ode

Module ode

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Module ode

Python Open Dynamics Engine (ODE) wrapper.

This module contains classes and functions that wrap the functionality of the Open Dynamics Engine (ODE) which can be found at http://opende.sourceforge.net.

There are the following classes and functions:

World
Body
JointGroup
Contact
Space
Mass

Joint classes:

BallJoint
HingeJoint
Hinge2Joint
SliderJoint
UniversalJoint
FixedJoint
ContactJoint
AMotor
LMotor
Plane2DJoint

Geom classes:

GeomSphere
GeomBox
GeomPlane
GeomCapsule
GeomCylinder
GeomRay
GeomTransform
GeomTriMesh / TriMeshData

Functions:

CloseODE()
collide()

Classes
`AMotor`	AMotor joint.
`BallJoint`	Ball joint.
`Body`	The rigid body class encapsulating the ODE body.
`Contact`	This class represents a contact between two bodies in one point.
`ContactJoint`	Contact joint.
`FixedJoint`	Fixed joint.
`GeomBox`	Box geometry.
`GeomCapsule`	Capped cylinder geometry.
`GeomCCylinder`	Capped cylinder geometry.
`GeomCylinder`	Plain cylinder geometry.
`GeomObject`	This is the abstract base class for all geom objects.
`GeomPlane`	Plane geometry.
`GeomRay`	Ray object.
`GeomSphere`	Sphere geometry.
`GeomTransform`	GeomTransform.
`GeomTriMesh`	TriMesh object.
`HashSpace`	Multi-resolution hash table space.
`Hinge2Joint`	Hinge2 joint.
`HingeJoint`	Hinge joint.
`Joint`	Base class for all joint classes.
`JointGroup`	Joint group.
`LMotor`	LMotor joint.
`Mass`	Mass parameters of a rigid body.
`Plane2DJoint`	Plane-2D Joint.
`QuadTreeSpace`	Quadtree space.
`SimpleSpace`	Simple space.
`SliderJoint`	Slider joint.
`SpaceBase`	Space class (container for geometry objects).
`TriMeshData`	This class stores the mesh data.
`UniversalJoint`	Universal joint.
`World`	Dynamics world.
`_SpaceIterator`	Iterates over the geoms inside a Space.

Function Summary
bool	`areConnected(body1, body2)` Return True if the two bodies are connected together by a joint, otherwise return False.
	`CloseODE()` Deallocate some extra memory used by ODE that can not be deallocated using the normal destroy functions.
contacts	`collide(geom1, geom2)` Generate contact information for two objects.
	`collide2(geom1, geom2, arg, callback)` Calls the callback for all potentially intersecting pairs that contain one geom from geom1 and one geom from geom2.
	`Space(...)` Space factory function.

Variable Summary
`int`	`AMotorEuler` = 1
`int`	`AMotorUser` = 0
`int`	`ContactApprox0` = 0
`int`	`ContactApprox1` = 12288
`int`	`ContactApprox1_1` = 4096
`int`	`ContactApprox1_2` = 8192
`int`	`ContactBounce` = 4
`int`	`ContactFDir1` = 2
`int`	`ContactMotion1` = 32
`int`	`ContactMotion2` = 64
`int`	`ContactMu2` = 1
`int`	`ContactSlip1` = 128
`int`	`ContactSlip2` = 256
`int`	`ContactSoftCFM` = 16
`int`	`ContactSoftERP` = 8
`NoneType`	`environment` = None
`float`	`Infinity` = 1.7976931348623157e+308
`int`	`paramBounce` = 5
`int`	`ParamBounce` = 5
`int`	`ParamBounce2` = 261
`int`	`ParamBounce3` = 517
`int`	`ParamCFM` = 6
`int`	`paramCFM` = 6
`int`	`ParamCFM2` = 262
`int`	`ParamCFM3` = 518
`int`	`ParamFMax` = 3
`int`	`paramFMax` = 3
`int`	`ParamFMax2` = 259
`int`	`ParamFMax3` = 515
`int`	`ParamFudgeFactor` = 4
`int`	`paramFudgeFactor` = 4
`int`	`ParamFudgeFactor2` = 260
`int`	`ParamFudgeFactor3` = 516
`int`	`ParamGroup` = 256
`int`	`ParamHiStop` = 1
`int`	`paramHiStop` = 1
`int`	`ParamHiStop2` = 257
`int`	`ParamHiStop3` = 513
`int`	`paramLoStop` = 0
`int`	`ParamLoStop` = 0
`int`	`ParamLoStop2` = 256
`int`	`ParamLoStop3` = 512
`int`	`paramStopCFM` = 8
`int`	`ParamStopCFM` = 8
`int`	`ParamStopCFM2` = 264
`int`	`ParamStopCFM3` = 520
`int`	`ParamStopERP` = 7
`int`	`paramStopERP` = 7
`int`	`ParamStopERP2` = 263
`int`	`ParamStopERP3` = 519
`int`	`paramSuspensionCFM` = 10
`int`	`ParamSuspensionCFM` = 10
`int`	`ParamSuspensionCFM2` = 266
`int`	`ParamSuspensionCFM3` = 522
`int`	`ParamSuspensionERP` = 9
`int`	`paramSuspensionERP` = 9
`int`	`ParamSuspensionERP2` = 265
`int`	`ParamSuspensionERP3` = 521
`int`	`paramVel` = 2
`int`	`ParamVel` = 2
`int`	`ParamVel2` = 258
`int`	`ParamVel3` = 514
`dict`	`_geom_c2py_lut` = `{}`

Function Details

areConnected(body1, body2)

Return True if the two bodies are connected together by a joint, otherwise return False.

