pyode-commits — Mailing list for CVS commit messages.

[Pyode-commits] pyode INSTALL,1.1.1.1,1.2

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv3756

Modified Files:
	INSTALL 
Log Message:
Installation instructions for the new Pyrex version

Index: INSTALL
===================================================================
RCS file: /cvsroot/pyode/pyode/INSTALL,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** INSTALL	11 Feb 2003 14:55:32 -0000	1.1.1.1
--- INSTALL	29 Jul 2004 09:48:01 -0000	1.2
***************
*** 1,228 ****
! Copyright 1994, 1995, 1996, 1999, 2000, 2001, 2002 Free Software
! Foundation, Inc.
! 
!    This file is free documentation; the Free Software Foundation gives
! unlimited permission to copy, distribute and modify it.
! 
! Basic Installation
! ==================
! 
!    These are generic installation instructions.
! 
!    The `configure' shell script attempts to guess correct values for
! various system-dependent variables used during compilation.  It uses
! those values to create a `Makefile' in each directory of the package.
! It may also create one or more `.h' files containing system-dependent
! definitions.  Finally, it creates a shell script `config.status' that
! you can run in the future to recreate the current configuration, and a
! file `config.log' containing compiler output (useful mainly for
! debugging `configure').
! 
!    It can also use an optional file (typically called `config.cache'
! and enabled with `--cache-file=config.cache' or simply `-C') that saves
! the results of its tests to speed up reconfiguring.  (Caching is
! disabled by default to prevent problems with accidental use of stale
! cache files.)
! 
!    If you need to do unusual things to compile the package, please try
! to figure out how `configure' could check whether to do them, and mail
! diffs or instructions to the address given in the `README' so they can
! be considered for the next release.  If you are using the cache, and at
! some point `config.cache' contains results you don't want to keep, you
! may remove or edit it.
! 
!    The file `configure.ac' (or `configure.in') is used to create
! `configure' by a program called `autoconf'.  You only need
! `configure.ac' if you want to change it or regenerate `configure' using
! a newer version of `autoconf'.
! 
! The simplest way to compile this package is:
! 
!   1. `cd' to the directory containing the package's source code and type
!      `./configure' to configure the package for your system.  If you're
!      using `csh' on an old version of System V, you might need to type
!      `sh ./configure' instead to prevent `csh' from trying to execute
!      `configure' itself.
! 
!      Running `configure' takes awhile.  While running, it prints some
!      messages telling which features it is checking for.
! 
!   2. Type `make' to compile the package.
! 
!   3. Optionally, type `make check' to run any self-tests that come with
!      the package.
! 
!   4. Type `make install' to install the programs and any data files and
!      documentation.
! 
!   5. You can remove the program binaries and object files from the
!      source code directory by typing `make clean'.  To also remove the
!      files that `configure' created (so you can compile the package for
!      a different kind of computer), type `make distclean'.  There is
!      also a `make maintainer-clean' target, but that is intended mainly
!      for the package's developers.  If you use it, you may have to get
!      all sorts of other programs in order to regenerate files that came
!      with the distribution.
! 
! Compilers and Options
! =====================
! 
!    Some systems require unusual options for compilation or linking that
! the `configure' script does not know about.  Run `./configure --help'
! for details on some of the pertinent environment variables.
! 
!    You can give `configure' initial values for variables by setting
! them in the environment.  You can do that on the command line like this:
! 
!      ./configure CC=c89 CFLAGS=-O2 LIBS=-lposix
! 
!    *Note Defining Variables::, for more details.
! 
! Compiling For Multiple Architectures
! ====================================
! 
!    You can compile the package for more than one kind of computer at the
! same time, by placing the object files for each architecture in their
! own directory.  To do this, you must use a version of `make' that
! supports the `VPATH' variable, such as GNU `make'.  `cd' to the
! directory where you want the object files and executables to go and run
! the `configure' script.  `configure' automatically checks for the
! source code in the directory that `configure' is in and in `..'.
! 
!    If you have to use a `make' that does not support the `VPATH'
! variable, you have to compile the package for one architecture at a
! time in the source code directory.  After you have installed the
! package for one architecture, use `make distclean' before reconfiguring
! for another architecture.
! 
! Installation Names
! ==================
! 
!    By default, `make install' will install the package's files in
! `/usr/local/bin', `/usr/local/man', etc.  You can specify an
! installation prefix other than `/usr/local' by giving `configure' the
! option `--prefix=PATH'.
! 
!    You can specify separate installation prefixes for
! architecture-specific files and architecture-independent files.  If you
! give `configure' the option `--exec-prefix=PATH', the package will use
! PATH as the prefix for installing programs and libraries.
! Documentation and other data files will still use the regular prefix.
! 
!    In addition, if you use an unusual directory layout you can give
! options like `--bindir=PATH' to specify different values for particular
! kinds of files.  Run `configure --help' for a list of the directories
! you can set and what kinds of files go in them.
! 
!    If the package supports it, you can cause programs to be installed
! with an extra prefix or suffix on their names by giving `configure' the
! option `--program-prefix=PREFIX' or `--program-suffix=SUFFIX'.
! 
! Optional Features
! =================
! 
!    Some packages pay attention to `--enable-FEATURE' options to
! `configure', where FEATURE indicates an optional part of the package.
! They may also pay attention to `--with-PACKAGE' options, where PACKAGE
! is something like `gnu-as' or `x' (for the X Window System).  The
! `README' should mention any `--enable-' and `--with-' options that the
! package recognizes.
! 
!    For packages that use the X Window System, `configure' can usually
! find the X include and library files automatically, but if it doesn't,
! you can use the `configure' options `--x-includes=DIR' and
! `--x-libraries=DIR' to specify their locations.
! 
! Specifying the System Type
! ==========================
! 
!    There may be some features `configure' cannot figure out
! automatically, but needs to determine by the type of machine the package
! will run on.  Usually, assuming the package is built to be run on the
! _same_ architectures, `configure' can figure that out, but if it prints
! a message saying it cannot guess the machine type, give it the
! `--build=TYPE' option.  TYPE can either be a short name for the system
! type, such as `sun4', or a canonical name which has the form:
! 
!      CPU-COMPANY-SYSTEM
! 
! where SYSTEM can have one of these forms:
! 
!      OS KERNEL-OS
! 
!    See the file `config.sub' for the possible values of each field.  If
! `config.sub' isn't included in this package, then this package doesn't
! need to know the machine type.
! 
!    If you are _building_ compiler tools for cross-compiling, you should
! use the `--target=TYPE' option to select the type of system they will
! produce code for.
! 
!    If you want to _use_ a cross compiler, that generates code for a
! platform different from the build platform, you should specify the
! "host" platform (i.e., that on which the generated programs will
! eventually be run) with `--host=TYPE'.
! 
! Sharing Defaults
! ================
! 
!    If you want to set default values for `configure' scripts to share,
! you can create a site shell script called `config.site' that gives
! default values for variables like `CC', `cache_file', and `prefix'.
! `configure' looks for `PREFIX/share/config.site' if it exists, then
! `PREFIX/etc/config.site' if it exists.  Or, you can set the
! `CONFIG_SITE' environment variable to the location of the site script.
! A warning: not all `configure' scripts look for a site script.
  
! Defining Variables
! ==================
  
!    Variables not defined in a site shell script can be set in the
! environment passed to `configure'.  However, some packages may run
! configure again during the build, and the customized values of these
! variables may be lost.  In order to avoid this problem, you should set
! them in the `configure' command line, using `VAR=value'.  For example:
  
!      ./configure CC=/usr/local2/bin/gcc
  
! will cause the specified gcc to be used as the C compiler (unless it is
! overridden in the site shell script).
  
- `configure' Invocation
- ======================
  
!    `configure' recognizes the following options to control how it
! operates.
  
! `--help'
! `-h'
!      Print a summary of the options to `configure', and exit.
  
! `--version'
! `-V'
!      Print the version of Autoconf used to generate the `configure'
!      script, and exit.
  
! `--cache-file=FILE'
!      Enable the cache: use and save the results of the tests in FILE,
!      traditionally `config.cache'.  FILE defaults to `/dev/null' to
!      disable caching.
  
! `--config-cache'
! `-C'
!      Alias for `--cache-file=config.cache'.
  
! `--quiet'
! `--silent'
! `-q'
!      Do not print messages saying which checks are being made.  To
!      suppress all normal output, redirect it to `/dev/null' (any error
!      messages will still be shown).
  
- `--srcdir=DIR'
-      Look for the package's source code in directory DIR.  Usually
-      `configure' can determine that directory automatically.
  
! `configure' also accepts some other, not widely useful, options.  Run
! `configure --help' for more details.
  
--- 1,39 ----
! Installation instructions for all systems
! =========================================
  
! Requirements: 
! -------------
  
! - Python v2.2 (or higher) 
!   http://www.python.org/
  
! - Pyrex 0.9.3 (or higher) 
!   http://www.cosc.canterbury.ac.nz/~greg/python/Pyrex/
  
! - ODE 0.5
!   http://ode.org/
  
  
! Installation:
! -------------
  
! The package uses the Python distutils, so you can build it by calling
  
!   python setup.py build
  
! and install it by calling
  
!   python setup.py install
  
! which installs the package on your system. 
! See the "Installing Python Modules" manual inside your Python documentation 
! or at http://docs.python.org/inst/inst.html if you want to customize the
! build process or the target location.
  
  
! Note: It is assumed that the ODE library is already compiled and installed
! somewhere on your system. In the setup script there's a variable ODE_BASE
! that points to the base ODE directory. It might be possible that you have
! to modify this variable so that it points to the actual location on your
! system.
  

[Pyode-commits] pyode/xode geom.py,1.1,1.2

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

Update of /cvsroot/pyode/pyode/xode
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1457/xode

Modified Files:
	geom.py 
Log Message:
Fixed bug where Geoms were already inserted into a space before encapsulating in a GeomTransform.


Index: geom.py
===================================================================
RCS file: /cvsroot/pyode/pyode/xode/geom.py,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** geom.py	16 Jul 2004 11:45:17 -0000	1.1
--- geom.py	28 Jul 2004 18:38:10 -0000	1.2
***************
*** 81,115 ****
              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):
--- 81,124 ----
              if (obj is None):
                  raise errors.InvalidError('No geom type element found.')
+             
+             self._parser.pop()
  
!     def _setObject(self, kclass, *args):
!         """
!         Create the Geom object and apply transforms. Only call for placeable
!         Geoms.
!         """
!         
!         if (self._body is None):
!             # The Geom is independant so it can have its own transform
  
!             obj = kclass(*((self._space,) + args))
  
!             t = self.getTransform()
!             obj.setPosition(t.getPosition())
!             obj.setRotation(t.getRotation())
              
!             self.setODEObject(obj)
!             
!         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.
! 
!             obj = kclass(*((None,) + args))
! 
!             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 = kclass(*((self._space,) + args))
!             obj.setBody(self._body.getODEObject())
!             self.setODEObject(obj)
  
      def _parseGeomBox(self, attrs):
***************
*** 128,132 ****
          lz = float(attrs['sizez'])
  
!         self.setODEObject(ode.GeomBox(self._space, (lx, ly, lz)))
          self._parser.push(startElement=start, endElement=end)
  
--- 137,141 ----
          lz = float(attrs['sizez'])
  
!         self._setObject(ode.GeomBox, (lx, ly, lz))
          self._parser.push(startElement=start, endElement=end)
  
***************
*** 145,149 ****
          length = float(attrs['length'])
  
!         self.setODEObject(ode.GeomCCylinder(self._space, radius, length))
          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)
  
***************
*** 161,165 ****
          radius = float(attrs['radius'])
  
!         self.setODEObject(ode.GeomSphere(self._space, radius))
          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)
  

[Pyode-commits] pyode/src geoms.pyx,1.6,1.7

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4462

Modified Files:
	geoms.pyx 
Log Message:
Doc string updates

Index: geoms.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/geoms.pyx,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** geoms.pyx	28 Jul 2004 07:27:09 -0000	1.6
--- geoms.pyx	28 Jul 2004 16:03:09 -0000	1.7
***************
*** 185,190 ****
  
      def getSpace(self):
!         """Return the space that contains the geom.
!         
          Return the space that the given geometry is contained in,
          or return None if it is not contained in any space."""        
--- 185,190 ----
  
      def getSpace(self):
!         """getSpace() -> Space
! 
          Return the space that the given geometry is contained in,
          or return None if it is not contained in any space."""        
***************
*** 248,252 ****
  # GeomSphere
  cdef class GeomSphere(GeomObject):
!     """Sphere object.
      """
  
--- 248,258 ----
  # GeomSphere
  cdef class GeomSphere(GeomObject):
!     """Sphere geometry.
! 
!     This class represents a sphere centered at the origin.
! 
!     Constructor::
!     
!       GeomSphere(space=None, radius=1.0)
      """
  
***************
*** 311,315 ****
  # GeomBox
  cdef class GeomBox(GeomObject):
!     """Box object.
      """
  
--- 317,327 ----
  # GeomBox
  cdef class GeomBox(GeomObject):
!     """Box geometry.
! 
!     This class represents a box centered at the origin.
! 
!     Constructor::
!     
!       GeomBox(space=None, lengths=(1.0, 1.0, 1.0))
      """
  
