pyode-commits — Mailing list for CVS commit messages.

[Pyode-commits] pyode setup.py,1.4,1.5

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23145

Modified Files:
	setup.py 
Log Message:
Only update ode.c if a *.pyx file was modified

Index: setup.py
===================================================================
RCS file: /cvsroot/pyode/pyode/setup.py,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** setup.py	29 Jul 2004 20:17:13 -0000	1.4
--- setup.py	9 Nov 2004 22:22:07 -0000	1.5
***************
*** 7,11 ****
  from distutils.core import setup, Extension
  import distutils.sysconfig
! import shutil, os, os.path, sys
  
  # Should the wrapper support trimesh geoms?
--- 7,12 ----
  from distutils.core import setup, Extension
  import distutils.sysconfig
! import shutil, os, os.path, sys, glob
! from stat import *
  
  # Should the wrapper support trimesh geoms?
***************
*** 97,104 ****
  
  
! # Generate the C source file
  cmd = "pyrexc -o ode.c -I. -Isrc src/ode.pyx"
! print cmd
! err = os.system(cmd)
  if err!=0:
      print "An error occured while generating the C source file."
--- 98,126 ----
  
  
! # Generate the C source file (if necessary)
  cmd = "pyrexc -o ode.c -I. -Isrc src/ode.pyx"
! pyrex_out = "ode.c"
! 
! # Check if the pyrex output is still up to date or if it has to be generated
! # (ode.c will be updated if any of the *.pyx files in the directory "src"
! # is newer than ode.c)
! if os.access(pyrex_out, os.F_OK):
!     ctime  = os.stat(pyrex_out)[ST_MTIME]
!     for pyx in glob.glob("src/*.pyx"):
!         pytime = os.stat(pyx)[ST_MTIME]
!         if pytime>ctime:
!             print "Updating",pyrex_out
!             print cmd
!             err = os.system(cmd)
!             break
!     else:
!         print pyrex_out,"is up to date"
!         err = 0
! else:
!     print "Creating",pyrex_out
!     print cmd
!     err = os.system(cmd)
! 
! # Check if calling pyrex produced an error
  if err!=0:
      print "An error occured while generating the C source file."
***************
*** 107,121 ****
  
  # Compile the module
! setup(name="pyODE",
! #      version="0.35cvs-2",
!       description="Python wrapper for the Open Dynamics Engine",
! #      author="Matthias Baas",
! #      author_email="ba...@ir...",
! #      license="BSD license, see license*.txt",
!       packages=["xode"],
!       ext_modules=[Extension("ode", ["ode.c"]
!                    ,libraries=LIBS
!                    ,include_dirs=INC_DIRS
!                    ,library_dirs=LIB_DIRS
!                    ,extra_compile_args=CC_ARGS)                   
!                    ])
--- 129,144 ----
  
  # Compile the module
! setup(name = "pyODE",
!       version = "1.0.0",
!       description = "Python wrapper for the Open Dynamics Engine",
!       author = "see file AUTHORS",
! #      author_email = "ba...@ir...",
!       license = "BSD or LGPL",
!       url = "http://pyode.sourceforge.net/",
!       packages = ["xode"],
!       ext_modules = [Extension("ode", ["ode.c"]
!                      ,libraries=LIBS
!                      ,include_dirs=INC_DIRS
!                      ,library_dirs=LIB_DIRS
!                      ,extra_compile_args=CC_ARGS)                   
!                     ])

[Pyode-commits] pyode Manifest.in,NONE,1.1 .cvsignore,1.2,1.3

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv22576

Modified Files:
	.cvsignore 
Added Files:
	Manifest.in 
Log Message:
Added Manifest.in file so that additional files are included in the source distribution.

Index: .cvsignore
===================================================================
RCS file: /cvsroot/pyode/pyode/.cvsignore,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** .cvsignore	29 Jul 2004 20:17:12 -0000	1.2
--- .cvsignore	9 Nov 2004 22:19:21 -0000	1.3
***************
*** 2,3 ****
--- 2,4 ----
  ode.c
  _trimesh_switch.pyx
+ MANIFEST

--- NEW FILE: Manifest.in ---
include AUTHORS
include INSTALL
include LICENSE
include LICENSE-BSD
include ChangeLog
recursive-include src *.pyx
recursive-include examples *.py
recursive-include tests *.py

[Pyode-commits] pyode LICENSE,NONE,1.1 LICENSE-BSD,NONE,1.1 COPYING,1.1.1.1,NONE NEWS,1.1.1.1,NONE

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv22057

Added Files:
	LICENSE LICENSE-BSD 
Removed Files:
	COPYING NEWS 
Log Message:
Added the license files from ODE

--- NEWS DELETED ---

--- COPYING DELETED ---

--- NEW FILE: LICENSE ---
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--- NEW FILE: LICENSE-BSD ---

This is the BSD-style license for the Python Open Dynamics Engine Wrapper
-------------------------------------------------------------------------

Python Open Dynamics Engine Wrapper
Copyright (c) 2004, PyODE developers (see file AUTHORS)
All rights reserved.

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and/or other materials provided with the distribution.

Neither the names of ODE's copyright owner nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

[Pyode-commits] pyode/src contact.pyx,1.2,1.3

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv20906

Modified Files:
	contact.pyx 
Log Message:
Added doc strings and methods to get/set the fdir1 parameter.

Index: contact.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/contact.pyx,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** contact.pyx	12 Jul 2004 17:30:08 -0000	1.2
--- contact.pyx	28 Oct 2004 09:39:16 -0000	1.3
***************
*** 25,98 ****
          self._contact.surface.bounce = 0.1
  
      def getMode(self):
          return self._contact.surface.mode
  
!     def setMode(self, m):
!         self._contact.surface.mode = m
  
      def getMu(self):
          return self._contact.surface.mu
!     
      def setMu(self, mu):
          self._contact.surface.mu = mu
  
      def getMu2(self):
          return self._contact.surface.mu2
!     
      def setMu2(self, mu):
          self._contact.surface.mu2 = mu
  
      def getBounce(self):
          return self._contact.surface.bounce
  
      def setBounce(self, b):
          self._contact.surface.bounce = b
  
      def getBounceVel(self):
          return self._contact.surface.bounce_vel
  
      def setBounceVel(self, bv):
          self._contact.surface.bounce_vel = bv
  
      def getSoftERP(self):
          return self._contact.surface.soft_erp
  
      def setSoftERP(self, erp):
          self._contact.surface.soft_erp = erp
  
      def getSoftCFM(self):
          return self._contact.surface.soft_cfm
  
      def setSoftCFM(self, cfm):
          self._contact.surface.soft_cfm = cfm
  
      def getMotion1(self):
          return self._contact.surface.motion1
  
      def setMotion1(self, m):
          self._contact.surface.motion1 = m
  
      def getMotion2(self):
          return self._contact.surface.motion2
  
      def setMotion2(self, m):
          self._contact.surface.motion2 = m
  
      def getSlip1(self):
          return self._contact.surface.slip1
  
      def setSlip1(self, s):
          self._contact.surface.slip1 = s
  
      def getSlip2(self):
          return self._contact.surface.slip2
  
      def setSlip2(self, s):
          self._contact.surface.slip2 = s
  
      def getContactGeomParams(self):
!         """Get the ContactGeom structure of the contact.
  
!         The return value is a tuple (pos,normal,depth,geom1,geom2)
          where pos and normal are 3-tuples of floats and depth is a single
          float. geom1 and geom2 are the Geom objects of the geoms in contact.
--- 25,274 ----
          self._contact.surface.bounce = 0.1
  
+     # getMode
      def getMode(self):
+         """getMode() -> flags
+ 
+         Return the contact flags.
+         """
          return self._contact.surface.mode
  
!     # setMode
!     def setMode(self, flags):
!         """setMode(flags)
  
+         Set the contact flags. The argument m is a combination of the
+         ContactXyz flags (ContactMu2, ContactBounce, ...).
+  
+         @param flags: Contact flags
+         @type flags: int
+         """
+         self._contact.surface.mode = flags
+ 
+     # getMu
      def getMu(self):
+         """getMu() -> float
+ 
+         Return the Coulomb friction coefficient. 
+         """
          return self._contact.surface.mu
! 
!     # setMu
      def setMu(self, mu):
+         """setMu(mu)
+ 
+         Set the Coulomb friction coefficient.
+ 
+         @param mu: Coulomb friction coefficient (0..Infinity)
+         @type mu: float
+         """
          self._contact.surface.mu = mu
  
+     # getMu2
      def getMu2(self):
+         """getMu2() -> float
+ 
+         Return the optional Coulomb friction coefficient for direction 2.
+         """
          return self._contact.surface.mu2
! 
!     # setMu2
      def setMu2(self, mu):
+         """setMu2(mu)
+ 
+         Set the optional Coulomb friction coefficient for direction 2.
+ 
+         @param mu: Coulomb friction coefficient (0..Infinity)
+         @type mu: float
+         """
          self._contact.surface.mu2 = mu
  
+     # getBounce
      def getBounce(self):
+         """getBounce() -> float
+ 
+         Return the restitution parameter.
+         """
          return self._contact.surface.bounce
  
+     # setBounce
      def setBounce(self, b):
+         """setBounce(b)
+ 
+         @param b: Restitution parameter (0..1)
+         @type b: float
+         """
          self._contact.surface.bounce = b
  
+     # getBounceVel
      def getBounceVel(self):
+         """getBounceVel() -> float
+ 
+         Return the minimum incoming velocity necessary for bounce.
+         """
          return self._contact.surface.bounce_vel
  
+     # setBounceVel
      def setBounceVel(self, bv):
+         """setBounceVel(bv)
+ 
+         Set the minimum incoming velocity necessary for bounce. Incoming
+         velocities below this will effectively have a bounce parameter of 0.
+ 
+         @param bv: Velocity
+         @type bv: float
+         """
          self._contact.surface.bounce_vel = bv
  
+     # getSoftERP
      def getSoftERP(self):
+         """getSoftERP() -> float
+ 
+         Return the contact normal "softness" parameter.
+         """
          return self._contact.surface.soft_erp
  
+     # setSoftERP
      def setSoftERP(self, erp):
+         """setSoftERP(erp)
+ 
+         Set the contact normal "softness" parameter.
+ 
+         @param erp: Softness parameter
+         @type erp: float
+         """
          self._contact.surface.soft_erp = erp
  
+     # getSoftCFM
      def getSoftCFM(self):
+         """getSoftCFM() -> float
+ 
+         Return the contact normal "softness" parameter.
+         """
          return self._contact.surface.soft_cfm
  
+     # setSoftCFM
      def setSoftCFM(self, cfm):
+         """setSoftCFM(cfm)
+ 
+         Set the contact normal "softness" parameter.
+ 
+         @param cfm: Softness parameter
+         @type cfm: float
+         """
          self._contact.surface.soft_cfm = cfm
  
+     # getMotion1
      def getMotion1(self):
+         """getMotion1() -> float
+ 
+         Get the surface velocity in friction direction 1.
+         """
          return self._contact.surface.motion1
  
+     # setMotion1
      def setMotion1(self, m):
+         """setMotion1(m)
+ 
+         Set the surface velocity in friction direction 1.
+ 
+         @param m: Surface velocity
+         @type m: float
+         """
          self._contact.surface.motion1 = m
  
+     # getMotion2
      def getMotion2(self):
+         """getMotion2() -> float
+ 
+         Get the surface velocity in friction direction 2.
+         """
          return self._contact.surface.motion2
  
+     # setMotion2
      def setMotion2(self, m):
+         """setMotion2(m)
+ 
+         Set the surface velocity in friction direction 2.
+ 
+         @param m: Surface velocity
+         @type m: float
+         """
          self._contact.surface.motion2 = m
  
+     # getSlip1
      def getSlip1(self):
+         """getSlip1() -> float
+ 
+         Get the coefficient of force-dependent-slip (FDS) for friction
+         direction 1.
+         """
          return self._contact.surface.slip1
  
+     # setSlip1
      def setSlip1(self, s):
+         """setSlip1(s)
+ 
+         Set the coefficient of force-dependent-slip (FDS) for friction
+         direction 1.
+ 
+         @param s: FDS coefficient
+         @type s: float
+         """
          self._contact.surface.slip1 = s
  
+     # getSlip2
      def getSlip2(self):
+         """getSlip2() -> float
+ 
+         Get the coefficient of force-dependent-slip (FDS) for friction
+         direction 2.
+         """
          return self._contact.surface.slip2
  
+     # setSlip2
      def setSlip2(self, s):
+         """setSlip2(s)
+ 
+         Set the coefficient of force-dependent-slip (FDS) for friction
+         direction 1.
+ 
+         @param s: FDS coefficient
+         @type s: float
+         """
          self._contact.surface.slip2 = s
  
+     # getFDir1
+     def getFDir1(self):
+         """getFDir1() -> (x, y, z)
+ 
+         Get the "first friction direction" vector that defines a direction
+         along which frictional force is applied.
+         """
+         return (self._contact.fdir1[0], self._contact.fdir1[1], self._contact.fdir1[2])
+ 
+     # setFDir1
+     def setFDir1(self, fdir):
+         """setFDir1(fdir)
+ 
+         Set the "first friction direction" vector that defines a direction
+         along which frictional force is applied. It must be of unit length
+         and perpendicular to the contact normal (so it is typically
+         tangential to the contact surface).
+ 
+         @param fdir: Friction direction
+         @type fdir: 3-sequence of floats
+         """
+         self._contact.fdir1[0] = fdir[0]
+         self._contact.fdir1[1] = fdir[1]
+         self._contact.fdir1[2] = fdir[2]
+         
+ 
+     # getContactGeomParams
      def getContactGeomParams(self):
!         """getContactGeomParams() -> (pos, normal, depth, geom1, geom2)
  
!         Get the ContactGeom structure of the contact.
! 
!         The return value is a tuple (pos, normal, depth, geom1, geom2)
          where pos and normal are 3-tuples of floats and depth is a single
          float. geom1 and geom2 are the Geom objects of the geoms in contact.
***************
*** 110,122 ****
          return (pos,normal,depth,g1,g2)
  
! 
      def setContactGeomParams(self, pos, normal, depth, g1=None, g2=None):
!         """Set the ContactGeom structure of the contact.
  
!         pos (3-tuple):    Contact position, in global coordinates
!         normal (3-tuple): Unit length normal vector
!         depth (float):    Depth to which the two bodies inter-penetrate.
!         g1 (geom object): Geometry objects that collided
!         g2 (geom object):   ''        ''            ''
          """
  
--- 286,305 ----
          return (pos,normal,depth,g1,g2)
  
!     # setContactGeomParams
      def setContactGeomParams(self, pos, normal, depth, g1=None, g2=None):
!         """setContactGeomParams(pos, normal, depth, geom1=None, geom2=None)
!         
!         Set the ContactGeom structure of the contact.
  
!         @param pos:  Contact position, in global coordinates
!         @type pos: 3-sequence of floats
!         @param normal: Unit length normal vector
!         @type normal: 3-sequence of floats
!         @param depth: Depth to which the two bodies inter-penetrate
!         @type depth: float
!         @param geom1: Geometry object 1 that collided
!         @type geom1: Geom
!         @param geom2: Geometry object 2 that collided
!         @type geom2: Geom
          """
  

[Pyode-commits] pyode/examples vehicle.py,NONE,1.1

[Timothy S. <pe...@us...>]

Update of /cvsroot/pyode/pyode/examples
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv16076/examples

Added Files:
	vehicle.py 
Log Message:
- Added a new example to demonstrate the simulation of a vehicle.
- Added the wrapper ode.areConnected() for dAreConnected().
- Added support for the <mass><box/></mass> in the XODE parser.


--- NEW FILE: vehicle.py ---
# PyODE Example: VehicleDemo

import ode, xode.parser
import pygame
from OpenGL.GL import *
from OpenGL.GLU import *
from OpenGL.GLUT import *

info = """VehicleDemo

Controls:
  Left mouse button click: Apply upward force to the vehicle's chassis.
  W Key: Move forward.
  S Key: Move backward.
  A Key: Turn left.
  D Key: Turn right.
  Escape Key: Exit.
"""

# This XODE document contains the description of the vehicle, the ground plane
# and the ramp. The stack of boxes are created at runtime.

doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
<xode>
  <world name="world">
    <space name="space">

      <geom name="ground">
        <plane a="0" b="1" c="0" d="-4" />
      </geom>

      <geom name="ramp">
        <transform>
          <position x="0" y="-2" z="-20" />
          <rotation>
            <euler x="-30" y="0" z="0" aformat="degrees" />
          </rotation>
        </transform>

        <box sizex="10" sizey="1" sizez="10" />
      </geom>

      <jointgroup name="vehicle_joints">

        <body name="chassis">
          <transform>
            <position x="0" y="0" z="0" />
          </transform>
          
          <geom name="chassis_geom">
            <box sizex="4" sizey="0.5" sizez="5" />
          </geom>
          
          <body name="wheel1_body">
            <transform>
              <position x="0" y="0" z="-2" />
            </transform>
            
            <geom name="wheel1_geom">
              <sphere radius="1" />
            </geom>

            <joint name="wheel1">
              <link1 body="chassis" />
              <hinge2>
                <anchor x="0" y="0" z="-2" />
                <axis x="0" y="1" z="0" FMax="50" LoStop="-0.78" HiStop="0.78"/>
                <axis x="1" y="0" z="0" FMax="5000"
                                        SuspensionERP="0.8"
                                        SuspensionCFM="0.5" />
              </hinge2>
            </joint>

            <mass>
              <mass_shape density="1">
                <sphere radius="1" />
              </mass_shape>
            </mass>
          </body>

          <body name="wheel2_body">
            <transform>
              <position x="2" y="0" z="2" />
            </transform>
            
            <geom name="wheel2_geom">
               <sphere radius="1" />
            </geom>

            <joint name="wheel2">
              <link1 body="chassis" />
              <hinge2>
                <anchor x="2" y="0" z="2" />
                <axis x="0" y="1" z="0" FMax="0" LoStop="0" HiStop="0" />
                <axis x="1" y="0" z="0" FMax="5000"
                                        SuspensionERP="0.8"
                                        SuspensionCFM="0.5" />
              </hinge2>
            </joint>

            <mass>
              <mass_shape density="1">
                <sphere radius="1" />
              </mass_shape>
            </mass>
          </body>

          <body name="wheel3_body">
            <transform>
              <position x="-2" y="0" z="2" />
            </transform>
            
            <geom name="wheel3_geom">
              <sphere radius="1" />
            </geom>

            <joint name="wheel3">
              <link1 body="chassis" />
              <hinge2>
                <anchor x="-2" y="0" z="2" />
                <axis x="0" y="1" z="0" FMax="0" LoStop="0" HiStop="0" />
                <axis x="1" y="0" z="0" FMax="5000"
                                        SuspensionERP="0.8"
                                        SuspensionCFM="0.5" />
              </hinge2>
            </joint>

            <mass>
              <mass_shape density="1">
                <sphere radius="1" />
              </mass_shape>
            </mass>
          </body>

          <mass>
            <mass_shape density="30">
              <box sizex="6" sizey="5" sizez="3" />
            </mass_shape>
          </mass>
          
        </body>
      </jointgroup>

    </space>
  </world>
</xode>
'''

class VehicleDemo:
    """
    Vehicle Demo
    """

    fps = 50.0
    cameraDistance = 10.0
    vel = 50.0
    turn = 1.0
    clip = 100.0
    res = (640, 480)

    def __init__(self):
        """
        Initialises this.
        """

        self._initOpenGL()
        self._loadObjects()
        self._buildWall()

        self._cjoints = ode.JointGroup()

        self._xRot = 0.0
        self._yRot = 0.0
        
        self._xCoeff = 360.0 / 480.0
        self._yCoeff = 360.0 / 640.0

        self._vel = 0.0
        self._turn = 0.0

    def _loadObjects(self):
        p = xode.parser.Parser()
        root = p.parseString(doc)

        self.world = root.namedChild('world').getODEObject()
        self.space = root.namedChild('space').getODEObject()
        self.ground = root.namedChild('ground').getODEObject()
        self.chassis = root.namedChild('chassis').getODEObject()
        self.wheel1 = root.namedChild('wheel1').getODEObject()
        self.wheel2 = root.namedChild('wheel2').getODEObject()
        self.wheel3 = root.namedChild('wheel3').getODEObject()

        self.root = root
        self.world.setGravity((0, -9.81, 0))

