def __init__(self, icp): #icp is initial cranicm pointi
self._cranicm_radius = 3.0
self._neck_radius = 1.5
self._neck_length = 6.0
self._init_cranicm_point = icp
self._init_neck_toWorld = tf.translate(Vector(
icp.x, icp.y - 3, icp.z)) * tf.scale(
Vector(1, self._neck_length, 1)) * tf.rotate(
Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
self.cranicm_prop = {
'type': 'sphere',
'center': self._init_cranicm_point,
'radius': self._cranicm_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.neck_prop = {
'type': 'cylinder',
'toWorld': self._init_neck_toWorld,
'radius': self._neck_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
def set_joint_angles(self, shoulder_pitch, shoulder_yaw, shoulder_roll, elbow_angle):
self._shoulder_pitch = shoulder_pitch
self._shoulder_yaw = shoulder_yaw
self._shoulder_roll = shoulder_roll
self._elbow_angle = elbow_angle
# sto is the translate "shoulder to origin"
sto = tf.translate(Vector(-self.shoulder_joint_prop['center'][0], -self.shoulder_joint_prop['center'][1], -self.shoulder_joint_prop['center'][2]))
# ots is the translate "shoulder from origin"
ots = tf.translate(Vector(self.shoulder_joint_prop['center'][0], self.shoulder_joint_prop['center'][1], self.shoulder_joint_prop['center'][2]))
self.upperarm_prop['toWorld'] = ots * self._create_xyz_rotation(shoulder_pitch, shoulder_yaw, shoulder_roll) * sto * self._init_upperarm_toWorld
self.upperarm_endcap_prop['center'] = ots * self._create_xyz_rotation(shoulder_pitch, shoulder_yaw, shoulder_roll) * sto * self._init_upperarm_end_point
self.elbow_joint_prop['center'] = ots * self._create_xyz_rotation(shoulder_pitch, shoulder_yaw, shoulder_roll) * sto * self._init_elbow_point
self.forearm_endcap_prop['center'] = ots * self._create_xyz_rotation(shoulder_pitch, shoulder_yaw, shoulder_roll) * sto * self._init_forearm_start_point
self.forearm_prop['toWorld'] = ots * self._create_xyz_rotation(shoulder_pitch, shoulder_yaw, shoulder_roll) * sto * self._init_forearm_toWorld
self.hand_prop['center'] = ots * self._create_xyz_rotation(shoulder_pitch, shoulder_yaw, shoulder_roll) * sto * self._init_hand_point
# eto is the translate "elbow to origin"
eto = tf.translate(Vector(-self.elbow_joint_prop['center'][0], -self.elbow_joint_prop['center'][1], -self.elbow_joint_prop['center'][2]))
# ots is the translate "origin to shoulder"
ote = tf.translate(Vector(self.elbow_joint_prop['center'][0], self.elbow_joint_prop['center'][1], self.elbow_joint_prop['center'][2]))
elbow_axis = self.upperarm_prop['toWorld'] * (-self._slocal_axes['x'])
self.forearm_endcap_prop['center'] = ote * tf.rotate(elbow_axis, elbow_angle) * eto * self.forearm_endcap_prop['center']
self.forearm_prop['toWorld'] = ote * tf.rotate(elbow_axis, elbow_angle) * eto * self.forearm_prop['toWorld']
self.hand_prop['center'] = ote * tf.rotate(elbow_axis, elbow_angle) * eto * self.hand_prop['center']
def set_joint_angles(self, hip_pitch, hip_yaw, hip_roll, knee_angle):
self._hip_pitch = hip_pitch
self._hip_yaw = hip_yaw
self._hip_roll = hip_roll
self._knee_angle = knee_angle
# sto is the translate "hip to origin"
sto = tf.translate(Vector(-self.hip_joint_prop['center'][0], -self.hip_joint_prop['center'][1], -self.hip_joint_prop['center'][2]))
# ots is the translate "hip from origin"
ots = tf.translate(Vector(self.hip_joint_prop['center'][0], self.hip_joint_prop['center'][1], self.hip_joint_prop['center'][2]))
self.thigh_prop['toWorld'] = ots * self._create_xyz_rotation(hip_pitch, hip_yaw, hip_roll) * sto * self._init_thigh_toWorld
self.thigh_endcap_prop['center'] = ots * self._create_xyz_rotation(hip_pitch, hip_yaw, hip_roll) * sto * self._init_thigh_end_point
self.knee_joint_prop['center'] = ots * self._create_xyz_rotation(hip_pitch, hip_yaw, hip_roll) * sto * self._init_knee_point
self.calf_endcap_prop['center'] = ots * self._create_xyz_rotation(hip_pitch, hip_yaw, hip_roll) * sto * self._init_calf_start_point
self.calf_prop['toWorld'] = ots * self._create_xyz_rotation(hip_pitch, hip_yaw, hip_roll) * sto * self._init_calf_toWorld
self.foot_prop['center'] = ots * self._create_xyz_rotation(hip_pitch, hip_yaw, hip_roll) * sto * self._init_foot_point
