pyode-user — PyODE User Discussions

[Pyode-user] Threads and ODE?

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

I'm unable to run a small ODE simulation for more than a couple
minutes before ODE crashes with the error:

ODE INTERNAL ERROR 2: invalid operation for locked space in dGeomMoved()

Is this caused by ODE's buggy memory management, or is it something
I'm doing? I'm manipulating ODE objects in a separate thread from the
one running the ODE simulation. Could that be causing the error? What
would be the best way to update a simulation from multiple threads
without having to pause the simulation?

Thanks,
Chris

[Pyode-user] =?GB2312?B?0NDV/rmk1/fNs7PvudzA7bjfvLbR0NDesOA=?=

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Re: [Pyode-user] Segfault Due to Gcmodule Error

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

On 6/15/07, Chris Bainbridge <chr...@gm...> wrote:
>
> The problem is that the destructor order is essentially random when gc
> is used. ODE (not pyode) doesn't have any ownership rules for objects,
> and objects point to each other, so deallocating objects causes memory
> protection faults. This is also a problem with C++ ODE code, python
> with gc just aggravates the problem. In my Simulator.__del__ function
> I have something like:
[snip]

Thanks for the tips. I tried implementing a similar __del__ for my
top-level object, but I still encounter the problem.

Since it looks like this problem isn't going to be fixed anytime soon,
is there anyway to work around the issue? With my usage, the fault
only happens when the Python process is terminating, but it's stopping
a new process from being spawned. Is there any way to recover from it,
or is this problem fatal?

Chris

Re: [Pyode-user] Segfault Due to Gcmodule Error

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

On 15/06/07, Chris Spencer <chr...@gm...> wrote:
> I'm using PyODE with Cherrypy, and whenever the server's autoreload
> feature runs, Python segfaults with the error:
>
> python: Modules/gcmodule.c:276: visit_decref: Assertion
> `gc->gc.gc_refs != 0' failed.
>
> However, Python only segfaults if I've imported ode in any of my
> Cherrypy scripts.
>
> Based on discussions of similar problems, the cause is likely a bug in
> ODE's C code generated by Pyrex. I wouldn't know where to begin
> debugging such a problem. Could anyone offer suggestions?

The problem is that the destructor order is essentially random when gc
is used. ODE (not pyode) doesn't have any ownership rules for objects,
and objects point to each other, so deallocating objects causes memory
protection faults. This is also a problem with C++ ODE code, python
with gc just aggravates the problem. In my Simulator.__del__ function
I have something like:

        for j in self.joints:
            j.attach(None, None)
        for g in self.space:
            if g.placeable():
                g.setBody(None)
        # destroy hanging geoms
        ode._geom_c2py_lut.clear()
        del self.joints
        del self.space
        del self.geoms
        for bg in self.bpgs:
            bg.destroy()

As you can see, I have to manually remove links between objects, and
then destroy them all n a particular order. I don't use gc.

You can see the memory errors by running valgrind, it will generate
loads of warnings; use suppression files,
http://svn.python.org/projects/python/trunk/Misc/valgrind-python.supp
and opengl.supp from
http://www.openscenegraph.com/index.php?page=Documentation.TipsAndTricks

There's a bug report for ODE at
https://sourceforge.net/tracker/?func=detail&atid=382799&aid=1566350&group_id=24884

[Pyode-user] Segfault Due to Gcmodule Error

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

I'm using PyODE with Cherrypy, and whenever the server's autoreload
feature runs, Python segfaults with the error:

python: Modules/gcmodule.c:276: visit_decref: Assertion
`gc->gc.gc_refs != 0' failed.

However, Python only segfaults if I've imported ode in any of my
Cherrypy scripts.

Based on discussions of similar problems, the cause is likely a bug in
ODE's C code generated by Pyrex. I wouldn't know where to begin
debugging such a problem. Could anyone offer suggestions?

Thanks,
Chris

Re: [Pyode-user] Missing Docs on the Website?

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

Actually, it may be a Firefox issue. I just tried wget and was able to
download the page just fine, but Firefox gives me a "File not found"
error.

Chris

On 6/13/07, Ethan Glasser-Camp <gl...@cs...> wrote:
> Chris Spencer wrote:
> > I've noticed some pages of the online API docs have recently gone
> > missing. For example,
> > http://pyode.sourceforge.net/api-1.2.0/public/toc-ode-module.html
> > cannot be found.
>
> Hmm, it's working now. Did someone fix it in the last hour?
>
> Ethan
>
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Re: [Pyode-user] Missing Docs on the Website?

