add ode

1 files changed, 135 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/bindings/python/demos/tutorial2.py b/libs/ode-0.16.1/bindings/python/demos/tutorial2.py
new file mode 100755
index 0000000..1a4a228
--- /dev/null
+++ b/libs/ode-0.16.1/bindings/python/demos/tutorial2.py
@@ -0,0 +1,135 @@
+#!/usr/bin/env python
+
+# http://pyode.sourceforge.net/tutorials/tutorial2.html
+
+# pyODE example 2: Connecting bodies with joints
+
+# modified by Gideon Klompje (removed literals and using
+# 'ode.Mass.setSphereTotal' instead of 'ode.Mass.setSphere')
+
+
+import ode
+import pygame
+
+from pygame.locals import QUIT, KEYDOWN
+
+# Constants
+WINDOW_RESOLUTION = (640, 480)
+
+DRAW_SCALE = WINDOW_RESOLUTION[0] / 5
+"""Factor to multiply physical coordinates by to obtain screen size in pixels"""
+
+DRAW_OFFSET = (WINDOW_RESOLUTION[0] / 2, 50)
+"""Screen coordinates (in pixels) that map to the physical origin (0, 0, 0)"""
+
+BACKGROUND_COLOR = (255, 255, 255)
+
+GRAVITY = (0, -9.81, 0)
+
+SPHERE1_POSITION = (1, 0, 0)
+SPHERE1_MASS = 1
+SPHERE1_RADIUS = 0.15
+SPHERE1_COLOR = (55, 0, 200)
+
+SPHERE2_POSITION = (2, 0, 0)
+SPHERE2_MASS = 1
+SPHERE2_RADIUS = 0.15
+SPHERE2_COLOR = (55, 0, 200)
+
+JOINT1_ANCHOR = (0, 0, 0)
+JOINT1_COLOR = (200, 0, 55)
+JOINT1_WIDTH = 2
+"""Width of the line (in pixels) representing the joint"""
+
+JOINT2_ANCHOR = SPHERE1_POSITION
+JOINT2_COLOR = (200, 0, 55)
+JOINT2_WIDTH = 2
+"""Width of the line (in pixels) representing the joint"""
+
+TIME_STEP = 0.04
+
+# Utility functions
+def coord(x, y, integer=False):
+    """
+    Convert world coordinates to pixel coordinates.  Setting 'integer' to
+    True will return integer coordinates.
+    """
+    xs = (DRAW_OFFSET[0] + DRAW_SCALE*x)
+    ys = (DRAW_OFFSET[1] - DRAW_SCALE*y)
+
+    if integer:
+        return int(round(xs)), int(round(ys))
+    else:
+        return xs, ys
+
+# Initialize pygame
+pygame.init()
+
+# Open a display
+screen = pygame.display.set_mode(WINDOW_RESOLUTION)
+
+# Create a world object
+world = ode.World()
+world.setGravity(GRAVITY)
+
+# Create two bodies
+body1 = ode.Body(world)
+M = ode.Mass()
+M.setSphereTotal(SPHERE1_MASS, SPHERE1_RADIUS)
+body1.setMass(M)
+body1.setPosition(SPHERE1_POSITION)
+
+body2 = ode.Body(world)
+M = ode.Mass()
+M.setSphereTotal(SPHERE2_MASS, SPHERE2_RADIUS)
+body2.setMass(M)
+body2.setPosition(SPHERE2_POSITION)
+
+# Connect body1 with the static environment
+j1 = ode.BallJoint(world)
+j1.attach(body1, ode.environment)
+j1.setAnchor(JOINT1_ANCHOR)
+
+# Connect body2 with body1
+j2 = ode.BallJoint(world)
+j2.attach(body1, body2)
+j2.setAnchor(JOINT2_ANCHOR)
+
+# Simulation loop...
+if __name__ == "__main__":
+    fps = 1.0 / TIME_STEP
+    clk = pygame.time.Clock()
+
+    sph1_rad = int(DRAW_SCALE * SPHERE1_RADIUS)
+    sph2_rad = int(DRAW_SCALE * SPHERE2_RADIUS)
+
+    loopFlag = True
+    while loopFlag:
+        for e in pygame.event.get():
+            if e.type==QUIT:
+                loopFlag=False
+            if e.type==KEYDOWN:
+                loopFlag=False
+
+        # Clear the screen
+        screen.fill(BACKGROUND_COLOR)
+
+        # Draw the two bodies and the lines representing the joints
+        x1, y1, z1 = body1.getPosition()
+        x2, y2, z2 = body2.getPosition()
+        xj1, yj1, zj1 = j1.getAnchor()
+        xj2, yj2, zj2 = j2.getAnchor()
+
+        pygame.draw.line(screen, JOINT1_COLOR, coord(xj1, yj1), coord(x1, y1), JOINT1_WIDTH)
+        pygame.draw.line(screen, JOINT2_COLOR, coord(xj2, yj2), coord(x2, y2), JOINT2_WIDTH)
+        pygame.draw.circle(screen, SPHERE1_COLOR, coord(x1, y1, integer=True), sph1_rad, 0)
+        pygame.draw.circle(screen, SPHERE2_COLOR, coord(x2, y2, integer=True), sph2_rad, 0)
+
+        pygame.display.flip()
+
+        # Next simulation step
+        world.step(TIME_STEP)
+
+        # Try to keep the specified framerate    
+        clk.tick(fps)
+