pyode-user — PyODE User Discussions

Re: [Pyode-user] about ode 0.7

[Ethan Glasser-C. <gl...@cs...>]

Jacob Everist wrote:
> I think I successfully built against ode0.7.  But it's been a while,
> so I don't quite remember what I did to do it.  Look over the email
> archives, and I think you should find some information from my posts.

I have too, just not on Windows.

Ethan

Re: [Pyode-user] about ode 0.7

[Jacob E. <jac...@gm...>]

I think I successfully built against ode0.7.  But it's been a while,
so I don't quite remember what I did to do it.  Look over the email
archives, and I think you should find some information from my posts.

Jacob Everist

On 1/8/07, Ethan Glasser-Camp <gl...@cs...> wrote:
> Matthias Baas wrote:
> > That shouldn't be a problem as the old names are still around. But the
> > build process might fail for other reasons (user-settings missing, etc.)
> > so I'd also recommend using the current CVS version which is meant to be
> > used with ODE 0.7.
>
> I think pyode built against ODE 0.5 will link against the CCylinder
> symbol, which is absent in 0.7. But I see ODE has #defines that change
> CCylinder calls to Capsule calls, so building 1.1.0 against 0.7
> shouldn't be a problem (at least not because of names changing).
>
> Is a new release of pyode expected any time soon? Is there anything
> holding it back from being released? Failing that, are there any plans
> to make Windows builds of Pyode CVS? I'm trying to compile it myself
> but it's a huge pain.
>
> Ethan
>
>
>
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-- 

Jacob Everist

Re: [Pyode-user] about ode 0.7

[Ethan Glasser-C. <gl...@cs...>]

Matthias Baas wrote:
> That shouldn't be a problem as the old names are still around. But the =

> build process might fail for other reasons (user-settings missing, etc.=
)=20
> so I'd also recommend using the current CVS version which is meant to b=
e=20
> used with ODE 0.7.

I think pyode built against ODE 0.5 will link against the CCylinder
symbol, which is absent in 0.7. But I see ODE has #defines that change
CCylinder calls to Capsule calls, so building 1.1.0 against 0.7
shouldn't be a problem (at least not because of names changing).

Is a new release of pyode expected any time soon? Is there anything
holding it back from being released? Failing that, are there any plans
to make Windows builds of Pyode CVS? I'm trying to compile it myself
but it's a huge pain.

Ethan

Re: [Pyode-user] about ode 0.7

[Matthias B. <ba...@ir...>]

Ethan Glasser-Camp wrote:
> pyode in CVS has support for 0.7, but no version of pyode has been
> released since ODE 0.5. I don't think pyode 1.1.0 will work if you
> build it against 0.7, because CCylinder was changed to Capsule, but if
> you try it, let us know what happens!

That shouldn't be a problem as the old names are still around. But the 
build process might fail for other reasons (user-settings missing, etc.) 
so I'd also recommend using the current CVS version which is meant to be 
used with ODE 0.7.

- Matthias -

Re: [Pyode-user] about ode 0.7

[Ethan Glasser-C. <gl...@cs...>]

[Sorry Nathan about the duplicate post -- I do this all the time. :( ]

Nathan Hu wrote:
> I use pyode about 1 year. however the ode 0.5 have so many problems.=20
> the bodies often move strangely especially when there are many joints.
> I printed the number in doulbe, but the number is a mistake sign.
> =20
> I don't know whether ode 0.7 is better. will pyode support ode 0.7?
> do you think ode 0.7 is better than 0.5? I really did not use it.

Although I've had a lot of difficulty getting ODE to do what I wanted
to do, eventually I found workarounds for all the problems I found. I
don't know if I actually encountered bugs in ODE or if what I did was
wrong.

pyode in CVS has support for 0.7, but no version of pyode has been
released since ODE 0.5. I don't think pyode 1.1.0 will work if you
build it against 0.7, because CCylinder was changed to Capsule, but if
you try it, let us know what happens!

My understanding is that 0.7 mostly adds features to 0.5: LMotor,
Plane2d, Cylinder. But I didn't follow the development process, so I'm
not sure.

Ethan

[Pyode-user] about ode 0.7

[Nathan H. <nat...@gm...>]

Hi,

I use pyode about 1 year. however the ode 0.5 have so many problems.
the bodies often move strangely especially when there are many joints.
I printed the number in doulbe, but the number is a mistake sign.

I don't know whether ode 0.7 is better. will pyode support ode 0.7?
do you think ode 0.7 is better than 0.5? I really did not use it.

Thank you very much!

Regards,
Nathan

Re: [Pyode-user] Renaming ode.pyd

[Paul K. <pki...@in...>]

Thanks for the help Matthias.

Trying your method didn't seem to work for me, however, as you
suggested, putting the two versions of ode.pyd into different
directories was a better solution and works well.

Paul

-----Original Message-----
From: pyo...@li...
[mailto:pyo...@li...] On Behalf Of Matthias
Baas
Sent: Thursday, 14 December 2006 8:20 PM
To: pyo...@li...
Subject: Re: [Pyode-user] Renaming ode.pyd

Paul Kinnane wrote:
> I have a situation where I need to run pyode under 2 versions of
python 
> - 2.1 and 2.4.  In order to do this, I need to compile pyODE under 
> python 2.1 and 2.4, which I have done successfully.  However I need to

> differentiate to the names of the libraries from the 2 versions (they 
> both compile as ode.pyd), so I can specifically import one of them 
> depending on which version of python is running.  When I simply rename

> ode.pyd to ode21.pyd, the import command does not work (since I guess 
> there is a naming difference between the compiled C code and the pyd
name.

Right, the initialization function of the extension module must be 
called "init<modulename>", in the case of ode it's "initode". If you 
rename the module to ode21 Python expects the function to be called 
"initode21", but this function doesn't exist, so the import fails.

> So my question is, how can I compile pyODE to produce a filename of 
> ode21.pyd?

Pyrex names the initialization function after the input file, so you 
would have to rename src/ode.pyx to src/ode21.pyx and update the setup 
script accordingly so that Pyrex reads the renamed file.
Alternatively you could just manually modify the generated source file 
and rename the init function.

But the other question is, why do you keep modules for two separate 
Python versions in the same directory? You could stick the correct 
ode.pyd into sub-directories py21 and py24 and either update PYTHONPATH 
or sys.path so that they point to the correct directory.

- Matthias -


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Re: [Pyode-user] Error in installation on Suse

[Matthias B. <ba...@ir...>]

Roses Roses wrote:
> I'm want to install pyode in a Suse 10.0 but I have the next error message:
> [...]
> Reading ODE configuration "/usr/include/ode/config/user-settings"... ERROR: 
> [Errno 2] No such file or directory: '/usr/include/ode/config/user-settings' 
> Traceback (most recent call last): File "setup.py", line 153, in ? config = 
> readODEConfig() File "setup.py", line 59, in readODEConfig raise 
> RuntimeError RuntimeError

Please use the latest version of PyODE from the cvs repository. The 
setup script has been updated not to use the user-settings file anymore 
as this file doesn't exist in ODE 0.7 anymore.

- Matthias -

[Pyode-user] Error in installation on Suse

[Roses R. <sal...@ho...>]

Hi!!!

I'm want to install pyode in a Suse 10.0 but I have the next error message:

This Python ODE wrapper assumes that you have a compiled version of the ODE 
library already somewhere on your system. The path to the ODE distribution 
has to be set in the setup script via the variable ODE_BASE. Currently it 
points to "../ode". However, that path does not exist. So please change the 
variable inside the script so that it points to the actual location of the 
ODE directory.

I've installed Pyrex, Python and Ode with Yast, but I'm continue this 
problem. I've tried to create the "ode" file, but the error is the next:

Reading ODE configuration "/usr/include/ode/config/user-settings"... ERROR: 
[Errno 2] No such file or directory: '/usr/include/ode/config/user-settings' 
Traceback (most recent call last): File "setup.py", line 153, in ? config = 
readODEConfig() File "setup.py", line 59, in readODEConfig raise 
RuntimeError RuntimeError

Help please!! Thank you!!