# eto is the translate "knee to origin"
eto = tf.translate(Vector(-self.knee_joint_prop['center'][0], -self.knee_joint_prop['center'][1], -self.knee_joint_prop['center'][2]))
# ots is the translate "origin to hip"
ote = tf.translate(Vector(self.knee_joint_prop['center'][0], self.knee_joint_prop['center'][1], self.knee_joint_prop['center'][2]))
knee_axis = self.thigh_prop['toWorld'] * self._hlocal_axes['x']
self.calf_endcap_prop['center'] = ote * tf.rotate(knee_axis, knee_angle) * eto * self.calf_endcap_prop['center']
self.calf_prop['toWorld'] = ote * tf.rotate(knee_axis, knee_angle) * eto * self.calf_prop['toWorld']
self.foot_prop['center'] = ote * tf.rotate(knee_axis, knee_angle) * eto * self.foot_prop['center']
def set_joint_angles(self, shoulder_pitch, shoulder_yaw, shoulder_roll,
elbow_angle):
self._shoulder_pitch = shoulder_pitch
self._shoulder_yaw = shoulder_yaw
self._shoulder_roll = shoulder_roll
self._elbow_angle = elbow_angle
# sto is the translate "shoulder to origin"
sto = tf.translate(
Vector(-self.shoulder_joint_prop['center'][0],
-self.shoulder_joint_prop['center'][1],
-self.shoulder_joint_prop['center'][2]))
# ots is the translate "shoulder from origin"
ots = tf.translate(
Vector(self.shoulder_joint_prop['center'][0],
self.shoulder_joint_prop['center'][1],
self.shoulder_joint_prop['center'][2]))
self.upperarm_prop['toWorld'] = ots * self._create_xyz_rotation(
shoulder_pitch, shoulder_yaw,
shoulder_roll) * sto * self._init_upperarm_toWorld
self.upperarm_endcap_prop['center'] = ots * self._create_xyz_rotation(
shoulder_pitch, shoulder_yaw,
shoulder_roll) * sto * self._init_upperarm_end_point
self.elbow_joint_prop['center'] = ots * self._create_xyz_rotation(
shoulder_pitch, shoulder_yaw,
shoulder_roll) * sto * self._init_elbow_point
self.forearm_endcap_prop['center'] = ots * self._create_xyz_rotation(
shoulder_pitch, shoulder_yaw,
shoulder_roll) * sto * self._init_forearm_start_point
self.forearm_prop['toWorld'] = ots * self._create_xyz_rotation(
shoulder_pitch, shoulder_yaw,
shoulder_roll) * sto * self._init_forearm_toWorld
self.hand_prop['center'] = ots * self._create_xyz_rotation(
shoulder_pitch, shoulder_yaw,
shoulder_roll) * sto * self._init_hand_point
# eto is the translate "elbow to origin"
eto = tf.translate(
Vector(-self.elbow_joint_prop['center'][0],
-self.elbow_joint_prop['center'][1],
-self.elbow_joint_prop['center'][2]))
# ots is the translate "origin to shoulder"
ote = tf.translate(
Vector(self.elbow_joint_prop['center'][0],
self.elbow_joint_prop['center'][1],
self.elbow_joint_prop['center'][2]))
elbow_axis = self.upperarm_prop['toWorld'] * (-self._slocal_axes['x'])
self.forearm_endcap_prop['center'] = ote * tf.rotate(
elbow_axis, elbow_angle) * eto * self.forearm_endcap_prop['center']
self.forearm_prop['toWorld'] = ote * tf.rotate(
elbow_axis, elbow_angle) * eto * self.forearm_prop['toWorld']
self.hand_prop['center'] = ote * tf.rotate(
elbow_axis, elbow_angle) * eto * self.hand_prop['center']
def __init__(self, itp): # itp is initial torso point
self._torso_radius = 5.5
self._torso_length = 18.0
self._init_clavile_toWorld = tf.translate(
Vector(itp.x, itp.y + (self._torso_length / 2), itp.z)) * tf.scale(
Vector(self._torso_radius, 1, self._torso_radius)) * tf.rotate(
Vector(1, 0, 0), -90)
self._init_torso_cylinder_toWorld = tf.translate(
Vector(itp.x, itp.y, itp.z)) * tf.scale(
Vector(1, self._torso_length, 1)) * tf.rotate(
Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
self._init_hip_toWorld = tf.translate(
Vector(itp.x, itp.y - (self._torso_length / 2), itp.z)) * tf.scale(
Vector(self._torso_radius, 1, self._torso_radius)) * tf.rotate(
Vector(1, 0, 0), 90)
self._torso_cylinder_point = itp
self.clavile_prop = {
'type': 'disk',
'toWorld': self._init_clavile_toWorld,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.torso_cylinder_prop = {
'type': 'cylinder',
'toWorld': self._init_torso_cylinder_toWorld,
'radius': self._torso_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.hip_prop = {
'type': 'disk',
'toWorld': self._init_hip_toWorld,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
def horiz_move(self, gx, gy, gz):
movement = tf.translate(Vector(
gx, gy, gz)) # Affine matrix for horizontal movement.
