def create_mesh(self):
""" Create real mesh object from the geometry and material """
max_faces = 65530//3
#geometries = []
start = 0
while(True):
_faces=[]
_vertices = []
if (len(self.stl_mesh.v0)-start) >= max_faces:
print("Faces are more than max")
length = max_faces
#
# mesh = STLMesh(self.stl_mesh.v0[start:start+length], self.stl_mesh.v1[start:start+length], self.stl_mesh.v2[start:start+length], self.stl_mesh.normals[start:start+length],
# self.material)
#
# self.add(mesh)
_vertices = np.concatenate((self.stl_mesh.v0[start:start+length],self.stl_mesh.v1[start:start+length],self.stl_mesh.v2[start:start+length]))
for i in range(length):
f3 = Face3(i,i+length, i+ length*2)
f3.vertex_normals = [self.stl_mesh.normals[start+i],self.stl_mesh.normals[start+i],self.stl_mesh.normals[start+i]]
_faces.append(f3)
geo = Geometry()
geo.vertices = _vertices
geo.faces = _faces
mesh = Mesh(geo, self.material)
self.add(mesh)
start = start+length
else:
length = len(self.stl_mesh.v0)-start
_vertices = np.concatenate((self.stl_mesh.v0[start:],self.stl_mesh.v1[start:],self.stl_mesh.v2[start:]))
for i in range(length):
f3 = Face3(i,i+length, i+ length*2)
f3.vertex_normals = [self.stl_mesh.normals[i+start],self.stl_mesh.normals[i+start],self.stl_mesh.normals[i+start]]
_faces.append(f3)
geo = Geometry()
geo.vertices = _vertices
geo.faces = _faces
#geometries.append(geo)
mesh = Mesh(geo, self.material)
self.add(mesh)
# length = max_faces
#
# mesh = STLMesh(self.stl_mesh.v0[start:], self.stl_mesh.v1[start:], self.stl_mesh.v2[start:], self.stl_mesh.normals[start:],
# self.material)
#
# self.add(mesh)
break
return self
def create_cube(self):
cube_geo = BoxGeometry(1, 1, 1)
# BoxGeometry(random.randint(5, 15)/10, random.randint(5, 15)/10, random.randint(5, 15)/10)
cube_mat = Material(
color=(random.randint(0, 100) / 100, random.randint(0, 100) / 100, random.randint(0, 100) / 100))
cube = Mesh(
geometry=cube_geo,
material=cube_mat
)
cube.pos.z = -5
cube.rotation.x = random.randint(0, 360)
self.scene.add(cube)
Clock.schedule_interval(lambda *args: self.rotate_cube(cube), .01)
# noinspection PyProtectedMember
self.renderer._instructions.add(cube.as_instructions())
def build(self):
root = FloatLayout()
self.renderer = Renderer(shader_file=shader_file)
self.renderer.set_clear_color((.16, .30, .44, 1.))
scene = Scene()
# geometry = CylinderGeometry(0.5, 2)
geometry = SphereGeometry(1)
# geometry = BoxGeometry(1, 1, 1)
material = Material(color=(0.3, 0., 0.3),
diffuse=(0.3, 0.3, 0.3),
specular=(0., 0., 0.))
loader = STLLoader()
obj = loader.load(stl_file, material)
self.item = obj
scene.add(self.item)
self.cube = Mesh(geometry, material)
self.item.pos.z = -1.5
#self.cube.pos.z=-5
camera = PerspectiveCamera(75, 0.3, 0.5, 1000)
#camera = OrthographicCamera()
#scene.add(self.cube)
self.renderer.render(scene, camera)
root.add_widget(self.renderer)
Clock.schedule_interval(self._rotate_cube, 1 / 20)
self.renderer.bind(size=self._adjust_aspect)
return root
def build(self):
root = FloatLayout()
self.renderer = Renderer()
scene = Scene()
# load stl file
mesh_a = mesh.Mesh.from_file('./meshes/base_link.STL')
geo = STLGeometry(mesh_a)
material = Material(color=(0., 0., 1.),
diffuse=(0., 0., 0.1),
specular=(.1, .1, .1))
obj = Mesh(geo, material)
# obj.position.z = 10
self.my_obj = obj
# load obj file
# loader = OBJLoader()
# obj = loader.load(obj_file)
# self.monkey = obj.children[0]
#
scene.add(obj)
camera = PerspectiveCamera(15, 1, 1, 1000)
self.renderer.render(scene, camera)
root.add_widget(self.renderer)
Clock.schedule_interval(self._update_obj, 1. / 20)
self.renderer.bind(size=self._adjust_aspect)
return root
def build(self):
layout = FloatLayout()
# create renderer
self.renderer = Renderer()
# create scene
scene = Scene()
# create default cube for scene
cube_geo = my.Msh('sphere.msh',name='zob')
cube_mat = Material()
self.cube = Mesh(geometry = cube_geo, material = cube_mat) # default pos == (0,0,0)
self.cube.pos.z = 0
# create camera for scene
self.camera = PerspectiveCamera(
fov = 75, #distance from the screen
aspect=0, # "screen" ratio
near=1, # nearest rendered point
far=100 # furthest rendered point
)
# start rendering the scene and camera
scene.add(self.cube)
self.renderer.render(scene,self.camera)
# set renderer ratio if its size changes
# e. g. when added to parent
self.renderer.bind(size=self._adjust_aspect)
layout.add_widget(self.renderer)
Clock.schedule_interval(self.rotate_cube, .01)
return layout
def build(self):
layout = FloatLayout()
# Create renderer.
self.renderer = Renderer()
# Create scene.
scene = Scene()
# Create default cube for scene.
cube_geo = BoxGeometry(1, 1, 1)
cube_mat = Material()
self.cube = Mesh(geometry=cube_geo, material=cube_mat)
self.cube.pos.z = -5
# Create camera for scene.
self.camera = PerspectiveCamera(
fov=75, # distance from the screen
aspect=0, # "screen" ratio
near=1, #nearest rendered point
far=10 # farthest rendered point
)
# Start rendering the scene and camera.
scene.add(self.cube)
self.renderer.render(scene, self.camera)
