[Pyode-commits] pyode/xode errors.py,NONE,1.1 geom.py,NONE,1.1 body.py,1.1,1.2 joint.py,1.1,1.2 node.py,1.1,1.2 parser.py,1.1,1.2 transform.py,1.1,1.2 xode.py,1.1,NONE

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

Update of /cvsroot/pyode/pyode/xode
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv24225/xode

Modified Files:
	body.py joint.py node.py parser.py transform.py 
Added Files:
	errors.py geom.py 
Removed Files:
	xode.py 
Log Message:
xode/
  * Added Geom parser.
  * Fixed some mistakes in transform.py.
  * Moved exception classes from parser.py to errors.py.
examples/
  * Added the xml encoding attribute to the XODE document in tutorial2.py
  * Added an example to demonstrate XODE's transform features.
tests/
  * Added Geom tests to test_xode.py.


--- NEW FILE: geom.py ---
# XODE Importer for PyODE
# Copyright (C) 2004 Timothy Stranex

"""
XODE Geom Parser
@author: U{Timothy Stranex<mailto:ti...@st...>}
"""

import ode
import errors, node, joint, body, transform

class Geom(node.TreeNode):
    """
    Represents an C{ode.Geom} object and corresponds to the <geom> tag.
    """

    def __init__(self, name, parent):
        node.TreeNode.__init__(self, name, parent)

        self._space = self.getFirstAncestor(ode.Space).getODEObject()
        self._transformed = False
        
        try:
            self._body = self.getFirstAncestor(ode.Body)
        except node.AncestorNotFoundError:
            self._body = None

    def takeParser(self, parser):
        """
        Handle further parsing. It should be called immediately after the <geom>
        tag has been encountered.
        """

        self._parser = parser
        self._parser.push(startElement=self._startElement,
                          endElement=self._endElement)

    def _startElement(self, name, attrs):
        nodeName = attrs.get('name', None)
        
        if (name == 'transform'):
            t = transform.Transform()
            t.takeParser(self._parser, self, attrs)
            self._transformed = True
        elif (name == 'box'):
            self._parseGeomBox(attrs)
        elif (name == 'cappedCylinder'):
            self._parseGeomCCylinder(attrs)
        elif (name == 'cone'):
            raise NotImplementedError()
        elif (name == 'cylinder'):
            raise NotImplementedError()
        elif (name == 'plane'):
            self._parseGeomPlane(attrs)
        elif (name == 'ray'):
            self._parseGeomRay(attrs)
        elif (name == 'sphere'):
            self._parseGeomSphere(attrs)
        elif (name == 'trimesh'):
            raise NotImplementedError()
        elif (name == 'geom'):
            g = Geom(nodeName, self)
            g.takeParser(self._parser)
        elif (name == 'body'):
            b = body.Body(nodeName, self, attrs)
            b.takeParser(self._parser)
        elif (name == 'joint'):
            j = joint.Joint(nodename, self)
            j.takeParser(self._parser)
        elif (name == 'jointgroup'):
            pass
        elif (name == 'ext'):
            pass
        else:
            raise errors.ChildError('geom', name)

    def _endElement(self, name):
        if (name == 'geom'):
            obj = self.getODEObject()
            
            if (obj is None):
                raise errors.InvalidError('No geom type element found.')

            if (not obj.placeable()):
                # Non-placeable geoms cannot be attached to bodies or be
                # transformed
                self._parser.pop()
                return

            if (self._body is None):
                # The Geom is independant so it can have its own transform
                
                t = self.getTransform()
                obj.setPosition(t.getPosition())
                obj.setRotation(t.getRotation())
            elif (self._transformed):
                # The Geom is attached to a body so to transform it, it must
                # by placed in a GeomTransform and its transform is relative
                # to the body.

