pyode-user — PyODE User Discussions

RE: [Pyode-user] amotor with ball joint?

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

I got AMotor limits working in Euler Mode.

To do so, I added the following definitions to the pyx file....

ParamLoStop3        = 512+0
ParamHiStop3        = 512+1

Then the following code successfully adds limits to a balljoint....

am = ode.AMotor(self.world)
am.attach (body1, body2)
am.setMode(ode.AMotorEuler)
am.setAxis(0, 1, [1, 0, 0]) # Second parameter must be 1
am.setAxis(2, 2, [0, 0, 1]) # Second parameter must be 2
am.setParam(ode.ParamLoStop, xLo)
am.setParam(ode.ParamHiStop, xHi)
am.setParam(ode.ParamLoStop2, yLo)
am.setParam(ode.ParamHiStop2, yHi)
am.setParam(ode.ParamLoStop3, zLo)
am.setParam(ode.ParamHiStop3, zHi)

Converting this to UserMode resulted in the limits not working at all.
I was unable to find the problem.  My guess is that there is an issue
with PyODE's AMotor.setNumAxes or setAngle, but I couldn't track it
down.

Using EulerMode rather than UserMode has 2 issues for me.  1) The joint
must be creating with the bodies "unbent" (ie. No rotation), since you
can't use setAngle, and 2) you can't create a limit between a body and
the environment (well I couldn't work out how to do it anyway) since
am.setAxis(2, 2, [0, 0, 1]) fails if the second body is the
ode.environment.

So if anyone works out how to get this working with EulerMode, I'd love
to know how they did it.

Paul

-----Original Message-----
From: pyo...@li...
[mailto:pyo...@li...] On Behalf Of Chris
Bainbridge
Sent: Tuesday, 20 September 2005 2:27 AM
To: pyo...@li...
Subject: [Pyode-user] amotor with ball joint?

Hi, 

Has anyone successfully got AMotors to work with universal or ball
joints? According to the 2nd pyode tutorial, they won't work. But
according to the ode manual, it should work, and some users of the ode
mailing list have claimed to have it working. I notice that the
ParamX3 definitions are missing from the pyode wrappers - is this
deliberate?

From my own tests, in User Mode I can't get the AMotor to do anything.
In Euler mode only the 2nd axis control (ParamVel, ParamFMax2) seems
to have any effect, the other axis controls don't do anything.

Any ideas?

Thanks,
Chris


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[Pyode-user] amotor with ball joint?

[Chris B. <chr...@gm...>]

Hi,=20

Has anyone successfully got AMotors to work with universal or ball
joints? According to the 2nd pyode tutorial, they won't work. But
according to the ode manual, it should work, and some users of the ode
mailing list have claimed to have it working. I notice that the
ParamX3 definitions are missing from the pyode wrappers - is this
deliberate?

From my own tests, in User Mode I can't get the AMotor to do anything.
In Euler mode only the 2nd axis control (ParamVel, ParamFMax2) seems
to have any effect, the other axis controls don't do anything.

Any ideas?

Thanks,
Chris

RE: [Pyode-user] Compiling PyODE

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

Thanks Matthias

> ode.__builtins__.True = 1
> ode.__builtins__.False = 0

Defining ode.__builtins__.True and ode.__builtins__.False worked!
Thanks.

However....the simulation stops/crashes when there is a collision.  My
recompiled version 0.35 doesn't have this problem.  To clarify, version
1.0 and 1.1 of PyODE do NOT crash on a standard Phython22 or 23
environment when there is a collision detected.  However it does crash
on the non-standard python22 implementation that the 3d app uses.  A
recompiled PyODE0.35 works fine under the non-standard 3d app python
environment.  The crash is happening in call to contactgroup.empty()
after a collision has been detected.  It even happens with the code from
tutorial3 (when I run that python script in my 3d app).  Given the code
for contactgroup.empty() and for destroying joint is identical between
PyODE 0.35 and 1.1, I'm at a loss to explain it!  The only area I can
see that is significantly different is the joint.attach() method.

> You have to link against the static ODE lib. If you're using the ODE
> binaries then you have make sure to use one of the zip files that
don't
> have the "-dll-" in their name.

