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 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 add_boxes(self):
for i in range(self.nx):
self.iX += 1
for j in range(self.ny):
self.iY += 1
for k in range(self.nz):
self.n += 1
if (self.iX * self.iY) % (self.nx - 1 * self.ny -
1) == 0:
self.level += 1
self.iX, self.iY = 0, 0
new_box = BRepPrimAPI_MakeBox(self.dx, self.dy,
self.dz).Shape()
_x = self.dx * i + self.spacex * i
_y = self.dy * j + self.spacey * j
_z = (self.dz * k + self.spacez * k)
print '_x,_y,_z', _x, _y, _z
v = gp_Vec(_x, _y, _z)
new_box_translated = translate_topods_from_vector(
new_box, v, False)
d = dyn_context.register_shape(
new_box_translated,
enable_collision_detection=True,
use_boundingbox=True)
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_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 add_box(i):
import random
i = i+1
print "i:",i
# Create a shape of random dimension
rndX,rndY = random.uniform(-5,5), random.uniform(-5,5)
_x,_y,_z = 5+rndX, 10+rndY, 20
new_box = BRepPrimAPI_MakeBox(_x,_y,_z).Shape()
new_box_translated = translate_topods_from_vector(new_box, gp_Vec(0,0,i*40), False)
d = dyn_context.register_shape(new_box_translated,enable_collision_detection=True,use_boundingbox=True)
geom_box = ode.GeomBox(dyn_context._space, lengths=(_x,_y,_z))
geom_box.setBody(d)
references.append(geom_box)
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 add_box(i):
import random
i = i + 1
print "i:", i
# Create a shape of random dimension
rndX, rndY = random.uniform(-5, 5), random.uniform(-5, 5)
_x, _y, _z = 5 + rndX, 10 + rndY, 20
new_box = BRepPrimAPI_MakeBox(_x, _y, _z).Shape()
new_box_translated = translate_topods_from_vector(
new_box, gp_Vec(0, 0, i * 40), False)
d = dyn_context.register_shape(new_box_translated,
enable_collision_detection=True,
use_boundingbox=True)
geom_box = ode.GeomBox(dyn_context._space, lengths=(_x, _y, _z))
geom_box.setBody(d)
references.append(geom_box)
def add_boxes(self):
for i in range(self.nx):
self.iX +=1
for j in range(self.ny):
self.iY +=1
for k in range(self.nz):
self.n +=1
if (self.iX*self.iY) % (self.nx-1*self.ny-1) == 0:
self.level += 1
self.iX, self.iY = 0,0
new_box = BRepPrimAPI_MakeBox(self.dx,self.dy,self.dz).Shape()
_x = self.dx*i + self.spacex*i
_y = self.dy*j + self.spacey*j
_z = ( self.dz*k + self.spacez*k )
print '_x,_y,_z',_x,_y,_z
v = gp_Vec(_x,_y,_z)
new_box_translated = translate_topods_from_vector(new_box, v, False)
d = dyn_context.register_shape(new_box_translated,enable_collision_detection=True,use_boundingbox=True)
def adhesion(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 = 12
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)
slider_vec = gp_Dir(1, 1, 0)
for i, xxx in enumerate(_dyn_shapes):
dyn_shape, table_shape = xxx
bj = DynamicSliderJoint(dyn_context)
bj.set_axis(slider_vec)
center = center_boundingbox(table_shape)
if i == 0:
bj.attach_shapes(prev, ode.environment)
first_joint = bj
else:
bj.attach_shapes(prev, dyn_shape)
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 middle block in motion
vec1 = (160, 66, 0)
#vec1 = (1.20, 0.66, 0)
middle, topods = dyn_shapes[N / 2]
middle.setLinearVel(vec1)
#middle.setForce(vec1)
# change the color of the bottom element a little...
ais = middle.get_ais_shape().GetObject()
from OCC.Graphic3d import Graphic3d_NOM_SILVER
ais.SetMaterial(Graphic3d_NOM_SILVER)
bj.attach_shapes(dyn_shape, ode.environment)
first_joint.attach_shapes(first, ode.environment)
floor = ode.GeomPlane(dyn_context._space, (0, 0, 1), zmin)
dyn_context.mu = 0 # icey!!!
dyn_context.setERP(0.1) # 0.2 default
dyn_context.setCFM(1e-12) # 1e-10 default
dyn_context.set_simulation_duration(1200)
dyn_context.set_animation_frame_rate(40)
dyn_context.set_time_step(0.01)
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)
# 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 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 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)
def adhesion(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 = 12
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)
slider_vec = gp_Dir(1,1,0)
for i,xxx in enumerate(_dyn_shapes):
dyn_shape, table_shape = xxx
bj = DynamicSliderJoint(dyn_context)
bj.set_axis(slider_vec)
center = center_boundingbox(table_shape)
if i == 0:
bj.attach_shapes(prev, ode.environment)
first_joint = bj
else:
bj.attach_shapes(prev, dyn_shape)
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 middle block in motion
vec1 = (160, 66, 0)
#vec1 = (1.20, 0.66, 0)
middle, topods = dyn_shapes[N/2]
middle.setLinearVel(vec1)
#middle.setForce(vec1)
# change the color of the bottom element a little...
ais = middle.get_ais_shape().GetObject()
from OCC.Graphic3d import Graphic3d_NOM_SILVER
ais.SetMaterial(Graphic3d_NOM_SILVER)
bj.attach_shapes( dyn_shape, ode.environment )
first_joint.attach_shapes( first, ode.environment )
floor = ode.GeomPlane(dyn_context._space, (0,0,1), zmin)
dyn_context.mu = 0 # icey!!!
dyn_context.setERP(0.1) # 0.2 default
dyn_context.setCFM(1e-12) # 1e-10 default
dyn_context.set_simulation_duration(1200)
dyn_context.set_animation_frame_rate(40)
dyn_context.set_time_step(0.01)
dyn_context.start_open_loop(True)