        # transverse the xode parse tree to make a list of all geoms and joints
        self._geoms = []
        self._joints = []

        def transverse(node):
            obj = node.getODEObject()
            if (isinstance(obj, ode.GeomObject)):
                self._geoms.append(obj)
            if (isinstance(obj, ode.Joint)):
                self._joints.append(obj)

            for child in node.getChildren():
                transverse(child)

        transverse(root)

    def _buildWall(self):
        """
        Create the wall of stacked boxes.
        """
        
        def makeBox(x, y):
            body = ode.Body(self.world)
            body.setPosition((x, y, -40))

            geom = ode.GeomBox(self.space, lengths=(0.5, 0.5, 0.5))
            geom.setBody(body)
            
            self._geoms.append(geom)

        for x in range(-4, 5):
            for y in range(7):
                makeBox(x, y)

    def _initOpenGL(self):
        """
        Initialise the scene.
        """
        
        # Create a window
        pygame.init()
        screen = pygame.display.set_mode(self.res,
                                         pygame.OPENGL | pygame.DOUBLEBUF)
        pygame.display.set_caption('PyODE Vehicle Demo')
        pygame.mouse.set_visible(False)

        glViewport(0, 0, self.res[0], self.res[1])
        glClearColor(0.8, 0.8, 0.9, 0)
        
        glEnable(GL_DEPTH_TEST)
        glEnable(GL_LIGHTING)
        glEnable(GL_NORMALIZE)
        glShadeModel(GL_FLAT)

    def _extractMatrix(self, geom):
        """
        Return a 4x4 matrix (represented by a 16-element tuple) created by
        combining the geom's rotation matrix and position.
        """
        
        x, y, z = geom.getPosition()
        rot = geom.getRotation()
        return (rot[0], rot[3], rot[6], 0.0,
                rot[1], rot[4], rot[7], 0.0,
                rot[2], rot[5], rot[8], 0.0,
                x, y, z, 1.0)

    def _renderGeom(self, geom):
        """
        Render either a ode.GeomBox or ode.GeomSphere object.
        """

        allowed = [ode.GeomBox, ode.GeomSphere]
        ok = False
        for klass in allowed:
            ok = ok or isinstance(geom, klass)
        if (not ok):
            return

        glPushMatrix()
        glMultMatrixd(self._extractMatrix(geom))

        glMaterialfv(GL_FRONT, GL_SPECULAR, (0.0, 0.0, 0.0))

        if (isinstance(geom, ode.GeomBox)):
            sx, sy, sz = geom.getLengths()
            glScale(sx, sy, sz)
            glutSolidCube(1)
        elif (isinstance(geom, ode.GeomSphere)):
            r = geom.getRadius()
            glutSolidSphere(r, 20, 20)

        glPopMatrix()

    def _renderGround(self):
        """
        Renders the ground plane.
        """

        # Draw a quad at the position of the vehicle that extends to the
        # clipping planes.

        normal, d = self.ground.getParams()
        x, y, z = self.chassis.getPosition()

        glPushMatrix()
        glTranslate(x, 0.0, z)

        glMaterialfv(GL_FRONT, GL_SPECULAR, (0.0, 1.0, 0.0))

        glBegin(GL_QUADS)
        glColor3(0.0, 1.0, 0.0)
        glNormal3f(*normal)
        glVertex3f(-self.clip, d, -self.clip)
        glNormal3f(*normal)
        glVertex3f(self.clip, d, -self.clip)
        glNormal3f(*normal)
        glVertex3f(self.clip, d, self.clip)
        glNormal3f(*normal)
        glVertex3f(-self.clip, d, self.clip)
        glEnd()

        glPopMatrix()

    def _setCamera(self):
        """
        Position the camera to C{self.cameraDistance} units behind the
        vehicle's current position and rotated depending on the mouse position.
        """

        aspect = float(self.res[0]) / float(self.res[1])
        
        x, y = pygame.mouse.get_pos()
        self._xRot = (y - self.res[1]/2) * self._xCoeff
        self._yRot = (x - self.res[0]/2) * self._yCoeff
        if (self._xRot < 0):
            self._xRot = 0
                
        glMatrixMode(GL_PROJECTION)
        glLoadIdentity()
        glFrustum(-aspect, aspect, -1.0, 1.0, 1.5, self.clip)

        glLightfv(GL_LIGHT0, GL_POSITION, (-5.0, 10.0, 0, 0))
        glLightfv(GL_LIGHT0,GL_DIFFUSE, (1.0, 1.0, 1.0, 1.0))
        glLightfv(GL_LIGHT0,GL_SPECULAR, (1.0, 1.0, 1.0, 1.0))
        glEnable(GL_LIGHT0)
        
        glMatrixMode(GL_MODELVIEW)
        glLoadIdentity()

        # Set the camera angle to view the vehicle
        glTranslate(0.0, 0.0, -self.cameraDistance)
        glRotate(self._xRot, 1, 0, 0)
        glRotate(self._yRot, 0, 1, 0)

        # Set the camera so that the vehicle is drawn in the correct place.
        x, y, z = self.chassis.getPosition()
        glTranslate(-x, -y, -z)

    def render(self):
        """
        Render the current simulation state.
        """
        
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
        self._renderGround()

        self._setCamera()
        for geom in self._geoms:
            self._renderGeom(geom)

        glFlush()
        pygame.display.flip()

    def _keyDown(self, key):
        if (key == pygame.K_w):
            self._vel = self.vel
        elif (key == pygame.K_a):
            self._turn = -self.turn
        elif (key == pygame.K_d):
            self._turn = self.turn
        elif (key == pygame.K_s):
            self._vel = -self.vel
        elif (key == pygame.K_ESCAPE):
            self._running = False

    def _keyUp(self, key):
        if (key == pygame.K_w):
            self._vel = 0.0
        elif (key == pygame.K_a):
            self._turn = 0.0
        elif (key == pygame.K_d):
            self._turn = 0.0
        elif (key == pygame.K_s):
            self._vel = 0.0

    def doEvents(self):
        """
        Process any input events.
        """
        
        events = pygame.event.get()
        
        for e in events:
            if (e.type == pygame.QUIT):
                self._running = False
            elif (e.type == pygame.KEYDOWN):
                self._keyDown(e.key)
            elif (e.type == pygame.KEYUP):
                self._keyUp(e.key)
            elif (e.type == pygame.MOUSEBUTTONDOWN):
                if (e.button == 1):
                    self.chassis.addForce((0.0, 500000, 0.0))

    def _nearcb(self, args, geom1, geom2):
        """
        Create contact joints between colliding geoms.
        """

        body1, body2 = geom1.getBody(), geom2.getBody()
        if (body1 is None):
            body1 = ode.environment
        if (body2 is None):
            body2 = ode.environment

        if (ode.areConnected(body1, body2)):
            return

        contacts = ode.collide(geom1, geom2)

        for c in contacts:
            c.setBounce(0.2)
            c.setMu(10000)
            j = ode.ContactJoint(self.world, self._cjoints, c)
            j.attach(body1, body2)

    def run(self):
        """
        Start the demo. This method will block until the demo exits.
        """
        
        clock = pygame.time.Clock()
        self._running = True
        
        while self._running:
            self.doEvents()

            # Steering
            self.wheel1.setParam(ode.ParamVel, self._turn)
            
            # Engine
            self.wheel1.setParam(ode.ParamVel2, self._vel)
            self.wheel2.setParam(ode.ParamVel2, self._vel)
            self.wheel3.setParam(ode.ParamVel2, self._vel)

            self.space.collide((), self._nearcb)
            self.world.step(1/self.fps)
            self._cjoints.empty()
            self.render()

            # Limit the FPS.
            clock.tick(self.fps)

if (__name__ == '__main__'):
    print info
    demo = VehicleDemo()
    demo.run()

[Pyode-commits] pyode/xode body.py,1.2,1.3

[Timothy S. <pe...@us...>]

Update of /cvsroot/pyode/pyode/xode
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv16076/xode

Modified Files:
	body.py 
Log Message:
- Added a new example to demonstrate the simulation of a vehicle.
- Added the wrapper ode.areConnected() for dAreConnected().
- Added support for the <mass><box/></mass> in the XODE parser.


Index: body.py
===================================================================
RCS file: /cvsroot/pyode/pyode/xode/body.py,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** body.py	16 Jul 2004 11:45:17 -0000	1.2
--- body.py	23 Oct 2004 12:47:51 -0000	1.3
***************
*** 177,183 ****
                  if (density is not None):
                      mass.setSphere(float(density), radius)
              else:
!                 # parse other shapes
!                 pass
      
          def end(name):
--- 177,189 ----
                  if (density is not None):
                      mass.setSphere(float(density), radius)
+             elif (name == 'box'):
+                 lx = float(attrs['sizex'])
+                 ly = float(attrs['sizey'])
+                 lz = float(attrs['sizez'])
+                 if (density is not None):
+                     mass.setBox(float(density), lx, ly, lz)
              else:
!                 # FIXME: Implement remaining mass shapes.
!                 raise NotImplementedError()
      
          def end(name):

[Pyode-commits] pyode/src ode.pyx,1.9,1.10

[Timothy S. <pe...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv16076/src

Modified Files:
	ode.pyx 
Log Message:
- Added a new example to demonstrate the simulation of a vehicle.
- Added the wrapper ode.areConnected() for dAreConnected().
- Added support for the <mass><box/></mass> in the XODE parser.


Index: ode.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/ode.pyx,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** ode.pyx	3 Aug 2004 07:19:13 -0000	1.9
--- ode.pyx	23 Oct 2004 12:47:51 -0000	1.10
***************
*** 194,197 ****
--- 194,209 ----
      return res
  
+ def areConnected(Body body1, Body body2):
+     """Return True if the two bodies are connected together by a joint,
+        otherwise return False.
+     """
+ 
+     if (body1 is environment):
+         return False
+     if (body2 is environment):
+         return False
+ 
+     return bool(dAreConnected(<dBodyID> body1.bid, <dBodyID> body2.bid))
+ 
  def CloseODE():
      """CloseODE()

[Pyode-commits] pyode/xode joint.py,1.2,1.3

[Timothy S. <pe...@us...>]

Update of /cvsroot/pyode/pyode/xode
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv19119/xode

Modified Files:
	joint.py 
Log Message:
Added remaining joint types to the XODE parser.


Index: joint.py
===================================================================
RCS file: /cvsroot/pyode/pyode/xode/joint.py,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** joint.py	16 Jul 2004 11:45:17 -0000	1.2
--- joint.py	6 Sep 2004 05:56:55 -0000	1.3
***************
*** 86,103 ****
              pass
          elif (name == 'amotor'):
!             pass
          elif (name == 'ball'):
              l1, l2 = self._getLinks()
              self._parseBallJoint(self._world, l1, l2)
          elif (name == 'fixed'):
!             pass
          elif (name == 'hinge'):
!             pass
          elif (name == 'hinge2'):
!             pass
          elif (name == 'slider'):
!             pass
          elif (name == 'universal'):
!             pass
          else:
              raise errors.ChildError('joint', name)
--- 86,109 ----
              pass
          elif (name == 'amotor'):
!             l1, l2 = self._getLinks()
!             self._parseAMotor(self._world, l1, l2)
          elif (name == 'ball'):
              l1, l2 = self._getLinks()
              self._parseBallJoint(self._world, l1, l2)
          elif (name == 'fixed'):
!             l1, l2 = self._getLinks()
!             self._parseFixedJoint(self._world, l1, l2)
          elif (name == 'hinge'):
!             l1, l2 = self._getLinks()
!             self._parseHingeJoint(self._world, l1, l2)
          elif (name == 'hinge2'):
!             l1, l2 = self._getLinks()
!             self._parseHinge2Joint(self._world, l1, l2)
          elif (name == 'slider'):
!             l1, l2 = self._getLinks()
!             self._parseSliderJoint(self._world, l1, l2)
          elif (name == 'universal'):
!             l1, l2 = self._getLinks()
!             self._parseUniversalJoint(self._world, l1, l2)
          else:
              raise errors.ChildError('joint', name)
***************
*** 109,112 ****
--- 115,140 ----
              self._parser.pop()
  
+     def _applyAxisParams(self, joint, anum, axis):
+         def setParam(name):
+             attr = 'Param%s' % name
+             if (anum != 0):
+                 attr = '%s%i' % (attr, anum+1)
+             
+             joint.setParam(getattr(ode, attr), float(axis[name]))
+ 
+         if (axis.has_key('LowStop')):
+             axis['LoStop'] = axis['LowStop']
+             del axis['LowStop']
+             
+         for name in axis.keys():
+             if (name not in ['x', 'y', 'z']):
+                 if (name in ['LoStop', 'HiStop', 'Vel', 'FMax', 'FudgeFactor',
+                              'Bounce', 'CFM', 'StopERP', 'StopCFM',
+                              'SuspensionERP', 'SuspensionCFM']):
+                     setParam(name)
+                 else:
+                     raise errors.InvalidError('Invalid attribute %s' % `name` +
+                                               ' of <axis> element.')
+         
      def _parseBallJoint(self, world, link1, link2):
          anchor = [None]
***************
*** 129,130 ****
--- 157,340 ----
      
          self._parser.push(startElement=start, endElement=end)
+ 
+     def _parseFixedJoint(self, world, link1, link2):
+         
+         def start(name, attrs):
+             raise errors.ChildError('fixed', name)
+     
+         def end(name):
+             if (name == 'fixed'):
+                 self._parser.pop()
+         
+         joint = ode.FixedJoint(world, self._jg)
+         joint.attach(link1, link2)
+         self.setODEObject(joint)
+ 
+         self._parser.push(startElement=start, endElement=end)
+ 
+     def _parseHingeJoint(self, world, link1, link2):
+         anchor = [None]
+         axes = []
+     
+         def start(name, attrs):
+             if (name == 'anchor'):
+                 anchor[0] = self._parser.parseVector(attrs)
+             elif (name == 'axis'):
+                 axes.append(attrs)
+             else:
+                 raise errors.ChildError('hinge', name)
+     
+         def end(name):
+             if (name == 'hinge'):
+                 joint = ode.HingeJoint(world, self._jg)
+                 joint.attach(link1, link2)
+                 
+                 if (anchor[0] is not None):
+                     joint.setAnchor(anchor[0])
+ 
+                 if (len(axes) != 1):
+                     raise errors.InvalidError('Wrong number of axes for hinge'
+                                               ' joint.')
+                 
+                 joint.setAxis(self._parser.parseVector(axes[0]))
+                 self._applyAxisParams(joint, 0, axes[0])
+                 
+                 self.setODEObject(joint)
+                 self._parser.pop()
+     
+         self._parser.push(startElement=start, endElement=end)
+ 
+     def _parseSliderJoint(self, world, link1, link2):
+         axes = []
+     
+         def start(name, attrs):
+             if (name == 'axis'):
+                 axes.append(attrs)
+             else:
+                 raise errors.ChildError('slider', name)
+     
+         def end(name):
+             if (name == 'slider'):
+                 joint = ode.SliderJoint(world, self._jg)
+                 joint.attach(link1, link2)
+                 
+                 if (len(axes) != 1):
+                     raise errors.InvalidError('Wrong number of axes for slider'
+                                               ' joint.')
+                 
+                 joint.setAxis(self._parser.parseVector(axes[0]))
+                 self._applyAxisParams(joint, 0, axes[0])
+                 
+                 self.setODEObject(joint)
+                 self._parser.pop()
+     
+         self._parser.push(startElement=start, endElement=end)
+ 
+     def _parseUniversalJoint(self, world, link1, link2):
+         anchor = [None]
+         axes = []
+     
+         def start(name, attrs):
+             if (name == 'anchor'):
+                 anchor[0] = self._parser.parseVector(attrs)
+             elif (name == 'axis'):
+                 axes.append(attrs)
+             else:
+                 raise errors.ChildError('universal', name)
+     
+         def end(name):
+             if (name == 'universal'):
+                 joint = ode.UniversalJoint(world, self._jg)
+                 joint.attach(link1, link2)
+ 
+                 if (anchor[0] is not None):
+                     joint.setAnchor(anchor[0])
+                 
+                 if (len(axes) != 2):
+                     raise errors.InvalidError('Wrong number of axes for '
+                                               ' universal joint.')
+                 
+                 joint.setAxis1(self._parser.parseVector(axes[0]))
+                 self._applyAxisParams(joint, 0, axes[0])
+                 
+                 joint.setAxis2(self._parser.parseVector(axes[1]))
+                 self._applyAxisParams(joint, 1, axes[1])
+                 
+                 self.setODEObject(joint)
+                 self._parser.pop()
+     
+         self._parser.push(startElement=start, endElement=end)
+ 
+     def _parseHinge2Joint(self, world, link1, link2):
+         anchor = [None]
+         axes = []
+     
+         def start(name, attrs):
+             if (name == 'anchor'):
+                 anchor[0] = self._parser.parseVector(attrs)
+             elif (name == 'axis'):
+                 axes.append(attrs)
+             else:
+                 raise errors.ChildError('hinge2', name)
+     
+         def end(name):
+             if (name == 'hinge2'):
+                 joint = ode.Hinge2Joint(world, self._jg)
+                 joint.attach(link1, link2)
+ 
+                 if (anchor[0] is not None):
+                     joint.setAnchor(anchor[0])
+                 
+                 if (len(axes) != 2):
+                     raise errors.InvalidError('Wrong number of axes for '
+                                               ' hinge2 joint.')
+                 
+                 joint.setAxis1(self._parser.parseVector(axes[0]))
+                 self._applyAxisParams(joint, 0, axes[0])
+                 
+                 joint.setAxis2(self._parser.parseVector(axes[1]))
+                 self._applyAxisParams(joint, 1, axes[1])
+                 
+                 self.setODEObject(joint)
+                 self._parser.pop()
+     
+         self._parser.push(startElement=start, endElement=end)
+ 
+     def _parseAMotor(self, world, link1, link2):
+         anchor = [None]
+         axes = []
+     
+         def start(name, attrs):
+             # The XODE specification allows anchor elements for AMotor but
+             # there is no way to set the anchor of an AMotor.
+             
+             #if (name == 'anchor'):
+             #    anchor[0] = self._parser.parseVector(attrs)
+             
+             if (name == 'axis'):
+                 axes.append(attrs)
+             else:
+                 raise errors.ChildError('amotor', name)
+     
+         def end(name):
+             if (name == 'amotor'):
+                 joint = ode.AMotor(world, self._jg)
+                 joint.attach(link1, link2)
+ 
+                 if (anchor[0] is not None):
+                     joint.setAnchor(anchor[0])
+                 
+                 if (len(axes) > 3):
+                     raise errors.InvalidError('Wrong number of axes for '
+                                               ' amotor joint.')
+ 
+                 joint.setNumAxes(len(axes))
+                 
+                 for i in range(len(axes)):
+                     joint.setAxis(i, 0, self._parser.parseVector(axes[i]))
+                     self._applyAxisParams(joint, i, axes[i])
+                 
+                 self.setODEObject(joint)
+                 self._parser.pop()
+     
+         self._parser.push(startElement=start, endElement=end)

[Pyode-commits] pyode/tests test_xode.py,1.4,1.5

[Timothy S. <pe...@us...>]

Update of /cvsroot/pyode/pyode/tests
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv19119/tests

Modified Files:
	test_xode.py 
Log Message:
Added remaining joint types to the XODE parser.


