[cgkit-commits] cgkit2/cgkit odedynamics.py,1.5,1.6

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

Update of /cvsroot/cgkit/cgkit2/cgkit
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv3642/cgkit

Modified Files:
	odedynamics.py 
Log Message:
Removed the numarray/linalg dependency (for now) as it wasn't used anyway

Index: odedynamics.py
===================================================================
RCS file: /cvsroot/cgkit/cgkit2/cgkit/odedynamics.py,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** odedynamics.py	19 Apr 2005 08:45:16 -0000	1.5
--- odedynamics.py	31 May 2005 16:00:25 -0000	1.6
***************
*** 50,55 ****
      has_ode = False
  
! import numarray
! import numarray.linear_algebra
  
  
--- 50,55 ----
      has_ode = False
  
! #import numarray
! #import numarray.linear_algebra
  
  
***************
*** 65,72 ****
                   cfm = None,
                   erp = None,
- #                 contactproperties = [],
                   defaultcontactproperties = None,
                   enabled = True,
                   show_contacts = False,
                   auto_add = False,
                   auto_insert=True):
--- 65,73 ----
                   cfm = None,
                   erp = None,
                   defaultcontactproperties = None,
                   enabled = True,
                   show_contacts = False,
+                  contactmarkersize = 0.1,
+                  contactnormalsize = 1.0,
                   auto_add = False,
                   auto_insert=True):
***************
*** 124,127 ****
--- 125,130 ----
  
          self.show_contacts = show_contacts
+         self.contactmarkersize = contactmarkersize
+         self.contactnormalsize = contactnormalsize
  
          # A list of weakrefs to body manipulators
***************
*** 186,206 ****
  #        print "Intermediate inertia tensor:"
  #        print obj.inertiatensor
!         I = obj.inertiatensor
!         a = numarray.array([I.getRow(0), I.getRow(1), I.getRow(2)], type=numarray.Float64)
!         vals, vecs = numarray.linear_algebra.eigenvectors(a)
  #        print "Eigenvalues:",vals
          # Eigenvektoren sind ungenau! (bei cube_base_cog grosse Abweichungen)
!         b1 = vec3(vecs[0]).normalize()
!         b2 = vec3(vecs[1]).normalize()
!         b3 = vec3(vecs[2]).normalize()
!         P = obj.getOffsetTransform()        
!         Pnull = P*vec3(0,0,0)
!         b1 = P*b1 - Pnull
!         b2 = P*b2 - Pnull
!         b3 = P*b3 - Pnull        
!         I2 = mat3(b1,b2,b3)
  #        print I2
!         if I2.determinant()<0:
!             I2.setColumn(0, -I2.getColumn(0))
  #        print "Det of new basis",I2.determinant()
  #        P = obj.getOffsetTransform()
--- 189,209 ----
  #        print "Intermediate inertia tensor:"
  #        print obj.inertiatensor
! #        I = obj.inertiatensor
! #        a = numarray.array([I.getRow(0), I.getRow(1), I.getRow(2)], type=numarray.Float64)
! #        vals, vecs = numarray.linear_algebra.eigenvectors(a)
  #        print "Eigenvalues:",vals
          # Eigenvektoren sind ungenau! (bei cube_base_cog grosse Abweichungen)
! #        b1 = vec3(vecs[0]).normalize()
! #        b2 = vec3(vecs[1]).normalize()
! #        b3 = vec3(vecs[2]).normalize()
! #        P = obj.getOffsetTransform()        
! #        Pnull = P*vec3(0,0,0)
! #        b1 = P*b1 - Pnull
! #        b2 = P*b2 - Pnull
! #        b3 = P*b3 - Pnull        
! #        I2 = mat3(b1,b2,b3)
  #        print I2
! #        if I2.determinant()<0:
! #            I2.setColumn(0, -I2.getColumn(0))
  #        print "Det of new basis",I2.determinant()
  #        P = obj.getOffsetTransform()
***************
*** 283,288 ****
              if self.show_contacts:
                  p,n,d,g1,g2 = c.getContactGeomParams()
!                 cmds.drawMarker(p, size=0.2, color=(1,0,0))
!                 cmds.drawLine(p, vec3(p)+vec3(n), color=(1,0.5,0.5))
  #                print p,n,d
              
--- 286,291 ----
              if self.show_contacts:
                  p,n,d,g1,g2 = c.getContactGeomParams()
!                 cmds.drawMarker(p, size=self.contactmarkersize, color=(1,0,0))
!                 cmds.drawLine(p, vec3(p)+self.contactnormalsize*vec3(n), color=(1,0.5,0.5))
  #                print p,n,d