def _near_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."""
# only check parse list, if objects have name
if geom1.name != None and geom2.name != None:
# Preliminary checking, only collide with certain objects
for p in self.passpairs:
g1 = False
g2 = False
for x in p:
g1 = g1 or (geom1.name.find(x) != -1)
g2 = g2 or (geom2.name.find(x) != -1)
if g1 and g2:
return()
# Check if the objects do collide
contacts = ode.collide(geom1, geom2)
# Create contact joints
world, contactgroup = args
for c in contacts:
p = c.getContactGeomParams()
# parameters from Niko Wolf
c.setBounce(0.2)
c.setBounceVel(0.05) #Set the minimum incoming velocity necessary for bounce
c.setSoftERP(0.6) #Set the contact normal "softness" parameter
c.setSoftCFM(0.00005) #Set the contact normal "softness" parameter
c.setSlip1(0.02) #Set the coefficient of force-dependent-slip (FDS) for friction direction 1
c.setSlip2(0.02) #Set the coefficient of force-dependent-slip (FDS) for friction direction 2
c.setMu(self.FricMu) #Set the Coulomb friction coefficient
j = ode.ContactJoint(world, contactgroup, c)
j.name = None
j.attach(geom1.getBody(), geom2.getBody())
def addContact(self, geom1, geom2, c):
# add a contact between a capped cylinder BP and the ground
(cpos, cnor, cdep, cg1, cg2) = c.getContactGeomParams()
# figure out which cylinder foot this contact describes
if type(geom1) is ode.GeomCCylinder:
cylinder = geom1
elif type(geom2) is ode.GeomCCylinder:
cylinder = geom2
# find endpoints of cylinder
r = mat3(cylinder.getRotation())
p = vec3(cylinder.getPosition())
(radius, length) = cylinder.getParams()
# is collision point c in an endpoint?
ep0 = p + r * vec3(0, 0, -length / 2)
ep1 = p + r * vec3(0, 0, length / 2)
# is cpos in sphere around ep0 or ep1?
for ep in ep0, ep1:
cpos = vec3(cpos)
d2 = (cpos - ep).length()
if (d2 <= radius + 0.1):
epc = ep
# we will get two addContact() calls for each real contact, one for each
# of the joined capped cylinders, so only add a contact for the
# 'furthest out' from the root. If geom is the root then always add the
# contact.
if not cylinder.parent or epc == ep1:
mu = 300
self.points.append((cpos, (0, 1, 1), mu / 1000.0))
c.setMu(mu)
j = ode.ContactJoint(self.world, self.contactGroup, c)
j.attach(geom1.getBody(), geom2.getBody())
# remember contact for touch sensors
self.geom_contact[geom1] = 1
self.geom_contact[geom2] = 1
def near_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.
"""
# Are both geoms static? We don't care if they touch.
if geom1.getBody() is None and geom2.getBody() is None:
return
# Are both geoms connected?
if (ode.areConnected(geom1.getBody(), geom2.getBody())):
return
# check if the objects collide
contacts = ode.collide(geom1, geom2)
# create contact joints
self.world, self.contactgroup = args
for c in contacts:
c.setBounce(0.2)
# ode.ContactApprox1 makes maximum frictional force proportional to
# normal force
c.setMode(ode.ContactApprox1)
# Friction coefficient: Max friction (tangent) force = Mu*Normal force
c.setMu(0.5)
j = ode.ContactJoint(self.world, None, c)
# FIXME: Store the position of the contact
j.position = c.getContactGeomParams()[0]
self.contactlist.append(j)
j.attach(geom1.getBody(), geom2.getBody())
j.setFeedback(True)
def nearcb(self, args, geom1, geom2):
"""Create contact joints between colliding geoms"""
body1, body2 = geom1.getBody(), geom2.getBody()
pos = ()
if body1 is None:
body1 = ode.environment
else:
pos = body1.getPosition()
if body2 is None:
body2 = ode.environment
else:
pos = body2.getPosition()
if ode.areConnected(body1, body2):
return
contacts = ode.collide(geom1, geom2)
for c in contacts:
# c.setBounce(0.2)
# c.setMu(10000)
c.setBounce(1)
c.setMu(0)
j = ode.ContactJoint(self.world, self.contactgroup, c)
j.attach(body1, body2)
# report collision
self._outlet(3,(self.geoms[geom1],self.geoms[geom2])+pos)
def near_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.
"""
body1 = geom1.getBody()
body2 = geom2.getBody()
# Contacts in the same group are ignored
# e.g. foot and lower leg
for group in allGroups:
if body1 in group and body2 in group:
return
# Check if the objects do collide
contacts = ode.collide(geom1, geom2)
# Create contact joints
self.world, self.contactgroup = args
for c in contacts:
c.setBounce(0.2)
c.setMu(5000)
j = ode.ContactJoint(self.world, self.contactgroup, c)
j.attach(geom1.getBody(), geom2.getBody())
def create_contact_joint(self, c):
""" Create a contact joint between two objects.
