def falling_torus(event=None):
display.EraseAll()
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# test the post_register_callback feature
def f():
print 'Wooooooooooo'
dyn_context.register_post_step_callback(f)
# The torus
s1 = BRepPrimAPI_MakeTorus(15,5).Shape()
d = dyn_context.register_shape(s1,enable_collision_detection=True,use_trimesh=True)
d.setAngularVel([-1,-0.5,0.3]) # the box is rotating
# The plane (note: this plane is not a dynamic shape, it's just displayed)
P1 = gp_Pnt(0,0,-100)
V1 = gp_Vec(0,0,1)
face = make_plane(P1,V1, -100., 100., -60., 60.)
# Then create a geom for this plane
# Create a plane geom which prevent the objects from falling forever
floor = ode.GeomPlane(dyn_context._space, (0,0,1), -100)
display.DisplayColoredShape(face,'RED')
display.FitAll()
#Starts the simulation
dyn_context.set_simulation_duration(20) #1s forthe simulation
dyn_context.set_time_step(0.01)
dyn_context.start_open_loop()
def falling_torus(event=None):
display.EraseAll()
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# test the post_register_callback feature
def f():
print 'Wooooooooooo'
dyn_context.register_post_step_callback(f)
# The torus
s1 = BRepPrimAPI_MakeTorus(15,5).Shape()
d = dyn_context.register_shape(s1,enable_collision_detection=True,use_trimesh=True)
d.setAngularVel([-1,-0.5,0.3]) # the box is rotating
# The plane (note: this plane is not a dynamic shape, it's just displayed)
P1 = gp_Pnt(0,0,-100)
V1 = gp_Vec(0,0,1)
face = make_plane(P1,V1, -100., 100., -60., 60.)
# Then create a geom for this plane
# Create a plane geom which prevent the objects from falling forever
floor = ode.GeomPlane(dyn_context._space, (0,0,1), -100)
display.DisplayColoredShape(face,'RED')
display.FitAll()
#Starts the simulation
dyn_context.set_simulation_duration(20) #1s forthe simulation
dyn_context.set_time_step(0.01)
dyn_context.start_open_loop()
def rotating_box(event=None):
display.EraseAll()
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
# Create s shape and add it to the dynamic context
s1 = BRepPrimAPI_MakeBox(10, 20, 30).Shape()
d = dyn_context.register_shape(s1)
#d.enable_view_cog()
d.setAngularVel([-1, 0, 0])
dyn_context.register_post_step_callback(safe_yield)
dyn_context.start_open_loop()
dyn_context.clear()
def rotating_box(event=None):
display.EraseAll()
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
# Create s shape and add it to the dynamic context
s1 = BRepPrimAPI_MakeBox(10,20,30).Shape()
d = dyn_context.register_shape(s1)
#d.enable_view_cog()
d.setAngularVel([-1,0,0])
dyn_context.register_post_step_callback(safe_yield)
dyn_context.start_open_loop()
dyn_context.clear()
def hinge(event=None):
'''
hinge joint example adapted from pyode
http://pyode.sourceforge.net/tutorials/tutorial2.html
'''
from OCC.Utils.Common import center_boundingbox
display.EraseAll()
# Create the dynamic context
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# create the table
block1 = BRepPrimAPI_MakeBox(4, 1, 1).Shape()
N = 36 * 3
dyn_shapes = []
for i in range(1, N):
table_shape = translate_topods_from_vector(block1,
gp_Vec(0, 0, 2 * (i * 0.5)),
copy=True)
dyn_shape = dyn_context.register_shape(table_shape,
enable_collision_detection=True,
use_boundingbox=True)
dyn_shapes.append((dyn_shape, table_shape))
dyn_shapes = iter(dyn_shapes)
prev, table_shape = dyn_shapes.next()
# safe for future reference
first, cube = prev, table_shape
prev_center = center_boundingbox(table_shape)
for i, xxx in enumerate(dyn_shapes):
dyn_shape, table_shape = xxx
bj = DynamicBallJoint(dyn_context)
center = center_boundingbox(table_shape)
bj.attach_shapes(prev, dyn_shape)
if i % 2 == 0:
bj.set_anchor((prev_center.as_vec() - gp_Vec(2, 0, 0.5)).as_pnt())
else:
bj.set_anchor((prev_center.as_vec() - gp_Vec(-2, 0, 0.5)).as_pnt())
dyn_context.register_joint(bj)