***************
*** 364,371 ****
  # GeomPlane
  cdef class GeomPlane(GeomObject):
!     """Plane object.
  
      This object can't be attached to a body.
      If you call getBody() on this object it always returns ode.environment.
      """
  
--- 376,391 ----
  # GeomPlane
  cdef class GeomPlane(GeomObject):
!     """Plane geometry.
! 
!     This class represents an infinite plane. The plane equation is:
!     n.x*x + n.y*y + n.z*z = dist
  
      This object can't be attached to a body.
      If you call getBody() on this object it always returns ode.environment.
+ 
+     Constructor::
+     
+       GeomPlane(space=None, normal=(0,0,1), dist=0)
+ 
      """
  
***************
*** 418,422 ****
  # GeomCCylinder
  cdef class GeomCCylinder(GeomObject):
!     """Capped cylinder object.
      """
  
--- 438,451 ----
  # GeomCCylinder
  cdef class GeomCCylinder(GeomObject):
!     """Capped cylinder geometry.
! 
!     This class represents a capped cylinder aligned along the local Z axis
!     and centered at the origin.
! 
!     Constructor::
!     
!       GeomCCylinder(space=None, radius=0.5, length=1.0)
! 
!     The length parameter does not include the caps.
      """
  
***************
*** 472,475 ****
--- 501,514 ----
  cdef class GeomRay(GeomObject):
      """Ray object.
+ 
+     A ray is different from all the other geom classes in that it does
+     not represent a solid object. It is an infinitely thin line that
+     starts from the geom's position and extends in the direction of
+     the geom's local Z-axis.
+ 
+     Constructor::
+     
+       GeomRay(space=None, rlen=1.0)
+     
      """
  
***************
*** 521,524 ****
--- 560,567 ----
      "E", allowing E to be positioned and rotated arbitrarily with
      respect to its point of reference.
+ 
+     Constructor::
+     
+       GeomTransform(space=None)    
      """
  
***************
*** 631,634 ****
--- 674,681 ----
      stores the actual mesh. This object has to be passed as first
      argument to the constructor.
+ 
+     Constructor::
+     
+       GeomTriMesh(data, space=None)    
      """
  

[Pyode-commits] pyode/src geoms.pyx,1.5,1.6

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23647/src

Modified Files:
	geoms.pyx 
Log Message:
Check the geom argument to setGeom()

Index: geoms.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/geoms.pyx,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** geoms.pyx	27 Jul 2004 15:19:03 -0000	1.5
--- geoms.pyx	28 Jul 2004 07:27:09 -0000	1.6
***************
*** 557,568 ****
          return id
  
!     def setGeom(self, geom):
          """setGeom(geom)
  
!         Set the geom that the geometry transform encapsulates. The geom must
!         not be inserted into any space, and must not be associated with any
!         body.
          """
          cdef long id
          
          id = geom._id()
--- 557,579 ----
          return id
  
!     def setGeom(self, GeomObject geom not None):
          """setGeom(geom)
  
!         Set the geom that the geometry transform encapsulates.
!         A ValueError exception is thrown if a) the geom is not placeable,
!         b) the geom was already inserted into a space or c) the geom is
!         already associated with a body.
! 
!         @param geom: Geom object to encapsulate
!         @type geom: GeomObject
          """
          cdef long id
+ 
+         if not geom.placeable():
+             raise ValueError, "Only placeable geoms can be encapsulated by a GeomTransform"
+         if dGeomGetSpace(geom.gid)!=<dSpaceID>0:
+             raise ValueError, "The encapsulated geom was already inserted into a space."
+         if dGeomGetBody(geom.gid)!=<dBodyID>0:
+             raise ValueError, "The encapsulated geom is already associated with a body."
          
          id = geom._id()
***************
*** 592,595 ****
--- 603,608 ----
          @type mode: int
          """
+         if mode<0 or mode>1:
+             raise ValueError, "Invalid information mode (%d). Must be either 0 or 1."%mode
          dGeomTransformSetInfo(self.gid, mode)
  

[Pyode-commits] pyode/src declarations.pyx,1.5,1.6 geoms.pyx,1.4,1.5

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv14817

Modified Files:
	declarations.pyx geoms.pyx 
Log Message:
Added setInfo()/getInfo() and a few doc strings to the GeomTransform class

Index: geoms.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/geoms.pyx,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** geoms.pyx	19 Jul 2004 15:02:05 -0000	1.4
--- geoms.pyx	27 Jul 2004 15:19:03 -0000	1.5
***************
*** 517,520 ****
--- 517,524 ----
  cdef class GeomTransform(GeomObject):
      """GeomTransform.
+ 
+     A geometry transform "T" is a geom that encapsulates another geom
+     "E", allowing E to be positioned and rotated arbitrarily with
+     respect to its point of reference.
      """
  
***************
*** 530,533 ****
--- 534,540 ----
              sid = sp.sid
          self.gid = dCreateGeomTransform(sid)
+         # Set cleanup mode to 0 as a contained geom will be deleted
+         # by its Python wrapper class
+         dGeomTransformSetCleanup(self.gid, 0)
  #        if space!=None:
  #            space._addgeom(self)
***************
*** 551,554 ****
--- 558,567 ----
  
      def setGeom(self, geom):
+         """setGeom(geom)
+ 
+         Set the geom that the geometry transform encapsulates. The geom must
+         not be inserted into any space, and must not be associated with any
+         body.
+         """
          cdef long id
          
***************
*** 558,563 ****
--- 571,611 ----
  
      def getGeom(self):
+         """getGeom() -> GeomObject
+ 
+         Get the geom that the geometry transform encapsulates.
+         """
          return self.geom
  
+     def setInfo(self, int mode):
+         """setInfo(mode)
+ 
+         Set the "information" mode of the geometry transform.
+ 
+         With mode 0, when a transform object is collided with another
+         object, the geom field of the ContactGeom structure is set to the
+         geom that is encapsulated by the transform object.
+ 
+         With mode 1, the geom field of the ContactGeom structure is set
+         to the transform object itself.
+ 
+         @param mode: Information mode (0 or 1)
+         @type mode: int
+         """
+         dGeomTransformSetInfo(self.gid, mode)
+ 
+     def getInfo(self):
+         """getInfo() -> int
+ 
+         Get the "information" mode of the geometry transform (0 or 1).
+ 
+         With mode 0, when a transform object is collided with another
+         object, the geom field of the ContactGeom structure is set to the
+         geom that is encapsulated by the transform object.
+ 
+         With mode 1, the geom field of the ContactGeom structure is set
+         to the transform object itself.
+         """
+         return dGeomTransformGetInfo(self.gid)
+ 
  
  include "trimeshdata.pyx"

Index: declarations.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/declarations.pyx,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** declarations.pyx	24 Jul 2004 11:53:38 -0000	1.5
--- declarations.pyx	27 Jul 2004 15:19:03 -0000	1.6
***************
*** 347,350 ****
--- 347,352 ----
      void dGeomTransformSetCleanup (dGeomID g, int mode)
      int dGeomTransformGetCleanup (dGeomID g)
+     void dGeomTransformSetInfo (dGeomID g, int mode)
+     int dGeomTransformGetInfo (dGeomID g)
  
      int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip)

[Pyode-commits] pyode/src declarations.pyx,1.4,1.5 trimeshdata.pyx,1.1,1.2

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

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv15552/src

Modified Files:
	declarations.pyx trimeshdata.pyx 
Log Message:
Changed dGeomTriMeshDataBuildSingle to dGeomTriMeshDataBuildSingle1.


Index: trimeshdata.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/trimeshdata.pyx,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** trimeshdata.pyx	19 Jul 2004 15:02:05 -0000	1.1
--- trimeshdata.pyx	24 Jul 2004 11:53:38 -0000	1.2
***************
*** 66,68 ****
          # Pass the data to ODE
  #        dGeomTriMeshDataBuildSimple(self.tmdid, self.vertex_buffer, numverts, self.face_buffer, numfaces)
!         dGeomTriMeshDataBuildSingle(self.tmdid, self.vertex_buffer, 3*sizeof(dReal), numverts, self.face_buffer, numfaces, 3*sizeof(int), NULL)
--- 66,68 ----
          # Pass the data to ODE
  #        dGeomTriMeshDataBuildSimple(self.tmdid, self.vertex_buffer, numverts, self.face_buffer, numfaces)
!         dGeomTriMeshDataBuildSingle1(self.tmdid, self.vertex_buffer, 3*sizeof(dReal), numverts, self.face_buffer, numfaces, 3*sizeof(int), NULL)

Index: declarations.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/declarations.pyx,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** declarations.pyx	19 Jul 2004 14:57:40 -0000	1.4
--- declarations.pyx	24 Jul 2004 11:53:38 -0000	1.5
***************
*** 353,357 ****
      dTriMeshDataID dGeomTriMeshDataCreate()
      void dGeomTriMeshDataDestroy(dTriMeshDataID g)
!     void dGeomTriMeshDataBuildSingle (dTriMeshDataID g, void* Vertices,
                                  int VertexStride, int VertexCount,
                                  void* Indices, int IndexCount,
--- 353,357 ----
      dTriMeshDataID dGeomTriMeshDataCreate()
      void dGeomTriMeshDataDestroy(dTriMeshDataID g)
!     void dGeomTriMeshDataBuildSingle1 (dTriMeshDataID g, void* Vertices,
                                  int VertexStride, int VertexCount,
                                  void* Indices, int IndexCount,

[Pyode-commits] pyode/src trimeshdata.pyx,NONE,1.1 geoms.pyx,1.3,1.4

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv13551

Modified Files:
	geoms.pyx 
Added Files:
	trimeshdata.pyx 
Log Message:
Initial trimesh support

--- NEW FILE: trimeshdata.pyx ---
# TriMeshData

cdef class TriMeshData:
    """This class stores the mesh data.
    """

    cdef dTriMeshDataID tmdid
    cdef dReal* vertex_buffer
    cdef int* face_buffer

    def __new__(self):
        self.tmdid = dGeomTriMeshDataCreate()
        self.vertex_buffer = NULL
        self.face_buffer = NULL

    def __dealloc__(self):
        if self.tmdid!=NULL:
            dGeomTriMeshDataDestroy(self.tmdid)
        if self.vertex_buffer!=NULL:
            free(self.vertex_buffer)
        if self.face_buffer!=NULL:
            free(self.face_buffer)
    
    def build(self, verts, faces):
        """build(verts, faces)

        @param verts: Vertices
        @type verts: Sequence of 3-sequences of floats
        @param faces: Face definitions (three indices per face)
        @type faces: Sequence of 3-sequences of ints
        """
        cdef int numverts
        cdef int numfaces
        cdef dReal* vp
        cdef int* fp
        cdef int a,b,c
        
        numverts = len(verts)
        numfaces = len(faces)
        # Allocate the vertex and face buffer
        self.vertex_buffer = <dReal*>malloc(numverts*3*sizeof(dReal))
        self.face_buffer = <int*>malloc(numfaces*3*sizeof(int))

        # Fill the vertex buffer
        vp = self.vertex_buffer
        for v in verts:
            vp[0] = v[0]
            vp[1] = v[1]
            vp[2] = v[2]
#            vp[3] = 0
            vp = vp+3

        # Fill the face buffer
        fp = self.face_buffer
        for f in faces:
            a = f[0]
            b = f[1]
            c = f[2]
            if a<0 or b<0 or c<0 or a>=numverts or b>=numverts or c>=numverts:
                raise ValueError, "Vertex index out of range"
            fp[0] = a
            fp[1] = b
            fp[2] = c
            fp = fp+3

        # Pass the data to ODE
#        dGeomTriMeshDataBuildSimple(self.tmdid, self.vertex_buffer, numverts, self.face_buffer, numfaces)
        dGeomTriMeshDataBuildSingle(self.tmdid, self.vertex_buffer, 3*sizeof(dReal), numverts, self.face_buffer, numfaces, 3*sizeof(int), NULL)

Index: geoms.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/geoms.pyx,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** geoms.pyx	13 Jul 2004 16:44:18 -0000	1.3
--- geoms.pyx	19 Jul 2004 15:02:05 -0000	1.4
***************
*** 296,300 ****
  
      def pointDepth(self, p):
!         """pointDepth() -> float
  
          Return the depth of the point p in the sphere. Points inside
--- 296,300 ----
  
      def pointDepth(self, p):
!         """pointDepth(p) -> float
  
          Return the depth of the point p in the sphere. Points inside
***************
*** 349,353 ****
  
      def pointDepth(self, p):
!         """pointDepth() -> float
  
          Return the depth of the point p in the box. Points inside the
--- 349,353 ----
  
      def pointDepth(self, p):
!         """pointDepth(p) -> float
  
          Return the depth of the point p in the box. Points inside the
***************
*** 403,407 ****
  
      def pointDepth(self, p):
!         """pointDepth() -> float
  
          Return the depth of the point p in the plane. Points inside the
--- 403,407 ----
  
      def pointDepth(self, p):
!         """pointDepth(p) -> float
  
          Return the depth of the point p in the plane. Points inside the
***************
*** 456,460 ****
  
      def pointDepth(self, p):
!         """pointDepth() -> float
  
          Return the depth of the point p in the cylinder. Points inside the
--- 456,460 ----
  
      def pointDepth(self, p):
!         """pointDepth(p) -> float
  
          Return the depth of the point p in the cylinder. Points inside the
***************
*** 561,562 ****
--- 561,630 ----
  