Of course - you are right - I downloaded the DLL version by mistake.

> I'm not sure if I understand what you mean here.... has it something
to
> do with mixing up the single and double version of ODE?

I've since fixed this problem.  It was due to having ode.pyd calling the
ode.dll rather than linking in the ode library.

> When did you attach the joints?
> It seems to work over here:

Thanks.  I got around the problem by simply not having bodies attached
to the geom.

Paul

-----Original Message-----
From: pyo...@li...
[mailto:pyo...@li...] On Behalf Of Matthias
Baas
Sent: Thursday, 4 August 2005 11:38 PM
To: pyo...@li...
Subject: Re: [Pyode-user] Compiling PyODE

Paul Kinnane wrote:
> 1) Initially I was using version 0.35 - which was running fine in the 
> python environment I'm using (which is part of a 3d app - which has a 
> Python22 interface).  However I needed Trimeshes, so moved to version 
> 1.1, which does not work in the python environment, due to the 
> environment not defining True and False.  Is there a way I can define 
> True and False before calling the ode methods?  I tried setting
ode.True 
> = 1 in my python app, however that didn't work.

Please try the following:

ode.__builtins__.True = 1
ode.__builtins__.False = 0

> 2) The obvious solution to 1) is to recompile PyODE, changing the 
> True/Falses to 1/0's.  However, when I recompile, it is compiling
within 
> including the ODE library (ie. It is requiring the ODE.DLL be present
in 
> the python\lib\site-packages directory. 

You have to link against the static ODE lib. If you're using the ODE 
binaries then you have make sure to use one of the zip files that don't 
have the "-dll-" in their name.
If you're compiling it yourself you have to make sure to compile a 
static library and link against this one instead of the import library 
for the dll.

> Also, the resulting pyd doesn't 
> work correctly.  For example, recompiling PyODE0.35 results in my Y 
> cords being given as a result of body.getPosition.  

I'm not sure if I understand what you mean here.... has it something to 
do with mixing up the single and double version of ODE?

> 3) I have some static objects in my scene.  To keep them in place, I
am 
> attaching those objects to ode.environment with a FixedJoint.  The 
> objects are rotated (prior to the SetFixed call), however after a call

> to world.step, body.setRotation returns an identity matrix (so the are

> "un-rotating").

When did you attach the joints?
It seems to work over here:

from ode import *

w = World()
b = Body(w)

# Set some rotation other than the identity...
b.setRotation([0,-1,0, 1,0,0, 0,0,1])
print b.getRotation()

# Attach the body to the environment...
j = FixedJoint(w)
j.attach(b, None)
j.setFixed()

# Do some simulation steps...
for i in range(100):
     w.step(0.04)

# See if the orientation has changed...
print b.getRotation()


For me, this program prints the same orientation twice.

Cheers,

- Matthias -


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Re: [Pyode-user] memory leaks

[Chris B. <chr...@gm...>]

On 04/08/05, Matthias Baas <ba...@ir...> wrote:
> > Similarly should geomobject __dealloc__ do 'del self.body'?
>=20
> Doesn't Python do that itself? Hm, but on the other hand, it's declared
> using "cdef", so you'r probably right and we should manually delete it
> in __dealloc__...
> Then it would be the same for self.space in the Geoms and for self.world
> in the Body and the Joints.

No need - I'm clearing _geom_c2py_lut and I no longer have Body
objects leaking, it was just the lut->geom->body reference that kept
them alive.

Re: [Pyode-user] Compiling PyODE

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

Paul Kinnane wrote:
> 1)       Download ODE source.  If you are using MSVC, open the ODE 
> workspace, and in the Project Settings for ODE, change “Use run-time 
> library” to Multithreaded (from Multithreaded DLL).  Also with MSVC, 
> copy the appropriate config from the the _configs directory into the 
> include\ode directory (and rename that file to config.h).  Compile.