# Set renderer ratio if its size changes.
# e.g. when added to parent
self.renderer.bind(size=self._adjust_aspect)
layout.add_widget(self.renderer)
Clock.schedule_interval(self.rotate_cube, 0.01)
return layout
def build(self):
self.renderer = Renderer(shader_file=shader_file)
scene = Scene()
camera = PerspectiveCamera(45, 1, 0.1, 2500)
self.renderer.set_clear_color((.2, .2, .2, 1.))
self.camera = camera
self.renderer.main_light.intensity = 5000
root = ObjectTrackball(camera, 10)
geometry = PrismGeometry(radius=1, height=1, segments=64)
material = Material(color=(1., 1., 1.),
diffuse=(1., 1., 1.),
specular=(.35, .35, .35),
shininess=200,
transparency=0.8)
obj = Mesh(geometry, material)
scene.add(obj)
# create a grid on the xz plane
geometry = GridGeometry(size=(30, 30), spacing=1)
material = Material(color=(1., 1., 1.),
diffuse=(1., 1., 1.),
specular=(.35, .35, .35),
transparency=.1)
lines = Lines(geometry, material)
lines.rotation.x = 90
scene.add(lines)
self.renderer.render(scene, camera)
self.renderer.main_light.intensity = 500
root.add_widget(self.renderer)
self.renderer.bind(size=self._adjust_aspect)
return root
def build(self):
layout = FloatLayout()
# create renderer
self.renderer = Renderer()
# create scene
scene = Scene()
# create default cube for scene
for i in range(1, 6):
for j in range(1, 6):
cube_geo = BoxGeometry(*[1] * 3)
cube_mat = Material(color=(randint(0, 10) * .1,
randint(0, 10) * .1,
randint(0, 10) * .1))
cube = Mesh(geometry=cube_geo,
material=cube_mat) # default pos == (0, 0, 0)
cube.pos.y = -0.5
cube.pos.z = -i
cube.pos.x = j - 3
self.cubes.append(cube)
scene.add(cube)
# create camera for scene
self.camera = PerspectiveCamera(
fov=75, # distance from the screen
aspect=0, # "screen" ratio
near=1, # nearest rendered point
far=20 # farthest rendered point
)
# start rendering the scene and camera
self.renderer.render(scene, self.camera)
# set renderer ratio is its size changes
# e.g. when added to parent
self.renderer.bind(size=self._adjust_aspect)
layout.add_widget(self.renderer)
#Clock.schedule_interval(self.move_cubes, 1/60)
Window.bind(on_key_down=self.handle_keys)
return layout
def build(self):
root = FloatLayout()
self.renderer = Renderer()
self.renderer.set_clear_color((.2, .2, .2, 1.))
scene = Scene()
geometry = BoxGeometry(1, 1, 1)
material = Material(color=(0., 1., 0.),
diffuse=(0., 1., 0.),
specular=(.35, .35, .35))
self.cube = Mesh(geometry, material)
self.cube.pos.z = -3
camera = PerspectiveCamera(75, 0.3, 1, 1000)
scene.add(self.cube)
self.renderer.render(scene, camera)
root.add_widget(self.renderer)
Clock.schedule_interval(self._rotate_cube, 1 / 20)
self.renderer.bind(size=self._adjust_aspect)
return root
def build(self):
self.renderer = Renderer()
scene = Scene()
camera = PerspectiveCamera(45, 1, 0.1, 2500)
self.renderer.set_clear_color((.2, .2, .2, 1.))
self.camera = camera
root = ObjectTrackball(camera, 10)