                t = self.getTransform(self._body)
                obj.setPosition(t.getPosition())
                obj.setRotation(t.getRotation())
                
                trans = ode.GeomTransform(self._space)
                trans.setGeom(obj)
                trans.setBody(self._body.getODEObject())
                
                self.setODEObject(trans)
            else:
                obj.setBody(self._body.getODEObject())
            
            self._parser.pop()

    def _parseGeomBox(self, attrs):
        def start(name, attrs):
            if (name == 'ext'):
                pass
            else:
                raise errors.ChildError('box', name)

        def end(name):
            if (name == 'box'):
                self._parser.pop()

        lx = float(attrs['sizex'])
        ly = float(attrs['sizey'])
        lz = float(attrs['sizez'])

        self.setODEObject(ode.GeomBox(self._space, (lx, ly, lz)))
        self._parser.push(startElement=start, endElement=end)

    def _parseGeomCCylinder(self, attrs):
        def start(name, attrs):
            if (name == 'ext'):
                pass
            else:
                raise errors.ChildError('cappedCylinder', name)

        def end(name):
            if (name == 'cappedCylinder'):
                self._parser.pop()

        radius = float(attrs['radius'])
        length = float(attrs['length'])

        self.setODEObject(ode.GeomCCylinder(self._space, radius, length))
        self._parser.push(startElement=start, endElement=end)

    def _parseGeomSphere(self, attrs):
        def start(name, attrs):
            if (name == 'ext'):
                pass
            else:
                raise errors.ChildError('sphere', name)

        def end(name):
            if (name == 'sphere'):
                self._parser.pop()

        radius = float(attrs['radius'])

        self.setODEObject(ode.GeomSphere(self._space, radius))
        self._parser.push(startElement=start, endElement=end)

    def _parseGeomPlane(self, attrs):
        def start(name, attrs):
            if (name == 'ext'):
                pass
            else:
                raise errors.ChildError('plane', name)

        def end(name):
            if (name == 'plane'):
                self._parser.pop()

        a = float(attrs['a'])
        b = float(attrs['b'])
        c = float(attrs['c'])
        d = float(attrs['d'])

        self.setODEObject(ode.GeomPlane(self._space, (a, b, c), d))
        self._parser.push(startElement=start, endElement=end)

    def _parseGeomRay(self, attrs):
        def start(name, attrs):
            if (name == 'ext'):
                pass
            else:
                raise errors.ChildError('ray', name)

        def end(name):
            if (name == 'ray'):
                self._parser.pop()

        length = float(attrs['length'])

        self.setODEObject(ode.GeomRay(self._space, length))
        self._parser.push(startElement=start, endElement=end)

Index: parser.py
===================================================================
RCS file: /cvsroot/pyode/pyode/xode/parser.py,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** parser.py	7 Jul 2004 11:46:32 -0000	1.1
--- parser.py	16 Jul 2004 11:45:17 -0000	1.2
***************
*** 53,62 ****
  import ode
  import xml.parsers.expat
! import transform, node, body, joint
! 
! class InvalidError(Exception):
!     """
!     Raised when an XODE document is invalid.
!     """
  
  class Parser:
--- 53,57 ----
  import ode
  import xml.parsers.expat
! import errors, transform, node, body, joint, geom
  
  class Parser:
***************
*** 100,104 ****
              self._root.takeParser(self)
          else:
!             raise InvalidError('Root element must be <xode>.')
  
      def parseVector(self, attrs):
--- 95,99 ----
              self._root.takeParser(self)
          else:
!             raise errors.InvalidError('Root element must be <xode>.')
  
      def parseVector(self, attrs):
***************
*** 109,114 ****
          @rtype: tuple
  
!         @raise InvalidError: If the attributes don't correspond to a valid
!         vector.
          """
          
--- 104,109 ----
          @rtype: tuple
  
!         @raise errors.InvalidError: If the attributes don't correspond to a
!         valid vector.
          """
          
***************
*** 116,122 ****
              vec = float(attrs['x']), float(attrs['y']), float(attrs['z'])
          except ValueError:
!             raise InvalidError('Vector attributes must be numbers.')
          except KeyError:
!             raise InvalidError('Vector must have x, y and z attributes.')
          else:
              return vec
--- 111,117 ----
              vec = float(attrs['x']), float(attrs['y']), float(attrs['z'])
          except ValueError:
!             raise errors.InvalidError('Vector attributes must be numbers.')
          except KeyError:
!             raise errors.InvalidError('Vector must have x, y and z attributes.')
          else:
              return vec
***************
*** 132,136 ****
          @rtype: instance of L{node.TreeNode}
  
!         @raise InvalidException: If document is invalid.
          """
  
--- 127,131 ----
          @rtype: instance of L{node.TreeNode}
  
!         @raise errors.InvalidError: If document is invalid.
          """
  
***************
*** 148,152 ****
          @rtype: instance of L{node.TreeNode}
  
!         @raise InvalidException: If document is invalid.
          """
  