_________________________________________________________________
Descubre la descarga digital con MSN Music. Más de un millón de canciones. 
http://music.msn.es/

[Pyode-user] Error in installation on Suse

[Roses R. <sal...@ho...>]

Hi!!!

I'm want to install pyode in a Suse 10.0 but I have the next error message:

This Python ODE wrapper assumes that you have a compiled version of the ODE 
library already somewhere on your system. The path to the ODE distribution 
has to be set in the setup script via the variable ODE_BASE. Currently it 
points to "../ode". However, that path does not exist. So please change the 
variable inside the script so that it points to the actual location of the 
ODE directory.

I've installed Pyrex, Python and Ode with Yast, but I'm continue this 
problem. I've tried to create the "ode" file, but the error is the next:

Reading ODE configuration "/usr/include/ode/config/user-settings"... ERROR: 
[Errno 2] No such file or directory: '/usr/include/ode/config/user-settings' 
Traceback (most recent call last): File "setup.py", line 153, in ? config = 
readODEConfig() File "setup.py", line 59, in readODEConfig raise 
RuntimeError RuntimeError

Help please!! Thank you!!

_________________________________________________________________
¿Estás pensando en cambiar de coche? Todas los modelos de serie y extras en 
MSN Motor. http://motor.msn.es/researchcentre/

Re: [Pyode-user] Renaming ode.pyd

[Matthias B. <ba...@ir...>]

Paul Kinnane wrote:
> I have a situation where I need to run pyode under 2 versions of python 
> – 2.1 and 2.4.  In order to do this, I need to compile pyODE under 
> python 2.1 and 2.4, which I have done successfully.  However I need to 
> differentiate to the names of the libraries from the 2 versions (they 
> both compile as ode.pyd), so I can specifically import one of them 
> depending on which version of python is running.  When I simply rename 
> ode.pyd to ode21.pyd, the import command does not work (since I guess 
> there is a naming difference between the compiled C code and the pyd name.

Right, the initialization function of the extension module must be 
called "init<modulename>", in the case of ode it's "initode". If you 
rename the module to ode21 Python expects the function to be called 
"initode21", but this function doesn't exist, so the import fails.

> So my question is, how can I compile pyODE to produce a filename of 
> ode21.pyd?

Pyrex names the initialization function after the input file, so you 
would have to rename src/ode.pyx to src/ode21.pyx and update the setup 
script accordingly so that Pyrex reads the renamed file.
Alternatively you could just manually modify the generated source file 
and rename the init function.

But the other question is, why do you keep modules for two separate 
Python versions in the same directory? You could stick the correct 
ode.pyd into sub-directories py21 and py24 and either update PYTHONPATH 
or sys.path so that they point to the correct directory.

- Matthias -

[Pyode-user] Renaming ode.pyd

[Paul K. <pki...@in...>]

Hi
 
I have a situation where I need to run pyode under 2 versions of python
- 2.1 and 2.4.  In order to do this, I need to compile pyODE under
python 2.1 and 2.4, which I have done successfully.  However I need to
differentiate to the names of the libraries from the 2 versions (they
both compile as ode.pyd), so I can specifically import one of them
depending on which version of python is running.  When I simply rename
ode.pyd to ode21.pyd, the import command does not work (since I guess
there is a naming difference between the compiled C code and the pyd
name.
 
So my question is, how can I compile pyODE to produce a filename of
ode21.pyd?
 
Thanks
 
Paul

Re: [Pyode-user] alternate setup.py script compile problem

[Jacob E. <jac...@gm...>]

Yes, it seems that upgrading my PyRex to 0.9.4 did the trick.  Lots of
warnings still, but it didn't fail to compile.  Now it appears to be
working :)

Thanks!
Jacob Everist

On 11/27/06, Matthias Baas <ba...@ir...> wrote:
> Jacob Everist wrote:
> > I am running Fedora Core 6, ODE 0.7, Python 2.4.x, and Pyrex 0.9.3
> >
> > I tried to use the provided setup.py script and the alternate provided
> > by Matthias Baas, but I still get the same errors.  Can anyone give me
> > some insight into this problem?  Below is the error messages, and I
> > will also attach the setup.py script I am using.  Thanks!
> >
> > Output
> > ------
> > [wildmage@localhost PyODE-1.1.0]$ python setup.py build
> > INFO: <ode/ode.h> found in /usr/local/include
> > INFO: ode_trimesh.c is up to date
>
> Where does this version of ode_trimesh.c come from? Was it generated by
> yourself on a previous run or did you get it from a source archive?
>
> I'd suggest to upgrade Pyrex (I'm using 0.9.4.1) and re-generate
> ode_trimesh.c (by removing the old version).
>
> - Matthias -
>
>
> -------------------------------------------------------------------------
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-- 

Jacob Everist

Re: [Pyode-user] dependence upon position?

[chris <dra...@gm...>]

On 11/28/06, Matthias Baas <ba...@ir...> wrote:
> chris wrote:
> > FYI, I get this error for all versions where I set CFP and ERP to 0,
> > including 10, 1000 and 10000 from the origin. For example look at the
> > attached and see the difference in rest position,
>
> When CFM and ERP are both 0 I get the LCP error in every step. I think
> an ERP of 0 doesn't make any sense anyway, does it? I wonder why the
> collision is resolved at all. Doesn't ERP=0 mean that the joint force
> isn't taken into account at all?
> Similarly, I also wouldn't recommend a CFM value of exactly 0 (see the
> ODE manual: "In fact, if the system is mis-behaving, one of the first
> things to try is to increase the global CFM.")

yeah it probably is not sensibel to set these to zero. I just didi it
because someone suggested it and I thought I would prove that it still
does not remove the problem (it fixes it for displacement of 10 but
not for general case).

>
> By the way, as was mentioned in a previous mail, if you switch to
> quickStep() there's no error message anymore (but the movement is not
> identical anyway).
ok
>
> Anyway, as these things happen right inside ODE and are not particular
> to PyODE I recommend to post a message in the ODE mailing list.

yes, will do, bit busy atm - at a conference,

cheers,

chris
>
> - Matthias -
>
> -------------------------------------------------------------------------
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Re: [Pyode-user] dependence upon position?

[Matthias B. <ba...@ir...>]

chris wrote:
> FYI, I get this error for all versions where I set CFP and ERP to 0,
> including 10, 1000 and 10000 from the origin. For example look at the
> attached and see the difference in rest position,

When CFM and ERP are both 0 I get the LCP error in every step. I think 
an ERP of 0 doesn't make any sense anyway, does it? I wonder why the 
collision is resolved at all. Doesn't ERP=0 mean that the joint force 
isn't taken into account at all?
Similarly, I also wouldn't recommend a CFM value of exactly 0 (see the 
ODE manual: "In fact, if the system is mis-behaving, one of the first 
things to try is to increase the global CFM.")

By the way, as was mentioned in a previous mail, if you switch to 
quickStep() there's no error message anymore (but the movement is not 
identical anyway).

Anyway, as these things happen right inside ODE and are not particular 
to PyODE I recommend to post a message in the ODE mailing list.

- Matthias -

Re: [Pyode-user] dependence upon position?

[Ricardo K. <ric...@gm...>]

Hi:

I came up with this error a few times myself

Matthias Baas wrote:
 > mi...@mi... wrote:
 >> Strange. There is no 's' variable... apart from sx,sy,sz when 
setting glScale in the draw_body() part. Setting scale to zero would 
give an error, but they shouldn't be zero.
 >
 > I also get such a message, but only for the version at the origin:
 >
 > ODE Message 3: LCP internal error, s <= 0 (s=-5.2075e-003)

What this means is that the matrix (that represents the current state of 
the simulation) to be solved is near singular, and thus the LCP solver 
fails. It cannot solve this matrix, because it cannot find the inverse 
matrix to solve the equation system.