  
+ include "trimeshdata.pyx"
+ 
+ # GeomTriMesh
+ cdef class GeomTriMesh(GeomObject):
+     """TriMesh object.
+ 
+     To construct the trimesh geom you need a TriMeshData object that
+     stores the actual mesh. This object has to be passed as first
+     argument to the constructor.
+     """
+ 
+     # Keep a reference to the data
+     cdef TriMeshData data
+ 
+     def __new__(self, TriMeshData data not None, space=None):
+         cdef Space sp
+         cdef dSpaceID sid
+ 
+         self.data = data
+ 
+         sid=NULL
+         if space!=None:
+             sp = space
+             sid = sp.sid
+         self.gid = dCreateTriMesh(sid, data.tmdid, NULL, NULL, NULL)
+ 
+         _geom_c2py_lut[<long>self.gid] = self
+ 
+ 
+     def __init__(self, TriMeshData data not None, space=None):
+         self.space = space
+         self.body = None
+ 
+     def placeable(self):
+         return True
+ 
+     def _id(self):
+         cdef long id
+         id = <long>self.gid
+         return id
+ 
+     def clearTCCache(self):
+         """clearTCCache()
+ 
+         Clears the internal temporal coherence caches.
+         """
+         dGeomTriMeshClearTCCache(self.gid)
+ 
+     def getTriangle(self, int idx):
+         """getTriangle(idx) -> (v0, v1, v2)
+ 
+         @param idx: Triangle index
+         @type idx: int
+         """
+ 
+         cdef dVector3 v0, v1, v2
+         cdef dVector3* vp0
+         cdef dVector3* vp1
+         cdef dVector3* vp2
+ 
+         vp0 = <dVector3*>v0
+         vp1 = <dVector3*>v1
+         vp2 = <dVector3*>v2
+ 
+         dGeomTriMeshGetTriangle(self.gid, idx, vp0, vp1, vp2)
+         return ((v0[0],v0[1],v0[2]), (v1[0],v1[1],v1[2]), (v2[0],v2[1],v2[2]))
+         
+ 

[Pyode-commits] pyode/src declarations.pyx,1.3,1.4

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv12807

Modified Files:
	declarations.pyx 
Log Message:
Add most trimesh declarations

Index: declarations.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/declarations.pyx,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** declarations.pyx	12 Jul 2004 17:30:08 -0000	1.3
--- declarations.pyx	19 Jul 2004 14:57:40 -0000	1.4
***************
*** 39,42 ****
--- 39,44 ----
      cdef struct dxJointGroup:
          int _dummy
+     cdef struct dxTriMeshData:
+         int _dummy
  
      # Types
***************
*** 47,50 ****
--- 49,53 ----
      ctypedef dxJoint* dJointID
      ctypedef dxJointGroup* dJointGroupID
+     ctypedef dxTriMeshData* dTriMeshDataID
      ctypedef dReal dVector3[4]
      ctypedef dReal dVector4[4]
***************
*** 347,348 ****
--- 350,380 ----
      int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip)
  
+     # Trimesh
+     dTriMeshDataID dGeomTriMeshDataCreate()
+     void dGeomTriMeshDataDestroy(dTriMeshDataID g)
+     void dGeomTriMeshDataBuildSingle (dTriMeshDataID g, void* Vertices,
+                                 int VertexStride, int VertexCount,
+                                 void* Indices, int IndexCount,
+                                 int TriStride, void* Normals)
+     
+     void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
+                                  dReal* Vertices, int VertexCount,
+                                  int* Indices, int IndexCount)
+ 
+     dGeomID dCreateTriMesh (dSpaceID space, dTriMeshDataID Data,
+                             void* Callback,
+                             void* ArrayCallback,
+                             void* RayCallback)   
+ 
+     void dGeomTriMeshSetData (dGeomID g, dTriMeshDataID Data)
+     
+     void dGeomTriMeshClearTCCache (dGeomID g)
+ 
+     void dGeomTriMeshGetTriangle (dGeomID g, int Index, dVector3 *v0,
+                                   dVector3 *v1, dVector3 *v2)
+ 
+     void dGeomTriMeshGetPoint (dGeomID g, int Index, dReal u, dReal v,
+                                dVector3 Out)
+ 
+     void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable)
+     int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass)

[Pyode-commits] pyode/src ode.pyx,1.4,1.5

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv12697

Modified Files:
	ode.pyx 
Log Message:
Increased maximum number of contact points

Index: ode.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/ode.pyx,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** ode.pyx	12 Jul 2004 17:30:08 -0000	1.4
--- ode.pyx	19 Jul 2004 14:56:42 -0000	1.5
***************
*** 165,169 ****
      """
      
!     cdef dContactGeom c[10]
      cdef long id1
      cdef long id2
--- 165,169 ----
      """
      
!     cdef dContactGeom c[150]
      cdef long id1
      cdef long id2
***************
*** 174,178 ****
      id2 = geom2._id()
  
!     n = dCollide(<dGeomID>id1, <dGeomID>id2, 10, c, sizeof(dContactGeom))
      res = []
      i=0
--- 174,178 ----
      id2 = geom2._id()
  
!     n = dCollide(<dGeomID>id1, <dGeomID>id2, 150, c, sizeof(dContactGeom))
      res = []
      i=0

[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):

[Pyode-commits] pyode/tests test_xode.py,1.1,1.2

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

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

Modified Files:
	test_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.


Index: test_xode.py
===================================================================
RCS file: /cvsroot/pyode/pyode/tests/test_xode.py,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_xode.py	7 Jul 2004 11:46:32 -0000	1.1
--- test_xode.py	16 Jul 2004 11:45:17 -0000	1.2
***************
*** 3,7 ****
  import unittest
  import ode
! from xode import node, transform, parser
  
  test_doc = '''<?xml version="1.0"?>
--- 3,8 ----
  import unittest
  import ode
! import math
! from xode import node, transform, parser, errors
  
  test_doc = '''<?xml version="1.0"?>
***************
*** 50,53 ****
--- 51,58 ----
            </ball>
          </joint>
+ 
+         <geom name="geom1">
+           <box sizex="10" sizey="20" sizez="30"/>
+         </geom>
        </body>
  
***************
*** 72,85 ****
      <body name="body3">
        <transform>
!         <matrix4f m00="0.0" m01="0.0" m02="1.0" m03="0.0"
                    m10="0.0" m11="1.0" m12="0.0" m13="0.0"
!                   m20="1.0" m21="0.0" m22="0.0" m23="0.0"
                    m30="10.0" m31="20.0" m32="30.0" m33="0.0"/>
        </transform>
      </body>
      </space>
    </world>
  </xode>'''
  
  class Class1:
      pass
--- 77,167 ----
      <body name="body3">
        <transform>
!         <matrix4f m00="1.0" m01="0.0" m02="0.0" m03="0.0"
                    m10="0.0" m11="1.0" m12="0.0" m13="0.0"
!                   m20="0.0" m21="0.0" m22="1.0" m23="0.0"
                    m30="10.0" m31="20.0" m32="30.0" m33="0.0"/>
        </transform>
      </body>
+ 
+     <body name="body4">
+       <transform>
+         <position x="1" y="1" z="1"/>
+       </transform>
+       <body name="body5">
+         <transform>
+           <position x="2" y="2" z="2"/>
+         </transform>
+       </body>
+     </body>
+ 
+     <body name="body6">
+       <transform>
+         <rotation>
+           <euler x="0" y="0" z="0.78" aformat="radians"/>
+         </rotation>
+       </transform>
+ 
+       <body name="body7">
+         <transform absolute="true">
+           <matrix4f m00="1.0" m01="2.0" m02="3.0" m03="4.0"
+                     m10="1.2" m11="2.2" m12="3.2" m13="4.2"
+                     m20="1.4" m21="2.4" m22="3.4" m23="4.4"
+                     m30="1.8" m31="2.8" m32="3.8" m33="4.8"/>
+         </transform>
+ 
+         <geom name="geom6">
+           <transform>
+             <position x="1.0" y="2.0" z="3.0"/>
+             <rotation>
+               <euler x="0.78" y="0" z="0" aformat="radians"/>
+             </rotation>
+           </transform>
+           <sphere radius="1.0"/>
+         </geom>
+         
+       </body>
+     </body>
+ 
+     <geom name="geom2">
+       <cappedCylinder radius="15.0" length="3.0"/>
+     </geom>
+ 
+     <geom name="geom3">
+       <ray length="11.0"/>
+       
+       <geom name="geom4">
+         <plane a="0.0" b="1.0" c="0.0" d="17.0"/>
+       </geom>
+ 
+       <geom name="geom5">
+         <transform>
+           <position x="1.0" y="2.0" z="3.0"/>
+           <rotation>
+             <euler x="0.0" y="0.0" z="0.78" aformat="radians"/>
+           </rotation>
+         </transform>
+ 
+         <sphere radius="23.0"/>
+       </geom>
+       
+     </geom>
+     
      </space>
    </world>
+ 
  </xode>'''
  
+ def feq(n1, n2, error=0.1):
+     """
+     Compare two floating point numbers. If the differ by less than C{error},
+     return True; otherwise, return False.
+     """
+ 
+     n = math.fabs(n1 - n2)
+     if (n <= error):
+         return True
+     else:
+         return False
+ 
  class Class1:
      pass
***************
*** 94,97 ****
--- 176,180 ----
          self.node2 = node.TreeNode('node2', self.node1)
          self.node3 = node.TreeNode('node3', self.node2)
+         self.node4 = node.TreeNode('node4', self.node3)
  
          self.t2 = transform.Transform()
***************
*** 103,106 ****
--- 186,193 ----
          self.node3.setNodeTransform(self.t3)
  
+         self.t4 = transform.Transform()
+         self.t4.translate(2.0, 3.0, 1.0)
+         self.node4.setNodeTransform(self.t4)
+ 
          self.node1.setODEObject(Class2())
          self.node2.setODEObject(Class2())
***************
*** 116,120 ****
          self.assertEqual(self.node1.getChildren(), [self.node2])
          self.assertEqual(self.node2.getChildren(), [self.node3])
!         self.assertEqual(self.node3.getChildren(), [])
  
      def testNamedChildLocal(self):
--- 203,208 ----
          self.assertEqual(self.node1.getChildren(), [self.node2])
          self.assertEqual(self.node2.getChildren(), [self.node3])
!         self.assertEqual(self.node3.getChildren(), [self.node4])
!         self.assertEqual(self.node4.getChildren(), [])
  
      def testNamedChildLocal(self):
***************
*** 143,146 ****
--- 231,238 ----
          self.assertEqual(self.node3.getTransform().m, ref.m)
  
+     def testGetTransformUntil(self):
+         ref = self.t3 * self.t4
+         self.assertEqual(self.node4.getTransform(self.node2).m, ref.m)
+ 
  class TestParser(unittest.TestCase):
      def setUp(self):
***************
*** 163,166 ****
--- 255,259 ----
          self.body1 = self.root.namedChild('body1').getODEObject()
          self.body3 = self.root.namedChild('body3').getODEObject()
+         self.body6 = self.root.namedChild('body6').getODEObject()
          
      def testInstance(self):
***************
*** 168,176 ****
  
      def testRotation(self):
!         # FIXME?
!         #self.assertEqual(self.body3.getRotation(), [0.0, 0.0, 1.0,
!         #                                            0.0, 1.0, 0.0,
!         #                                            1.0, 0.0, 0.0])
!         pass
  
      def testPosition(self):
--- 261,270 ----
  
      def testRotation(self):
!         ref = transform.Transform()
!         ref.rotate(0.0, 0.0, 0.78)
! 
!         rot = self.body6.getRotation()
!         for n1, n2 in zip(ref.getRotation(), rot):
!             self.assert_(feq(n1, n2))
  
      def testPosition(self):
***************
*** 254,260 ****
  
      def testBallAnchor(self):
!         # FIXME?
!         #self.assertEqual(self.joint1.getAnchor(), (1.0, 2.0, 3.0))
!         pass
  
