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#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# C++ version Copyright (c) 2006-2007 Erin Catto http://www.box2d.org
# Python version by Ken Lauer / sirkne at gmail dot 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 .framework import (Framework, Keys, main)
from Box2D import (b2CircleShape, b2EdgeShape, b2FixtureDef, b2PolygonShape,
b2Vec2, b2_pi)
# Original inspired by a contribution by roman_m
# Dimensions scooped from APE (http://www.cove.org/ape/index.htm)
class TheoJansen (Framework):
name = "Theo Jansen"
description = "Keys: left = a, brake = s, right = d, toggle motor = m"
motorSpeed = 2
motorOn = True
offset = (0, 8)
def __init__(self):
super(TheoJansen, self).__init__()
#
ball_count = 40
pivot = b2Vec2(0, 0.8)
# The ground
ground = self.world.CreateStaticBody(
shapes=[
b2EdgeShape(vertices=[(-50, 0), (50, 0)]),
b2EdgeShape(vertices=[(-50, 0), (-50, 10)]),
b2EdgeShape(vertices=[(50, 0), (50, 10)]),
]
)
box = b2FixtureDef(
shape=b2PolygonShape(box=(0.5, 0.5)),
density=1,
friction=0.3)
circle = b2FixtureDef(
shape=b2CircleShape(radius=0.25),
density=1)
# Create the balls on the ground
for i in range(ball_count):
self.world.CreateDynamicBody(
fixtures=circle,
position=(-40 + 2.0 * i, 0.5),
)
# The chassis
chassis_fixture = b2FixtureDef(
shape=b2PolygonShape(box=(2.5, 1)),
density=1,
friction=0.3,
groupIndex=-1)
self.chassis = self.world.CreateDynamicBody(
fixtures=chassis_fixture,
position=pivot + self.offset)
# Chassis wheel
wheel_fixture = b2FixtureDef(
shape=b2CircleShape(radius=1.6),
density=1,
friction=0.3,
groupIndex=-1)
self.wheel = self.world.CreateDynamicBody(
fixtures=wheel_fixture,
position=pivot + self.offset)
# Add a joint between the chassis wheel and the chassis itself
self.motorJoint = self.world.CreateRevoluteJoint(
bodyA=self.wheel,
bodyB=self.chassis,
anchor=pivot + self.offset,
collideConnected=False,
motorSpeed=self.motorSpeed,
maxMotorTorque=400,
enableMotor=self.motorOn)
wheelAnchor = pivot + (0, -0.8)
self.CreateLeg(-1, wheelAnchor)
self.CreateLeg(1, wheelAnchor)
self.wheel.transform = (self.wheel.position, 120.0 * b2_pi / 180)
self.CreateLeg(-1, wheelAnchor)
self.CreateLeg(1, wheelAnchor)
self.wheel.transform = (self.wheel.position, -120.0 * b2_pi / 180)
self.CreateLeg(-1, wheelAnchor)
self.CreateLeg(1, wheelAnchor)
def CreateLeg(self, s, wheelAnchor):
p1, p2 = b2Vec2(5.4 * s, -6.1), b2Vec2(7.2 * s, -1.2)
p3, p4 = b2Vec2(4.3 * s, -1.9), b2Vec2(3.1 * s, 0.8)
p5, p6 = b2Vec2(6.0 * s, 1.5), b2Vec2(2.5 * s, 3.7)
# Use a simple system to create mirrored vertices
if s > 0:
poly1 = b2PolygonShape(vertices=(p1, p2, p3))
poly2 = b2PolygonShape(vertices=((0, 0), p5 - p4, p6 - p4))
else:
poly1 = b2PolygonShape(vertices=(p1, p3, p2))
poly2 = b2PolygonShape(vertices=((0, 0), p6 - p4, p5 - p4))
body1 = self.world.CreateDynamicBody(
position=self.offset,
angularDamping=10,
fixtures=b2FixtureDef(
shape=poly1,
groupIndex=-1,
density=1),
)
body2 = self.world.CreateDynamicBody(
position=p4 + self.offset,
angularDamping=10,
fixtures=b2FixtureDef(
shape=poly2,
groupIndex=-1,
density=1),
)
# Using a soft distance constraint can reduce some jitter.
# It also makes the structure seem a bit more fluid by
# acting like a suspension system.
# Now, join all of the bodies together with distance joints,
# and one single revolute joint on the chassis
self.world.CreateDistanceJoint(
dampingRatio=0.5,
frequencyHz=10,
bodyA=body1, bodyB=body2,
anchorA=p2 + self.offset,
anchorB=p5 + self.offset,
)
self.world.CreateDistanceJoint(
dampingRatio=0.5,
frequencyHz=10,
bodyA=body1, bodyB=body2,
anchorA=p3 + self.offset,
anchorB=p4 + self.offset,
)
self.world.CreateDistanceJoint(
dampingRatio=0.5,
frequencyHz=10,
bodyA=body1, bodyB=self.wheel,
anchorA=p3 + self.offset,
anchorB=wheelAnchor + self.offset,
)
self.world.CreateDistanceJoint(
dampingRatio=0.5,
frequencyHz=10,
bodyA=body2, bodyB=self.wheel,
anchorA=p6 + self.offset,
anchorB=wheelAnchor + self.offset,
)
self.world.CreateRevoluteJoint(
bodyA=body2,
bodyB=self.chassis,
anchor=p4 + self.offset,
)
def Keyboard(self, key):
if key == Keys.K_a:
self.motorJoint.motorSpeed = -self.motorSpeed
elif key == Keys.K_d:
self.motorJoint.motorSpeed = self.motorSpeed
elif key == Keys.K_s:
self.motorJoint.motorSpeed = 0
elif key == Keys.K_m:
self.motorJoint.motorEnabled = not self.motorJoint.motorEnabled
if __name__ == "__main__":
main(TheoJansen)
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