# add a cube to the environment as an example
# NOTE: the grid will be rendered without transparency if it
# is added before the box.
# This may be because the shader is not called until a 'triangles' mesh is
# rendered? Hence the Fragment Shader has not yet been called?
geometry = BoxGeometry(1, 1, 1)
material = Material(color=(1., 1., 1.),
diffuse=(1., 1., 1.),
specular=(.35, .35, .35))
obj = Mesh(geometry, material)
scene.add(obj)
# create a grid on the xz plane
geometry = GridGeometry(size=(30, 30), spacing=1)
material = Material(color=(1., 1., 1.),
diffuse=(1., 1., 1.),
specular=(.35, .35, .35),
transparency=.1)
lines = Lines(geometry, material)
lines.rotation.x = 90
scene.add(lines)
self.renderer.render(scene, camera)
self.renderer.main_light.intensity = 500
root.add_widget(self.renderer)
self.renderer.bind(size=self._adjust_aspect)
return root
def build(self):
layout = GridLayout(cols=3)
# create renderer
self.renderer = Renderer(size_hint=(5, 5))
self.renderer.set_clear_color((0.1, 0.1, 0.1, 1)) # rgba
# create scene
scene = Scene()
self.cubes = []
# create cubes for scene
#
# default pure green cube
cube_geo = BoxGeometry(.3, .3, .3)
cube_mat = Material(color=(0, 0.5, 0) # base color
)
self.cubes.append(Mesh(geometry=cube_geo,
material=cube_mat)) # default pos == (0, 0, 0)
self.cubes[0].pos.z = -5
self.cubes[0].pos.x = 1
self.cubes[0].pos.y = 0.8
self.cubes[0].rotation.x = 45
# black cube, red shadow, half-transparent
cube_geo = BoxGeometry(.3, .3, .3)
cube_mat = Material(
transparency=0.5,
color=(0, 0, 0), # base color
diffuse=(10, 0, 0), # color of "shadows"
specular=(0, 0, 0) # mirror-like reflections
)
self.cubes.append(Mesh(geometry=cube_geo,
material=cube_mat)) # default pos == (0, 0, 0)
self.cubes[1].pos.z = -5
self.cubes[1].pos.x = -1
self.cubes[1].pos.y = 0.8
self.cubes[1].rotation.y = 45
# default pure green cube with red reflections
cube_geo = BoxGeometry(.3, .3, .3)
cube_mat = Material(
transparency=1,
color=(0, 0.5, 0), # base color
diffuse=(0, 0, 0), # color of "shadows"
specular=(10, 0, 0) # mirror-like reflections
)
self.cubes.append(Mesh(geometry=cube_geo,
material=cube_mat)) # default pos == (0, 0, 0)
self.cubes[2].pos.z = -5
self.cubes[2].pos.x = 1
self.cubes[2].pos.y = -0.8
self.cubes[2].rotation.z = 45
# something.obj from Blender
loader = OBJLoader()
self.cubes.extend(
loader.load(join(FOLDER, 'models', 'something.obj')).children)
self.cubes[3].pos.z = -5
self.cubes[3].pos.x = -1
self.cubes[3].pos.y = -0.8
self.cubes[3].rotation.x = 45
self.cubes[3].material.color = (0.1, 0.4, 0.1)
self.cubes[3].material.texture_ratio = 0.0
# cube object from Blender
loader = OBJLoader()
self.main_cube = loader.load(join(FOLDER, 'models', 'cube.obj'))
self.main_cube.rotation.x = 45
self.main_cube.rotation.y = 45
self.main_cube.pos.z = -5
self.main_cube.scale = (0.5, 0.5, 0.5)
scene.add(self.main_cube)
planes = [((0, 0, -10), (0, 0, 0)), ((-10, 0, 0), (0, -90, 0)),
((10, 0, 0), (0, 90, 0)),
((0, 0, 10), (0, 180, 0))] # position and rotation changes
for plane in planes:
geo = BoxGeometry(5, 5, .1)
mat = Material(color=(1, 1, 1))
mesh = Mesh(geometry=geo, material=mat)
mesh.pos.x += plane[0][0]
mesh.pos.y += plane[0][1]
mesh.pos.z += plane[0][2]
mesh.rot.x += plane[1][0]
mesh.rot.y += plane[1][1]
mesh.rot.z += plane[1][2]
scene.add(mesh)
# create camera for scene
self.camera = PerspectiveCamera(
fov=75, # distance from the screen
aspect=0, # "screen" ratio
near=.1, # nearest rendered point
far=1000 # farthest rendered point
)
# start rendering the scene and camera
for cube in self.cubes:
scene.add(cube)
self.renderer.render(scene, self.camera)
# set renderer ratio is its size changes
# e.g. when added to parent
self.renderer.bind(size=self._adjust_aspect)
layout.add_widget(Factory.CamRot())
layout.add_widget(Factory.LightPanel())
layout.add_widget(Factory.CamStrafe())
layout.add_widget(Widget())
layout.add_widget(self.renderer)
layout.add_widget(Label(text='+\n\nY\n\n-'))
layout.add_widget(Factory.CamNav())
layout.add_widget(Label(text='- X +'))
layout.add_widget(Factory.ObjNav())
Clock.schedule_interval(self.rotate_cube, .01)
Clock.schedule_interval(self.scale_cube, 1)
# keyboard listener
Listener()
return layout
def construct_manipulator(self):