  class TestTransformParser(TestParser):
--- 348,431 ----
  
      def testBallAnchor(self):
!         for n1, n2 in zip(self.joint1.getAnchor(), (1.0, 2.0, 3.0)):
!             self.assert_(feq(n1, n2))
! 
! class TestGeomParser(TestParser):
!     def setUp(self):
!         TestParser.setUp(self)
!         
!         self.geom1 = self.root.namedChild('geom1').getODEObject()
!         self.geom2 = self.root.namedChild('geom2').getODEObject()
!         self.geom3 = self.root.namedChild('geom3').getODEObject()
!         self.geom4 = self.root.namedChild('geom4').getODEObject()
!         self.geom5 = self.root.namedChild('geom5').getODEObject()
!         self.geom6 = self.root.namedChild('geom6').getODEObject()
!         
!         self.body1 = self.root.namedChild('body1').getODEObject()
!         self.space1 = self.root.namedChild('space1').getODEObject()
! 
!     def testSpaceAncestor(self):
!         self.assertEqual(self.geom1.getSpace(), self.space1)
! 
!     def testBodyAttach(self):
!         self.assertEqual(self.geom1.getBody(), self.body1)
! 
!     def testBoxInstance(self):
!         self.assert_(isinstance(self.geom1, ode.GeomBox))
! 
!     def testBoxSize(self):
!         self.assertEqual(self.geom1.getLengths(), (10.0, 20.0, 30.0))
! 
!     def testCCylinderInstance(self):
!         self.assert_(isinstance(self.geom2, ode.GeomCCylinder))
! 
!     def testCCylinderParams(self):
!         self.assertEqual(self.geom2.getParams(), (15.0, 3.0))
! 
!     def testSphereInstance(self):
!         self.assert_(isinstance(self.geom5, ode.GeomSphere))
! 
!     def testSphereRadius(self):
!         self.assertEqual(self.geom5.getRadius(), 23.0)
! 
!     def testPlaneInstance(self):
!         self.assert_(isinstance(self.geom4, ode.GeomPlane))
! 
!     def testPlaneParams(self):
!         self.assertEqual(self.geom4.getParams(), ((0.0, 1.0, 0.0), 17.0))
! 
!     def testRayInstance(self):
!         self.assert_(isinstance(self.geom3, ode.GeomRay))
! 
!     def testRayLength(self):
!         self.assertEqual(self.geom3.getLength(), 11.0)
! 
!     def testIndependantRotation(self):
!         ref = transform.Transform()
!         ref.rotate(0.0, 0.0, 0.78)
! 
!         for n1, n2 in zip(self.geom5.getRotation(), ref.getRotation()):
!             self.assert_(feq(n1, n2))
! 
!     def testIndependantPosition(self):
!         self.assertEqual(self.geom5.getPosition(), (1.0, 2.0, 3.0))
! 
!     def testTransformInstance(self):
!         self.assert_(isinstance(self.geom6, ode.GeomTransform))
! 
!     def testTransformGeomInstance(self):
!         self.assert_(isinstance(self.geom6.getGeom(), ode.GeomSphere))
! 
!     def testTransformPosition(self):
!         pos = self.geom6.getGeom().getPosition()
!         self.assertEqual(pos, (1.0, 2.0, 3.0))
! 
!     def testTransformRotation(self):
!         ref = transform.Transform()
!         ref.rotate(0.78, 0.0, 0.0)
!         rot = self.geom6.getGeom().getRotation()
! 
!         for n1, n2 in zip(rot, ref.getRotation()):
!             self.assert_(feq(n1, n2))
  
  class TestTransformParser(TestParser):
***************
*** 263,266 ****
--- 434,439 ----
          self.world1 = self.root.namedChild('world1')
          self.body1 = self.root.namedChild('body1')
+         self.body5 = self.root.namedChild('body5')
+         self.body7 = self.root.namedChild('body7')
  
      def testMatrixStyle(self):
***************
*** 273,280 ****
      def testVector(self):
          ref = transform.Transform()
-         ref.translate(10.0, 11.0, 12.0)
          ref.rotate(45.0, 45.0, 45.0)
          ref.scale(2.0, 2.0, 2.0)
          self.assertEqual(self.body1.getNodeTransform().m, ref.m)
          
      def testMultiply(self):
--- 446,470 ----
      def testVector(self):
          ref = transform.Transform()
          ref.rotate(45.0, 45.0, 45.0)
+         ref.translate(10.0, 11.0, 12.0)
          ref.scale(2.0, 2.0, 2.0)
          self.assertEqual(self.body1.getNodeTransform().m, ref.m)
+ 
+     def testAbsolute(self):
+         t = self.body7.getTransform()
+         self.assertEqual(t.m, [[1.0, 2.0, 3.0, 4.0],
+                                [1.2, 2.2, 3.2, 4.2],
+                                [1.4, 2.4, 3.4, 4.4],
+                                [1.8, 2.8, 3.8, 4.8]])
+ 
+     def testRelative(self):
+         t1 = transform.Transform()
+         t1.translate(1.0, 1.0, 1.0)
+         t2 = transform.Transform()
+         t2.translate(2.0, 2.0, 2.0)
+ 
+         t3 = t1 * t2
+ 
+         self.assertEqual(self.body5.getTransform().m, t3.m)
          
      def testMultiply(self):
***************
*** 306,314 ****
  class TestInvalidTags(TestInvalid):
      def testRoot(self):
!         self.assertRaises(parser.InvalidError, self.p.parseString,
                            '<?xml version="1.0"?>\n<test></test>')
          
      def testRootChild(self):
!         self.assertRaises(parser.InvalidError, self.p.parseString,
                            '<?xml version="1.0"?>\n<xode><test/></xode>')
  
--- 496,504 ----
  class TestInvalidTags(TestInvalid):
      def testRoot(self):
!         self.assertRaises(errors.InvalidError, self.p.parseString,
                            '<?xml version="1.0"?>\n<test></test>')
          
      def testRootChild(self):
!         self.assertRaises(errors.ChildError, self.p.parseString,
                            '<?xml version="1.0"?>\n<xode><test/></xode>')
  
***************
*** 319,323 ****
          </world></xode>'''
  
!         self.assertRaises(parser.InvalidError, self.p.parseString, doc)
  
      def testSpaceChild(self):
--- 509,513 ----
          </world></xode>'''
  
!         self.assertRaises(errors.ChildError, self.p.parseString, doc)
  
      def testSpaceChild(self):
***************
*** 327,331 ****
          </space></world></xode>'''
  
!         self.assertRaises(parser.InvalidError, self.p.parseString, doc)
  
      def testMassChild(self):
--- 517,521 ----
          </space></world></xode>'''
  
!         self.assertRaises(errors.ChildError, self.p.parseString, doc)
  
      def testMassChild(self):
***************
*** 339,348 ****
          </space></world></xode>'''
  
!         self.assertRaises(parser.InvalidError, self.p.parseString, doc)
  
      def testJointChild(self):
          doc = '''<?xml version="1.0"?>
          <xode><world><space><joint><test/></joint></space></world></xode>'''
!         self.assertRaises(parser.InvalidError, self.p.parseString, doc)
  
  class TestInvalidBody(TestInvalid):
--- 529,543 ----
          </space></world></xode>'''
  
!         self.assertRaises(errors.ChildError, self.p.parseString, doc)
  
      def testJointChild(self):
          doc = '''<?xml version="1.0"?>
          <xode><world><space><joint><test/></joint></space></world></xode>'''
!         self.assertRaises(errors.ChildError, self.p.parseString, doc)
! 
!     def testGeomChild(self):
!         doc = '''<?xml version="1.0"?>
!         <xode><world><space><geom><test/></geom></space></world></xode>'''
!         self.assertRaises(errors.ChildError, self.p.parseString, doc)
  
  class TestInvalidBody(TestInvalid):
***************
*** 355,359 ****
          </world></xode>'''
          
!         self.assertRaises(parser.InvalidError, self.p.parseString, doc)
  
      def testBodyEnable(self):
--- 550,554 ----
          </world></xode>'''
          
!         self.assertRaises(errors.InvalidError, self.p.parseString, doc)
  
      def testBodyEnable(self):
***************
*** 364,368 ****
          </world></xode>'''
          
!         self.assertRaises(parser.InvalidError, self.p.parseString, doc)
  
      def testFiniteRotationMode(self):
--- 559,563 ----
          </world></xode>'''
          
!         self.assertRaises(errors.InvalidError, self.p.parseString, doc)
  
      def testFiniteRotationMode(self):
***************
*** 374,378 ****
          </world></xode>'''
          
!         self.assertRaises(parser.InvalidError, self.p.parseString, doc)
  
      def testFiniteRotationAxes(self):
--- 569,573 ----
          </world></xode>'''
          
!         self.assertRaises(errors.InvalidError, self.p.parseString, doc)
  
      def testFiniteRotationAxes(self):
***************
*** 384,388 ****
          </world></xode>'''
          
!         self.assertRaises(parser.InvalidError, self.p.parseString, doc)
  
  class TestInvalidJoint(TestInvalid):
--- 579,583 ----
          </world></xode>'''
          
!         self.assertRaises(errors.InvalidError, self.p.parseString, doc)
  
  class TestInvalidJoint(TestInvalid):
***************
*** 396,400 ****
          
          # both links are ode.environment
!         self.assertRaises(parser.InvalidError, self.p.parseString, doc)
  
      def testNoType(self):
--- 591,595 ----
          
          # both links are ode.environment
!         self.assertRaises(errors.InvalidError, self.p.parseString, doc)
  
      def testNoType(self):
***************
*** 404,408 ****
          </space></world></xode>'''
  
!         self.assertRaises(parser.InvalidError, self.p.parseString, doc)
  
      def testWrongType(self):
--- 599,603 ----
          </space></world></xode>'''
  
!         self.assertRaises(errors.InvalidError, self.p.parseString, doc)
  
      def testWrongType(self):
***************
*** 417,421 ****
          </space></world></xode>'''
  
!         self.assertRaises(parser.InvalidError, self.p.parseString, doc)
  
      def testMisplacedReference(self):
--- 612,616 ----
          </space></world></xode>'''
  
!         self.assertRaises(errors.InvalidError, self.p.parseString, doc)
  
      def testMisplacedReference(self):
***************
*** 432,436 ****
          # bodies must be defined before the joint
  
!         self.assertRaises(parser.InvalidError, self.p.parseString, doc)
          
  if (__name__ == '__main__'):
--- 627,640 ----
          # bodies must be defined before the joint
  
!         self.assertRaises(errors.InvalidError, self.p.parseString, doc)
! 
! class TestInvalidGeom(TestInvalid):
!     def testNoType(self):
!         doc = '''<?xml version="1.0"?>
!         <xode><world><space>
!           <geom/>
!         </space></world></xode>'''
! 
!         self.assertRaises(errors.InvalidError, self.p.parseString, doc)
          
  if (__name__ == '__main__'):

[Pyode-commits] pyode/examples transforms.py,NONE,1.1 tutorial2.py,1.2,1.3

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

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

Modified Files:
	tutorial2.py 
Added Files:
	transforms.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.


Index: tutorial2.py
===================================================================
RCS file: /cvsroot/pyode/pyode/examples/tutorial2.py,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** tutorial2.py	7 Jul 2004 11:46:32 -0000	1.2
--- tutorial2.py	16 Jul 2004 11:45:17 -0000	1.3
***************
*** 7,11 ****
  import xode.parser
  
! doc = '''<?xml version="1.0"?>
  <xode>
    <world name="world">
--- 7,11 ----
  import xode.parser
  
! doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
  <xode>
    <world name="world">

--- NEW FILE: transforms.py ---
# PyODE Example: Transforms
# This example demonstrates the way object transforms are calculated relative
# to the parent element's transform in XODE.

from OpenGL.GL import *
from OpenGL.GLU import *
from OpenGL.GLUT import *
from cgtypes import *

import pygame
import math
import ode
import xode.parser

doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
<xode>
  <world name="world1">
    <space name="space1">

      <body>
        <transform>
          <position x="0" y="0" z="0"/>
          <rotation>
            <euler x="0" y="0" z="0" aformat="degrees"/>
          </rotation>
        </transform>

        <!-- Y-axis Rotations -->

        <body>
          <transform scale="1.25">
            <position x="0" y="1" z="0"/>
            <rotation>
              <euler x="0" y="30" z="0" aformat="degrees"/>
            </rotation>
          </transform>

          <body>
            <transform scale="1.25">
              <position x="0" y="1" z="0"/>
              <rotation>
                <euler x="0" y="30" z="0" aformat="degrees"/>
              </rotation>
            </transform>
          </body>
          
        </body>

        <!-- X-axis Rotations -->

        <body>
          <transform scale="1.25">
            <position x="1" y="0" z="0"/>
            <rotation>
              <euler x="30" y="0" z="0" aformat="degrees"/>
            </rotation>
          </transform>

          <body>
            <transform scale="1.25">
              <position x="1" y="0" z="0"/>
              <rotation>
                <euler x="30" y="0" z="0" aformat="degrees"/>
              </rotation>
            </transform>
          
          </body>
        </body>

        <!-- Z-axis Rotations -->

        <body>
          <transform scale="1.25">
            <position x="0" y="0" z="-1"/>
            <rotation>
              <euler x="0" y="0" z="30" aformat="degrees"/>
            </rotation>
          </transform>

          <body>
            <transform scale="1.25">
              <position x="0" y="0" z="-1"/>
              <rotation>
                <euler x="0" y="0" z="30" aformat="degrees"/>
              </rotation>
            </transform>
          
          </body>
        </body>
        
      </body>

    </space>
  </world>
</xode>
'''

def prepare_GL(c):
    """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(0.5*c,0.7*c,c),(1.0,1.0,0), up=(0,1,0))
    V.rotate(math.pi,vec3(0,1,0))
    V = V.inverse()
    glMultMatrixd(V.toList())

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()

######################################################################

# Initialize pygame
passed, failed = pygame.init()

# Open a window
srf = pygame.display.set_mode((640,480), pygame.OPENGL | pygame.DOUBLEBUF)

root = xode.parser.Parser().parseString(doc)

world = root.namedChild('world1').getODEObject()
world.setGravity( (0, 0, 0) )


# Add all ODE bodies from the XODE document into bodies.
def transverse(node):
    obj = node.getODEObject()
    if (isinstance(obj, ode.Body)):
        # Set attributes for draw_body()
        obj.shape = 'box'
        obj.boxsize = (0.4, 0.4, 0.4)
        bodies.append(obj)
        
    for node in node.getChildren():
        transverse(node)

bodies = []
transverse(root)

# Some variables used inside the simulation loop
fps = 50
dt = 1.0/fps
counter = 0.0
running = True
clk = pygame.time.Clock()
while running:
    events = pygame.event.get()
    for e in events:
        if e.type==pygame.QUIT:
            running=False

    if (counter < 5):
        counter = counter + 0.1

    # Draw the scene
    prepare_GL(counter)
    for b in bodies:
        draw_body(b)
    
    pygame.display.flip()

    # Simulate
    n = 2
    for i in range(n):
        world.step(dt/n)
    
    clk.tick(fps)

[Pyode-commits] pyode/src geoms.pyx,1.2,1.3

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv15555

Modified Files:
	geoms.pyx 
Log Message:
Doc strings updates. New method getAABB() to return the bounding box. New method placeable() that returns whether a geom is placeable or not. This is used for improved error checks (e.g. calling setPosition() on non-placeable geoms resulted in a crash).

