Hi!
I am very sorry that i am posting again my test program, but i have a little
problem which i am dialing with the whole day!
I was inspired from tutorial2 and tutorial3 and i added in tutorial2 a block
which should be connected to the
ode.environment and with collision detection! But there is a little problem
with the coordinates and i don't know why!
My real life coordinates are 6 (meters) in the x and 4 in the y coordinate!
Thank you!
matthias
Here is the source:
import pygame
from pygame.locals import *
import ode
WIDTH = 900
HEIGHT = 600
srf=None
world=None
space=None
def coord(x,y):
"Convert world coordinates to pixel coordinates."
xf = WIDTH / 6
yf = HEIGHT / 4
#return int(400+150*x), int(500-150*y)
return int(xf * x), int(HEIGHT - (yf * y))
def near_callback(args, geom1, geom2):
contacts = ode.collide(geom1, geom2)
for c in contacts:
c.setBounce(0.5)
e = ode.ContactJoint(world, args, c)
e.attach(geom1.getBody(), geom2.getBody())
print 'Position of geom1 and block(geom2): ', geom1.getPosition(),
geom2.getPosition()
print 'Length of the block: ', geom2.getLengths()
def doSimulation(body, block):
fps = 50
dt = 1.0 / fps
loopFlag = True
clk = pygame.time.Clock()
contgrp = ode.JointGroup()
while loopFlag:
events = pygame.event.get()
for e in events:
if e.type == QUIT or e.type == KEYDOWN:
loopFlag = False
srf.fill ( (255,255,255) )
srf.lock()
xv, yv = 3, 4
# block zeichnen
x,y,z = block.getPosition()
l,h = block.laenge
pygame.draw.rect(srf, (0,0,0), (coord(x,y + h), (l * (WIDTH / 6), h *
(HEIGHT / 4) )), 0)
# bodies zeichnen
for i in range(len(body)):
x1,y1,z1 = body[i].getPosition()
pygame.draw.circle(srf, (50,0,200), coord(x1,y1), int(body[i].radius *
(WIDTH/6)) )
pygame.draw.line(srf, (100,0,200), coord(xv,yv), coord(x1,y1), 2)
xv, yv = x1, y1
srf.unlock()
pygame.display.flip()
for i in range(2):
space.collide(contgrp,near_callback)
world.step(dt / 2)
contgrp.empty()
clk.tick(fps)
# end while
def createBody(world, space):
radius = 0.2
body = ode.Body(world)
mass = ode.Mass()
mass.setSphere(2000, radius)
body.setMass(mass)
geom = ode.GeomSphere(space, radius)
geom.setBody(body)
body.radius = 0.2
return body
def createBlock(space, pos):
geom = ode.GeomBox(space, (1.5, 2.5, 0) )
geom.setPosition((4.5,0,0))
geom.setBody(ode.environment)
geom.laenge = (1.5, 2.5)
return geom
if __name__ == '__main__':
pygame.init()
srf = pygame.display.set_mode( (900,600) )
world = ode.World()
world.setGravity( (0,-9.81,0) )
world.setERP(0.5)
space = ode.Space()
bodies = []
for i in range(3):
body = createBody(world, space)
body.setPosition((i+4,4,0))
bodies.append(body)
joint = ode.BallJoint(world)
joint.attach(ode.environment, bodies[0])
joint.setAnchor((3,4,0))
joint2 = ode.BallJoint(world)
joint2.attach(bodies[0], bodies[1])
joint2.setAnchor((4,4,0))
joint3 = ode.BallJoint(world)
joint3.attach(bodies[1], bodies[2])
joint3.setAnchor((5,4,0))
block = createBlock(space, (4.5,0,0))
doSimulation(bodies, block)
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