def SetupODE(self):
# Create a world object
self.world = ode.dWorld()
self.world.setGravity(0, -9.81, 0)
self.world.setERP(0.8)
self.world.setCFM(1e-5)
# Create a space object
self.space = ode.CreateSimpleSpace()
# Create a plane geom which prevent the objects from falling forever
self.floor = ode.dPlane(space.id(), 0.0, 1.0, 0.0, 0.0)
# A list with ODE bodies
self.odebodies = []
# A joint group for the contact joints that are generated whenever
# two bodies collide
self.contactgroup = ode.dJointGroup()
contactCount = ode.dCollide(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())
######################################################################
# Create a world object
world = ode.dWorld()
world.setGravity( 0,-9.81,0 )
world.setERP(0.8)
world.setCFM(1E-5)
# Create a space object
space = ode.CreateSimpleSpace()
# Create a plane geom which prevent the objects from falling forever
floor = ode.dPlane(space.id(), 0.0, 1.0, 0.0, 0.0)
# A list with ODE bodies
bodies = []
# A joint group for the contact joints that are generated whenever
# two bodies collide