This happens mostly when using the WorldStep method, because this method 
depends on finding the exact inverse matrix. There is another method 
QuickStep, which uses an iterative approach to solve the equation 
system, that can handle most of these cases. The only problem with 
QuickStep is that the simulation becomes less accurate (although faster).

As far as I know there is not (yet) a real solution to this problem. 
There was some discussion about throwing an exception when this 
occurred, so that people could handle the error, instead of just 
breaking the simulations, but I am not quite sure what the state of that 
is right now.

I hope you could understand at least a little of what I tried to explain 
(due to my bad english :))

ricardo

Re: [Pyode-user] alternate setup.py script compile problem

[Matthias B. <ba...@ir...>]

Jacob Everist wrote:
> I am running Fedora Core 6, ODE 0.7, Python 2.4.x, and Pyrex 0.9.3
> 
> I tried to use the provided setup.py script and the alternate provided
> by Matthias Baas, but I still get the same errors.  Can anyone give me
> some insight into this problem?  Below is the error messages, and I
> will also attach the setup.py script I am using.  Thanks!
> 
> Output
> ------
> [wildmage@localhost PyODE-1.1.0]$ python setup.py build
> INFO: <ode/ode.h> found in /usr/local/include
> INFO: ode_trimesh.c is up to date

Where does this version of ode_trimesh.c come from? Was it generated by 
yourself on a previous run or did you get it from a source archive?

I'd suggest to upgrade Pyrex (I'm using 0.9.4.1) and re-generate 
ode_trimesh.c (by removing the old version).

- Matthias -

Re: [Pyode-user] dependence upon position?

[Matthias B. <ba...@ir...>]

mi...@mi... wrote:
> Strange. There is no 's' variable... apart from sx,sy,sz when setting glScale in the draw_body() part. Setting scale to zero would give an error, but they shouldn't be zero.

I also get such a message, but only for the version at the origin:

ODE Message 3: LCP internal error, s <= 0 (s=-5.2075e-003)

This is a message that originates from ODE (not PyODE), so the variable 
's' doesn't refer to any Python variable but rather to a variable that 
is most likely be used somewhere in the source code of ODE.

As one version shows the above error and the other doesn't, it is not 
very surprising that the results differ. Now as to why the error occurs 
I have no idea, I'd recommend to post a message into the ODE mailing list.

By the way, when I slightly rotate the cube (just so that it isn't 
perfectly aligned with the ground plane anymore) then the error does not 
occur anymore and the two simulations look the same.

- Matthias -

PS: I think the other case with the different start times is just the same.

Re: [Pyode-user] effect of start time on ode physics

[chris <dra...@gm...>]

Ah, I did not explain properly: the dropping of the right hand block
starts at counter=8000 in the file preciseBlocksTime8000.py. I.e. it
just starts dropping at a later time but otherwise the simulation is
the same (position of objects, gravity etc) and, one would expect, end
up in the same rest state as for the
http://www.planet-earth.org/pyode/preciseBlocks.py where the right
hand block is dropped when counter = 20.

cheers,

chris

On 11/26/06, Timothy Stranex <tim...@gm...> wrote:
> In preciseBlocksTime8000.py, counter still starts from 0. To make the
> two simulations equivalent, it should start at 7980.
>
> --
> Timothy
>
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Re: [Pyode-user] effect of start time on ode physics

[Timothy S. <tim...@gm...>]

In preciseBlocksTime8000.py, counter still starts from 0. To make the
two simulations equivalent, it should start at 7980.

--
Timothy

Re: [Pyode-user] effect of start time on ode physics

[chris <dra...@gm...>]

Hi list,

We have discussed the effect of position on simulation accuracy in
pyode but no one has answered this riddle about the start time, anyone
have an answer?

regards,

chris


On 11/24/06, chris <dra...@gm...> wrote:
> Hi,
>
> I have been doing some experiments as part of my phd and, tho the
> theory predicts some differences in physics results, it was still
> surprising to see it in actuality. the following differ only in the
> start time (the second has a start time of 8000), but the final
> resting place of the RH block is quite different from its position
> when running the first example, even tho the spatial positions, size
> of everything, duration of sim and grav constant are the same.
>
> http://www.planet-earth.org/pyode/preciseBlocks.py
> http://www.planet-earth.org/pyode/preciseBlocksTime8000.py
>
> Can anyone explain to me what is happening inside ode to produce these
> different results? I can explain the results abstractly, but not in
> detailed terms relating to the specifics of pyode.
>
> thanks,
>
> chris
>

Re: [Pyode-user] dependence upon position?

[chris <dra...@gm...>]

On 11/25/06, Hart's Antler <bha...@ya...> wrote:
> setting your worlds ERP and CFM to zero seems to fix this, not sure why tho..
> -brett
>
>
ok, I looked into this and those settings only have the effect of
resucing the error.  If you use these settings but set the
displacement to 1000,1000,1000 instead of (10,10,10) of my original
example and a small difference is apparent in the rest position
compared to the one at (0,0,0) using (10000, 10000, 10000) give a more
obvious difference.

So my little experiment is still valid, whether you use the default
ERP and CFM or not: pyode is very sensitive to position dependent
error in its physics simulations.

