def update_objects(self) -> None:
"""Update proxy objects when object list changes.
Called from GLCanvas upon core_o_list_changed signal.
"""
self._meshes.clear()
for index, object3d in enumerate(self.core.objects):
vao = glGenVertexArrays(1)
glBindVertexArray(vao)
vertices: glm.array = None
normals: glm.array = None
indices: glm.array = None
if object3d.__class__ == CylinderObject3D:
vertices, normals, indices = get_cylinder_vertices(
object3d, 24)
elif object3d.__class__ == OBJObject3D:
vertices = object3d.vertices
normals = object3d.normals
indices = object3d.indices
elif object3d.__class__ == AABBObject3D:
vertices, normals, indices = get_aabb_vertices(object3d)
else:
continue
vbo = glGenBuffers(3)
# vertices
glBindBuffer(GL_ARRAY_BUFFER, vbo[0])
glBufferData(GL_ARRAY_BUFFER, vertices.nbytes, vertices.ptr,
GL_STATIC_DRAW)
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0,
ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
# normals
glBindBuffer(GL_ARRAY_BUFFER, vbo[1])
glBufferData(GL_ARRAY_BUFFER, normals.nbytes, normals.ptr,
GL_STATIC_DRAW)
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 0,
ctypes.c_void_p(0))
glEnableVertexAttribArray(1)
# indices
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vbo[2])
glBufferData(GL_ELEMENT_ARRAY_BUFFER, indices.nbytes, indices.ptr,
GL_STATIC_DRAW)
self._meshes.append(
Mesh(color=vec4(0.8, 0.8, 0.8, 0.85),
count=indices.length * 3,
vao=vao,
object_id=index,
selected=False))
glBindVertexArray(0)
def create_vaos(self) -> None:
"""Bind VAOs to define vertex data."""
self._vao_gridlines, self._vao_bounding_box = glGenVertexArrays(2)
vbo = glGenBuffers(5)
vertices, colors = self._get_gridlines()
self._count_gridlines = vertices.size // 3
glBindVertexArray(self._vao_gridlines)
# gridlines
glBindBuffer(GL_ARRAY_BUFFER, vbo[0])
glBufferData(GL_ARRAY_BUFFER, vertices.nbytes, vertices,
GL_STATIC_DRAW)
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
glBindBuffer(GL_ARRAY_BUFFER, vbo[1])
glBufferData(GL_ARRAY_BUFFER, colors.nbytes, colors, GL_STATIC_DRAW)
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 0, ctypes.c_void_p(0))
glEnableVertexAttribArray(1)
# ---
points, indices = self._get_bounding_box()
self._count_bounding_box = indices.length
glBindVertexArray(self._vao_bounding_box)
# bounding box
glBindBuffer(GL_ARRAY_BUFFER, vbo[2])
glBufferData(GL_ARRAY_BUFFER, points.nbytes, points, GL_STATIC_DRAW)
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 24, ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
glBindBuffer(GL_ARRAY_BUFFER, vbo[3])
glBufferData(GL_ARRAY_BUFFER, points.nbytes, points, GL_STATIC_DRAW)
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 24,
ctypes.c_void_p(12))
glEnableVertexAttribArray(1)
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vbo[4])
glBufferData(GL_ELEMENT_ARRAY_BUFFER, indices.nbytes, indices.ptr,
GL_STATIC_DRAW)
self._axes.create_vaos()
glBindVertexArray(0)
glDeleteBuffers(5, vbo)
def _render_bounding_box(self) -> None:
"""Render bounding box."""
if self._vao_bounding_box is None:
return
glBindVertexArray(self._vao_bounding_box)
glDrawElements(GL_LINES, self._count_bounding_box, GL_UNSIGNED_INT,
ctypes.c_void_p(0))
def create_vaos(self) -> None:
"""Bind VAOs to define vertex data."""
