Hi everyone,
I'm experimenting with PyODE and PyOgre at the moment, and have been
working through PyODE's Tutorial 2 (two bodies connected with ball
joints to form a compound pendulum).
I've tried to rewrite Tutorial 2 using PyOgre instead of PyGame. I'd
managed to get an ogre head to fall under gravity without trouble, but
attempting to attach the head to a joint (with the other end fixed),
the joint seems to be completely ignored, with the head merely falling
and not swinging as it ought.
I can't see at all what I'm doing wrong here -- can anyone help me?
Here's the code:
import pyogre.ogre as ogre
import SampleFramework as sf
import ode
class TutorialApplication(sf.Application):
def __init__(self):
sf.Application.__init__(self)
# Set up the physics world
self.world =3D ode.World()
self.world.setGravity((0, -9.81, 0))
self.bodyList =3D []
def _createScene(self):
sm =3D self.sceneManager
# Set up the lighting conditions
sm.ambientLight =3D (0.7, 0.7, 0.7)
# Create a disembodied ogre head
e =3D sm.createEntity("OgreHead", "ogrehead.mesh")
n =3D sm.rootSceneNode.createChildSceneNode()
n.attachObject(e)
pos =3D (100, 200, 0)
n.position =3D ogre.Vector3(*pos)
body1 =3D ode.Body(self.world)
M =3D ode.Mass()
M.setSphere(2500, 0.05)
body1.setMass(M)
body1.setPosition((100, 200, 0))
# Add it to the body list
self.bodyList.append((body1, n))
# Connect body1 with the static environment
j1 =3D ode.BallJoint(self.world)
j1.attach(body1, None)
j1.setAnchor((0, 200, 0))
def _createFrameListener(self):
"""Creates the FrameListener."""
self.frameListener =3D PhysicsFrameListener(self.renderWindow,
self.camera, self.world, self.bodyList)
self.frameListener.showDebugOverlay(True)
self.root.addFrameListener(self.frameListener)
class PhysicsFrameListener(sf.FrameListener):
def __init__(self, renderWindow, camera, world, bodyList):
sf.FrameListener.__init__(self, renderWindow, camera)
self.world =3D world
self.bodyList =3D bodyList
self.time =3D 0.0
self.dt =3D 0.08
def frameStarted(self, frameEvent):
# Step the physics
self.world.step(self.dt)
self.time +=3D self.dt
if False:
body =3D self.bodyList[0][0]
x,y,z =3D body.getPosition()
u,v,w =3D body.getLinearVel()
print "%1.2fsec: pos=3D(%6.3f, %6.3f, %6.3f) vel=3D(%6.3f,
%6.3f, %6.3f)" % \
(self.time, x, y, z, u,v,w)
# Update the positions of objects
for body, node in self.bodyList:
pos =3D body.getPosition()
node.position =3D ogre.Vector3(*pos)
return sf.FrameListener.frameStarted(self, frameEvent)
if __name__ =3D=3D "__main__":
app =3D TutorialApplication()
app.go()
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