add ode

1 files changed, 49 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/bindings/python/demos/tutorial1.py b/libs/ode-0.16.1/bindings/python/demos/tutorial1.py
new file mode 100755
index 0000000..c4266d4
--- /dev/null
+++ b/libs/ode-0.16.1/bindings/python/demos/tutorial1.py
@@ -0,0 +1,49 @@
+#!/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
+