Index: geoms.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/geoms.pyx,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** geoms.pyx	12 Jul 2004 17:30:08 -0000	1.2
--- geoms.pyx	13 Jul 2004 16:44:18 -0000	1.3
***************
*** 54,65 ****
          self.attribs[name]=val
  
      def setBody(self, Body body):
          """setBody(body)
  
!         Associate the geom to a body or remove an association.
  
          @param body: The Body object or None.
          @type body: Body
          """
          
          if body==None:
--- 54,87 ----
          self.attribs[name]=val
  
+     def _id(self):
+         """_id() -> int
+ 
+         Return the internal id of the geom (dGeomID) as returned by
+         the dCreateXyz() functions.
+ 
+         This method has to be overwritten in derived methods.        
+         """
+         raise NotImplementedError, "Bug: The _id() method is not implemented."
+ 
+     def placeable(self):
+         """placeable() -> bool
+ 
+         Returns True if the geom object is a placeable geom.
+ 
+         This method has to be overwritten in derived methods.
+         """
+         return False
+ 
      def setBody(self, Body body):
          """setBody(body)
  
!         Set the body associated with a placeable geom.
  
          @param body: The Body object or None.
          @type body: Body
          """
+ 
+         if not self.placeable():
+             raise ValueError, "Non-placeable geoms cannot have a body associated to them."
          
          if body==None:
***************
*** 70,79 ****
--- 92,126 ----
  
      def getBody(self):
+         """getBody() -> Body
+ 
+         Get the body associated with this geom.
+         """
+         if not self.placeable():
+             return environment
+         
          return self.body
  
      def setPosition(self, pos):
+         """setPosition(pos)
+ 
+         Set the position of the geom. If the geom is attached to a body,
+         the body's position will also be changed.
+ 
+         @param pos: Position
+         @type pos: 3-sequence of floats
+         """
+         if not self.placeable():
+             raise ValueError, "Cannot set a position on non-placeable geoms."
          dGeomSetPosition(self.gid, pos[0], pos[1], pos[2])
  
      def getPosition(self):
+         """getPosition() -> 3-tuple
+ 
+         Get the current position of the geom. If the geom is attached to
+         a body the returned value is the body's position.
+         """
+         if not self.placeable():
+             raise ValueError, "Non-placeable geoms do not have a position."
+ 
          cdef dReal* p
          p = <dReal*>dGeomGetPosition(self.gid)
***************
*** 81,84 ****
--- 128,142 ----
  
      def setRotation(self, R):
+         """setRotation(R)
+ 
+         Set the orientation of the geom. If the geom is attached to a body,
+         the body's orientation will also be changed.
+ 
+         @param R: Rotation matrix
+         @type R: 9-sequence of floats
+         """
+         if not self.placeable():
+             raise ValueError, "Cannot set a rotation on non-placeable geoms."
+ 
          cdef dMatrix3 m
          m[0] = R[0]
***************
*** 97,106 ****
  
      def getRotation(self):
          cdef dReal* m
          m = <dReal*>dGeomGetRotation(self.gid)
          return [m[0],m[1],m[2],m[4],m[5],m[6],m[8],m[9],m[10]]
  
      def isSpace(self):
!         """Return 1 if the given geom is a space, or 0 if not."""
          return dGeomIsSpace(self.gid)
  
--- 155,185 ----
  
      def getRotation(self):
+         """getRotation() -> 9-tuple
+ 
+         Get the current orientation of the geom. If the geom is attached to
+         a body the returned value is the body's orientation.
+         """
+         if not self.placeable():
+             raise ValueError, "Non-placeable geoms do not have a rotation."
+ 
          cdef dReal* m
          m = <dReal*>dGeomGetRotation(self.gid)
          return [m[0],m[1],m[2],m[4],m[5],m[6],m[8],m[9],m[10]]
  
+     def getAABB(self):
+         """getAABB() -> 6-tuple
+ 
+         Return an axis aligned bounding box that surrounds the geom.
+         The return value is a 6-tuple (minx, maxx, miny, maxy, minz, maxz).
+         """
+         cdef dReal aabb[6]
+         
+         dGeomGetAABB(self.gid, aabb)
+         return (aabb[0], aabb[1], aabb[2], aabb[3], aabb[4], aabb[5])
+ 
      def isSpace(self):
!         """isSpace() -> bool
! 
!         Return 1 if the given geom is a space, or 0 if not."""
          return dGeomIsSpace(self.gid)
  
***************
*** 113,137 ****
  
      def setCollideBits(self, bits):
          dGeomSetCollideBits(self.gid, bits)
          
      def setCategoryBits(self, bits):
          dGeomSetCategoryBits(self.gid, bits)
  
      def getCollideBits(self):
          return dGeomGetCollideBits(self.gid)
  
      def getCategoryBits(self):
          return dGeomGetCategoryBits(self.gid)
      
      def enable(self):
!         """Enable the geom."""
          dGeomEnable(self.gid)
  
      def disable(self):
!         """Disable the geom."""
          dGeomDisable(self.gid)
  
      def isEnabled(self):
!         """Return True if the geom is enabled."""
          return dGeomIsEnabled(self.gid)
  
--- 192,244 ----
  
      def setCollideBits(self, bits):
+         """setCollideBits(bits)
+ 
+         Set the "collide" bitfields for this geom.
+ 
+         @param bits: Collide bit field
+         @type bits: int
+         """
          dGeomSetCollideBits(self.gid, bits)
          
      def setCategoryBits(self, bits):
+         """setCategoryBits(bits)
+ 
+         Set the "category" bitfields for this geom.
+ 
+         @param bits: Category bit field
+         @type bits: int
+         """
          dGeomSetCategoryBits(self.gid, bits)
  
      def getCollideBits(self):
+         """getCollideBits() -> int
+ 
+         Return the "collide" bitfields for this geom.
+         """
          return dGeomGetCollideBits(self.gid)
  
      def getCategoryBits(self):
+         """getCategoryBits() -> int
+ 
+         Return the "category" bitfields for this geom.
+         """
          return dGeomGetCategoryBits(self.gid)
      
      def enable(self):
!         """enable()
! 
!         Enable the geom."""
          dGeomEnable(self.gid)
  
      def disable(self):
!         """disable()
! 
!         Disable the geom."""
          dGeomDisable(self.gid)
  
      def isEnabled(self):
!         """isEnabled() -> bool
! 
!         Return True if the geom is enabled."""
          return dGeomIsEnabled(self.gid)
  
***************
*** 163,166 ****
--- 270,276 ----
          self.body = None
  
+     def placeable(self):
+         return True
+ 
      def _id(self):
          cdef long id
***************
*** 169,178 ****
--- 279,309 ----
  
      def setRadius(self, radius):
+         """setRadius(radius)
+ 
+         Set the radius of the sphere.
+ 
+         @param radius: New radius
+         @type radius: float
+         """
          dGeomSphereSetRadius(self.gid, radius)
  
      def getRadius(self):
+         """getRadius() -> float
+ 
+         Return the radius of the sphere.
+         """
          return dGeomSphereGetRadius(self.gid)
  
      def pointDepth(self, p):
+         """pointDepth() -> float
+ 
+         Return the depth of the point p in the sphere. Points inside
+         the geom will have positive depth, points outside it will have
+         negative depth, and points on the surface will have zero
+         depth.
+ 
+         @param p: Point
+         @type p: 3-sequence of floats
+         """
          return dGeomSpherePointDepth(self.gid, p[0], p[1], p[2])
  
***************
*** 201,204 ****
--- 332,338 ----
          self.body = None
  
+     def placeable(self):
+         return True
+ 
      def _id(self):
          cdef long id
***************
*** 215,218 ****
--- 349,362 ----
  
      def pointDepth(self, p):
+         """pointDepth() -> float
+ 
+         Return the depth of the point p in the box. Points inside the
+         geom will have positive depth, points outside it will have
+         negative depth, and points on the surface will have zero
+         depth.
+ 
+         @param p: Point
+         @type p: 3-sequence of floats
+         """
          return dGeomBoxPointDepth(self.gid, p[0], p[1], p[2])
  
***************
*** 259,270 ****
  
      def pointDepth(self, p):
!         return dGeomPlanePointDepth(self.gid, p[0], p[1], p[2])
  
!     def getBody(self):
!         return environment
  
!     def setBody(self, Body body):
!         if body!=None:
!             raise ValueError, "A GeomPlane cannot be associated to a body."
  
  
--- 403,417 ----
  
      def pointDepth(self, p):
!         """pointDepth() -> float
  
!         Return the depth of the point p in the plane. Points inside the
!         geom will have positive depth, points outside it will have
!         negative depth, and points on the surface will have zero
!         depth.
  
!         @param p: Point
!         @type p: 3-sequence of floats
!         """
!         return dGeomPlanePointDepth(self.gid, p[0], p[1], p[2])
  
  
***************
*** 292,295 ****
--- 439,444 ----
          self.body = None
  
+     def placeable(self):
+         return True
  
      def _id(self):
***************
*** 307,310 ****
--- 456,469 ----
  
      def pointDepth(self, p):
+         """pointDepth() -> float
+ 
+         Return the depth of the point p in the cylinder. Points inside the
+         geom will have positive depth, points outside it will have
+         negative depth, and points on the surface will have zero
+         depth.
+ 
+         @param p: Point
+         @type p: 3-sequence of floats
+         """
          return dGeomCCylinderPointDepth(self.gid, p[0], p[1], p[2])
  
***************
*** 376,380 ****
          _geom_c2py_lut[<long>self.gid]=self
  
- 
      def __init__(self, space=None):
          self.space = space
--- 535,538 ----
***************
*** 384,387 ****
--- 542,548 ----
          self.attribs={}
  
+     def placeable(self):
+         return True
+ 
      def _id(self):
          cdef long id
***************
*** 399,400 ****
--- 560,562 ----
          return self.geom
  
+ 

[Pyode-commits] pyode/src body.pyx,1.2,1.3 contact.pyx,1.1,1.2 declarations.pyx,1.2,1.3 geoms.pyx,1.1,1.2 mass.pyx,1.4,1.5 ode.pyx,1.3,1.4 space.pyx,1.1,1.2

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv2558/src

Modified Files:
	body.pyx contact.pyx declarations.pyx geoms.pyx mass.pyx 
	ode.pyx space.pyx 
Log Message:
Doc string updates. There are no warnings from epydoc anymore. Cleared the cleanup flag in the Space object.

Index: body.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/body.pyx,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** body.pyx	12 Jul 2004 12:35:26 -0000	1.2
--- body.pyx	12 Jul 2004 17:30:08 -0000	1.3
***************
*** 147,151 ****
      # setLinearVel
      def setLinearVel(self, vel):
!         """setLinearVel(pos)
  
          Set the linear velocity of the body.
--- 147,151 ----
      # setLinearVel
      def setLinearVel(self, vel):
!         """setLinearVel(vel)
  
          Set the linear velocity of the body.
***************
*** 169,173 ****
      # setAngularVel
      def setAngularVel(self, vel):
!         """setAngularVel(pos)
  
          Set the angular velocity of the body.
--- 169,173 ----
      # setAngularVel
      def setAngularVel(self, vel):
!         """setAngularVel(vel)
  
          Set the angular velocity of the body.

Index: space.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/space.pyx,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** space.pyx	27 Jun 2004 20:46:17 -0000	1.1
--- space.pyx	12 Jul 2004 17:30:08 -0000	1.2
***************
*** 12,17 ****
      (see ODE documentation).
  
!     space = Space(type=0)   # Create a SimpleSpace
!     space = Space(type=1)   # Create a HashSpace
      """
  
--- 12,17 ----
      (see ODE documentation).
  
!      >>> space = Space(type=0)   # Create a SimpleSpace
!      >>> space = Space(type=1)   # Create a HashSpace
      """
  
***************
*** 27,30 ****
--- 27,31 ----
              self.sid = dHashSpaceCreate(0)
  
+         dSpaceSetCleanup(self.sid, 0)
          _geom_c2py_lut[<long>self.sid]=self
  
***************
*** 61,64 ****
--- 62,72 ----
          return id
  
+     def getNumGeoms(self):
+         """getNumGeoms() -> int
+ 
+         Return the number of geoms contained within the space.
+         """
+         return dSpaceGetNumGeoms(self.sid)
+ 
      def collide(self, arg, callback):
          """Do collision detection.

Index: geoms.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/geoms.pyx,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** geoms.pyx	27 Jun 2004 20:46:17 -0000	1.1
--- geoms.pyx	12 Jul 2004 17:30:08 -0000	1.2
***************
*** 55,61 ****
  
      def setBody(self, Body body):
!         """Associate the geom to a body or remove an association.
  
