def falling_pump(event=None):
def load_brep(filename):
# Load the shape from a file
aShape = TopoDS_Shape()
builder = BRep_Builder()
BRepTools_Read(aShape,str(filename),builder)
return aShape
# Just a copy/paste of the torus code
display.EraseAll()
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
s1 = load_brep('../../data/BREP/40_pump_body.brep')
d = dyn_context.register_shape(s1,enable_collision_detection=True,use_trimesh=True)
# The plane (note: this plane is not a dynamic shape, it's just displayed)
P1 = gp_Pnt(0,0,-1000)
V1 = gp_Vec(0,0,1)
face = make_plane(P1,V1, -1000., 1000., -600., 600.)
# 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), -1000)
display.DisplayColoredShape(face,'RED')
display.FitAll()
#Starts the simulation
dyn_context.set_simulation_duration(30) #1s forthe simulation
dyn_context.set_time_step(0.001)
dyn_context.start_open_loop()
del dyn_context
def two_boxes_sphere_plane_collision(event=None):
display.EraseAll()
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# The first box
s1 = BRepPrimAPI_MakeBox(10,20,30).Shape()
d = dyn_context.register_shape(s1,enable_collision_detection=True,use_boundingbox=True)
d.setAngularVel([-1,-0.5,0.3]) # the box is rotating
# The second box
box2 = BRepPrimAPI_MakeBox(10,20,30).Shape()
box2 = translate_topods_from_vector(box2, gp_Vec(5, 5, 100))
d2 = dyn_context.register_shape(box2,enable_collision_detection=True,use_boundingbox=True)
# The sphere
sphere = BRepPrimAPI_MakeSphere(10).Shape()
sphere = translate_topods_from_vector(sphere, gp_Vec(0,0,250))
d3 = dyn_context.register_shape(sphere,enable_collision_detection=True,use_sphere=True)
# Draw a plane (note: this plane is not a dynamic shape, it's just displayed)
face = make_plane( gp_Pnt(0,0,-100), gp_Vec(0,0,1), -100., 100., -100., 100.)
display.DisplayColoredShape(face,'RED')
display.FitAll()
# 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)
#Starts the simulation
#raw_input('Hit a key when ready to start simulation')
dyn_context.set_simulation_duration(10.)
dyn_context.set_animation_frame_rate(60)
dyn_context.start_open_loop()
def falling_torus_torus(event=None):
display.EraseAll()
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# The torus
s1 = BRepPrimAPI_MakeTorus(15,5).Shape()
d = dyn_context.register_shape(s1, enable_collision_detection=True,use_trimesh=True)
# The box
s2 = BRepPrimAPI_MakeTorus(10,6).Shape()
transformed_shape_2 = translate_topods_from_vector(s2, gp_Vec(0,0,100))
d2 = dyn_context.register_shape(transformed_shape_2,enable_collision_detection=True,use_trimesh=True)
d2.setAngularVel([-3,3,3])
# 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 falling_torus_torus(event=None):
display.EraseAll()
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# The torus
s1 = BRepPrimAPI_MakeTorus(15,5).Shape()
d = dyn_context.register_shape(s1, enable_collision_detection=True,use_trimesh=True)
# The box
s2 = BRepPrimAPI_MakeTorus(10,6).Shape()
transformed_shape_2 = translate_topods_from_vector(s2, gp_Vec(0,0,100))
d2 = dyn_context.register_shape(transformed_shape_2,enable_collision_detection=True,use_trimesh=True)
d2.setAngularVel([-3,3,3])
# 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 falling_pump(event=None):
def load_brep(filename):
# Load the shape from a file
aShape = TopoDS_Shape()
builder = BRep_Builder()
BRepTools_Read(aShape, str(filename), builder)
return aShape
# Just a copy/paste of the torus code
display.EraseAll()
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
s1 = load_brep('../../data/BREP/40_pump_body.brep')
d = dyn_context.register_shape(s1,
enable_collision_detection=True,
use_trimesh=True)
# The plane (note: this plane is not a dynamic shape, it's just displayed)
P1 = gp_Pnt(0, 0, -1000)
V1 = gp_Vec(0, 0, 1)
face = make_plane(P1, V1, -1000., 1000., -600., 600.)
# 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), -1000)
display.DisplayColoredShape(face, 'RED')
display.FitAll()
#Starts the simulation
dyn_context.set_simulation_duration(30) #1s forthe simulation
dyn_context.set_time_step(0.001)
dyn_context.start_open_loop()
del dyn_context
def dominos(event=None):
''' The well known domino demo. Dominos are placed on a marble table and
start collapsing.
'''
display.EraseAll()
l_table = 180.
w_table = 180.
h_table = 15.