material = Material(color=(0., 0., 1.),
diffuse=(1., 1., 0.),
specular=(.35, .35, .35))
# axis a
# one jaw
axis_a_dimensions = JOINT_SIZE_A[0], JOINT_SIZE_A[2], JOINT_SIZE_A[1]
axis_a_geometry = create_joint_rectangle(axis_a_dimensions[0],
axis_a_dimensions[1],
axis_a_dimensions[2])
axis_a_left_mesh = Mesh(axis_a_geometry, material)
axis_a_right_mesh = Mesh(axis_a_geometry, material)
self.joints.append(axis_a_left_mesh)
self.joints.append(axis_a_right_mesh)
# axis b wrist
axis_b_dimensions = get_joint_hypo_length(
JOINT_OFFSET_A_1), JOINT_SIZE_B[1], JOINT_SIZE_B[2]
axis_b_geometry = create_joint_rectangle(axis_b_dimensions[0],
axis_b_dimensions[1],
axis_b_dimensions[2])
material = Material(color=(1., 0., 0.),
diffuse=(1., 0., 0.),
specular=(.35, .35, .35))
axis_b_mesh = Mesh(axis_b_geometry, material)
self.joints.append(axis_b_mesh)
axis_b_mesh.add(axis_a_left_mesh)
axis_a_left_mesh.pos.x = axis_b_dimensions[0]
axis_a_left_mesh.pos.z = axis_b_dimensions[2] / 2
axis_b_mesh.add(axis_a_right_mesh)
axis_a_right_mesh.pos.x = axis_b_dimensions[0]
axis_a_right_mesh.pos.z = -axis_b_dimensions[2] / 2
# axis c bend
axis_c_dimensions = get_joint_hypo_length(
JOINT_OFFSET_B), JOINT_SIZE_C[1], JOINT_SIZE_C[2]
axis_c_geometry = create_joint_rectangle(axis_c_dimensions[0],
axis_c_dimensions[1],
axis_c_dimensions[2])
material = Material(color=(1., 1., 0.),
diffuse=(1., 1., 0.),
specular=(.35, .35, .35))
axis_c_mesh = Mesh(axis_c_geometry, material)
self.joints.append(axis_c_mesh)
axis_c_mesh.add(axis_b_mesh)
axis_b_mesh.pos.x = axis_c_dimensions[0]
# axis d bend
axis_d_dimensions = get_joint_hypo_length(
JOINT_OFFSET_C), JOINT_SIZE_D[1], JOINT_SIZE_D[2]
axis_d_geometry = create_joint_rectangle(axis_d_dimensions[0],
axis_d_dimensions[1],
axis_d_dimensions[2])
material = Material(color=(1., 0., 1.),
diffuse=(1., 0., 1.),
specular=(.35, .35, .35))
axis_d_mesh = Mesh(axis_d_geometry, material)
self.joints.append(axis_d_mesh)
axis_d_mesh.add(axis_c_mesh)
axis_c_mesh.pos.x = axis_d_dimensions[0]
# axis e mesh
axis_e_dimensions = get_joint_hypo_length(
JOINT_OFFSET_D), JOINT_SIZE_E[1], JOINT_SIZE_E[2]
axis_e_geometry = create_joint_rectangle(axis_e_dimensions[0],
axis_e_dimensions[1],
axis_e_dimensions[2])
material = Material(color=(0., 1., 0.),
diffuse=(0., 1., 0.),
specular=(.35, .35, .35))
axis_e_mesh = Mesh(axis_e_geometry, material)
self.joints.append(axis_e_mesh)
axis_e_mesh.add(axis_d_mesh)
axis_d_mesh.pos.x = axis_e_dimensions[0]
# axis f
axis_f_dimensions = get_joint_hypo_length(
JOINT_OFFSET_E), JOINT_SIZE_F[1], JOINT_SIZE_F[2]
axis_f_geometry = create_joint_rectangle(axis_f_dimensions[0],
axis_f_dimensions[1],
axis_f_dimensions[2])
material = Material(color=(0., 1., 1.),
diffuse=(0., 1., 1.),
specular=(.35, .35, .35))
axis_f_mesh = Mesh(axis_f_geometry, material)
self.joints.append(axis_f_mesh)
axis_f_mesh.add(axis_e_mesh)
axis_e_mesh.pos.x = axis_f_dimensions[0]
# axis_g
axis_g_dimensions = get_joint_hypo_length(
JOINT_OFFSET_F), JOINT_SIZE_G[1], JOINT_SIZE_G[2]
axis_g_geometry = create_joint_rectangle(axis_g_dimensions[0],
axis_g_dimensions[1],
axis_g_dimensions[2])
material = Material(color=(1., .4, .1),
diffuse=(1., .4, .1),
specular=(.35, .35, .35))
axis_g_mesh = Mesh(axis_g_geometry, material)
self.joints.append(axis_g_mesh)
axis_g_mesh.add(axis_f_mesh)
axis_f_mesh.pos.x = axis_g_dimensions[0]
axis_f_mesh.rotation.z = -90
# base
base_dimensions = 0.05, axis_b_dimensions[1], axis_b_dimensions[2]
base_geometry = create_joint_rectangle(base_dimensions[0],
base_dimensions[1],
base_dimensions[2])
material = Material(color=(0., 1., 1.),
diffuse=(0., 1., 1.),
specular=(.35, .35, .35))
base_mesh = Mesh(base_geometry, material)
self.joints.append(base_mesh)
base_mesh.add(axis_g_mesh)
base_mesh.rotation.z = 90
axis_g_mesh.pos.x = base_dimensions[0]
axis_g_mesh.rotation.z = -90
return base_mesh
def build(self):
self.theflag = 0
self.theflag0 = 0
self.distan = 1000 # дистанция до начальной точки (0,0,-50) что бы ничего не было за экраном (надо будет выстваить на изменение)
bl = BoxLayout(orientation='vertical',
size_hint=(.15, 1),
spacing=10,
padding=10) # левая панель
al = AnchorLayout(anchor_x='left',
anchor_y='center') # основная система интерфейса
layout = GridLayout(cols=2, spacing=3,