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

Chris Spencer wrote:
> I've noticed some pages of the online API docs have recently gone
> missing. For example,
> http://pyode.sourceforge.net/api-1.2.0/public/toc-ode-module.html
> cannot be found.

Hmm, it's working now. Did someone fix it in the last hour?

Ethan

Re: [Pyode-user] Small bug in Tutorial 3

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

Diez B. Roggisch wrote:
> On Wednesday 13 June 2007 06:10, Chris Spencer wrote:
>> I don't know if this is related, but I've never been able to get tut3
>> working (and still can't). On Fedora 7, I get the following error:
>>
>> Traceback (most recent call last):
>>   File "/builddir/build/BUILD/Python-2.5/Modules/_ctypes/callbacks.c",
>> line 206, in 'calling callback function'
>>   File "ode-tutorial-3.py", line 226, in _drawfunc
>>     draw_body(b)
>>   File "ode-tutorial-3.py", line 69, in draw_body
>>     glPushMatrix()
>>   File "/usr/lib/python2.5/site-packages/OpenGL/error.py", line 188,
>> in glCheckError
>>     baseOperation = baseOperation,
>> OpenGL.error.GLError: GLError(
>>         err = 1283,
>>         description = 'stack overflow',
>>         baseOperation = glPushMatrix,
>>         cArguments = ()
>> )
> 
> Looks as if the glPushMatrix is missing a glPopMatrix somewhere. Shouldn't be 
> too hard to fix, but I don't have the code here.

In the copies of tutorial3 that I have, there's only one call to 
glPushMatrix and then one to glPopMatrix (lines 69 and 75, 
respectively). The source is at 
http://pyode.sourceforge.net/tutorials/tutorial3.py , and I don't get 
this kind of crash. Chris, where did you get the tutorial from? Does 
it have both PushMatrix and PopMatrix calls?

Ethan

Re: [Pyode-user] Collision Detection Bug

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

Sorry Chris for the duplicate mail..

Chris Spencer wrote:
> As you can see, even those the circles never visibly come in contact
> with the square, PyODE is still registering collisions with the left
> circle. It's almost like PyODE thinks the square is positioned at
> (0,0), even though geombox.getPosition() confirms it's positioned in
> the center of the screen.

When I run this script, I get a huge amount of output, including a
huge number of lines like this:

Exception exceptions.ValueError: 'Non-placeable geoms do not have a
position.' in 'ode.collide_callback' ignored

However, I think I understand what you did wrong. Your error is "in"
the pygame drawing code. The position of a geom is always the center
of that geom. You got this right for your circles, but wrong for your
boxes. Attached is a patch which should draw boxes correctly.

There's 400 lines of source here. In the future, please give a simpler
reproduction case!

Ethan

[Pyode-user] Missing Docs on the Website?

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

I've noticed some pages of the online API docs have recently gone
missing. For example,
http://pyode.sourceforge.net/api-1.2.0/public/toc-ode-module.html
cannot be found.

Chris

[Pyode-user] Collision Detection Bug

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

I think I've found a problem with collision detection. Attached is a
slightly modified version of the script I posted yesterday. When you
run it, you'll see two circles to the left and right and a square in
the center.

Gravity will cause the two circles to fall downward, but the square
has no body, and only serves to detect collisions. When a circle
contacts the square, it will turn blue.

As you can see, even those the circles never visibly come in contact
with the square, PyODE is still registering collisions with the left
circle. It's almost like PyODE thinks the square is positioned at
(0,0), even though geombox.getPosition() confirms it's positioned in
the center of the screen.

At first I thought this was a problem with my PyGame drawing routine,
but I can't find any errors. Can anyone else confirm problems with
PyODE detecting collisions with bodiless geoms? Is there any way to
fix this?