--- 143,147 ----
          @rtype: instance of L{node.TreeNode}
  
!         @raise errors.InvalidError: If document is invalid.
          """
  
***************
*** 181,186 ****
              pass
          else:
!             raise InvalidError('%s is not a valid child of <xode>.' %
!                                repr(name))
  
      def _endElement(self, name):
--- 176,180 ----
              pass
          else:
!             raise errors.ChildError('xode', name)
  
      def _endElement(self, name):
***************
*** 222,227 ****
              pass
          else:
!             raise InvalidError('%s is not a valid child of <world>' %
!                                repr(name))
  
      def _endElement(self, name):
--- 216,220 ----
              pass
          else:
!             raise errors.ChildError('world', name)
  
      def _endElement(self, name):
***************
*** 258,263 ****
              t.takeParser(self._parser, self, attrs)
          elif (name == 'geom'):
!             # parse geom
!             pass
          elif (name == 'group'):
              # parse group
--- 251,256 ----
              t.takeParser(self._parser, self, attrs)
          elif (name == 'geom'):
!             g = geom.Geom(nodeName, self)
!             g.takeParser(self._parser)
          elif (name == 'group'):
              # parse group
***************
*** 276,281 ****
              pass
          else:
!             raise InvalidError('%s is not a valid child of <space>.' %
!                                repr(name))
  
      def _endElement(self, name):
--- 269,273 ----
              pass
          else:
!             raise errors.ChildError('space', name)
  
      def _endElement(self, name):

--- xode.py DELETED ---

Index: joint.py
===================================================================
RCS file: /cvsroot/pyode/pyode/xode/joint.py,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** joint.py	7 Jul 2004 11:46:32 -0000	1.1
--- joint.py	16 Jul 2004 11:45:17 -0000	1.2
***************
*** 8,12 ****
  
  import ode
! import node, parser
  
  class Joint(node.TreeNode):
--- 8,12 ----
  
  import ode
! import node, errors
  
  class Joint(node.TreeNode):
***************
*** 41,49 ****
              link = root.namedChild(name).getODEObject()
          except KeyError:
!             raise parser.InvalidError('Joint link must reference an already '\
!                                'parsed body.')
  
          if (not isinstance(link, ode.Body)):
!             raise parser.InvalidError('Joint link must reference a body.')
  
          return link
--- 41,49 ----
              link = root.namedChild(name).getODEObject()
          except KeyError:
!             raise errors.InvalidError('Joint link must reference an already '\
!                                       'parsed body.')
  
          if (not isinstance(link, ode.Body)):
!             raise errors.InvalidError('Joint link must reference a body.')
  
          return link
***************
*** 64,68 ****
  
          if (link1 is link2):
!             raise parser.InvalidError('Joint requires two objects.')
  
          return link1, link2
--- 64,68 ----
  
          if (link1 is link2):
!             raise errors.InvalidError('Joint requires two objects.')
  
          return link1, link2
***************
*** 101,111 ****
              pass
          else:
!             raise parser.InvalidError('%s is not a valid child of <joint>.' %
!                                repr(name))
  
      def _endElement(self, name):
          if (name == 'joint'):
              if (self.getODEObject() is None):
!                 raise parser.InvalidError('No joint type element found.')
              self._parser.pop()
  
--- 101,110 ----
              pass
          else:
!             raise errors.ChildError('joint', name)
  
      def _endElement(self, name):
          if (name == 'joint'):
              if (self.getODEObject() is None):
!                 raise errors.InvalidError('No joint type element found.')
              self._parser.pop()
  
***************
*** 117,122 ****
                  anchor[0] = self._parser.parseVector(attrs)
              else:
!                 raise parser.InvalidError('%s is not a valid child of <ball>.' %
!                                    repr(name))
      
          def end(name):
--- 116,120 ----
                  anchor[0] = self._parser.parseVector(attrs)
              else:
!                 raise errors.ChildError('ball', name)
      
          def end(name):