regards,

chris

> --- mi...@mi... wrote:
>
> > Hi folks,
> >
> > A friend (he's probably joining pyode-user as I send this) sent me the two small python scripts
> > (attached). They both drop a block near another. They are the same except for one being at
> > (0,0,0) the other at (10,10,10), but their behavior is markedly different. Why?
> >
> > Is there any way to ensure that behavior has positional independence? ...at least in fairly
> > ordinary ranges. I know things will get crazy near the limits of numerical precision, but this
> > is just a little over 10 units from the center of the universe.
> >
> > Is there some other parameter that needs to be handled to take account of the position?
> >
> > Best wishes,
> >
> >     - Miriam
> > --
> > ---------=---------=---------=---------=---------=---------=------
> > A life! Cool! Where can I download one of those from?
> > ---------=---------=---------=---------=---------=---------=------
> > Website: http://miriam-english.org
> > Blog: http://www.livejournal.com/users/miriam_e/
> > > # pyODE example 3: Collision detection
> > # origin
> >
> > # Originally by Matthias Baas.
> > # Updated by Pierre Gay to work without pygame or cgkit.
> >
> > import sys, os, random, time
> > from math import *
> > from OpenGL.GL import *
> > from OpenGL.GLU import *
> > from OpenGL.GLUT import *
> >
> > import ode
> >
> > # geometric utility functions
> > def scalp (vec, scal):
> >     vec[0] *= scal
> >     vec[1] *= scal
> >     vec[2] *= scal
> >
> > def length (vec):
> >     return sqrt (vec[0]**2 + vec[1]**2 + vec[2]**2)
> >
> > # prepare_GL
> > def prepare_GL():
> >     """Prepare drawing.
> >     """
> >
> >     # Viewport
> >     glViewport(0,0,640,480)
> >
> >     # Initialize
> >     glClearColor(0.8,0.8,0.9,0)
> >     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
> >     glEnable(GL_DEPTH_TEST)
> >     glDisable(GL_LIGHTING)
> >     glEnable(GL_LIGHTING)
> >     glEnable(GL_NORMALIZE)
> >     glShadeModel(GL_FLAT)
> >
> >     # Projection
> >     glMatrixMode(GL_PROJECTION)
> >     glLoadIdentity()
> >     gluPerspective (45,1.3333,0.2,20)
> >
> >     # Initialize ModelView matrix
> >     glMatrixMode(GL_MODELVIEW)
> >     glLoadIdentity()
> >
> >     # Light source
> >     glLightfv(GL_LIGHT0,GL_POSITION,[0,0,1,0])
> >     glLightfv(GL_LIGHT0,GL_DIFFUSE,[1,1,1,1])
> >     glLightfv(GL_LIGHT0,GL_SPECULAR,[1,1,1,1])
> >     glEnable(GL_LIGHT0)
> >
> >     # View transformation
> >     gluLookAt (2.4, 3.6, 4.8, 0.5, 0.5, 0, 0, 1, 0)
> >
> > # draw_body
> > def draw_body(body):
> >     """Draw an ODE body.
> >     """
> >
> >     x,y,z = body.getPosition()
> >     R = body.getRotation()
> >     #rot = [R[0], R[3], R[6], 0.,
> >     #       R[1], R[4], R[7], 0.,
> >     #       R[2], R[5], R[8], 0.,
> >     #       x, y, z, 1.0]
> >     rot = [1, 0.0, 0.0, 0.0,
> >            0.0, 1, 0.0, 0.0,
> >            0.0, 0.0, 1.0, 0.0,
> >            x, y, z, 1.0]
> >     glPushMatrix()
> >     glMultMatrixd(rot)
> >     if body.shape=="box":
> >         sx,sy,sz = body.boxsize
> >         glScale(sx, sy, sz)
> >         glutSolidCube(1)
> >     glPopMatrix()
> >
> >
> > # create_box
> > def create_box(world, space, density, lx, ly, lz):
> >     """Create a box body and its corresponding geom."""
> >
> >     # Create body
> >     body = ode.Body(world)
> >     M = ode.Mass()
> >     M.setBox(density, lx, ly, lz)
> >     body.setMass(M)
> >
> >     # Set parameters for drawing the body
> >     body.shape = "box"
> >     body.boxsize = (lx, ly, lz)
> >
> >     # Create a box geom for collision detection
> >     geom = ode.GeomBox(space, lengths=body.boxsize)
> >     geom.setBody(body)
> >
> >     return body
> >
> > # create box object
> > def create_object(posx, posy, posz):
> >     """create one box at a given position."""
> >
> >     global bodies, counter, objcount
> >
> >     body = create_box(world, space, 1000, 1.0,1.0,1.0)
> >     body.setPosition((posx, posy, posz))
> >     bodies.append(body)
> >     #counter=0
> >     objcount+=1
> >
> >
> > # drop_object
> > def drop_object(posx, posy, posz):
> >     """Drop an object into the scene."""
> >
> >     global bodies, counter, objcount
> >
> >     body = create_box(world, space, 1000, 1.0,1.0,1.0)
> >     body.setPosition((posx, posy, posz))
> >     bodies.append(body)
> >     #counter=0
> >     objcount+=1
> >
> > # Collision callback
> > def near_callback(args, geom1, geom2):
> >     """Callback function for the collide() method.
> >
> >     This function checks if the given geoms do collide and
> >     creates contact joints if they do.
> >     """
> >
> >     # Check if the objects do collide
> >     contacts = ode.collide(geom1, geom2)
> >
> >     # Create contact joints
> >     world,contactgroup = args
> >     for c in contacts:
> >         c.setBounce(0.2)
> >         c.setMu(5000)
> >         j = ode.ContactJoint(world, contactgroup, c)
> >         j.attach(geom1.getBody(), geom2.getBody())
> >
> >
> >
> > ######################################################################
> >
> > # Initialize Glut
> > glutInit ([])
> >
> > # Open a window
> > glutInitDisplayMode (GLUT_RGB | GLUT_DOUBLE)
> >
> > x = 0
> > y = 0
> > width = 640
> > height = 480
> > glutInitWindowPosition (x, y);
> > glutInitWindowSize (width, height);
> > glutCreateWindow ("(0,0,0)")
> >
> > # Create a world object
> > world = ode.World()
> > world.setGravity( (0,-9.81,0) )
> > world.setERP(0.8)
> > world.setCFM(1E-5)
> >
> > # Create a space object
> > space = ode.Space()
> >
> > # Create a plane geom which prevent the objects from falling forever
> > floor = ode.GeomPlane(space, (0,1,0), 0)
> >
> > # A list with ODE bodies
> > bodies = []
> >
> > # A joint group for the contact joints that are generated whenever
> > # two bodies collide
> > contactgroup = ode.JointGroup()
> >
> > # Some variables used inside the simulation loop
> > fps = 50
> > dt = 1.0/fps
> > running = True
> > state = 0
> > counter = 0
> > objcount = 0
> > lasttime = time.time()
> >
> >
> > # keyboard callback
> > def _keyfunc (c, x, y):
> >     sys.exit (0)
> >
> > glutKeyboardFunc (_keyfunc)
> >
> > # draw callback
> > def _drawfunc ():
> >
> === message truncated ===> # pyODE example 3: Collision detection
> > # 1000
> >
> > # Originally by Matthias Baas.
> > # Updated by Pierre Gay to work without pygame or cgkit.
> >
> > import sys, os, random, time
> > from math import *
> > from OpenGL.GL import *
> > from OpenGL.GLU import *
> > from OpenGL.GLUT import *
> >
> > import ode
> >
> > # geometric utility functions
> > def scalp (vec, scal):
> >     vec[0] *= scal
> >     vec[1] *= scal
> >     vec[2] *= scal
> >
> > def length (vec):
> >     return sqrt (vec[0]**2 + vec[1]**2 + vec[2]**2)
> >
> > # prepare_GL
> > def prepare_GL():
> >     """Prepare drawing.
> >     """
> >
> >     # Viewport
> >     glViewport(0,0,640,480)
> >
> >     # Initialize
> >     glClearColor(0.8,0.8,0.9,0)
> >     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
> >     glEnable(GL_DEPTH_TEST)
> >     glDisable(GL_LIGHTING)
> >     glEnable(GL_LIGHTING)
> >     glEnable(GL_NORMALIZE)
> >     glShadeModel(GL_FLAT)
> >
> >     # Projection
> >     glMatrixMode(GL_PROJECTION)
> >     glLoadIdentity()
> >     gluPerspective (45,1.3333,0.2,20)
> >
> >     # Initialize ModelView matrix
> >     glMatrixMode(GL_MODELVIEW)
> >     glLoadIdentity()
> >
> >     # Light source
> >     glLightfv(GL_LIGHT0,GL_POSITION,[0,0,1,0])
> >     glLightfv(GL_LIGHT0,GL_DIFFUSE,[1,1,1,1])
> >     glLightfv(GL_LIGHT0,GL_SPECULAR,[1,1,1,1])
> >     glEnable(GL_LIGHT0)
> >
> >     # View transformation
> >     gluLookAt (12.4, 13.6, 14.8, 10.5, 10.5, 10, 0, 1, 0)
> >
> > # draw_body
> > def draw_body(body):
> >     """Draw an ODE body.
> >     """
> >
> >     x,y,z = body.getPosition()
> >     R = body.getRotation()
> >     #rot = [R[0], R[3], R[6], 0.,
> >     #       R[1], R[4], R[7], 0.,
> >     #       R[2], R[5], R[8], 0.,
> >     #       x, y, z, 1.0]
> >     rot = [1, 0.0, 0.0, 0.0,
> >            0.0, 1, 0.0, 0.0,
> >            0.0, 0.0, 1.0, 0.0,
> >            x, y, z, 1.0]
> >     glPushMatrix()
> >     glMultMatrixd(rot)
> >     if body.shape=="box":
> >         sx,sy,sz = body.boxsize
> >         glScale(sx, sy, sz)
> >         glutSolidCube(1)
> >     glPopMatrix()
> >
> >
> > # create_box
> > def create_box(world, space, density, lx, ly, lz):
> >     """Create a box body and its corresponding geom."""
> >
> >     # Create body
> >     body = ode.Body(world)
> >     M = ode.Mass()
> >     M.setBox(density, lx, ly, lz)
> >     body.setMass(M)
> >
> >     # Set parameters for drawing the body
> >     body.shape = "box"
> >     body.boxsize = (lx, ly, lz)
> >
> >     # Create a box geom for collision detection
> >     geom = ode.GeomBox(space, lengths=body.boxsize)
> >     geom.setBody(body)
> >
> >     return body
> >
> > # create box object
> > def create_object(posx, posy, posz):
> >     """create one box at a given position."""
> >
> >     global bodies, counter, objcount
> >
> >     body = create_box(world, space, 1000, 1.0,1.0,1.0)
> >     body.setPosition((posx, posy, posz))
> >     bodies.append(body)
> >     #counter=0
> >     objcount+=1
> >
> >
> > # drop_object
> > def drop_object(posx, posy, posz):
> >     """Drop an object into the scene."""
> >
> >     global bodies, counter, objcount
> >
> >     body = create_box(world, space, 1000, 1.0,1.0,1.0)
> >     body.setPosition((posx, posy, posz))
> >     bodies.append(body)
> >     #counter=0
> >     objcount+=1
> >
> > # Collision callback
> > def near_callback(args, geom1, geom2):
> >     """Callback function for the collide() method.
> >
> >     This function checks if the given geoms do collide and
> >     creates contact joints if they do.
> >     """
> >
> >     # Check if the objects do collide
> >     contacts = ode.collide(geom1, geom2)
> >
> >     # Create contact joints
> >     world,contactgroup = args
> >     for c in contacts:
> >         c.setBounce(0.2)
> >         c.setMu(5000)
> >         j = ode.ContactJoint(world, contactgroup, c)
> >         j.attach(geom1.getBody(), geom2.getBody())
> >
> >
> >
> > ######################################################################
> >
> > # Initialize Glut
> > glutInit ([])
> >
> > # Open a window
> > glutInitDisplayMode (GLUT_RGB | GLUT_DOUBLE)
> >
> > x = 0
> > y = 0
> > width = 640
> > height = 480
> > glutInitWindowPosition (x, y);
> > glutInitWindowSize (width, height);
> > glutCreateWindow ("(10,10,10)")
> >
> > # Create a world object
> > world = ode.World()
> > world.setGravity( (0,-9.81,0) )
> > world.setERP(0.8)
> > world.setCFM(1E-5)
> >
> > # Create a space object
> > space = ode.Space()
> >
> > # Create a plane geom which prevent the objects from falling forever
> > floor = ode.GeomPlane(space, (0,1,0), 10)
> >
> > # A list with ODE bodies
> > bodies = []
> >
> > # A joint group for the contact joints that are generated whenever
> > # two bodies collide
> > contactgroup = ode.JointGroup()
> >
> > # Some variables used inside the simulation loop
> > fps = 50
> > dt = 1.0/fps
> > running = True
> > state = 0
> > counter = 0
> > objcount = 0
> > lasttime = time.time()
> >
> >
> > # keyboard callback
> > def _keyfunc (c, x, y):
> >     sys.exit (0)
> >
> > glutKeyboardFunc (_keyfunc)
> >
> > # draw callback
> > def _drawfunc ():
> >
> === message truncated ===>
> -------------------------------------------------------------------------
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>

