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
|
# -*- indent-tabs-mode: t -*-
####################################################################
# Python Open Dynamics Engine Wrapper
#
# Copyright (C) 2003, Matthias Baas (baas@ira.uka.de)
#
# You may distribute under the terms of the BSD license, as
# specified in the files license*.txt.
# -------------------------------------------------------------
# Open Dynamics Engine
# Copyright (c) 2001-2003, Russell L. Smith.
# All rights reserved.
####################################################################
include "c.pxd"
include "c_opengl.pxd"
cimport _soya
#include "ode/c2py.pxd"
include "ode/declarations.pxd"
# The World should keep a reference to joints/bodies, so that they won't
# be deleted.
# Excplicitly assign the module doc string to __doc__
# (otherwise it won't show up which is probably a "bug" in Pyrex (v0.9.2.1))
__doc__ = """Python Open Dynamics Engine (ODE) wrapper.
This module contains classes and functions that wrap the functionality
of the Open Dynamics Engine (ODE) which can be found at
http://opende.sourceforge.net.
There are the following classes and functions:
- World
- Body
- JointGroup
- Contact
- Space
- Mass
Joint classes:
- BallJoint
- HingeJoint
- Hinge2Joint
- SliderJoint
- UniversalJoint
- FixedJoint
- ContactJoint
- AMotor
Geom classes:
- GeomSphere
- GeomBox
- GeomPlane
- GeomCCylinder
- GeomRay
- GeomTransform
- GeomTriMesh / TriMeshData
Functions:
- CloseODE()
- collide()
"""
############################# Constants ###############################
paramLoStop = 0
paramHiStop = 1
paramVel = 2
paramFMax = 3
paramFudgeFactor = 4
paramBounce = 5
paramCFM = 6
paramStopERP = 7
paramStopCFM = 8
paramSuspensionERP = 9
paramSuspensionCFM = 10
ParamLoStop = 0
ParamHiStop = 1
ParamVel = 2
ParamFMax = 3
ParamFudgeFactor = 4
ParamBounce = 5
ParamCFM = 6
ParamStopERP = 7
ParamStopCFM = 8
ParamSuspensionERP = 9
ParamSuspensionCFM = 10
ParamLoStop2 = 256+0
ParamHiStop2 = 256+1
ParamVel2 = 256+2
ParamFMax2 = 256+3
ParamFudgeFactor2 = 256+4
ParamBounce2 = 256+5
ParamCFM2 = 256+6
ParamStopERP2 = 256+7
ParamStopCFM2 = 256+8
ParamSuspensionERP2 = 256+9
ParamSuspensionCFM2 = 256+10
ContactMu2 = 0x001
ContactFDir1 = 0x002
ContactBounce = 0x004
ContactSoftERP = 0x008
ContactSoftCFM = 0x010
ContactMotion1 = 0x020
ContactMotion2 = 0x040
ContactSlip1 = 0x080
ContactSlip2 = 0x100
ContactApprox0 = 0x0000
ContactApprox1_1 = 0x1000
ContactApprox1_2 = 0x2000
ContactApprox1 = 0x3000
AMotorUser = dAMotorUser
AMotorEuler = dAMotorEuler
Infinity = dInfinity
######################################################################
# Lookup table for geom objects: C ptr -> Python object
#_geom_c2py_lut = {}
# Mass
include "ode/mass.pyx"
# Contact
include "ode/contact.pyx"
# World
include "ode/world.pyx"
# Body
include "ode/body.pyx"
# Joint classes
include "ode/joints.pyx"
# Geom base
include "ode/geomobject.pyx"
# Space
include "ode/space.pyx"
# Geom classes
include "ode/geoms.pyx"
# Utility functions for Soya geoms
include "ode/util.pyx"
# Terrain geom for Soya
include "ode/terrain.pyx"
# Model geom using TriMesh
include "ode/model.pyx"
def collide(GeomObject geom1, GeomObject geom2, int max_contacts=8):
"""Generate contact information for two objects.
Given two geometry objects that potentially touch (geom1 and geom2),
generate contact information for them. Internally, this just calls
the correct class-specific collision functions for geom1 and geom2.
[flags specifies how contacts should be generated if the objects
touch. Currently the lower 16 bits of flags specifies the maximum
number of contact points to generate. If this number is zero, this
function just pretends that it is one - in other words you can not
ask for zero contacts. All other bits in flags must be zero. In
the future the other bits may be used to select other contact
generation strategies.]
If the objects touch, this returns a list of Contact objects,
otherwise it returns an empty list.
"""
cdef dContactGeom c[150]
cdef int i, n
cdef Contact cont
if max_contacts < 1 or max_contacts > 150:
raise ValueError, "max_contacts must be between 1 and 150"
n = dCollide(geom1.gid, geom2.gid, max_contacts, c, sizeof(dContactGeom))
res = []
for i from 0 <= i < n:
cont = Contact()
cont._contact.geom = c[i]
res.append(cont)
# Set collision flag on trimeshes when they're colliding with one
# another so that they don't update their last transformations
# This could probably be done more genericly in a collision notification
# method.
if n and isinstance(geom1, _TriMesh) and isinstance(geom2, _TriMesh):
(<_TriMesh>geom1)._colliding = 1
(<_TriMesh>geom2)._colliding = 1
return res
def CloseODE():
"""CloseODE()
Deallocate some extra memory used by ODE that can not be deallocated
using the normal destroy functions.
"""
dCloseODE()
######################################################################
environment = _Body(None)
|