Index: transform.py
===================================================================
RCS file: /cvsroot/pyode/pyode/xode/transform.py,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** transform.py	7 Jul 2004 11:46:32 -0000	1.1
--- transform.py	16 Jul 2004 11:45:17 -0000	1.2
***************
*** 24,27 ****
--- 24,28 ----
                    [0, 0, 0, 0]]
          self.setIdentity()
+         self._absolute = False
  
      def takeParser(self, parser, node, attrs):
***************
*** 41,44 ****
--- 42,50 ----
          
          self._scale = float(attrs.get('scale', 1.0))
+         self._absolute = (attrs.get('absolute', 'false') == 'true')
+         
+         self._position = None
+         self._euler = None
+         
          self._node = node
          self._parser = parser
***************
*** 48,59 ****
      def _startElement(self, name, attrs):
          if (name == 'matrix4f'):
-             self.setIdentity()
              for r in range(4):
                  for c in range(4):
                      self.m[r][c] = float(attrs['m%i%i' % (r, c)])
          elif (name == 'position'):
!             self.translate(float(attrs['x']),
!                            float(attrs['y']),
!                            float(attrs['z']))
          elif (name == 'euler'):
              coeff = 1
--- 54,64 ----
      def _startElement(self, name, attrs):
          if (name == 'matrix4f'):
              for r in range(4):
                  for c in range(4):
                      self.m[r][c] = float(attrs['m%i%i' % (r, c)])
          elif (name == 'position'):
!             self._position = (float(attrs['x']),
!                               float(attrs['y']),
!                               float(attrs['z']))
          elif (name == 'euler'):
              coeff = 1
***************
*** 64,76 ****
              y = coeff * float(attrs['y'])
              z = coeff * float(attrs['z'])
!             
!             self.rotate(x, y, z)
  
      def _endElement(self, name):
          if (name == 'transform'):
              self.scale(self._scale, self._scale, self._scale)
              self._node.setNodeTransform(self)
              self._parser.pop()
  
      def setIdentity(self):
          """
--- 69,104 ----
              y = coeff * float(attrs['y'])
              z = coeff * float(attrs['z'])
! 
!             self._euler = (x, y, z)
!         elif (name == 'rotation'):
!             pass
!         else:
!             import parser
!             raise parser.InvalidError("%s is not a valid child of <transform>."%
!                                repr(name))
  
      def _endElement(self, name):
          if (name == 'transform'):
+             if (self._euler):
+                 x, y, z = self._euler
+                 self.rotate(x, y, z)
+             if (self._position):
+                 x, y, z = self._position
+                 self.translate(x, y, z)
+             
              self.scale(self._scale, self._scale, self._scale)
+             
              self._node.setNodeTransform(self)
              self._parser.pop()
  
+     def isAbsolute(self):
+         """
+         @return: True if this transform is to be absolute rather than
+         relative to another.
+         @rtype: bool
+         """
+ 
+         return self._absolute
+ 
      def setIdentity(self):
          """
***************
*** 142,146 ****
          @type z: float
          """
!         
          rx = Transform()
          rx.m[1][1] = math.cos(x)
--- 170,174 ----
          @type z: float
          """
! 
          rx = Transform()
          rx.m[1][1] = math.cos(x)
***************
*** 150,157 ****
  
          ry = Transform()
!         ry.m[0][0] = math.cos(x)
!         ry.m[0][2] = -math.sin(x)
!         ry.m[2][0] = math.sin(x)
!         ry.m[2][2] = math.cos(x)
  
          rz = Transform()
--- 178,185 ----
  
          ry = Transform()
!         ry.m[0][0] = math.cos(y)
!         ry.m[0][2] = -math.sin(y)
!         ry.m[2][0] = math.sin(y)
!         ry.m[2][2] = math.cos(y)
  
          rz = Transform()
***************
*** 161,165 ****
          rz.m[1][1] = math.cos(z)
  
!         r = self * rz * ry * rz
          self.m = r.m
  
--- 189,193 ----
          rz.m[1][1] = math.cos(z)
  
!         r = self * rx * ry * rz
          self.m = r.m
  

--- NEW FILE: errors.py ---
# XODE Importer for PyODE
# Copyright (C) 2004 Timothy Stranex

"""
XODE Exceptions
@author: U{Timothy Stranex<mailto:ti...@st...>}
"""

class InvalidError(Exception):
    """
    Raised when an XODE document is invalid.
    """

class ChildError(InvalidError):
    """
    Raised when an invalid child element is found.

    @ivar parent: The parent element.
    @type parent: str

    @ivar child: The invalid child element.
    @type child: str
    """

    def __init__(self, parent, child):
        self.parent = parent
        self.child = child

    def __str__(self):
        return '<%s> is not a valid child of <%s>.' % (self.child, self.parent)

class MissingElementError(InvalidError):
    """
    Raised when a child element is missing.

