我希望能够锁定车轮相对于汽车底盘的角度。在轮子之间有弹簧,应该可以让汽车悬空,但现在,角度还没有锁定。我使用了pymunk的函数 "RotaryLimitJoint"。
这样的行为才是目标(gif)
现在看起来是这样的。
我的代码:
car_pos = Vec2d(100,500)
mass = 30
radius = 10
moment = pymunk.moment_for_circle(mass, 20, radius)
wheel1_b = pymunk.Body(mass, moment)
wheel1_s = pymunk.Circle(wheel1_b, radius)
wheel1_s.friction = 1.5
wheel1_s.color = wheel_color
space.add(wheel1_b, wheel1_s)
mass = 30
radius = 10
moment = pymunk.moment_for_circle(mass, 20, radius)
wheel2_b = pymunk.Body(mass, moment)
wheel2_s = pymunk.Circle(wheel2_b, radius)
wheel2_s.friction = 1.5
wheel2_s.color = wheel_color
space.add(wheel2_b, wheel2_s)
mass = 100
size = (80,25)
moment = pymunk.moment_for_box(mass, size)
chassi_b = pymunk.Body(mass, moment)
chassi_s = pymunk.Poly.create_box(chassi_b, size)
chassi_s.color = chassi_color
space.add(chassi_b, chassi_s)
#Positions
chassi_b.position = car_pos + (0,-15)
wheel1_b.position = car_pos + (-25,0)
wheel2_b.position = car_pos + (25,0)
#Joints
spring1 = pymunk.DampedSpring(chassi_b, wheel1_b, (-25,0), (0,0), 20, 100000, 1)
spring1.collide_bodies = False
spring2 = pymunk.DampedSpring(chassi_b, wheel2_b, (25,0), (0,0), 20, 100000, 1)
spring2.collide_bodies = False
wheelAngle1 = pymunk.RotaryLimitJoint(wheel1_b, chassi_b, 0, 0)
wheelAngle1.collide_bodies = False
wheelAngle2 = pymunk.RotaryLimitJoint(chassi_b, wheel2_b, 0, 0)
wheelAngle2.collide_bodies = False
space.add(
spring1,
spring2,
wheelAngle1,
wheelAngle2
)
speed = 20
space.add(
pymunk.SimpleMotor(wheel1_b, chassi_b, speed),
pymunk.SimpleMotor(wheel2_b, chassi_b, speed)
)
RotaryLimitJoint不是你所需要的。它将限制车轮和底盘之间的角度,但车轮需要旋转,所以它不会工作。
你可以尝试用GrooveJoint来代替。
这是代码在c代码中的样子,将其转换为python应该相当容易。
完整的源代码: https:/github.comslembckeChipmunk2DblobmasterdemoJoints.c#L263
相关的部分。
boxOffset = cpv(0, 0);
cpBody *wheel1 = addWheel(space, posA, boxOffset);
cpBody *wheel2 = addWheel(space, posB, boxOffset);
cpBody *chassis = addChassis(space, cpv(80, 100), boxOffset);
cpSpaceAddConstraint(space, cpGrooveJointNew(chassis, wheel1, cpv(-30, -10), cpv(-30, -40), cpvzero));
cpSpaceAddConstraint(space, cpGrooveJointNew(chassis, wheel2, cpv( 30, -10), cpv( 30, -40), cpvzero));
cpSpaceAddConstraint(space, cpDampedSpringNew(chassis, wheel1, cpv(-30, 0), cpvzero, 50.0f, 20.0f, 10.0f));
cpSpaceAddConstraint(space, cpDampedSpringNew(chassis, wheel2, cpv( 30, 0), cpvzero, 50.0f, 20.0f, 10.0f));
如果你想不通的话,我可以试着把它转换成python,但很不幸,我现在的电脑上没有Python & Pymunk的设置。
首先要感谢@vilbo。
是什么让下面的代码工作,是一个GrooveJoint(参见文件)是垂直于汽车底盘创建的。GrooveJoint是定义一条线,车身可以自由滑动。定义GrooveJoint它是连接到汽车的底盘和车轮(对于前轮和后轮)。
现在看起来是这样的。
我把代码(来自@vilbo)转换成了python,就是这个样子。
def car(space, speed, add_car):
car_pos = Vec2d(100,500)
#bodies
wheel_color = 0,0,0
chassi_color = 255,0,0
wheelCon_color = 0,255,255
#Wheel 1
mass = 25
radius = 10
moment = pymunk.moment_for_circle(mass, 20, radius)
wheel1_b = pymunk.Body(mass, moment)
wheel1_s = pymunk.Circle(wheel1_b, radius)
wheel1_s.friction = 1.5
wheel1_s.color = wheel_color
#Wheel 2
mass = 25
radius = 10
moment = pymunk.moment_for_circle(mass, 20, radius)
wheel2_b = pymunk.Body(mass, moment)
wheel2_s = pymunk.Circle(wheel2_b, radius)
wheel2_s.friction = 1.5
wheel2_s.color = wheel_color
#Chassi
mass = 30
size = (80,25)
moment = pymunk.moment_for_box(mass, size)
chassi_b = pymunk.Body(mass, moment)
chassi_s = pymunk.Poly.create_box(chassi_b, size)
chassi_s.color = chassi_color
#Positions
chassi_b.position = car_pos + (0,-15)
wheel1_b.position = car_pos + (-25,0)
wheel2_b.position = car_pos + (25,0)
#Joints
spring1 = pymunk.constraint.DampedSpring(chassi_b, wheel1_b, (-25,0), (0,0), 15, 5000, 250)
spring1.collide_bodies = False
spring2 = pymunk.constraint.DampedSpring(chassi_b, wheel2_b, (25,0), (0,0), 15, 5000, 250)
spring2.collide_bodies = False
groove1 = pymunk.constraint.GrooveJoint(chassi_b, wheel1_b, (-25,0), (-25,25), (0, 0))
groove1.collide_bodies = False
groove2 = pymunk.constraint.GrooveJoint(chassi_b, wheel2_b, (25,0), (25,25), (0,0))
groove2.collide_bodies = False
if add_car:
motor1 = pymunk.SimpleMotor(wheel1_b, chassi_b, speed)
motor2 = pymunk.SimpleMotor(wheel2_b, chassi_b, speed)
space.add(
spring1,
spring2,
groove1,
groove2,
motor1,
motor2,
chassi_b,
chassi_s,
wheel2_b,
wheel2_s,
wheel1_b,
wheel1_s
)