          @param body: The Body object or None.
          """
          
--- 55,64 ----
  
      def setBody(self, Body body):
!         """setBody(body)
! 
!         Associate the geom to a body or remove an association.
  
          @param body: The Body object or None.
+         @type body: Body
          """
          

Index: mass.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/mass.pyx,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** mass.pyx	5 Jul 2004 20:01:37 -0000	1.4
--- mass.pyx	12 Jul 2004 17:30:08 -0000	1.5
***************
*** 155,159 ****
          relative to the body frame.
  
!         @param t Translation vector (x, y, z)
          @type t: 3-tuple of floats
          """
--- 155,159 ----
          relative to the body frame.
  
!         @param t: Translation vector (x, y, z)
          @type t: 3-tuple of floats
          """

Index: declarations.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/declarations.pyx,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** declarations.pyx	3 Jul 2004 16:57:41 -0000	1.2
--- declarations.pyx	12 Jul 2004 17:30:08 -0000	1.3
***************
*** 17,20 ****
--- 17,23 ----
      void free(void*)
  
+ cdef extern from "stdio.h":
+     int printf(char*)
+ 
  # Include the basic floating point type -> dReal  (either float or double)
  include "_precision.pyx"
***************
*** 273,276 ****
--- 276,284 ----
      void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel)
  
+     void dSpaceSetCleanup (dSpaceID space, int mode)
+     int dSpaceGetCleanup (dSpaceID space)
+ 
+     int dSpaceGetNumGeoms (dSpaceID)
+ 
      # Geom
      dGeomID dCreateSphere (dSpaceID space, dReal radius)

Index: ode.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/ode.pyx,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** ode.pyx	12 Jul 2004 12:36:14 -0000	1.3
--- ode.pyx	12 Jul 2004 17:30:08 -0000	1.4
***************
*** 27,61 ****
  There are the following classes and functions:
  
! - World
! - Body
! - JointGroup
! - Contact
! - Space
! - Mass
  
  Joint classes:
  
! - BallJoint
! - HingeJoint
! - Hinge2Joint
! - SliderJoint
! - UniversalJoint
! - FixedJoint
! - ContactJoint
! - AMotor
  
  Geom classes:
  
! - GeomSphere
! - GeomBox
! - GeomPlane
! - GeomCCylinder
! - GeomRay
! - GeomTransform
  
  Functions:
  
! - CloseODE()
! - collide()
  
  """
--- 27,61 ----
  There are the following classes and functions:
  
!  - World
!  - Body
!  - JointGroup
!  - Contact
!  - Space
!  - Mass
  
  Joint classes:
  
!  - BallJoint
!  - HingeJoint
!  - Hinge2Joint
!  - SliderJoint
!  - UniversalJoint
!  - FixedJoint
!  - ContactJoint
!  - AMotor
  
  Geom classes:
  
!  - GeomSphere
!  - GeomBox
!  - GeomPlane
!  - GeomCCylinder
!  - GeomRay
!  - GeomTransform
  
  Functions:
  
!  - CloseODE()
!  - collide()
  
  """

Index: contact.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/contact.pyx,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** contact.pyx	27 Jun 2004 20:46:17 -0000	1.1
--- contact.pyx	12 Jul 2004 17:30:08 -0000	1.2
***************
*** 5,15 ****
  
      A Contact object stores all the input parameters for a ContactJoint.
!     This class wraps the ODE dContact structure which has 3 components:
  
!     struct dContact {
!       dSurfaceParameters surface;
!       dContactGeom geom;
!       dVector3 fdir1;
!     };    
  
      This wrapper class provides methods to get and set the items of those
--- 5,15 ----
  
      A Contact object stores all the input parameters for a ContactJoint.
!     This class wraps the ODE dContact structure which has 3 components::
  
!      struct dContact {
!        dSurfaceParameters surface;
!        dContactGeom geom;
!        dVector3 fdir1;
!      };    
  
      This wrapper class provides methods to get and set the items of those

[Pyode-commits] pyode/xode .cvsignore,NONE,1.1

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/xode
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv7343/xode

Added Files:
	.cvsignore 
Log Message:
Ignore *.pyc files

--- NEW FILE: .cvsignore ---
*.pyc

[Pyode-commits] pyode/src ode.pyx,1.2,1.3

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv7191

Modified Files:
	ode.pyx 
Log Message:
Updated/created doc strings

Index: ode.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/ode.pyx,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** ode.pyx	3 Jul 2004 16:57:41 -0000	1.2
--- ode.pyx	12 Jul 2004 12:36:14 -0000	1.3
***************
*** 17,21 ****
  # be deleted.
  
! """Python Open Dynamics Engine (ODE) wrapper.
  
  This module contains classes and functions that wrap the functionality
--- 17,23 ----
  # be deleted.
  
! # Excplicitly assign the module doc string to __doc__
! # (otherwise it won't show up which is probably a "bug" in Pyrex (v0.9.2.1))
! __doc__ = """Python Open Dynamics Engine (ODE) wrapper.
  
  This module contains classes and functions that wrap the functionality
***************
*** 41,44 ****
--- 43,47 ----
  - FixedJoint
  - ContactJoint
+ - AMotor
  
  Geom classes:
***************
*** 183,186 ****
--- 186,194 ----
  
  def CloseODE():
+     """CloseODE()
+ 
+     Deallocate some extra memory used by ODE that can not be deallocated
+     using the normal destroy functions.
+     """
      dCloseODE()
  

[Pyode-commits] pyode/src body.pyx,1.1,1.2

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv7080

Modified Files:
	body.pyx 
Log Message:
Updated/created doc strings

Index: body.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/body.pyx,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** body.pyx	27 Jun 2004 20:46:17 -0000	1.1
--- body.pyx	12 Jul 2004 12:35:26 -0000	1.2
***************
*** 2,6 ****
  # Body
  cdef class Body:
!     """Rigid body.
      """
  
--- 2,16 ----
  # Body
  cdef class Body:
!     """The rigid body class encapsulating the ODE body.
! 
!     This class represents a rigid body that has a location and orientation
!     in space and that stores the mass properties of an object.
! 
!     When creating a Body object you have to pass the world it belongs to
!     as argument to the constructor::
! 
!       >>> import ode
!       >>> w = ode.World()
!       >>> b = ode.Body(w)
      """
  
***************
*** 15,26 ****
  
      def __new__(self, World world):
-         cdef World w
- 
          self.bid = NULL
          if world!=None:
!             w = world
!             self.bid = dBodyCreate(w.wid)
  
!     def __init__(self, world):
          self.world = world
          self.userattribs = {}
--- 25,38 ----
  
      def __new__(self, World world):
          self.bid = NULL
          if world!=None:
!             self.bid = dBodyCreate(world.wid)
  
!     def __init__(self, World world):
!         """Constructor.
! 
!         @param world: The world in which the body should be created.
!         @type world: World
!         """
          self.world = world
          self.userattribs = {}
***************
*** 47,54 ****
--- 59,77 ----
      # setPosition
      def setPosition(self, pos):
+         """setPosition(pos)
+ 
+         Set the position of the body.
+ 
+         @param pos: The new position
+         @type pos: 3-sequence of floats
+         """
          dBodySetPosition(self.bid, pos[0], pos[1], pos[2])
  
      # getPosition
      def getPosition(self):
+         """getPosition() -> 3-tuple
+ 
+         Return the current position of the body.
+         """
          cdef dReal* p
          # The "const" in the original return value is cast away
***************
*** 58,61 ****
--- 81,93 ----
      # setRotation
      def setRotation(self, R):
+         """setRotation(R)
+ 
+         Set the orientation of the body. The rotation matrix must be
+         given as a sequence of 9 floats which are the elements of the
+         matrix in row-major order.
+ 
+         @param R: Rotation matrix
+         @type R: 9-sequence of floats
+         """
          cdef dMatrix3 m
          m[0] = R[0]
***************
*** 75,94 ****
      # getRotation
      def getRotation(self):
          cdef dReal* m
          # The "const" in the original return value is cast away
          m = <dReal*>dBodyGetRotation(self.bid)
!         return [m[0],m[1],m[2],m[4],m[5],m[6],m[8],m[9],m[10]]
  
      def getQuaternion(self):
          cdef dReal* q
          q = <dReal*>dBodyGetQuaternion(self.bid)
!         return [q[0], q[1], q[2], q[3]]
  
      # setLinearVel
!     def setLinearVel(self, pos):
!         dBodySetLinearVel(self.bid, pos[0], pos[1], pos[2])
  
      # getLinearVel
      def getLinearVel(self):
          cdef dReal* p
          # The "const" in the original return value is cast away
--- 107,165 ----
      # getRotation
      def getRotation(self):
+         """getRotation() -> 9-tuple
+ 
+         Return the current rotation matrix as a tuple of 9 floats (row-major
+         order).
+         """
          cdef dReal* m
          # The "const" in the original return value is cast away
          m = <dReal*>dBodyGetRotation(self.bid)
!         return (m[0],m[1],m[2],m[4],m[5],m[6],m[8],m[9],m[10])
  
+     # getQuaternion
      def getQuaternion(self):
+         """getQuaternion() -> 4-tuple
+ 
+         Return the current rotation as a quaternion. The return value
+         is a list of 4 floats.
+         """
          cdef dReal* q
          q = <dReal*>dBodyGetQuaternion(self.bid)
!         return (q[0], q[1], q[2], q[3])
! 
!     # setQuaternion
!     def setQuaternion(self, q):
!         """setQuaternion(q)
! 
!         Set the orientation of the body. The quaternion must be given as a
!         sequence of 4 floats.
! 
!         @param q: Quaternion
!         @type q: 4-sequence of floats
!         """
!         cdef dQuaternion w
!         w[0] = q[0]
!         w[1] = q[1]
!         w[2] = q[2]
!         w[3] = q[3]
!         dBodySetQuaternion(self.bid, w)
  
      # setLinearVel
!     def setLinearVel(self, vel):
!         """setLinearVel(pos)
! 
!         Set the linear velocity of the body.
! 
!         @param vel: New velocity
!         @type vel: 3-sequence of floats
!         """
!         dBodySetLinearVel(self.bid, vel[0], vel[1], vel[2])
  
      # getLinearVel
      def getLinearVel(self):
+         """getLinearVel() -> 3-tuple
+ 
+         Get the current linear velocity of the body.
+         """
          cdef dReal* p
          # The "const" in the original return value is cast away
***************
*** 97,105 ****
  
      # setAngularVel
!     def setAngularVel(self, pos):
!         dBodySetAngularVel(self.bid, pos[0], pos[1], pos[2])
  
      # getAngularVel
      def getAngularVel(self):
          cdef dReal* p
          # The "const" in the original return value is cast away
--- 168,187 ----
  
      # setAngularVel
!     def setAngularVel(self, vel):
!         """setAngularVel(pos)
! 
!         Set the angular velocity of the body.
! 
!         @param vel: New angular velocity
!         @type vel: 3-sequence of floats
!         """
!         dBodySetAngularVel(self.bid, vel[0], vel[1], vel[2])
  
      # getAngularVel
      def getAngularVel(self):
+         """getAngularVel() -> 3-tuple
+ 
+         Get the current angular velocity of the body.
+         """
          cdef dReal* p
          # The "const" in the original return value is cast away
***************
*** 109,116 ****
--- 191,210 ----
      # setMass
      def setMass(self, Mass mass):
+         """setMass(mass)
+ 
+         Set the mass properties of the body. The argument mass must be
+         an instance of a Mass object.
+ 
+         @param mass: Mass properties
+         @type mass: Mass
+         """
          dBodySetMass(self.bid, &mass._mass)
  
      # getMass
      def getMass(self):
+         """getMass() -> mass
+ 
+         Return the mass properties as a Mass object.
+         """
          cdef Mass m
          m=Mass()
***************
*** 120,155 ****
      # addForce
      def addForce(self, f):
          dBodyAddForce(self.bid, f[0], f[1], f[2])
  
      # addTorque
!     def addTorque(self, f):
!         dBodyAddTorque(self.bid, f[0], f[1], f[2])
  
      # addRelForce
      def addRelForce(self, f):
          dBodyAddRelForce(self.bid, f[0], f[1], f[2])
  
      # addRelTorque
!     def addRelTorque(self, f):
!         dBodyAddRelTorque(self.bid, f[0], f[1], f[2])
  
      # addForceAtPos
      def addForceAtPos(self, f, p):
          dBodyAddForceAtPos(self.bid, f[0], f[1], f[2], p[0], p[1], p[2])
  
      # addForceAtRelPos
      def addForceAtRelPos(self, f, p):
          dBodyAddForceAtRelPos(self.bid, f[0], f[1], f[2], p[0], p[1], p[2])
  
      # addRelForceAtPos
      def addRelForceAtPos(self, f, p):
          dBodyAddRelForceAtPos(self.bid, f[0], f[1], f[2], p[0], p[1], p[2])
  
      # addRelForceAtRelPos
      def addRelForceAtRelPos(self, f, p):
          dBodyAddRelForceAtRelPos(self.bid, f[0], f[1], f[2], p[0], p[1], p[2])
  
