俾门的旋转体群

2024-03-29 01:18:57 发布

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我想在pymunk中制作一个2D抓取手,它可以旋转,上下移动和向两侧移动,握紧或伸出手指,基本上,手看起来像“U”字母。我试着做了三个独立的身体(手掌,左手手指,右手手指),并通过一些关节(针状关节,可能还有一些不同的关节)连接起来。问题是当我转动手掌时(通过改变角度或角速度),手指开始做出奇怪的动作。另外,我还想让手指可以伸展/握紧。你知道吗

这是我的手爪代码:

class Gripper(pymunk.Body):

def __init__(self, space):
    super().__init__(2**8, pymunk.inf)
    self.position = (100, 25)

    palm = pymunk.Segment(self, (-7, 0), (7, 0), 2)

    # Left gripper side
    self.l_phalanx_body = pymunk.Body(2**8, pymunk.inf)
    self.l_phalanx_body.position = (self.position.x - 7, self.position.y)

    phalanx_l1 = pymunk.Segment(self.l_phalanx_body, (0, 0), (0, 16), 2)
    phalanx_l2 = pymunk.Segment(self.l_phalanx_body, (0, 16), (4, 16), 2)

    l_joint = pymunk.PinJoint(self, self.l_phalanx_body, (-7, 0))
    # l_rot_joint = pymunk.DampedRotarySpring(self, self.l_phalanx_body, 0, 1, 1)

    # Right gripper side
    self.r_phalanx_body = pymunk.Body(2**8, pymunk.inf)
    self.r_phalanx_body.position = (self.position.x + 7, self.position.y)

    phalanx_r1 = pymunk.Segment(self.r_phalanx_body, (0, 0), (0, 16), 2)
    phalanx_r2 = pymunk.Segment(self.r_phalanx_body, (0, 16), (-4, 16), 2)

    r_joint = pymunk.PinJoint(self, self.r_phalanx_body, (7, 0), (0, 0))

    shape_filter = pymunk.ShapeFilter(group=1)
    palm.filter = shape_filter
    phalanx_l1.filter = shape_filter
    phalanx_l2.filter = shape_filter
    phalanx_r1.filter = shape_filter
    phalanx_r2.filter = shape_filter

    space.add(
        self, palm,
        l_joint,
        # l_rot_joint,
        self.l_phalanx_body,
        phalanx_l1, phalanx_l2,
        r_joint, self.r_phalanx_body,
        phalanx_r1, phalanx_r2,
        )

Tags: selfl1segmentpositionbodyfilterinf手指