[Pyode-commits] pyode/examples tutorial3.py,1.1,1.2

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

Update of /cvsroot/pyode/pyode/examples
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv13593/examples

Modified Files:
	tutorial3.py 
Log Message:
Updated setup script and updated tutorial3.py with Pierre Gay's changes.


Index: tutorial3.py
===================================================================
RCS file: /cvsroot/pyode/pyode/examples/tutorial3.py,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** tutorial3.py	27 Jun 2004 20:46:16 -0000	1.1
--- tutorial3.py	16 Dec 2005 17:06:48 -0000	1.2
***************
*** 1,254 ****
! # pyODE example 3: Collision detection
! 
! import sys, os, random
! import pygame 
! from pygame.locals import *
! from cgtypes import *
! from math import *
! from OpenGL.GL import *
! from OpenGL.GLU import *
! from OpenGL.GLUT import *
! import ode
! 
! 
! # prepare_GL
! def prepare_GL():
!     """Prepare drawing.
!     """
!     
!     # Viewport
!     glViewport(0,0,640,480)
! 
!     # Initialize
!     glClearColor(0.8,0.8,0.9,0)
!     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
!     glEnable(GL_DEPTH_TEST)
!     glDisable(GL_LIGHTING)
!     glEnable(GL_LIGHTING)
!     glEnable(GL_NORMALIZE)
!     glShadeModel(GL_FLAT)
! 
!     # Projection
!     glMatrixMode(GL_PROJECTION)
!     glLoadIdentity()
!     P = mat4(1).perspective(45,1.3333,0.2,20)
!     glMultMatrixd(P.toList())
! 
!     # Initialize ModelView matrix
!     glMatrixMode(GL_MODELVIEW)
!     glLoadIdentity()
! 
!     # Light source
!     glLightfv(GL_LIGHT0,GL_POSITION,[0,0,1,0])
!     glLightfv(GL_LIGHT0,GL_DIFFUSE,[1,1,1,1])
!     glLightfv(GL_LIGHT0,GL_SPECULAR,[1,1,1,1])
!     glEnable(GL_LIGHT0)
! 
!     # View transformation
!     V = mat4(1).lookAt(1.2*vec3(2,3,4),(0.5,0.5,0), up=(0,1,0))
!     V.rotate(pi,vec3(0,1,0))  
!     V = V.inverse()
!     glMultMatrixd(V.toList())
! 
! 
! # draw_body
! def draw_body(body):
!     """Draw an ODE body.
!     """
!     
!     x,y,z = body.getPosition()
!     R = body.getRotation()
!     T = mat4()
!     T[0,0] = R[0]
!     T[0,1] = R[1]
!     T[0,2] = R[2]
!     T[1,0] = R[3]
!     T[1,1] = R[4]
!     T[1,2] = R[5]
!     T[2,0] = R[6]
!     T[2,1] = R[7]
!     T[2,2] = R[8]
!     T[3] = (x,y,z,1.0)
! 
!     glPushMatrix()
!     glMultMatrixd(T.toList())
!     if body.shape=="box":
!         sx,sy,sz = body.boxsize
!         glScale(sx, sy, sz)
!         glutSolidCube(1)
!     glPopMatrix()
! 
! 
! # create_box
! def create_box(world, space, density, lx, ly, lz):
!     """Create a box body and its corresponding geom."""
! 
!     # Create body
!     body = ode.Body(world)
!     M = ode.Mass()
!     M.setBox(density, lx, ly, lz)
!     body.setMass(M)
! 
!     # Set parameters for drawing the body
!     body.shape = "box"
!     body.boxsize = (lx, ly, lz)
! 
!     # Create a box geom for collision detection
!     geom = ode.GeomBox(space, lengths=body.boxsize)
!     geom.setBody(body)
! 
!     return body
! 
! # drop_object
! def drop_object():
!     """Drop an object into the scene."""
!     
!     global bodies, counter, objcount
!     
