Reference¶
Physics wrapper¶
This module contains convenience wrappers for ODE objects.
make_quaternion(theta, *axis) |
Given an angle and an axis, create a quaternion. |
center_of_mass(bodies) |
Given a set of bodies, compute their center of mass in world coordinates. |
World([dt, max_angular_speed]) |
A wrapper for an ODE World object, for running in a simulator. |
Constraints |
Bodies¶
Body(name, world[, density, mass]) |
This class wraps things that participate in the ODE physics simulation. |
Box(name, world[, density, mass]) |
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Sphere(name, world[, density, mass]) |
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Cylinder(name, world[, density, mass]) |
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Capsule(name, world[, density, mass]) |
Motors¶
Motor |
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AMotor(*args, **kwargs) |
An angular motor applies torques to change an angle in the physics world. |
LMotor(name, world, body_a[, body_b, ...]) |
An LMotor applies forces to change a position in the physics world. |
Joints¶
Joint |
Base class for joints connecting two bodies. |
Fixed(name, world, body_a[, body_b, anchor, ...]) |
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Slider(name, world, body_a[, body_b, ...]) |
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Hinge(name, world, body_a[, body_b, anchor, ...]) |
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Piston(name, world, body_a[, body_b, ...]) |
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Universal(name, world, body_a[, body_b, ...]) |
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Ball(name, *args, **kwargs) |
Visualization¶
gl_context |
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Window |
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Null |
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Viewer |
Articulated Multi-Joint Bodies¶
Articulated “skeleton” class and associated helper functions.
pid([kp, ki, kd, smooth]) |
Create a callable that implements a PID controller. |
Skeleton(world) |
A skeleton is a group of rigid bodies connected with articulated joints. |
Parser for configuring objects and joints in a pagoda simulation.
Parser |
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BodyParser |
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AsfParser |
Articulated IK and ID¶
This module contains a Python implementation of a forward-dynamics solver.
For detailed information about the solver, its raison d’être, and how it works,
please see the documentation for the World class.
Further comments and documentation are available in this source file. Eventually I hope to integrate these comments into some sort of online documentation for the package as a whole.
Markers(world) |
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World([dt, max_angular_speed]) |
Simulate a physics world that includes an articulated skeleton model. |