.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "tutorials/joints/plot_wheel_joint.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        :ref:`Go to the end <sphx_glr_download_tutorials_joints_plot_wheel_joint.py>`
        to download the full example code

.. rst-class:: sphx-glr-example-title

.. _sphx_glr_tutorials_joints_plot_wheel_joint.py:


Wheel Joint
===========================

Create a car with two wheel and wheel joints

Uses:
    * :class:`b2d.WheelJointDef`
    * :class:`b2d.WheelJoint`

.. GENERATED FROM PYTHON SOURCE LINES 14-18

Imports
------------------------

pyb2d is imported as `b2d`

.. GENERATED FROM PYTHON SOURCE LINES 18-22

.. code-block:: default

    import b2d
    import numpy as np









.. GENERATED FROM PYTHON SOURCE LINES 23-25

These imports are only needed for plotting.
`b2d.plot` requires OpenCV to be installed!

.. GENERATED FROM PYTHON SOURCE LINES 25-30

.. code-block:: default


    import b2d.plot
    import matplotlib.pyplot as plt









.. GENERATED FROM PYTHON SOURCE LINES 31-32

The world and ground body

.. GENERATED FROM PYTHON SOURCE LINES 32-48

.. code-block:: default

    world = b2d.world(gravity=(0, -10))
    edge = world.create_static_body(
        position=(0, 0), fixtures=b2d.fixture_def(shape=b2d.edge_shape([(-20, 0), (5, 0)]))
    )

    # random slope
    x = np.linspace(5, 50, 10)
    y = np.random.rand(10) * 4 - 2
    y[0] = 0
    xy = np.stack([x, y]).T
    xy = np.flip(xy, axis=0)
    edge = world.create_static_body(
        position=(0, 0),
        fixtures=b2d.fixture_def(shape=b2d.chain_shape(xy, prev_vertex=(10, 0))),
    )








.. GENERATED FROM PYTHON SOURCE LINES 49-50

create car

.. GENERATED FROM PYTHON SOURCE LINES 50-81

.. code-block:: default

    left_wheel = world.create_dynamic_body(
        position=(-3, 2),
        fixtures=b2d.fixture_def(shape=b2d.circle_shape(radius=2), density=1),
    )
    right_wheel = world.create_dynamic_body(
        position=(3, 2),
        fixtures=b2d.fixture_def(shape=b2d.circle_shape(radius=2), density=1),
    )

    chasis = world.create_dynamic_body(
        position=(0, 2),
        fixtures=b2d.fixture_def(shape=b2d.polygon_shape(box=[3, 0.5]), density=1),
    )

    wheel_joint_def = dict(
        stiffness=10,
        enable_motor=True,
        motor_speed=-100,
        max_motor_torque=100,
        collide_connected=False,
        enable_limit=True,
        lower_translation=-0.4,
        upper_translation=0.4,
        local_axis_a=(0, 1),
    )
    world.create_wheel_joint(chasis, left_wheel, local_anchor_a=(-3, 0), **wheel_joint_def)
    world.create_wheel_joint(chasis, right_wheel, local_anchor_a=(3, 0), **wheel_joint_def)

    fig, ax, ani = b2d.plot.animate_world(world, world_margin=(10, 10), t=5)
    ani
    plt.show()



.. container:: sphx-glr-animation

    .. raw:: html

        
     <link rel="stylesheet"
     href="https://maxcdn.bootstrapcdn.com/font-awesome/4.4.0/css/font-awesome.min.css">
     <script language="javascript">
       function isInternetExplorer() {
         ua = navigator.userAgent;
         /* MSIE used to detect old browsers and Trident used to newer ones*/
         return ua.indexOf("MSIE ") > -1 || ua.indexOf("Trident/") > -1;
       }

       /* Define the Animation class */
       function Animation(frames, img_id, slider_id, interval, loop_select_id){
         this.img_id = img_id;
         this.slider_id = slider_id;
         this.loop_select_id = loop_select_id;
         this.interval = interval;
         this.current_frame = 0;
         this.direction = 0;
         this.timer = null;
         this.frames = new Array(frames.length);

         for (var i=0; i<frames.length; i++)
         {
          this.frames[i] = new Image();
          this.frames[i].src = frames[i];
         }
         var slider = document.getElementById(this.slider_id);
         slider.max = this.frames.length - 1;
         if (isInternetExplorer()) {
             // switch from oninput to onchange because IE <= 11 does not conform
             // with W3C specification. It ignores oninput and onchange behaves
             // like oninput. In contrast, Microsoft Edge behaves correctly.
             slider.setAttribute('onchange', slider.getAttribute('oninput'));
             slider.setAttribute('oninput', null);
         }
         this.set_frame(this.current_frame);
       }