size_hint=(1, 1)) #сетка для кнопок поворота
matrix = np.load('matrix0.npy', allow_pickle=True)
counter = int(int(matrix.size) / 2)
x = np.zeros(counter)
y = np.zeros(counter)
z = np.zeros(counter)
soe = np.zeros((counter, counter))
for i in range(2):
if (i == 0):
for j in range(counter):
for k in range(3):
a = matrix[i, j]
if (k == 0):
x[j] = a[k] * 10
elif (k == 1):
y[j] = a[k] * 10
else:
z[j] = a[k] * 10
else:
for j in range(counter):
a = matrix[i, j]
for k in range(counter):
soe[j][k] = a[k]
print(x, y, z)
print(soe)
# кнопка загрузки координат
loader = Button(text='Load', on_press=self.load)
bl.add_widget(loader)
#starter = Button(text='Построить', on_press = self.letstart)
#bl.add_widget(starter)
bl.add_widget(Widget())
# create renderer
self.renderer = Renderer()
# create scene
scene = Scene()
#lines
k0 = 0
k1 = 0
lines_list = []
for i in soe:
for j in i:
if (j == 1):
line0_geo = BoxGeometry(
1,
int(((y[k0] - y[k1])**2 + (x[k0] - x[k1])**2 +
(z[k0] - z[k1])**2)**0.5), 1)
#print(int(((abs(x[k0]-x[k1]) + abs(y[k0]-y[k1])+ abs(z[k0]-z[k1]))**0.5)),'length')
#print(int(abs(y[k0]-y[k1]) + abs(x[k0]-x[k1])+ abs(z[k0]-z[k1])))
line0_mat = Material()
self.line0 = Mesh(
geometry=line0_geo,
material=line0_mat) # default pos == (0, 0, 0)
self.line0.pos.x = int((x[k0] + x[k1]) / 2)
self.line0.pos.y = int((y[k0] + y[k1]) / 2)
self.line0.pos.z = int((z[k0] + z[k1]) / 2) - self.distan
if y[k0] - y[k1] == 0 and x[k0] - x[
k1] == 0 and z[k0] - z[k1] != 0:
self.line0.rotation.x = 90
elif y[k0] - y[k1] == 0 and x[k0] - x[k1] != 0 and z[
k0] - z[k1] == 0:
self.line0.rotation.z = 90
elif y[k0] - y[k1] != 0 and x[k0] - x[k1] == 0 and z[
k0] - z[k1] == 0:
###
fff = 0
elif y[k0] - y[k1] != 0 and x[k0] - x[k1] != 0 and z[
k0] - z[k1] == 0:
self.line0.rotation.z = math.atan(
(x[k0] - x[k1]) / (y[k0] - y[k1])) / math.pi * 180
elif y[k0] - y[k1] != 0 and x[k0] - x[
k1] == 0 and z[k0] - z[k1] != 0:
#self.line0.rotation.x = math.atan((z[k0]-z[k1])/(y[k0]-y[k1]))/math.pi*180
self.line0.rotation.x = math.acos(
abs(y[k0] - y[k1]) /
((x[k0] - x[k1])**2 + (y[k0] - y[k1])**2 +
(z[k0] - z[k1])**2)**0.5) / math.pi * 180
#print()
elif y[k0] - y[k1] == 0 and x[k0] - x[k1] != 0 and z[
k0] - z[k1] != 0:
self.line0.rotation.z = math.atan(
(x[k0] - x[k1]) /
(z[k0] - z[k1])) / math.pi * 180 * -1
self.line0.rotation.x = 90
###
elif y[k0] - y[k1] != 0 and x[k0] - x[k1] != 0 and z[
k0] - z[k1] != 0:
if ((x[k0] < x[k1] and y[k0] < y[k1])
or (x[k0] > x[k1] and y[k0] > y[k1])):
#self.line0.rotation.z = math.atan((abs(z[k0]-z[k1]))/1.5/(abs(y[k0]-y[k1])))/math.pi*180
self.line0.rotation.z = math.acos(
abs(y[k0] - y[k1]) /
((x[k0] - x[k1])**2 + (y[k0] - y[k1])**2 +
(0)**2)**0.5) / math.pi * 180 * -1
#проблема
else:
self.line0.rotation.z = math.acos(
abs(y[k0] - y[k1]) /
((x[k0] - x[k1])**2 + (y[k0] - y[k1])**2 +
(0)**2)**0.5) / math.pi * 180
#self.line0.rotation.x = math.atan((1.25*abs(x[k0]-x[k1]))/(abs(y[k0]-y[k1])))/math.pi*180*-1
if ((z[k0] < z[k1] and y[k0] < y[k1])
or (z[k0] > z[k1] and y[k0] > y[k1])):
self.line0.rotation.x = math.acos(
abs(y[k0] - y[k1]) /
((0)**2 + (y[k0] - y[k1])**2 +
(z[k0] - z[k1])**2)**0.5) / math.pi * 180
#проблема
else:
self.line0.rotation.x = math.acos(
abs(y[k0] - y[k1]) /
((0)**2 + (y[k0] - y[k1])**2 +
(z[k0] - z[k1])**2)**0.5) / math.pi * 180 * -1
#self.line0.rotation.x = math.acos(abs(y[k0]-y[k1])/((0)**2+(y[k0]-y[k1])**2+(z[k0]-z[k1])**2)**0.5)/math.pi*180*-1#there
print(self.line0.rotation.z)
print(self.line0.rotation.x)
lines_list.append(self.line0)
k1 += 1
k0 += 1
k1 = 0
line0_geo = BoxGeometry(1, y[1] - y[0], 1)
line0_mat = Material()
self.line0 = Mesh(geometry=line0_geo,
material=line0_mat) # default pos == (0, 0, 0)
self.line0.pos.z = int(z[0]) - self.distan
#self.line3.rotation.x = 90
#points
point_list = []
sumx = 0
sumy = 0
sumz = 0
sumcount = 0
loader = OBJLoader()
for i in range(counter):
point_geom = SphereGeometry(1.1)
point_mat = Material()
self.point0 = Mesh(geometry=point_geom, material=point_mat)
self.point0.pos.x = int(x[i])
self.point0.pos.y = int(y[i])
self.point0.pos.z = int(z[i]) - self.distan
self.point0.scale = (1, 1, 1)
point_list.append(self.point0)
sumx += self.point0.pos.x
sumy += self.point0.pos.y
sumz += self.point0.pos.z
sumcount += 1
#scene.add(self.point0)
point_geom = SphereGeometry()
point_mat = Material()
self.point1 = Mesh(geometry=point_geom, material=point_mat)
self.point1.pos.x = sumx / sumcount
self.point1.pos.y = sumy / sumcount
self.point1.pos.z = sumz / sumcount
self.point1.scale = (1, 1, 1)
#scene.add(self.point1)
self.camera = PerspectiveCamera(
fov=100, # размер окна т.е. чем больше фов тем больше масштаб
aspect=0, # "screen" ratio
near=1, # рендер от
far=10000 # дистанция рендера
)
k0 = 0
self.ll = []
for i in soe:
for j in i:
if (j == 1):
self.ll.append(lines_list[k0])
scene.add(lines_list[k0])
k0 += 1
for i in range(counter):
scene.add(point_list[i])
pass
self.pp = point_list
self.renderer.render(scene, self.camera)
self.renderer.bind(size=self._adjust_aspect)
al.add_widget(self.renderer)
bl.add_widget(Factory.Fov())
bl.add_widget(Factory.CamNav())
al.add_widget(bl)
return al
def build(self):
layout = GridLayout(cols=3)
# create renderer
self.renderer = Renderer(size_hint=(5, 5))
self.renderer.set_clear_color(
(0.1, 0.1, 0.1, 1)
) # rgba
# create scene
scene = Scene()
self.cubes = []
# create cubes for scene
#
# default pure green cube
cube_geo = BoxGeometry(.3, .3, .3)
cube_mat = Material(
color=(0, 0.5, 0) # base color
)
self.cubes.append(Mesh(
geometry=cube_geo,
material=cube_mat
)) # default pos == (0, 0, 0)
self.cubes[0].pos.z = -5
self.cubes[0].pos.x = 1
self.cubes[0].pos.y = 0.8
self.cubes[0].rotation.x = 45
# black cube, red shadow, half-transparent
cube_geo = BoxGeometry(.3, .3, .3)
cube_mat = Material(
transparency=0.5,
color=(0, 0, 0), # base color
diffuse=(10, 0, 0), # color of "shadows"
specular=(0, 0, 0) # mirror-like reflections
)
self.cubes.append(Mesh(
geometry=cube_geo,
material=cube_mat
)) # default pos == (0, 0, 0)
self.cubes[1].pos.z = -5
self.cubes[1].pos.x = -1
self.cubes[1].pos.y = 0.8
self.cubes[1].rotation.y = 45
# default pure green cube with red reflections
cube_geo = BoxGeometry(.3, .3, .3)
cube_mat = Material(
transparency=1,
color=(0, 0.5, 0), # base color
diffuse=(0, 0, 0), # color of "shadows"
specular=(10, 0, 0) # mirror-like reflections
)
self.cubes.append(Mesh(
geometry=cube_geo,
material=cube_mat
)) # default pos == (0, 0, 0)
self.cubes[2].pos.z = -5
self.cubes[2].pos.x = 1
self.cubes[2].pos.y = -0.8
self.cubes[2].rotation.z = 45
# black cube with red reflections
# and half-transparent
cube_geo = BoxGeometry(.3, .3, .3)
cube_mat = Material(
transparency=0.5,
color=(0, 0, 0), # base color
specular=(10, 0, 0) # mirror-like reflections
)
self.cubes.append(Mesh(
geometry=cube_geo,
material=cube_mat
)) # default pos == (0, 0, 0)
self.cubes[3].pos.z = -5
self.cubes[3].pos.x = -1
self.cubes[3].pos.y = -0.8
self.cubes[3].rotation.x = 45
cube_geo = BoxGeometry(.3, .3, .3)
cube_mat = Material(
transparency=0.5,
color=(0, 0, 0), # base color
specular=(10, 0, 0)
)
self.main_cube = Mesh(
geometry=cube_geo,
material=cube_mat
) # default pos == (0, 0, 0)
self.main_cube.rotation.x = 45
self.main_cube.rotation.y = 45
self.main_cube.pos.z = -5
scene.add(self.main_cube)
plane_geo = BoxGeometry(5, 5, .1)
plane_mat = Material(
color=(1, 1, 1) # base color
)
plane = Mesh(
geometry=plane_geo,
material=plane_mat
)
plane.pos.z = -10
scene.add(plane)
# create camera for scene
self.camera = PerspectiveCamera(
fov=75, # distance from the screen
aspect=0, # "screen" ratio
near=.1, # nearest rendered point
far=1000 # farthest rendered point
)
# start rendering the scene and camera
for cube in self.cubes:
scene.add(cube)
self.renderer.render(scene, self.camera)
# set renderer ratio is its size changes
# e.g. when added to parent
self.renderer.bind(size=self._adjust_aspect)
layout.add_widget(Factory.CamRot())
layout.add_widget(Widget())
layout.add_widget(Factory.CamStrafe())
layout.add_widget(Widget())
layout.add_widget(self.renderer)
layout.add_widget(Label(text='+\n\nY\n\n-'))
layout.add_widget(Factory.CamNav())
layout.add_widget(Label(text='- X +'))
layout.add_widget(Factory.ObjNav())
Clock.schedule_interval(self.rotate_cube, .01)
Clock.schedule_interval(self.scale_cube, 1)
# keyboard listener
Listener()
return layout
def make_3d(self, clock=None):
#self.root = FloatLayout()
self.renderer = Renderer()
self.renderer.set_clear_color((.2, .2, .2, 1.))
self.scene = Scene()
#geometry = BoxGeometry(0.5, 0.5, 0.5)
geometry = SphereGeometry(0.1)
material = Material(color=(0., 0., 1.),
diffuse=(1., 1., 0.),
specular=(.35, .35, .35))
"""
a = 5
liste = []
i = 0
for z in range(-5, -35, -1):
for x in range(-5, 5):
liste.append(Mesh(geometry, material))
liste[-1].pos.x = x
liste[-1].pos.y = -i
liste[-1].pos.z = z
print(x, -i, z)
self.scene.add(liste[-1])
i+=1
"""
#!erster test für errecnete Daten
liste = []
for z in range(0, int(Global.config["maxy"])):
#for z in range(0, 10):
#i = 0
test = calculationClass.find_mistakes_along_x_axis(z)
#print(test)
for x, y, rad in calculationClass.find_mistakes_along_x_axis(z):
#for x, y in [[1, 2], [2, 0], [2.314, 5], [3, 0], [3.123, 4]]:
#for x, y in [[1, 2], [2, 0], [3, 0]]:
#for x in [8.06158101842821, 4.06158101842821, 0.09813725490196079]:
#for x in test[:][0]:
#for line in test[:10]:
#x = line[0]
x = float(x)
y = float(y)
#x = 8.06158101842821
#new_list.append([x, y, z, rad])
rad = 1
#y = 0
z += 5
liste.append(Mesh(geometry, material))
#liste[-1].pos.x = x - 8
liste[-1].pos.x = -z
liste[-1].pos.y = y
liste[-1].pos.z = x
#print(x, y, z)
self.scene.add(liste[-1])
#i += 1
self.renderer.render(self.scene, self.camera)
self.renderer.bind(size=self._adjust_aspect)
self.layout.add_widget(self.renderer)
print(liste[0])
print(liste[0].pos)
#self.look_at = liste[0].pos
#self.look_at.x = liste[0][0]
#self.look_at.y = liste[0][1]
#self.look_at.z = liste[0][2]
#self.camera.look_at(self.look_at)
#test = (liste[0][0], liste[0][1], liste[0][2])
#a = tuple(liste[0].pos)
#print(a)
#self.camera.look_at(a)
#self.look_at.x = liste[0].pos.x
#self.look_at.y = liste[0].pos.y
#self.look_at.z = liste[0].pos.z
self.look_at = Vector3(0, 0, -1)
#self.camera.look_at(self.look_at)
#self.add_widget(self.root)
print("here")
def convert_to_mesh(self, vertex_format=None):
"""Converts data gotten from the .obj definition
file and create Kivy3 Mesh object which may be used
for drawing object in the scene
"""
geometry = Geometry()
material = Material()
mtl_dirname = os.path.abspath(os.path.dirname(self.loader.mtl_source))
v_idx = 0
# create geometry for mesh
for f in self.faces:
verts = f[0]
norms = f[1]
tcs = f[2]
face3 = Face3(0, 0, 0)
for i, e in enumerate(['a', 'b', 'c']):
#get normal components
n = (0.0, 0.0, 0.0)
if norms[i] != -1:
n = self.loader.normals[norms[i] - 1]
face3.vertex_normals.append(n)
#get vertex components
v = self.loader.vertices[verts[i] - 1]
geometry.vertices.append(v)
setattr(face3, e, v_idx)
v_idx += 1
#get texture coordinate components
t = (0.0, 0.0)
if tcs[i] != -1:
t = self.loader.texcoords[tcs[i] - 1]
tc = Vector2(t[0], 1. - t[1])
geometry.face_vertex_uvs[0].append(tc)
geometry.faces.append(face3)
# apply material for object
if self.mtl_name in self.loader.mtl_contents:
raw_material = self.loader.mtl_contents[self.mtl_name]
for k, v in raw_material.iteritems():
_k = self._mtl_map.get(k, None)
if k in [
"map_Kd",
]:
map_path = os.path.join(mtl_dirname, v[0])
tex = Image(map_path).texture
material.map = tex
continue
if _k:
if len(v) == 1:
v = float(v[0])
if k == 'Tr':
v = 1. - v
setattr(material, _k, v)
else:
v = map(lambda x: float(x), v)
setattr(material, _k, v)
mesh = Mesh(geometry, material)
return mesh
def convert_to_mesh(
self,
vertex_format=None
): # Ripped from kivy3/loaders/objloader.py and edited by GJ
"""Converts data gotten from the ._obj definition
file and create Kivy3 Mesh object which may be used
for drawing object in the scene
"""
geometry = Geometry()
material = Material()
mtl_dirname = abspath(
dirname(self.loader.mtl_source
)) # We don't need this as we arnt loading any images
# but just in case we keep it
v_idx = 0
# create geometry for mesh
for f in self.faces:
verts = f[0]
norms = f[1]
tcs = f[2]
face3 = Face3(0, 0, 0)
for i, e in enumerate(['a', 'b', 'c']):
# get normal components
n = (0.0, 0.0, 0.0)
if norms[i] != -1:
n = self.loader.normals[norms[i] - 1]
face3.vertex_normals.append(n)
# get vertex components
v = self.loader.vertices[verts[i] - 1]
geometry.vertices.append(v)
setattr(face3, e, v_idx)
v_idx += 1
# get texture coordinate components
t = (0.0, 0.0)
if tcs[i] != -1:
t = self.loader.texcoords[tcs[i] - 1]
tc = Vector2(t[0], 1. - t[1])
geometry.face_vertex_uvs[0].append(tc)
geometry.faces.append(face3)
# apply material for object
if self.mtl_name in self.loader.mtl_contents:
raw_material = self.loader.mtl_contents[self.mtl_name]
# shader ignores values
zeros = [
'0', '0.0', '0.00', '0.000', '0.0000', '0.00000', '0.000000'
]
for k, v in raw_material.items():
_k = self._mtl_map.get(k, None)
if k in [
"map_Kd",
]:
self.log_warning(
"the tag map_kd should not be used as a material, use map_id and give the texture"
" type (ini section and option)")
map_path = join(mtl_dirname, v[0])
if not exists(map_path):
msg = u'Texture not found <{}>'
self.log_warning(msg.format(map_path))
continue
tex = Image(map_path).texture
material.map = tex
continue
if k in [
"map_id",
]:
tex = self.textures.get("Materials", str(v[0]))
material.map = tex
if _k:
if len(v) == 1:
v[0] = '0.000001' if v[0] in zeros else v[0]
v = float(v[0])
if k == 'Tr':
v = 1. - v
setattr(material, _k, v)
else:
v = list(map(lambda x: float(x), v))
setattr(material, _k, v)
if not material.map:
self.log_warning(
"No material given or used wrong name -", self.mtl_name,
"(if nothing here then you "
"provided no mtl file)")
material.map = Image(objLoader_folder + '/empty.png').texture
material.texture_ratio = 0.0
mesh = Mesh(geometry, material)
return mesh
def build(self):
self.renderer = Renderer(shader_file=shader_file)
scene = Scene()
camera = PerspectiveCamera(45, 1, 0.1, 2500)
self.renderer.set_clear_color(clear_color)
self.camera = camera
root = ObjectTrackball(camera, 10, self.renderer)
id_color = (0, 0, 0x7F)
geometry = BoxGeometry(1, 1, 1)
material = Material(color=(1., 1., 1.),
diffuse=(1., 1., 1.),
specular=(.35, .35, .35),
id_color=id_color,
shininess=1.)
obj = Mesh(geometry, material)
scene.add(obj)
root.object_list.append({'id': id_color, 'obj': obj})
id_color = (0, 0x7F, 0)
geometry = BoxGeometry(1, 1, 1)
material = Material(color=(0., 0., 1.),
diffuse=(0., 0., 1.),
specular=(.35, .35, .35),
id_color=id_color,
shininess=1.)
obj = Mesh(geometry, material)
obj.position.x = 2
scene.add(obj)
root.object_list.append({'id': id_color, 'obj': obj})
# create a grid on the xz plane
geometry = GridGeometry(size=(30, 30), spacing=1)
material = Material(color=(1., 1., 1.),
diffuse=(1., 1., 1.),
specular=(.35, .35, .35),
transparency=.5)
lines = Lines(geometry, material)
lines.rotation.x = 90
scene.add(lines)
geometry = Geometry()
geometry.vertices = [[0.0, 0.0, 0.0], [3.0, 0.0, 0.0]]
geometry.lines = [Line2(a=0, b=1)]
material = Material(color=(1., 0., 0.),
diffuse=(1., 0., 0.),
specular=(.35, .35, .35))
lines = Lines(geometry, material)
lines.position.y = -0.01
scene.add(lines)
geometry = Geometry()
geometry.vertices = [[0.0, 0.0, 0.0], [0.0, 3.0, 0.0]]
geometry.lines = [Line2(a=0, b=1)]
material = Material(color=(0., 1., 0.),
diffuse=(0., 1., 0.),
specular=(1., 1.0, 1.0))
lines = Lines(geometry, material)
scene.add(lines)
geometry = Geometry()
geometry.vertices = [[0.0, 0.0, 0.0], [0.0, 0.0, 3.0]]
geometry.lines = [Line2(a=0, b=1)]
material = Material(color=(0., 0., 1.),
diffuse=(0., 0., 1.),
specular=(.35, .35, .35))
lines = Lines(geometry, material)
lines.position.y = -0.01
scene.add(lines)
self.renderer.render(scene, camera)
self.renderer.main_light.intensity = 1000
self.renderer.main_light.pos = (10, 10, -10)
root.add_widget(self.renderer)
self.renderer.bind(size=self._adjust_aspect)
return root
def convert_to_mesh(self, vertex_format=None):
"""Converts data gotten from the .obj definition
file and create Kivy3 Mesh object which may be used
for drawing object in the scene
"""
geometry = Geometry()
material = Material()
mtl_dirname = abspath(dirname(self.loader.mtl_source))
v_idx = 0
# create geometry for mesh
for f in self.faces:
verts = f[0]
norms = f[1]
tcs = f[2]
face3 = Face3(0, 0, 0)
for i, e in enumerate(['a', 'b', 'c']):
# get normal components
n = (0.0, 0.0, 0.0)
if norms[i] != -1:
n = self.loader.normals[norms[i] - 1]
face3.vertex_normals.append(n)
# get vertex components
v = self.loader.vertices[verts[i] - 1]
geometry.vertices.append(v)
setattr(face3, e, v_idx)
v_idx += 1
# get texture coordinate components
t = (0.0, 0.0)
if tcs[i] != -1:
t = self.loader.texcoords[tcs[i] - 1]
tc = Vector2(t[0], 1. - t[1])
geometry.face_vertex_uvs[0].append(tc)
geometry.faces.append(face3)
# apply material for object
if self.mtl_name in self.loader.mtl_contents:
raw_material = self.loader.mtl_contents[self.mtl_name]
# shader ignores values
zeros = ['0', '0.0', '0.00', '0.000', '0.0000',
'0.00000', '0.000000']
for k, v in raw_material.items():
_k = self._mtl_map.get(k, None)
# TODO: also handle map_Ka and map_Ks
if k in ["map_Kd", ]:
# TODO: map file path may contains spaces.
# current implementation fails.
map_path = join(mtl_dirname, v[0])
if not exists(map_path):
msg = u'WaveObject: Texture not found <{}>'
Logger.warning(msg.format(map_path))
continue
tex = Image(map_path).texture
material.map = tex
continue
if _k:
if len(v) == 1:
v[0] = '0.000001' if v[0] in zeros else v[0]
v = float(v[0])
if k == 'Tr':
v = 1. - v
setattr(material, _k, v)
else:
v = list(map(lambda x: float(x), v))
setattr(material, _k, v)
if not material.map:
material.map = Image(folder + '/empty.png').texture
material.texture_ratio = 0.0
mesh = Mesh(geometry, material)
return mesh