      # getForce
      def getForce(self):
          cdef dReal* f
          # The "const" in the original return value is cast away
--- 214,325 ----
      # addForce
      def addForce(self, f):
+         """addForce(f)
+ 
+         Add an external force f given in absolute coordinates. The force
+         is applied at the center of mass.
+ 
+         @param f: Force
+         @type f: 3-sequence of floats
+         """
          dBodyAddForce(self.bid, f[0], f[1], f[2])
  
      # addTorque
!     def addTorque(self, t):
!         """addTorque(t)
! 
!         Add an external torque t given in absolute coordinates.
! 
!         @param t: Torque
!         @type t: 3-sequence of floats
!         """
!         dBodyAddTorque(self.bid, t[0], t[1], t[2])
  
      # addRelForce
      def addRelForce(self, f):
+         """addRelForce(f)
+ 
+         Add an external force f given in relative coordinates
+         (relative to the body's own frame of reference). The force
+         is applied at the center of mass.
+ 
+         @param f: Force
+         @type f: 3-sequence of floats
+         """
          dBodyAddRelForce(self.bid, f[0], f[1], f[2])
  
      # addRelTorque
!     def addRelTorque(self, t):
!         """addRelTorque(t)
! 
!         Add an external torque t given in relative coordinates
!         (relative to the body's own frame of reference).
! 
!         @param t: Torque
!         @type t: 3-sequence of floats
!         """
!         dBodyAddRelTorque(self.bid, t[0], t[1], t[2])
  
      # addForceAtPos
      def addForceAtPos(self, f, p):
+         """addForceAtPos(f, p)
+ 
+         Add an external force f at position p. Both arguments must be
+         given in absolute coordinates.
+ 
+         @param f: Force
+         @param p: Position
+         @type f: 3-sequence of floats
+         @type p: 3-sequence of floats
+         """
          dBodyAddForceAtPos(self.bid, f[0], f[1], f[2], p[0], p[1], p[2])
  
      # addForceAtRelPos
      def addForceAtRelPos(self, f, p):
+         """addForceAtRelPos(f, p)
+ 
+         Add an external force f at position p. f is given in absolute
+         coordinates and p in absolute coordinates.
+ 
+         @param f: Force
+         @param p: Position
+         @type f: 3-sequence of floats
+         @type p: 3-sequence of floats
+         """
          dBodyAddForceAtRelPos(self.bid, f[0], f[1], f[2], p[0], p[1], p[2])
  
      # addRelForceAtPos
      def addRelForceAtPos(self, f, p):
+         """addRelForceAtPos(f, p)
+ 
+         Add an external force f at position p. f is given in relative
+         coordinates and p in relative coordinates.
+ 
+         @param f: Force
+         @param p: Position
+         @type f: 3-sequence of floats
+         @type p: 3-sequence of floats
+         """
          dBodyAddRelForceAtPos(self.bid, f[0], f[1], f[2], p[0], p[1], p[2])
  
      # addRelForceAtRelPos
      def addRelForceAtRelPos(self, f, p):
+         """addRelForceAtRelPos(f, p)
+ 
+         Add an external force f at position p. Both arguments must be
+         given in relative coordinates.
+ 
+         @param f: Force
+         @param p: Position
+         @type f: 3-sequence of floats
+         @type p: 3-sequence of floats
+         """
          dBodyAddRelForceAtRelPos(self.bid, f[0], f[1], f[2], p[0], p[1], p[2])
  
      # getForce
      def getForce(self):
+         """getForce() -> 3-tuple
+ 
+         Return the current accumulated force.
+         """
          cdef dReal* f
          # The "const" in the original return value is cast away
***************
*** 159,162 ****
--- 329,336 ----
      # getTorque
      def getTorque(self):
+         """getTorque() -> 3-tuple
+ 
+         Return the current accumulated torque.
+         """
          cdef dReal* f
          # The "const" in the original return value is cast away
***************
*** 166,201 ****
      # setForce
      def setForce(self, f):
          dBodySetForce(self.bid, f[0], f[1], f[2])
  
      # setTorque
!     def setTorque(self, f):
!         dBodySetTorque(self.bid, f[0], f[1], f[2])
          
      # Enable
      def enable(self):
          dBodyEnable(self.bid)
          
      # Disable
      def disable(self):
          dBodyDisable(self.bid)
          
      # isEnabled
      def isEnabled(self):
          return dBodyIsEnabled(self.bid)
          
      # setFiniteRotationMode
      def setFiniteRotationMode(self, mode):
          dBodySetFiniteRotationMode(self.bid, mode)
          
      # getFiniteRotationMode
      def getFiniteRotationMode(self):
          return dBodyGetFiniteRotationMode(self.bid)
  
      # setFiniteRotationAxis
      def setFiniteRotationAxis(self, a):
          dBodySetFiniteRotationAxis(self.bid, a[0], a[1], a[2])
  
      # getFiniteRotationAxis
      def getFiniteRotationAxis(self):
          cdef dVector3 p
          # The "const" in the original return value is cast away
--- 340,441 ----
      # setForce
      def setForce(self, f):
+         """setForce(f)
+ 
+         Set the body force accumulation vector.
+ 
+         @param f: Force
+         @type f: 3-tuple of floats
+         """
          dBodySetForce(self.bid, f[0], f[1], f[2])
  
      # setTorque
!     def setTorque(self, t):
!         """setTorque(t)
! 
!         Set the body torque accumulation vector.
! 
!         @param t: Torque
!         @type t: 3-tuple of floats
!         """
!         dBodySetTorque(self.bid, t[0], t[1], t[2])
          
      # Enable
      def enable(self):
+         """enable()
+ 
+         Manually enable a body.
+         """
          dBodyEnable(self.bid)
          
      # Disable
      def disable(self):
+         """disable()
+ 
+         Manually disable a body. Note that a disabled body that is connected
+         through a joint to an enabled body will be automatically re-enabled
+         at the next simulation step.
+         """
          dBodyDisable(self.bid)
          
      # isEnabled
      def isEnabled(self):
+         """isEnabled() -> bool
+ 
+         Check if a body is currently enabled.
+         """
          return dBodyIsEnabled(self.bid)
          
      # setFiniteRotationMode
      def setFiniteRotationMode(self, mode):
+         """setFiniteRotationMode(mode)
+ 
+         This function controls the way a body's orientation is updated at
+         each time step. The mode argument can be:
+         
+          - 0: An "infinitesimal" orientation update is used. This is
+            fast to compute, but it can occasionally cause inaccuracies
+            for bodies that are rotating at high speed, especially when
+            those bodies are joined to other bodies. This is the default
+            for every new body that is created.
+         
+          - 1: A "finite" orientation update is used. This is more
+            costly to compute, but will be more accurate for high speed
+            rotations. Note however that high speed rotations can result
+            in many types of error in a simulation, and this mode will
+            only fix one of those sources of error.
+ 
+         @param mode: Rotation mode (0/1)
+         @type mode: int
+         """
          dBodySetFiniteRotationMode(self.bid, mode)
          
      # getFiniteRotationMode
      def getFiniteRotationMode(self):
+         """getFiniteRotationMode() -> mode (0/1)
+ 
+         Return the current finite rotation mode of a body (0 or 1).
+         See setFiniteRotationMode().
+         """
          return dBodyGetFiniteRotationMode(self.bid)
  
      # setFiniteRotationAxis
      def setFiniteRotationAxis(self, a):
+         """setFiniteRotationAxis(a)
+ 
+         Set the finite rotation axis of the body.  This axis only has a
+         meaning when the finite rotation mode is set
+         (see setFiniteRotationMode()).
+         
+         @param a: Axis
+         @type a: 3-sequence of floats
+         """
          dBodySetFiniteRotationAxis(self.bid, a[0], a[1], a[2])
  
      # getFiniteRotationAxis
      def getFiniteRotationAxis(self):
+         """getFiniteRotationAxis() -> 3-tuple
+ 
+         Return the current finite rotation axis of the body.
+         """
          cdef dVector3 p
          # The "const" in the original return value is cast away
***************
*** 205,215 ****
--- 445,472 ----
      # getNumJoints
      def getNumJoints(self):
+         """getNumJoints() -> int
+ 
+         Return the number of joints that are attached to this body.
+         """
          return dBodyGetNumJoints(self.bid)
  
      # setGravityMode
      def setGravityMode(self, mode):
+         """setGravityMode(mode)
+ 
+         Set whether the body is influenced by the world's gravity
+         or not. If mode is True it is, otherwise it isn't.
+         Newly created bodies are always influenced by the world's gravity.
+ 
+         @param mode: Gravity mode
+         @type mode: bool
+         """
          dBodySetGravityMode(self.bid, mode)
          
      # getGravityMode
      def getGravityMode(self):
+         """getGravityMode() -> bool
+ 
+         Return True if the body is influenced by the world's gravity.
+         """
          return dBodyGetGravityMode(self.bid)

[Pyode-commits] pyode/tests test_xode.py,NONE,1.1

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

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

Added Files:
	test_xode.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.


--- NEW FILE: test_xode.py ---
#!/usr/bin/env python

import unittest
import ode
from xode import node, transform, parser

test_doc = '''<?xml version="1.0"?>
<xode>
  <world name="world1">

    <transform>
      <matrix4f m00="1.0" m01="2.0" m02="3.0" m03="4.0"
                m10="1.2" m11="2.2" m12="3.2" m13="4.2"
                m20="1.4" m21="2.4" m22="3.4" m23="4.4"
                m30="1.8" m31="2.8" m32="3.8" m33="4.8"/>
    </transform>
  
    <space name="space1">
      <body name="body1" enabled="false" gravitymode="0">
        
        <transform scale="2.0">
          <position x="10.0" y="11.0" z="12.0"/>
          <rotation>
            <euler x="45.0" y="45.0" z="45.0" aformat="radians"/>
          </rotation>
        </transform>
        
        <torque x="1.0" y="2.0" z="3.0"/>
        <force x="2.0" y="3.0" z="4.0"/>
        <finiteRotation mode="1" xaxis="1.0" yaxis="1.0" zaxis="1.0"/>
        <linearVel x="1.0" y="2.0" z="3.0"/>
        <angularVel x="3.0" y="2.0" z="1.0"/>

        <mass name="mass1">
          <mass_shape density="1.0">
            <sphere radius="1.0"/>
          </mass_shape>

          <mass name="mass2">
            <mass_shape density="2.0">
              <sphere radius="10.0"/>
            </mass_shape>
            <adjust total="4.0"/>
          </mass>
        </mass>

        <joint name="joint1">
          <ball>
            <anchor x="1.0" y="2.0" z="3.0"/>
          </ball>
        </joint>
      </body>

      <body name="body2">
        <joint name="joint2">
          <link1 body="body1"/>
          <ball/>
        </joint>
      </body>

      <joint name="joint3">
        <link1 body="body1"/>
        <link2 body="body2"/>
        <ball/>
      </joint>
      
    </space>
  </world>

  <world name="world2">
    <space>
    <body name="body3">
      <transform>
        <matrix4f m00="0.0" m01="0.0" m02="1.0" m03="0.0"
                  m10="0.0" m11="1.0" m12="0.0" m13="0.0"
                  m20="1.0" m21="0.0" m22="0.0" m23="0.0"
                  m30="10.0" m31="20.0" m32="30.0" m33="0.0"/>
      </transform>
    </body>
    </space>
  </world>
</xode>'''

class Class1:
    pass

class Class2:
    pass

class TestTreeNode(unittest.TestCase):

    def setUp(self):
        self.node1 = node.TreeNode('node1', None)
        self.node2 = node.TreeNode('node2', self.node1)
        self.node3 = node.TreeNode('node3', self.node2)

        self.t2 = transform.Transform()
        self.t2.scale(2.0, 3.0, 4.0)
        self.node2.setNodeTransform(self.t2)

        self.t3 = transform.Transform()
        self.t3.rotate(1.0, 2.0, 3.0)
        self.node3.setNodeTransform(self.t3)

        self.node1.setODEObject(Class2())
        self.node2.setODEObject(Class2())
        self.node3.setODEObject(Class1())
    
    def testGetName(self):
        self.assertEqual(self.node1.getName(), 'node1')

    def testGetParent(self):
        self.assertEqual(self.node2.getParent(), self.node1)

    def testGetChildren(self):
        self.assertEqual(self.node1.getChildren(), [self.node2])
        self.assertEqual(self.node2.getChildren(), [self.node3])
        self.assertEqual(self.node3.getChildren(), [])

    def testNamedChildLocal(self):
        self.assertEqual(self.node1.namedChild('node2'), self.node2)

    def testNamedChildRemote(self):
        self.assertEqual(self.node1.namedChild('node3'), self.node3)

    def testNamedChildNotFound(self):
        self.assertRaises(KeyError, self.node1.namedChild, 'undefined')

    def testGetFirstAncestor(self):
        self.assertEqual(self.node3.getFirstAncestor(Class2), self.node2)

    def testGetFirstAncestorNotFound(self):
        self.assertRaises(node.AncestorNotFoundError,
                          self.node3.getFirstAncestor, Class1)

    def testInitialTransform(self):
        t = transform.Transform()
        t.setIdentity()
        self.assertEqual(self.node1.getNodeTransform().m, t.m)

    def testGetTransform(self):
        ref = self.node1.getNodeTransform() * self.t2 * self.t3
        self.assertEqual(self.node3.getTransform().m, ref.m)

class TestParser(unittest.TestCase):
    def setUp(self):
        self.p = parser.Parser()
        self.root = self.p.parseString(test_doc)