Thanks,
Chris

Re: [Pyode-user] Small bug in Tutorial 3

[Diez B. R. <de...@we...>]

On Wednesday 13 June 2007 06:10, Chris Spencer wrote:
> > Hi,
> >
> > the pyode tuts are a charming way to make first contact, but at tutorial
> > three, I wasn't sure exactly _what_ I was seeing, until I replaced
> > glutInitDisplayMode (GLUT_RGB | GLUT_DOUBLE)
> > with
> > glutInitDisplayMode (GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH)
> > for the obvious reasons :-).
> >
> > Regards,
> > Thomas
>
> I don't know if this is related, but I've never been able to get tut3
> working (and still can't). On Fedora 7, I get the following error:
>
> Traceback (most recent call last):
>   File "/builddir/build/BUILD/Python-2.5/Modules/_ctypes/callbacks.c",
> line 206, in 'calling callback function'
>   File "ode-tutorial-3.py", line 226, in _drawfunc
>     draw_body(b)
>   File "ode-tutorial-3.py", line 69, in draw_body
>     glPushMatrix()
>   File "/usr/lib/python2.5/site-packages/OpenGL/error.py", line 188,
> in glCheckError
>     baseOperation = baseOperation,
> OpenGL.error.GLError: GLError(
>         err = 1283,
>         description = 'stack overflow',
>         baseOperation = glPushMatrix,
>         cArguments = ()
> )

Looks as if the glPushMatrix is missing a glPopMatrix somewhere. Shouldn't be 
too hard to fix, but I don't have the code here.

Diez

Re: [Pyode-user] Small bug in Tutorial 3

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

> Hi,
>
> the pyode tuts are a charming way to make first contact, but at tutorial
> three, I wasn't sure exactly _what_ I was seeing, until I replaced
> glutInitDisplayMode (GLUT_RGB | GLUT_DOUBLE)
> with
> glutInitDisplayMode (GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH)
> for the obvious reasons :-).
>
> Regards,
> Thomas

I don't know if this is related, but I've never been able to get tut3
working (and still can't). On Fedora 7, I get the following error:

Traceback (most recent call last):
  File "/builddir/build/BUILD/Python-2.5/Modules/_ctypes/callbacks.c",
line 206, in 'calling callback function'
  File "ode-tutorial-3.py", line 226, in _drawfunc
    draw_body(b)
  File "ode-tutorial-3.py", line 69, in draw_body
    glPushMatrix()
  File "/usr/lib/python2.5/site-packages/OpenGL/error.py", line 188,
in glCheckError
    baseOperation = baseOperation,
OpenGL.error.GLError: GLError(
        err = 1283,
        description = 'stack overflow',
        baseOperation = glPushMatrix,
        cArguments = ()
)

[Pyode-user] Newbie Script Question

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

Hi,

I'm new to ODE/PyODE and I've been playing around with the tutorial
scripts over the last week to get a feel for the library. However,
there are still a few features I've had problems accessing.

The attached script is based on the 2nd and 3rd PyODE
tutorials, and makes use of PyGame to visualize the results in 2D, as
well as Numpy to do some simple matrix multiplication to compute the
rotation of polygons.

Basically, the script drops a few spheres and boxes onto planes to the
left, right, and bottom simulating walls and a floor. It attempts to
simulate collision detection, both to stop objects from passing
through each other and the planes. It also tries to detect objects in
a certain area, identified by a bodiless geom box in the center of the
screen. When a geom passes through that area, the collision detection
code *should* turn the geom blue.

If you run the script, you will notice several problems.

First, while basic collision detection seems to work well enough to
bounce objects off one another, there's still a lot of "mushiness",
with objects routinely going partly or full way through one another.
I've tried tweaking ERF/CFM but I haven't been able to improve things
much. It seems at one setting the objects act mushy, and at another
the simulation becomes completely unstable. I can't find a middle
ground. Is there some way around this?

Second, I'm unable to detect when objects enter my bodiless geom. I'm
using collide2, which should return all geoms in contact with the
target geom, but the results are chaotic. The callback signals a
contact by changing the color of the contacting geom to blue. Some
objects do change blue, but at positions that don't correspond to the
target geom. Is there an error in my drawing code or am I incorrectly
implementing collision detection?

Third, I'm not sure I'm interpreting a geom's rotation data correctly.
I allow geoms to rotate about the Z axis, and so I attempt to draw
this rotation by using the rotation matrix returned by
geom.getRotation(), but the results are a little confusing. The
rectangle in the scene seems to correctly rotate somewhat, but there's
enough error that I'm unsure whether my code's wrong or if it's simply
"mushiness". Again, is this a problem with my drawing code, or with
how I'm interpreting the rotation data?

On a side note, I attempted to use plane2DJoint to restrict movement
in the XY plane, according to
http://opende.sourceforge.net/wiki/index.php/HOWTO_constrain_objects_to_2d
but I was unable to get it to work. I achieved the same effect by
reseting the Z position at each iteration, but I fear this may be
inefficient. Is there any trick to using plane2DJoint in PyODE?