Or alternatively, download one of the the ODE binaries. That's what's 
used in the official PyODE Windows binaries. :)

> 4)       Because for some reason Python .py file will not run from a DOS 
> cmd line on my system, I also changed the “cmd = “ line in setup.py to:
>         cmd = "\"\Program Files\Python22\python\" 
> ..\pyrex-0.9.3\pyrexc.py -o ode.c -I. -Isrc src/ode.pyx"

The Python installer doesn't modify the PATH variable, so you have to do 
that yourself (I recommend to add both paths, the Python root and the 
Scripts directory). Then the above shouldn't be necessary anymore.
You might also want to add the .py suffix to the PATHEXT environment 
variable so that you can invoke Python scripts without the .py extension.

- Matthias -

Re: [Pyode-user] Compiling PyODE

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

Paul Kinnane wrote:
> 1) Initially I was using version 0.35 – which was running fine in the 
> python environment I’m using (which is part of a 3d app – which has a 
> Python22 interface).  However I needed Trimeshes, so moved to version 
> 1.1, which does not work in the python environment, due to the 
> environment not defining True and False.  Is there a way I can define 
> True and False before calling the ode methods?  I tried setting ode.True 
> = 1 in my python app, however that didn’t work.

Please try the following:

ode.__builtins__.True = 1
ode.__builtins__.False = 0

> 2) The obvious solution to 1) is to recompile PyODE, changing the 
> True/Falses to 1/0’s.  However, when I recompile, it is compiling within 
> including the ODE library (ie. It is requiring the ODE.DLL be present in 
> the python\lib\site-packages directory. 

You have to link against the static ODE lib. If you're using the ODE 
binaries then you have make sure to use one of the zip files that don't 
have the "-dll-" in their name.
If you're compiling it yourself you have to make sure to compile a 
static library and link against this one instead of the import library 
for the dll.

> Also, the resulting pyd doesn’t 
> work correctly.  For example, recompiling PyODE0.35 results in my Y 
> cords being given as a result of body.getPosition.  

I'm not sure if I understand what you mean here.... has it something to 
do with mixing up the single and double version of ODE?

> 3) I have some static objects in my scene.  To keep them in place, I am 
> attaching those objects to ode.environment with a FixedJoint.  The 
> objects are rotated (prior to the SetFixed call), however after a call 
> to world.step, body.setRotation returns an identity matrix (so the are 
> “un-rotating”).

When did you attach the joints?
It seems to work over here:

from ode import *

w = World()
b = Body(w)

# Set some rotation other than the identity...
b.setRotation([0,-1,0, 1,0,0, 0,0,1])
print b.getRotation()

# Attach the body to the environment...
j = FixedJoint(w)
j.attach(b, None)
j.setFixed()

# Do some simulation steps...
for i in range(100):
     w.step(0.04)

# See if the orientation has changed...
print b.getRotation()


For me, this program prints the same orientation twice.

Cheers,

- Matthias -

Re: [Pyode-user] memory leaks

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

Chris Bainbridge wrote:
> Hi, the following code appears to leak Body and dict objects. Memprof
> [...]
> I've looked at the pyode code. It appears that nothing is ever removed
> from the global dictionary _geom_c2py_lut. Should this be done in geom
> __dealloc__ ?

The _geom_c2py_lut is a dictionary that serves as a lookup table to 
convert the geom pointer received from ODE into the appropriate Python 
geom object (which has to be done during collisions).
So when a geom is created it adds itself to the dictionary and indeed, 
it is never removed from there.
The geom cannot remove itself in __dealloc__() because as long as 
there's a reference in the dictionary it is not destroyed and 
__dealloc__() is never called. The solution would be weak references but 
at the time I wrote the stuff Pyrex didn't support this. I contacted the 
author, but I believe the current version of Pyrex still doesn't support 
it (I haven't checked explicitly but at least I never noticed anything 
in the changelogs).

As you said in your other mail, the workaround is to clear the 
dictionary manually when you're creating a new simulation scene.

> Similarly should geomobject __dealloc__ do 'del self.body'? 

Doesn't Python do that itself? Hm, but on the other hand, it's declared 
using "cdef", so you'r probably right and we should manually delete it 
in __dealloc__...
Then it would be the same for self.space in the Geoms and for self.world 
in the Body and the Joints.

