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# pyODE example 1: Getting started
import ode
# Create a world object
world = ode.World()
world.setGravity( (0,-9.81,0) )
# Create a body inside the world
body = ode.Body(world)
M = ode.Mass()
M.setSphere(2500.0, 0.05)
M.mass = 1.0
body.setMass(M)
body.setPosition( (0,2,0) )
body.addForce( (0,200,0) )
# Do the simulation...
total_time = 0.0
dt = 0.04
while total_time<2.0:
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)
world.step(dt)
total_time+=dt
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