class _ConfigVisualEditor(_VisualEditorBase):
def __init__(self, name, value, description, world):
_VisualEditorBase.__init__(self, name, value, description, world)
world.robot(0).setConfig(value)
self.clicked = None
self.hovered = None
self.robotposer = RobotPoser(world.robot(0))
self.addWidget(self.robotposer)
def instructions(self):
return 'Right-click and drag on the robot links to pose the robot'
def mousefunc(self, button, state, x, y):
if _VisualEditorBase.mousefunc(self, button, state, x, y):
self.value = self.robotposer.get()
def display(self):
#Override display handler since the widget draws the robot
#the next few lines draw everything but the robot
for i in range(self.world.numTerrains()):
self.world.terrain(i).drawGL()
for i in range(self.world.numRigidObjects()):
self.world.rigidObject(i).drawGL()
for i in range(1, self.world.numRobots()):
self.world.robot(i).drawGL()
#this line will draw the robot
self.klamptwidgetmaster.drawGL(self.viewport())
class _ConfigVisualEditor(_VisualEditorBase):
def __init__(self,name,value,description,world):
_VisualEditorBase.__init__(self,name,value,description,world)
world.robot(0).setConfig(value)
self.clicked = None
self.hovered = None
self.robotposer = RobotPoser(world.robot(0))
self.addWidget(self.robotposer)
def instructions(self):
return 'Right-click and drag on the robot links to pose the robot'
def mousefunc(self,button,state,x,y):
if _VisualEditorBase.mousefunc(self,button,state,x,y):
self.value = self.robotposer.get()
def display(self):
#Override display handler since the widget draws the robot
#the next few lines draw everything but the robot
for i in xrange(self.world.numTerrains()):
self.world.terrain(i).drawGL()
for i in xrange(self.world.numRigidObjects()):
self.world.rigidObject(i).drawGL()
for i in xrange(1,self.world.numRobots()):
self.world.robot(i).drawGL()
#this line will draw the robot
self.klamptwidgetmaster.drawGL(self.viewport())
class _ConfigsVisualEditor(_VisualEditorBase):
def __init__(self,name,value,description,world,robot=None):
_VisualEditorBase.__init__(self,name,value,description,world)
if robot is None:
robot = world.robot(0)
if len(value) > 0:
robot.setConfig(value[0])
self.robot = robot
self.editingIndex = len(value)-1
self.clicked = None
self.hovered = None
self.robotposer = RobotPoser(robot)
self.addWidget(self.robotposer)
def instructions(self):
return 'Right-click and drag on the robot links to pose the robot.\nKeyboard i: insert, d: delete, < to select previous, > to select next'
def addDialogItems(self,parent,ui='qt'):
self.indexSpinBox = QSpinBox()
self.indexSpinBox.setRange(0,len(self.value)-1)
layout = QHBoxLayout(parent)
label = QLabel("Index")
label.setAlignment(Qt.AlignRight | Qt.AlignVCenter)
layout.addWidget(label)
layout.addWidget(self.indexSpinBox)
self.insertButton = QPushButton("Insert")
self.deleteButton = QPushButton("Delete")
layout.addWidget(self.insertButton)
layout.addWidget(self.deleteButton)
self.insertButton.clicked.connect(self.insert)
self.deleteButton.clicked.connect(self.delete)
self.indexSpinBox.valueChanged.connect(self.indexChanged)
def insert(self):
if self.editingIndex < 0:
self.value.append(self.robotposer.get())
self.editingIndex = len(self.value)-1
else:
self.value.insert(self.editingIndex+1,self.robotposer.get())
self.editingIndex += 1
if hasattr(self,'indexSpinBox'):
self.indexSpinBox.setRange(0,len(self.value)-1)
self.indexSpinBox.setValue(self.editingIndex)
self.refresh()
def delete(self):
if self.editingIndex >= 0:
del self.value[self.editingIndex]
if self.editingIndex >= len(self.value):
self.editingIndex = len(self.value)-1
if self.editingIndex >= 0:
self.robotposer.set(self.value[self.editingIndex])
print "Now has",len(self.value),"configs, editing index",self.editingIndex
if hasattr(self,'indexSpinBox'):
self.indexSpinBox.setRange(0,len(self.value)-1)
self.indexSpinBox.setValue(self.editingIndex)
self.refresh()
def indexChanged(self,index):
self.editingIndex = index
if index >= 0 and index < len(self.value):
self.robotposer.set(self.value[self.editingIndex])
self.refresh()
def mousefunc(self,button,state,x,y):
if _VisualEditorBase.mousefunc(self,button,state,x,y):
if self.editingIndex >= 0:
self.value[self.editingIndex] = self.robotposer.get()
return True
return False
def keyboardfunc(self,c,x,y):
if c=='i':
self.insert()
return True
elif c=='d':
self.delete()
return True
elif c==',' or c=='<':
self.editingIndex -= 1
if self.editingIndex < 0:
self.editingIndex = min(len(self.value)-1,0)
if self.editingIndex >= 0:
self.robotposer.set(self.value[self.editingIndex])
self.refresh()
return True
elif c=='.' or c=='>':
self.editingIndex += 1
self.editingIndex = min(len(self.value)-1,self.editingIndex)
if self.editingIndex >= 0:
self.robotposer.set(self.value[self.editingIndex])
self.refresh()
return True
def display(self):
#Override display handler since the widget draws the robot
#the next few lines draw everything but the robot
