[Pyode-commits] pyode/examples tutorial2.py,1.1,1.2

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Update of /cvsroot/pyode/pyode/examples
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv12588/examples

Modified Files:
	tutorial2.py 
Log Message:
- Added XODE importer package and unit tests.
- Modified examples/tutorial2.py to use XODE. The original code is still there
  and can be used by changing the second to last line.
- Added a getBody() method to the Joint class.


Index: tutorial2.py
===================================================================
RCS file: /cvsroot/pyode/pyode/examples/tutorial2.py,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** tutorial2.py	27 Jun 2004 20:46:16 -0000	1.1
--- tutorial2.py	7 Jul 2004 11:46:32 -0000	1.2
***************
*** 5,8 ****
--- 5,57 ----
  from pygame.locals import *
  import ode
+ import xode.parser
+ 
+ doc = '''<?xml version="1.0"?>
+ <xode>
+   <world name="world">
+     <space>
+ 
+       <body name="body1">
+         <transform>
+           <position x="1" y="2" z="0"/>
+         </transform>
+         
+ 	<mass>
+ 	  <mass_shape density="2500">
+ 	    <sphere radius="0.05"/>
+ 	  </mass_shape>
+ 
+ 	</mass>
+       </body>
+ 
+       <body name="body2">
+         <transform>
+           <position x="2" y="2" z="0"/>
+         </transform>
+         
+ 	<mass>
+ 	  <mass_shape density="2500">
+ 	    <sphere radius="0.05"/>
+ 	  </mass_shape>
+ 	</mass>
+ 
+         <joint name="joint2">
+           <link1 body="body1"/>
+           <ball>
+             <anchor x="1" y="2" z="0"/>
+           </ball>
+         </joint>
+       </body>
+ 
+       <joint name="joint1">
+         <link1 body="body1"/>
+         <ball>
+           <anchor x="0" y="2" z="0"/>
+         </ball>
+       </joint>
+ 
+     </space>
+   </world>
+ </xode>'''
  
  def coord(x,y):
***************
*** 10,79 ****
      return 320+170*x, 400-170*y
  
  
! # Initialize pygame
! pygame.init()
  
! # Open a display
! srf = pygame.display.set_mode((640,480))
  
! world = ode.World()
! world.setGravity((0,-9.81,0))
  
! body1 = ode.Body(world)
! M = ode.Mass()
! M.setSphere(2500, 0.05)
! body1.setMass(M)
! body1.setPosition((1,2,0))
  
! body2 = ode.Body(world)
! M = ode.Mass()
! M.setSphere(2500, 0.05)
! body2.setMass(M)
! body2.setPosition((2,2,0))
  
! j1 = ode.BallJoint(world)
! j1.attach(body1, ode.environment)
! j1.setAnchor( (0,2,0) )
! #j1 = ode.HingeJoint(world)
! #j1.attach(body1, ode.environment)
! #j1.setAnchor( (0,2,0) )
! #j1.setAxis( (0,0,1) )
! #j1.setParam(ode.ParamVel, 3)
! #j1.setParam(ode.ParamFMax, 22)
  
! j2 = ode.BallJoint(world)
! j2.attach(body1, body2)
! j2.setAnchor( (1,2,0) )
  
! clk = pygame.time.Clock()
  
! # Keep the window open and wait for a key
! fps = 50
! dt = 1.0/fps
! loopFlag = True
! while loopFlag:
!     events = pygame.event.get()
!     for e in events:
!         if e.type==QUIT:
!             loopFlag=False
! #        if e.type==KEYDOWN:
! #            loopFlag=False
  
!     # Clear the screen
!     srf.fill((255,255,255))
  
!     x1,y1,z1 = body1.getPosition()
!     x2,y2,z2 = body2.getPosition()
!     pygame.draw.circle(srf, (55,0,200), coord(x1,y1), 20, 0)
!     pygame.draw.line(srf, (55,0,200), coord(0,2), coord(x1,y1), 2)
!     pygame.draw.circle(srf, (55,0,200), coord(x2,y2), 20, 0)
!     pygame.draw.line(srf, (55,0,200), coord(x1,y1), coord(x2,y2), 2)
  
!     pygame.display.flip()
  
!     world.step(dt)
!     
!     clk.tick(fps)
! #    print "fps: %2.1f  dt:%d rawdt:%d"%(clk.get_fps(), clk.get_time(), clk.get_rawtime())
!     
  
