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
# 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