[Pyode-user] alternate setup.py script compile problem

[Jacob E. <jac...@gm...>]

Hello,

I am running Fedora Core 6, ODE 0.7, Python 2.4.x, and Pyrex 0.9.3

I tried to use the provided setup.py script and the alternate provided
by Matthias Baas, but I still get the same errors.  Can anyone give me
some insight into this problem?  Below is the error messages, and I
will also attach the setup.py script I am using.  Thanks!

- Jacob Everist

Output
------
[wildmage@localhost PyODE-1.1.0]$ python setup.py build
INFO: <ode/ode.h> found in /usr/local/include
INFO: ode_trimesh.c is up to date
INFO: ode_notrimesh.c is up to date
INFO: Installing with trimesh support.
running build
running build_py
running build_ext
building 'ode' extension
gcc -pthread -fno-strict-aliasing -DNDEBUG -O2 -g -pipe -Wall
-Wp,-D_FORTIFY_SOURCE=2 -fexceptions -fstack-protector
--param=ssp-buffer-size=4 -m32 -march=i386 -mtune=generic
-fasynchronous-unwind-tables -D_GNU_SOURCE -fPIC -fPIC -I/usr
-I/usr/local -I/usr/local/include -I/usr/include/python2.4 -c
ode_trimesh.c -o build/temp.linux-i686-2.4/ode_trimesh.o
ode_trimesh.c: In function '__pyx_f_3ode_4Mass___new__':
ode_trimesh.c:392: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_4Mass_setZero':
ode_trimesh.c:413: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_5World___new__':
ode_trimesh.c:2202: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_5World___dealloc__':
ode_trimesh.c:2226: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_4Body___dealloc__':
ode_trimesh.c:3041: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_4Body_getMass':
ode_trimesh.c:3781: error: invalid lvalue in assignment
ode_trimesh.c:3789: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_4Body_enable':
ode_trimesh.c:4856: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_4Body_disable':
ode_trimesh.c:4877: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_10JointGroup___new__':
ode_trimesh.c:5144: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_10JointGroup___dealloc__':
ode_trimesh.c:5193: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_10JointGroup_empty':
ode_trimesh.c:5239: warning: label '__pyx_L3' defined but not used
ode_trimesh.c:5221: warning: label '__pyx_L2' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_5Joint__destroyed':
ode_trimesh.c:5588: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_9BallJoint___new__':
ode_trimesh.c:5978: error: invalid lvalue in assignment
ode_trimesh.c:5993: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_9BallJoint_setParam':
ode_trimesh.c:6225: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_10HingeJoint___new__':
ode_trimesh.c:6277: error: invalid lvalue in assignment
ode_trimesh.c:6292: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_11SliderJoint___new__':
ode_trimesh.c:6752: error: invalid lvalue in assignment
ode_trimesh.c:6767: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_14UniversalJoint___new__':
ode_trimesh.c:7089: error: invalid lvalue in assignment
ode_trimesh.c:7104: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_11Hinge2Joint___new__':
ode_trimesh.c:7606: error: invalid lvalue in assignment
ode_trimesh.c:7621: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_10FixedJoint___new__':
ode_trimesh.c:8201: error: invalid lvalue in assignment
ode_trimesh.c:8216: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_10FixedJoint_setFixed':
ode_trimesh.c:8308: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_12ContactJoint___new__':
ode_trimesh.c:8331: error: invalid lvalue in assignment
ode_trimesh.c:8347: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_6AMotor___new__':
ode_trimesh.c:8444: error: invalid lvalue in assignment
ode_trimesh.c:8459: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_6AMotor_setNumAxes':
ode_trimesh.c:8604: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_10GeomObject___dealloc__':
ode_trimesh.c:9048: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_10GeomObject_getSpace':
ode_trimesh.c:9796: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_10GeomObject_enable':
ode_trimesh.c:9951: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_10GeomObject_disable':
ode_trimesh.c:9972: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_14_SpaceIterator___iter__':
ode_trimesh.c:10057: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_9SpaceBase___new__':
ode_trimesh.c:10175: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_9SpaceBase___dealloc__':
ode_trimesh.c:10251: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_11SimpleSpace___new__':
ode_trimesh.c:10687: error: invalid lvalue in assignment
ode_trimesh.c:10701: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_11SimpleSpace___init__':
ode_trimesh.c:10753: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_9HashSpace___new__':
ode_trimesh.c:10776: error: invalid lvalue in assignment
ode_trimesh.c:10790: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_9HashSpace___init__':
ode_trimesh.c:10842: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_13QuadTreeSpace___new__':
ode_trimesh.c:10974: error: invalid lvalue in assignment
ode_trimesh.c:10988: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_13QuadTreeSpace___init__':
ode_trimesh.c:11098: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_10GeomSphere___new__':
ode_trimesh.c:11200: error: invalid lvalue in assignment
ode_trimesh.c:11214: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_10GeomSphere___init__':
ode_trimesh.c:11273: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_7GeomBox___new__':
ode_trimesh.c:11460: error: invalid lvalue in assignment
ode_trimesh.c:11474: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_7GeomBox___init__':
ode_trimesh.c:11547: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_9GeomPlane___new__':
ode_trimesh.c:11773: error: invalid lvalue in assignment
ode_trimesh.c:11787: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_9GeomPlane___init__':
ode_trimesh.c:11860: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_13GeomCCylinder___new__':
ode_trimesh.c:12071: error: invalid lvalue in assignment
ode_trimesh.c:12085: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_13GeomCCylinder___init__':
ode_trimesh.c:12149: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_7GeomRay___new__':
ode_trimesh.c:12351: error: invalid lvalue in assignment
ode_trimesh.c:12365: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_7GeomRay___init__':
ode_trimesh.c:12424: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_13GeomTransform___new__':
ode_trimesh.c:12655: error: invalid lvalue in assignment
ode_trimesh.c:12669: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_13GeomTransform_getGeom':
ode_trimesh.c:12921: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_11TriMeshData___new__':
ode_trimesh.c:13026: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_11TriMeshData___dealloc__':
ode_trimesh.c:13070: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_11TriMeshData_build':
ode_trimesh.c:13269: warning: label '__pyx_L5' defined but not used
ode_trimesh.c:13195: warning: label '__pyx_L4' defined but not used
ode_trimesh.c:13186: warning: label '__pyx_L3' defined but not used
ode_trimesh.c:13146: warning: label '__pyx_L2' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_11GeomTriMesh___new__':
ode_trimesh.c:13308: error: invalid lvalue in assignment
ode_trimesh.c:13314: error: invalid lvalue in assignment
ode_trimesh.c:13328: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_f_3ode_11GeomTriMesh_clearTCCache':
ode_trimesh.c:13463: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_collide':
ode_trimesh.c:13584: error: invalid lvalue in assignment
ode_trimesh.c:13631: error: invalid lvalue in assignment
ode_trimesh.c:13650: warning: label '__pyx_L3' defined but not used
ode_trimesh.c:13621: warning: label '__pyx_L2' defined but not used
ode_trimesh.c: In function '__pyx_f_3ode_CloseODE':
ode_trimesh.c:13761: warning: label '__pyx_L1' defined but not used
ode_trimesh.c: In function '__pyx_tp_new_3ode_Mass':
ode_trimesh.c:13899: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_Mass':
ode_trimesh.c:13907: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_Mass':
ode_trimesh.c:13913: warning: unused variable 'p'
ode_trimesh.c:13912: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_Mass':
ode_trimesh.c:13918: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_Contact':
ode_trimesh.c:14071: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_Contact':
