Changeset 32

Timestamp:

09/03/08 06:53:10 (10 months ago)

Author:

gak

Message:

 

Files:

• muckaround/pyode/test.py (modified) (6 diffs)

muckaround/pyode/test.py

@@ -4 +4 @@
 from pyglet import window
 from pyglet.gl import *
+from OpenGL.GLUT import *
 
 import ode
@@ -14 +15 @@
 
     world.initGL()
+    glutInit(0)
+
+    def drop_object():
+        """Drop an object into the scene."""
+
+        global bodies, counter, objcount
+
+        body = world.add_box(1000, 1.0, 0.2, 0.2)
+        body.setPosition( (random.gauss(0,0.1),3.0,random.gauss(0,0.1)) )
+        theta = random.uniform(0,2 * math.pi)
+        ct = math.cos(theta)
+        st = math.sin(theta)
+        body.setRotation([ct, 0., -st, 0., 1., 0., st, 0., ct])
 
     running = True
     a = 1
     while not win.has_exit:
+        drop_object()
+
         world.think(1. / 30)
         win.dispatch_events()
@@ -28 +44 @@
         self.world = ode.World()
         self.space = ode.Space()
+        self.bodies = []
 
     def think(self, dt):
@@ -50 +67 @@
         geom.setBody(body)
 
+        self.bodies.append(body)
+
         return body
 
@@ -67 +86 @@
         glMatrixMode(GL_PROJECTION)
         glLoadIdentity()
-        gluPerspective (45,1.3333,0.2,20)
-        # glTranslatef(0, -100, 0);
+        gluPerspective (45, 1.3333, 0.2, 200)
         glMatrixMode(GL_MODELVIEW)
 
@@ -75 +93 @@
         glClear(GL_COLOR_BUFFER_BIT)
         glLoadIdentity()
-        gluLookAt(0, -10, 0, 0, 0, 0, 0, 0, 1)
+        dist = 10
+        gluLookAt(dist/2, -dist, dist/2, 0, 0, 0, 0, 0, 1)
+
+        glBegin(GL_LINES)
+        glColor3f(1, 0, 0)
+        glVertex3f(0, 0, 0)
+        glVertex3f(1, 0, 0)
+        glColor3f(0, 1, 0)
+        glVertex3f(0, 0, 0)
+        glVertex3f(0, 1, 0)
+        glColor3f(0, 0, 1)
+        glVertex3f(0, 0, 0)
+        glVertex3f(0, 0, 1)
+        glEnd()
 
         glColor3f(0.5,.5,.5)
-        q = gluNewQuadric()
-        gluSphere(q, 1, 10, 10)
 
-        glBegin(GL_LINES)
-        glVertex3f(0, 0, 0)
-        glVertex3f(100, 0, 0)
-        glEnd()
+        for body in self.bodies:
+            self.draw_body(body)
 
-    def drawCircle(self, x, y, r, a):
-        segs = 15
-        coef = 2.0*math.pi/segs;
+    def draw_box(self, body):
+        sx, sy, sz = body.boxsize
+        glScalef(sx, sy, sz)
+        glutSolidCube(1)
 
-        glBegin(GL_LINE_LOOP)
-        for n in range(segs):
-            rads = n*coef
-            glVertex2f(r*math.cos(rads + a) + x, r*math.sin(rads + a) + y)
-        glVertex2f(x,y)
-        glEnd()
-
-    def drawCircleShape(self, circle):
-        body = circle.body
-        c = body.position + circle.center.cpvrotate(body.rotation_vector)
-        self.drawCircle(c.x, c.y, circle.radius, body.angle)
-
-    def drawSegmentShape(self, seg):
-        body = seg.body
-        a = body.position + seg.a.cpvrotate(body.rotation_vector)
-        b = body.position + seg.b.cpvrotate(body.rotation_vector)
-
-        glBegin(GL_LINES)
-        glVertex2f(a.x, a.y)
-        glVertex2f(b.x, b.y)
-        glEnd()
-
-    def drawPolyShape(self, poly):
-        body = poly.body
-
-        glBegin(GL_LINE_LOOP)
-        for vert in poly.verts:
-            v = body.position + vert.cpvrotate(body.rotation_vector)
-            glVertex2f(v.x, v.y)
-        glEnd()
-
-    def drawJoint(self, joint):
-        b1pos = joint._a.position
-        b2pos = joint._b.position
-        glBegin(GL_LINES)
-        glVertex2f(b1pos.x, b1pos.y)
-        glVertex2f(b2pos.x, b2pos.y)
-        glEnd()
-
-    def drawObject(self, shape):
-        if isinstance(shape, Circle):
-            self.drawCircleShape(shape)
-        elif isinstance(shape, Segment):
-            self.drawSegmentShape(shape)
-        elif isinstance(shape, Poly):
-            self.drawPolyShape(shape)
-        elif isinstance(shape, Joint):
-            self.drawJoint(shape)
-
-    def drawCollisions(self, arb):
-        for contact in arb.contacts:
-            glVertex2f(contact.position.x, contact.position.y)
+    def draw_body(self, body):
+        x, y, z = body.getPosition()
+        R = body.getRotation()
+        rot = [R[0], R[3], R[6], 0.,
+               R[1], R[4], R[7], 0.,
+               R[2], R[5], R[8], 0.,
+               x, y, z, 1.0]
+        glPushMatrix()
+#        rot = [ ctypes.c_double(v) for v in rot ]
+#        rot = [ ctypes.pointer(ctypes.c_float(v)) for v in rot ]
+#        rot = ctypes.POINTER(rot)
+        rot = (c_float * 16)(*rot)
+        glMultMatrixf(rot)
+        if body.shape == "box":
+            self.draw_box(body)
+        glPopMatrix()
 
 if __name__ == '__main__':