Python Open Dynamics Engine Wrapper

Author: Matthias Baas (baas@ira.uka.de)
Date: 2004-07-29
Version: 0.35cvs-2

The Open Dynamics Engine (ODE) is a free software library for the simulation of Rigid Body Dynamics. You'll find the library at http://opende.sourceforge.net.

pyODE is a Python wrapper module that enables you to use ODE from within Python programs.

Note: This binding has been merged with Timothy Stranex' version at http://pyode.sourceforge.net. Please visit that site to get updates.

Contents

Download

So far you can download a binary version for Win32 and the sources if you want to compile it yourself (in addition to Win32 I tested it on Linux, too).

Binary: pyODE-0.35cvs-2.win32-py2.2.exe (Win32, Python 2.2.x)

Source: pyODE-0.35cvs-2.zip (DOS newlines)

Source: pyODE-0.35cvs-2.tar.gz (Unix newlines)

Documentation

To use pyODE you have to be familiar with the C API of ODE, so you should consult the original ODE manual, too.

Here you can see a list of classes, functions and constants available in the module. The name of the module is ode. Please use the Python help() command to get more information about the classes and functions.

Classes

Python class ODE C API ODE documentation
World dWorld 5 World
Body dBody 6 Rigid body functions
JointGroup dJointGroup 7 Joint types and functions
BallJoint dJoint 7.3.1 Ball and socket
HingeJoint dJoint 7.3.2 Hinge
SliderJoint dJoint 7.3.3 Slider
UniversalJoint dJoint 7.3.4 Universal
FixedJoint dJoint 7.3.6 Fixed
ContactJoint dJoint 7.3.7 Contact
Contact dContact 7.3.7 Contact
Mass dMass 8.2 Mass functions
1 dContactGeom 9.1 Contact points
Space dSpace 9.2 Geoms - 9.6 Space functions
GeomSphere dGeom 9.7.1 Sphere class
GeomBox dGeom 9.7.2 Box class
GeomPlane dGeom 9.7.3 Plane class
GeomCCylinder dGeom 9.7.4 Capped cylinder class
GeomRay dGeom 9.7.5 Ray class
GeomTransform dGeom 9.7.7 Geometry Transform class
[1]The dContactGeom structure is part of dContact and so it is part of the Contact class.

Functions

Python function ODE C API ODE documentation
CloseODE() dCloseODE() 5 World
collide() dCollide() 9.5.2 Collision detection functions

Constants

ParamLoStop        = 0
ParamHiStop        = 1
ParamVel           = 2
ParamFMax          = 3
ParamFudgeFactor   = 4
ParamBounce        = 5
ParamCFM           = 6
ParamStopERP       = 7
ParamStopCFM       = 8
ParamSuspensionERP = 9
ParamSuspensionCFM = 10

# the above parameters are also defined with a trailing ‚2'

ContactMu2     = 0x001
ContactFDir1   = 0x002
ContactBounce  = 0x004
ContactSoftERP = 0x008
ContactSoftCFM = 0x010
ContactMotion1 = 0x020
ContactMotion2 = 0x040
ContactSlip1   = 0x080
ContactSlip2   = 0x100

ContactApprox0 = 0x0000
ContactApprox1_1 = 0x1000
ContactApprox1_2 = 0x2000
ContactApprox1 = 0x3000

Infinity = dInfinity

environment = Body(None)

Tutorials

Open Dynamics Engine
Copyright (c) 2001-2003, Russell L. Smith.
All rights reserved.