ode_trimesh.c:14079: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_Contact':
ode_trimesh.c:14085: warning: unused variable 'p'
ode_trimesh.c:14084: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_Contact':
ode_trimesh.c:14090: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_World':
ode_trimesh.c:14242: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_World':
ode_trimesh.c:14250: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_World':
ode_trimesh.c:14265: warning: unused variable 'p'
ode_trimesh.c:14264: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_World':
ode_trimesh.c:14270: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_BallJoint':
ode_trimesh.c:15015: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_BallJoint':
ode_trimesh.c:15023: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_BallJoint':
ode_trimesh.c:15029: warning: unused variable 'p'
ode_trimesh.c:15028: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_BallJoint':
ode_trimesh.c:15035: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_HingeJoint':
ode_trimesh.c:15167: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_HingeJoint':
ode_trimesh.c:15175: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_HingeJoint':
ode_trimesh.c:15181: warning: unused variable 'p'
ode_trimesh.c:15180: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_HingeJoint':
ode_trimesh.c:15187: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_SliderJoint':
ode_trimesh.c:15324: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_SliderJoint':
ode_trimesh.c:15332: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_SliderJoint':
ode_trimesh.c:15338: warning: unused variable 'p'
ode_trimesh.c:15337: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_SliderJoint':
ode_trimesh.c:15344: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_UniversalJoint':
ode_trimesh.c:15478: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_UniversalJoint':
ode_trimesh.c:15486: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_UniversalJoint':
ode_trimesh.c:15492: warning: unused variable 'p'
ode_trimesh.c:15491: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_UniversalJoint':
ode_trimesh.c:15498: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_Hinge2Joint':
ode_trimesh.c:15635: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_Hinge2Joint':
ode_trimesh.c:15643: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_Hinge2Joint':
ode_trimesh.c:15649: warning: unused variable 'p'
ode_trimesh.c:15648: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_Hinge2Joint':
ode_trimesh.c:15655: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_FixedJoint':
ode_trimesh.c:15795: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_FixedJoint':
ode_trimesh.c:15803: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_FixedJoint':
ode_trimesh.c:15809: warning: unused variable 'p'
ode_trimesh.c:15808: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_FixedJoint':
ode_trimesh.c:15815: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_ContactJoint':
ode_trimesh.c:15943: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_ContactJoint':
ode_trimesh.c:15951: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_ContactJoint':
ode_trimesh.c:15957: warning: unused variable 'p'
ode_trimesh.c:15956: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_ContactJoint':
ode_trimesh.c:15963: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_AMotor':
ode_trimesh.c:16090: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_AMotor':
ode_trimesh.c:16098: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_AMotor':
ode_trimesh.c:16104: warning: unused variable 'p'
ode_trimesh.c:16103: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_AMotor':
ode_trimesh.c:16110: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_SpaceBase':
ode_trimesh.c:16461: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_SpaceBase':
ode_trimesh.c:16469: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_SpaceBase':
ode_trimesh.c:16484: warning: unused variable 'p'
ode_trimesh.c:16483: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_SpaceBase':
ode_trimesh.c:16490: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_SimpleSpace':
ode_trimesh.c:16624: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_SimpleSpace':
ode_trimesh.c:16632: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_SimpleSpace':
ode_trimesh.c:16638: warning: unused variable 'p'
ode_trimesh.c:16637: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_SimpleSpace':
ode_trimesh.c:16644: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_HashSpace':
ode_trimesh.c:16771: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_HashSpace':
ode_trimesh.c:16779: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_HashSpace':
ode_trimesh.c:16785: warning: unused variable 'p'
ode_trimesh.c:16784: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_HashSpace':
ode_trimesh.c:16791: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_QuadTreeSpace':
ode_trimesh.c:16920: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_QuadTreeSpace':
ode_trimesh.c:16928: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_QuadTreeSpace':
ode_trimesh.c:16934: warning: unused variable 'p'
ode_trimesh.c:16933: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_QuadTreeSpace':
ode_trimesh.c:16940: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_GeomSphere':
ode_trimesh.c:17067: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_GeomSphere':
ode_trimesh.c:17075: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_GeomSphere':
ode_trimesh.c:17081: warning: unused variable 'p'
ode_trimesh.c:17080: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_GeomSphere':
ode_trimesh.c:17087: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_GeomBox':
ode_trimesh.c:17219: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_GeomBox':
ode_trimesh.c:17227: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_GeomBox':
ode_trimesh.c:17233: warning: unused variable 'p'
ode_trimesh.c:17232: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_GeomBox':
ode_trimesh.c:17239: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_GeomPlane':
ode_trimesh.c:17371: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_GeomPlane':
ode_trimesh.c:17379: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_GeomPlane':
ode_trimesh.c:17385: warning: unused variable 'p'
ode_trimesh.c:17384: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_GeomPlane':
ode_trimesh.c:17391: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_GeomCCylinder':
ode_trimesh.c:17522: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_GeomCCylinder':
ode_trimesh.c:17530: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_GeomCCylinder':
ode_trimesh.c:17536: warning: unused variable 'p'
ode_trimesh.c:17535: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_GeomCCylinder':
ode_trimesh.c:17542: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_GeomRay':
ode_trimesh.c:17674: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_GeomRay':
ode_trimesh.c:17682: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_GeomRay':
ode_trimesh.c:17688: warning: unused variable 'p'
ode_trimesh.c:17687: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_GeomRay':
ode_trimesh.c:17694: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_TriMeshData':
ode_trimesh.c:17986: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_dealloc_3ode_TriMeshData':
ode_trimesh.c:17994: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_traverse_3ode_TriMeshData':
ode_trimesh.c:18009: warning: unused variable 'p'
ode_trimesh.c:18008: warning: unused variable 'e'
ode_trimesh.c: In function '__pyx_tp_clear_3ode_TriMeshData':
ode_trimesh.c:18014: warning: unused variable 'p'
ode_trimesh.c: In function '__pyx_tp_new_3ode_GeomTriMesh':
ode_trimesh.c:18142: error: invalid lvalue in assignment
ode_trimesh.c: In function '__pyx_tp_clear_3ode_GeomTriMesh':
ode_trimesh.c:18169: error: invalid lvalue in assignment
ode_trimesh.c: In function '__Pyx_GetStarArgs':
ode_trimesh.c:19068: warning: suggest explicit braces to avoid ambiguous 'else'
ode_trimesh.c:19070: warning: suggest explicit braces to avoid ambiguous 'else'
ode_trimesh.c: In function '__Pyx_EndUnpack':
ode_trimesh.c:19219: warning: suggest parentheses around assignment
used as truth value
error: command 'gcc' failed with exit status 1
[wildmage@localhost PyODE-1.1.0]$ rpm -qa | grep pyrex