Index: test_xode.py
===================================================================
RCS file: /cvsroot/pyode/pyode/tests/test_xode.py,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** test_xode.py	9 Aug 2004 13:16:48 -0000	1.4
--- test_xode.py	6 Sep 2004 05:56:55 -0000	1.5
***************
*** 69,73 ****
          <ball/>
        </joint>
!       
      </space>
    </world>
--- 69,73 ----
          <ball/>
        </joint>
! 
      </space>
    </world>
***************
*** 146,149 ****
--- 146,219 ----
        
      </geom>
+ 
+     <joint name="joint4">
+       <link1 body="body4"/>
+       <link2 body="body6"/>
+       <fixed/>
+     </joint>
+ 
+     <joint name="joint5">
+       <link1 body="body4"/>
+       <link2 body="body6"/>
+       <hinge>
+         <axis x="1.0" y="0.0" z="0.0"/>
+       </hinge>
+     </joint>
+ 
+     <joint name="joint6">
+       <link1 body="body4"/>
+       <link2 body="body6"/>
+       <slider>
+         <axis x="0.0" y="1.0" z="0.0"
+               LowStop="1.0"
+               HiStop="2.0"
+               Vel="3.0"
+               FMax="4.0"
+               FudgeFactor="0.5"
+               Bounce="6.0"
+               CFM="7.0"
+               StopERP="8.0"
+               StopCFM="9.0" />
+       </slider>
+     </joint>
+ 
+     <joint name="joint7">
+       <link1 body="body4"/>
+       <link2 body="body6"/>
+       <universal>
+         <axis x="1.0" y="0.0" z="0.0"/>
+         <axis x="0.0" y="1.0" z="0.0"/>
+       </universal>
+     </joint>
+ 
+     <joint name="joint8">
+       <link1 body="body4"/>
+       <link2 body="body6"/>
+       <hinge2>
+         <axis x="0.0" y="0.0" z="1.0"
+               SuspensionERP="2.0"
+               SuspensionCFM="3.0" />
+         <axis x="0.0" y="1.0" z="0.0"
+               FudgeFactor="0.2" />
+       </hinge2>
+     </joint>
+ 
+     <joint name="joint9">
+       <link1 body="body4"/>
+       <link2 body="body6"/>
+       <amotor>
+         <axis x="0.0" y="1.0" z="0.0"/>
+       </amotor>
+     </joint>
+ 
+     <joint name="joint10">
+       <link1 body="body4"/>
+       <link2 body="body6"/>
+       <amotor>
+         <axis x="1.0" y="0.0" z="0.0"/>
+         <axis x="0.0" y="1.0" z="0.0"/>
+         <axis x="0.0" y="0.0" z="1.0"/>
+       </amotor>
+     </joint>
      
      </space>
***************
*** 388,393 ****
          self.joint2 = self.root.namedChild('joint2').getODEObject()
          self.joint3 = self.root.namedChild('joint3').getODEObject()
  
!     def testInstance(self):
          self.assert_(isinstance(self.joint1, ode.BallJoint))
  
--- 458,470 ----
          self.joint2 = self.root.namedChild('joint2').getODEObject()
          self.joint3 = self.root.namedChild('joint3').getODEObject()
+         self.joint4 = self.root.namedChild('joint4').getODEObject()
+         self.joint5 = self.root.namedChild('joint5').getODEObject()
+         self.joint6 = self.root.namedChild('joint6').getODEObject()
+         self.joint7 = self.root.namedChild('joint7').getODEObject()
+         self.joint8 = self.root.namedChild('joint8').getODEObject()
+         self.joint9 = self.root.namedChild('joint9').getODEObject()
+         self.joint10 = self.root.namedChild('joint10').getODEObject()
  
!     def testBallInstance(self):
          self.assert_(isinstance(self.joint1, ode.BallJoint))
  
***************
*** 409,412 ****
--- 486,594 ----
              self.assert_(feq(n1, n2))
  
+     def testFixedInstance(self):
+         self.assert_(isinstance(self.joint4, ode.FixedJoint))
+ 
+     def testHingeInstance(self):
+         self.assert_(isinstance(self.joint5, ode.HingeJoint))
+ 
+     def testHingeAxis(self):
+         self.assertEqual(self.joint5.getAxis(), (1.0, 0.0, 0.0))
+ 
+     def testSliderInstance(self):
+         self.assert_(isinstance(self.joint6, ode.SliderJoint))
+ 
+     def testSliderAxis(self):
+         self.assertEqual(self.joint6.getAxis(), (0.0, 1.0, 0.0))
+ 
+     def testUniversalInstance(self):
+         self.assert_(isinstance(self.joint7, ode.UniversalJoint))
+ 
+     def testUniversalAxis1(self):
+         ref = (1.0, 0.0, 0.0)
+         axis1 = self.joint7.getAxis1()
+ 
+         for r, a in zip(ref, axis1):
+             self.assert_(feq(r, a))
+ 
+     def testUniversalAxis2(self):
+         ref = (0.0, 1.0, 0.0)
+         axis2 = self.joint7.getAxis2()
+ 
+         for r, a in zip(ref, axis2):
+             self.assert_(feq(r, a))
+ 
+     def testHinge2Instance(self):
+         self.assert_(isinstance(self.joint8, ode.Hinge2Joint))
+ 
+     def testHinge2Axis1(self):
+         ref = (0.0, 0.0, 1.0)
+         axis1 = self.joint8.getAxis1()
+ 
+         for r, a in zip(ref, axis1):
+             self.assert_(feq(r, a))
+ 
+     def testHinge2Axis2(self):
+         ref = (0.0, 1.0, 0.0)
+         axis2 = self.joint8.getAxis2()
+ 
+         for r, a in zip(ref, axis2):
+             self.assert_(feq(r, a))
+ 
+     def testAMotorInstance(self):
+         self.assert_(isinstance(self.joint9, ode.AMotor))
+ 
+     def testAMotorNumAxes1(self):
+         self.assertEqual(self.joint9.getNumAxes(), 1)
+ 
+     def testAMotorNumAxes3(self):
+         self.assertEqual(self.joint10.getNumAxes(), 3)
+ 
+     def testAMotorAxes1(self):
+         ref = (0.0, 1.0, 0.0)
+         axis1 = self.joint9.getAxis(0)
+         self.assertEqual(ref, axis1)
+ 
+     def testAMotorAxes3(self):
+         ref = [(1.0, 0.0, 0.0), (0.0, 1.0, 0.0), (0.0, 0.0, 1.0)]
+         axes = [self.joint10.getAxis(0), self.joint10.getAxis(1),
+                 self.joint10.getAxis(2)]
+         self.assertEqual(ref, axes)
+ 
+     def testAxisParamLoStop(self):
+         self.assertEqual(self.joint6.getParam(ode.paramLoStop), 1.0)
+ 
+     def testAxisParamHiStop(self):
+         self.assertEqual(self.joint6.getParam(ode.paramHiStop), 2.0)
+ 
+     def testAxisParamVel(self):
+         self.assertEqual(self.joint6.getParam(ode.paramVel), 3.0)
+ 
+     def testAxisParamFMax(self):
+         self.assertEqual(self.joint6.getParam(ode.paramFMax), 4.0)
+ 
+     def testAxisParamFudgeFactor(self):
+         self.assertEqual(self.joint6.getParam(ode.paramFudgeFactor), 0.5)
+ 
+     def testAxisParamBounce(self):
+         self.assertEqual(self.joint6.getParam(ode.paramBounce), 6.0)
+ 
+     def testAxisParamCFM(self):
+         self.assertEqual(self.joint6.getParam(ode.paramCFM), 7.0)
+ 
+     def testAxisParamStopERP(self):
+         self.assertEqual(self.joint6.getParam(ode.paramStopERP), 8.0)
+ 
+     def testAxisParamStopCFM(self):
+         self.assertEqual(self.joint6.getParam(ode.paramStopCFM), 9.0)
+ 
+     def testAxisParamSuspensionERP(self):
+         self.assertEqual(self.joint8.getParam(ode.paramSuspensionERP), 2.0)
+ 
+     def testAxisParamSuspensionCFM(self):
+         self.assertEqual(self.joint8.getParam(ode.paramSuspensionCFM), 3.0)
+ 
+     def testAxis2FudgeFactor(self):
+         self.assertEqual(self.joint8.getParam(ode.ParamFudgeFactor2), 0.2)
+ 
  class TestGeomParser(TestParser):
      def setUp(self):
***************
*** 725,728 ****
--- 907,941 ----
          self.assertRaises(errors.InvalidError, self.p.parseString, doc)
  
+     def testSliderAxes(self):
+         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
+         <xode><world><space name="space1">
+           <body name="body1"/>
+           <body name="body2"/>
+           <joint>
+             <link1 body="body1"/>
+             <link2 body="body2"/>
+             <slider>
+             </slider>
+           </joint>
+         </space></world></xode>'''
+ 
+         self.assertRaises(errors.InvalidError, self.p.parseString, doc)
+ 
+     def testInvalidParam(self):
+         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
+         <xode><world><space name="space1">
+           <body name="body1"/>
+           <body name="body2"/>
+           <joint>
+             <link1 body="body1"/>
+             <link2 body="body2"/>
+             <hinge>
+               <axis x="1.0" y="0.0" z="0.0" TestCFM="99.0"/>
+             </hinge>
+           </joint>
+         </space></world></xode>'''
+ 
+         self.assertRaises(errors.InvalidError, self.p.parseString, doc)
+ 
  class TestInvalidGeom(TestInvalid):
      def testNoType(self):

[Pyode-commits] pyode/src declarations.pyx,1.10,1.11 joints.pyx,1.3,1.4

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv29124/src

Modified Files:
	declarations.pyx joints.pyx 
Log Message:
Added joint doc strings and a few new methods

Index: joints.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/joints.pyx,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** joints.pyx	7 Jul 2004 11:46:32 -0000	1.3
--- joints.pyx	31 Aug 2004 22:18:32 -0000	1.4
***************
*** 17,21 ****
  # JointGroup
  cdef class JointGroup:
!     """Joint group."""
  
      # JointGroup ID
--- 17,26 ----
  # JointGroup
  cdef class JointGroup:
!     """Joint group.
! 
!     Constructor::
!     
!       JointGroup()    
!     """
  
      # JointGroup ID
***************
*** 36,39 ****
--- 41,48 ----
      # empty
      def empty(self):
+         """empty()
+ 
+         Destroy all joints in the group.
+         """
          dJointGroupEmpty(self.gid)
          for j in self.jointlist:
***************
*** 43,53 ****
  
      def _addjoint(self, j):
!         """Add a joint to the group.
  
!         This is an internal method that is called by the joints.
!         The group has to know the Python wrappers because it has to
!         notify them when the group is emptied (so that the ODE joints
!         won't get destroyed twice). The notification is done by
!         calling _destroyed() on the Python joints.
          """
          self.jointlist.append(j)
--- 52,66 ----
  
      def _addjoint(self, j):
!         """_addjoint(j)
  
!         Add a joint to the group.  This is an internal method that is
!         called by the joints.  The group has to know the Python
!         wrappers because it has to notify them when the group is
!         emptied (so that the ODE joints won't get destroyed
!         twice). The notification is done by calling _destroyed() on
!         the Python joints.
! 
!         @param j: The joint to add
!         @type j: Joint
          """
          self.jointlist.append(j)
***************
*** 97,109 ****
  
      # attach
!     def attach(self, Body Body1, Body Body2):
!         """TODO: What if there's only one body."""
  
!         self.body1 = Body1
!         self.body2 = Body2
!         dJointAttach(self.jid, Body1.bid, Body2.bid)
  
      # getBody
      def getBody(self, index):
          if (index == 0):
              return self.body1
--- 110,144 ----
  
      # attach
!     def attach(self, Body body1, Body body2):
!         """attach(body1, body2)
  
!         Attach the joint to some new bodies.
!         
!         TODO: What if there's only one body.
! 
!         @param body1: First body
!         @param body2: Second body
!         @type body1: Body
!         @type body2: Body
!         """
! 
!         self.body1 = body1
!         self.body2 = body2
!         dJointAttach(self.jid, body1.bid, body2.bid)
  
      # getBody
      def getBody(self, index):
+         """getBody(index) -> Body
+ 
+         Return the bodies that this joint connects. If index is 0 the
+         "first" body will be returned, corresponding to the body1
+         argument of the attach() method. If index is 1 the "second" body
+         will be returned, corresponding to the body2 argument of the
+         attach() method.
+ 
+         @param index: Bodx index (0 or 1).
+         @type index: int
+         """
+         
          if (index == 0):
              return self.body1
***************
*** 115,123 ****
      # setFeedback
      def setFeedback(self, flag=1):
!         """Create a feedback buffer.
  
!         If flag is True then a buffer is allocated, otherwise it is
!         removed.
          """
          if flag:
              # Was there already a buffer allocated? then we're finished
--- 150,164 ----
      # setFeedback
      def setFeedback(self, flag=1):
!         """setFeedback(flag=True)
  
!         Create a feedback buffer. If flag is True then a buffer is
!         allocated and the forces/torques applied by the joint can
!         be read using the getFeedback() method. If flag is False the
!         buffer is released.
! 
!         @param flag: Specifies whether a buffer should be created or released
!         @type flag: bool
          """
+         
          if flag:
              # Was there already a buffer allocated? then we're finished
***************
*** 138,149 ****
      # getFeedback
      def getFeedback(self):
!         """Get the forces/torques applied to the joint.
  
!         If feedback is activated (i.e. setFeedback(True) was called)
!         then this method returns a tuple (force1, torque1, force2, torque2)
!         with the forces and torques applied to body 1 and body 2.
!         The forces/torques are given as 3-tuples.
  
!         If feedback is deactivated then the method returns None.
          """
          cdef dJointFeedback* fb
--- 179,191 ----
      # getFeedback
      def getFeedback(self):
!         """getFeedback() -> (force1, torque1, force2, torque2)
  
!         Get the forces/torques applied by the joint. If feedback is
!         activated (i.e. setFeedback(True) was called) then this method
!         returns a tuple (force1, torque1, force2, torque2) with the
!         forces and torques applied to body 1 and body 2.  The
!         forces/torques are given as 3-tuples.
  
!         If feedback is deactivated then the method always returns None.
          """
          cdef dJointFeedback* fb
***************
*** 165,168 ****
--- 207,214 ----
  cdef class BallJoint(Joint):
      """Ball joint.
+ 
+     Constructor::
+     
+       BallJoint(world, jointgroup=None)    
      """
  
***************
*** 184,195 ****
--- 230,270 ----
      # setAnchor
      def setAnchor(self, pos):
+         """setAnchor(pos)
+ 
+         Set the joint anchor point which must be specified in world
+         coordinates.
+ 
+         @param pos: Anchor position
+         @type pos: 3-sequence of floats         
+         """
          dJointSetBallAnchor(self.jid, pos[0], pos[1], pos[2])
      
      # getAnchor
      def getAnchor(self):
+         """getAnchor() -> 3-tuple of floats
+ 
+         Get the joint anchor point, in world coordinates.  This
+         returns the point on body 1.  If the joint is perfectly
+         satisfied, this will be the same as the point on body 2.
+         """
+         
          cdef dVector3 p
          dJointGetBallAnchor(self.jid, p)
          return (p[0],p[1],p[2])
  
+     # getAnchor2
+     def getAnchor2(self):
+         """getAnchor2() -> 3-tuple of floats
+ 
+         Get the joint anchor point, in world coordinates.  This
+         returns the point on body 2. If the joint is perfectly
+         satisfied, this will be the same as the point on body 1.
+         """
+ 
+         cdef dVector3 p
+         dJointGetBallAnchor2(self.jid, p)
+         return (p[0],p[1],p[2])
+                 
+ 
      # setParam
      def setParam(self, param, value):
***************
*** 204,207 ****
--- 279,286 ----
  cdef class HingeJoint(Joint):
      """Hinge joint.
+ 
+     Constructor::
+     
+       HingeJoint(world, jointgroup=None)
      """
  
***************
*** 223,240 ****
--- 302,355 ----
      # setAnchor
      def setAnchor(self, pos):
+         """setAnchor(pos)
+ 
+         Set the hinge anchor which must be given in world coordinates.
+ 
+         @param pos: Anchor position
+         @type pos: 3-sequence of floats         
+         """
          dJointSetHingeAnchor(self.jid, pos[0], pos[1], pos[2])
      
      # getAnchor
      def getAnchor(self):
+         """getAnchor() -> 3-tuple of floats
+ 
+         Get the joint anchor point, in world coordinates. This returns
+         the point on body 1. If the joint is perfectly satisfied, this
+         will be the same as the point on body 2.
+         """
          cdef dVector3 p
          dJointGetHingeAnchor(self.jid, p)
          return (p[0],p[1],p[2])
  
+     # getAnchor2
+     def getAnchor2(self):
+         """getAnchor2() -> 3-tuple of floats
+ 
+         Get the joint anchor point, in world coordinates. This returns
+         the point on body 2. If the joint is perfectly satisfied, this
+         will be the same as the point on body 1.
+         """
+         cdef dVector3 p
+         dJointGetHingeAnchor2(self.jid, p)
+         return (p[0],p[1],p[2])
+ 
      # setAxis
      def setAxis(self, axis):
+         """setAxis(axis)
+ 
+         Set the hinge axis.
+ 
+         @param axis: Hinge axis
+         @type axis: 3-sequence of floats
+         """
          dJointSetHingeAxis(self.jid, axis[0], axis[1], axis[2])
      
      # getAxis
      def getAxis(self):
+         """getAxis() -> 3-tuple of floats
+ 
+         Get the hinge axis.
+         """
          cdef dVector3 a
          dJointGetHingeAxis(self.jid, a)
***************
*** 243,258 ****
--- 358,419 ----
      # getAngle
      def getAngle(self):
+         """getAngle() -> float
+ 
+         Get the hinge angle. The angle is measured between the two
+         bodies, or between the body and the static environment. The
+         angle will be between -pi..pi.
+ 
+         When the hinge anchor or axis is set, the current position of
+         the attached bodies is examined and that position will be the
+         zero angle.
+         """
+         
          return dJointGetHingeAngle(self.jid)
  
      # getAngleRate
      def getAngleRate(self):
+         """getAngleRate() -> float
+ 
+         Get the time derivative of the angle.
+         """
          return dJointGetHingeAngleRate(self.jid)
  
      # setParam
      def setParam(self, param, value):
+         """setParam(param, value)
+ 
+         Set limit/motor parameters for the joint.
+ 
+         param is one of ParamLoStop, ParamHiStop, ParamVel, ParamFMax,
+         ParamFudgeFactor, ParamBounce, ParamCFM, ParamStopERP, ParamStopCFM,
+         ParamSuspensionERP, ParamSuspensionCFM.
+ 
+         These parameter names can be optionally followed by a digit (2
+         or 3) to indicate the second or third set of parameters.
+ 
+         @param param: Selects the parameter to set
+         @param value: Parameter value 
+         @type param: int
+         @type value: float
+         """
+         
          dJointSetHingeParam(self.jid, param, value)
  
      # getParam
      def getParam(self, param):
+         """getParam(param) -> float
+ 
+         Get limit/motor parameters for the joint.
+ 
+         param is one of ParamLoStop, ParamHiStop, ParamVel, ParamFMax,
+         ParamFudgeFactor, ParamBounce, ParamCFM, ParamStopERP, ParamStopCFM,
+         ParamSuspensionERP, ParamSuspensionCFM.
+ 
+         These parameter names can be optionally followed by a digit (2
+         or 3) to indicate the second or third set of parameters.
+ 
+         @param param: Selects the parameter to read
+         @type param: int        
+         """
          return dJointGetHingeParam(self.jid, param)
          
***************
*** 261,264 ****
--- 422,429 ----
  cdef class SliderJoint(Joint):
      """Slider joint.
+     
+     Constructor::
+     
+       SlideJoint(world, jointgroup=None)
      """
  
***************
*** 280,287 ****
--- 445,463 ----
      # setAxis
      def setAxis(self, axis):
+         """setAxis(axis)
+ 
+         Set the slider axis parameter.
+ 
+         @param axis: Slider axis
+         @type axis: 3-sequence of floats        
+         """
          dJointSetSliderAxis(self.jid, axis[0], axis[1], axis[2])
      
