r644@erker: lars | 2010-02-11 02:17:43 +0100

 fixed mesh generation
 removed vpython
 simplified collision detection


git-svn-id: https://pycam.svn.sourceforge.net/svnroot/pycam/trunk@109 bbaffbd6-741e-11dd-a85d-61de82d9cad9

pycam/Gui/ode_objects.py

 import ode
-import visual
+
+
+ShapeCylinder = lambda radius, height: ode.GeomCylinder(None, radius, height)
+ShapeCapsule = lambda radius, height: ode.GeomCapsule(None, radius, height - (2 * radius))
+
 
 def convert_triangles_to_vertices_faces(triangles):
     corners = []
-    triangles = []
+    faces = []
     id_index_map = {}
     for t in triangles:
         coords = []
@@ -13,18 +17,8 @@ def convert_triangles_to_vertices_faces(triangles):
                 corners.append((p.x, p.y, p.z))
                 id_index_map[p.id] = len(corners) - 1
             coords.append(id_index_map[p.id]) 
-        triangles.append(coords)
-    return corners, triangles
-
-def convert_triangles_to_vertices_normals(triangles):
-    vertices = []
-    normals = []
-    for t in triangles:
-        for p in (t.p1, t.p2, t.p3):
-            vertices.append((p.x, p.y, p.z))
-        n = t.normal()
-        normals.append((n.x, n.y, n.z))
-    return vertices, normals
+        faces.append(coords)
+    return corners, faces
 
 
 class PhysicalWorld:
@@ -33,20 +27,24 @@ class PhysicalWorld:
         self._world = ode.World()
         self._space = ode.Space()
         self._geoms = []
-        self._bodies = []
-        self._visuals = []
         self._contacts = ode.JointGroup()
-        self._speed = None
         self._drill = None
         self._collision_detected = False
 
-    def _add_geom(self, geom, position):
+    def reset(self):
+        self._world = ode.World()
+        self._space = ode.Space()
+        self._geoms = []
+        self._contacts = ode.JointGroup()
+        self._drill = None
+        self._collision_detected = False
+
+    def _add_geom(self, geom, position, append=True):
         body = ode.Body(self._world)
         body.setPosition(position)
         body.setGravityMode(False)
         geom.setBody(body)
         self._geoms.append(geom)
-        self._bodies.append(body)
 
     def add_mesh(self, position, triangles):
         mesh = ode.TriMeshData()
@@ -54,47 +52,22 @@ class PhysicalWorld:
         mesh.build(vertices, faces)
         geom = ode.GeomTriMesh(mesh, self._space)
         self._add_geom(geom, position)
-        # create visual object
-        vertices, normal = convert_triangles_to_vertices_normals(triangles)
-        visual_object = visual.faces(pos=vertices, color=len(vertices) * [visual.color.blue], normal=normal)
-        self._visuals.append((visual_object, geom))
-        return geom
 
     def add_sphere(self, position, radius):
         geom = ode.GeomSphere(self._space, radius)
         self._add_geom(geom, position)
-        # create visual sphere
-        visual_object = visual.sphere(pos=position, radius=radius)
-        self._visuals.append((visual_object, geom))
-        return geom
-
-    def _update_drill(self):
-        for obj, geom in self._visuals:
-            if geom is self._drill:
-                obj.pos = geom.getPosition()
-
-    def _update_drill_speed(self):
-        if (self._drill is None) or (self._speed is None):
-            return
-        self._drill.getBody().setLinearVel(self._speed)
 
-    def set_drill(self, geom):
-        if geom in self._geoms:
+    def set_drill(self, shape, position):
+        geom = ode.GeomTransform(self._space)
+        geom.setGeom(shape)
+        self._add_geom(geom, position, append=False)
         self._drill = geom
-        self._update_drill_speed()
-
-    def set_drill_speed(self, speed):
-        self._speed = speed
-        self._update_drill_speed()
 
-    def remove_body(self, geom):
-        if geom in self._geoms:
-            body = geom.getBody()
-            if body in self._bodies:
-                self._bodies.remove(body)
-            self._geoms.remove(geom)
+    def set_drill_position(self, position):
+        if self._drill:
+            self._drill.getBody().setPosition(position)
 
-    def _collision_callback(self, geom1, geom2):
+    def _collision_callback(self, dummy, geom1, geom2):
         if geom1 is self._drill:
             obstacle = geom2
         elif geom2 is self._drill:
@@ -104,20 +77,15 @@ class PhysicalWorld:
         contacts = ode.collide(self._drill, obstacle)
         if contacts:
             self._collision_detected = True
+        return
         for c in contacts:
             # no bounce effect
             c.setBounce(0)
             ode.ContactJoint(self._world, self._contacts, c).attach(self._drill.getBody(), obstacle.getBody())
 
-    def calculate_step(self, stepsize):
-        return
+    def check_collision(self):
         self._collision_detected = False
-        self._space.collide(self, self._collision_callback)
-        self._world.step(stepsize)
+        self._space.collide(None, self._collision_callback)
         self._contacts.empty()
-        self._update_drill()
-        visual.rate(20)
-
-    def check_collision(self):
         return self._collision_detected