Re: [Pyode-user] PyOde and XODE question

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On Wed, 2005-06-22 at 15:23 -0400, Peter Doege wrote:
> I tried creating a list of the objects using namedChild() and then creating 
> and attaching them.  However, I get the suspicion from looking at the parser 
> code that it has already done that.

That is correct. The parser attaches all the objects together based on
the input file.

> I am also have trouble figuring out what to do with hinges.  I have not been 
> able to figure out how to differentiate between a body and a hinge.  I've 
> been trying to use isinstance() and hasattr() to test for various things but 
> it seems really, well, non-optimal.

isinstance() is the way I would do it...

> If someone has a code snippet that shows how to move an 
> object/joint from the parser to ODE I would love to see it.

Here is a minimal example:

doc = '''<?xml version="1.0">
<xode>
  <world name="myWorld">
    <body name="body1">
      <mass><mass_shape density="2500">
        <sphere radius="0.05"/>
      </mass_shape></mass>
    </body>
    <body name="body2">
      <mass><mass_shape density="2500">
        <sphere radius="0.05"/>
      </mass_shape></mass>
    <joint name="joint1">
      <link1 body="body1"/>
      <ball><anchor x="0" y="0" z="0"/></ball>
    </joint>
  </world>
</xode>'''

import xode.parser
p = xode.parser.Parse()
root = p.parseString(doc)
world = root.namedChild("world").getODEObject()

while 1:
  world.step(0.1)
  # do something

I suggest you take a look at tutorial2.py in the examples/ directory of
the PyODE source distribution. You can ignore the function
buildObjects(); it does the same thing as buildObjectsXODE() but without
using XODE.

-- 
Timothy Stranex <ti...@st...>