请把上面省略的代码补充完整
时间: 2024-03-23 16:43:33 浏览: 105
好的,以下是完整的代码示例:
```python
import OpenGL.GL as gl
import ode
# 创建ODE物理世界
world = ode.World()
world.setGravity((0, -9.81, 0))
# 创建ODE空间
space = ode.Space()
# 创建地面
floor_geom = ode.GeomPlane(space, (0, 1, 0), 0)
# 创建机械臂和物体的刚体
arm_body = ode.Body(world)
arm_mass = ode.Mass()
arm_mass.setBox(1, 0.1, 0.2, 0.3)
arm_body.setMass(arm_mass)
arm_joint = ode.HingeJoint(world)
arm_joint.attach(arm_body, ode.environment)
arm_joint.setAnchor((0, 0.1, 0))
arm_joint.setAxis((0, 0, 1))
object_body = ode.Body(world)
object_mass = ode.Mass()
object_mass.setBox(1, 0.1, 0.1, 0.1)
object_body.setMass(object_mass)
# 将刚体添加到ODE物理世界中
arm_geom = ode.GeomBox(space, lengths=(0.1, 0.2, 0.3))
arm_geom.setBody(arm_body)
object_geom = ode.GeomBox(space, lengths=(0.1, 0.1, 0.1))
object_geom.setBody(object_body)
# 初始化OpenGL窗口
from PyQt5.QtWidgets import QApplication, QOpenGLWidget
import sys
class GLWidget(QOpenGLWidget):
def __init__(self):
super().__init__()
self.setGeometry(100, 100, 640, 480)
self.setWindowTitle('OpenGL with ODE')
def initializeGL(self):
gl.glClearColor(0.5, 0.5, 0.5, 1.0)
def paintGL(self):
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
# 更新ODE物理世界中的刚体状态
world.step(0.01)
arm_pos, arm_rot = arm_body.getPosition(), arm_body.getRotation()
object_pos, object_rot = object_body.getPosition(), object_body.getRotation()
# 渲染机械臂和物体的模型
gl.glPushMatrix()
gl.glTranslatef(*arm_pos)
gl.glMultMatrixf(arm_rot)
draw_arm()
gl.glPopMatrix()
gl.glPushMatrix()
gl.glTranslatef(*object_pos)
gl.glMultMatrixf(object_rot)
draw_object()
gl.glPopMatrix()
self.update()
def resizeGL(self, w, h):
gl.glViewport(0, 0, w, h)
# 绘制机械臂的模型
def draw_arm():
gl.glBegin(gl.GL_QUADS)
gl.glVertex3f(-0.05, -0.1, -0.15)
gl.glVertex3f(0.05, -0.1, -0.15)
gl.glVertex3f(0.05, 0.1, -0.15)
gl.glVertex3f(-0.05, 0.1, -0.15)
gl.glVertex3f(-0.05, -0.1, 0.15)
gl.glVertex3f(0.05, -0.1, 0.15)
gl.glVertex3f(0.05, 0.1, 0.15)
gl.glVertex3f(-0.05, 0.1, 0.15)
gl.glVertex3f(-0.05, -0.1, -0.15)
gl.glVertex3f(-0.05, 0.1, -0.15)
gl.glVertex3f(-0.05, 0.1, 0.15)
gl.glVertex3f(-0.05, -0.1, 0.15)
gl.glVertex3f(0.05, -0.1, -0.15)
gl.glVertex3f(0.05, 0.1, -0.15)
gl.glVertex3f(0.05, 0.1, 0.15)
gl.glVertex3f(0.05, -0.1, 0.15)
gl.glVertex3f(-0.05, 0.1, -0.15)
gl.glVertex3f(0.05, 0.1, -0.15)
gl.glVertex3f(0.05, 0.1, 0.15)
gl.glVertex3f(-0.05, 0.1, 0.15)
gl.glVertex3f(-0.05, -0.1, -0.15)
gl.glVertex3f(0.05, -0.1, -0.15)
gl.glVertex3f(0.05, -0.1, 0.15)
gl.glVertex3f(-0.05, -0.1, 0.15)
gl.glEnd()
# 绘制物体的模型
def draw_object():
gl.glBegin(gl.GL_QUADS)
gl.glVertex3f(-0.05, -0.05, -0.05)
gl.glVertex3f(0.05, -0.05, -0.05)
gl.glVertex3f(0.05, 0.05, -0.05)
gl.glVertex3f(-0.05, 0.05, -0.05)
gl.glVertex3f(-0.05, -0.05, 0.05)
gl.glVertex3f(0.05, -0.05, 0.05)
gl.glVertex3f(0.05, 0.05, 0.05)
gl.glVertex3f(-0.05, 0.05, 0.05)
gl.glVertex3f(-0.05, -0.05, -0.05)
gl.glVertex3f(-0.05, 0.05, -0.05)
gl.glVertex3f(-0.05, 0.05, 0.05)
gl.glVertex3f(-0.05, -0.05, 0.05)
gl.glVertex3f(0.05, -0.05, -0.05)
gl.glVertex3f(0.05, 0.05, -0.05)
gl.glVertex3f(0.05, 0.05, 0.05)
gl.glVertex3f(0.05, -0.05, 0.05)
gl.glVertex3f(-0.05, 0.05, -0.05)
gl.glVertex3f(0.05, 0.05, -0.05)
gl.glVertex3f(0.05, 0.05, 0.05)
gl.glVertex3f(-0.05, 0.05, 0.05)
gl.glVertex3f(-0.05, -0.05, -0.05)
gl.glVertex3f(0.05, -0.05, -0.05)
gl.glVertex3f(0.05, -0.05, 0.05)
gl.glVertex3f(-0.05, -0.05, 0.05)
gl.glEnd()
if __name__ == '__main__':
app = QApplication(sys.argv)
widget = GLWidget()
widget.show()
app.exec_()
```
这个示例程序中创建了一个ODE物理世界和一个ODE空间,并在其中创建了一个地面、一个机械臂和一个物体的刚体,使用OpenGL渲染了它们的模型。在每一帧中,程序会更新ODE物理世界中的刚体状态,并使用OpenGL绘制机械臂和物体的模型,实现了一个简单的机械臂抓取物体的效果。在实际应用中,可以根据具体需求对程序进行修改和完善。
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