hinges_py

hinges_py is a compact, minimal implementation of rigid-bodies with hinges, including rendering, in Python.

Screenshot

Command

 python hinges_py.py -scene chain -fancy

Arguments

• -scene: Chooses one of the built-in scenes: 'test', '1', 'shoulder', 'chain'.
• -dt: Sets a fixed physics time step.
• -adapt_fixed_dt: Adapts the number of physics steps between render frames to make the simulation look time based.
• -flex_dt: The physics time steps is adaptively set to the current frame rate.
• -paused: Starts paused.
• -length: Exits after the specified amount of seconds.
• -baumg: Sets the Baumgarte stabilization factor.
• -grav: Sets a multiplier on gravity.
• -si_iters: The number of constraint block iterations.
• -fancy: Hides occluded wire-frame lines.
• -fill: Fills polygons instead of wire-framing them.
• -mono: Disables colors, uses monochrome balck and white.
• -print: Prints frame information to the console.
• -h: Prints any command line arguments that the running code is querying. E.g: The shoulder scene has additional arguments that are too specific to document.

Keyboard:

• WASD, QE: Controls the camera.
• R: Resets the camera.
• Enter: Toggles pausing.
• Space: Step when paused.
• Escape: Exits.

Notes:

• On a Mac, the application may start minimized.

Dependencies

• Python 2.7
• PyOpenGL
• Numpy