Args:
c: contact point between two bodies
"""
return ode.ContactJoint(self.world, self.contactgroup, c)
def _near_callback(self, args, geom1, geom2):
world, contactgroup = args
try:
i = self.ball_geoms.index(geom1)
if not self.on_table[i]:
return
except:
pass
try:
j = self.ball_geoms.index(geom2)
if not self.on_table[j]:
return
except:
pass
contacts = ode.collide(geom1, geom2)
if contacts:
body1, body2 = geom1.getBody(), geom2.getBody()
for c in contacts:
if isinstance(geom1, ode.GeomPlane) or isinstance(
geom2, ode.GeomPlane):
c.setBounce(0.24)
c.setMu(0.16)
c.setBounceVel(0.033)
c.setSoftERP(0.4)
c.setSoftCFM(1e4)
c.setSlip1(0.05)
elif isinstance(geom1, ode.GeomTriMesh) or isinstance(
geom2, ode.GeomTriMesh):
c.setBounce(0.86)
c.setMu(0.16)
c.setBounceVel(0.02)
c.setSoftERP(0.4)
c.setSoftCFM(1e2)
c.setSlip1(0.04)
elif isinstance(geom1, ode.GeomCylinder) or isinstance(
geom2, ode.GeomCylinder):
c.setBounce(0.69)
c.setMu(0.25)
c.setSoftERP(0.2)
c.setSoftCFM(1e1)
pos, normal, depth, g1, g2 = c.getContactGeomParams()
v_n = np.array(normal).dot(
np.array(body1.getPointVel(pos)) -
np.array(body2.getPointVel(pos)))
if self._on_cue_ball_collide:
self._on_cue_ball_collide(impact_speed=abs(v_n))
else:
c.setBounce(0.93)
c.setMu(0.13)
pos, normal, depth, g1, g2 = c.getContactGeomParams()
v_n = abs(
np.array(normal).dot(
np.array(body1.getLinearVel()) -
np.array(body2.getLinearVel())))
vol = max(0.02, min(0.8, 0.45 * v_n + 0.55 * v_n**2))
if vol > 0.02:
play_ball_ball_collision_sound(vol=vol)
j = ode.ContactJoint(world, contactgroup, c)
j.attach(body1, body2)
def near_callback(args, geom1, geom2):
contacts = ode.collide(geom1, geom2)
world,contactgroup = args
for c in contacts:
c.setBounce(0.1)
c.setMu(10000)
j = ode.ContactJoint(world, contactgroup, c)
j.attach(geom1.getBody(), geom2.getBody())
def nearCallback(self, args, geom1, geom2):
contacts = ode.collide(geom1, geom2)
for c in contacts:
c.setBounce(0.2)
c.setMu(5000)
j = ode.ContactJoint(self.world, self.contactGroup, c)
j.attach(geom1.getBody(), geom2.getBody())
def _onCollision(self, args, geom1, geom2):
contacts = ode.collide(geom1, geom2)
world, contact_group = args
for c in contacts:
c.setBounce(self._contact_bounce)
c.setMu(self._contact_friction)
j = ode.ContactJoint(world, contact_group, c)
j.attach(geom1.getBody(), geom2.getBody())
def _collision(self, args, geom1, geom2):
# Check if the objects do collide
contacts = ode.collide(geom1, geom2)
# Create contact joints
world, contactgroup = args
for c in contacts:
c.setBounce(0.1)
c.setMu(50000)
j = ode.ContactJoint(world, contactgroup, c)
j.attach(geom1.getBody(), geom2.getBody())
def near_callback(args, geometria1, geometria2):
contacto = ode.collide(geometria1, geometria2)
mundo, grupo_contacto = args
for c in contacto:
c.setBounce(0.2)
c.setMu(5000)
j = ode.ContactJoint(mundo, grupo_contacto, c)
j.attach(geometria1.getBody(), geometria2.getBody())
def Collision_Callback(args, geom1, geom2):
contacts = ode.collide(geom1, geom2)
world, contactgroup = args
for c in contacts:
c.setBounce(0) # 反発係数
c.setMu(2) # クーロン摩擦係数
j = ode.ContactJoint(world, contactgroup, c)
j.attach(geom1.getBody(), geom2.getBody())
global Col
Col=True
def _collidecallback(cls, args, geom1, geom2):
go1 = geom1.gameobject
go2 = geom2.gameobject
go1.oncollision(go2)
go2.oncollision(go1)
for contact in ode.collide(geom1, geom2):
contact.setBounce(0)
contact.setMu(10000)
j = ode.ContactJoint(cls.world, cls.contactgroup, contact)
j.attach(geom1.getBody(), geom2.getBody())
def near_callback(self, args, geom1, geom2):
# Check if the objects do collide
contacts = ode.collide(geom1, geom2)
# Create contact joints
self.world, self.contactgroup = args
for c in contacts:
c.setBounce(0.2)
c.setMu(5000)
j = ode.ContactJoint(self.world, self.contactgroup, c)
j.attach(geom1.getBody(), geom2.getBody())
def wheel_contact_callback(args, geom1,
geom2): #GENERIC collision (like webots)
if geom1 == geom2: #geom2 is the wheel!