      # getAxis
      def getAxis(self):
+         """getAxis() -> 3-tuple of floats
+ 
+         Get the slider axis parameter.
+         """
          cdef dVector3 a
          dJointGetSliderAxis(self.jid, a)
***************
*** 290,297 ****
--- 466,486 ----
      # getPosition
      def getPosition(self):
+         """getPosition() -> float
+ 
+         Get the slider linear position (i.e. the slider's "extension").
+ 
+         When the axis is set, the current position of the attached
+         bodies is examined and that position will be the zero
+         position.
+         """
+         
          return dJointGetSliderPosition(self.jid)
  
      # getPositionRate
      def getPositionRate(self):
+         """getPositionRate() -> float
+ 
+         Get the time derivative of the position.
+         """
          return dJointGetSliderPositionRate(self.jid)
  
***************
*** 308,311 ****
--- 497,504 ----
  cdef class UniversalJoint(Joint):
      """Universal joint.
+ 
+     Constructor::
+     
+       UniversalJoint(world, jointgroup=None)    
      """
  
***************
*** 327,344 ****
--- 520,576 ----
      # setAnchor
      def setAnchor(self, pos):
+         """setAnchor(pos)
+ 
+         Set the universal anchor.
+ 
+         @param pos: Anchor position
+         @type pos: 3-sequence of floats         
+         """
          dJointSetUniversalAnchor(self.jid, pos[0], pos[1], pos[2])
      
      # getAnchor
      def getAnchor(self):
+         """getAnchor() -> 3-tuple of floats
+ 
+         Get the joint anchor point, in world coordinates. This returns
+         the point on body 1. If the joint is perfectly satisfied, this
+         will be the same as the point on body 2.
+         """
+         
          cdef dVector3 p
          dJointGetUniversalAnchor(self.jid, p)
          return (p[0],p[1],p[2])
  
+     # getAnchor2
+     def getAnchor2(self):
+         """getAnchor2() -> 3-tuple of floats
+ 
+         Get the joint anchor point, in world coordinates. This returns
+         the point on body 2. If the joint is perfectly satisfied, this
+         will be the same as the point on body 1.
+         """
+         
+         cdef dVector3 p
+         dJointGetUniversalAnchor2(self.jid, p)
+         return (p[0],p[1],p[2])
+ 
      # setAxis1
      def setAxis1(self, axis):
+         """setAxis1(axis)
+ 
+         Set the first universal axis. Axis 1 and axis 2 should be
+         perpendicular to each other.
+ 
+         @param axis: Joint axis
+         @type axis: 3-sequence of floats
+         """
          dJointSetUniversalAxis1(self.jid, axis[0], axis[1], axis[2])
      
      # getAxis1
      def getAxis1(self):
+         """getAxis1() -> 3-tuple of floats
+ 
+         Get the first univeral axis.
+         """
          cdef dVector3 a
          dJointGetUniversalAxis1(self.jid, a)
***************
*** 347,354 ****
--- 579,598 ----
      # setAxis2
      def setAxis2(self, axis):
+         """setAxis2(axis)
+ 
+         Set the second universal axis. Axis 1 and axis 2 should be
+         perpendicular to each other.
+ 
+         @param axis: Joint axis
+         @type axis: 3-sequence of floats        
+         """
          dJointSetUniversalAxis2(self.jid, axis[0], axis[1], axis[2])
      
      # getAxis2
      def getAxis2(self):
+         """getAxis2() -> 3-tuple of floats
+ 
+         Get the second univeral axis.
+         """
          cdef dVector3 a
          dJointGetUniversalAxis2(self.jid, a)
***************
*** 367,370 ****
--- 611,618 ----
  cdef class Hinge2Joint(Joint):
      """Hinge2 joint.
+ 
+     Constructor::
+     
+       Hinge2Joint(world, jointgroup=None)
      """
  
***************
*** 386,403 ****
--- 634,691 ----
      # setAnchor
      def setAnchor(self, pos):
+         """setAnchor(pos)
+ 
+         Set the hinge-2 anchor.
+ 
+         @param pos: Anchor position
+         @type pos: 3-sequence of floats        
+         """
          dJointSetHinge2Anchor(self.jid, pos[0], pos[1], pos[2])
      
      # getAnchor
      def getAnchor(self):
+         """getAnchor() -> 3-tuple of floats
+ 
+         Get the joint anchor point, in world coordinates. This returns
+         the point on body 1. If the joint is perfectly satisfied, this
+         will be the same as the point on body 2.
+         """
+         
          cdef dVector3 p
          dJointGetHinge2Anchor(self.jid, p)
          return (p[0],p[1],p[2])
  
+     # getAnchor2
+     def getAnchor2(self):
+         """getAnchor2() -> 3-tuple of floats
+ 
+         Get the joint anchor point, in world coordinates. This returns
+         the point on body 2. If the joint is perfectly satisfied, this
+         will be the same as the point on body 1.
+         """
+         
+         cdef dVector3 p
+         dJointGetHinge2Anchor2(self.jid, p)
+         return (p[0],p[1],p[2])
+ 
      # setAxis1
      def setAxis1(self, axis):
+         """setAxis1(axis)
+ 
+         Set the first hinge-2 axis. Axis 1 and axis 2 must not lie
+         along the same line.
+ 
+         @param axis: Joint axis
+         @type axis: 3-sequence of floats        
+         """
+         
          dJointSetHinge2Axis1(self.jid, axis[0], axis[1], axis[2])
      
      # getAxis1
      def getAxis1(self):
+         """getAxis1() -> 3-tuple of floats
+ 
+         Get the first hinge-2 axis.
+         """
          cdef dVector3 a
          dJointGetHinge2Axis1(self.jid, a)
***************
*** 406,413 ****
--- 694,713 ----
      # setAxis2
      def setAxis2(self, axis):
+         """setAxis2(axis)
+ 
+         Set the second hinge-2 axis. Axis 1 and axis 2 must not lie
+         along the same line.
+ 
+         @param axis: Joint axis
+         @type axis: 3-sequence of floats        
+         """
          dJointSetHinge2Axis2(self.jid, axis[0], axis[1], axis[2])
      
      # getAxis2
      def getAxis2(self):
+         """getAxis2() -> 3-tuple of floats
+ 
+         Get the second hinge-2 axis.
+         """
          cdef dVector3 a
          dJointGetHinge2Axis2(self.jid, a)
***************
*** 416,427 ****
--- 716,743 ----
      # getAngle
      def getAngle1(self):
+         """getAngle1() -> float
+ 
+         Get the first hinge-2 angle (around axis 1).
+ 
+         When the anchor or axis is set, the current position of the
+         attached bodies is examined and that position will be the zero
+         angle.
+         """
          return dJointGetHinge2Angle1(self.jid)
  
      # getAngle1Rate
      def getAngle1Rate(self):
+         """getAngle1Rate() -> float
+ 
+         Get the time derivative of the first hinge-2 angle.
+         """
          return dJointGetHinge2Angle1Rate(self.jid)
  
      # getAngle2Rate
      def getAngle2Rate(self):
+         """getAngle2Rate() -> float
+ 
+         Get the time derivative of the second hinge-2 angle.
+         """
          return dJointGetHinge2Angle2Rate(self.jid)
  
***************
*** 438,441 ****
--- 754,761 ----
  cdef class FixedJoint(Joint):
      """Fixed joint.
+ 
+     Constructor::
+     
+       FixedJoint(world, jointgroup=None)    
      """
  
***************
*** 457,460 ****
--- 777,786 ----
      # setFixed
      def setFixed(self):
+         """setFixed()
+ 
+         Call this on the fixed joint after it has been attached to
+         remember the current desired relative offset and desired
+         relative rotation between the bodies.
+         """
          dJointSetFixed(self.jid)
  
***************
*** 463,466 ****
--- 789,796 ----
  cdef class ContactJoint(Joint):
      """Contact joint.
+ 
+     Constructor::
+     
+       ContactJoint(world, jointgroup, contact)
      """
  
***************
*** 482,485 ****
--- 812,819 ----
  cdef class AMotor(Joint):
      """AMotor joint.
+     
+     Constructor::
+     
+       AMotor(world, jointgroup=None)
      """
  
***************
*** 501,507 ****
      # setMode
      def setMode(self, mode):
!         """Set the angular motor mode.
  
!         mode must be either AMotorUser or AMotorEuler.
          """
          dJointSetAMotorMode(self.jid, mode)
--- 835,845 ----
      # setMode
      def setMode(self, mode):
!         """setMode(mode)
  
!         Set the angular motor mode.  mode must be either AMotorUser or
!         AMotorEuler.
! 
!         @param mode: Angular motor mode
!         @type mode: int
          """
          dJointSetAMotorMode(self.jid, mode)
***************
*** 509,515 ****
      # getMode
      def getMode(self):
!         """Return the angular motor mode.
  
!         Returns AMotorUser or AMotorEuler.
          """
          return dJointGetAMotorMode(self.jid)
--- 847,853 ----
      # getMode
      def getMode(self):
!         """getMode()
  
!         Return the angular motor mode (AMotorUser or AMotorEuler).
          """
          return dJointGetAMotorMode(self.jid)
***************
*** 517,523 ****
      # setNumAxes
      def setNumAxes(self, int num):
!         """Set the number of angular axes that will be controlled by the AMotor.
  
          num may be in the range from 0 to 3.
          """
          dJointSetAMotorNumAxes(self.jid, num)
--- 855,865 ----
      # setNumAxes
      def setNumAxes(self, int num):
!         """setNumAxes(num)
  
+         Set the number of angular axes that will be controlled by the AMotor.
          num may be in the range from 0 to 3.
+ 
+         @param num: Number of axes (0-3)
+         @type num: int
          """
          dJointSetAMotorNumAxes(self.jid, num)
***************
*** 525,534 ****
      # getNumAxes
      def getNumAxes(self):
!         """Get the number of angular axes that are controlled by the AMotor."""
          return dJointGetAMotorNumAxes(self.jid)
  
      # setAxis
      def setAxis(self, int anum, int rel, axis):
!         """Set an AMotor axis.
  
          The anum argument selects the axis to change (0,1 or 2).
--- 867,881 ----
      # getNumAxes
      def getNumAxes(self):
!         """getNumAxes() -> int
! 
!         Get the number of angular axes that are controlled by the AMotor.
!         """
          return dJointGetAMotorNumAxes(self.jid)
  
      # setAxis
      def setAxis(self, int anum, int rel, axis):
!         """setAxis(anum, rel, axis)
! 
!         Set an AMotor axis.
  
          The anum argument selects the axis to change (0,1 or 2).
***************
*** 542,545 ****
--- 889,899 ----
          The axis vector is always specified in global coordinates
          regardless of the setting of rel.
+ 
+         @param anum: Axis number
+         @param rel: Relative orientation mode
+         @param axis: Axis
+         @type anum: int
+         @type rel: int
+         @type axis: 3-sequence of floats
          """
          dJointSetAMotorAxis(self.jid, anum, rel, axis[0], axis[1], axis[2])
***************
*** 547,553 ****
      # getAxis
      def getAxis(self, int anum):
!         """Get an AMotor axis.
  
!         anum is the index of the axis (0-2).
          """
          cdef dVector3 a
--- 901,910 ----
      # getAxis
      def getAxis(self, int anum):
!         """getAxis(anum)
  
!         Get an AMotor axis.
! 
!         @param anum: Axis index (0-2)
!         @type anum: int        
          """
          cdef dVector3 a
***************
*** 557,563 ****
      # getAxisRel
      def getAxisRel(self, int anum):
!         """Get the relative mode of an axis.
  
!         anum is the index of the axis (0-2).
          """
          return dJointGetAMotorAxisRel(self.jid, anum)
--- 914,923 ----
      # getAxisRel
      def getAxisRel(self, int anum):
!         """getAxisRel(anum) -> int
  
!         Get the relative mode of an axis.
! 
!         @param anum: Axis index (0-2)
!         @type anum: int        
          """
          return dJointGetAMotorAxisRel(self.jid, anum)
***************
*** 565,579 ****
      # setAngle
      def setAngle(self, int anum, angle):
!         """Tell the AMotor what the current angle is along axis anum."""
          dJointSetAMotorAngle(self.jid, anum, angle)
  
      # getAngle
      def getAngle(self, int anum):
!         """Return the current angle for axis anum."""
          return dJointGetAMotorAngle(self.jid, anum)
  
      # getAngleRate
      def getAngleRate(self, int anum):
!         """Return the current angle rate for axis anum."""
          return dJointGetAMotorAngleRate(self.jid, anum)
  
--- 925,959 ----
      # setAngle
      def setAngle(self, int anum, angle):
!         """setAngle(anum, angle)
! 
!         Tell the AMotor what the current angle is along axis anum.
! 
!         @param anum: Axis index
!         @param angle: Angle
!         @type anum: int
!         @type angle: float
!         """
          dJointSetAMotorAngle(self.jid, anum, angle)
  
      # getAngle
      def getAngle(self, int anum):
!         """getAngle(anum) -> float
! 
!         Return the current angle for axis anum.
! 
!         @param anum: Axis index
!         @type anum: int        
!         """
          return dJointGetAMotorAngle(self.jid, anum)
  
      # getAngleRate
      def getAngleRate(self, int anum):
!         """getAngleRate(anum) -> float
! 
!         Return the current angle rate for axis anum.
! 
!         @param anum: Axis index
!         @type anum: int        
!         """
          return dJointGetAMotorAngleRate(self.jid, anum)
  

Index: declarations.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/declarations.pyx,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** declarations.pyx	5 Aug 2004 20:42:45 -0000	1.10
--- declarations.pyx	31 Aug 2004 22:18:32 -0000	1.11
***************
*** 240,244 ****
--- 240,246 ----
  
      void dJointGetBallAnchor (dJointID, dVector3 result)
+     void dJointGetBallAnchor2 (dJointID, dVector3 result)
      void dJointGetHingeAnchor (dJointID, dVector3 result)
+     void dJointGetHingeAnchor2 (dJointID, dVector3 result)
      void dJointGetHingeAxis (dJointID, dVector3 result)
      dReal dJointGetHingeParam (dJointID, int parameter)
***************
*** 250,253 ****
--- 252,256 ----
      dReal dJointGetSliderParam (dJointID, int parameter)
      void dJointGetHinge2Anchor (dJointID, dVector3 result)
+     void dJointGetHinge2Anchor2 (dJointID, dVector3 result)
      void dJointGetHinge2Axis1 (dJointID, dVector3 result)
      void dJointGetHinge2Axis2 (dJointID, dVector3 result)
***************
*** 257,260 ****
--- 260,264 ----
      dReal dJointGetHinge2Angle2Rate (dJointID)
      void dJointGetUniversalAnchor (dJointID, dVector3 result)
+     void dJointGetUniversalAnchor2 (dJointID, dVector3 result)
      void dJointGetUniversalAxis1 (dJointID, dVector3 result)
      void dJointGetUniversalAxis2 (dJointID, dVector3 result)

[Pyode-commits] pyode/xode geom.py,1.3,1.4 parser.py,1.3,1.4

[Timothy S. <pe...@us...>]

Update of /cvsroot/pyode/pyode/xode
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv30068/xode

Modified Files:
	geom.py parser.py 
Log Message:
Fixed the XODE parser to work with the new Space classes and added a mechanism to allow the default Space class to be chosen.


Index: geom.py
===================================================================
RCS file: /cvsroot/pyode/pyode/xode/geom.py,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** geom.py	1 Aug 2004 16:47:36 -0000	1.3
--- geom.py	9 Aug 2004 13:16:48 -0000	1.4
***************
*** 18,22 ****
          node.TreeNode.__init__(self, name, parent)
  
!         self._space = self.getFirstAncestor(ode.Space).getODEObject()
          self._transformed = False
          
--- 18,22 ----
          node.TreeNode.__init__(self, name, parent)
  
!         self._space = self.getFirstAncestor(ode.SpaceBase).getODEObject()
          self._transformed = False
          

Index: parser.py
===================================================================
RCS file: /cvsroot/pyode/pyode/xode/parser.py,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** parser.py	1 Aug 2004 16:47:36 -0000	1.3
--- parser.py	9 Aug 2004 13:16:48 -0000	1.4
***************
*** 30,33 ****
--- 30,34 ----
  
    | from xode import parser
+   | import ode
    |
    | f = file('xode-document.xml')
***************
*** 57,62 ****
--- 58,105 ----
      """
      An XODE parser.
+ 
+     Parameters
+     ==========
+ 
+     Certain aspects of the parsing can be controlled by setting parameters with
+     L{setParams()}.
+     
+     C{spaceFactory}
+     ---------------
+ 
+     C{spaceFactory} can be set to a callable object that creates instances
+     which inherit from L{ode.SpaceBase}. This factory will be used by the
+     parser to create Space objects for <space> tags unless the class is
+     overridden in the XODE file. The default behavior is to use the
+     L{ode.SimpleSpace} class.
+ 
+     Example using L{ode.HashSpace}::
+ 
+         | from xode import parser
+         | import ode
+         |
+         | p = parser.Parser()
+         | p.setParams(spaceFactory=ode.HashSpace)
+ 
+     Example using L{ode.QuadTreeSpace}::
+ 
+         | from xode import parser
+         | import ode
+         |
+         | def makeSpace():
+         |     return ode.QuadTreeSpace((0, 0, 0), (2, 2, 2), 3)
+         |
+         | p = parser.Parser()
+         | p.setParams(spaceFactory=makeSpace)
      """
  
+     def __init__(self):
+         """
+         Initialise the parser.
+         """
+ 
+         self._params = {}
+         self.setParams(spaceFactory=ode.SimpleSpace)
+ 
      def _nullHandler(self, *args, **kwargs):
          return
***************
*** 148,151 ****
--- 191,213 ----
          return self._root
  
+     def setParams(self, **params):
+         """
+         Sets some parse parameters.
+         """
+ 
+         self._params.update(params)
+ 
+     def getParam(self, name):
+         """
+         @param name: The parameter name.
+         @type name: str
+ 
+         @return: The value of the given parameter.
+ 
+         @raise KeyError: If the parameter is not defined.
+         """
+ 
+         return self._params[name]
+ 
  class Root(node.TreeNode):
      """
***************
*** 228,232 ****
      def __init__(self, name, parent):
          node.TreeNode.__init__(self, name, parent)
-         self.setODEObject(ode.Space())
  
      def takeParser(self, parser):
--- 290,293 ----
***************
*** 238,241 ****
--- 299,304 ----
          @type parser: instance of L{Parser}
          """
+ 
+         self.setODEObject(parser.getParam('spaceFactory')())
          
          self._parser = parser

[Pyode-commits] pyode/tests test_xode.py,1.3,1.4

[Timothy S. <pe...@us...>]

Update of /cvsroot/pyode/pyode/tests
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv30068/tests

Modified Files:
	test_xode.py 
Log Message:
Fixed the XODE parser to work with the new Space classes and added a mechanism to allow the default Space class to be chosen.