self._init_cranicm_point = movement * self._init_cranicm_point
self._init_neck_toWorld = movement * self._init_neck_toWorld
self.cranicm_prop['center'] = movement * self.cranicm_prop['center']
self.neck_prop['toWorld'] = movement * self.neck_prop['toWorld']
def __add_cone(self, shape):
y_dir = np.array([0.0, 1.0, 0.0])
v = shape.end_points[1] - shape.end_points[0]
center = 0.5 * (shape.end_points[0] + shape.end_points[1])
height = norm(v)
scale = Transform.scale(Vector(shape.radius, height, shape.radius))
axis = np.cross(y_dir, v)
axis_len = norm(axis)
angle = degrees(atan2(axis_len, np.dot(y_dir, v)))
if (axis_len > 1e-6):
axis /= axis_len
rotate = Transform.rotate(Vector(*axis), angle)
else:
axis = np.array([1.0, 0.0, 0.0])
rotate = Transform.rotate(Vector(*axis), angle)
translate = Transform.translate(Vector(*center))
cone_file = self.file_resolver.resolve("cone.ply")
cone_transform = translate * rotate * scale
setting = {
"type": "ply",
"filename": cone_file,
"toWorld": cone_transform
}
return setting
def __add_floor(self):
rotate_transform = Transform.rotate(Vector(-1, 0, 0), 90)
scale_transform = Transform.scale(Vector(100, 100, 100))
translate_transform = Transform.translate(
Vector(0.0, self.floor_height, 0.0))
total_transform = translate_transform * scale_transform\
* rotate_transform
if self.scene.active_view.background == "d":
reflectance = Spectrum(0.05)
elif self.scene.active_view.background == "l":
reflectance = Spectrum(0.5)
else:
reflectance = Spectrum(0.0)
floor = self.plgr.create({
"type": "rectangle",
"toWorld": total_transform,
"bsdf": {
"type": "roughdiffuse",
"diffuseReflectance": reflectance,
"alpha": 0.5
}
})
self.mitsuba_scene.addChild(floor)
def __get_normalize_transform(self, active_view):
centroid = active_view.center
scale = active_view.scale
normalize_transform = Transform.scale(Vector(scale, scale, scale)) *\
Transform.translate(Vector(*(-1 * centroid)))
return normalize_transform
def set_joint_angles(self, hip_pitch, hip_yaw, hip_roll, knee_angle):
self._hip_pitch = hip_pitch
self._hip_yaw = hip_yaw
self._hip_roll = hip_roll
self._knee_angle = knee_angle
# sto is the translate "hip to origin"
sto = tf.translate(
Vector(-self.hip_joint_prop['center'][0],
-self.hip_joint_prop['center'][1],
-self.hip_joint_prop['center'][2]))
# ots is the translate "hip from origin"
ots = tf.translate(
Vector(self.hip_joint_prop['center'][0],
self.hip_joint_prop['center'][1],
self.hip_joint_prop['center'][2]))
self.thigh_prop['toWorld'] = ots * self._create_xyz_rotation(
hip_pitch, hip_yaw, hip_roll) * sto * self._init_thigh_toWorld
self.thigh_endcap_prop['center'] = ots * self._create_xyz_rotation(
hip_pitch, hip_yaw, hip_roll) * sto * self._init_thigh_end_point
self.knee_joint_prop['center'] = ots * self._create_xyz_rotation(
hip_pitch, hip_yaw, hip_roll) * sto * self._init_knee_point
self.calf_endcap_prop['center'] = ots * self._create_xyz_rotation(
hip_pitch, hip_yaw, hip_roll) * sto * self._init_calf_start_point
self.calf_prop['toWorld'] = ots * self._create_xyz_rotation(
hip_pitch, hip_yaw, hip_roll) * sto * self._init_calf_toWorld
self.foot_prop['center'] = ots * self._create_xyz_rotation(
hip_pitch, hip_yaw, hip_roll) * sto * self._init_foot_point
# eto is the translate "knee to origin"
eto = tf.translate(
Vector(-self.knee_joint_prop['center'][0],
-self.knee_joint_prop['center'][1],
-self.knee_joint_prop['center'][2]))
# ots is the translate "origin to hip"
ote = tf.translate(
Vector(self.knee_joint_prop['center'][0],
self.knee_joint_prop['center'][1],
self.knee_joint_prop['center'][2]))
knee_axis = self.thigh_prop['toWorld'] * self._hlocal_axes['x']
self.calf_endcap_prop['center'] = ote * tf.rotate(
knee_axis, knee_angle) * eto * self.calf_endcap_prop['center']
self.calf_prop['toWorld'] = ote * tf.rotate(
knee_axis, knee_angle) * eto * self.calf_prop['toWorld']
self.foot_prop['center'] = ote * tf.rotate(
knee_axis, knee_angle) * eto * self.foot_prop['center']
def __init__(self, itp): # itp is initial torso point
self._torso_radius = 5.5
self._torso_length = 18.0
self._init_clavile_toWorld = tf.translate(Vector(itp.x, itp.y+(self._torso_length/2), itp.z)) * tf.scale(Vector(self._torso_radius, 1, self._torso_radius)) * tf.rotate(Vector(1, 0, 0), -90)
self._init_torso_cylinder_toWorld = tf.translate(Vector(itp.x, itp.y, itp.z)) * tf.scale(Vector(1, self._torso_length, 1)) * tf.rotate(Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
self._init_hip_toWorld = tf.translate(Vector(itp.x, itp.y-(self._torso_length/2), itp.z)) * tf.scale(Vector(self._torso_radius, 1, self._torso_radius)) * tf.rotate(Vector(1, 0, 0), 90)
self._torso_cylinder_point = itp
self.clavile_prop = {
'type' : 'disk',
'toWorld': self._init_clavile_toWorld,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.torso_cylinder_prop = {
'type' : 'cylinder',
'toWorld': self._init_torso_cylinder_toWorld,
'radius' : self._torso_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.hip_prop = {
'type' : 'disk',
'toWorld': self._init_hip_toWorld,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
def horiz_move(self, gx, gy, gz):
movement = tf.translate(Vector(gx, gy, gz)) # Affine matrix for horizontal movement.
self._init_clavile_toWorld = movement * self._init_clavile_toWorld
self._init_torso_cylinder_toWorld = movement * self._init_torso_cylinder_toWorld
self._init_hip_toWorld = movement * self._init_hip_toWorld
self.clavile_prop['toWorld'] = movement * self.clavile_prop['toWorld']
self.torso_cylinder_prop['toWorld'] = movement * self.torso_cylinder_prop['toWorld']
self.hip_prop['toWorld'] = movement * self.hip_prop['toWorld']
self._torso_cylinder_point = movement * self._torso_cylinder_point
def horiz_move(self, gx, gy, gz):
movement = tf.translate(Vector(gx, gy, gz)) # Affine matrix for horizontal movement.
self._body_center = movement * self._init_torso_center
self.head.horiz_move(x, y, z)
self.torso.horiz_move(x, y, z)
self.left_arm.horiz_move(x, y, z)
self.right_arm.horiz_move(x, y, z)
if self._lower_body_flag:
self.left_leg.horiz_move(x, y, z)
self.right_leg.horiz_move(x, y, z)
def horiz_move(self, gx, gy, gz):
movement = tf.translate(Vector(
gx, gy, gz)) # Affine matrix for horizontal movement.
self._body_center = movement * self._init_torso_center
self.head.horiz_move(x, y, z)
self.torso.horiz_move(x, y, z)
self.left_arm.horiz_move(x, y, z)
self.right_arm.horiz_move(x, y, z)
if self._lower_body_flag:
self.left_leg.horiz_move(x, y, z)
self.right_leg.horiz_move(x, y, z)
def horiz_move(self, gx, gy, gz):
movement = tf.translate(Vector(
gx, gy, gz)) # Affine matrix for horizontal movement.
self._init_clavile_toWorld = movement * self._init_clavile_toWorld
self._init_torso_cylinder_toWorld = movement * self._init_torso_cylinder_toWorld
self._init_hip_toWorld = movement * self._init_hip_toWorld
self.clavile_prop['toWorld'] = movement * self.clavile_prop['toWorld']
self.torso_cylinder_prop[
'toWorld'] = movement * self.torso_cylinder_prop['toWorld']
self.hip_prop['toWorld'] = movement * self.hip_prop['toWorld']
self._torso_cylinder_point = movement * self._torso_cylinder_point
def horiz_move(self, gx, gy, gz):
movement = tf.translate(Vector(gx, gy, gz)) # Affine matrix for horizontal movement.
self._init_shoulder_point = movement * self._init_shoulder_point
self._init_upperarm_toWorld = movement * self._init_upperarm_toWorld
self._init_upperarm_end_point = movement * self._init_upperarm_end_point
self._init_elbow_point = movement * self._init_elbow_point
self._init_forearm_start_point = movement * self._init_forearm_start_point
self._init_hand_point = movement * self._init_hand_point
self._init_forearm_toWorld = movement * self._init_forearm_toWorld
self.shoulder_joint_prop['center'] = movement * self.shoulder_joint_prop['center']
self.upperarm_endcap_prop['center'] = movement * self.upperarm_endcap_prop['center']
self.upperarm_prop['toWorld'] = movement * self.upperarm_prop['toWorld']
self.elbow_joint_prop['center'] = movement * self.elbow_joint_prop['center']
self.forearm_endcap_prop['center'] = movement * self.forearm_endcap_prop['center']
self.forearm_prop['toWorld'] = movement * self.forearm_prop['toWorld']
self.hand_prop['center'] = movement * self.hand_prop['center']
def horiz_move(self, gx, gy, gz):
movement = tf.translate(Vector(gx, gy, gz)) # Affine matrix for horizontal movement.
self._init_hip_point = movement * self._init_hip_point
self._init_thigh_toWorld = movement * self._init_thigh_toWorld
self._init_thigh_end_point = movement * self._init_thigh_end_point
self._init_knee_point = movement * self._init_knee_point
self._init_calf_start_point = movement * self._init_calf_start_point
self._init_foot_point = movement * self._init_foot_point
self._init_calf_toWorld = movement * self._init_calf_toWorld
self.hip_joint_prop['center'] = movement * self.hip_joint_prop['center']
self.thigh_endcap_prop['center'] = movement * self.thigh_endcap_prop['center']
self.thigh_prop['toWorld'] = movement * self.thigh_prop['toWorld']
self.knee_joint_prop['center'] = movement * self.knee_joint_prop['center']
self.calf_endcap_prop['center'] = movement * self.calf_endcap_prop['center']
self.calf_prop['toWorld'] = movement * self.calf_prop['toWorld']
self.foot_prop['center'] = movement * self.foot_prop['center']
def createRenderJob(self):
self.scene = self.pmgr.create({
'type' : 'scene',
'sphere' : {
'type' : 'sphere',
},
'envmap' : {
'type' : 'sky'
},
'sensor' : {
'type' : 'perspective',
'toWorld' : Transform.translate(Vector(0, 0, -5)),
'sampler' : {
'type' : 'halton',
'sampleCount' : 64
}
}
})
return RenderJob('rjob', self.scene, self.queue)
def horiz_move(self, gx, gy, gz):
movement = tf.translate(Vector(
gx, gy, gz)) # Affine matrix for horizontal movement.
self._init_hip_point = movement * self._init_hip_point
self._init_thigh_toWorld = movement * self._init_thigh_toWorld
self._init_thigh_end_point = movement * self._init_thigh_end_point
self._init_knee_point = movement * self._init_knee_point
self._init_calf_start_point = movement * self._init_calf_start_point
self._init_foot_point = movement * self._init_foot_point
self._init_calf_toWorld = movement * self._init_calf_toWorld
self.hip_joint_prop[
'center'] = movement * self.hip_joint_prop['center']
self.thigh_endcap_prop[
'center'] = movement * self.thigh_endcap_prop['center']
self.thigh_prop['toWorld'] = movement * self.thigh_prop['toWorld']
self.knee_joint_prop[
'center'] = movement * self.knee_joint_prop['center']
self.calf_endcap_prop[
'center'] = movement * self.calf_endcap_prop['center']
self.calf_prop['toWorld'] = movement * self.calf_prop['toWorld']
self.foot_prop['center'] = movement * self.foot_prop['center']
def horiz_move(self, gx, gy, gz):
movement = tf.translate(Vector(
gx, gy, gz)) # Affine matrix for horizontal movement.