Re: [Pyode-user] dependence upon position?

[<mi...@mi...>]

Strange. There is no 's' variable... apart from sx,sy,sz when setting glScale in the draw_body() part. Setting scale to zero would give an error, but they shouldn't be zero.

Thanks for checking on your machine. I wonder what's happening there.

- Miriam

> mi...@mi... wrote:
> > but their behavior is markedly different. Why?
> 
> They behave the same on my machine, but both generate this message:
> 
> ODE Message 3: LCP internal error, s <= 0 (s=-0.0000e+00)
> 
> Ethan

Re: [Pyode-user] dependence upon position?

[<mi...@mi...>]

Thank you. I'll look into that.

- Miriam

> setting your worlds ERP and CFM to zero seems to fix this, not sure why tho..
> -brett
>
>
> --- mi...@mi... wrote:
>
> > Hi folks,
> >
> > A friend (he's probably joining pyode-user as I send this) sent me the two small python scripts
> > (attached). They both drop a block near another. They are the same except for one being at
> > (0,0,0) the other at (10,10,10), but their behavior is markedly different. Why?
> >
> > Is there any way to ensure that behavior has positional independence? ...at least in fairly
> > ordinary ranges. I know things will get crazy near the limits of numerical precision, but this
> > is just a little over 10 units from the center of the universe.
> >
> > Is there some other parameter that needs to be handled to take account of the position?
> >
> > Best wishes,
> >
> >     - Miriam
> > --
> > ---------=---------=---------=---------=---------=---------=------
> > A life! Cool! Where can I download one of those from?
> > ---------=---------=---------=---------=---------=---------=------
> > Website: http://miriam-english.org
> > Blog: http://www.livejournal.com/users/miriam_e/
> > > # pyODE example 3: Collision detection
> > # origin
> >
> > # Originally by Matthias Baas.
> > # Updated by Pierre Gay to work without pygame or cgkit.
> >
> > import sys, os, random, time
> > from math import *
> > from OpenGL.GL import *
> > from OpenGL.GLU import *
> > from OpenGL.GLUT import *
> >
> > import ode
> >
> > # geometric utility functions
> > def scalp (vec, scal):
> >     vec[0] *= scal
> >     vec[1] *= scal
> >     vec[2] *= scal
> >
> > def length (vec):
> >     return sqrt (vec[0]**2 + vec[1]**2 + vec[2]**2)
> >
> > # prepare_GL
> > def prepare_GL():
> >     """Prepare drawing.
> >     """
> >
> >     # Viewport
> >     glViewport(0,0,640,480)
> >
> >     # Initialize
> >     glClearColor(0.8,0.8,0.9,0)
> >     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
> >     glEnable(GL_DEPTH_TEST)
> >     glDisable(GL_LIGHTING)
> >     glEnable(GL_LIGHTING)
> >     glEnable(GL_NORMALIZE)
> >     glShadeModel(GL_FLAT)
> >
> >     # Projection
> >     glMatrixMode(GL_PROJECTION)
> >     glLoadIdentity()
> >     gluPerspective (45,1.3333,0.2,20)
> >
> >     # Initialize ModelView matrix
> >     glMatrixMode(GL_MODELVIEW)
> >     glLoadIdentity()
> >
> >     # Light source
> >     glLightfv(GL_LIGHT0,GL_POSITION,[0,0,1,0])
> >     glLightfv(GL_LIGHT0,GL_DIFFUSE,[1,1,1,1])
> >     glLightfv(GL_LIGHT0,GL_SPECULAR,[1,1,1,1])
> >     glEnable(GL_LIGHT0)
> >
> >     # View transformation
> >     gluLookAt (2.4, 3.6, 4.8, 0.5, 0.5, 0, 0, 1, 0)
> >
> > # draw_body
> > def draw_body(body):
> >     """Draw an ODE body.
> >     """
> >
> >     x,y,z = body.getPosition()
> >     R = body.getRotation()
> >     #rot = [R[0], R[3], R[6], 0.,
> >     #       R[1], R[4], R[7], 0.,
> >     #       R[2], R[5], R[8], 0.,
> >     #       x, y, z, 1.0]
> >     rot = [1, 0.0, 0.0, 0.0,
> >            0.0, 1, 0.0, 0.0,
> >            0.0, 0.0, 1.0, 0.0,
> >            x, y, z, 1.0]
> >     glPushMatrix()
> >     glMultMatrixd(rot)
> >     if body.shape=="box":
> >         sx,sy,sz = body.boxsize
> >         glScale(sx, sy, sz)
> >         glutSolidCube(1)
> >     glPopMatrix()
> >
> >
> > # create_box
> > def create_box(world, space, density, lx, ly, lz):
> >     """Create a box body and its corresponding geom."""
> >
> >     # Create body
> >     body = ode.Body(world)
> >     M = ode.Mass()
> >     M.setBox(density, lx, ly, lz)
> >     body.setMass(M)
> >
> >     # Set parameters for drawing the body
> >     body.shape = "box"
> >     body.boxsize = (lx, ly, lz)
> >
> >     # Create a box geom for collision detection
> >     geom = ode.GeomBox(space, lengths=body.boxsize)
> >     geom.setBody(body)
> >
> >     return body
> >
> > # create box object
> > def create_object(posx, posy, posz):
> >     """create one box at a given position."""
> >
> >     global bodies, counter, objcount
> >
> >     body = create_box(world, space, 1000, 1.0,1.0,1.0)
> >     body.setPosition((posx, posy, posz))
> >     bodies.append(body)
> >     #counter=0
> >     objcount+=1
> >
> >
> > # drop_object
> > def drop_object(posx, posy, posz):
> >     """Drop an object into the scene."""
> >
> >     global bodies, counter, objcount
> >
> >     body = create_box(world, space, 1000, 1.0,1.0,1.0)
> >     body.setPosition((posx, posy, posz))
> >     bodies.append(body)
> >     #counter=0
> >     objcount+=1
> >
> > # Collision callback
> > def near_callback(args, geom1, geom2):
> >     """Callback function for the collide() method.
> >
> >     This function checks if the given geoms do collide and
> >     creates contact joints if they do.
> >     """
> >
> >     # Check if the objects do collide
> >     contacts = ode.collide(geom1, geom2)
> >
> >     # Create contact joints
> >     world,contactgroup = args
> >     for c in contacts:
> >         c.setBounce(0.2)
> >         c.setMu(5000)
> >         j = ode.ContactJoint(world, contactgroup, c)
> >         j.attach(geom1.getBody(), geom2.getBody())
> >
> >
> >
> > ######################################################################
> >
> > # Initialize Glut
> > glutInit ([])
> >
> > # Open a window
> > glutInitDisplayMode (GLUT_RGB | GLUT_DOUBLE)
> >
> > x = 0
> > y = 0
> > width = 640
> > height = 480
> > glutInitWindowPosition (x, y);
> > glutInitWindowSize (width, height);
> > glutCreateWindow ("(0,0,0)")
> >
> > # Create a world object