return
contacts = ode.collide(geom1, geom2) # Check if the objects do collide
world, contactgroup = args
for c in contacts: # Create contact joints
c.setBounce(0.2)
c.setMu(10) #is friction?
j = ode.ContactJoint(world, contactgroup, c)
j.attach(None, geom2.getBody())
def near_callback(args, geom1, geom2):
"""Callback function for the collide() method below.
This function checks if the given geoms do collide and
creates contact joints if they do.
"""
contacts = ode.collide(geom1, geom2)
world,contactgroup = args
for c in contacts:
c.setBounce(0.01)
c.setMu(60000)
j = ode.ContactJoint(world, contactgroup, c)
j.attach(geom1.getBody(), geom2.getBody())
def contact_callback(args, geom1, geom2): #GENERIC collision (like webots)
if geom1 == geom2:
return
#print "generic two-way contact"
contacts = ode.collide(geom1, geom2) # Check if the objects do collide
world, contactgroup = args
for c in contacts: # Create contact joints
c.setBounce(0.2)
c.setMu(5000) #is friction?
j = ode.ContactJoint(world, contactgroup, c)
j.attach(geom1.getBody(), geom2.getBody())
def oneway_contact_callback(args, geom1,
geom2): #ignore opposite force on environment
if geom1 == geom2: #geom2 is the object to experience the force
return
#print "oneway contact"
contacts = ode.collide(geom1, geom2) # Check if the objects do collide
world, contactgroup = args
for c in contacts: # Create contact joints
c.setBounce(0.2)
c.setMu(0) #no friction
j = ode.ContactJoint(world, contactgroup, c)
j.attach(None, geom2.getBody(
)) #None=link to environment instead of other body (see ODE FAQ)
def collide_callback(args, obj1: ode.GeomObject, obj2: ode.GeomObject):
if ode.areConnected(obj1.getBody(), obj2.getBody()):
pass
print("COLLISION!!!!")
contacts = ode.collide(obj1, obj2)
world, joint_group = args
for c in contacts:
j = ode.ContactJoint(world, joint_group, c)
j.attach(obj1.getBody(), obj2.getBody())
def near_callback(args, geometria1, geometria2):
contacto = ode.collide(geometria1, geometria2)
mundo, grupo_contacto = args
for c in contacto:
c.setBounce(REBOTE)
c.setMu(MU)
c.setMu2(MU2)
c.setBounceVel(REBOTE_VEL)
c.setSoftCFM(SOFT_CFM)
j = ode.ContactJoint(mundo, grupo_contacto, c)
j.attach(geometria1.getBody(), geometria2.getBody())
def near_callback(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.collide(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())
def _near_callback(self, geom1, geom2):
"""Callback function for the collide() method.
This function checks if the given self.geoms do collide and
creates contact joints if they do.
"""
# Set of geoms
gset = {geom1, geom2}
# Check if the objects do collide
contacts = ode.collide(geom1, geom2)
# Create contact joints
for c in contacts:
c.setBounce(0.77) # standard bounce pingpong labda + asztal kozott
c.setMu(0.25) # approx mu
j = ode.ContactJoint(self.world, self.contactGroup, c)
j.attach(geom1.getBody(), geom2.getBody())
if {self.lastBall} <= gset:
if not {self.tableNet, self.hitFloor}.isdisjoint(gset):
self.hitState = self.BallState.invalidBounce
elif {self.hitWall} <= gset:
if self.hitState == self.BallState.nearHit:
self.hitState = self.BallState.wallHit
else:
self.hitState = self.BallState.invalidBounce
elif {self.tableFar} <= gset:
if self.hitState == self.BallState.noneHit:
self.hitState = self.BallState.farHit
elif self.hitState == self.BallState.batHit:
self.hitState = self.BallState.farSecondHit
else:
self.hitState = self.BallState.invalidBounce
elif {self.tableNear} <= gset:
if self.hitState == self.BallState.farHit:
self.hitState = self.BallState.nearHit
elif self.hitState == self.BallState.batHit:
self.hitState = self.BallState.nearSecondHit
else:
self.hitState = self.BallState.invalidBounce
elif {self.bat} <= gset:
if self.hitState == self.BallState.nearHit:
self.hitState = self.BallState.batHit
else:
self.hitState = self.BallState.invalidHit
elif {self.bat, self.tableNear} == gset:
self.hitState = self.BallState.invalidHit
def collision_callback(self, args, geom1, geom2):
world, contactgroup = args
body1, body2 = geom1.getBody(), geom2.getBody()
if (body1 is None):
body1 = ode.environment
if (body2 is None):
body2 = ode.environment
contacts = ode.collide(geom1, geom2)
for c in contacts:
c.setBounce(0.5)
c.setMu(10000)
j = ode.ContactJoint(world, contactgroup, c)
j.attach(body1, body2)
def _collision_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.