!     body = create_box(world, space, 1000, 1.0,0.2,0.2)
!     body.setPosition( (random.gauss(0,0.1),3.0,random.gauss(0,0.1)) )
!     m = mat4().rotation(random.uniform(0,2*pi), (0,1,0))
!     body.setRotation(m.toList())
!     bodies.append(body)
!     counter=0
!     objcount+=1
! 
! # explosion
! def explosion():
!     """Simulate an explosion.
! 
!     Every object is pushed away from the origin.
!     The force is dependent on the objects distance from the origin.
!     """
!     global bodies
! 
!     for b in bodies:
!         p = vec3(b.getPosition())
!         d = p.length()
!         a = max(0, 40000*(1.0-0.2*d*d))
!         p = vec3(p.x/4, p.y, p.z/4)
!         b.addForce(a*p.normalize())
! 
! # pull
! def pull():
!     """Pull the objects back to the origin.
! 
!     Every object will be pulled back to the origin.
!     Every couple of frames there'll be a thrust upwards so that
!     the objects won't stick to the ground all the time.
!     """
!     global bodies, counter
!     
!     for b in bodies:
!         p = vec3(b.getPosition())
!         b.addForce(-1000*p.normalize())
!         if counter%60==0:
!             b.addForce((0,10000,0))
!     
! # Collision callback
! def near_callback(args, geom1, geom2):
!     """Callback function for the collide() method.
! 
!     This function checks if the given geoms do collide and
!     creates contact joints if they do.
!     """
! 
!     # Check if the objects do collide
!     contacts = ode.collide(geom1, geom2)
! 
!     # Create contact joints
!     world,contactgroup = args
!     for c in contacts:
!         c.setBounce(0.2)
!         c.setMu(5000)
!         j = ode.ContactJoint(world, contactgroup, c)
!         j.attach(geom1.getBody(), geom2.getBody())
! 
! 
! ######################################################################
! 
! # Initialize pygame
! passed, failed = pygame.init()
! 
! # Open a window
! srf = pygame.display.set_mode((640,480), OPENGL | DOUBLEBUF)
! 
! # Create a world object
! world = ode.World()
! world.setGravity( (0,-9.81,0) )
! world.setERP(0.8)
! world.setCFM(1E-5)
! 
! # Create a space object
! space = ode.Space()
! 
! # Create a plane geom which prevent the objects from falling forever
! floor = ode.GeomPlane(space, (0,1,0), 0)
! 
! # A list with ODE bodies
! bodies = []
! 
! # A joint group for the contact joints that are generated whenever
! # two bodies collide
! contactgroup = ode.JointGroup()
! 
! # Some variables used inside the simulation loop
! fps = 50
! dt = 1.0/fps
! running = True
! state = 0
! counter = 0
! objcount = 0
! clk = pygame.time.Clock()
! #frame=1
! while running:
!     events = pygame.event.get()
!     for e in events:
!         if e.type==QUIT:
!             running=False
!         elif e.type==KEYDOWN:
!             running=False
!         elif e.type==MOUSEBUTTONDOWN or e.type==MOUSEMOTION:
!             pass
! 
!     counter+=1
!     # State 0: Drop objects
!     if state==0:
!         if counter==20:
!             drop_object()
!         if objcount==30:
!             state=1
!             counter=0
!     # State 1: Explosion and pulling back the objects
!     elif state==1:
!         if counter==100:
!             explosion()
!         if counter>300:
!             pull()
!         if counter==500:
!             counter=20
! 
!     # Draw the scene
!     prepare_GL()
!     for b in bodies:
!         draw_body(b)
!     
!     pygame.display.flip()
! #    pygame.image.save(srf,"delme%04d.bmp"%frame)
! #    frame+=1
! 
!     # Simulate
!     n = 2
!     for i in range(n):
!         # Detect collisions and create contact joints
!         space.collide((world,contactgroup), near_callback)
! 
!         # Simulation step
! #        world.step(dt/n)
!         world.quickStep(dt/n)
! 
