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#!/usr/bin/env python
# http://pyode.sourceforge.net/tutorials/tutorial1.html
# pyODE example 1: Getting started
# modified by Gideon Klompje (removed literals and using
# 'ode.Mass.setSphereTotal' instead of 'ode.Mass.setSphere')
import ode
# Simulation constants
GRAVITY = (0, -9.81, 0)
SPHERE_RADIUS = 0.05
SPHERE_MASS = 1.0
SPHERE_START_POS = (0, 2, 0)
SPHERE_FORCE = (0, 200, 0) # Initial force to apply to the sphere
TIME_STEP = 0.04
TIME_STOP = 2.0 # When to stop the simulation
# Create a world object
world = ode.World()
world.setGravity(GRAVITY)
# Create a spherical body inside the world
body = ode.Body(world)
mass = ode.Mass()
mass.setSphereTotal(SPHERE_MASS, SPHERE_RADIUS)
body.setMass(mass)
body.setPosition(SPHERE_START_POS)
body.addForce(SPHERE_FORCE)
# Do the simulation...
if __name__ == "__main__":
total_time = 0.0
while total_time < TIME_STOP:
# output the body's position and velocity
x, y, z = body.getPosition()
u, v, w = body.getLinearVel()
print "%1.2fsec: pos=(%6.3f, %6.3f, %6.3f) vel=(%6.3f, %6.3f, %6.3f)" % \
(total_time, x, y, z, u, v, w)
# advance the simulation
world.step(TIME_STEP)
total_time += TIME_STEP
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