--- 59,155 ----
      return 320+170*x, 400-170*y
  
+ def buildObjects():
+     world = ode.World()
+     world.setGravity((0,-9.81,0))
  
!     body1 = ode.Body(world)
!     M = ode.Mass()
!     M.setSphere(2500, 0.05)
!     body1.setMass(M)
!     body1.setPosition((1,2,0))
!     
!     body2 = ode.Body(world)
!     M = ode.Mass()
!     M.setSphere(2500, 0.05)
!     body2.setMass(M)
!     body2.setPosition((2,2,0))
!     
!     j1 = ode.BallJoint(world)
!     j1.attach(body1, ode.environment)
!     j1.setAnchor( (0,2,0) )
!     #j1 = ode.HingeJoint(world)
!     #j1.attach(body1, ode.environment)
!     #j1.setAnchor( (0,2,0) )
!     #j1.setAxis( (0,0,1) )
!     #j1.setParam(ode.ParamVel, 3)
!     #j1.setParam(ode.ParamFMax, 22)
  
!     j2 = ode.BallJoint(world)
!     j2.attach(body1, body2)
!     j2.setAnchor( (1,2,0) )
  
!     return world, body1, body2, j1, j2
  
! def buildObjectsXODE():
!     p = xode.parser.Parser()
!     root = p.parseString(doc)
  
!     world = root.namedChild('world').getODEObject()
!     body1 = root.namedChild('body1').getODEObject()
!     body2 = root.namedChild('body2').getODEObject()
!     j1 = root.namedChild('joint1').getODEObject()
!     j2 = root.namedChild('joint2').getODEObject()
  
!     world.setGravity((0,-9.81,0))
!     #body1.setPosition((1,2,0))
!     #body2.setPosition((2,2,0))
  
!     #j1 = ode.BallJoint(world)
!     #j1.attach(body1, ode.environment)
!     #j1.setAnchor( (0,2,0) )
  
!     #j2 = ode.BallJoint(world)
!     #j2.attach(body1, body2)
!     #j2.setAnchor( (1,2,0) )
  
!     return world, body1, body2, j1, j2
  
! def simulate(world, body1, body2):
!     # Initialize pygame
!     pygame.init()
!     
!     # Open a display
!     srf = pygame.display.set_mode((640,480))
  
!     clk = pygame.time.Clock()
  
!     # Keep the window open and wait for a key
!     fps = 50
!     dt = 1.0/fps
!     loopFlag = True
!     while loopFlag:
!         events = pygame.event.get()
!         for e in events:
!             if e.type==QUIT:
!                 loopFlag=False
!                 
!         # Clear the screen
!         srf.fill((255,255,255))
  
!         x1,y1,z1 = body1.getPosition()
!         x2,y2,z2 = body2.getPosition()
!         pygame.draw.circle(srf, (55,0,200), coord(x1,y1), 20, 0)
!         pygame.draw.line(srf, (55,0,200), coord(0,2), coord(x1,y1), 2)
!         pygame.draw.circle(srf, (55,0,200), coord(x2,y2), 20, 0)
!         pygame.draw.line(srf, (55,0,200), coord(x1,y1), coord(x2,y2), 2)
!         
!         pygame.display.flip()
  
+         world.step(dt)
+         
+         clk.tick(fps)
+         #print "fps: %2.1f  dt:%d rawdt:%d"%(clk.get_fps(), clk.get_time(), clk.get_rawtime())
+ 
+ 
+ world, body1, body2, j1, j2 = buildObjectsXODE()
+ simulate(world, body1, body2)