- Matthias -

Re: [Pyode-user] Compiling PyODE

[Chris M. <ch...@mc...>]

On Thu, Aug 04, 2005 at 04:19:02PM +0930, Paul Kinnane wrote:
> OK, some notes for Windows users wanting to recompile PyODE.  You will
> need a C compiler installed on your system.

Heheheh. :)

Chris.

-------------------
ch...@mc...
http://mccormick.cx

[Pyode-user] Compiling PyODE

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

OK, some notes for Windows users wanting to recompile PyODE.  You will
need a C compiler installed on your system.  I use VC6.
 
1)       Download ODE source.  If you are using MSVC, open the ODE
workspace, and in the Project Settings for ODE, change "Use run-time
library" to Multithreaded (from Multithreaded DLL).  Also with MSVC,
copy the appropriate config from the the _configs directory into the
include\ode directory (and rename that file to config.h).  Compile.
 
2)       Install Pyrex (I'm using version 0.9.3).  I installed it under
the same main directory as ODE and PyODE.
 
3)       Unzip the PyODE into a directory.  Edit the setup.py file in
that directory and point ODE_BASE to you ODE directory (ie."..\ODE-0.5")
 
4)       Because for some reason Python .py file will not run from a DOS
cmd line on my system, I also changed the "cmd = " line in setup.py to:
        cmd = "\"\Program Files\Python22\python\"
..\pyrex-0.9.3\pyrexc.py -o ode.c -I. -Isrc src/ode.pyx"
 
5)       Now go to DOS, and get to the PyODE directory.  Type:
       "\program files\python22\python" setup.py install
 
 
Interestingly, the recompiled pyd (PyODE1.1 and 1.0) crashes after about
30 collisions on my system (under a non-standard python installation).
It works fine running on Python22 or Python23.  So there is some bug
tripping up my non-standard python install that is getting through the
standard version.  The recompiled 0.35 works fine on my non-standard
python install.  So I've ported across the trimesh code from 1.1 into
0.35.

[Pyode-user] Re: memory leaks

[Chris B. <chr...@gm...>]

On 01/08/05, Chris Bainbridge <chr...@gm...> wrote:
> I've looked at the pyode code. It appears that nothing is ever removed
> from the global dictionary _geom_c2py_lut. Should this be done in geom
> __dealloc__ ?

The reference from _geom_c2py_lut to the Geom objects keeps them
alive, even with garbage collection. I solved this by doing
'ode._geom_c2py_lut.clear()' at the end of each simulation. There
should probably be a re-init function in the ode module itself.

[Pyode-user] Compiling PyODE

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

Hi
 
I've been using PyODE and run up against some issues.
 
1) Initially I was using version 0.35 - which was running fine in the
python environment I'm using (which is part of a 3d app - which has a
Python22 interface).  However I needed Trimeshes, so moved to version
1.1, which does not work in the python environment, due to the
environment not defining True and False.  Is there a way I can define
True and False before calling the ode methods?  I tried setting ode.True
= 1 in my python app, however that didn't work.
 
2) The obvious solution to 1) is to recompile PyODE, changing the
True/Falses to 1/0's.  However, when I recompile, it is compiling within
including the ODE library (ie. It is requiring the ODE.DLL be present in
the python\lib\site-packages directory.  Also, the resulting pyd doesn't
work correctly.  For example, recompiling PyODE0.35 results in my Y
cords being given as a result of body.getPosition.  And recompiling 1.1
results in collision detection failing.  So, can anyone give me a hint
as to how to recompile PyODE to include the ODE.LIB in the pyd (ie. So
it doesn't need to call ODE.DLL).
 
3) I have some static objects in my scene.  To keep them in place, I am
attaching those objects to ode.environment with a FixedJoint.  The
objects are rotated (prior to the SetFixed call), however after a call
to world.step, body.setRotation returns an identity matrix (so the are
"un-rotating").
 
Thanks for any help you may be able to give.