I've been working on this for days now, but I'm reaching a plateau. If
anyone could give me some tips or pointers, I'd be immensely grateful.

Thanks,
Chris

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重培养学员的实操能力，课程中涉及到岗位分析、职位评估、薪酬设计、任职资格
（能力）管理等方面，学员在培训结束后即可依照课程所学重新优化改造本公司人力
资源管理相关模块的工作。

● 本课程可能涉及的案例(所以例子皆来源讲师亲身经历)

  1、 国药集团 2、 中国银行 3、 华为     4、 万丰集团         5、 粤电集团
  6、 山海玻璃（中美合资）  7、 北方工业 8、 富山王氏（日资） 9、 大洋电机
  10、 深圳邮政 11、 运发集团 12、 贵研集团 ……

━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
● 课程内容

            第一篇  岗位分析、职位评估

第一部分 岗位分析
   一、为什么要做岗位分析？
   二、岗位分析、职位分析、工作分析的区别
   三、岗位分析在HR管理体系中的作用
   四、岗位分析与职位说明书
   五、岗位分析模式选择（美国模式、欧洲模式与金方策模式）
   六、岗位分析与职位说明书的价值与意义
   七、岗位分析不可违背的几条规则
   八、职位描述（职位关系、管理幅度、任职条件与资格、职责、权限、工作依据等）
   九、如何撰写职位说明书？
   十、岗位分析或职位说明书的检验
   十一、职位说明书案例分析
   十二、岗位分析的方式选择与推荐
   十三、岗位分析中常见的问题
   十四、岗位分析与描述的现场练习与指导

第二部分 职位评估
   一、职位评估解决什么问题？
   二、职位评估在当今世界上的集中方法与模式介绍
   三、职位评估模型的设计思路
   四、职位评估前的准备
   五、职位评估的步骤、方式与工具介绍
   六、职位评估的原则
   七、现场职位评估体验与操作
   八、职位评估结果的应用
   九、职位评估的难点
   十、职位评估的信度与效度
   十一、职位评估中常见的问题与困难
   十二、软件评估演示与方法介绍

                     第二篇  任职资格管理

   一、信息时代使人力资源管理产生了空前未有的困惑
   二、多种解决方案横空出世
   三、为什么众多企业纷纷引进或强化任职资格（能力）管理
   四、任职资格（能力）管理的价值
   五、任职资格（能力）管理能帮助企业解决哪些问题？
   六、中国目前三种任职资格（能力）的模式
   七、中国模式详解
   八、行为标准模型设计
   九、素质模型设计
   十、任职资格（能力）认证
   十一、认证结果应用
   十二、任职资格（能力）管理的成功关键因素
   十三、案例介绍及案例分析

                第三篇 激励性薪酬设计实务

   一、薪酬战略
    1.分配与战略的关系    
    2.为什么许多企业设计薪酬时未涉及薪酬管理
    3.薪酬战略的内涵      
    4.一些企业没有考虑薪酬策略是怎样设计薪酬的
    5.薪酬战略的作用      
    6.如何设计薪酬战略     
    7.薪酬战略案例与分析

   二、高激励性薪酬
    1.薪酬的高激励性是如何实现的   
    2.激励要素   
    3.激励要素分解及实施方法

   三、PCPC薪酬模式
    1.薪酬为什么应是动态的  
    2.如何“动”起来――动态方法  
    3.PCPC是如何实现的

   四、宽带薪酬
    1.什么是宽带薪酬      
    2.宽带薪酬是如何体现的    
    3.宽带薪酬的价值与作用

   五、如何设计PCPC薪点表
   六、为什么说薪酬是管理理念与价值导向的体现？
   七、薪酬方案是如何完成的―― 方法程序与步骤
   八、奖金的设计方法
   九、长期激励
       虚拟股权分配方法与介绍
   十、福利的设计方法
   十一、计件工资设计方法
   十二、高管人员薪酬设计方法
   十三、其他
    1.新员工工资如何定位   
    2.工资增长率经验法      
    3.新老员工薪酬倒挂处理法
    4.薪酬年度预算         
    5.分、子公司薪酬分配控制

━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
● 讲师介绍

    覃友茂 博士，原华为人力资源高管，南京大学管理学博士,金方策集团董事长。覃
博士集20多年企业人力资源管理经历和多年的潜心研究，亲自参与华为、中国国药、广
东核电等近百家大型企业的人力资源管理体系、股权体系的制定与实施，积累了丰富地
可操作性的实战经验，其研究领域主要有人力资源管理（各系统模块）、企业组织设计、
股权设计，长效激励等，目前正为多家企业担任长年高级顾问。覃博士的课程实用而富
有操作性，方法讲解与案例分享相结合，课程案例全部来自于他20多年的工作、咨询实践。

