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3D cubes animation with PyODE and Vapory
"""
Physics simulation with PyODE followed by a (basic) rendering with Vapory
See the result here: http://i.imgur.com/TdhxwGz.gifv
Zulko 2014
This script is placed in the Public Domain (Licence Creative Commons 0)
"""
# =============== FIRST PART : SIMULATION WITH PyODE
import ode
lx, ly, lz, density = 1.0, 1.0, 1.0, 1.0
world = ode.World()
world.setGravity( (0,-9.81,0) )
world.setCFM(1E-6)
space = ode.Space()
contactgroup = ode.JointGroup()
geoms = []
def near_callback(args, geom1, geom2):
"""Callback function for the collide() method below.
This function checks if the given geoms do collide and
creates contact joints if they do.
"""
contacts = ode.collide(geom1, geom2)
world,contactgroup = args
for c in contacts:
c.setBounce(0.01)
c.setMu(60000)
j = ode.ContactJoint(world, contactgroup, c)
j.attach(geom1.getBody(), geom2.getBody())
def new_cube(xyz):
""" Creates a new PyODE cude at position (x,y,z) """
body = ode.Body(world)
M = ode.Mass()
M.setBox(density, lx, ly, lz)
body.setMass(M)
body.shape = "box"
body.boxsize = (lx, ly, lz)
body.setPosition(xyz)
geom = ode.GeomBox(space, lengths=body.boxsize)
geom.setBody(body)
geoms.append(geom) # avoids that geom gets trashed
return body
# The objects of the scene:
floor = ode.GeomPlane(space, (0,1,0), 0)
cubes = [new_cube(xyz) for xyz in
[(0.5,3,0.5),(0.5,4,0),(0,5,0),(-0.5,6,0),
(-0.5,7,-0.5),(0,8,0.5)]]
# Start the simulation !
t = 0.0
dt = 0.005
duration = 4.0
trajectories = []
while t<duration:
trajectories.append([(c.getPosition(), c.getRotation())
for c in cubes])
space.collide((world,contactgroup), near_callback)
world.step(dt)
contactgroup.empty()
t+=dt
# =============== SECOND PART : RENDERING WITH VAPORY
from moviepy.editor import VideoClip, ipython_display
from vapory import *
light = LightSource( [10,10,10], 'color', [3,3,3],
'parallel', 'point_at', [0, 0, 0])
ground = Plane([0,1,0],0, Texture('Rosewood'))
def vapory_box(xyz, R):
""" Draws a box with at the given position and rotation"""
return Box([-lx/2, -ly/2, -lz/2], [lx/2, ly/2, lz/2],
Texture('T_Ruby_Glass'), Interior('ior',4),
'matrix', R+xyz)
def make_frame(t):
""" Returns the image of the scene rendered at time t """
boxes = [vapory_box(position, rotation)
for (position, rotation) in trajectories[int(t/dt)]]
scene = Scene( Camera("location", [0,3,-4], "look_at", [0,0,0]),
[light, ground, Background("White")] + boxes,
included=["colors.inc", "textures.inc", "glass.inc"])
return scene.render(height=300, width=400, antialiasing=0.0001)
clip = VideoClip(make_frame, duration=duration)
clip.write_videofile("pyODE.avi", codec='png', fps=20) # lossless format
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