import ODE as ode NUM= 10 ## number of boxes SIDE = 0.2 ## side length of a box MASS= 1.0 ## mass of a box RADIUS =0.1732 ## sphere radius ## dynamics and collision objects body=[] box=[] joint = [] for i in range(NUM): body.append(ode.dBody() ) box.append(ode.dBox() ) joint.append (ode.dBallJoint() ) contactgroup= ode.dJointGroup() space = ode.dSimpleSpace(None) world = ode.dWorld() ## this is called by space.collide when two objects in space are ## potentially colliding. def nearCallback (data, o1, o2): ## exit without doing anything if the two bodies are connected by a joint b1 = ode.dGeomGetBody(o1) b2 = ode.dGeomGetBody(o2) if b1 and b2 and ode.dAreConnected (b1,b2): return