File: transforms.py

package info (click to toggle)
pyode 1.2.0-4%2Bcvs20090320
  • links: PTS, VCS
  • area: main
  • in suites: squeeze, wheezy
  • size: 2,228 kB
  • ctags: 3,257
  • sloc: python: 2,452; sh: 783; makefile: 76
file content (239 lines) | stat: -rw-r--r-- 5,993 bytes parent folder | download | duplicates (8)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
######################################################################
# Python Open Dynamics Engine Wrapper
# Copyright (C) 2004 PyODE developers (see file AUTHORS)
# All rights reserved.
#
# This library is free software; you can redistribute it and/or
# modify it under the terms of EITHER:
#   (1) The GNU Lesser General Public License as published by the Free
#       Software Foundation; either version 2.1 of the License, or (at
#       your option) any later version. The text of the GNU Lesser
#       General Public License is included with this library in the
#       file LICENSE.
#   (2) The BSD-style license that is included with this library in
#       the file LICENSE-BSD.
#
# This library is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
# LICENSE and LICENSE-BSD for more details. 
######################################################################

# PyODE Example: Transforms
# This example demonstrates the way object transforms are calculated relative
# to the parent element's transform in XODE.

from OpenGL.GL import *
from OpenGL.GLU import *
from OpenGL.GLUT import *
from cgtypes import *

import pygame
import math
import ode
import xode.parser

doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
<xode>
  <world name="world1">
    <space name="space1">

      <body>
        <transform>
          <position x="0" y="0" z="0"/>
          <rotation>
            <euler x="0" y="0" z="0" aformat="degrees"/>
          </rotation>
        </transform>

        <!-- Y-axis Rotations -->

        <body>
          <transform scale="1.25">
            <position x="0" y="1" z="0"/>
            <rotation>
              <euler x="0" y="30" z="0" aformat="degrees"/>
            </rotation>
          </transform>

          <body>
            <transform scale="1.25">
              <position x="0" y="1" z="0"/>
              <rotation>
                <euler x="0" y="30" z="0" aformat="degrees"/>
              </rotation>
            </transform>
          </body>
          
        </body>

        <!-- X-axis Rotations -->

        <body>
          <transform scale="1.25">
            <position x="1" y="0" z="0"/>
            <rotation>
              <euler x="30" y="0" z="0" aformat="degrees"/>
            </rotation>
          </transform>

          <body>
            <transform scale="1.25">
              <position x="1" y="0" z="0"/>
              <rotation>
                <euler x="30" y="0" z="0" aformat="degrees"/>
              </rotation>
            </transform>
          
          </body>
        </body>

        <!-- Z-axis Rotations -->

        <body>
          <transform scale="1.25">
            <position x="0" y="0" z="-1"/>
            <rotation>
              <euler x="0" y="0" z="30" aformat="degrees"/>
            </rotation>
          </transform>

          <body>
            <transform scale="1.25">
              <position x="0" y="0" z="-1"/>
              <rotation>
                <euler x="0" y="0" z="30" aformat="degrees"/>
              </rotation>
            </transform>
          
          </body>
        </body>
        
      </body>

    </space>
  </world>
</xode>
'''

def prepare_GL(c):
    """Prepare drawing.
    """
    
    # Viewport
    glViewport(0, 0, 640, 480)

    # Initialize
    glClearColor(0.8, 0.8, 0.9, 0)
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    glEnable(GL_DEPTH_TEST)
    glDisable(GL_LIGHTING)
    glEnable(GL_LIGHTING)
    glEnable(GL_NORMALIZE)
    glShadeModel(GL_FLAT)

    # Projection
    glMatrixMode(GL_PROJECTION)
    glLoadIdentity()
    P = mat4(1).perspective(45,1.3333,0.2,20)
    glMultMatrixd(P.toList())

    # Initialize ModelView matrix
    glMatrixMode(GL_MODELVIEW)
    glLoadIdentity()

    # Light source
    glLightfv(GL_LIGHT0,GL_POSITION,[0,0,1,0])
    glLightfv(GL_LIGHT0,GL_DIFFUSE,[1,1,1,1])
    glLightfv(GL_LIGHT0,GL_SPECULAR,[1,1,1,1])
    glEnable(GL_LIGHT0)

    # View transformation
    V = mat4(1).lookAt(1.2*vec3(0.5*c,0.7*c,c),(1.0,1.0,0), up=(0,1,0))
    V.rotate(math.pi,vec3(0,1,0))
    V = V.inverse()
    glMultMatrixd(V.toList())

def draw_body(body):
    """Draw an ODE body.
    """
    
    x,y,z = body.getPosition()
    R = body.getRotation()
    T = mat4()
    T[0,0] = R[0]
    T[0,1] = R[1]
    T[0,2] = R[2]
    T[1,0] = R[3]
    T[1,1] = R[4]
    T[1,2] = R[5]
    T[2,0] = R[6]
    T[2,1] = R[7]
    T[2,2] = R[8]
    T[3] = (x,y,z,1.0)

    glPushMatrix()
    glMultMatrixd(T.toList())
    if body.shape=="box":
        sx,sy,sz = body.boxsize
        glScale(sx, sy, sz)
        glutSolidCube(1)
    glPopMatrix()

######################################################################

# Initialize pygame
passed, failed = pygame.init()

# Open a window
srf = pygame.display.set_mode((640,480), pygame.OPENGL | pygame.DOUBLEBUF)

root = xode.parser.Parser().parseString(doc)

world = root.namedChild('world1').getODEObject()
world.setGravity( (0, 0, 0) )


# Add all ODE bodies from the XODE document into bodies.
def transverse(node):
    obj = node.getODEObject()
    if (isinstance(obj, ode.Body)):
        # Set attributes for draw_body()
        obj.shape = 'box'
        obj.boxsize = (0.4, 0.4, 0.4)
        bodies.append(obj)
        
    for node in node.getChildren():
        transverse(node)

bodies = []
transverse(root)

# Some variables used inside the simulation loop
fps = 50
dt = 1.0/fps
counter = 0.0
running = True
clk = pygame.time.Clock()
while running:
    events = pygame.event.get()
    for e in events:
        if e.type==pygame.QUIT:
            running=False

    if (counter < 5):
        counter = counter + 0.1

    # Draw the scene
    prepare_GL(counter)
    for b in bodies:
        draw_body(b)
    
    pygame.display.flip()

    # Simulate
    n = 2
    for i in range(n):
        world.step(dt/n)
    
    clk.tick(fps)