def SetupODE(self):
# Create a world object
self.world = ode.dWorld()
self.world.setGravity(0, -9.81, 0)
self.world.setERP(0.8)
self.world.setCFM(1e-5)
# Create a space object
self.space = ode.CreateSimpleSpace()
# Create a plane geom which prevent the objects from falling forever
self.floor = ode.dPlane(space.id(), 0.0, 1.0, 0.0, 0.0)
# A list with ODE bodies
self.odebodies = []
# A joint group for the contact joints that are generated whenever
# two bodies collide
self.contactgroup = ode.dJointGroup()
def create_box(world, space, density, lx, ly, lz):
"""Create a box body and its corresponding geom."""
# Create body
body = ode.dBody(world.id())
M = ode.dMass()
M.setBox(density, lx, ly, lz)
body.setMass(M)
# Set parameters for drawing the body
body.shape = "box"
body.boxsize = (lx, ly, lz)
# Create a box geom for collision detection
geom = ode.dCreateBox(space.id(), lx,ly,lz )
ode.dGeomSetBody ( geom, body.id() )
return body
def ODE_callback(self, args, geom1, geom2):
"""Callback function for the collide() method.
This function checks if the given geoms do collide and
creates contact joints if they do.
"""
# Check if the objects do collide
contacts = ode.dCollide(geom1, geom2)
# Create contact joints
world, contactgroup = args
for c in contacts:
c.setBounce(0.2)
c.setMu(5000)
j = ode.ContactJoint(world, contactgroup, c)
j.attach(geom1.getBody(), geom2.getBody())
contactCount = ode.dCollide(geom1, geom2)
# Create contact joints
world,contactgroup = args
for c in contacts:
c.setBounce(0.2)
c.setMu(5000)
j = ode.ContactJoint(world, contactgroup, c)
j.attach(geom1.getBody(), geom2.getBody())
######################################################################
# Create a world object
world = ode.dWorld()
world.setGravity( 0,-9.81,0 )
world.setERP(0.8)
world.setCFM(1E-5)
# Create a space object
space = ode.CreateSimpleSpace()
# Create a plane geom which prevent the objects from falling forever
floor = ode.dPlane(space.id(), 0.0, 1.0, 0.0, 0.0)
# A list with ODE bodies
bodies = []
# A joint group for the contact joints that are generated whenever
# two bodies collide
# pyODE example 1: Getting started
import sys
sys.path.insert(0,'..')
import PythonOgreConfig
import ogre.physics.ODE as ode
# Create a world object
world = ode.dWorld()
world.setGravity( 0,-9.81,0 )
# Create a body inside the world
body = ode.dBody(world.id() )
M = ode.dMass()
M.setSphere(2500.0, 0.05)
M.mass = 1.0
body.setMass(M)
body.setPosition( 0,2,0 )
body.addForce( 0,200,0 )
# Do the simulation...
total_time = 0.0
dt = 0.04
while total_time<2.0:
x,y,z = body.getPosition()
u,v,w = body.getLinearVel()
print "%1.2fsec: pos=(%6.3f, %6.3f, %6.3f) vel=(%6.3f, %6.3f, %6.3f)" % \
(total_time, x, y, z, u,v,w)
world.step(dt)
total_time+=dt
