/usr/share/pyshared/xode/geom.py is in python-pyode 1.2.0-4+cvs20090320.1.
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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 Geom Parser
@author: U{Timothy Stranex<mailto:timothy@stranex.com>}
"""
import ode
import errors, node, joint, body, transform
class Geom(node.TreeNode):
"""
Represents an C{ode.Geom} object and corresponds to the <geom> tag.
"""
def __init__(self, name, parent):
node.TreeNode.__init__(self, name, parent)
self._space = self.getFirstAncestor(ode.SpaceBase).getODEObject()
self._transformed = False
try:
self._body = self.getFirstAncestor(ode.Body)
except node.AncestorNotFoundError:
self._body = None
def takeParser(self, parser):
"""
Handle further parsing. It should be called immediately after the <geom>
tag has been 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 == 'transform'):
t = transform.Transform()
t.takeParser(self._parser, self, attrs)
self._transformed = True
elif (name == 'box'):
self._parseGeomBox(attrs)
elif (name == 'cappedCylinder'):
self._parseGeomCCylinder(attrs)
elif (name == 'cone'):
raise NotImplementedError()
elif (name == 'cylinder'):
raise NotImplementedError()
elif (name == 'plane'):
self._parseGeomPlane(attrs)
elif (name == 'ray'):
self._parseGeomRay(attrs)
elif (name == 'sphere'):
self._parseGeomSphere(attrs)
elif (name == 'trimesh'):
self._parseTriMesh(attrs)
elif (name == 'geom'):
g = Geom(nodeName, self)
g.takeParser(self._parser)
elif (name == 'body'):
b = body.Body(nodeName, self, attrs)
b.takeParser(self._parser)
elif (name == 'joint'):
j = joint.Joint(nodename, self)
j.takeParser(self._parser)
elif (name == 'jointgroup'):
pass
elif (name == 'ext'):
pass
else:
raise errors.ChildError('geom', name)
def _endElement(self, name):
if (name == 'geom'):
obj = self.getODEObject()
if (obj is None):
raise errors.InvalidError('No geom type element found.')
self._parser.pop()
def _setObject(self, kclass, **kwargs):
"""
Create the Geom object and apply transforms. Only call for placeable
Geoms.
"""
if (self._body is None):
# The Geom is independant so it can have its own transform
kwargs['space'] = self._space
obj = kclass(**kwargs)
t = self.getTransform()
obj.setPosition(t.getPosition())
obj.setRotation(t.getRotation())
self.setODEObject(obj)
elif (self._transformed):
# The Geom is attached to a body so to transform it, it must
# by placed in a GeomTransform and its transform is relative
# to the body.
kwargs['space'] = None
obj = kclass(**kwargs)
t = self.getTransform(self._body)
obj.setPosition(t.getPosition())
obj.setRotation(t.getRotation())
trans = ode.GeomTransform(self._space)
trans.setGeom(obj)
trans.setBody(self._body.getODEObject())
self.setODEObject(trans)
else:
kwargs['space'] = self._space
obj = kclass(**kwargs)
obj.setBody(self._body.getODEObject())
self.setODEObject(obj)
def _parseGeomBox(self, attrs):
def start(name, attrs):
if (name == 'ext'):
pass
else:
raise errors.ChildError('box', name)
def end(name):
if (name == 'box'):
self._parser.pop()
lx = float(attrs['sizex'])
ly = float(attrs['sizey'])
lz = float(attrs['sizez'])
self._setObject(ode.GeomBox, lengths=(lx, ly, lz))
self._parser.push(startElement=start, endElement=end)
def _parseGeomCCylinder(self, attrs):
def start(name, attrs):
if (name == 'ext'):
pass
else:
raise errors.ChildError('cappedCylinder', name)
def end(name):
if (name == 'cappedCylinder'):
self._parser.pop()
radius = float(attrs['radius'])
length = float(attrs['length'])
self._setObject(ode.GeomCCylinder, radius=radius, length=length)
self._parser.push(startElement=start, endElement=end)
def _parseGeomSphere(self, attrs):
def start(name, attrs):
if (name == 'ext'):
pass
else:
raise errors.ChildError('sphere', name)
def end(name):
if (name == 'sphere'):
self._parser.pop()
radius = float(attrs['radius'])
self._setObject(ode.GeomSphere, radius=radius)
self._parser.push(startElement=start, endElement=end)
def _parseGeomPlane(self, attrs):
def start(name, attrs):
if (name == 'ext'):
pass
else:
raise errors.ChildError('plane', name)
def end(name):
if (name == 'plane'):
self._parser.pop()
a = float(attrs['a'])
b = float(attrs['b'])
c = float(attrs['c'])
d = float(attrs['d'])
self.setODEObject(ode.GeomPlane(self._space, (a, b, c), d))
self._parser.push(startElement=start, endElement=end)
def _parseGeomRay(self, attrs):
def start(name, attrs):
if (name == 'ext'):
pass
else:
raise errors.ChildError('ray', name)
def end(name):
if (name == 'ray'):
self._parser.pop()
length = float(attrs['length'])
self.setODEObject(ode.GeomRay(self._space, length))
self._parser.push(startElement=start, endElement=end)
def _parseTriMesh(self, attrs):
vertices = []
triangles = []
def start(name, attrs):
if (name == 'vertices'):
pass
elif (name == 'triangles'):
pass
elif (name == 'v'):
vertices.append(self._parser.parseVector(attrs))
elif (name == 't'):
tri = int(attrs['ia'])-1, int(attrs['ib'])-1, int(attrs['ic'])-1
triangles.append(tri)
else:
raise errors.ChildError('trimesh', name)
def end(name):
if (name == 'trimesh'):
data = ode.TriMeshData()
data.build(vertices, triangles)
self._setObject(ode.GeomTriMesh, data=data)
self._parser.pop()
self._parser.push(startElement=start, endElement=end)
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