from direct.directbase import DirectStart
from pandac.PandaModules import OdeWorld, OdeSimpleSpace, OdeJointGroup
from pandac.PandaModules import OdeBody, OdeMass, OdeTriMeshData, OdeTriMeshGeom
from pandac.PandaModules import BitMask32, CardMaker, Vec4, Quat
from random import randint, random
   
# Setup our physics world
world = OdeWorld()
world.setGravity(0, 0, -9.81)
   
# The surface table is needed for autoCollide
world.initSurfaceTable(1)
world.setSurfaceEntry(0, 0, 900, 0.0, 9.1, 0.9, 0.00001, 0.0, 0.002)
   
# Create a space and add a contactgroup to it to add the contact joints
space = OdeSimpleSpace()
space.setAutoCollideWorld(world)
contactgroup = OdeJointGroup()
space.setAutoCollideJointGroup(contactgroup)

do = loader.loadModel("do")
do.reparentTo(render)
do.setPos(0,0,20)

land = loader.loadModel("land")
land.reparentTo(render)

doBody = OdeBody(world)
M = OdeMass()
M.setSphere(30,10)
doBody.setMass(M)
doBody.setPosition(do.getPos(render))
doBody.setQuaternion(do.getQuat(render))

doTrime sh = OdeTriMeshData(do, True)
doCol = OdeTriMeshGeom(space, doTrimesh)
doCol.setBody(doBody)

landTrimesh = OdeTriMeshData(land, True)
landCol = OdeTriMeshGeom(space, landTrimesh)

# Set the camera position

def simTask(task):
  space.autoCollide()
  world.quickStep(globalClock.getDt())
  do.setPosQuat(render, doBody.getPosition(), Quat(doBody.getQuaternion()))
  contactgroup.empty() # Clear the contact joints
    return task.cont

taskMgr.doMethodLater(0.5, simTask, "Physics Simulation")

   
run()