetMassFromShapes()
def Step(self, settings):
if not self.body1 or not self.body2 or not self.shape1 or not self.shape2:
return
sweep1=box2d.b2Sweep()
sweep1.c0 = (0.0, 20.0)
sweep1.a0 = 0.0
sweep1.c = sweep1.c0
sweep1.a = sweep1.a0
sweep1.t0 = 0.0
sweep1.localCenter = self.body1.GetLocalCenter()
sweep2=box2d.b2Sweep()
sweep2.c0 = (9.6363468, 28.050615)
sweep2.a0 = 1.6408679
sweep2.c = sweep2.c0 + (-0.075121880, 0.27358246)
sweep2.a = sweep2.a0 - 10.434675
sweep2.t0 = 0.0
sweep2.localCenter = self.body2.GetLocalCenter()
toi = box2d.b2TimeOfImpact(self.shape1, sweep1, self.shape2, sweep2)
self.DrawStringCR("toi = %g" % (toi))
xf2=box2d.b2XForm()
sweep2.GetXForm(xf2, toi)
vertexCount = self.shape2.GetVertexCount()
vertices = []
localVertices = self.shape2.getVertices_b2Vec2()
for vertex in localVertices:
vertices.append( box2d.b2Mul(xf2, vertex).tuple() )
self.debugDraw.DrawPolygon(vertices, vertexCount, box2d.b2Color(0.5, 0.7, 0.9))
localVertices = self.shape2.getCoreVertices_b2Vec2()
for vertex in localVertices:
vertices.append( box2d.b2Mul(xf2, vertex).tuple() )
self.debugDraw.DrawPolygon(vertices, vertexCount, box2d.b2Color(0.5, 0.7, 0.9))
settings.pause = True
super(TimeOfImpact, self).Step(settings)
settings.pause = False
if __name__=="__main__":
main(TimeOfImpact)
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