vbo = glGenBuffers(1)
# initialize camera box
# TODO: update to obj file
vertices = glm.array(
vec3(-1.0, -0.5, -1.0), # bottom
vec3(-1.0, -0.5, 1.0),
vec3(-1.0, 0.5, 1.0),
vec3(-1.0, 0.5, -1.0),
vec3(1.0, -0.5, -1.0), # right
vec3(-1.0, -0.5, -1.0),
vec3(-1.0, 0.5, -1.0),
vec3(1.0, 0.5, -1.0),
vec3(1.0, -0.5, 1.0), # top
vec3(1.0, -0.5, -1.0),
vec3(1.0, 0.5, -1.0),
vec3(1.0, 0.5, 1.0),
vec3(-1.0, -0.5, 1.0), # left
vec3(1.0, -0.5, 1.0),
vec3(1.0, 0.5, 1.0),
vec3(-1.0, 0.5, 1.0),
vec3(1.0, 0.5, -1.0), # back
vec3(-1.0, 0.5, -1.0),
vec3(-1.0, 0.5, 1.0),
vec3(1.0, 0.5, 1.0),
vec3(-1.0, -0.5, -1.0), # front
vec3(1.0, -0.5, -1.0),
vec3(1.0, -0.5, 1.0),
vec3(-1.0, -0.5, 1.0),
)
glBindBuffer(GL_ARRAY_BUFFER, vbo)
glBufferData(GL_ARRAY_BUFFER, vertices.nbytes, vertices.ptr,
GL_STATIC_DRAW)
self._vaos['box'] = glGenVertexArrays(1)
glBindVertexArray(self._vaos['box'])
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
self._vaos['camera'] = glGenVertexArrays(1)
glBindVertexArray(self._vaos['camera'])
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
def render(self) -> None:
"""Render proxy objects to canvas with a diffuse shader."""
if not self.init():
return
proj = self.parent.projection_matrix
view = self.parent.modelview_matrix
glUseProgram(self.parent.shaders['diffuse'])
glUniformMatrix4fv(0, 1, GL_FALSE, glm.value_ptr(proj))
glUniformMatrix4fv(1, 1, GL_FALSE, glm.value_ptr(view))
for mesh in self._meshes:
glBindVertexArray(mesh.vao)
glUniform4fv(2, 1, glm.value_ptr(mesh.color))
glUniform1i(3, int(mesh.selected))
glDrawElements(GL_TRIANGLES, mesh.count, GL_UNSIGNED_INT,
ctypes.c_void_p(0))
glBindVertexArray(0)
glUseProgram(0)
def render_for_picking(self) -> None:
"""Render proxy objects for picking pass."""
if not self.init():
return
proj = self.parent.projection_matrix
view = self.parent.modelview_matrix
glUseProgram(self.parent.shaders['solid'])
glUniformMatrix4fv(0, 1, GL_FALSE, glm.value_ptr(proj))
glUniformMatrix4fv(1, 1, GL_FALSE, glm.value_ptr(view))
for mesh in self._meshes:
glBindVertexArray(mesh.vao)
glUniform1i(2, MAX_ID - mesh.object_id)
glDrawElements(GL_TRIANGLES, mesh.count, GL_UNSIGNED_INT,
ctypes.c_void_p(0))
glBindVertexArray(0)
glUseProgram(0)
glBindVertexArray(0)
glUseProgram(0)
def _bind_vao_mat_col_id(self, vao, mat: glm.array, col: glm.array,
ids: glm.array) -> None:
vbo = glGenBuffers(3)
glBindBuffer(GL_ARRAY_BUFFER, vbo[0])
glBufferData(GL_ARRAY_BUFFER, mat.nbytes, mat.ptr, GL_STATIC_DRAW)
glBindVertexArray(vao)
# modelmats
glVertexAttribPointer(3, 4, GL_FLOAT, GL_FALSE, 64, ctypes.c_void_p(0))
glEnableVertexAttribArray(3)
glVertexAttribPointer(4, 4, GL_FLOAT, GL_FALSE, 64,
ctypes.c_void_p(16)) # sizeof(glm::vec4)
glVertexAttribDivisor(3, 1)
glEnableVertexAttribArray(4)
glVertexAttribDivisor(4, 1)
glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 64,
ctypes.c_void_p(32)) # 2 * sizeof(glm::vec4)
glEnableVertexAttribArray(5)
glVertexAttribDivisor(5, 1)
glVertexAttribPointer(6, 4, GL_FLOAT, GL_FALSE, 64,
ctypes.c_void_p(48)) # 3 * sizeof(glm::vec4)
glEnableVertexAttribArray(6)
glVertexAttribDivisor(6, 1)
# colors
glBindBuffer(GL_ARRAY_BUFFER, vbo[1])
glBufferData(GL_ARRAY_BUFFER, col.nbytes, col.ptr, GL_STATIC_DRAW)
glVertexAttribPointer(7, 4, GL_FLOAT, GL_FALSE, 0, ctypes.c_void_p(0))
glEnableVertexAttribArray(7)
glVertexAttribDivisor(7, 1)
# ids for picking
glBindBuffer(GL_ARRAY_BUFFER, vbo[2])
glBufferData(GL_ARRAY_BUFFER, ids.nbytes, ids.ptr, GL_STATIC_DRAW)
