def changeRobotModel(self,isChecked):
self.ren.RemoveActor(self.robot.getAssembly())
if isChecked:
self.robot = palmModel()
self.robot.setPosition(-20,-450,0)
else:
self.robot = robotModel()
self.setArmConnect()
self.ren.AddActor(self.robot.getAssembly())
self.finger = [self.robot.thumb.finger,self.robot.fingerOne,self.robot.fingerTwo,
self.robot.fingerThree,self.robot.fingerFour]
self.setPalmConnect()
self.renderWindow.Render()
def __init__(self,parent = None):
super(robotWindow,self).__init__(parent = None)
self.setupUi(self)
self.robot = palmModel()
self.vtkWidget = QVTKRenderWindowInteractor(self.robotWidget)
self.ren = vtk.vtkRenderer()
lightPosition = [0,0,1]
lightFocalPoint = [0,0,0]
light = vtk.vtkLight()
light.SetLightTypeToSceneLight()
light.SetPosition(lightPosition[0], lightPosition[1], lightPosition[2])
light.SetPositional(True)
light.SetConeAngle(10)
light.SetFocalPoint(lightFocalPoint[0], lightFocalPoint[1], lightFocalPoint[2])
light.SetDiffuseColor(1,0,0)
light.SetAmbientColor(0,1,0)
light.SetSpecularColor(0,0,1)
lightActor = vtk.vtkLightActor()
lightActor.SetLight(light)
self.ren.AddViewProp(lightActor)
self.ren.SetBackground(0, 0.6, 0.9)
self.renderWindow = self.vtkWidget.GetRenderWindow()
self.renderWindow.AddRenderer(self.ren)
self.style = vtk.vtkInteractorStyleTrackballCamera()
self.vtkWidget.SetInteractorStyle(self.style)
self.checkBox = [self.thumbChectBox,self.foreCheckBox,self.middleCheckBox,
self.ringCheckBox,self.littleCheckBox]
if not self.thumbChectBox.isChecked():
self.robot = robotModel()
self.setArmConnect()
self.finger = [self.robot.thumb.finger,self.robot.fingerOne,self.robot.fingerTwo,
self.robot.fingerThree,self.robot.fingerFour]
self.fingerSender = [self.thumbYSlide,self.thumbSlide,self.foreSlide,
self.middleSlide,self.ringSlide,self.littleSlide]
self.setPalmConnect()
map(self.connectFun,self.checkBox,
[self.changeCheckBoxConnect for i in range(len(self.checkBox))],
[SIGNAL("clicked()") for i in range(len(self.checkBox))])
self.fingerTogether = []
self.slideTogether = []
self.connect(self.palmModelCheckBox,SIGNAL("stateChanged(int)"),self.changeRobotModel)
self.ren.AddActor(self.robot.getAssembly())
self.axes = vtk.vtkAxesActor()
self.axes.SetTotalLength(100,100,100)
center = self.ren.GetCenter()
self.axes.SetPosition(0,0,0)
#self.ren.AddActor(self.axes)
self.iren = self.vtkWidget.GetRenderWindow().GetInteractor()
self.iren.Initialize()