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Project: jvfeatures

jvtypes.h      jvfeatures.h      chessSeg.cpp      jvtypes.cpp      jvtest.cpp      jvfeatures.cpp     

Project: Other

migrateMailbox.scpt.txt     

Project: Infinite HMM Tutorial

run.m      iHMM_tutorial.zip      HDP_HMM.m      README.txt      ConditionalProbabilityTable.m      HDP.m      HMMProblem.m      HMM.m     

Project: RRT

RRT.h      plot_output.py      RRT.tgz      rrt_test.cpp      RRT.cpp      BidirectionalRRT.cpp      AbstractRRT.cpp     

Project: Box2D_friction_mod

WheelConstraint.h      test_TopDownCar.py      b2FrictionJoint.h      python_friction_joint.patch      test_TopDownFrictionJoint.py      TestEntries.cpp      TopDownCar.h      b2FrictionJoint.cpp      box2d_friction_joint.patch     

Project: Dirichlet Process Mixture Tutorial

EM_GM.m      DP_Demo.m      DPMM.m      DP_Tutorial.zip      DirichletProcess.m      gaussian_EM.m     

Project: Arduino_Code

Arduino_Code.zip      convert_range2D.py      arduino-serial.c      oscilloscope.pde      motordriver.pde      helicopter_controller.pde      accelerometer_test.pde      ranger_plane_sweep.pde      clodbuster_controller.pde      pwm_manual.pde      ranger_test.pde      servo_test.pde     

Project: ArduCom

arducom.py      setup.py     

Project: support

geshi.php      Protector.php     

Project: Cogent

CodePane.php      NotesPane.php      PicsPane.php      Cogent.php      PubsTable.php     
Click here to download "resources/code/Box2D_friction_mod/test_TopDownFrictionJoint.py"

resources/code/Box2D_friction_mod/test_TopDownFrictionJoint.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# C++ version Copyright (c) 2006-2007 Erin Catto http://www.box2d.org
# Python version Copyright (c) 2010 kne / 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 *
from math import sqrt

class TopDownFrictionJoint(Framework):
        name="TopDownFrictionJoint"
        description="Use w, a, and d to control the 'wheel'."
        def __init__(self):
                super(TopDownFrictionJoint, self).__init__()
                self.world.gravity = (0.0, 0.0)

                # The boundaries
                self.ground = self.world.CreateBody(position=(0, 20))
                self.ground.CreateEdgeChain(
                                                        [ (-20,-20),
                                                          (-20, 20),
                                                          ( 20, 20),
                                                          ( 20,-20),
                                                          (-20,-20) ]
                                                        )

                # Make a wheel
                self.wheel = self._makeWheel((0,10), muX = 0.0, muY = 0.8, muT = 0.0)

        def _makeWheel(self, pos, length = 1.0, width = 0.3, muX = 0.001, muY = 0.8, muT = 1.0):
                boxdef = b2FixtureDef(shape=b2PolygonShape(box=(length, width)), density=1, friction=0.3)
                wheel = self.world.CreateDynamicBody(position = pos, fixtures = boxdef)
                hypothetical_gravity = 9.8
                self.world.CreateFrictionJoint(
                        bodyA = self.ground,
                        bodyB = wheel,
                        localAnchorA = (0,0),
                        localAnchorB = (0,0),
                        collideConnected = True,
                        maxForce = wheel.mass * hypothetical_gravity,
                        maxTorque = wheel.mass * length * width * hypothetical_gravity,
                        muX = muX,
                        muY = muY,
                        muT = muT)
                return(wheel)

        def Keyboard(self, key):
                if not self.wheel:
                        return
                if key==Keys.K_w:
                        f = self.wheel.GetWorldVector(localVector = (100.0, 0.0))
                        p = self.wheel.GetWorldPoint(localPoint = (0.0, 0.0))
                        self.wheel.ApplyForce(f, p)
                if key==Keys.K_s:
                        f = self.wheel.GetWorldVector(localVector = (-100.0, 0.0))
                        p = self.wheel.GetWorldPoint(localPoint = (0.0, 0.0))
                        self.wheel.ApplyForce(f, p)
                if key==Keys.K_a:
                        f = self.wheel.GetWorldVector(localVector = (00.0, 100.0))
                        p = self.wheel.GetWorldPoint(localPoint = (0.0, 0.0))
                        self.wheel.ApplyForce(f, p)
                if key==Keys.K_d:
                        f = self.wheel.GetWorldVector(localVector = (0.0, -100.0))
                        p = self.wheel.GetWorldPoint(localPoint = (0.0, 0.0))
                        self.wheel.ApplyForce(f, p)
                elif key==Keys.K_q:
                        self.wheel.ApplyTorque(50.0)
                elif key==Keys.K_e:
                        self.wheel.ApplyTorque(-50.0)

if __name__=="__main__":
         main(TopDownFrictionJoint)
 

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