覃博士的工作经历：

  在华为、太光担任过高管
  两家企业的董事长
  有国企、民企、三资、外企多种企业类型的工作经验
  有企业基层、中层与高层的管理经验
  担任多所大学客座教授，有大学教授管理学系列课程的经历
  仓储、销售、研发、HR管理等多种工作经验 
  有创办企业、管理企业的经验

93年开始界入咨询业,部分经历如下：
  中国某特大型综合性企业人力资源管理体系设计及战略规划
  国内最大的医药批发公司企业改制、内部竞聘、人力资源管理设计及e_HR系统的建设
  中国最大的核电集团任职资格管理体系、培训管理体系设计
  亚洲最大的火力发电厂整套人力资源管理体系e_HR系统的建设
  国内最大的彩印集团业绩管理、薪酬激励设计及企业综合管理
  国内最大的智能产品企业组织设计、核心业务流程设计、人力资源管理体系设计
    
曾提供过咨询服务的企业：

   华为、扬子江药业、中国医药集团、云南锡业集团、中国华电、北方工业、国华电力、
IPM贵研集团、大亚湾核电站、南汽、深圳邮政局、万丰集团、长青集团、富山电子（日
本）、捷顺、润迅通信、劲嘉集团、富士康（台湾）、鑫元实业等。

Re: [Pyode-user] TriMesh API

[Matthias B. <mat...@gm...>]

Ethan Glasser-Camp wrote:
> I've been looking at the TriMesh API. Expected use is something like:
> 
>     d = ode.TriMeshData()
>     d.build(verts, faces)
>     g = ode.GeomTriMesh(d, space)
> 
> It seems to me it would be more pythonic to use something like:
> 
>     d = ode.TriMeshData(verts, faces)
>     g = ode.GeomTriMesh(d, space)
> 
> Why is it this way? Just to mime the ODE API better?

Yes, the build() method just wraps the dGeomTriMeshDataBuildSimple() 
function. But I don't have any objections of providing functionality to 
do that in the constructor as well.

- Matthias -

Re: [Pyode-user] GeomHeightField

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

Sorry Dan for the duplicate mail..

dan miller wrote:
> Ethan,
>=20
> thanks for the patch!  I'll need to get a build going and stuff, so pro=
bably
> won't see it working until next week.  I looked at the C++ demo and I t=
hink
> I get the general usage concepts.  It runs super slow on my BSD machine=
 but
> I hope that's just a GLX problem.

Actually, I think that's by design. Some snippets from that file:

  dWorldSetGravity (world,0,0,-0.5);

  if (!pause) dWorldQuickStep (world,0.02);

Ethan

Re: [Pyode-user] GeomHeightField

[dan m. <dan...@ya...>]

Ethan,

thanks for the patch!  I'll need to get a build going and stuff, so probably
won't see it working until next week.  I looked at the C++ demo and I think
I get the general usage concepts.  It runs super slow on my BSD machine but
I hope that's just a GLX problem.

-dan

--- dan miller <dan...@ya...> wrote:

> seems like the heightfield classes & related data introduced (I think) in
> ode 0.7 are not wrapped.  Does anyone have any info on this, or know of
> any
> plans to do it?
> 
> thx
> 
> -dan miller
> 
> 
> Daniel B. Miller
> Vice President of Engineering
> Anybots, Inc.
> 

Re: [Pyode-user] GeomHeightField

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

dan miller wrote:
> Ethan --
> 
> I know ODE pretty well but not the heightfield stuff.  I need it for a
> couple projects I'm working on.  I'd love to collaborate on it, or at least
> act as a beta tester.  I don't have much experience with Pyrex but it looks
> straightforward enough.
> 
> Please feel free to email me at danbmil99 at yahoo dot com.

How do you feel about being an alpha tester? Attached is a patch that
builds but I can't promise much more than that. Specifically it only
wraps one HeightfieldBuild function (there are two or three others)
and there aren't too many docstrings.