!         # Remove all contact joints
!         contactgroup.empty()
!     
!     clk.tick(fps)
!     
--- 1,275 ----
! # pyODE example 3: Collision detection
! 
! # Originally by Matthias Baas.
! # Updated by Pierre Gay to work without pygame or cgkit.
! 
! import sys, os, random, time
! from math import *
! from OpenGL.GL import *
! from OpenGL.GLU import *
! from OpenGL.GLUT import *
! 
! import ode
! 
! # geometric utility functions
! def scalp (vec, scal):
!     vec[0] *= scal
!     vec[1] *= scal
!     vec[2] *= scal
! 
! def length (vec):
!     return sqrt (vec[0]**2 + vec[1]**2 + vec[2]**2)
! 
! # prepare_GL
! def prepare_GL():
!     """Prepare drawing.
!     """
! 
!     # Viewport
!     glViewport(0,0,640,480)
! 
!     # Initialize
!     glClearColor(0.8,0.8,0.9,0)
!     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
!     glEnable(GL_DEPTH_TEST)
!     glDisable(GL_LIGHTING)
!     glEnable(GL_LIGHTING)
!     glEnable(GL_NORMALIZE)
!     glShadeModel(GL_FLAT)
! 
!     # Projection
!     glMatrixMode(GL_PROJECTION)
!     glLoadIdentity()
!     gluPerspective (45,1.3333,0.2,20)
! 
!     # Initialize ModelView matrix
!     glMatrixMode(GL_MODELVIEW)
!     glLoadIdentity()
! 
!     # Light source
!     glLightfv(GL_LIGHT0,GL_POSITION,[0,0,1,0])
!     glLightfv(GL_LIGHT0,GL_DIFFUSE,[1,1,1,1])
!     glLightfv(GL_LIGHT0,GL_SPECULAR,[1,1,1,1])
!     glEnable(GL_LIGHT0)
! 
!     # View transformation
!     gluLookAt (2.4, 3.6, 4.8, 0.5, 0.5, 0, 0, 1, 0)
! 
! # draw_body
! def draw_body(body):
!     """Draw an ODE body.
!     """
! 
!     x,y,z = body.getPosition()
!     R = body.getRotation()
!     rot = [R[0], R[3], R[6], 0.,
!            R[1], R[4], R[7], 0.,
!            R[2], R[5], R[8], 0.,
!            x, y, z, 1.0]
!     glPushMatrix()
!     glMultMatrixd(rot)
!     if body.shape=="box":
!         sx,sy,sz = body.boxsize
!         glScale(sx, sy, sz)
!         glutSolidCube(1)
!     glPopMatrix()
! 
! 
! # create_box
! def create_box(world, space, density, lx, ly, lz):
!     """Create a box body and its corresponding geom."""
! 
!     # Create body
!     body = ode.Body(world)
!     M = ode.Mass()
!     M.setBox(density, lx, ly, lz)
!     body.setMass(M)
! 
!     # Set parameters for drawing the body
!     body.shape = "box"
!     body.boxsize = (lx, ly, lz)
! 
!     # Create a box geom for collision detection
!     geom = ode.GeomBox(space, lengths=body.boxsize)
!     geom.setBody(body)
! 
!     return body
! 
! # drop_object
! def drop_object():
!     """Drop an object into the scene."""
! 
!     global bodies, counter, objcount
! 
!     body = create_box(world, space, 1000, 1.0,0.2,0.2)
!     body.setPosition( (random.gauss(0,0.1),3.0,random.gauss(0,0.1)) )
!     theta = random.uniform(0,2*pi)
!     ct = cos (theta)
!     st = sin (theta)
!     body.setRotation([ct, 0., -st, 0., 1., 0., st, 0., ct])
!     bodies.append(body)
!     counter=0
!     objcount+=1
! 
! # explosion
! def explosion():
!     """Simulate an explosion.
! 
!     Every object is pushed away from the origin.