Index: test_xode.py
===================================================================
RCS file: /cvsroot/pyode/pyode/tests/test_xode.py,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** test_xode.py	1 Aug 2004 16:47:36 -0000	1.3
--- test_xode.py	9 Aug 2004 13:16:48 -0000	1.4
***************
*** 271,277 ****
  
  class TestSpaceParser(TestParser):
!     def testInstance(self):
!         space = self.root.namedChild('space1').getODEObject()
!         self.assert_(isinstance(space, ode.Space))
  
  class TestBodyParser(TestParser):
--- 271,310 ----
  
  class TestSpaceParser(TestParser):
!     def setUp(self):
!         TestParser.setUp(self)
!         self.simpleSpace = self.root.namedChild('space1').getODEObject()
! 
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
!         <xode><world>
!           <space name="space1"/>
!         </world></xode>
!         '''
! 
!         self.p2 = parser.Parser()
!         self.p2.setParams(spaceFactory=ode.HashSpace)
!         self.root2 = self.p2.parseString(doc)
!         self.hashSpace = self.root2.namedChild('space1').getODEObject()
! 
!         def makeSpace():
!             return ode.QuadTreeSpace((0, 0, 0), (2, 2, 2), 3)
! 
!         self.p3 = parser.Parser()
!         self.p3.setParams(spaceFactory=makeSpace)
!         self.root3 = self.p3.parseString(doc)
!         self.quadSpace = self.root3.namedChild('space1').getODEObject()
!         
!     def testSimpleInstance(self):
!         self.assert_(isinstance(self.simpleSpace, ode.SimpleSpace))
! 
!     def testHashInstance(self):
!         self.assert_(isinstance(self.hashSpace, ode.HashSpace))
! 
!     def testQuadInstance(self):
!         self.assert_(isinstance(self.quadSpace, ode.QuadTreeSpace))
! 
!     def testSpaceBase(self):
!         self.assert_(isinstance(self.simpleSpace, ode.SpaceBase))
!         self.assert_(isinstance(self.hashSpace, ode.SpaceBase))
!         self.assert_(isinstance(self.quadSpace, ode.SpaceBase))
  
  class TestBodyParser(TestParser):

[Pyode-commits] pyode/src declarations.pyx,1.9,1.10 geoms.pyx,1.9,1.10 space.pyx,1.3,1.4 trimesh.pyx,1.2,1.3

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv19168

Modified Files:
	declarations.pyx geoms.pyx space.pyx trimesh.pyx 
Log Message:
Split the Space class into 3 separate classes: SimpleSpace, HashSpace and QuadTreeSpace that each derive from SpaceBase. To remain backwards compatible there's a factory function called Space() that returns an appropriate space object.

Index: space.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/space.pyx,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** space.pyx	3 Aug 2004 07:19:13 -0000	1.3
--- space.pyx	5 Aug 2004 20:42:45 -0000	1.4
***************
*** 1,4 ****
! # Space
! cdef class Space(GeomObject):
      """Space class (container for geometry objects).
  
--- 1,4 ----
! # SpaceBase
! cdef class SpaceBase(GeomObject):
      """Space class (container for geometry objects).
  
***************
*** 25,43 ****
  #    cdef object geom_dict
  
!     def __new__(self, type=0):
!         if type==0:
!             self.sid = dSimpleSpaceCreate(0)
!         else:
!             self.sid = dHashSpaceCreate(0)
! 
!         # Copy the ID
!         self.gid = <dGeomID>self.sid
! 
!         dSpaceSetCleanup(self.sid, 0)
!         _geom_c2py_lut[<long>self.sid]=self
! 
!     def __init__(self, type=0):
          pass
! #        self.geom_dict = {}
  
      def __dealloc__(self):
--- 25,33 ----
  #    cdef object geom_dict
  
!     def __new__(self, *a, **kw):
          pass
! 
!     def __init__(self, *a, **kw):
!         raise NotImplementedError, "The SpaceBase class can't be used directly."
  
      def __dealloc__(self):
***************
*** 174,175 ****
--- 164,320 ----
      g2=_geom_c2py_lut[id2]
      callback(arg,g1,g2)
+ 
+ 
+ # SimpleSpace
+ cdef class SimpleSpace(SpaceBase):
+     """Simple space.
+ 
+     This does not do any collision culling - it simply checks every
+     possible pair of geoms for intersection, and reports the pairs
+     whose AABBs overlap. The time required to do intersection testing
+     for n objects is O(n**2). This should not be used for large numbers
+     of objects, but it can be the preferred algorithm for a small
+     number of objects. This is also useful for debugging potential
+     problems with the collision system.
+     """
+ 
+     def __new__(self, space=None):
+         cdef SpaceBase sp
+         cdef dSpaceID parentid
+ 
+         parentid = NULL
+         if space!=None:
+             sp = space
+             parentid = sp.sid
+         
+         self.sid = dSimpleSpaceCreate(parentid)
+ 
+         # Copy the ID
+         self.gid = <dGeomID>self.sid
+ 
+         dSpaceSetCleanup(self.sid, 0)
+         _geom_c2py_lut[<long>self.sid]=self
+ 
+     def __init__(self, space=None):
+         pass
+ 
+ # HashSpace
+ cdef class HashSpace(SpaceBase):
+     """Multi-resolution hash table space.
+ 
+     This uses an internal data structure that records how each geom
+     overlaps cells in one of several three dimensional grids. Each
+     grid has cubical cells of side lengths 2**i, where i is an integer
+     that ranges from a minimum to a maximum value. The time required
+     to do intersection testing for n objects is O(n) (as long as those
+     objects are not clustered together too closely), as each object
+     can be quickly paired with the objects around it.
+     """
+ 
+     def __new__(self, space=None):
+         cdef SpaceBase sp
+         cdef dSpaceID parentid
+ 
+         parentid = NULL
+         if space!=None:
+             sp = space
+             parentid = sp.sid
+         
+         self.sid = dHashSpaceCreate(parentid)
+ 
+         # Copy the ID
+         self.gid = <dGeomID>self.sid
+ 
+         dSpaceSetCleanup(self.sid, 0)
+         _geom_c2py_lut[<long>self.sid]=self
+ 
+     def __init__(self, space=None):
+         pass
+     
+     def setLevels(self, int minlevel, int maxlevel):
+         """setLevels(minlevel, maxlevel)
+ 
+         Sets the size of the smallest and largest cell used in the
+         hash table. The actual size will be 2^minlevel and 2^maxlevel
+         respectively.
+         """
+         
+         if minlevel>maxlevel:
+             raise ValueError, "minlevel (%d) must be less than or equal to maxlevel (%d)"%(minlevel, maxlevel)
+             
+         dHashSpaceSetLevels(self.sid, minlevel, maxlevel)
+ 
+     def getLevels(self):
+         """getLevels() -> (minlevel, maxlevel)
+ 
+         Gets the size of the smallest and largest cell used in the
+         hash table. The actual size is 2^minlevel and 2^maxlevel
+         respectively.
+         """
+         
+         cdef int minlevel
+         cdef int maxlevel
+         dHashSpaceGetLevels(self.sid, &minlevel, &maxlevel)
+         return (minlevel, maxlevel)
+ 
+ 
+ # QuadTreeSpace
+ cdef class QuadTreeSpace(SpaceBase):
+     """Quadtree space.
+ 
+     This uses a pre-allocated hierarchical grid-based AABB tree to
+     quickly cull collision checks. It's exceptionally quick for large
+     amounts of objects in landscape-shaped worlds. The amount of
+     memory used is 4**depth * 32 bytes.
+ 
+     Currently getGeom() is not implemented for the quadtree space.
+     """
+ 
+     def __new__(self, center, extents, depth, space=None):
+         cdef SpaceBase sp
+         cdef dSpaceID parentid
+         cdef dVector3 c
+         cdef dVector3 e
+ 
+         parentid = NULL
+         if space!=None:
+             sp = space
+             parentid = sp.sid
+ 
+         c[0] = center[0]
+         c[1] = center[1]
+         c[2] = center[2]
+         e[0] = extents[0]
+         e[1] = extents[1]
+         e[2] = extents[2]
+         self.sid = dQuadTreeSpaceCreate(parentid, c, e, depth)
+ 
+         # Copy the ID
+         self.gid = <dGeomID>self.sid
+ 
+         dSpaceSetCleanup(self.sid, 0)
+         _geom_c2py_lut[<long>self.sid]=self
+ 
+     def __init__(self, center, extents, depth, space=None):
+         pass
+ 
+ 
+ def Space(type=0):
+     """Space factory function.
+ 
+     Depending on the type argument this function either returns a
+     SimpleSpace (type=0) or a HashSpace (type=1).
+ 
+     This function is provided to remain compatible with previous
+     versions of PyODE where there was only one Space class.
+     
+      >>> space = Space(type=0)   # Create a SimpleSpace
+      >>> space = Space(type=1)   # Create a HashSpace
+     """
+     if type==0:
+         return SimpleSpace()
+     elif type==1:
+         return HashSpace()
+     else:
+         raise ValueError, "Unknown space type (%d)"%type
+     

Index: geoms.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/geoms.pyx,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** geoms.pyx	3 Aug 2004 07:17:25 -0000	1.9
--- geoms.pyx	5 Aug 2004 20:42:45 -0000	1.10
***************
*** 13,17 ****
  
      def __new__(self, space=None, radius=1.0):
!         cdef Space sp
          cdef dSpaceID sid
  
--- 13,17 ----
  
      def __new__(self, space=None, radius=1.0):
!         cdef SpaceBase sp
          cdef dSpaceID sid
  
***************
*** 82,86 ****
  
      def __new__(self, space=None, lengths=(1.0, 1.0, 1.0)):
!         cdef Space sp
          cdef dSpaceID sid
          
--- 82,86 ----
  
      def __new__(self, space=None, lengths=(1.0, 1.0, 1.0)):
!         cdef SpaceBase sp
          cdef dSpaceID sid
          
***************
*** 146,150 ****
  
      def __new__(self, space=None, normal=(0,0,1), dist=0):
!         cdef Space sp
          cdef dSpaceID sid
          
--- 146,150 ----
  
      def __new__(self, space=None, normal=(0,0,1), dist=0):
!         cdef SpaceBase sp
          cdef dSpaceID sid
          
***************
*** 206,210 ****
  
      def __new__(self, space=None, radius=0.5, length=1.0):
!         cdef Space sp
          cdef dSpaceID sid
          
--- 206,210 ----
  
      def __new__(self, space=None, radius=0.5, length=1.0):
!         cdef SpaceBase sp
          cdef dSpaceID sid
          
***************
*** 269,273 ****
  
      def __new__(self, space=None, rlen=1.0):
!         cdef Space sp
          cdef dSpaceID sid
          
--- 269,273 ----
  
      def __new__(self, space=None, rlen=1.0):
!         cdef SpaceBase sp
          cdef dSpaceID sid
          
***************
*** 324,328 ****
  
      def __new__(self, space=None):
!         cdef Space sp
          cdef dSpaceID sid
          
--- 324,328 ----
  
      def __new__(self, space=None):
!         cdef SpaceBase sp
          cdef dSpaceID sid
          

Index: declarations.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/declarations.pyx,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** declarations.pyx	3 Aug 2004 07:19:13 -0000	1.9
--- declarations.pyx	5 Aug 2004 20:42:45 -0000	1.10
***************
*** 292,299 ****
  
      # Space
!     dSpaceID dSimpleSpaceCreate(int space)
!     dSpaceID dHashSpaceCreate(int space)
! #    dSpaceID dSimpleSpaceCreate(dSpaceID space)
! #    dSpaceID dHashSpaceCreate(dSpaceID space)
  
      void dSpaceDestroy (dSpaceID)
--- 292,301 ----
  
      # Space
! #    dSpaceID dSimpleSpaceCreate(int space)
! #    dSpaceID dHashSpaceCreate(int space)
!     dSpaceID dSimpleSpaceCreate(dSpaceID space)
!     dSpaceID dHashSpaceCreate(dSpaceID space)
!     dSpaceID dQuadTreeSpaceCreate (dSpaceID space, dVector3 Center,
!                                    dVector3 Extents, int Depth)
  
      void dSpaceDestroy (dSpaceID)
***************
*** 304,307 ****
--- 306,310 ----
  
      void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel)
+     void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel)
  
      void dSpaceSetCleanup (dSpaceID space, int mode)

Index: trimesh.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/trimesh.pyx,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** trimesh.pyx	29 Jul 2004 20:57:38 -0000	1.2
--- trimesh.pyx	5 Aug 2004 20:42:45 -0000	1.3
***************
*** 21,25 ****
  
      def __new__(self, TriMeshData data not None, space=None):
!         cdef Space sp
          cdef dSpaceID sid
  
--- 21,25 ----
  
      def __new__(self, TriMeshData data not None, space=None):
!         cdef SpaceBase sp
          cdef dSpaceID sid
  

[Pyode-commits] pyode/src declarations.pyx,1.8,1.9 ode.pyx,1.8,1.9 space.pyx,1.2,1.3

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv28697

Modified Files:
	declarations.pyx ode.pyx space.pyx 
Log Message:
1) The Space class is now derived from GeomObject (as a Space is meanwhile considered to be a geom object in ODE). 2) Added some missing Space methods.

Index: ode.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/ode.pyx,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** ode.pyx	31 Jul 2004 12:28:02 -0000	1.8
--- ode.pyx	3 Aug 2004 07:19:13 -0000	1.9
***************
*** 140,143 ****
--- 140,146 ----
  include "joints.pyx"
  
+ # Geom base
+ include "geomobject.pyx"
+ 
  # Space
  include "space.pyx"

Index: space.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/space.pyx,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** space.pyx	12 Jul 2004 17:30:08 -0000	1.2
--- space.pyx	3 Aug 2004 07:19:13 -0000	1.3
***************
*** 1,4 ****
  # Space
! cdef class Space:
      """Space class (container for geometry objects).
  
--- 1,4 ----
  # Space
! cdef class Space(GeomObject):
      """Space class (container for geometry objects).
  
***************
*** 16,20 ****
--- 16,24 ----
      """
  
+     # The id of the space. Actually this is a copy of the value in self.gid
+     # (as the Space is derived from GeomObject) which can be used without
+     # casting whenever a *space* id is required.
      cdef dSpaceID sid
+     
      # Dictionary with Geomobjects. Key is the ID (geom._id()) and the value
      # is the geom object (Python wrapper). This is used in collide_callback()
***************
*** 27,30 ****
--- 31,37 ----
              self.sid = dHashSpaceCreate(0)
  
+         # Copy the ID
+         self.gid = <dGeomID>self.sid
+ 
          dSpaceSetCleanup(self.sid, 0)
          _geom_c2py_lut[<long>self.sid]=self
***************
*** 35,40 ****
  
      def __dealloc__(self):
!         if self.sid!=NULL:
              dSpaceDestroy(self.sid)
  
  #    def _addgeom(self, geom):
--- 42,49 ----
  
      def __dealloc__(self):
!         if self.gid!=NULL:
              dSpaceDestroy(self.sid)
+             self.sid = NULL
+             self.gid = NULL
  
  #    def _addgeom(self, geom):
***************
*** 62,65 ****
--- 71,106 ----
          return id
  
+     def add(self, GeomObject geom):
+         """add(geom)
+ 
+         Add a geom to a space. This does nothing if the geom is
+         already in the space.
+ 
+         @param geom: Geom object to add
+         @type geom: GeomObject
+         """
+         
+         dSpaceAdd(self.sid, geom.gid)
+ 
+     def remove(self, GeomObject geom):
+         """remove(geom)
+ 
+         Remove a geom from a space.
+ 
+         @param geom: Geom object to remove
+         @type geom: GeomObject
+         """
+         dSpaceRemove(self.sid, geom.gid)
+ 
+     def query(self, GeomObject geom):
+         """query(geom) -> bool
+ 
+         Return True if the given geom is in the space.
+ 
+         @param geom: Geom object to check
+         @type geom: GeomObject
+         """
+         return dSpaceQuery(self.sid, geom.gid)
+ 
      def getNumGeoms(self):
          """getNumGeoms() -> int
***************
*** 69,72 ****
--- 110,133 ----
          return dSpaceGetNumGeoms(self.sid)
  
+     def getGeom(self, int idx):
+         """getGeom(idx) -> GeomObject
+ 
+         Return the geom with the given index contained within the space.
+ 
+         @param idx: Geom index (0,1,...,getNumGeoms()-1)
+         @type idx: int
+         """
+         cdef dGeomID gid
+ 
+         # Check the index
+         if idx<0 or idx>=dSpaceGetNumGeoms(self.sid):
+             raise IndexError, "geom index out of range"
+ 
+         gid = dSpaceGetGeom(self.sid, idx)
+         if <long>gid not in _geom_c2py_lut:
+             raise RuntimeError, "geom id cannot be translated to a Python object"
+ 
+         return _geom_c2py_lut[<long>gid]
+ 
      def collide(self, arg, callback):
          """Do collision detection.

Index: declarations.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/declarations.pyx,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** declarations.pyx	31 Jul 2004 12:27:27 -0000	1.8
--- declarations.pyx	3 Aug 2004 07:19:13 -0000	1.9
***************
*** 300,303 ****
--- 300,304 ----
      void dSpaceAdd (dSpaceID, dGeomID)
      void dSpaceRemove (dSpaceID, dGeomID)
+     int dSpaceQuery (dSpaceID, dGeomID)
      void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback)
  
***************
*** 308,311 ****
--- 309,313 ----
  
      int dSpaceGetNumGeoms (dSpaceID)
+     dGeomID dSpaceGetGeom (dSpaceID, int i)
  
      # Geom

[Pyode-commits] pyode/src geomobject.pyx,NONE,1.1 geoms.pyx,1.8,1.9

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv28293

Modified Files:
	geoms.pyx 
Added Files:
	geomobject.pyx 
Log Message:
Moved the geom base out of geoms.pyx into its own file geomobject.pyx so that the Space class can also use it as base class.

