Changeset 33

Timestamp:

09/03/08 07:22:02 (10 months ago)

Author:

gak

Message:

 

Files:

• muckaround/pyode/test.py (modified) (7 diffs)

muckaround/pyode/test.py

@@ +1 @@
+import time
 import math, sys
 import random
@@ -13 +14 @@
     world = WorldRenderable()
     world.set_gravity((0, 0, -100))
+    world.add_floor()
 
     world.initGL()
@@ -23 +25 @@
 
         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)) )
+        body.setPosition( (random.gauss(0,0.1), random.gauss(0,0.1), 5) )
         theta = random.uniform(0,2 * math.pi)
         ct = math.cos(theta)
@@ -31 +33 @@
     running = True
     a = 1
+    frame_time = 1. / 30
+
+    done_steps = 0
+    start_time = time.time()
     while not win.has_exit:
-        drop_object()
 
-        world.think(1. / 30)
+        if random.random() < 0.1:
+            drop_object()
+
+        time_since_start = (time.time() - start_time)
+        required_steps = time_since_start / frame_time
+
+        while required_steps > done_steps:
+            world.think(frame_time)
+            done_steps += 1
+            print 'step', random.random()
+
         win.dispatch_events()
         win.clear()
         world.render()
         win.flip()
+        print 'render'
 
 class World:
@@ -45 +61 @@
         self.space = ode.Space()
         self.bodies = []
+        self.contact_group = ode.JointGroup()
 
     def think(self, dt):
+        self.space.collide(None, self.near_callback)
         self.world.step(dt)
+        self.contact_group.empty()
+
+    def near_callback(self, args, geom1, geom2):
+        # Check if the objects do collide
+        contacts = ode.collide(geom1, geom2)
+
+        # Create contact joints
+        for c in contacts:
+            c.setBounce(0.2)
+            c.setMu(5000)
+            j = ode.ContactJoint(self.world, self.contact_group, c)
+            j.attach(geom1.getBody(), geom2.getBody())
 
     def set_gravity(self, v):
         self.world.setGravity(v)
+
+    def add_floor(self):
+        self.floor = ode.GeomPlane(self.space, (0, 0, 1), 0)
 
     def add_sphere(self, pos, mass, rad):
@@ -75 +108 @@
     def initGL(self):
         glClearColor(0.9, 0.9, 0.9, 0.0)
-        glPointSize(3.0)
+        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+        glEnable(GL_DEPTH_TEST)
+        glDisable(GL_LIGHTING)
+        glEnable(GL_LIGHTING)
+        glEnable(GL_NORMALIZE)
+        glShadeModel(GL_FLAT)
+
+        glLightfv(GL_LIGHT0,GL_POSITION, (ctypes.c_float * 4)(0,0,1,0))
+        glLightfv(GL_LIGHT0,GL_DIFFUSE, (ctypes.c_float * 4)(1,1,1,1))
+        glLightfv(GL_LIGHT0,GL_SPECULAR, (ctypes.c_float * 4)(1,1,1,1))
+        glEnable(GL_LIGHT0)
 
     def set_ortho(self):
@@ -138 +181 @@
     sys.exit(main())
 
+    import cProfile as profile
+    import pstats
+    profile.run('main()', 'profile.dat')
+    p = pstats.Stats('profile.dat')
+    p.strip_dirs().sort_stats(-1).print_stats()