Parameters:: body1 - First body
(type=Body); body2 - Second body
(type=Body)

Returns:: True if the bodies are connected
(type=bool)

CloseODE()

Deallocate some extra memory used by ODE that can not be deallocated using the normal destroy functions.

collide(geom1, geom2)

Generate contact information for two objects.

Given two geometry objects that potentially touch (geom1 and geom2), generate contact information for them. Internally, this just calls the correct class-specific collision functions for geom1 and geom2.

[flags specifies how contacts should be generated if the objects touch. Currently the lower 16 bits of flags specifies the maximum number of contact points to generate. If this number is zero, this function just pretends that it is one - in other words you can not ask for zero contacts. All other bits in flags must be zero. In the future the other bits may be used to select other contact generation strategies.]

If the objects touch, this returns a list of Contact objects, otherwise it returns an empty list.

Parameters:: geom1 - First Geom
(type=GeomObject); geom2 - Second Geom
(type=GeomObject)

Returns:: Returns a list of Contact objects.
(type=contacts)

collide2(geom1, geom2, arg, callback)

Calls the callback for all potentially intersecting pairs that contain one geom from geom1 and one geom from geom2.

Parameters:: geom1 - First Geom
(type=GeomObject); geom2 - Second Geom
(type=GeomObject); arg - A user argument that is passed to the callback function; callback - Callback function
(type=callable)

Space(...)

Space factory function.

Depending on the type argument this function either returns a SimpleSpace (type=0) or a HashSpace (type=1).

This function is provided to remain compatible with previous versions of PyODE where there was only one Space class.

>>> space = Space(type=0)   # Create a SimpleSpace
>>> space = Space(type=1)   # Create a HashSpace

Variable Details

AMotorEuler

Type:: int
Value:: 1

AMotorUser

Type:: int
Value:: 0

ContactApprox0

Type:: int
Value:: 0

ContactApprox1

Type:: int
Value:: 12288

ContactApprox1_1

Type:: int
Value:: 4096

ContactApprox1_2

Type:: int
Value:: 8192

ContactBounce

Type:: int
Value:: 4

ContactFDir1

Type:: int
Value:: 2

ContactMotion1

Type:: int
Value:: 32

ContactMotion2

Type:: int
Value:: 64

ContactMu2

Type:: int
Value:: 1

ContactSlip1

Type:: int
Value:: 128

ContactSlip2

Type:: int
Value:: 256

ContactSoftCFM

Type:: int
Value:: 16

ContactSoftERP

Type:: int
Value:: 8

environment

Type:: NoneType
Value:: None

Infinity

Type:: float
Value:: 1.7976931348623157e+308

paramBounce

Type:: int
Value:: 5

ParamBounce

Type:: int
Value:: 5

ParamBounce2

Type:: int
Value:: 261

ParamBounce3

Type:: int
Value:: 517

ParamCFM

Type:: int
Value:: 6

paramCFM

Type:: int
Value:: 6

ParamCFM2

Type:: int
Value:: 262

ParamCFM3

Type:: int
Value:: 518

ParamFMax

Type:: int
Value:: 3

paramFMax

Type:: int
Value:: 3

ParamFMax2

Type:: int
Value:: 259

ParamFMax3

Type:: int
Value:: 515

ParamFudgeFactor

Type:: int
Value:: 4

paramFudgeFactor

Type:: int
Value:: 4

ParamFudgeFactor2

Type:: int
Value:: 260

ParamFudgeFactor3

Type:: int
Value:: 516

ParamGroup

Type:: int
Value:: 256

ParamHiStop

Type:: int
Value:: 1

paramHiStop

Type:: int
Value:: 1

ParamHiStop2

Type:: int
Value:: 257

ParamHiStop3

Type:: int
Value:: 513

paramLoStop

Type:: int
Value:: 0

ParamLoStop

Type:: int
Value:: 0

ParamLoStop2

Type:: int
Value:: 256

ParamLoStop3

Type:: int
Value:: 512

paramStopCFM

Type:: int
Value:: 8

ParamStopCFM

Type:: int
Value:: 8

ParamStopCFM2

Type:: int
Value:: 264

ParamStopCFM3

Type:: int
Value:: 520

ParamStopERP

Type:: int
Value:: 7

paramStopERP

Type:: int
Value:: 7

ParamStopERP2

Type:: int
Value:: 263

ParamStopERP3

Type:: int
Value:: 519

paramSuspensionCFM

Type:: int
Value:: 10

ParamSuspensionCFM

Type:: int
Value:: 10

ParamSuspensionCFM2

Type:: int
Value:: 266

ParamSuspensionCFM3

Type:: int
Value:: 522

ParamSuspensionERP

Type:: int
Value:: 9

paramSuspensionERP

Type:: int
Value:: 9

ParamSuspensionERP2

Type:: int
Value:: 265

ParamSuspensionERP3

Type:: int
Value:: 521

paramVel

Type:: int
Value:: 2

ParamVel

Type:: int
Value:: 2

ParamVel2

Type:: int
Value:: 258

ParamVel3

Type:: int
Value:: 514

_geom_c2py_lut

Type:: dict
Value:: {}

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