Index: geoms.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/geoms.pyx,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** geoms.pyx	29 Jul 2004 20:17:13 -0000	1.8
--- geoms.pyx	3 Aug 2004 07:17:25 -0000	1.9
***************
*** 1,248 ****
! # Each geom object has to insert itself into the global dictionary
! # _geom_c2py_lut (key:address - value:Python object).
! # This lookup table is used in the near callback to translate the C
! # pointers into corresponding Python wrapper objects.
! #
! # Additionally, each geom object must have a method _id() that returns
! # the ODE geom id. This is used during collision detection.
! # 
! # ##########################
! # # Obsolete:
! # #
! # # Each geom object has to register itself at its space as the
! # # space keeps a dictionary that's used as lookup table to translate
! # # C pointers into Python objects (this is used in the near callback).
! 
! 
! # Geom base class
! cdef class GeomObject:
!     """This is the abstract base class for all geom objects.
!     """
!     
!     # The id of the geom object as returned by dCreateXxxx()
!     cdef dGeomID gid
!     # The space in which the geom was placed (or None). This reference
!     # is kept so that the space won't be destroyed while there are still
!     # geoms around that might use it. 
!     cdef object space
!     # The body that the geom was attached to (or None).
!     cdef object body
! 
!     # A dictionary with user defined attributes
!     cdef object attribs
! 
!     def __new__(self, *a, **kw):
!         self.gid = NULL
!         self.space = None
!         self.body = None
!         self.attribs = {}
! 
!     def __init__(self, *a, **kw):
!         raise NotImplementedError, "The GeomObject base class can't be used directly."
! 
!     def __dealloc__(self):
!         if self.gid!=NULL:
!             dGeomDestroy(self.gid)
! 
!     def __getattr__(self, name):
!         if name in self.attribs:
!             return self.attribs[name]
!         else:
!             raise AttributeError, "geom has no attribute '%s'."%name
! 
!     def __setattr__(self, name, val):
!         self.attribs[name]=val
! 
!     def _id(self):
!         """_id() -> int
! 
!         Return the internal id of the geom (dGeomID) as returned by
!         the dCreateXyz() functions.
! 
!         This method has to be overwritten in derived methods.        
!         """
!         raise NotImplementedError, "Bug: The _id() method is not implemented."
! 
!     def placeable(self):
!         """placeable() -> bool
! 
!         Returns True if the geom object is a placeable geom.
! 
!         This method has to be overwritten in derived methods.
!         """
!         return False
! 
!     def setBody(self, Body body):
!         """setBody(body)
! 
!         Set the body associated with a placeable geom.
! 
!         @param body: The Body object or None.
!         @type body: Body
!         """
! 
!         if not self.placeable():
!             raise ValueError, "Non-placeable geoms cannot have a body associated to them."
!         
!         if body==None:
!             dGeomSetBody(self.gid, NULL)
!         else:
!             dGeomSetBody(self.gid, body.bid)
!         self.body = body
! 
!     def getBody(self):
!         """getBody() -> Body
! 
!         Get the body associated with this geom.
!         """
!         if not self.placeable():
!             return environment
!         
!         return self.body
! 
!     def setPosition(self, pos):
!         """setPosition(pos)
! 
!         Set the position of the geom. If the geom is attached to a body,
!         the body's position will also be changed.
! 
!         @param pos: Position
!         @type pos: 3-sequence of floats
!         """
!         if not self.placeable():
!             raise ValueError, "Cannot set a position on non-placeable geoms."
!         dGeomSetPosition(self.gid, pos[0], pos[1], pos[2])
! 
!     def getPosition(self):
!         """getPosition() -> 3-tuple
! 
!         Get the current position of the geom. If the geom is attached to
!         a body the returned value is the body's position.
!         """
!         if not self.placeable():
!             raise ValueError, "Non-placeable geoms do not have a position."
! 
!         cdef dReal* p
!         p = <dReal*>dGeomGetPosition(self.gid)
!         return (p[0],p[1],p[2])
! 
!     def setRotation(self, R):
!         """setRotation(R)
! 
!         Set the orientation of the geom. If the geom is attached to a body,
!         the body's orientation will also be changed.
! 
!         @param R: Rotation matrix
!         @type R: 9-sequence of floats
!         """
!         if not self.placeable():
!             raise ValueError, "Cannot set a rotation on non-placeable geoms."
! 
!         cdef dMatrix3 m
!         m[0] = R[0]
!         m[1] = R[1]
!         m[2] = R[2]
!         m[3] = 0
!         m[4] = R[3]
!         m[5] = R[4]
!         m[6] = R[5]
!         m[7] = 0
!         m[8] = R[6]
!         m[9] = R[7]
!         m[10] = R[8]
!         m[11] = 0
!         dGeomSetRotation(self.gid, m)
! 
!     def getRotation(self):
!         """getRotation() -> 9-tuple
! 
!         Get the current orientation of the geom. If the geom is attached to
!         a body the returned value is the body's orientation.
!         """
!         if not self.placeable():
!             raise ValueError, "Non-placeable geoms do not have a rotation."
! 
!         cdef dReal* m
!         m = <dReal*>dGeomGetRotation(self.gid)
!         return [m[0],m[1],m[2],m[4],m[5],m[6],m[8],m[9],m[10]]
! 
!     def getAABB(self):
!         """getAABB() -> 6-tuple
! 
!         Return an axis aligned bounding box that surrounds the geom.
!         The return value is a 6-tuple (minx, maxx, miny, maxy, minz, maxz).
!         """
!         cdef dReal aabb[6]
!         
!         dGeomGetAABB(self.gid, aabb)
!         return (aabb[0], aabb[1], aabb[2], aabb[3], aabb[4], aabb[5])
! 
!     def isSpace(self):
!         """isSpace() -> bool
! 
!         Return 1 if the given geom is a space, or 0 if not."""
!         return dGeomIsSpace(self.gid)
! 
!     def getSpace(self):
!         """getSpace() -> Space
! 
!         Return the space that the given geometry is contained in,
!         or return None if it is not contained in any space."""        
!         return self.space
! 
!     def setCollideBits(self, bits):
!         """setCollideBits(bits)
! 
!         Set the "collide" bitfields for this geom.
! 
!         @param bits: Collide bit field
!         @type bits: int
!         """
!         dGeomSetCollideBits(self.gid, bits)
!         
!     def setCategoryBits(self, bits):
!         """setCategoryBits(bits)
! 
!         Set the "category" bitfields for this geom.
! 
!         @param bits: Category bit field
!         @type bits: int
!         """
!         dGeomSetCategoryBits(self.gid, bits)
! 
!     def getCollideBits(self):
!         """getCollideBits() -> int
! 
!         Return the "collide" bitfields for this geom.
!         """
!         return dGeomGetCollideBits(self.gid)
! 
!     def getCategoryBits(self):
!         """getCategoryBits() -> int
! 
!         Return the "category" bitfields for this geom.
!         """
!         return dGeomGetCategoryBits(self.gid)
!     
!     def enable(self):
!         """enable()
! 
!         Enable the geom."""
!         dGeomEnable(self.gid)
! 
!     def disable(self):
!         """disable()
! 
!         Disable the geom."""
!         dGeomDisable(self.gid)
! 
!     def isEnabled(self):
!         """isEnabled() -> bool
! 
!         Return True if the geom is enabled."""
!         return dGeomIsEnabled(self.gid)
! 
! 
! ######################################################################
  
  # GeomSphere
--- 1,3 ----
! # Geom objects
  
  # GeomSphere

--- NEW FILE: geomobject.pyx ---
# Each geom object has to insert itself into the global dictionary
# _geom_c2py_lut (key:address - value:Python object).
# This lookup table is used in the near callback to translate the C
# pointers into corresponding Python wrapper objects.
#
# Additionally, each geom object must have a method _id() that returns
# the ODE geom id. This is used during collision detection.
# 
# ##########################
# # Obsolete:
# #
# # Each geom object has to register itself at its space as the
# # space keeps a dictionary that's used as lookup table to translate
# # C pointers into Python objects (this is used in the near callback).


# Geom base class
cdef class GeomObject:
    """This is the abstract base class for all geom objects.
    """
    
    # The id of the geom object as returned by dCreateXxxx()
    cdef dGeomID gid
    # The space in which the geom was placed (or None). This reference
    # is kept so that the space won't be destroyed while there are still
    # geoms around that might use it. 
    cdef object space
    # The body that the geom was attached to (or None).
    cdef object body

    # A dictionary with user defined attributes
    cdef object attribs

    def __new__(self, *a, **kw):
        self.gid = NULL
        self.space = None
        self.body = None
        self.attribs = {}

    def __init__(self, *a, **kw):
        raise NotImplementedError, "The GeomObject base class can't be used directly."

    def __dealloc__(self):
        if self.gid!=NULL:
            dGeomDestroy(self.gid)
            self.gid = NULL

    def __getattr__(self, name):
        if name in self.attribs:
            return self.attribs[name]
        else:
            raise AttributeError, "geom has no attribute '%s'."%name

    def __setattr__(self, name, val):
        self.attribs[name]=val

    def _id(self):
        """_id() -> int

        Return the internal id of the geom (dGeomID) as returned by
        the dCreateXyz() functions.

        This method has to be overwritten in derived methods.        
        """
        raise NotImplementedError, "Bug: The _id() method is not implemented."

    def placeable(self):
        """placeable() -> bool

        Returns True if the geom object is a placeable geom.

        This method has to be overwritten in derived methods.
        """
        return False

    def setBody(self, Body body):
        """setBody(body)

        Set the body associated with a placeable geom.

        @param body: The Body object or None.
        @type body: Body
        """

        if not self.placeable():
            raise ValueError, "Non-placeable geoms cannot have a body associated to them."
        
        if body==None:
            dGeomSetBody(self.gid, NULL)
        else:
            dGeomSetBody(self.gid, body.bid)
        self.body = body

    def getBody(self):
        """getBody() -> Body

        Get the body associated with this geom.
        """
        if not self.placeable():
            return environment
        
        return self.body

    def setPosition(self, pos):
        """setPosition(pos)

        Set the position of the geom. If the geom is attached to a body,
        the body's position will also be changed.

        @param pos: Position
        @type pos: 3-sequence of floats
        """
        if not self.placeable():
            raise ValueError, "Cannot set a position on non-placeable geoms."
        dGeomSetPosition(self.gid, pos[0], pos[1], pos[2])

    def getPosition(self):
        """getPosition() -> 3-tuple

        Get the current position of the geom. If the geom is attached to
        a body the returned value is the body's position.
        """
        if not self.placeable():
            raise ValueError, "Non-placeable geoms do not have a position."

        cdef dReal* p
        p = <dReal*>dGeomGetPosition(self.gid)
        return (p[0],p[1],p[2])

    def setRotation(self, R):
        """setRotation(R)

        Set the orientation of the geom. If the geom is attached to a body,
        the body's orientation will also be changed.

        @param R: Rotation matrix
        @type R: 9-sequence of floats
        """
        if not self.placeable():
            raise ValueError, "Cannot set a rotation on non-placeable geoms."

        cdef dMatrix3 m
        m[0] = R[0]
        m[1] = R[1]
        m[2] = R[2]
        m[3] = 0
        m[4] = R[3]
        m[5] = R[4]
        m[6] = R[5]
        m[7] = 0
        m[8] = R[6]
        m[9] = R[7]
        m[10] = R[8]
        m[11] = 0
        dGeomSetRotation(self.gid, m)

    def getRotation(self):
        """getRotation() -> 9-tuple

        Get the current orientation of the geom. If the geom is attached to
        a body the returned value is the body's orientation.
        """
        if not self.placeable():
            raise ValueError, "Non-placeable geoms do not have a rotation."

        cdef dReal* m
        m = <dReal*>dGeomGetRotation(self.gid)
        return [m[0],m[1],m[2],m[4],m[5],m[6],m[8],m[9],m[10]]

    def getAABB(self):
        """getAABB() -> 6-tuple

        Return an axis aligned bounding box that surrounds the geom.
        The return value is a 6-tuple (minx, maxx, miny, maxy, minz, maxz).
        """
        cdef dReal aabb[6]
        
        dGeomGetAABB(self.gid, aabb)
        return (aabb[0], aabb[1], aabb[2], aabb[3], aabb[4], aabb[5])

    def isSpace(self):
        """isSpace() -> bool

        Return 1 if the given geom is a space, or 0 if not."""
        return dGeomIsSpace(self.gid)

    def getSpace(self):
        """getSpace() -> Space

        Return the space that the given geometry is contained in,
        or return None if it is not contained in any space."""        
        return self.space

    def setCollideBits(self, bits):
        """setCollideBits(bits)

        Set the "collide" bitfields for this geom.

        @param bits: Collide bit field
        @type bits: int
        """
        dGeomSetCollideBits(self.gid, bits)
        
    def setCategoryBits(self, bits):
        """setCategoryBits(bits)

        Set the "category" bitfields for this geom.

        @param bits: Category bit field
        @type bits: int
        """
        dGeomSetCategoryBits(self.gid, bits)

    def getCollideBits(self):
        """getCollideBits() -> int

        Return the "collide" bitfields for this geom.
        """
        return dGeomGetCollideBits(self.gid)

    def getCategoryBits(self):
        """getCategoryBits() -> int

        Return the "category" bitfields for this geom.
        """
        return dGeomGetCategoryBits(self.gid)
    
    def enable(self):
        """enable()

        Enable the geom."""
        dGeomEnable(self.gid)

    def disable(self):
        """disable()

        Disable the geom."""
        dGeomDisable(self.gid)

    def isEnabled(self):
        """isEnabled() -> bool

        Return True if the geom is enabled."""
        return dGeomIsEnabled(self.gid)

[Pyode-commits] pyode/xode geom.py,1.2,1.3 parser.py,1.2,1.3

[Timothy S. <pe...@us...>]

Update of /cvsroot/pyode/pyode/xode
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23500/xode

Modified Files:
	geom.py parser.py 
Log Message:
- Added support for TriMesh to the XODE parser.
- Changed TriMeshData.build to use dGeomTriMeshDataBuildSimple instead of dGeomTriMeshBuildSingle1.


Index: geom.py
===================================================================
RCS file: /cvsroot/pyode/pyode/xode/geom.py,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** geom.py	28 Jul 2004 18:38:10 -0000	1.2
--- geom.py	1 Aug 2004 16:47:36 -0000	1.3
***************
*** 58,62 ****
              self._parseGeomSphere(attrs)
          elif (name == 'trimesh'):
!             raise NotImplementedError()
          elif (name == 'geom'):
              g = Geom(nodeName, self)
--- 58,62 ----
              self._parseGeomSphere(attrs)
          elif (name == 'trimesh'):
!             self._parseTriMesh(attrs)
          elif (name == 'geom'):
              g = Geom(nodeName, self)
***************
*** 84,88 ****
              self._parser.pop()
  
!     def _setObject(self, kclass, *args):
          """
          Create the Geom object and apply transforms. Only call for placeable
--- 84,88 ----
              self._parser.pop()
  
!     def _setObject(self, kclass, **kwargs):
          """
          Create the Geom object and apply transforms. Only call for placeable
***************
*** 93,97 ****
              # The Geom is independant so it can have its own transform
  
!             obj = kclass(*((self._space,) + args))
  
              t = self.getTransform()
--- 93,98 ----
              # The Geom is independant so it can have its own transform
  
!             kwargs['space'] = self._space
!             obj = kclass(**kwargs)
  
              t = self.getTransform()
***************
*** 106,110 ****
              # to the body.
  
!             obj = kclass(*((None,) + args))
  
              t = self.getTransform(self._body)
--- 107,112 ----
              # to the body.
  
!             kwargs['space'] = None
!             obj = kclass(**kwargs)
  
              t = self.getTransform(self._body)
***************
*** 118,122 ****
              self.setODEObject(trans)
          else:
!             obj = kclass(*((self._space,) + args))
              obj.setBody(self._body.getODEObject())
              self.setODEObject(obj)
--- 120,125 ----
              self.setODEObject(trans)
          else:
!             kwargs['space'] = self._space
!             obj = kclass(**kwargs)
              obj.setBody(self._body.getODEObject())
              self.setODEObject(obj)
***************
*** 137,141 ****
          lz = float(attrs['sizez'])
  
!         self._setObject(ode.GeomBox, (lx, ly, lz))
          self._parser.push(startElement=start, endElement=end)
  
--- 140,144 ----
          lz = float(attrs['sizez'])
  
!         self._setObject(ode.GeomBox, lengths=(lx, ly, lz))
          self._parser.push(startElement=start, endElement=end)
  
***************
*** 154,158 ****
          length = float(attrs['length'])
  
!         self._setObject(ode.GeomCCylinder, radius, length)
          self._parser.push(startElement=start, endElement=end)
  
--- 157,161 ----
          length = float(attrs['length'])
  
!         self._setObject(ode.GeomCCylinder, radius=radius, length=length)
          self._parser.push(startElement=start, endElement=end)
  
***************
*** 170,174 ****
          radius = float(attrs['radius'])
  
!         self._setObject(ode.GeomSphere, radius)
          self._parser.push(startElement=start, endElement=end)
  
--- 173,177 ----
          radius = float(attrs['radius'])
  
!         self._setObject(ode.GeomSphere, radius=radius)
          self._parser.push(startElement=start, endElement=end)
  
***************
*** 207,208 ****
--- 210,237 ----
          self.setODEObject(ode.GeomRay(self._space, length))
          self._parser.push(startElement=start, endElement=end)
+ 
+     def _parseTriMesh(self, attrs):
+         vertices = []
+         triangles = []
+         
+         def start(name, attrs):
+             if (name == 'vertices'):
+                 pass
+             elif (name == 'triangles'):
+                 pass
+             elif (name == 'v'):
+                 vertices.append(self._parser.parseVector(attrs))
+             elif (name == 't'):
+                 tri = int(attrs['ia'])-1, int(attrs['ib'])-1, int(attrs['ic'])-1
+                 triangles.append(tri)
+             else:
+                 raise errors.ChildError('trimesh', name)
+ 
+         def end(name):
+             if (name == 'trimesh'):
+                 data = ode.TriMeshData()
+                 data.build(vertices, triangles)
+                 self._setObject(ode.GeomTriMesh, data=data)
+                 self._parser.pop()
+         
+         self._parser.push(startElement=start, endElement=end)

Index: parser.py
===================================================================
RCS file: /cvsroot/pyode/pyode/xode/parser.py,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** parser.py	16 Jul 2004 11:45:17 -0000	1.2
--- parser.py	1 Aug 2004 16:47:36 -0000	1.3
***************
*** 18,26 ****
  Currently, the following features of XODE are not supported:
  
!     - Geoms
!     - Quaternion and axis-angle rotation modes.
      - Groups
!     - Joints other than BallJoint.
!     - Extension support.
  
  Usage
--- 18,25 ----
  Currently, the following features of XODE are not supported:
  
!     - Quaternion and axis-angle rotation modes
      - Groups
!     - Joints other than BallJoint
!     - Extension support
  
  Usage

[Pyode-commits] pyode/tests test_xode.py,1.2,1.3

[Timothy S. <pe...@us...>]

Update of /cvsroot/pyode/pyode/tests
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23500/tests

Modified Files:
	test_xode.py 
Log Message:
- Added support for TriMesh to the XODE parser.
- Changed TriMeshData.build to use dGeomTriMeshDataBuildSimple instead of dGeomTriMeshBuildSingle1.


Index: test_xode.py
===================================================================
RCS file: /cvsroot/pyode/pyode/tests/test_xode.py,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** test_xode.py	16 Jul 2004 11:45:17 -0000	1.2
--- test_xode.py	1 Aug 2004 16:47:36 -0000	1.3
***************
*** 6,10 ****
  from xode import node, transform, parser, errors
  
! test_doc = '''<?xml version="1.0"?>
  <xode>
    <world name="world1">
--- 6,10 ----
  from xode import node, transform, parser, errors
  
! test_doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
  <xode>
    <world name="world1">
***************
*** 152,155 ****
--- 152,180 ----
  </xode>'''
  
+ trimesh_doc='''<?xml version="1.0" encoding="iso-8859-1"?>
+ <xode>
+   <world>
+     <space>
+       <geom name="trimesh1">
+         <trimesh>
+           <vertices>
+             <v x="0" y="1" z="1" />
+             <v x="1" y="2" z="2" />
+             <v x="2" y="0" z="1" />
+             <v x="0" y="1" z="2" />
+             <v x="2" y="2" z="1" />
+           </vertices>
+           <triangles>
+             <t ia="1" ib="2" ic="3" />
+             <t ia="2" ib="1" ic="4" />
+             <t ia="3" ib="2" ic="1" />
+           </triangles>
+         </trimesh>
+       </geom>
+     </space>
+   </world>
+ </xode>
+ '''
+ 
  def feq(n1, n2, error=0.1):
      """
***************
*** 490,493 ****
--- 515,547 ----
                      self.assertEqual(t.m[r][c], 0)
  
+ class TestTriMeshParser(unittest.TestCase):
+     def setUp(self):
+         self.p = parser.Parser()
+         self.root = self.p.parseString(trimesh_doc)
+         self.trimesh1 = self.root.namedChild('trimesh1').getODEObject()
+ 
+     def testInstance(self):
+         self.assert_(isinstance(self.trimesh1, ode.GeomTriMesh))
+ 
+     def testTriangles(self):
+         triangles = [(1, 2, 3),
+                      (2, 1, 4),
+                      (3, 2, 1)]
+ 
+         vertices = [(0.0, 1.0, 1.0),
+                     (1.0, 2.0, 2.0),
+                     (2.0, 0.0, 1.0),
+                     (0.0, 1.0, 2.0),
+                     (2.0, 2.0, 1.0)]
+ 
+         for i in range(len(triangles)):
+             tri = self.trimesh1.getTriangle(i)
+             
+             ref = []
+             for v in triangles[i]:
+                 ref.append(vertices[v-1])
+                 
+             self.assertEqual(tri, tuple(ref))
+ 
  class TestInvalid(unittest.TestCase):
      def setUp(self):
***************
*** 496,508 ****
  class TestInvalidTags(TestInvalid):
      def testRoot(self):
!         self.assertRaises(errors.InvalidError, self.p.parseString,
!                           '<?xml version="1.0"?>\n<test></test>')
          
      def testRootChild(self):
!         self.assertRaises(errors.ChildError, self.p.parseString,
!                           '<?xml version="1.0"?>\n<xode><test/></xode>')
  
      def testWorldChild(self):
!         doc = '''<?xml version="1.0"?>
          <xode><world>
            <test/>
--- 550,564 ----
  class TestInvalidTags(TestInvalid):
      def testRoot(self):
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
!         <test></test>'''
!         self.assertRaises(errors.InvalidError, self.p.parseString, doc)
          
      def testRootChild(self):
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
!         <xode><test/></xode>'''
!         self.assertRaises(errors.ChildError, self.p.parseString, doc)
  
      def testWorldChild(self):
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
          <xode><world>
            <test/>
***************
*** 512,516 ****
  
      def testSpaceChild(self):
!         doc = '''<?xml version="1.0"?>
          <xode><world><space>
            <test/>
--- 568,572 ----
  
      def testSpaceChild(self):
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
          <xode><world><space>
            <test/>
***************
*** 520,524 ****
  
      def testMassChild(self):
!         doc = '''<?xml version="1.0"?>
          <xode><world><space>
            <body>
--- 576,580 ----
  
      def testMassChild(self):
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
          <xode><world><space>
            <body>
***************
*** 532,547 ****
  
      def testJointChild(self):
!         doc = '''<?xml version="1.0"?>
          <xode><world><space><joint><test/></joint></space></world></xode>'''
          self.assertRaises(errors.ChildError, self.p.parseString, doc)
  
      def testGeomChild(self):
!         doc = '''<?xml version="1.0"?>
          <xode><world><space><geom><test/></geom></space></world></xode>'''
          self.assertRaises(errors.ChildError, self.p.parseString, doc)
  
  class TestInvalidBody(TestInvalid):
      def testBadVector(self):
!         doc = '''<?xml version="1.0"?>
          <xode><world>
            <body>
--- 588,610 ----
  
      def testJointChild(self):
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
          <xode><world><space><joint><test/></joint></space></world></xode>'''
          self.assertRaises(errors.ChildError, self.p.parseString, doc)
  
      def testGeomChild(self):
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
          <xode><world><space><geom><test/></geom></space></world></xode>'''
          self.assertRaises(errors.ChildError, self.p.parseString, doc)
  