self._init_shoulder_point = movement * self._init_shoulder_point
self._init_upperarm_toWorld = movement * self._init_upperarm_toWorld
self._init_upperarm_end_point = movement * self._init_upperarm_end_point
self._init_elbow_point = movement * self._init_elbow_point
self._init_forearm_start_point = movement * self._init_forearm_start_point
self._init_hand_point = movement * self._init_hand_point
self._init_forearm_toWorld = movement * self._init_forearm_toWorld
self.shoulder_joint_prop[
'center'] = movement * self.shoulder_joint_prop['center']
self.upperarm_endcap_prop[
'center'] = movement * self.upperarm_endcap_prop['center']
self.upperarm_prop[
'toWorld'] = movement * self.upperarm_prop['toWorld']
self.elbow_joint_prop[
'center'] = movement * self.elbow_joint_prop['center']
self.forearm_endcap_prop[
'center'] = movement * self.forearm_endcap_prop['center']
self.forearm_prop['toWorld'] = movement * self.forearm_prop['toWorld']
self.hand_prop['center'] = movement * self.hand_prop['center']
def __init__(self, isp): # isp is initial shoulder point
self._upperarm_radius = 1.0
self._upperarm_length = 6.0
self._elbow_radius = 1.0
self._forearm_radius = 1.0
self._forearm_length = 6.0
self._init_shoulder_point = isp # == _init_upperarm_start_point
self._init_upperarm_end_point = Point(isp.x,
isp.y - self._upperarm_length,
isp.z)
self._init_upperarm_toWorld = tf.translate(
Vector(isp.x, isp.y -
(self._upperarm_length / 2), isp.z)) * tf.scale(
Vector(1, self._upperarm_length, 1)) * tf.rotate(
Vector(1, 0, 0), -90) * tf.translate(
Vector(0, 0, -0.5))
self._init_elbow_point = Point(
isp.x, isp.y - (self._upperarm_length + self._upperarm_radius +
self._elbow_radius), isp.z)
self._init_forearm_start_point = Point(
isp.x, isp.y - (self._upperarm_length + self._upperarm_radius +
self._elbow_radius * 2 + self._forearm_radius),
isp.z)
self._init_hand_point = Point(
isp.x, isp.y - (self._upperarm_length + self._upperarm_radius +
self._elbow_radius * 2 + self._forearm_radius +
self._forearm_length),
isp.z) # == _init_forearm_end_point
self._init_forearm_toWorld = tf.translate(
Vector(
isp.x, isp.y -
(self._upperarm_length + self._upperarm_radius +
self._elbow_radius * 2 + self._forearm_radius +
self._forearm_length / 2), isp.z)) * tf.scale(
Vector(1, self._forearm_length, 1)) * tf.rotate(
Vector(1, 0, 0), -90) * tf.translate(
Vector(0, 0, -0.5))
# local axes at shoulder
self._slocal_axes = {
'x': Vector(1, 0, 0),
'y': Vector(0, 1, 0),
'z': Vector(0, 0, 1)
}
# rotate angle of local axes at shoulder
self._slocal_axes_rotate_angle = {'pitch': 0, 'yaw': 0, 'roll': 0}
self._shoulder_pitch = 0
self._shoulder_yaw = 0
self._shoulder_roll = 0
self._elbow_angle = 0
self.shoulder_joint_prop = {
'type': 'sphere',
'center': self._init_shoulder_point,
'radius': self._upperarm_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.upperarm_prop = {
'type': 'cylinder',
'toWorld': self._init_upperarm_toWorld,
'radius': self._upperarm_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.upperarm_endcap_prop = {
'type': 'sphere',
'center': self._init_upperarm_end_point,
'radius': self._upperarm_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.elbow_joint_prop = {
'type': 'sphere',
'center': self._init_elbow_point,
'radius': self._elbow_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.1, 0.1, 0.1])
}
}
self.forearm_endcap_prop = {
'type': 'sphere',
'center': self._init_forearm_start_point,
'radius': self._forearm_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.forearm_prop = {
'type': 'cylinder',
'toWorld': self._init_forearm_toWorld,
'radius': self._forearm_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.hand_prop = {
'type': 'sphere',
'center': self._init_hand_point,
'radius': self._forearm_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
def __add_quarter(self):
scale = self.scene.active_view.scale
radius = 12.13 * scale
thickness = 0.875 * scale
face_scale = Transform.scale(Vector(radius))
tail_offset = Transform.translate(Vector(0, 0, thickness))
head_offset = Transform.translate(Vector(0, 0, -thickness)) *\
Transform.scale(Vector(1.0, 1.0, -1.0))
bbox_diag = 0.5 * norm(self.transformed_bbox_max -
self.transformed_bbox_min)
custom_transform = Transform.translate(
Vector(0.5, self.floor_height + radius + 0.01, -bbox_diag - 0.01))
head_texture = self.file_resolver.resolve("head.png")
tail_texture = self.file_resolver.resolve("tail.png")
side_texture = self.file_resolver.resolve("side.png")
