Changeset 34

Timestamp:

09/03/08 08:11:52 (10 months ago)

Author:

gak

Message:

 

Files:

• muckaround/pyode/test.py (modified) (10 diffs)

muckaround/pyode/test.py

@@ -13 +13 @@
 
     world = WorldRenderable()
-    world.set_gravity((0, 0, -100))
+    world.set_gravity((0, 0, -10))
     world.add_floor()
 
@@ -20 +20 @@
 
     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), random.gauss(0,0.1), 5) )
+        if  random.random() < .5:
+            body = world.add_box(1000, 1.0, 0.2, 0.2)
+        else:
+            body = world.add_sphere(100, random.random() * 0.3 + 0.1)
+        body.setPosition( (random.gauss(-1, 1), random.gauss(-1, 1), 5) )
         theta = random.uniform(0,2 * math.pi)
         ct = math.cos(theta)
@@ -33 +32 @@
     running = True
     a = 1
-    frame_time = 1. / 30
+    frame_time = 1. / 60
 
     done_steps = 0
@@ -39 +38 @@
     while not win.has_exit:
 
-        if random.random() < 0.1:
+        if random.random() < 0.01:
             drop_object()
 
@@ -48 +47 @@
             world.think(frame_time)
             done_steps += 1
-            print 'step', random.random()
 
         win.dispatch_events()
@@ -54 +52 @@
         world.render()
         win.flip()
-        print 'render'
 
 class World:
@@ -74 +71 @@
         # Create contact joints
         for c in contacts:
-            c.setBounce(0.2)
+            c.setBounce(0.6)
             c.setMu(5000)
             j = ode.ContactJoint(self.world, self.contact_group, c)
@@ -85 +82 @@
         self.floor = ode.GeomPlane(self.space, (0, 0, 1), 0)
 
-    def add_sphere(self, pos, mass, rad):
-        pass
-
+    def add_sphere(self, density, rad):
+        body = ode.Body(self.world)
+        mass = ode.Mass()
+        mass.setSphere(density, rad)
+        body.setMass(mass)
+
+        body.shape = "sphere"
+        body.rad = rad
+
+        geom = ode.GeomSphere(self.space, radius=rad)
+        geom.setBody(body)
+
+        self.bodies.append(body)
+
+        return body
     def add_box(self, density, lx, ly, lz):
         body = ode.Body(self.world)
@@ -160 +169 @@
         glScalef(sx, sy, sz)
         glutSolidCube(1)
+
+    def draw_sphere(self, body):
+        r = body.rad
+        glScalef(r, r, r)
+        q = gluNewQuadric()
+        gluSphere(q, 1, 8, 5)
 
     def draw_body(self, body):
@@ -176 +191 @@
         if body.shape == "box":
             self.draw_box(body)
+        if body.shape == "sphere":
+            self.draw_sphere(body)
         glPopMatrix()