+     def testTriMeshChild(self):
+         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
+         <xode><world><space><geom><trimesh><test/>
+         </trimesh></geom></space></world></xode>
+         '''
+         self.assertRaises(errors.ChildError, self.p.parseString, doc)
+ 
  class TestInvalidBody(TestInvalid):
      def testBadVector(self):
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
          <xode><world>
            <body>
***************
*** 553,557 ****
  
      def testBodyEnable(self):
!         doc = '''<?xml version="1.0"?>
          <xode><world>
            <body enabled="unsure">
--- 616,620 ----
  
      def testBodyEnable(self):
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
          <xode><world>
            <body enabled="unsure">
***************
*** 562,566 ****
  
      def testFiniteRotationMode(self):
!         doc = '''<?xml version="1.0"?>
          <xode><world>
            <body>
--- 625,629 ----
  
      def testFiniteRotationMode(self):
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
          <xode><world>
            <body>
***************
*** 572,576 ****
  
      def testFiniteRotationAxes(self):
!         doc = '''<?xml version="1.0"?>
          <xode><world>
            <body>
--- 635,639 ----
  
      def testFiniteRotationAxes(self):
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
          <xode><world>
            <body>
***************
*** 583,587 ****
  class TestInvalidJoint(TestInvalid):
      def testEqualLinks(self):
!         doc = '''<?xml version="1.0"?>
          <xode><world><space>
            <joint>
--- 646,650 ----
  class TestInvalidJoint(TestInvalid):
      def testEqualLinks(self):
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
          <xode><world><space>
            <joint>
***************
*** 594,598 ****
  
      def testNoType(self):
!         doc = '''<?xml version="1.0"?>
          <xode><world><space>
            <joint/>
--- 657,661 ----
  
      def testNoType(self):
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
          <xode><world><space>
            <joint/>
***************
*** 602,606 ****
  
      def testWrongType(self):
!         doc = '''<?xml version="1.0"?>
          <xode><world><space name="space1">
            <body name="body1"/>
--- 665,669 ----
  
      def testWrongType(self):
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
          <xode><world><space name="space1">
            <body name="body1"/>
***************
*** 615,619 ****
  
      def testMisplacedReference(self):
!         doc = '''<?xml version="1.0"?>
          <xode><world><space name="space1">
            <body name="body1"/>
--- 678,682 ----
  
      def testMisplacedReference(self):
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
          <xode><world><space name="space1">
            <body name="body1"/>
***************
*** 631,635 ****
  class TestInvalidGeom(TestInvalid):
      def testNoType(self):
!         doc = '''<?xml version="1.0"?>
          <xode><world><space>
            <geom/>
--- 694,698 ----
  class TestInvalidGeom(TestInvalid):
      def testNoType(self):
!         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
          <xode><world><space>
            <geom/>

[Pyode-commits] pyode/src trimeshdata.pyx,1.2,1.3

[Timothy S. <pe...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23500/src

Modified Files:
	trimeshdata.pyx 
Log Message:
- Added support for TriMesh to the XODE parser.
- Changed TriMeshData.build to use dGeomTriMeshDataBuildSimple instead of dGeomTriMeshBuildSingle1.


Index: trimeshdata.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/trimeshdata.pyx,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** trimeshdata.pyx	24 Jul 2004 11:53:38 -0000	1.2
--- trimeshdata.pyx	1 Aug 2004 16:47:36 -0000	1.3
***************
*** 39,43 ****
          numfaces = len(faces)
          # Allocate the vertex and face buffer
!         self.vertex_buffer = <dReal*>malloc(numverts*3*sizeof(dReal))
          self.face_buffer = <int*>malloc(numfaces*3*sizeof(int))
  
--- 39,43 ----
          numfaces = len(faces)
          # Allocate the vertex and face buffer
!         self.vertex_buffer = <dReal*>malloc(numverts*4*sizeof(dReal))
          self.face_buffer = <int*>malloc(numfaces*3*sizeof(int))
  
***************
*** 48,53 ****
              vp[1] = v[1]
              vp[2] = v[2]
! #            vp[3] = 0
!             vp = vp+3
  
          # Fill the face buffer
--- 48,53 ----
              vp[1] = v[1]
              vp[2] = v[2]
!             vp[3] = 0
!             vp = vp+4
  
          # Fill the face buffer
***************
*** 65,68 ****
  
          # Pass the data to ODE
! #        dGeomTriMeshDataBuildSimple(self.tmdid, self.vertex_buffer, numverts, self.face_buffer, numfaces)
!         dGeomTriMeshDataBuildSingle1(self.tmdid, self.vertex_buffer, 3*sizeof(dReal), numverts, self.face_buffer, numfaces, 3*sizeof(int), NULL)
--- 65,67 ----
  
          # Pass the data to ODE
!         dGeomTriMeshDataBuildSimple(self.tmdid, self.vertex_buffer, numverts, self.face_buffer, numfaces*3)
\ No newline at end of file

[Pyode-commits] pyode/src ode.pyx,1.7,1.8

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv14578/src

Modified Files:
	ode.pyx 
Log Message:
Added some more missing methods and doc strings.

Index: ode.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/ode.pyx,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** ode.pyx	29 Jul 2004 20:57:38 -0000	1.7
--- ode.pyx	31 Jul 2004 12:28:02 -0000	1.8
***************
*** 53,56 ****
--- 53,57 ----
   - GeomRay
   - GeomTransform
+  - GeomTriMesh / TriMeshData
  
  Functions:

[Pyode-commits] pyode/src body.pyx,1.3,1.4 declarations.pyx,1.7,1.8 world.pyx,1.1,1.2

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv14481/src

Modified Files:
	body.pyx declarations.pyx world.pyx 
Log Message:
Added some more missing methods and doc strings.

Index: world.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/world.pyx,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** world.pyx	27 Jun 2004 20:46:17 -0000	1.1
--- world.pyx	31 Jul 2004 12:27:27 -0000	1.2
***************
*** 5,8 ****
--- 5,13 ----
      
      The world object is a container for rigid bodies and joints.
+     
+     
+     Constructor::
+     
+       World()
      """
  
***************
*** 18,27 ****
      # setGravity
      def setGravity(self, gravity):
!         """Set the world's global gravity vector."""
          dWorldSetGravity(self.wid, gravity[0], gravity[1], gravity[2])
  
      # getGravity
      def getGravity(self):
!         """Get the world's global gravity vector."""
          cdef dVector3 g
          dWorldGetGravity(self.wid, g)
--- 23,41 ----
      # setGravity
      def setGravity(self, gravity):
!         """setGravity(gravity)
! 
!         Set the world's global gravity vector.
! 
!         @param gravity: Gravity vector
!         @type gravity: 3-sequence of floats
!         """
          dWorldSetGravity(self.wid, gravity[0], gravity[1], gravity[2])
  
      # getGravity
      def getGravity(self):
!         """getGravity() -> 3-tuple
! 
!         Return the world's global gravity vector as a 3-tuple of floats.
!         """
          cdef dVector3 g
          dWorldGetGravity(self.wid, g)
***************
*** 30,88 ****
      # setERP
      def setERP(self, erp):
          dWorldSetERP(self.wid, erp)
  
      # getERP
      def getERP(self):
          return dWorldGetERP(self.wid)
  
      # setCFM
      def setCFM(self, cfm):
          dWorldSetCFM(self.wid, cfm)
  
      # getCFM
      def getCFM(self):
          return dWorldGetCFM(self.wid)
  
      # step
      def step(self, stepsize):
          dWorldStep(self.wid, stepsize)
  
      # quickStep
      def quickStep(self, stepsize):
          dWorldQuickStep(self.wid, stepsize)
  
      # setQuickStepNumIterations
      def setQuickStepNumIterations(self, num):
          dWorldSetQuickStepNumIterations(self.wid, num)
  
      # getQuickStepNumIterations
      def getQuickStepNumIterations(self):
          return dWorldGetQuickStepNumIterations(self.wid)
  
      # createBody
!     def createBody(self):
!         return Body(self)
  
      # createBallJoint
!     def createBallJoint(self, jointgroup=None):
!         return BallJoint(self, jointgroup)
  
      # createHingeJoint
!     def createHingeJoint(self, jointgroup=None):
!         return HingeJoint(self, jointgroup)
  
      # createHinge2Joint
!     def createHinge2Joint(self, jointgroup=None):
!         return Hinge2Joint(self, jointgroup)
  
      # createSliderJoint
!     def createSliderJoint(self, jointgroup=None):
!         return SliderJoint(self, jointgroup)
  
      # createFixedJoint
!     def createFixedJoint(self, jointgroup=None):
!         return FixedJoint(self, jointgroup)
  
      # createContactJoint
!     def createContactJoint(self, jointgroup, contact):
!         return ContactJoint(self, jointgroup, contact)
--- 44,350 ----
      # setERP
      def setERP(self, erp):
+         """setERP(erp)
+ 
+         Set the global ERP value, that controls how much error
+         correction is performed in each time step. Typical values are
+         in the range 0.1-0.8. The default is 0.2.
+ 
+         @param erp: Global ERP value
+         @type erp: float
+         """
          dWorldSetERP(self.wid, erp)
  
      # getERP
      def getERP(self):
+         """getERP() -> float
+ 
+         Get the global ERP value, that controls how much error
+         correction is performed in each time step. Typical values are
+         in the range 0.1-0.8. The default is 0.2.
+         """
          return dWorldGetERP(self.wid)
  
      # setCFM
      def setCFM(self, cfm):
+         """setCFM(cfm)
+ 
+         Set the global CFM (constraint force mixing) value. Typical
+         values are in the range 10E-9 - 1. The default is 10E-5 if
+         single precision is being used, or 10E-10 if double precision
+         is being used.
+ 
+         @param cfm: Constraint force mixing value
+         @type cfm: float
+         """
          dWorldSetCFM(self.wid, cfm)
  
      # getCFM
      def getCFM(self):
+         """getCFM() -> float
+ 
+         Get the global CFM (constraint force mixing) value. Typical
+         values are in the range 10E-9 - 1. The default is 10E-5 if
+         single precision is being used, or 10E-10 if double precision
+         is being used.
+         """
          return dWorldGetCFM(self.wid)
  
      # step
      def step(self, stepsize):
+         """step(stepsize)
+ 
+         Step the world. This uses a "big matrix" method that takes
+         time on the order of O(m3) and memory on the order of O(m2), where m
+         is the total number of constraint rows.
+ 
+         For large systems this will use a lot of memory and can be
+         very slow, but this is currently the most accurate method.
+ 
+         @param stepsize: Time step
+         @type stepsize: float
+         """
+ 
          dWorldStep(self.wid, stepsize)
  
      # quickStep
      def quickStep(self, stepsize):
+         """quickStep(stepsize)
+         
+         Step the world. This uses an iterative method that takes time
+         on the order of O(m*N) and memory on the order of O(m), where m is
+         the total number of constraint rows and N is the number of
+         iterations.
+ 
+         For large systems this is a lot faster than dWorldStep, but it
+         is less accurate.
+ 
+         @param stepsize: Time step
+         @type stepsize: float        
+         """
          dWorldQuickStep(self.wid, stepsize)
  
      # setQuickStepNumIterations
      def setQuickStepNumIterations(self, num):
+         """setQuickStepNumIterations(num)
+         
+         Set the number of iterations that the QuickStep method
+         performs per step. More iterations will give a more accurate
+         solution, but will take longer to compute. The default is 20
+         iterations.
+ 
+         @param num: Number of iterations
+         @type num: int
+         """
+         
          dWorldSetQuickStepNumIterations(self.wid, num)
  
      # getQuickStepNumIterations
      def getQuickStepNumIterations(self):
+         """getQuickStepNumIterations() -> int
+         
+         Get the number of iterations that the QuickStep method
+         performs per step. More iterations will give a more accurate
+         solution, but will take longer to compute. The default is 20
+         iterations.
+         """
          return dWorldGetQuickStepNumIterations(self.wid)
  
+     # setQuickStepNumIterations
+     def setContactMaxCorrectingVel(self, vel):
+         """setContactMaxCorrectingVel(vel)
+ 
+         Set the maximum correcting velocity that contacts are allowed
+         to generate. The default value is infinity (i.e. no
+         limit). Reducing this value can help prevent "popping" of
+         deeply embedded objects.
+ 
+         @param vel: Maximum correcting velocity
+         @type vel: float
+         """
+         dWorldSetContactMaxCorrectingVel(self.wid, vel)
+ 
+     # getQuickStepNumIterations
+     def getContactMaxCorrectingVel(self):
+         """getContactMaxCorrectingVel() -> float
+ 
+         Get the maximum correcting velocity that contacts are allowed
+         to generate. The default value is infinity (i.e. no
+         limit). Reducing this value can help prevent "popping" of
+         deeply embedded objects.        
+         """
+         return dWorldGetContactMaxCorrectingVel(self.wid)
+ 
+     # setContactSurfaceLayer
+     def setContactSurfaceLayer(self, depth):
+         """setContactSurfaceLayer(depth)
+ 
+         Set the depth of the surface layer around all geometry
+         objects. Contacts are allowed to sink into the surface layer
+         up to the given depth before coming to rest. The default value
+         is zero. Increasing this to some small value (e.g. 0.001) can
+         help prevent jittering problems due to contacts being
+         repeatedly made and broken.
+ 
+         @param depth: Surface layer depth
+         @type depth: float
+         """
+         dWorldSetContactSurfaceLayer(self.wid, depth)
+ 
+     # getContactSurfaceLayer
+     def getContactSurfaceLayer(self):
+         """getContactSurfaceLayer()
+ 
+         Get the depth of the surface layer around all geometry
+         objects. Contacts are allowed to sink into the surface layer
+         up to the given depth before coming to rest. The default value
+         is zero. Increasing this to some small value (e.g. 0.001) can
+         help prevent jittering problems due to contacts being
+         repeatedly made and broken.
+         """
+         return dWorldGetContactSurfaceLayer(self.wid)
+ 
+     # setAutoDisableFlag
+     def setAutoDisableFlag(self, flag):
+         """setAutoDisableFlag(flag)
+         
+         Set the default auto-disable flag for newly created bodies.
+ 
+         @param flag: True = Do auto disable
+         @type flag: bool
+         """
+         dWorldSetAutoDisableFlag(self.wid, flag)
+         
+     # getAutoDisableFlag
+     def getAutoDisableFlag(self):
+         """getAutoDisableFlag() -> bool
+         
+         Get the default auto-disable flag for newly created bodies.
+         """
+         return dWorldGetAutoDisableFlag(self.wid)
+         
+ 
+     # setAutoDisableLinearThreshold
+     def setAutoDisableLinearThreshold(self, threshold):
+         """setAutoDisableLinearThreshold(threshold)
+         
+         Set the default auto-disable linear threshold for newly created
+         bodies.
+ 
+         @param threshold: Linear threshold
+         @type threshold: float
+         """
+         dWorldSetAutoDisableLinearThreshold(self.wid, threshold)
+ 
+     # getAutoDisableLinearThreshold
+     def getAutoDisableLinearThreshold(self):
+         """getAutoDisableLinearThreshold() -> float
+         
+         Get the default auto-disable linear threshold for newly created
+         bodies.
+         """
+         return dWorldGetAutoDisableLinearThreshold(self.wid)
+ 
+     # setAutoDisableAngularThreshold
+     def setAutoDisableAngularThreshold(self, threshold):
+         """setAutoDisableAngularThreshold(threshold)
+         
+         Set the default auto-disable angular threshold for newly created
+         bodies.
+ 
+         @param threshold: Angular threshold
+         @type threshold: float
+         """
+         dWorldSetAutoDisableAngularThreshold(self.wid, threshold)
+ 
+     # getAutoDisableAngularThreshold
+     def getAutoDisableAngularThreshold(self):
+         """getAutoDisableAngularThreshold() -> float
+         
+         Get the default auto-disable angular threshold for newly created
+         bodies.
+         """
+         return dWorldGetAutoDisableAngularThreshold(self.wid)
+     
+     # setAutoDisableSteps
+     def setAutoDisableSteps(self, steps):
+         """setAutoDisableSteps(steps)
+         
+         Set the default auto-disable steps for newly created bodies.
+ 
+         @param steps: Auto disable steps
+         @type steps: int
+         """
+         dWorldSetAutoDisableSteps(self.wid, steps)
+ 
+     # getAutoDisableSteps
+     def getAutoDisableSteps(self):
+         """getAutoDisableSteps() -> int
+         
+         Get the default auto-disable steps for newly created bodies.
+         """
+         return dWorldGetAutoDisableSteps(self.wid)
+ 
+     # setAutoDisableTime
+     def setAutoDisableTime(self, time):
+         """setAutoDisableTime(time)
+         
+         Set the default auto-disable time for newly created bodies.
+ 
+         @param time: Auto disable time
+         @type time: float
+         """
+         dWorldSetAutoDisableTime(self.wid, time)
+ 
+     # getAutoDisableTime
+     def getAutoDisableTime(self):
+         """getAutoDisableTime() -> float
+         
+         Get the default auto-disable time for newly created bodies.
+         """
+         return dWorldGetAutoDisableTime(self.wid)
+ 
+     # impulseToForce
+     def impulseToForce(self, stepsize, impulse):
+         """impulseToForce(stepsize, impulse) -> 3-tuple
+ 
+         If you want to apply a linear or angular impulse to a rigid
+         body, instead of a force or a torque, then you can use this
+         function to convert the desired impulse into a force/torque
+         vector before calling the dBodyAdd... function.
+ 
+         @param stepsize: Time step
+         @param impulse: Impulse vector
+         @type stepsize: float
+         @type impulse: 3-tuple of floats
+         """
+         cdef dVector3 force
+         dWorldImpulseToForce(self.wid, stepsize, impulse[0], impulse[1], impulse[2], force)
+         return (force[0], force[1], force[2])
+ 
      # createBody
! #    def createBody(self):
! #        return Body(self)
  
      # createBallJoint
! #    def createBallJoint(self, jointgroup=None):
! #        return BallJoint(self, jointgroup)
  
      # createHingeJoint
! #    def createHingeJoint(self, jointgroup=None):
! #        return HingeJoint(self, jointgroup)
  
      # createHinge2Joint
! #    def createHinge2Joint(self, jointgroup=None):
! #        return Hinge2Joint(self, jointgroup)
  
      # createSliderJoint
! #    def createSliderJoint(self, jointgroup=None):
! #        return SliderJoint(self, jointgroup)
  
      # createFixedJoint
! #    def createFixedJoint(self, jointgroup=None):
! #        return FixedJoint(self, jointgroup)
  
      # createContactJoint
! #    def createContactJoint(self, jointgroup, contact):
! #        return ContactJoint(self, jointgroup, contact)