# it should be GL_INT here, yet only GL_FLOAT works. huh??
glVertexAttribPointer(8, 1, GL_FLOAT, GL_FALSE, 0, ctypes.c_void_p(0))
glEnableVertexAttribArray(8)
glVertexAttribDivisor(8, 1)
glEnableVertexAttribArray(0)
glBindVertexArray(0)
def update_action_vaos(self) -> None:
"""Update VAOs when action list changes."""
self._vaos['line'].clear()
self._vaos['point'].clear()
# --- bind data for lines ---
for key, value in self._items['line'].items():
# ignore if 1 or fewer points
if len(value) <= 1:
continue
points = glm.array([vec3(mat[1][3]) for mat in value])
vbo = glGenBuffers(1)
glBindBuffer(GL_ARRAY_BUFFER, vbo)
glBufferData(GL_ARRAY_BUFFER, points.nbytes, points.ptr,
GL_STATIC_DRAW)
vao = glGenVertexArrays(1)
glBindVertexArray(vao)
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0,
ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
self._vaos['line'][key] = vao
glBindVertexArray(0)
# --- bind data for points ---
point_mats: glm.array = None
point_cols: glm.array = None
point_ids: glm.array = None
scale = glm.scale(mat4(), vec3(3, 3, 3))
for key, value in self._items['point'].items():
new_mats = glm.array([p[1] * scale for p in value])
color = shade_color(vec4(self.colors[key % len(self.colors)]),
-0.3)
new_cols = glm.array([color] * len(value))
# if point is selected, darken its color
for i, v in enumerate(value):
# un-offset ids
if (v[0] - self._num_devices) in self.core.selected_points:
new_cols[i] = shade_color(vec4(new_cols[i]), 0.6)
new_ids = glm.array.from_numbers(ctypes.c_int,
*(p[0] for p in value))
point_mats = new_mats if point_mats is None else point_mats.concat(
new_mats)
point_cols = new_cols if point_cols is None else point_cols.concat(
new_cols)
point_ids = new_ids if point_ids is None else point_ids.concat(
new_ids)
# we're done if no points to set
if not self._items['point']:
return
self._num_points = sum(len(i) for i in self._items['point'].values())
self._bind_vao_mat_col_id(self._vaos['box'], point_mats, point_cols,
point_ids)
def create_vaos(self) -> None:
"""Bind VAOs to define vertex data."""
self._vao_axes, *self._vao_arrows = glGenVertexArrays(3)
vbo = glGenBuffers(5)
build_dimensions = self.parent.build_dimensions
x = build_dimensions[0] - build_dimensions[3], build_dimensions[3]
y = build_dimensions[1] - build_dimensions[4], build_dimensions[4]
z = build_dimensions[2] - build_dimensions[5], build_dimensions[5]
points = np.array([
x[0],
0.0,
0.0,
1.0,
0.0,
0.0,
-x[1],
0.0,
0.0,
1.0,
0.0,
0.0,
0.0,
y[0],
0.0,
0.0,
1.0,
0.0,
0.0,
-y[1],
0.0,
0.0,
1.0,
0.0,
0.0,
0.0,
z[0],
0.0,
0.0,
1.0,
0.0,
0.0,
-z[1],
0.0,
0.0,
1.0,
],
dtype=np.float32)
glBindVertexArray(self._vao_axes)
# colored axes lines
glBindBuffer(GL_ARRAY_BUFFER, vbo[0])
glBufferData(GL_ARRAY_BUFFER, points.nbytes, points, GL_STATIC_DRAW)
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 24, ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
glBindBuffer(GL_ARRAY_BUFFER, vbo[1])
glBufferData(GL_ARRAY_BUFFER, points.nbytes, points, GL_STATIC_DRAW)
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 24,
ctypes.c_void_p(12))