!     The force is dependent on the objects distance from the origin.
!     """
!     global bodies
! 
!     for b in bodies:
!         l=b.getPosition ()
!         d = length (l)
!         a = max(0, 40000*(1.0-0.2*d*d))
!         l = [l[0] / 4, l[1], l[2] /4]
!         scalp (l, a / length (l))
!         b.addForce(l)
! 
! # pull
! def pull():
!     """Pull the objects back to the origin.
! 
!     Every object will be pulled back to the origin.
!     Every couple of frames there'll be a thrust upwards so that
!     the objects won't stick to the ground all the time.
!     """
!     global bodies, counter
! 
!     for b in bodies:
!         l=list (b.getPosition ())
!         scalp (l, -1000 / length (l))
!         b.addForce(l)
!         if counter%60==0:
!             b.addForce((0,10000,0))
! 
! # Collision callback
! def near_callback(args, geom1, geom2):
!     """Callback function for the collide() method.
! 
!     This function checks if the given geoms do collide and
!     creates contact joints if they do.
!     """
! 
!     # Check if the objects do collide
!     contacts = ode.collide(geom1, geom2)
! 
!     # Create contact joints
!     world,contactgroup = args
!     for c in contacts:
!         c.setBounce(0.2)
!         c.setMu(5000)
!         j = ode.ContactJoint(world, contactgroup, c)
!         j.attach(geom1.getBody(), geom2.getBody())
! 
! 
! 
! ######################################################################
! 
! # Initialize Glut
! glutInit ([])
! 
! # Open a window
! glutInitDisplayMode (GLUT_RGB | GLUT_DOUBLE)
! 
! x = 0
! y = 0
! width = 640
! height = 480
! glutInitWindowPosition (x, y);
! glutInitWindowSize (width, height);
! glutCreateWindow ("testode")
! 
! # Create a world object
! world = ode.World()
! world.setGravity( (0,-9.81,0) )
! world.setERP(0.8)
! world.setCFM(1E-5)
! 
! # Create a space object
! space = ode.Space()
! 
! # Create a plane geom which prevent the objects from falling forever
! floor = ode.GeomPlane(space, (0,1,0), 0)
! 
! # A list with ODE bodies
! bodies = []
! 
! # A joint group for the contact joints that are generated whenever
! # two bodies collide
! contactgroup = ode.JointGroup()
! 
! # Some variables used inside the simulation loop
! fps = 50
! dt = 1.0/fps
! running = True
! state = 0
! counter = 0
! objcount = 0
! lasttime = time.time()
! 
! 
! # keyboard callback
! def _keyfunc (c, x, y):
!     sys.exit (0)
! 
! glutKeyboardFunc (_keyfunc)
! 
! # draw callback
! def _drawfunc ():
!     # Draw the scene
!     prepare_GL()
!     for b in bodies:
!         draw_body(b)
! 
!     glutSwapBuffers ()
! 
! glutDisplayFunc (_drawfunc)
! 
! # idle callback
! def _idlefunc ():
!     global counter, state, lasttime
! 
!     t = dt - (time.time() - lasttime)
!     if (t > 0):
!         time.sleep(t)
! 
!     counter += 1
! 
!     if state==0:
!         if counter==20:
!             drop_object()
!         if objcount==30:
!             state=1
!             counter=0
!     # State 1: Explosion and pulling back the objects
!     elif state==1:
!         if counter==100:
!             explosion()
!         if counter>300:
!             pull()
!         if counter==500:
!             counter=20
! 
!     glutPostRedisplay ()
! 
!     # Simulate
!     n = 2
! 
!     for i in range(n):
!         # Detect collisions and create contact joints
!         space.collide((world,contactgroup), near_callback)
! 
!         # Simulation step
!         world.step(dt/n)
! 
!         # Remove all contact joints
!         contactgroup.empty()
! 
!     lasttime = time.time()
! 
! glutIdleFunc (_idlefunc)
! 
! glutMainLoop ()