[Pyode-user] memory leaks

[Chris B. <chr...@gm...>]

Hi, the following code appears to leak Body and dict objects. Memprof
is available from 'svn co
http://svn.navi.cx/misc/trunk/python/memprof' (if anyone has a better
way of profiling python memory usage let me know!).


import ode

import memprof
sampler =3D memprof.Sampler()

sampler.run()
for i in range(1000):
    w =3D ode.World()
    body =3D ode.Body(w)
    # creating geom leads to 'dict' object leaks (_geom_c2py_lut ?)
    geom =3D ode.GeomCCylinder()
    # setBody leads to 'Body' object leaks
    geom.setBody(body)
    # no 'Body' leak if we set it back to None
    #geom.setBody(None)
    sampler.run()


I've looked at the pyode code. It appears that nothing is ever removed
from the global dictionary _geom_c2py_lut. Should this be done in geom
__dealloc__ ?

Similarly should geomobject __dealloc__ do 'del self.body'? Maybe it's
not necessary and geoms are being removed, it would appear that they
aren't from the profile, and yet what else other than the geom.body
reference could be keeping Body objects alive?

Thanks,
Chris

Re: [Pyode-user] plane2d

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

Benjamin Bruheim wrote:
> Are there any plans to include the plane2d ODE joint into this library?
> 
> It can be found here: http://www.math.uni-bielefeld.de/~pserocka/ODE-Plane2D/

So far, PyODE only wraps the objects from the official ODE release as 
this makes it easier to maintain the package. Personally, I don't have 
any plans to add the stuff from the contrib directory or other 
third-party extensions. But of course, if someone wants to give the one 
or other extension a try I see no reason why not to add it to PyODE 
(it's an Open Source package, after all). Please just make sure that the 
extension can be disabled in the setup script (and that it's actually 
disabled by default).

- Matthias -

[Pyode-user] plane2d

[Benjamin B. <gr...@gm...>]

Hi,

Are there any plans to include the plane2d ODE joint into this library?

It can be found here: http://www.math.uni-bielefeld.de/~pserocka/ODE-Plane2=
D/

Re: [Pyode-user] New Windows Installer?

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

Timothy Stranex wrote:
> I've added the sourceforge.net release, updated the website and
> submitted the release to Freshmeat. Is there anything else that needs to
> be done?

Except that people download and test the release, I think there's 
nothing more to be done... ;)

- Matthias -

Re: [Pyode-user] New Windows Installer?

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

Hello,

I've added the sourceforge.net release, updated the website and
submitted the release to Freshmeat. Is there anything else that needs to
be done?

--=20
Timothy Stranex

Re: [Pyode-user] New Windows Installer?

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

On Tue, 2005-06-28 at 14:30 +0200, Matthias Baas wrote:
> Do you remember any modifications that are not documented in the
> ChangeLog?

I had a look through the commits list archive and the only modification
that wasn't ChangeLoged was the non-trimesh setup support from last
year. I've added it now. I guess that means we're ready for the release?
I'll create the new source archives. Can you do the Windows ones?

--=20
Timothy Stranex <ti...@st...>

Re: [Pyode-user] New Windows Installer?

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

Timothy Stranex wrote:
> A new release would be good idea. I think the only thing that remains to
> be done is updating the ChangeLog.

I have tried to always update the ChangeLog when I was modifying 
something, but it may well be that I've forgotten something.

Do you remember any modifications that are not documented in the ChangeLog?

- Matthias -

Re: [Pyode-user] New Windows Installer?

[Timothy S. <ti...@st...>]

On Fri, 2005-06-24 at 18:45 +0200, Matthias Baas wrote:
> But on the other hand, I wouldn't mind doing a new release, say v1.1.0, 
> as there has already been a handful of changes and there is Python 2.4 
> now. Or is there still anything left to do with the current version? (as 
> far as I can tell everything that has been mentioned in this list was 
> fixed, wasn't it?) Timothy?

A new release would be good idea. I think the only thing that remains to
be done is updating the ChangeLog.

-- 
Timothy Stranex <ti...@st...>

Re: [Pyode-user] Debian packages

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

Chris McCormick wrote:
> I am wondering if anyone has thought about packaging pyode for Debian?

I'm mainly using Windows (and occasionally SuSE Linux), so I'm afraid I 
won't be the one creating a Debian package....

- Matthias -

Re: [Pyode-user] New Windows Installer?