Index: body.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/body.pyx,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** body.pyx	12 Jul 2004 17:30:08 -0000	1.3
--- body.pyx	31 Jul 2004 12:27:27 -0000	1.4
***************
*** 359,362 ****
--- 359,452 ----
          """
          dBodySetTorque(self.bid, t[0], t[1], t[2])
+ 
+     # getRelPointPos
+     def getRelPointPos(self, p):
+         """getRelPointPos(p) -> 3-tuple
+ 
+         Utility function that takes a point p on a body and returns
+         that point's position in global coordinates. The point p
+         must be given in body relative coordinates.
+ 
+         @param p: Body point (local coordinates)
+         @type p: 3-sequence of floats
+         """
+ 
+         cdef dVector3 res 
+         dBodyGetRelPointPos(self.bid, p[0], p[1], p[2], res)
+         return (res[0], res[1], res[2])
+ 
+     # getRelPointVel
+     def getRelPointVel(self, p):
+         """getRelPointVel(p) -> 3-tuple
+ 
+         Utility function that takes a point p on a body and returns
+         that point's velocity in global coordinates. The point p
+         must be given in body relative coordinates.
+ 
+         @param p: Body point (local coordinates)
+         @type p: 3-sequence of floats
+         """
+         cdef dVector3 res 
+         dBodyGetRelPointVel(self.bid, p[0], p[1], p[2], res)
+         return (res[0], res[1], res[2])
+ 
+     # getPointVel
+     def getPointVel(self, p):
+         """getPointVel(p) -> 3-tuple
+ 
+         Utility function that takes a point p on a body and returns
+         that point's velocity in global coordinates. The point p
+         must be given in global coordinates.
+ 
+         @param p: Body point (global coordinates)
+         @type p: 3-sequence of floats
+         """
+         cdef dVector3 res 
+         dBodyGetPointVel(self.bid, p[0], p[1], p[2], res)
+         return (res[0], res[1], res[2])
+ 
+     # getPosRelPoint
+     def getPosRelPoint(self, p):
+         """getPosRelPoint(p) -> 3-tuple
+ 
+         This is the inverse of getRelPointPos(). It takes a point p in
+         global coordinates and returns the point's position in
+         body-relative coordinates.
+ 
+         @param p: Body point (global coordinates)
+         @type p: 3-sequence of floats
+         """
+         cdef dVector3 res 
+         dBodyGetPosRelPoint(self.bid, p[0], p[1], p[2], res)
+         return (res[0], res[1], res[2])
+ 
+     # vectorToWorld
+     def vectorToWorld(self, v):
+         """vectorToWorld(v) -> 3-tuple
+ 
+         Given a vector v expressed in the body coordinate system, rotate
+         it to the world coordinate system.
+ 
+         @param v: Vector in body coordinate system
+         @type v: 3-sequence of floats
+         """
+         cdef dVector3 res
+         dBodyVectorToWorld(self.bid, v[0], v[1], v[2], res)
+         return (res[0], res[1], res[2])
+ 
+     # vectorFromWorld
+     def vectorFromWorld(self, v):
+         """vectorFromWorld(v) -> 3-tuple
+ 
+         Given a vector v expressed in the world coordinate system, rotate
+         it to the body coordinate system.
+ 
+         @param v: Vector in world coordinate system
+         @type v: 3-sequence of floats
+         """
+         cdef dVector3 res
+         dBodyVectorFromWorld(self.bid, v[0], v[1], v[2], res)
+         return (res[0], res[1], res[2])        
+         
          
      # Enable

Index: declarations.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/declarations.pyx,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** declarations.pyx	29 Jul 2004 14:59:19 -0000	1.7
--- declarations.pyx	31 Jul 2004 12:27:27 -0000	1.8
***************
*** 115,118 ****
--- 115,134 ----
      void dWorldSetQuickStepNumIterations (dWorldID, int num)
      int dWorldGetQuickStepNumIterations (dWorldID)
+     void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel)
+     dReal dWorldGetContactMaxCorrectingVel (dWorldID)
+     void dWorldSetContactSurfaceLayer (dWorldID, dReal depth)
+     dReal dWorldGetContactSurfaceLayer (dWorldID)
+     void dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable)
+     int dWorldGetAutoDisableFlag (dWorldID)
+     void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_threshold)
+     dReal dWorldGetAutoDisableLinearThreshold (dWorldID)
+     void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_threshold)
+     dReal dWorldGetAutoDisableAngularThreshold (dWorldID)
+     void dWorldSetAutoDisableSteps (dWorldID, int steps)
+     int dWorldGetAutoDisableSteps (dWorldID)
+     void dWorldSetAutoDisableTime (dWorldID, dReal time)
+     dReal dWorldGetAutoDisableTime (dWorldID)
+     void dWorldImpulseToForce (dWorldID, dReal stepsize,
+                                dReal ix, dReal iy, dReal iz, dVector3 force)
  
      # Body
***************
*** 154,157 ****
--- 170,181 ----
      void dBodyGetRelPointPos    (dBodyID, dReal px, dReal py, dReal pz, dVector3 result)
      void dBodyGetRelPointVel    (dBodyID, dReal px, dReal py, dReal pz, dVector3 result)
+     void dBodyGetPointVel    (dBodyID, dReal px, dReal py, dReal pz,
+                               dVector3 result)
+     void dBodyGetPosRelPoint (dBodyID, dReal px, dReal py, dReal pz,
+                               dVector3 result)
+     void dBodyVectorToWorld   (dBodyID, dReal px, dReal py, dReal pz,
+                                dVector3 result)
+     void dBodyVectorFromWorld (dBodyID, dReal px, dReal py, dReal pz,
+                                dVector3 result)
  
      void dBodySetFiniteRotationMode (dBodyID, int mode)

[Pyode-commits] pyode/src ode.pyx,1.6,1.7 trimesh.pyx,1.1,1.2

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv26338

Modified Files:
	ode.pyx trimesh.pyx 
Log Message:
Forgot to save the files...ahem... (which contained a little bit of additional comments)

Index: ode.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/ode.pyx,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** ode.pyx	29 Jul 2004 20:17:13 -0000	1.6
--- ode.pyx	29 Jul 2004 20:57:38 -0000	1.7
***************
*** 145,150 ****
  include "geoms.pyx"
  
! # Include the trimesh switch file that either includes the real trimesh
! # wrapper or a dummy wrapper (if trimesh support is not available/desired)
  include "_trimesh_switch.pyx"
  
--- 145,151 ----
  include "geoms.pyx"
  
! # Include the generated trimesh switch file that either includes the real
! # trimesh wrapper (trimesh.pyx/trimeshdata.pyx) or a dummy wrapper
! # (trimesh_dummy.pyx) if trimesh support is not available/desired.
  include "_trimesh_switch.pyx"
  

Index: trimesh.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/trimesh.pyx,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** trimesh.pyx	29 Jul 2004 20:17:13 -0000	1.1
--- trimesh.pyx	29 Jul 2004 20:57:38 -0000	1.2
***************
*** 1,4 ****
--- 1,7 ----
  # Trimesh
  
+ # This file is included by _trimesh_switch.pyx if the variable
+ # TRIMESH_SUPPORT was set to True in the setup script.
+ 
  # GeomTriMesh
  cdef class GeomTriMesh(GeomObject):

[Pyode-commits] pyode/src trimesh.pyx,NONE,1.1 trimesh_dummy.pyx,NONE,1.1 geoms.pyx,1.7,1.8 ode.pyx,1.5,1.6

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv18369/src

Modified Files:
	geoms.pyx ode.pyx 
Added Files:
	trimesh.pyx trimesh_dummy.pyx 
Log Message:
Trimesh support can now be disabled in the setup script by setting TRIMESH_SUPPORT to False.

Index: ode.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/ode.pyx,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** ode.pyx	19 Jul 2004 14:56:42 -0000	1.5
--- ode.pyx	29 Jul 2004 20:17:13 -0000	1.6
***************
*** 145,148 ****
--- 145,152 ----
  include "geoms.pyx"
  
+ # Include the trimesh switch file that either includes the real trimesh
+ # wrapper or a dummy wrapper (if trimesh support is not available/desired)
+ include "_trimesh_switch.pyx"
+ 
      
  def collide(geom1, geom2):

Index: geoms.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/geoms.pyx,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** geoms.pyx	28 Jul 2004 16:03:09 -0000	1.7
--- geoms.pyx	29 Jul 2004 20:17:13 -0000	1.8
***************
*** 665,738 ****
  
  
- include "trimeshdata.pyx"
- 
- # GeomTriMesh
- cdef class GeomTriMesh(GeomObject):
-     """TriMesh object.
- 
-     To construct the trimesh geom you need a TriMeshData object that
-     stores the actual mesh. This object has to be passed as first
-     argument to the constructor.
- 
-     Constructor::
-     
-       GeomTriMesh(data, space=None)    
-     """
- 
-     # Keep a reference to the data
-     cdef TriMeshData data
- 
-     def __new__(self, TriMeshData data not None, space=None):
-         cdef Space sp
-         cdef dSpaceID sid
- 
-         self.data = data
- 
-         sid=NULL
-         if space!=None:
-             sp = space
-             sid = sp.sid
-         self.gid = dCreateTriMesh(sid, data.tmdid, NULL, NULL, NULL)
- 
-         _geom_c2py_lut[<long>self.gid] = self
- 
- 
-     def __init__(self, TriMeshData data not None, space=None):
-         self.space = space
-         self.body = None
- 
-     def placeable(self):
-         return True
- 
-     def _id(self):
-         cdef long id
-         id = <long>self.gid
-         return id
- 
-     def clearTCCache(self):
-         """clearTCCache()
- 
-         Clears the internal temporal coherence caches.
-         """
-         dGeomTriMeshClearTCCache(self.gid)
- 
-     def getTriangle(self, int idx):
-         """getTriangle(idx) -> (v0, v1, v2)
- 
-         @param idx: Triangle index
-         @type idx: int
-         """
- 
-         cdef dVector3 v0, v1, v2
-         cdef dVector3* vp0
-         cdef dVector3* vp1
-         cdef dVector3* vp2
- 
-         vp0 = <dVector3*>v0
-         vp1 = <dVector3*>v1
-         vp2 = <dVector3*>v2
- 
-         dGeomTriMeshGetTriangle(self.gid, idx, vp0, vp1, vp2)
-         return ((v0[0],v0[1],v0[2]), (v1[0],v1[1],v1[2]), (v2[0],v2[1],v2[2]))
-         
- 
--- 665,666 ----

--- NEW FILE: trimesh_dummy.pyx ---
# Trimesh dummy classes.

# These classes are included by the file _trimesh_switch.pyx if the
# variable TRIMESH_SUPPORT was set to False in the setup script.


cdef class TriMeshData:
    """This class stores the mesh data.

    This is only a dummy class that's used when trimesh support was disabled.
    """

    def __init__(self):
        raise NotImplementedError, "Trimesh support is disabled"


cdef class GeomTriMesh(GeomObject):
    """Trimesh object.
    
    This is only a dummy class that's used when trimesh support was disabled.
    """

    def __init__(self, TriMeshData data not None, space=None):
        raise NotImplementedError, "Trimesh support is disabled"

--- NEW FILE: trimesh.pyx ---
# Trimesh

# GeomTriMesh
cdef class GeomTriMesh(GeomObject):
    """TriMesh object.

    To construct the trimesh geom you need a TriMeshData object that
    stores the actual mesh. This object has to be passed as first
    argument to the constructor.

    Constructor::
    
      GeomTriMesh(data, space=None)    
    """

    # Keep a reference to the data
    cdef TriMeshData data

    def __new__(self, TriMeshData data not None, space=None):
        cdef Space sp
        cdef dSpaceID sid

        self.data = data

        sid=NULL
        if space!=None:
            sp = space
            sid = sp.sid
        self.gid = dCreateTriMesh(sid, data.tmdid, NULL, NULL, NULL)

        _geom_c2py_lut[<long>self.gid] = self


    def __init__(self, TriMeshData data not None, space=None):
        self.space = space
        self.body = None

    def placeable(self):
        return True

    def _id(self):
        cdef long id
        id = <long>self.gid
        return id

    def clearTCCache(self):
        """clearTCCache()

        Clears the internal temporal coherence caches.
        """
        dGeomTriMeshClearTCCache(self.gid)

    def getTriangle(self, int idx):
        """getTriangle(idx) -> (v0, v1, v2)

        @param idx: Triangle index
        @type idx: int
        """

        cdef dVector3 v0, v1, v2
        cdef dVector3* vp0
        cdef dVector3* vp1
        cdef dVector3* vp2

        vp0 = <dVector3*>v0
        vp1 = <dVector3*>v1
        vp2 = <dVector3*>v2

        dGeomTriMeshGetTriangle(self.gid, idx, vp0, vp1, vp2)
        return ((v0[0],v0[1],v0[2]), (v1[0],v1[1],v1[2]), (v2[0],v2[1],v2[2]))
        

[Pyode-commits] pyode .cvsignore,1.1,1.2 INSTALL,1.2,1.3 setup.py,1.3,1.4

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv18369

Modified Files:
	.cvsignore INSTALL setup.py 
Log Message:
Trimesh support can now be disabled in the setup script by setting TRIMESH_SUPPORT to False.

Index: .cvsignore
===================================================================
RCS file: /cvsroot/pyode/pyode/.cvsignore,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** .cvsignore	27 Jun 2004 20:49:25 -0000	1.1
--- .cvsignore	29 Jul 2004 20:17:12 -0000	1.2
***************
*** 1,3 ****
  build
  ode.c
! _precision.pyx
--- 1,3 ----
  build
  ode.c
! _trimesh_switch.pyx

Index: setup.py
===================================================================
RCS file: /cvsroot/pyode/pyode/setup.py,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** setup.py	29 Jul 2004 14:59:18 -0000	1.3
--- setup.py	29 Jul 2004 20:17:13 -0000	1.4
***************
*** 3,11 ****
  ######################################################################
  
  from distutils.core import setup, Extension
  import distutils.sysconfig
  import shutil, os, os.path, sys
  
! # ODE itself must already be compiled
  
  # Windows?
--- 3,14 ----
  ######################################################################
  
+ # ODE itself must already be compiled
+ 
  from distutils.core import setup, Extension
  import distutils.sysconfig
  import shutil, os, os.path, sys
  
! # Should the wrapper support trimesh geoms?
! TRIMESH_SUPPORT = True
  
  # Windows?
***************
*** 83,86 ****
--- 86,100 ----
      sys.exit()
  
+ # Generate the trimesh_switch file
+ f = file("_trimesh_switch.pyx", "wt")
+ print >>f, '# This file was generated by the setup script and is included in ode.pyx.\n'
+ if TRIMESH_SUPPORT:
+     print >>f, 'include "trimeshdata.pyx"'
+     print >>f, 'include "trimesh.pyx"'
+ else:
+     print >>f, 'include "trimesh_dummy.pyx"'
+ f.close()
+ 
+ 
  # Generate the C source file
  cmd = "pyrexc -o ode.c -I. -Isrc src/ode.pyx"

Index: INSTALL
===================================================================
RCS file: /cvsroot/pyode/pyode/INSTALL,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** INSTALL	29 Jul 2004 09:48:01 -0000	1.2
--- INSTALL	29 Jul 2004 20:17:13 -0000	1.3
***************
*** 38,39 ****
--- 38,44 ----
  system.
  
+ ODE can either be compiled with or without trimesh support. If you disabled
+ trimesh support you also have to disable it in this wrapper. You do that
+ by setting the variable TRIMESH_SUPPORT to False in the setup script.
+ In that case the TriMeshData and GeomTriMesh classes will still be there
+ but they will raise a NotImplementedError exception in their constructor.

[Pyode-commits] pyode setup.py,1.2,1.3

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21925

Modified Files:
	setup.py 
Log Message:
Check if ODE_BASE exists and don't scan the user-settings file anymore. This requires Pyrex 0.9.3 now.

Index: setup.py
===================================================================
RCS file: /cvsroot/pyode/pyode/setup.py,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** setup.py	7 Jul 2004 11:46:32 -0000	1.2
--- setup.py	29 Jul 2004 14:59:18 -0000	1.3
***************
*** 4,7 ****
--- 4,8 ----
  
  from distutils.core import setup, Extension
+ import distutils.sysconfig
  import shutil, os, os.path, sys
  
***************
*** 11,15 ****
  if sys.platform=="win32":
      
!     ODE_BASE = "../ode_float_trimesh"
  #    ODE_BASE = "../ode_double_notrimesh"
      
--- 12,16 ----
  if sys.platform=="win32":
      
!     ODE_BASE = "../ode_single_trimesh"
  #    ODE_BASE = "../ode_double_notrimesh"
      
***************
*** 19,23 ****
      CC_ARGS  = ["/ML"]
  
! # Linux
  else:
  
--- 20,24 ----
      CC_ARGS  = ["/ML"]
  
! # Linux (and other)
  else:
  
***************
*** 57,73 ****
  
  # Determine the precision setting (SINGLE or DOUBLE?)
! try:
!     precisionfile = "_precision.pyx"
!     precision = determinePrecision()
!     print "Precision:",precision
!     print 'Creating file "%s"...'%precisionfile
!     f = file(precisionfile, "wt")
!     f.write("# This file was automatically generated by the setup script\n\n")
!     f.write('cdef extern from "ode/ode.h":\n')
!     f.write('    # Define the basic floating point type used in ODE\n')
!     f.write('    ctypedef %s dReal\n'%{"SINGLE":"float", "DOUBLE":"double"}[precision])
!     f.close()
! except RuntimeError:
!     print "Aborting!"
      sys.exit()
  
--- 58,84 ----
  
  # Determine the precision setting (SINGLE or DOUBLE?)
! #try:
! #    precisionfile = "_precision.pyx"
! #    precision = determinePrecision()
! #    print "Precision:",precision
! #    print 'Creating file "%s"...'%precisionfile
! #    f = file(precisionfile, "wt")
! #    f.write("# This file was automatically generated by the setup script\n\n")
! #    f.write('cdef extern from "ode/ode.h":\n')
! #    f.write('    # Define the basic floating point type used in ODE\n')
! #    f.write('    ctypedef %s dReal\n'%{"SINGLE":"float", "DOUBLE":"double"}[precision])
! #    f.close()
! #except RuntimeError:
! #    print "Aborting!"
! #    sys.exit()
! 
! # Check if the ODE_BASE path does exist
! if not os.path.exists(ODE_BASE):
!     print """This Python ODE wrapper assumes that you have a compiled version of
! the ODE library already somewhere on your system. The path to the ODE
! distribution has to be set in the setup script via the variable
! ODE_BASE. Currently it points to "%s".
! However, that path does not exist. So please change the variable inside the
! script so that it points to the actual location of the ODE directory."""%ODE_BASE
      sys.exit()
  

[Pyode-commits] pyode/src declarations.pyx,1.6,1.7

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21925/src

Modified Files:
	declarations.pyx 
Log Message:
Check if ODE_BASE exists and don't scan the user-settings file anymore. This requires Pyrex 0.9.3 now.

Index: declarations.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/declarations.pyx,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** declarations.pyx	27 Jul 2004 15:19:03 -0000	1.6
--- declarations.pyx	29 Jul 2004 14:59:19 -0000	1.7
***************
*** 21,29 ****
  
  # Include the basic floating point type -> dReal  (either float or double)
! include "_precision.pyx"
      
  cdef extern from "ode/ode.h":
  
! 
      # Dummy structs
      cdef struct dxWorld:
--- 21,30 ----
  
  # Include the basic floating point type -> dReal  (either float or double)
! #include "_precision.pyx"
      
  cdef extern from "ode/ode.h":
  
!     ctypedef double dReal
!     
      # Dummy structs
      cdef struct dxWorld: