def createScene(self):
# Root entity
rootEntity = QEntity()
light_entity = QEntity(rootEntity)
light = QPointLight(light_entity)
light.setColor(QColor(255, 255, 255))
light.setIntensity(0.6)
trans = QTransform()
trans.setTranslation(QVector3D(0, 0, 2))
light_entity.addComponent(trans)
light_entity.addComponent(light)
# Material
material = QPhongMaterial(rootEntity)
material.setAmbient(QColor(100, 100, 100))
# material.setShininess(0)
self.robot_entity = QEntity(rootEntity)
f1_mesh = QMesh()
f1_mesh.setSource(QUrl('qrc:/assets/' + self.robot_type + '.obj'))
self.robot_entity.addComponent(f1_mesh)
self.robot_entity.addComponent(material)
sphereTransform = QTransform()
controller = OrbitTransformController(sphereTransform)
controller.setTarget(sphereTransform)
controller.setRadius(0.0)
self.sphereRotateTransformAnimation = QPropertyAnimation(
sphereTransform)
self.sphereRotateTransformAnimation.setTargetObject(controller)
self.sphereRotateTransformAnimation.setPropertyName(b"angle")
self.sphereRotateTransformAnimation.setStartValue(0)
self.sphereRotateTransformAnimation.setEndValue(360)
self.sphereRotateTransformAnimation.setDuration(10000)
self.sphereRotateTransformAnimation.setLoopCount(-1)
self.robot_entity.addComponent(sphereTransform)
self.start_animation()
return rootEntity
def createScene(self):
root = QEntity()
# Material
material = QPhongMaterial(root)
material.setAmbient(QColor(100, 100, 0))
material.setDiffuse(QColor(100, 0, 100))
cube_E = QEntity(root)
cube_mesh = QCuboidMesh()
cube_mesh.setXExtent(2)
cube_mesh.setYExtent(2)
cube_mesh.setZExtent(2)
cube_tr = QTransform()
cube_tr.setScale3D(QVector3D(2, 2, 2))
cube_E.addComponent(cube_mesh)
cube_E.addComponent(cube_tr)
cube_E.addComponent(material)
return root
class Animation(object):
"""
Abstract class for setting up a 3D scene and animating it.
"""
def __init__(self, title, frame_rate, run_time):
"""
Create a new Animation.
Arguments:
title: str, the window title
frame_rate: float, the number of frames to display per second
run_time: float, the number of seconds to run the animation
"""
self.title = title
assert 0 < frame_rate < 1000
self.frame_rate = frame_rate
assert run_time > 0
self.run_time = run_time
self.frame = 0
self.prev_update_time = None
# import OpenGL so Qt can use it for rendering
from OpenGL import GL
# create the 3D window
self.view = Qt3DWindow()
self.view.setX(100)
self.view.setY(100)
self.view.setTitle(self.title)
self.qml_engine = QQmlEngine(self.view)
def load_qml(self, path, parent):
"""
Helper method to load an object using Qt's QML system.
Arguments:
path: str, a path to a QML file
parent: QObject, the parent of the object to be loaded
Returns:
the loaded QObject
"""
component = QQmlComponent(self.qml_engine, path, parent)
obj = component.create()
if obj is None:
print('Error loading {}'.format(path))
for error in component.errors():
print(error.toString())
exit()
return obj
def add_light(self, position, intensity=1.0, color=util.hsl(0, 0, 100)):
"""
Helper method to add a simple point light to the scene.
Arguments:
position: QVector3D, the position of the light in the scene
intensity: float, the intensity of the light
color: QColor, the color of the light
"""
light_entity = QEntity(self.scene)
light = QPointLight(light_entity)
light.setColor(color)
light.setIntensity(intensity)
light_transform = QTransform(self.scene)
light_transform.setTranslation(position)
light_entity.addComponent(light)
light_entity.addComponent(light_transform)
def add_rgb_cube(self, w, h, d):
"""
Helper method to add an RGB-textured cube to the scene.
