def __init__(self):
sf.Application.__init__(self)
# Set up the physics world
self.world = ode.dWorld()
self.world.setGravity(0, -9.81, 0)
ssid = ode.dSimpleSpace()
self.space = ode.dSimpleSpace(1) # dQuadTreeSpace, dHashSpace
self.contactgroup = ode.JointGroup()
self.bodyList = []
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
## @@@ it's still more convenient to use the C interface here.