class TestWorldParser(TestParser):
    def testInstance(self):
        world = self.root.namedChild('world1').getODEObject()
        self.assert_(isinstance(world, ode.World))

class TestSpaceParser(TestParser):
    def testInstance(self):
        space = self.root.namedChild('space1').getODEObject()
        self.assert_(isinstance(space, ode.Space))

class TestBodyParser(TestParser):
    def setUp(self):
        TestParser.setUp(self)
        self.body1 = self.root.namedChild('body1').getODEObject()
        self.body3 = self.root.namedChild('body3').getODEObject()
        
    def testInstance(self):
        self.assert_(isinstance(self.body1, ode.Body))

    def testRotation(self):
        # FIXME?
        #self.assertEqual(self.body3.getRotation(), [0.0, 0.0, 1.0,
        #                                            0.0, 1.0, 0.0,
        #                                            1.0, 0.0, 0.0])
        pass

    def testPosition(self):
        self.assertEqual(self.body3.getPosition(), (10.0, 20.0, 30.0))

    def testEnable(self):
        self.assertEqual(self.body1.isEnabled(), 0)

    def testGravityMode(self):
        self.assertEqual(self.body1.getGravityMode(), 0)

    def testTorque(self):
        self.assertEqual(self.body1.getTorque(), (1.0, 2.0, 3.0))

    def testForce(self):
        self.assertEqual(self.body1.getForce(), (2.0, 3.0, 4.0))

    def testFiniteRotation(self):
        self.assertEqual(self.body1.getFiniteRotationMode(), 1)
        x, y, z = self.body1.getFiniteRotationAxis()
        self.assertEqual(x, y, z)

    def testLinearVel(self):
        self.assertEqual(self.body1.getLinearVel(), (1.0, 2.0, 3.0))

    def testAngularVel(self):
        self.assertEqual(self.body1.getAngularVel(), (3.0, 2.0, 1.0))

class TestMassParser(TestParser):    
    def setUp(self):
        TestParser.setUp(self)
        self.mass1 = self.root.namedChild('mass1').getODEObject()
        self.mass2 = self.root.namedChild('mass2').getODEObject()

        self.ref2 = ode.Mass()
        self.ref2.setSphere(2.0, 10.0)
        self.ref2.adjust(4.0)

    def testInstance(self):
        self.assert_(isinstance(self.mass1, ode.Mass))

    def testTotal(self):
        self.assertEqual(self.mass2.mass, 4.0)

    def testSphere(self):
        self.assertEqual(self.ref2.c, self.mass2.c)
        self.assertEqual(self.ref2.I, self.mass2.I)

    def testAdd(self):
        ref = ode.Mass()
        ref.setSphere(1.0, 1.0)
        ref.add(self.ref2)

        self.assertEqual(ref.c, self.mass1.c)
        self.assertEqual(ref.I, self.mass1.I)

class TestJointParser(TestParser):
    def setUp(self):
        TestParser.setUp(self)
        self.body1 = self.root.namedChild('body1').getODEObject()
        self.body2 = self.root.namedChild('body2').getODEObject()
        self.joint1 = self.root.namedChild('joint1').getODEObject()
        self.joint2 = self.root.namedChild('joint2').getODEObject()
        self.joint3 = self.root.namedChild('joint3').getODEObject()

    def testInstance(self):
        self.assert_(isinstance(self.joint1, ode.BallJoint))

    def testBodyAncestor(self):
        self.assertEqual(self.joint1.getBody(0), self.body1)

    def testEnvironment(self):
        self.assertEqual(self.joint1.getBody(1), ode.environment)

    def testBodyReference(self):
        self.assertEqual(self.joint2.getBody(0), self.body1)

    def testSpaceParent(self):
        self.assertEqual(self.joint3.getBody(0), self.body1)
        self.assertEqual(self.joint3.getBody(1), self.body2)

    def testBallAnchor(self):
        # FIXME?
        #self.assertEqual(self.joint1.getAnchor(), (1.0, 2.0, 3.0))
        pass

class TestTransformParser(TestParser):
    def setUp(self):
        TestParser.setUp(self)
        self.world1 = self.root.namedChild('world1')
        self.body1 = self.root.namedChild('body1')

    def testMatrixStyle(self):
        t = self.world1.getNodeTransform()
        self.assertEqual(t.m, [[1.0, 2.0, 3.0, 4.0],
                               [1.2, 2.2, 3.2, 4.2],
                               [1.4, 2.4, 3.4, 4.4],
                               [1.8, 2.8, 3.8, 4.8]])

    def testVector(self):
        ref = transform.Transform()
        ref.translate(10.0, 11.0, 12.0)
        ref.rotate(45.0, 45.0, 45.0)
        ref.scale(2.0, 2.0, 2.0)
        self.assertEqual(self.body1.getNodeTransform().m, ref.m)
        
    def testMultiply(self):
        t1 = transform.Transform()
        t2 = transform.Transform()
        for r in range(4):
            for c in range(4):
                t1.m[r][c] = 1
                t2.m[r][c] = 2

        result = t1 * t2
        for r in range(4):
            for c in range(4):
                self.assertEqual(result.m[r][c], 8)

    def testInitialIdentity(self):
        t = transform.Transform()
        for r in range(4):
            for c in range(4):
                if (r == c):
                    self.assertEqual(t.m[r][c], 1)
                else:
                    self.assertEqual(t.m[r][c], 0)

class TestInvalid(unittest.TestCase):
    def setUp(self):
        self.p = parser.Parser()

class TestInvalidTags(TestInvalid):
    def testRoot(self):
        self.assertRaises(parser.InvalidError, self.p.parseString,
                          '<?xml version="1.0"?>\n<test></test>')
        
    def testRootChild(self):
        self.assertRaises(parser.InvalidError, self.p.parseString,
                          '<?xml version="1.0"?>\n<xode><test/></xode>')

    def testWorldChild(self):
        doc = '''<?xml version="1.0"?>
        <xode><world>
          <test/>
        </world></xode>'''

        self.assertRaises(parser.InvalidError, self.p.parseString, doc)

    def testSpaceChild(self):
        doc = '''<?xml version="1.0"?>
        <xode><world><space>
          <test/>
        </space></world></xode>'''

        self.assertRaises(parser.InvalidError, self.p.parseString, doc)

    def testMassChild(self):
        doc = '''<?xml version="1.0"?>
        <xode><world><space>
          <body>
            <mass>
              <test/>
            </mass>
          </body>
        </space></world></xode>'''

        self.assertRaises(parser.InvalidError, self.p.parseString, doc)

    def testJointChild(self):
        doc = '''<?xml version="1.0"?>
        <xode><world><space><joint><test/></joint></space></world></xode>'''
        self.assertRaises(parser.InvalidError, self.p.parseString, doc)

class TestInvalidBody(TestInvalid):
    def testBadVector(self):
        doc = '''<?xml version="1.0"?>
        <xode><world>
          <body>
            <torque x="1"/>
          </body>
        </world></xode>'''
        
        self.assertRaises(parser.InvalidError, self.p.parseString, doc)

    def testBodyEnable(self):
        doc = '''<?xml version="1.0"?>
        <xode><world>
          <body enabled="unsure">
          </body>
        </world></xode>'''
        
        self.assertRaises(parser.InvalidError, self.p.parseString, doc)

    def testFiniteRotationMode(self):
        doc = '''<?xml version="1.0"?>
        <xode><world>
          <body>
            <finiteRotation mode="99" xaxis="0" yaxis="0" zaxis="0"/>
          </body>
        </world></xode>'''
        
        self.assertRaises(parser.InvalidError, self.p.parseString, doc)

    def testFiniteRotationAxes(self):
        doc = '''<?xml version="1.0"?>
        <xode><world>
          <body>
            <finiteRotation mode="0" xaxis="0" yaxis="0"/>
          </body>
        </world></xode>'''
        
        self.assertRaises(parser.InvalidError, self.p.parseString, doc)

class TestInvalidJoint(TestInvalid):
    def testEqualLinks(self):
        doc = '''<?xml version="1.0"?>
        <xode><world><space>
          <joint>
            <ball/>
          </joint>
        </space></world></xode>'''
        
        # both links are ode.environment
        self.assertRaises(parser.InvalidError, self.p.parseString, doc)

    def testNoType(self):
        doc = '''<?xml version="1.0"?>
        <xode><world><space>
          <joint/>
        </space></world></xode>'''

        self.assertRaises(parser.InvalidError, self.p.parseString, doc)

    def testWrongType(self):
        doc = '''<?xml version="1.0"?>
        <xode><world><space name="space1">
          <body name="body1"/>
          <joint>
            <link1 body="body1"/>
            <link2 body="space1"/>
            <ball/>
          </joint>
        </space></world></xode>'''

        self.assertRaises(parser.InvalidError, self.p.parseString, doc)

    def testMisplacedReference(self):
        doc = '''<?xml version="1.0"?>
        <xode><world><space name="space1">
          <body name="body1"/>
          <joint>
            <link1 body="body1"/>
            <link2 body="body2"/>
            <ball/>
          </joint>
          <body name="body2"/>
        </space></world></xode>'''
        # bodies must be defined before the joint

        self.assertRaises(parser.InvalidError, self.p.parseString, doc)
        
if (__name__ == '__main__'):
    unittest.main()

[Pyode-commits] pyode/src joints.pyx,1.2,1.3

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

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

Modified Files:
	joints.pyx 
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: joints.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/joints.pyx,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** joints.pyx	3 Jul 2004 16:57:41 -0000	1.2
--- joints.pyx	7 Jul 2004 11:46:32 -0000	1.3
***************
*** 68,75 ****
--- 68,80 ----
      cdef dJointFeedback* feedback
  
+     cdef object body1
+     cdef object body2
+ 
      def __new__(self, *a, **kw):
          self.jid = NULL
          self.world = None
          self.feedback = NULL
+         self.body1 = None
+         self.body2 = None
  
      def __init__(self, *a, **kw):
***************
*** 94,99 ****
--- 99,116 ----
      def attach(self, Body Body1, Body Body2):
          """TODO: What if there's only one body."""
+ 
+         self.body1 = Body1
+         self.body2 = Body2
          dJointAttach(self.jid, Body1.bid, Body2.bid)
  
+     # getBody
+     def getBody(self, index):
+         if (index == 0):
+             return self.body1
+         elif (index == 1):
+             return self.body2
+         else:
+             raise IndexError()
+ 
      # setFeedback
      def setFeedback(self, flag=1):
***************
*** 143,148 ****
  
  ######################################################################
!        
!         
  # BallJoint
  cdef class BallJoint(Joint):
--- 160,165 ----
  
  ######################################################################
! 
! 
  # BallJoint
  cdef class BallJoint(Joint):

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

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

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)

[Pyode-commits] pyode setup.py,1.1,1.2

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

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

Modified Files:
	setup.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: setup.py
===================================================================
RCS file: /cvsroot/pyode/pyode/setup.py,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** setup.py	27 Jun 2004 20:46:16 -0000	1.1
--- setup.py	7 Jul 2004 11:46:32 -0000	1.2
***************
*** 88,91 ****
--- 88,92 ----
  #      author_email="ba...@ir...",
  #      license="BSD license, see license*.txt",
+       packages=["xode"],
        ext_modules=[Extension("ode", ["ode.c"]
                     ,libraries=LIBS

[Pyode-commits] pyode/tests - New directory

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

Update of /cvsroot/pyode/pyode/tests
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv12348/tests

Log Message:
Directory /cvsroot/pyode/pyode/tests added to the repository

[Pyode-commits] pyode/xode - New directory

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

Update of /cvsroot/pyode/pyode/xode
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11553/xode

Log Message:
Directory /cvsroot/pyode/pyode/xode added to the repository

[Pyode-commits] pyode/src mass.pyx,1.3,1.4

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv25284/src

Modified Files:
	mass.pyx 
Log Message:
Overlooked another parameter renaming

Index: mass.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/mass.pyx,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** mass.pyx	5 Jul 2004 19:57:20 -0000	1.3
--- mass.pyx	5 Jul 2004 20:01:37 -0000	1.4
***************
*** 57,61 ****
          @type I23: float
          """
!         dMassSetParameters(&self._mass, themass, cgx, cgy, cgz, I11, I22, I33, I12, I13, I23)
  
      def setSphere(self, density, radius):
--- 57,61 ----
          @type I23: float
          """
!         dMassSetParameters(&self._mass, mass, cgx, cgy, cgz, I11, I22, I33, I12, I13, I23)
  
      def setSphere(self, density, radius):

[Pyode-commits] pyode/src mass.pyx,1.2,1.3

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv24422/src

Modified Files:
	mass.pyx 
Log Message:
Forgot the rename two arguments in a doc string

Index: mass.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/mass.pyx,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** mass.pyx	5 Jul 2004 15:37:12 -0000	1.2
--- mass.pyx	5 Jul 2004 19:57:20 -0000	1.3
***************
*** 73,77 ****
  
      def setCappedCylinder(self, density, direction, r, h):
!         """setCappedCylinder(density, direction, a, b)
          
          Set the mass parameters to represent a capped cylinder of the
--- 73,77 ----
  
      def setCappedCylinder(self, density, direction, r, h):
!         """setCappedCylinder(density, direction, r, h)
          
          Set the mass parameters to represent a capped cylinder of the