       Animation.prototype.get_loop_state = function(){
         var button_group = document[this.loop_select_id].state;
         for (var i = 0; i < button_group.length; i++) {
             var button = button_group[i];
             if (button.checked) {
                 return button.value;
             }
         }
         return undefined;
       }

       Animation.prototype.set_frame = function(frame){
         this.current_frame = frame;
         document.getElementById(this.img_id).src =
                 this.frames[this.current_frame].src;
         document.getElementById(this.slider_id).value = this.current_frame;
       }

       Animation.prototype.next_frame = function()
       {
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       }

       Animation.prototype.previous_frame = function()
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       }

       Animation.prototype.first_frame = function()
       {
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       }

       Animation.prototype.last_frame = function()
       {
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       }

       Animation.prototype.slower = function()
       {
         this.interval /= 0.7;
         if(this.direction > 0){this.play_animation();}
         else if(this.direction < 0){this.reverse_animation();}
       }

       Animation.prototype.faster = function()
       {
         this.interval *= 0.7;
         if(this.direction > 0){this.play_animation();}
         else if(this.direction < 0){this.reverse_animation();}
       }

       Animation.prototype.anim_step_forward = function()
       {
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         if(this.current_frame < this.frames.length){
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           }else if(loop_state == "reflect"){
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           }else if(loop_state == "reflect"){
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       }

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       {
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         if (this.timer){
           clearInterval(this.timer);
           this.timer = null;
         }
       }

       Animation.prototype.play_animation = function()
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         this.direction = 1;
         var t = this;
         if (!this.timer) this.timer = setInterval(function() {
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       }

       Animation.prototype.reverse_animation = function()
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         this.direction = -1;
         var t = this;
         if (!this.timer) this.timer = setInterval(function() {
             t.anim_step_reverse();
         }, this.interval);
       }
     </script>

     <style>
     .animation {
         display: inline-block;
         text-align: center;
     }
     input[type=range].anim-slider {
         width: 374px;
         margin-left: auto;
         margin-right: auto;
     }
     .anim-buttons {
         margin: 8px 0px;
     }
     .anim-buttons button {
         padding: 0;
         width: 36px;
     }
     .anim-state label {
         margin-right: 8px;
     }
     .anim-state input {
         margin: 0;
         vertical-align: middle;
     }
     </style>

     <div class="animation">
       <img id="_anim_img4c57621135c84f56a9fcff09c5fb519a">
       <div class="anim-controls">
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               <i class="fa fa-plus"></i></button>
         </div>
         <form title="Repetition mode" aria-label="Repetition mode" action="#n" name="_anim_loop_select4c57621135c84f56a9fcff09c5fb519a"
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           <input type="radio" name="state" value="once" id="_anim_radio1_4c57621135c84f56a9fcff09c5fb519a"
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           <label for="_anim_radio1_4c57621135c84f56a9fcff09c5fb519a">Once</label>
           <input type="radio" name="state" value="loop" id="_anim_radio2_4c57621135c84f56a9fcff09c5fb519a"
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           <label for="_anim_radio2_4c57621135c84f56a9fcff09c5fb519a">Loop</label>
           <input type="radio" name="state" value="reflect" id="_anim_radio3_4c57621135c84f56a9fcff09c5fb519a"
                  >
           <label for="_anim_radio3_4c57621135c84f56a9fcff09c5fb519a">Reflect</label>
         </form>
       </div>
     </div>


     <script language="javascript">
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       /* The IDs given should match those used in the template above. */
       (function() {
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         /* set a timeout to make sure all the above elements are created before
            the object is initialized. */
         setTimeout(function() {
             anim4c57621135c84f56a9fcff09c5fb519a = new Animation(frames, img_id, slider_id, 41.0,
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.. rst-class:: sphx-glr-script-out

 .. code-block:: none

    /home/runner/.local/lib/python3.10/site-packages/b2d/plot.py:128: UserWarning: You passed in an explicit save_count=121 which is being ignored in favor of frames=121.
      ani = animation.FuncAnimation(





.. rst-class:: sphx-glr-timing

   **Total running time of the script:** ( 0 minutes  32.587 seconds)


.. _sphx_glr_download_tutorials_joints_plot_wheel_joint.py:

.. only:: html

  .. container:: sphx-glr-footer sphx-glr-footer-example




    .. container:: sphx-glr-download sphx-glr-download-python

      :download:`Download Python source code: plot_wheel_joint.py <plot_wheel_joint.py>`

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download Jupyter notebook: plot_wheel_joint.ipynb <plot_wheel_joint.ipynb>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_