    @ivar parent: The parent element.
    @type parent: str

    @ivar child: The missing child element.
    @type child: str
    """

    def __init__(self, parent, child):
        self.parent = parent
        self.child = child

    def __str__(self):
        return 'Missing child <%s> of <%s>.' % (self.child, self.parent)

Index: body.py
===================================================================
RCS file: /cvsroot/pyode/pyode/xode/body.py,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** body.py	7 Jul 2004 11:46:32 -0000	1.1
--- body.py	16 Jul 2004 11:45:17 -0000	1.2
***************
*** 8,12 ****
  
  import ode
! import parser, node, joint, transform
  
  class Body(node.TreeNode):
--- 8,12 ----
  
  import ode
! import errors, node, joint, transform, geom
  
  class Body(node.TreeNode):
***************
*** 22,27 ****
          enabled = attrs.get('enabled', 'true')
          if (enabled not in ['true', 'false']):
!             raise parser.InvalidError("Enabled attribute must be either 'true' or " \
!                                "'false'.")
          else:
              if (enabled == 'false'):
--- 22,27 ----
          enabled = attrs.get('enabled', 'true')
          if (enabled not in ['true', 'false']):
!             raise errors.InvalidError("Enabled attribute must be either 'true'"\
!                                       " or 'false'.")
          else:
              if (enabled == 'false'):
***************
*** 77,85 ****
                          float(attrs['zaxis']))
              except KeyError:
!                 raise parser.InvalidError('finiteRotation element must have' \
                                            ' xaxis, yaxis and zaxis attributes')
  
              if (mode not in [0, 1]):
!                 raise parser.InvalidError('finiteRotation mode attribute must' \
                                            ' be either 0 or 1.')
              
--- 77,85 ----
                          float(attrs['zaxis']))
              except KeyError:
!                 raise errors.InvalidError('finiteRotation element must have' \
                                            ' xaxis, yaxis and zaxis attributes')
  
              if (mode not in [0, 1]):
!                 raise errors.InvalidError('finiteRotation mode attribute must' \
                                            ' be either 0 or 1.')
              
***************
*** 96,99 ****
--- 96,109 ----
              j = joint.Joint(nodeName, self)
              j.takeParser(self._parser)
+         elif (name == 'body'):
+             b = Body(nodeName, self, attrs)
+             b.takeParser(self._parser)
+         elif (name == 'geom'):
+             g = geom.Geom(nodeName, self)
+             g.takeParser(self._parser)
+         elif (name == 'transform'): # so it doesn't raise ChildError
+             pass
+         else:
+             raise errors.ChildError('body', name)
  
      def _endElement(self, name):
***************
*** 146,151 ****
              mass.takeParser(self._parser)
          else:
!             raise parser.InvalidError('%s is not a valid child of <mass>' %
!                                       repr(name))
  
      def _endElement(self, name):
--- 156,160 ----
              mass.takeParser(self._parser)
          else:
!             raise errors.ChildError('mass', name)
  
      def _endElement(self, name):

Index: node.py
===================================================================
RCS file: /cvsroot/pyode/pyode/xode/node.py,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** node.py	7 Jul 2004 11:46:32 -0000	1.1
--- node.py	16 Jul 2004 11:45:17 -0000	1.2
***************
*** 97,102 ****
          return self._transform
  
!     def getTransform(self):
          """
          @return: The absolute transform at this node.
          @rtype: instance of L{transform.Transform}
--- 97,111 ----
          return self._transform
  
!     def getTransform(self, untilAncestor=None):
          """
+         Calculates the absolute transform at this node. It calculates the
+         transforms recursively from the root node. If C{untilAncestor} is
+         passed, the transform is calculated relative to it. If C{untilAncestor}
+         is passed but is not an ancestor of this node, the transform is
+         calculated from the root node as if C{None} was passed.
+ 
+         @param untilAncestor: The ancestor to calculate the transform from.
+         @type untilAncestor: instance of L{TreeNode}
+         
          @return: The absolute transform at this node.
          @rtype: instance of L{transform.Transform}
***************
*** 106,113 ****
          t = self.getNodeTransform()
  
!         if (p is not None):
!             return p.getTransform() * t
!         else:
              return t
  
      def getName(self):
--- 115,122 ----
          t = self.getNodeTransform()
  
!         if ((p is None) or (t.isAbsolute()) or (p is untilAncestor)):
              return t
+         else:
+             return p.getTransform(untilAncestor) * t
  
      def getName(self):