# 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 floor The floor is not visible
floor = ode.GeomPlane(dyn_context._space, (0,0,1), -h_table)
# create the table
table_shape = BRepPrimAPI_MakeBox(l_table,w_table,h_table).Shape()
# move the table down
# the table rests on the `floor`
#table_shape = translate_topods_from_vector(table_shape, gp_Vec(-l_table/2, -l_table/2, -h_table))
table_shape = translate_topods_from_vector(table_shape, gp_Vec(-l_table/2, -l_table/2, -h_table))
dynamic_table = dyn_context.register_shape(table_shape,enable_collision_detection=True,use_boundingbox=True)
dynamic_table.set_fixed()
# Create a 'ground'
P1 = gp_Pnt(0,0,-h_table)
V1 = gp_Vec(0,0,1)
face = make_plane(P1, V1,-150., 150., -100., 100.,)
display.DisplayColoredShape(face,color='RED')
# wrap a texture on the plane
texture_filename = os.path.join(os.path.split(os.path.abspath(__file__))[0], 'ground.bmp')
t = Texture(texture_filename)
m = Graphic3d_MaterialAspect(Graphic3d_NOM_ALUMINIUM)
#s = BRepPrimAPI_MakeCylinder(60, 200)
display.DisplayShape(table_shape,material=m,texture=t)
#display.FitAll()
# Create the first domino
domino_shape = BRepPrimAPI_MakeBox(5,20,40).Shape()
v = gp_Vec(19, 0, 0)
domino_shape = translate_topods_from_vector(domino_shape, v)
dynamic_domino = dyn_context.register_shape(domino_shape,enable_collision_detection=True,use_boundingbox=True)
# create a list of domino_boxes
for _ in range(3):
transformed_shape = translate_topods_from_vector(domino_shape, v, copy=True)
dynamic_transformed = dyn_context.register_shape(transformed_shape,enable_collision_detection=True,use_boundingbox=True)
# The last domino is rotating around the y-axis (he's falling)
dynamic_transformed.setAngularVel([0,0,0])
# Finally, start simulation loop
dyn_context.set_simulation_duration(5)
dyn_context.set_time_step(0.001)
dyn_context.set_animation_frame_rate(60)
#dyn_context.set
dyn_context.start_open_loop()
def box_plane_collision(event=None):
display.EraseAll()
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# The box
s1 = BRepPrimAPI_MakeBox(10,20,30).Shape()
d = dyn_context.register_shape(s1,enable_collision_detection=True,use_boundingbox=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_animation_frame_rate(60)
dyn_context.start_open_loop()
def two_boxes_sphere_plane_collision(event=None):
display.EraseAll()
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# The first box
s1 = BRepPrimAPI_MakeBox(10, 20, 30).Shape()
d = dyn_context.register_shape(s1,
enable_collision_detection=True,
use_boundingbox=True)
d.setAngularVel([-1, -0.5, 0.3]) # the box is rotating
# The second box
box2 = BRepPrimAPI_MakeBox(10, 20, 30).Shape()
box2 = translate_topods_from_vector(box2, gp_Vec(5, 5, 100))
d2 = dyn_context.register_shape(box2,
enable_collision_detection=True,
use_boundingbox=True)
# The sphere
sphere = BRepPrimAPI_MakeSphere(10).Shape()
sphere = translate_topods_from_vector(sphere, gp_Vec(0, 0, 250))
d3 = dyn_context.register_shape(sphere,
enable_collision_detection=True,
use_sphere=True)
# Draw a plane (note: this plane is not a dynamic shape, it's just displayed)
face = make_plane(gp_Pnt(0, 0, -100), gp_Vec(0, 0, 1), -100., 100., -100.,
100.)
display.DisplayColoredShape(face, 'RED')
display.FitAll()
# 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)
#Starts the simulation
#raw_input('Hit a key when ready to start simulation')
dyn_context.set_simulation_duration(10.)
dyn_context.set_animation_frame_rate(60)
dyn_context.start_open_loop()
def box_plane_collision(event=None):
display.EraseAll()
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# The box
s1 = BRepPrimAPI_MakeBox(10, 20, 30).Shape()
d = dyn_context.register_shape(s1,
enable_collision_detection=True,
use_boundingbox=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_animation_frame_rate(60)
dyn_context.start_open_loop()
def dominos(event=None):
''' The well known domino demo. Dominos are placed on a marble table and
start collapsing.
'''
display.EraseAll()
l_table = 180.
w_table = 180.
h_table = 15.
# 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 floor The floor is not visible
floor = ode.GeomPlane(dyn_context._space, (0, 0, 1), -h_table)
# create the table
table_shape = BRepPrimAPI_MakeBox(l_table, w_table, h_table).Shape()
# move the table down
# the table rests on the `floor`
#table_shape = translate_topods_from_vector(table_shape, gp_Vec(-l_table/2, -l_table/2, -h_table))
table_shape = translate_topods_from_vector(
table_shape, gp_Vec(-l_table / 2, -l_table / 2, -h_table))
dynamic_table = dyn_context.register_shape(table_shape,
enable_collision_detection=True,
use_boundingbox=True)
dynamic_table.set_fixed()
# Create a 'ground'
P1 = gp_Pnt(0, 0, -h_table)
V1 = gp_Vec(0, 0, 1)
face = make_plane(
P1,
V1,
-150.,
150.,
-100.,
100.,
)
display.DisplayColoredShape(face, color='RED')
# wrap a texture on the plane
texture_filename = os.path.join(
os.path.split(os.path.abspath(__file__))[0], 'ground.bmp')
t = Texture(texture_filename)
m = Graphic3d_MaterialAspect(Graphic3d_NOM_ALUMINIUM)
#s = BRepPrimAPI_MakeCylinder(60, 200)
display.DisplayShape(table_shape, material=m, texture=t)
#display.FitAll()
# Create the first domino
domino_shape = BRepPrimAPI_MakeBox(5, 20, 40).Shape()
v = gp_Vec(19, 0, 0)
domino_shape = translate_topods_from_vector(domino_shape, v)
dynamic_domino = dyn_context.register_shape(
domino_shape, enable_collision_detection=True, use_boundingbox=True)
# create a list of domino_boxes
for _ in range(3):
transformed_shape = translate_topods_from_vector(domino_shape,
v,
copy=True)
dynamic_transformed = dyn_context.register_shape(
transformed_shape,
enable_collision_detection=True,
use_boundingbox=True)
# The last domino is rotating around the y-axis (he's falling)
dynamic_transformed.setAngularVel([0, 0, 0])
# Finally, start simulation loop
dyn_context.set_simulation_duration(5)
dyn_context.set_time_step(0.001)
dyn_context.set_animation_frame_rate(60)
#dyn_context.set
dyn_context.start_open_loop()