quarter_ring = self.plgr.create({
"type": "cylinder",
"p0": Point(0.0, 0.0, thickness),
"p1": Point(0.0, 0.0, -thickness),
"radius": radius,
"toWorld": custom_transform,
"bsdf": {
"type": "bumpmap",
"texture": {
"type": "scale",
"scale": 0.01,
"texture": {
"type": "bitmap",
"filename": side_texture,
"gamma": 1.0,
"uscale": 100.0,
},
},
"bsdf": {
"type": "roughconductor",
"distribution": "ggx",
"alpha": 0.5,
"material": "Ni_palik"
#"diffuseReflectance": Spectrum(0.5)
}
}
})
head = self.plgr.create({
"type": "disk",
"toWorld": custom_transform * head_offset * face_scale,
"bsdf": {
"type": "diffuse",
"reflectance": {
"type": "bitmap",
"filename": head_texture
}
}
})
tail = self.plgr.create({
"type": "disk",
"toWorld": custom_transform * tail_offset * face_scale,
"bsdf": {
"type": "diffuse",
"reflectance": {
"type": "bitmap",
"filename": tail_texture
}
}
})
self.mitsuba_scene.addChild(quarter_ring)
self.mitsuba_scene.addChild(head)
self.mitsuba_scene.addChild(tail)
def __init__(self, ihp): # ihp is initial hip point
self._thigh_radius = 1.5
self._thigh_length = 8.0
self._knee_radius = 1.5
self._calf_radius = 1.5
self._calf_length = 8.0
self._init_hip_point = ihp # == _init_thigh_start_point
self._init_thigh_end_point = Point(ihp.x, ihp.y - self._thigh_length,
ihp.z)
self._init_thigh_toWorld = tf.translate(
Vector(ihp.x, ihp.y - (self._thigh_length / 2), ihp.z)) * tf.scale(
Vector(1, self._thigh_length, 1)) * tf.rotate(
Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
self._init_knee_point = Point(
ihp.x, ihp.y -
(self._thigh_length + self._thigh_radius + self._knee_radius),
ihp.z)
self._init_calf_start_point = Point(
ihp.x, ihp.y - (self._thigh_length + self._thigh_radius +
self._knee_radius * 2 + self._calf_radius), ihp.z)
self._init_foot_point = Point(
ihp.x, ihp.y -
(self._thigh_length + self._thigh_radius + self._knee_radius * 2 +
self._calf_radius + self._calf_length),
ihp.z) # == _init_calf_end_point
self._init_calf_toWorld = tf.translate(
Vector(
ihp.x, ihp.y -
(self._thigh_length + self._thigh_radius + self._knee_radius *
2 + self._calf_radius + self._calf_length / 2), ihp.z)
) * tf.scale(Vector(1, self._calf_length, 1)) * tf.rotate(
Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
# local axes at hip
self._hlocal_axes = {
'x': Vector(1, 0, 0),
'y': Vector(0, 1, 0),
'z': Vector(0, 0, 1)
}
# rotate angle of local axes at hip
self._hlocal_axes_rotate_angle = {'pitch': 0, 'yaw': 0, 'roll': 0}
self._hip_pitch = 0
self._hip_yaw = 0
self._hip_roll = 0
self._knee_angle = 0
self.hip_joint_prop = {
'type': 'sphere',
'center': self._init_hip_point,
'radius': self._thigh_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.thigh_prop = {
'type': 'cylinder',
'toWorld': self._init_thigh_toWorld,
'radius': self._thigh_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.thigh_endcap_prop = {
'type': 'sphere',
'center': self._init_thigh_end_point,
'radius': self._thigh_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.knee_joint_prop = {
'type': 'sphere',
'center': self._init_knee_point,
'radius': self._knee_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.1, 0.1, 0.1])
}
}
self.calf_endcap_prop = {
'type': 'sphere',
'center': self._init_calf_start_point,
'radius': self._calf_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.calf_prop = {
'type': 'cylinder',
'toWorld': self._init_calf_toWorld,
'radius': self._calf_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.foot_prop = {
'type': 'sphere',
'center': self._init_foot_point,
'radius': self._calf_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
def __init__(self, isp): # isp is initial shoulder point
self._upperarm_radius = 1.0
self._upperarm_length = 6.0
self._elbow_radius = 1.0
self._forearm_radius = 1.0
self._forearm_length = 6.0
self._init_shoulder_point = isp # == _init_upperarm_start_point
self._init_upperarm_end_point = Point(isp.x, isp.y-self._upperarm_length, isp.z)
self._init_upperarm_toWorld = tf.translate(Vector(isp.x, isp.y-(self._upperarm_length/2), isp.z)) * tf.scale(Vector(1, self._upperarm_length, 1)) * tf.rotate(Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
self._init_elbow_point = Point(isp.x, isp.y-(self._upperarm_length+self._upperarm_radius+self._elbow_radius), isp.z)
self._init_forearm_start_point = Point(isp.x, isp.y-(self._upperarm_length+self._upperarm_radius+self._elbow_radius*2+self._forearm_radius), isp.z)