prev = dyn_shape
prev_center = center
# get the 1st block, the one one the ground...
xmin, ymin, zmin, xmax, ymax, zmax = get_boundingbox(cube)
# set the lower block in motion
vec1 = (12, 88, 0)
first.setLinearVel(vec1)
# change the color of the bottom element a little...
ais = first.get_ais_shape().GetObject()
from OCC.Graphic3d import Graphic3d_NOM_SILVER
ais.SetMaterial(Graphic3d_NOM_SILVER)
# lock the upper block
#bj.attach_shapes(dyn_shape, ode.environment)
vec2 = (-12, -88, 0)
dyn_shape.setLinearVel(vec2)
ais = dyn_shape.get_ais_shape().GetObject()
ais.SetMaterial(Graphic3d_NOM_SILVER)
# create a floor...
floor = ode.GeomPlane(dyn_context._space, (0, 0, 1), zmin)
def f():
XXX = 0.15 * N
first.setLinearVel((0, XXX, 0))
dyn_shape.setLinearVel((0, -XXX, 0))
dyn_context.mu = 500
dyn_context.setERP(0.8) # 0.2 default
dyn_context.setCFM(1e-12) # 1e-10 default
dyn_context.set_simulation_duration(1200.)
dyn_context.set_animation_frame_rate(60)
dyn_context.set_time_step(0.01)
dyn_context.register_post_step_callback(f)
dyn_context.start_open_loop(True)
def hinge(event=None):
'''
hinge joint example adapted from pyode
http://pyode.sourceforge.net/tutorials/tutorial2.html
'''
from OCC.Utils.Common import center_boundingbox
display.EraseAll()
# Create the dynamic context
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# create the table
block1 = BRepPrimAPI_MakeBox(4,1,1).Shape()
N = 36*3
dyn_shapes = []
for i in range(1,N):
table_shape = translate_topods_from_vector(block1, gp_Vec(0,0,2*(i*0.5)), copy=True)
dyn_shape = dyn_context.register_shape(table_shape, enable_collision_detection=True, use_boundingbox=True)
dyn_shapes.append((dyn_shape,table_shape))
dyn_shapes = iter(dyn_shapes)
prev, table_shape = dyn_shapes.next()
# safe for future reference
first, cube = prev, table_shape
prev_center = center_boundingbox(table_shape)
for i,xxx in enumerate(dyn_shapes):
dyn_shape, table_shape = xxx
bj = DynamicBallJoint(dyn_context)
center = center_boundingbox(table_shape)
bj.attach_shapes(prev, dyn_shape)
if i%2 == 0:
bj.set_anchor( (prev_center.as_vec() - gp_Vec(2,0,0.5)).as_pnt() )
else:
bj.set_anchor( (prev_center.as_vec() - gp_Vec(-2,0,0.5)).as_pnt() )
dyn_context.register_joint(bj)
prev=dyn_shape
prev_center = center
# get the 1st block, the one one the ground...
xmin, ymin, zmin, xmax, ymax, zmax = get_boundingbox(cube).Get()
# set the lower block in motion
vec1 = (12, 88, 0)
first.setLinearVel(vec1)
# change the color of the bottom element a little...
ais = first.get_ais_shape().GetObject()
from OCC.Graphic3d import Graphic3d_NOM_SILVER
ais.SetMaterial(Graphic3d_NOM_SILVER)
# lock the upper block
#bj.attach_shapes(dyn_shape, ode.environment)
vec2 = (-12, -88, 0)
dyn_shape.setLinearVel(vec2)
ais = dyn_shape.get_ais_shape().GetObject()
ais.SetMaterial(Graphic3d_NOM_SILVER)
# create a floor...
floor = ode.GeomPlane(dyn_context._space, (0,0,1), zmin)
def f():
print 'first:',first.getPosition()
print 'velo:', first.getLinearVel()
XXX = 0.15 * N
first.setLinearVel((0, XXX,0))
dyn_shape.setLinearVel((0,-XXX,0))
dyn_context.mu = 500
dyn_context.setERP(0.8) # 0.2 default
dyn_context.setCFM(1e-12) # 1e-10 default
dyn_context.set_simulation_duration(1200.)
dyn_context.set_animation_frame_rate(60)
dyn_context.set_time_step(0.01)
dyn_context.register_post_step_callback(f)
dyn_context.start_open_loop(True)