glEnableVertexAttribArray(1)
# ---
vertices, colors = self._get_cones()
glBindVertexArray(self._vao_arrows[0])
# colored axes arrows, cone
glBindBuffer(GL_ARRAY_BUFFER, vbo[2])
glBufferData(GL_ARRAY_BUFFER, vertices.nbytes, vertices,
GL_STATIC_DRAW)
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
glBindBuffer(GL_ARRAY_BUFFER, vbo[3])
glBufferData(GL_ARRAY_BUFFER, colors.nbytes, colors, GL_STATIC_DRAW)
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 0, ctypes.c_void_p(0))
glEnableVertexAttribArray(1)
# ---
vertices[0] = x[0]
vertices[17 * 3 + 1] = y[0]
vertices[17 * 6 + 2] = z[0]
glBindVertexArray(self._vao_arrows[1])
# colored axes arrows, base
glBindBuffer(GL_ARRAY_BUFFER, vbo[4])
glBufferData(GL_ARRAY_BUFFER, vertices.nbytes, vertices,
GL_STATIC_DRAW)
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
glBindBuffer(GL_ARRAY_BUFFER, vbo[3])
glBufferData(GL_ARRAY_BUFFER, colors.nbytes, colors, GL_STATIC_DRAW)
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 0, ctypes.c_void_p(0))
glEnableVertexAttribArray(1)
# ---
glBindVertexArray(0)
glDeleteBuffers(5, vbo)
def create_vaos(self) -> None:
"""Bind VAOs to define vertex data."""
self._vaos['box'], self._vaos['side'], \
self._vaos['top'] = glGenVertexArrays(3)
vbo = glGenBuffers(4)
vertices = np.array(
[
-0.5,
-1.0,
-1.0, # bottom
0.5,
-1.0,
-1.0,
0.5,
-1.0,
1.0,
-0.5,
-1.0,
1.0,
-0.5,
1.0,
-1.0, # right
0.5,
1.0,
-1.0,
0.5,
-1.0,
-1.0,
-0.5,
-1.0,
-1.0,
-0.5,
1.0,
1.0, # top
0.5,
1.0,
1.0,
0.5,
1.0,
-1.0,
-0.5,
1.0,
-1.0,
-0.5,
-1.0,
1.0, # left
0.5,
-1.0,
1.0,
0.5,
1.0,
1.0,
-0.5,
1.0,
1.0,
0.5,
1.0,
-1.0, # back
0.5,
1.0,
1.0,
0.5,
-1.0,
1.0,
0.5,
-1.0,
-1.0,
-0.5,
-1.0,
-1.0, # front
-0.5,
-1.0,
1.0,
-0.5,
1.0,
1.0,
-0.5,
1.0,
-1.0,
],
dtype=np.float32)
glBindVertexArray(self._vaos['box'])
glBindBuffer(GL_ARRAY_BUFFER, vbo[0])
glBufferData(GL_ARRAY_BUFFER, vertices.nbytes, vertices,
GL_STATIC_DRAW)
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
# --- below are unused vaos for rendering a cylinder (for the camerae model)
# keep them, but TODO implement general object class
thetas = np.linspace(0, 2 * np.pi, 24, endpoint=True)
y = np.cos(thetas) * 0.7
z = np.sin(thetas) * 0.7
vertices = np.zeros(6 * 24, dtype=np.float32)
vertices[::3] = np.tile(np.array([1.0, 0.5], dtype=np.float32), 24)
vertices[1::3] = np.repeat(y, 2)
vertices[2::3] = np.repeat(z, 2)
glBindVertexArray(self._vaos['side'])
glBindBuffer(GL_ARRAY_BUFFER, vbo[1])
glBufferData(GL_ARRAY_BUFFER, vertices.nbytes, vertices,
GL_STATIC_DRAW)
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
# ---
vertices = np.concatenate(
(np.array([1.0, 0.0, 0.0]), vertices)).astype(np.float32)
indices = np.insert(np.arange(24) * 2 + 1, 0, 0).astype(np.uint16)
glBindVertexArray(self._vaos['top'])
glBindBuffer(GL_ARRAY_BUFFER, vbo[2])
glBufferData(GL_ARRAY_BUFFER, vertices.nbytes, vertices,
GL_STATIC_DRAW)
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vbo[3])
glBufferData(GL_ELEMENT_ARRAY_BUFFER, indices.nbytes, indices,
GL_STATIC_DRAW)
# ---
glBindVertexArray(0)
glDeleteBuffers(4, vbo)