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

Miles Jacobs wrote:
> Thank you Matthias for adding the JointForces. Will somebody be 
> producing a new Windows installer?  

Whenever we're going to do a new release I'll do that, yes... ;o)

> Or is it possible to make a Windows installer ourselves?

Of course, you can create an installer yourself if you have Visual 
Studio on your system (MSVC6 for Python 2.3 and 7.1 for Python 2.4).
You create the installer by invoking the setup script with the 
bdist_wininst command: setup.py bdist_wininst

But on the other hand, I wouldn't mind doing a new release, say v1.1.0, 
as there has already been a handful of changes and there is Python 2.4 
now. Or is there still anything left to do with the current version? (as 
far as I can tell everything that has been mentioned in this list was 
fixed, wasn't it?) Timothy?

- Matthias -

Re: [Pyode-user] PyOde and XODE question

[Timothy S. <ti...@st...>]

On Wed, 2005-06-22 at 15:23 -0400, Peter Doege wrote:
> I tried creating a list of the objects using namedChild() and then creating 
> and attaching them.  However, I get the suspicion from looking at the parser 
> code that it has already done that.

That is correct. The parser attaches all the objects together based on
the input file.

> I am also have trouble figuring out what to do with hinges.  I have not been 
> able to figure out how to differentiate between a body and a hinge.  I've 
> been trying to use isinstance() and hasattr() to test for various things but 
> it seems really, well, non-optimal.

isinstance() is the way I would do it...

> If someone has a code snippet that shows how to move an 
> object/joint from the parser to ODE I would love to see it.

Here is a minimal example:

doc = '''<?xml version="1.0">
<xode>
  <world name="myWorld">
    <body name="body1">
      <mass><mass_shape density="2500">
        <sphere radius="0.05"/>
      </mass_shape></mass>
    </body>
    <body name="body2">
      <mass><mass_shape density="2500">
        <sphere radius="0.05"/>
      </mass_shape></mass>
    <joint name="joint1">
      <link1 body="body1"/>
      <ball><anchor x="0" y="0" z="0"/></ball>
    </joint>
  </world>
</xode>'''

import xode.parser
p = xode.parser.Parse()
root = p.parseString(doc)
world = root.namedChild("world").getODEObject()

while 1:
  world.step(0.1)
  # do something

I suggest you take a look at tutorial2.py in the examples/ directory of
the PyODE source distribution. You can ignore the function
buildObjects(); it does the same thing as buildObjectsXODE() but without
using XODE.

-- 
Timothy Stranex <ti...@st...>

[Pyode-user] PyOde and XODE question

[Peter D. <pet...@ho...>]

Hello -

I've been trying to use PyOde and the Xode parser.  Without much success.

I've followed the PyOde tutorials, and I can get a simple simulation running 
fairly well.  Well, pygame crashes when I close the window, but the sim 
works just fine.

I've written some XODE files and the parser reads them.  I followed the 
parser example and dumped the object data and everything looks great.

The problem is that I don't know how to actually get the simulation to use 
the objects that the parser has read.

I tried creating a list of the objects using namedChild() and then creating 
and attaching them.  However, I get the suspicion from looking at the parser 
code that it has already done that.

I am also have trouble figuring out what to do with hinges.  I have not been 
able to figure out how to differentiate between a body and a hinge.  I've 
been trying to use isinstance() and hasattr() to test for various things but 
it seems really, well, non-optimal.

Has anyone else run into these issues?  Apologies if these are dumb 
questions, I do not have much experience in Python and I think that it might 
be showing a bit.  If someone has a code snippet that shows how to move an 
object/joint from the parser to ODE I would love to see it.

Regards,
Peter Doege

[Pyode-user] Debian packages

[Chris M. <ch...@mc...>]

Hi!
I am wondering if anyone has thought about packaging pyode for Debian?

Best regards,

Chris.
-------------------
ch...@mc...
http://mccormick.cx

[Pyode-user] New Windows Installer?

[Miles J. <mil...@ho...>]

Thank you Matthias for adding the JointForces. Will somebody be producing a 
new Windows installer?  Or is it possible to make a Windows installer 
ourselves?

Miles.

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