/usr/share/pyshared/xode/body.py is in python-pyode 1.2.0-4+cvs20090320build2.
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# Python Open Dynamics Engine Wrapper
# Copyright (C) 2004 PyODE developers (see file AUTHORS)
# All rights reserved.
#
# This library is free software; you can redistribute it and/or
# modify it under the terms of EITHER:
# (1) The GNU Lesser General Public License as published by the Free
# Software Foundation; either version 2.1 of the License, or (at
# your option) any later version. The text of the GNU Lesser
# General Public License is included with this library in the
# file LICENSE.
# (2) The BSD-style license that is included with this library in
# the file LICENSE-BSD.
#
# This library is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
# LICENSE and LICENSE-BSD for more details.
######################################################################
# XODE Importer for PyODE
"""
XODE Body and Mass Parser
@author: U{Timothy Stranex<mailto:timothy@stranex.com>}
"""
import ode
import errors, node, joint, transform, geom
class Body(node.TreeNode):
"""
Represents an ode.Body object and corresponds to the <body> tag.
"""
def __init__(self, name, parent, attrs):
node.TreeNode.__init__(self, name, parent)
world = parent.getFirstAncestor(ode.World)
self.setODEObject(ode.Body(world.getODEObject()))
enabled = attrs.get('enabled', 'true')
if (enabled not in ['true', 'false']):
raise errors.InvalidError("Enabled attribute must be either 'true'"\
" or 'false'.")
else:
if (enabled == 'false'):
self.getODEObject().disable()
gravitymode = int(attrs.get('gravitymode', 1))
if (gravitymode == 0):
self.getODEObject().setGravityMode(0)
self._mass = None
self._transformed = False
def takeParser(self, parser):
"""
Handle further parsing. It should be called immediately after the <body>
tag has been encountered.
"""
self._parser = parser
self._parser.push(startElement=self._startElement,
endElement=self._endElement)
def _applyTransform(self):
if (self._transformed): return
t = self.getTransform()
body = self.getODEObject()
body.setPosition(t.getPosition())
body.setRotation(t.getRotation())
self._transformed = True
def _startElement(self, name, attrs):
nodeName = attrs.get('name', None)
if (name == 'transform'):
t = transform.Transform()
t.takeParser(self._parser, self, attrs)
else:
self._applyTransform()
if (name == 'torque'):
self.getODEObject().setTorque(self._parser.parseVector(attrs))
elif (name == 'force'):
self.getODEObject().setForce(self._parser.parseVector(attrs))
elif (name == 'finiteRotation'):
mode = int(attrs['mode'])
try:
axis = (float(attrs['xaxis']),
float(attrs['yaxis']),
float(attrs['zaxis']))
except KeyError:
raise errors.InvalidError('finiteRotation element must have' \
' xaxis, yaxis and zaxis attributes')
if (mode not in [0, 1]):
raise errors.InvalidError('finiteRotation mode attribute must' \
' be either 0 or 1.')
self.getODEObject().setFiniteRotationMode(mode)
self.getODEObject().setFiniteRotationAxis(axis)
elif (name == 'linearVel'):
self.getODEObject().setLinearVel(self._parser.parseVector(attrs))
elif (name == 'angularVel'):
self.getODEObject().setAngularVel(self._parser.parseVector(attrs))
elif (name == 'mass'):
self._mass = Mass(nodeName, self)
self._mass.takeParser(self._parser)
elif (name == 'joint'):
j = joint.Joint(nodeName, self)
j.takeParser(self._parser)
elif (name == 'body'):
b = Body(nodeName, self, attrs)
b.takeParser(self._parser)
elif (name == 'geom'):
g = geom.Geom(nodeName, self)
g.takeParser(self._parser)
elif (name == 'transform'): # so it doesn't raise ChildError
pass
else:
raise errors.ChildError('body', name)
def _endElement(self, name):
if (name == 'body'):
self._parser.pop()
self._applyTransform()
if (self._mass is not None):
self.getODEObject().setMass(self._mass.getODEObject())
class Mass(node.TreeNode):
"""
Represents an ode.Mass object and corresponds to the <mass> tag.
"""
def __init__(self, name, parent):
node.TreeNode.__init__(self, name, parent)
mass = ode.Mass()
mass.setSphere(1.0, 1.0)
self.setODEObject(mass)
body = self.getFirstAncestor(ode.Body)
body.getODEObject().setMass(mass)
def takeParser(self, parser):
"""
Handle further parsing. It should be called immediately after the <mass>
tag is encountered.
"""
self._parser = parser
self._parser.push(startElement=self._startElement,
endElement=self._endElement)
def _startElement(self, name, attrs):
nodeName = attrs.get('name', None)
if (name == 'mass_struct'):
pass
elif (name == 'mass_shape'):
self._parseMassShape(attrs)
elif (name == 'transform'):
# parse transform
pass
elif (name == 'adjust'):
total = float(attrs['total'])
self.getODEObject().adjust(total)
elif (name == 'mass'):
mass = Mass(nodeName, self)
mass.takeParser(self._parser)
else:
raise errors.ChildError('mass', name)
def _endElement(self, name):
if (name == 'mass'):
try:
mass = self.getFirstAncestor(ode.Mass)
except node.AncestorNotFoundError:
pass
else:
mass.getODEObject().add(self.getODEObject())
self._parser.pop()
def _parseMassShape(self, attrs):
density = attrs.get('density', None)
mass = self.getODEObject()
def start(name, attrs):
if (name == 'sphere'):
radius = float(attrs.get('radius', 1.0))
if (density is not None):
mass.setSphere(float(density), radius)
elif (name == 'box'):
lx = float(attrs['sizex'])
ly = float(attrs['sizey'])
lz = float(attrs['sizez'])
if (density is not None):
mass.setBox(float(density), lx, ly, lz)
else:
# FIXME: Implement remaining mass shapes.
raise NotImplementedError()
def end(name):
if (name == 'mass_shape'):
self._parser.pop()
self._parser.push(startElement=start, endElement=end)
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