You should be able to use it like:

def heightback(data, x, z):
    return x**3+z**3

d = ode.HeightfieldData()
d.build_callback(None, heightback, 1, 1, 8, 8, 1, 0, 1, 0)
g = ode.GeomHeightfield(d, False, space)

The parameters to build_callback are:

* data for callback
* callback, which should return a float
* width of geom
* depth of geom
* number of width samples
* number of depth samples
* scale factor applied to values computed by callback
* offset added to values computed by callback
* thickness
* whether to tile

If you can come up with a cool demo that demonstrates the code in
question, that would be a really handy example. (If you have the ODE
sources handy, there's an example in
ode-0.7/ode/test/test_heightfield.cpp.) Of course, let me know if it
doesn't work.

Ethan

[Pyode-user] TriMesh API

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

Hi,

I've been looking at the TriMesh API. Expected use is something like:

    d =3D ode.TriMeshData()
    d.build(verts, faces)
    g =3D ode.GeomTriMesh(d, space)

It seems to me it would be more pythonic to use something like:

    d =3D ode.TriMeshData(verts, faces)
    g =3D ode.GeomTriMesh(d, space)

Why is it this way? Just to mime the ODE API better?

Ethan

Re: [Pyode-user] GeomHeightField

[dan m. <dan...@ya...>]

Ethan --

I know ODE pretty well but not the heightfield stuff.  I need it for a
couple projects I'm working on.  I'd love to collaborate on it, or at least
act as a beta tester.  I don't have much experience with Pyrex but it looks
straightforward enough.

Please feel free to email me at danbmil99 at yahoo dot com.

-dan



From: Ethan Glasser-Camp <glasse@cs...> - 2007-05-30 04:57

Attachments: signature.asc     
dan miller wrote:
> seems like the heightfield classes & related data introduced (I think) =
in
> ode 0.7 are not wrapped. Does anyone have any info on this, or know of=
any
> plans to do it?

Since I appear to be in a code-writing *frenzy* I will take a look at
it. If someone who is more familiar with ODE/pyode wants to chip in or
advise, I'd certainly be grateful. It seems like I'm gonna have to
write a HeightfieldData class analagous to TriMeshData, and then a
Geom class for GeomHeightField. Is that right? I'll start muddling
when I wake up tomorrow.

Ethan 
--- dan miller <dan...@ya...> wrote:

> seems like the heightfield classes & related data introduced (I think) in
> ode 0.7 are not wrapped.  Does anyone have any info on this, or know of
> any
> plans to do it?
> 
> thx
> 
> -dan miller
> 
> 
> Daniel B. Miller
> Vice President of Engineering
> Anybots, Inc.
> 


Daniel B. Miller
Vice President of Engineering
Anybots, Inc.

Re: [Pyode-user] GeomHeightField

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

dan miller wrote:
> seems like the heightfield classes & related data introduced (I think) =
in
> ode 0.7 are not wrapped.  Does anyone have any info on this, or know of=
 any
> plans to do it?

Since I appear to be in a code-writing *frenzy* I will take a look at
it. If someone who is more familiar with ODE/pyode wants to chip in or
advise, I'd certainly be grateful. It seems like I'm gonna have to
write a HeightfieldData class analagous to TriMeshData, and then a
Geom class for GeomHeightField. Is that right? I'll start muddling
when I wake up tomorrow.

Ethan

Re: [Pyode-user] GeomTriMesh.getTriangle -> how do i get triangle indexes?

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

christopher taylor wrote:
> my next big issue is getting the triangles from a GeomTriMesh object,
> unfortunately the sources to pyode and the documentation for pyode
> indicate that this could happen getTriangle is available.
> 
> unfortunately, it just isn't going to happen until a method for
> getting the triangle index values is exposed in the pyode api.

Sorry, it took me a long time to understand what you meant here.

Attached is a patch which adds a getTriangleCount method to
GeomTriMesh, using the dGeomGetTriangleCount function from ODE. I
can't test it right now, but feel free to complain if it doesn't work.

Ethan

Re: [Pyode-user] Global geom dictionary cause memory leak.

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

Chris Bainbridge wrote:
> 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).

Pyrex seems to have weakref support:

http://www.sagemath.org:9002/sage_trac/ticket/165

Here's a simple patch that seems to run Martin Vopatek's test case
without running out of memory. I have no idea if it does anything
else, though! Please test carefully.

Ethan

[Pyode-user] GeomHeightField

[dan m. <dan...@ya...>]

seems like the heightfield classes & related data introduced (I think) in
ode 0.7 are not wrapped.  Does anyone have any info on this, or know of any
plans to do it?

thx

-dan miller


Daniel B. Miller
Vice President of Engineering
Anybots, Inc.