[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