Arguments:
w: float, the width of the cube
h: float, the height of the cube
d: float, the depth of the cube
Returns:
the QTransform of the cube
"""
cube_entity = QEntity(self.scene)
cube_mesh = QCuboidMesh()
cube_mesh.setXExtent(w)
cube_mesh.setYExtent(h)
cube_mesh.setZExtent(d)
cube_entity.addComponent(cube_mesh)
cube_transform = QTransform(self.scene)
cube_entity.addComponent(cube_transform)
if not hasattr(self, 'rgb_cube_material'):
# load material definition from QML
# this was the easiest way I could find to create a custom shader in Qt3D...
self.rgb_cube_material = self.load_qml(
os.path.join(os.path.dirname(__file__), 'RGBCubeMaterial.qml'),
self.scene)
cube_entity.addComponent(self.rgb_cube_material)
return cube_transform
def add_sphere(self, r):
"""
Helper method to add a sphere to the scene.
Arguments:
r: float, the radius of the sphere
Returns:
the QTransform of the sphere
"""
sphere_entity = QEntity(self.scene)
sphere_mesh = QSphereMesh()
sphere_mesh.setRadius(r)
sphere_entity.addComponent(sphere_mesh)
sphere_transform = QTransform(self.scene)
sphere_entity.addComponent(sphere_transform)
if not hasattr(self, 'sphere_material'):
self.sphere_material = QPhongMaterial(self.scene)
self.sphere_material.setAmbient(util.hsl(0, 0, 50))
sphere_entity.addComponent(self.sphere_material)
return sphere_transform
def add_path(self, *pts):
"""
Helper method to add a path to the scene.
Arguments:
pts: list of QVector3D's, the points in the path
Returns:
a list of the entities added to the scene
"""
# make a bunch of cylinder objects aligned along the path
entities = []
prev_pt = None
for pt in pts:
if prev_pt is not None:
if prev_pt != pt:
# for each adjacent pair of points that are different
# make a cylinder
path_entity = QEntity(self.scene)
path_mesh = QCylinderMesh()
path_mesh.setRadius(0.05) # very thin
path_mesh.setLength((prev_pt - pt).length(
)) # length is the distance between the points
path_entity.addComponent(path_mesh)
path_transform = QTransform(self.scene)
path_transform.setRotation(
QQuaternion.fromDirection(
QVector3D(0, 0, -1),
prev_pt - pt)) # rotate to point along path
path_transform.setTranslation(
(pt + prev_pt) / 2) # center between points
path_entity.addComponent(path_transform)
if not hasattr(self, 'path_material'):
self.path_material = QPhongMaterial(self.scene)
self.path_material.setAmbient(util.hsl(0, 0, 50))
path_entity.addComponent(self.path_material)
entities.append(path_entity)
prev_pt = pt
return entities
def setup_scene(self, background_color, camera_position, camera_lookat):
"""
Sets up the scene. Should be called before running the animation.
Arguments:
background_color: QColor, background color of the scene
camera_position: QVector3D, the position of the camera in the scene
camera_lookat: QVector3D, the point that the camera should be pointing at in the scene
"""
# clear color is the background color
self.view.defaultFrameGraph().setClearColor(background_color)
self.scene = QEntity()
# let subclass populate scene
self.make_scene()
# set up camera
camera = self.view.camera()
camera.setPosition(camera_position)
camera.setViewCenter(camera_lookat)
self.view.setRootEntity(self.scene)
def make_scene(self):
"""
Abstract method. Populates the scene with objects.
"""
raise NotImplementedError()
def _update(self):
"""
Updates the animation, rendering the next frame.
"""
# current animation time in seconds
t = util.lerp(self.frame, 0, self.frame_rate, 0, 1)
# change in time since the last frame
dt = 1 / self.frame_rate if self.prev_update_time is None else t - self.prev_update_time
# call subclass's frame update
self.update(self.frame, t, dt)
# stop the animation and close the window if run past run_time
if t >= self.run_time:
self.animation_timer.stop()
self.view.close()
self.prev_update_time = t
self.frame += 1
def update(self, frame, t, dt):
"""
Abstract method. Updates one frame of the animation.
Arguments:
frame: int, the current frame number
t: float, the current animation time in seconds
dt: float, the number of seconds since the last update
"""
raise NotImplementedError()
def run(self):
"""
Runs the animation asynchronously. The animation runs in the background for self.run_time seconds.
"""
self.animation_timer = QTimer(self.view)
# timer interval in msecs
self.animation_timer.setInterval(1000 / self.frame_rate)
# call update on each timeout of the timer
self.animation_timer.timeout.connect(self._update)
self.animation_timer.start()
# show the main window
self.view.show()