rldurham.bipedal_walker.ContactDetector

class rldurham.bipedal_walker.ContactDetector(env)

Bases: b2ContactListener

Public Data Attributes:

Inherited from b2ContactListener

thisown

The membership flag

Public Methods:

__init__(env)
BeginContact(b2ContactListener self, ...)	Called when two fixtures begin to touch.
EndContact(b2ContactListener self, ...)	Called when two fixtures cease to touch.

Inherited from b2ContactListener

__repr__()	Return repr(self).
BeginContact(b2ContactListener self, ...)	Called when two fixtures begin to touch.
EndContact(b2ContactListener self, ...)	Called when two fixtures cease to touch.
PreSolve(b2ContactListener self, ...)	This is called after a contact is updated.
PostSolve(b2ContactListener self, ...)	This lets you inspect a contact after the solver is finished.
__dir__()	Using introspection, mimic dir() by adding up all of the __dicts__ for the current class and all base classes (type(self).__mro__ returns all of the classes that make it up) Basically filters by: __x__ OK __x bad _classname bad
__hash__(b2ContactListener self)
__init__(**kwargs)
__disown__()

---

BeginContact(b2ContactListener self, b2Contact contact)

Called when two fixtures begin to touch.

EndContact(b2ContactListener self, b2Contact contact)

Called when two fixtures cease to touch.

PostSolve(b2ContactListener self, b2Contact contact, b2ContactImpulse impulse)

This lets you inspect a contact after the solver is finished. This is useful for inspecting impulses. Note: the contact manifold does not include time of impact impulses, which can be arbitrarily large if the sub-step is small. Hence the impulse is provided explicitly in a separate data structure. Note: this is only called for contacts that are touching, solid, and awake.

PreSolve(b2ContactListener self, b2Contact contact, b2Manifold oldManifold)

This is called after a contact is updated. This allows you to inspect a contact before it goes to the solver. If you are careful, you can modify the contact manifold (e.g. disable contact). A copy of the old manifold is provided so that you can detect changes. Note: this is called only for awake bodies. Note: this is called even when the number of contact points is zero. Note: this is not called for sensors. Note: if you set the number of contact points to zero, you will not get an EndContact callback. However, you may get a BeginContact callback the next step.

__annotations__ = {}

__dict__ = mappingproxy({'__module__': 'rldurham.bipedal_walker', '__init__': <function ContactDetector.__init__>, 'BeginContact': <function ContactDetector.BeginContact>, 'EndContact': <function ContactDetector.EndContact>, '__doc__': None, '__annotations__': {}})

__dir__()

Using introspection, mimic dir() by adding up all of the __dicts__ for the current class and all base classes (type(self).__mro__ returns all of the classes that make it up) Basically filters by:

__x__ OK __x bad _classname bad

__disown__()

__hash__(b2ContactListener self) → long

__init__(env)

__module__ = 'rldurham.bipedal_walker'

__repr__()

Return repr(self).

__swig_destroy__()

delete_b2ContactListener(b2ContactListener self)

__weakref__

list of weak references to the object

property thisown

The membership flag