Pagoda 0.1.0 documentation

`PAGODA`¶

The pagoda package contains Python glue that binds together the Open Dynamics Engine (ODE), a physics simulator, with Pyglet, a package for relatively painless graphics. This package provides some additional classes that make it even easier to construct, simulate, and visualize physical worlds.

The package defines Pythonic wrappers for all of the Body and most of the Joint types provided in ODE. It also defines a visualization base class that defines several helper methods to make it easy to draw common geometric objects.

Example Code¶

Normally in pagoda you create a new world, add some bodies to the world, and then run a visualization tool to see what happens:

import climate
import pagoda
import pagoda.viewer
import numpy as np
import numpy.random as rng

# define a new physics world with a custom "reset" method.
class World(pagoda.physics.World):
    def reset(self):
        for b in self.bodies:
            b.position = np.array([0, 0, 10]) + 3 * rng.randn(3)
            b.quaternion = pagoda.physics.make_quaternion(
                np.pi * rng.rand(), 0, 1, 1)

# helper to create gamma-distributed random values.
def gam(n, k=0.1, size=1):
    return np.clip(rng.gamma(n, k, size=size), 0.5, 1000)

# create the simulation world.
w = World()

# add 20 random bodies to the world.
for _ in range(20):
    s, kw = (
        ('box', dict(lengths=gam(8, size=3))),
        ('capsule', dict(radius=gam(3), length=gam(10))),
        ('cylinder', dict(radius=gam(2), length=gam(10))),
        ('sphere', dict(radius=gam(2))),
        )[rng.randint(4)]
    kw['color'] = tuple(rng.random(3)) + (0.9, )
    w.create_body(s, **kw)

# reset the positions of all the bodies.
w.reset()

# run the pyglet visualizer!
pagoda.viewer.Viewer(w).run()

At the moment most of the documentation lives in the API reference, but hopefully much of the API is relatively simple to understand. Have fun!

Documentation¶

Reference