# test code: http://pyode.sourceforge.net/tutorials/tutorial3.html # #i want selecting object in pyode test code. # what's wrong? # under modify code # see selectObject() function
# pyODE example 3: Collision detection # Originally by Matthias Baas. # Updated by Pierre Gay to work without pygame or cgkit. import sys, os, random, time from math import * from OpenGL.GL import * from OpenGL.GLU import * from OpenGL.GLUT import * import ode # geometric utility functions def scalp (vec, scal): vec[0] *= scal vec[1] *= scal vec[2] *= scal def length (vec): return sqrt (vec[0]**2 + vec[1]**2 + vec[2]**2) obj_map = {} def _mousefunc(b, s, x, y): if b == 0 and s == 0: selectObject(x, y) def selectObject(x, y): print x, y glSelectBuffer(512) viewport = glGetIntegerv(GL_VIEWPORT) glMatrixMode(GL_PROJECTION) glPushMatrix() glRenderMode(GL_SELECT) glLoadIdentity() gluPickMatrix(x, viewport[3]-y, 2, 2, viewport) gluPerspective (45,1.333,0.1,100) gluLookAt (2.4, 3.6, 4.8, 0.5, 0.5, 0, 0, 1, 0) glMatrixMode(GL_MODELVIEW) glLoadIdentity() _drawfunc() buffer = glRenderMode(GL_RENDER) for hit_record in buffer: print hit_record if buffer: obj_name = buffer[0][2][0] else: obj_name = 0 glMatrixMode(GL_PROJECTION) glPopMatrix() glMatrixMode(GL_MODELVIEW) # prepare_GL def prepare_GL(): """Prepare drawing. """ # Viewport glViewport(0,0,640,480) # Initialize glClearColor(0.8,0.8,0.9,0) 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) # Projection glMatrixMode(GL_PROJECTION) glLoadIdentity() gluPerspective (45,1.3333,0.2,20) # Initialize ModelView matrix glMatrixMode(GL_MODELVIEW) glLoadIdentity() # Light source glLightfv(GL_LIGHT0,GL_POSITION,[0,0,1,0]) glLightfv(GL_LIGHT0,GL_DIFFUSE,[1,1,1,1]) glLightfv(GL_LIGHT0,GL_SPECULAR,[1,1,1,1]) glEnable(GL_LIGHT0) # View transformation gluLookAt (2.4, 3.6, 4.8, 0.5, 0.5, 0, 0, 1, 0) # draw_body def draw_body(body): """Draw an ODE body. """ global obj_map 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() glMultMatrixd(rot) if body.shape=="box": sx,sy,sz = body.boxsize glScale(sx, sy, sz) glPushName(obj_map[body]) glutSolidCube(1) glPopName() glPopMatrix() # create_box def create_box(world, space, density, lx, ly, lz): """Create a box body and its corresponding geom.""" # Create body body = ode.Body(world) M = ode.Mass() M.setBox(density, lx, ly, lz) body.setMass(M) # Set parameters for drawing the body body.shape = "box" body.boxsize = (lx, ly, lz) # Create a box geom for collision detection geom = ode.GeomBox(space, lengths=body.boxsize) geom.setBody(body) return body # drop_object def drop_object(): """Drop an object into the scene.""" global bodies, counter, objcount body = create_box(world, space, 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*pi) ct = cos (theta) st = sin (theta) body.setRotation([ct, 0., -st, 0., 1., 0., st, 0., ct]) bodies.append(body) counter=0 objcount+=1 global obj_map obj_map[body] = objcount # explosion def explosion(): """Simulate an explosion. Every object is pushed away from the origin. The force is dependent on the objects distance from the origin. """ global bodies for b in bodies: l=b.getPosition () d = length (l) a = max(0, 40000*(1.0-0.2*d*d)) l = [l[0] / 4, l[1], l[2] /4] scalp (l, a / length (l)) b.addForce(l) # pull def pull(): """Pull the objects back to the origin. Every object will be pulled back to the origin. Every couple of frames there'll be a thrust upwards so that the objects won't stick to the ground all the time. """ global bodies, counter for b in bodies: l=list (b.getPosition ()) scalp (l, -1000 / length (l)) b.addForce(l) if counter%60==0: b.addForce((0,10000,0)) # Collision callback def near_callback(args, geom1, geom2): """Callback function for the collide() method. This function checks if the given geoms do collide and creates contact joints if they do. """ # Check if the objects do collide contacts = ode.collide(geom1, geom2) # Create contact joints world,contactgroup = args for c in contacts: c.setBounce(0.2) c.setMu(5000) j = ode.ContactJoint(world, contactgroup, c) j.attach(geom1.getBody(), geom2.getBody()) ###################################################################### # Initialize Glut glutInit ([]) # Open a window glutInitDisplayMode (GLUT_RGB | GLUT_DOUBLE) x = 0 y = 0 width = 640 height = 480 glutInitWindowPosition (x, y); glutInitWindowSize (width, height); glutCreateWindow ("testode") # Create a world object world = ode.World() world.setGravity( (0,-9.81,0) ) world.setERP(0.8) world.setCFM(1E-5) # Create a space object space = ode.Space() # Create a plane geom which prevent the objects from falling forever floor = ode.GeomPlane(space, (0,1,0), 0) # A list with ODE bodies bodies = [] # A joint group for the contact joints that are generated whenever # two bodies collide contactgroup = ode.JointGroup() # Some variables used inside the simulation loop fps = 50 dt = 1.0/fps running = True state = 0 counter = 0 objcount = 0 lasttime = time.time() # keyboard callback def _keyfunc (c, x, y): sys.exit (0) glutKeyboardFunc (_keyfunc) # draw callback def _drawfunc (): # Draw the scene prepare_GL() for b in bodies: draw_body(b) glutSwapBuffers () glutDisplayFunc (_drawfunc) # idle callback def _idlefunc (): global counter, state, lasttime t = dt - (time.time() - lasttime) if (t > 0): time.sleep(t) counter += 1 if state==0: if counter==20: drop_object() if objcount==30: state=1 counter=0 # State 1: Explosion and pulling back the objects elif state==1: if counter==100: explosion() if counter>300: pull() if counter==500: counter=20 glutPostRedisplay () # Simulate n = 2 for i in range(n): # Detect collisions and create contact joints space.collide((world,contactgroup), near_callback) # Simulation step world.step(dt/n) # Remove all contact joints contactgroup.empty() lasttime = time.time() glutIdleFunc (_idlefunc) glutMouseFunc(_mousefunc) glutMainLoop () -- http://mail.python.org/mailman/listinfo/python-list