"""
#print 'Collision detected'
# Check if the objects do collide
contacts = ode.collide(geom1, geom2)
# Create contact joints
world,contactgroup = args
for c in contacts:
c.setBounce(self.bounce) # Restitution parameter
c.setMu(self.friction) # Coulomb friction
j = ode.ContactJoint(world, contactgroup, c)
j.attach(geom1.getBody(), geom2.getBody())
def near_callback(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.collide(geom1, geom2)
# Create contact joints
world, contactgroup = args
for c in contacts:
c.setBounce(0.8) # bouncyness
c.setMu(800) # friction for both surfaces
j = ode.ContactJoint(world, contactgroup, c)
j.attach(geom1.getBody(), geom2.getBody())
def near_callback(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.collide(Geom1, Geom2)
# Create contact joints
world, contactGroup = Args
for contact in contacts:
contact.setBounce(0.2)
contact.setMu(5000)
joint = ode.ContactJoint(world, contactGroup, contact)
joint.attach(Geom1.getBody(), Geom2.getBody())
def _near_callback(self, _, geom1, geom2):
g1 = (geom1 == self.ground)
g2 = (geom2 == self.ground)
if not (g1 ^ g2):
return
b1 = geom1.getBody()
b2 = geom2.getBody()
contact = ode.collide(geom1, geom2)
if contact:
for con in contact[:3]:
con.setMode(ode.ContactSoftCFM | ode.ContactApprox1)
con.setMu(MU)
con.setSoftCFM(0.01)
j = ode.ContactJoint(self.world, self.contactgroup, con)
j.attach(b1, b2)
def near_callback(args, g1, g2):
try:
if getattr(g1, 'isImmovable', False) and getattr(
g2, 'isImmovable', False):
return
if g1.isSpace() or g2.isSpace():
if g1.isSpace() and not getattr(g1, 'isImmovable', False):
g1.collide(args, near_callback)
if g2.isSpace() and not getattr(g2, 'isImmovable', False):
g2.collide(args, near_callback)
ode.collide2(g1, g2, args, near_callback)
contacts = ode.collide(g1, g2)
if ode.areConnected(g1.getBody(), g2.getBody()):
return
d1 = getattr(g1.getBody(), 'data', None)
d2 = getattr(g2.getBody(), 'data', None)
if d1 is None: d1 = getattr(g1, 'data', None)
if d2 is None: d2 = getattr(g2, 'data', None)
if d1 is not None: d1 = d1()
if d2 is not None: d2 = d2()
# TODO: if d1 and/or d2 are not None, use them to handle collision
r1 = True
r2 = True
if len(contacts) > 0:
if d1 is not None and hasattr(d1, 'onCollision'):
r1 = d1.onCollision(d2)
if d2 is not None and hasattr(d2, 'onCollision'):
r2 = d2.onCollision(d1)
if r1 and r2:
for c in contacts:
c.setBounce(0.8)
c.setMu(250)
c.setMode(ode.ContactApprox1)
objects.DebugPoint(c.getContactGeomParams()[0])
j = ode.ContactJoint(objects.world, objects.contactgroup,
c)
j.attach(g1.getBody(), g2.getBody())
except BaseException, e:
print "Exception in collision handler: ", str(e)
def near_callback(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.
"""
#COULD THIS FUNCTION ALLOW ANY GEOM TO ALTER COLLISION BEHAVIOR, FOR INSTANCE FOR AN OPEN BOUNDARY
# Check if the objects do collide
contacts = ode.collide(geom1, geom2)
# Create contact joints
world, contactgroup = args
for c in contacts:
c.setBounce(0.01)
#c.setMu(5000)
c.setMu(1.0)
j = ode.ContactJoint(world, contactgroup, c)
j.attach(geom1.getBody(), geom2.getBody())