self._init_hand_point = Point(isp.x, isp.y-(self._upperarm_length+self._upperarm_radius+self._elbow_radius*2+self._forearm_radius+self._forearm_length), isp.z) # == _init_forearm_end_point
self._init_forearm_toWorld = tf.translate(Vector(isp.x, isp.y-(self._upperarm_length+self._upperarm_radius+self._elbow_radius*2+self._forearm_radius+self._forearm_length/2), isp.z)) * tf.scale(Vector(1, self._forearm_length, 1)) * tf.rotate(Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
# local axes at shoulder
self._slocal_axes = {
'x' : Vector(1, 0, 0),
'y' : Vector(0, 1, 0),
'z' : Vector(0, 0, 1)
}
# rotate angle of local axes at shoulder
self._slocal_axes_rotate_angle = {
'pitch' : 0,
'yaw' : 0,
'roll' : 0
}
self._shoulder_pitch = 0
self._shoulder_yaw = 0
self._shoulder_roll = 0
self._elbow_angle = 0
self.shoulder_joint_prop = {
'type' : 'sphere',
'center' : self._init_shoulder_point,
'radius' : self._upperarm_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.upperarm_prop = {
'type' : 'cylinder',
'toWorld': self._init_upperarm_toWorld,
'radius' : self._upperarm_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.upperarm_endcap_prop = {
'type' : 'sphere',
'center' : self._init_upperarm_end_point,
'radius' : self._upperarm_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.elbow_joint_prop = {
'type' : 'sphere',
'center' : self._init_elbow_point,
'radius' : self._elbow_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.1, 0.1, 0.1])
}
}
self.forearm_endcap_prop = {
'type' : 'sphere',
'center' : self._init_forearm_start_point,
'radius' : self._forearm_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.forearm_prop = {
'type' : 'cylinder',
'toWorld' : self._init_forearm_toWorld,
'radius' : self._forearm_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.hand_prop = {
'type' : 'sphere',
'center' : self._init_hand_point,
'radius' : self._forearm_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
def __init__(self, ihp): # ihp is initial hip point
self._thigh_radius = 1.5
self._thigh_length = 8.0
self._knee_radius = 1.5
self._calf_radius = 1.5
self._calf_length = 8.0
self._init_hip_point = ihp # == _init_thigh_start_point
self._init_thigh_end_point = Point(ihp.x, ihp.y-self._thigh_length, ihp.z)
self._init_thigh_toWorld = tf.translate(Vector(ihp.x, ihp.y-(self._thigh_length/2), ihp.z)) * tf.scale(Vector(1, self._thigh_length, 1)) * tf.rotate(Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
self._init_knee_point = Point(ihp.x, ihp.y-(self._thigh_length+self._thigh_radius+self._knee_radius), ihp.z)
self._init_calf_start_point = Point(ihp.x, ihp.y-(self._thigh_length+self._thigh_radius+self._knee_radius*2+self._calf_radius), ihp.z)
self._init_foot_point = Point(ihp.x, ihp.y-(self._thigh_length+self._thigh_radius+self._knee_radius*2+self._calf_radius+self._calf_length), ihp.z) # == _init_calf_end_point
self._init_calf_toWorld = tf.translate(Vector(ihp.x, ihp.y-(self._thigh_length+self._thigh_radius+self._knee_radius*2+self._calf_radius+self._calf_length/2), ihp.z)) * tf.scale(Vector(1, self._calf_length, 1)) * tf.rotate(Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
# local axes at hip
self._hlocal_axes = {
'x' : Vector(1, 0, 0),
'y' : Vector(0, 1, 0),
'z' : Vector(0, 0, 1)
}
# rotate angle of local axes at hip
self._hlocal_axes_rotate_angle = {
'pitch' : 0,
'yaw' : 0,
'roll' : 0
}
self._hip_pitch = 0
self._hip_yaw = 0
self._hip_roll = 0
self._knee_angle = 0
self.hip_joint_prop = {
'type' : 'sphere',
'center' : self._init_hip_point,
'radius' : self._thigh_radius ,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.thigh_prop = {
'type' : 'cylinder',
'toWorld': self._init_thigh_toWorld,
'radius' : self._thigh_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.thigh_endcap_prop = {
'type' : 'sphere',
'center' : self._init_thigh_end_point,
'radius' : self._thigh_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.knee_joint_prop = {
'type' : 'sphere',
'center' : self._init_knee_point,
'radius' : self._knee_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.1, 0.1, 0.1])
}
}
self.calf_endcap_prop = {
'type' : 'sphere',
'center' : self._init_calf_start_point,
'radius' : self._calf_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.calf_prop = {
'type' : 'cylinder',
'toWorld' : self._init_calf_toWorld,
'radius' : self._calf_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.foot_prop = {
'type' : 'sphere',
'center' : self._init_foot_point,
'radius' : self._calf_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}