> > world = ode.World()
> > world.setGravity( (0,-9.81,0) )
> > world.setERP(0.8)
> > world.setCFM(1E-5)
> >
> > # Create a space object
> > space = ode.Space()
> >
> > # Create a plane geom which prevent the objects from falling forever
> > floor = ode.GeomPlane(space, (0,1,0), 0)
> >
> > # A list with ODE bodies
> > bodies = []
> >
> > # A joint group for the contact joints that are generated whenever
> > # two bodies collide
> > contactgroup = ode.JointGroup()
> >
> > # Some variables used inside the simulation loop
> > fps = 50
> > dt = 1.0/fps
> > running = True
> > state = 0
> > counter = 0
> > objcount = 0
> > lasttime = time.time()
> >
> >
> > # keyboard callback
> > def _keyfunc (c, x, y):
> >     sys.exit (0)
> >
> > glutKeyboardFunc (_keyfunc)
> >
> > # draw callback
> > def _drawfunc ():
> >
> === message truncated ===> # pyODE example 3: Collision detection
> > # 1000
> >
> > # Originally by Matthias Baas.
> > # Updated by Pierre Gay to work without pygame or cgkit.
> >
> > import sys, os, random, time
> > from math import *
> > from OpenGL.GL import *
> > from OpenGL.GLU import *
> > from OpenGL.GLUT import *
> >
> > import ode
> >
> > # geometric utility functions
> > def scalp (vec, scal):
> >     vec[0] *= scal
> >     vec[1] *= scal
> >     vec[2] *= scal
> >
> > def length (vec):
> >     return sqrt (vec[0]**2 + vec[1]**2 + vec[2]**2)
> >
> > # prepare_GL
> > def prepare_GL():
> >     """Prepare drawing.
> >     """
> >
> >     # Viewport
> >     glViewport(0,0,640,480)
> >
> >     # Initialize
> >     glClearColor(0.8,0.8,0.9,0)
> >     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
> >     glEnable(GL_DEPTH_TEST)
> >     glDisable(GL_LIGHTING)
> >     glEnable(GL_LIGHTING)
> >     glEnable(GL_NORMALIZE)
> >     glShadeModel(GL_FLAT)
> >
> >     # Projection
> >     glMatrixMode(GL_PROJECTION)
> >     glLoadIdentity()
> >     gluPerspective (45,1.3333,0.2,20)
> >
> >     # Initialize ModelView matrix
> >     glMatrixMode(GL_MODELVIEW)
> >     glLoadIdentity()
> >
> >     # Light source
> >     glLightfv(GL_LIGHT0,GL_POSITION,[0,0,1,0])
> >     glLightfv(GL_LIGHT0,GL_DIFFUSE,[1,1,1,1])
> >     glLightfv(GL_LIGHT0,GL_SPECULAR,[1,1,1,1])
> >     glEnable(GL_LIGHT0)
> >
> >     # View transformation
> >     gluLookAt (12.4, 13.6, 14.8, 10.5, 10.5, 10, 0, 1, 0)
> >
> > # draw_body
> > def draw_body(body):
> >     """Draw an ODE body.
> >     """
> >
> >     x,y,z = body.getPosition()
> >     R = body.getRotation()
> >     #rot = [R[0], R[3], R[6], 0.,
> >     #       R[1], R[4], R[7], 0.,
> >     #       R[2], R[5], R[8], 0.,
> >     #       x, y, z, 1.0]
> >     rot = [1, 0.0, 0.0, 0.0,
> >            0.0, 1, 0.0, 0.0,
> >            0.0, 0.0, 1.0, 0.0,
> >            x, y, z, 1.0]
> >     glPushMatrix()
> >     glMultMatrixd(rot)
> >     if body.shape=="box":
> >         sx,sy,sz = body.boxsize
> >         glScale(sx, sy, sz)
> >         glutSolidCube(1)
> >     glPopMatrix()
> >
> >
> > # create_box
> > def create_box(world, space, density, lx, ly, lz):
> >     """Create a box body and its corresponding geom."""
> >
> >     # Create body
> >     body = ode.Body(world)
> >     M = ode.Mass()
> >     M.setBox(density, lx, ly, lz)
> >     body.setMass(M)
> >
> >     # Set parameters for drawing the body
> >     body.shape = "box"
> >     body.boxsize = (lx, ly, lz)
> >
> >     # Create a box geom for collision detection
> >     geom = ode.GeomBox(space, lengths=body.boxsize)
> >     geom.setBody(body)
> >
> >     return body
> >
> > # create box object
> > def create_object(posx, posy, posz):
> >     """create one box at a given position."""
> >
> >     global bodies, counter, objcount
> >
> >     body = create_box(world, space, 1000, 1.0,1.0,1.0)
> >     body.setPosition((posx, posy, posz))
> >     bodies.append(body)
> >     #counter=0
> >     objcount+=1
> >
> >
> > # drop_object
> > def drop_object(posx, posy, posz):
> >     """Drop an object into the scene."""
> >
> >     global bodies, counter, objcount
> >
> >     body = create_box(world, space, 1000, 1.0,1.0,1.0)
> >     body.setPosition((posx, posy, posz))
> >     bodies.append(body)
> >     #counter=0
> >     objcount+=1
> >
> > # Collision callback
> > def near_callback(args, geom1, geom2):
> >     """Callback function for the collide() method.
> >
> >     This function checks if the given geoms do collide and
> >     creates contact joints if they do.
> >     """
> >
> >     # Check if the objects do collide
> >     contacts = ode.collide(geom1, geom2)
> >
> >     # Create contact joints
> >     world,contactgroup = args
> >     for c in contacts:
> >         c.setBounce(0.2)
> >         c.setMu(5000)
> >         j = ode.ContactJoint(world, contactgroup, c)
> >         j.attach(geom1.getBody(), geom2.getBody())
> >
> >
> >
> > ######################################################################
> >
> > # Initialize Glut
> > glutInit ([])
> >
> > # Open a window
> > glutInitDisplayMode (GLUT_RGB | GLUT_DOUBLE)
> >
> > x = 0
> > y = 0
> > width = 640
> > height = 480
> > glutInitWindowPosition (x, y);
> > glutInitWindowSize (width, height);
> > glutCreateWindow ("(10,10,10)")
> >
> > # Create a world object
> > world = ode.World()
> > world.setGravity( (0,-9.81,0) )
> > world.setERP(0.8)
> > world.setCFM(1E-5)
> >
> > # Create a space object
> > space = ode.Space()
> >
> > # Create a plane geom which prevent the objects from falling forever
> > floor = ode.GeomPlane(space, (0,1,0), 10)
> >
> > # A list with ODE bodies
> > bodies = []
> >
> > # A joint group for the contact joints that are generated whenever
> > # two bodies collide
> > contactgroup = ode.JointGroup()
> >
> > # Some variables used inside the simulation loop
> > fps = 50
> > dt = 1.0/fps
> > running = True
> > state = 0
> > counter = 0
> > objcount = 0
> > lasttime = time.time()
> >
> >
> > # keyboard callback
> > def _keyfunc (c, x, y):
> >     sys.exit (0)
> >
> > glutKeyboardFunc (_keyfunc)
> >
> > # draw callback
> > def _drawfunc ():
> >
> === message truncated ===>
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