if self.world != None:
for i in xrange(self.world.numTerrains()):
self.world.terrain(i).drawGL()
for i in xrange(self.world.numRigidObjects()):
self.world.rigidObject(i).drawGL()
for i in xrange(self.world.numRobots()):
if i != self.robot.index:
self.world.robot(i).drawGL()
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA)
#draw most opaque first
order = []
if self.editingIndex < 0:
order = range(len(self.value))
else:
order = [self.editingIndex]
n = max(self.editingIndex,len(self.value)-self.editingIndex)
for i in range(1,n+1):
if self.editingIndex + i < len(self.value): order.append(self.editingIndex +i)
if self.editingIndex - i >= 0: order.append(self.editingIndex -i)
for i in order:
#draw transparent
opacity = pow(0.5,abs(i-self.editingIndex))
for j in xrange(self.robot.numLinks()):
self.robot.link(j).appearance().setColor(0.5,0.5,0.5,opacity)
if i == self.editingIndex:
#this line will draw the robot at the current editing config
self.klamptwidgetmaster.drawGL(self.viewport())
else:
self.robot.setConfig(self.value[i])
self.robot.drawGL()
for j in xrange(self.robot.numLinks()):
self.robot.link(j).appearance().setColor(0.5,0.5,0.5,1)
glDisable(GL_BLEND)
class _ConfigsVisualEditor(_VisualEditorBase):
def __init__(self, name, value, description, world, robot=None):
_VisualEditorBase.__init__(self, name, value, description, world)
if robot is None:
robot = world.robot(0)
if len(value) > 0:
robot.setConfig(value[0])
self.robot = robot
self.editingIndex = len(value) - 1
self.clicked = None
self.hovered = None
self.robotposer = RobotPoser(robot)
self.addWidget(self.robotposer)
def instructions(self):
return 'Right-click and drag on the robot links to pose the robot.\nKeyboard i: insert, d: delete, < to select previous, > to select next'
def addDialogItems(self, parent, ui='qt'):
self.indexSpinBox = QSpinBox()
self.indexSpinBox.setRange(0, len(self.value) - 1)
layout = QHBoxLayout(parent)
label = QLabel("Index")
label.setAlignment(Qt.AlignRight | Qt.AlignVCenter)
layout.addWidget(label)
layout.addWidget(self.indexSpinBox)
self.insertButton = QPushButton("Insert")
self.deleteButton = QPushButton("Delete")
layout.addWidget(self.insertButton)
layout.addWidget(self.deleteButton)
self.insertButton.clicked.connect(self.insert)
self.deleteButton.clicked.connect(self.delete)
self.indexSpinBox.valueChanged.connect(self.indexChanged)
def insert(self):
if self.editingIndex < 0:
self.value.append(self.robotposer.get())
self.editingIndex = len(self.value) - 1
else:
self.value.insert(self.editingIndex + 1, self.robotposer.get())
self.editingIndex += 1
if hasattr(self, 'indexSpinBox'):
self.indexSpinBox.setRange(0, len(self.value) - 1)
self.indexSpinBox.setValue(self.editingIndex)
self.refresh()
def delete(self):
if self.editingIndex >= 0:
del self.value[self.editingIndex]
if self.editingIndex >= len(self.value):
self.editingIndex = len(self.value) - 1
if self.editingIndex >= 0:
self.robotposer.set(self.value[self.editingIndex])
print "Now has", len(
self.value), "configs, editing index", self.editingIndex
if hasattr(self, 'indexSpinBox'):
self.indexSpinBox.setRange(0, len(self.value) - 1)
self.indexSpinBox.setValue(self.editingIndex)
self.refresh()
def indexChanged(self, index):
self.editingIndex = index
if index >= 0 and index < len(self.value):
self.robotposer.set(self.value[self.editingIndex])
self.refresh()
def mousefunc(self, button, state, x, y):
if _VisualEditorBase.mousefunc(self, button, state, x, y):
if self.editingIndex >= 0:
self.value[self.editingIndex] = self.robotposer.get()
return True
return False
def keyboardfunc(self, c, x, y):
if c == 'i':
self.insert()
return True
elif c == 'd':
self.delete()
return True
elif c == ',' or c == '<':
self.editingIndex -= 1
if self.editingIndex < 0:
self.editingIndex = min(len(self.value) - 1, 0)
if self.editingIndex >= 0:
self.robotposer.set(self.value[self.editingIndex])
self.refresh()
return True
elif c == '.' or c == '>':
self.editingIndex += 1
self.editingIndex = min(len(self.value) - 1, self.editingIndex)
if self.editingIndex >= 0:
self.robotposer.set(self.value[self.editingIndex])
self.refresh()
return True
def display(self):
#Override display handler since the widget draws the robot
#the next few lines draw everything but the robot
if self.world != None:
for i in xrange(self.world.numTerrains()):
self.world.terrain(i).drawGL()
for i in xrange(self.world.numRigidObjects()):
self.world.rigidObject(i).drawGL()
for i in xrange(self.world.numRobots()):
if i != self.robot.index:
self.world.robot(i).drawGL()
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
#draw most opaque first
order = []
if self.editingIndex < 0:
order = range(len(self.value))
else:
order = [self.editingIndex]
n = max(self.editingIndex, len(self.value) - self.editingIndex)
for i in range(1, n + 1):
if self.editingIndex + i < len(self.value):
order.append(self.editingIndex + i)
if self.editingIndex - i >= 0:
order.append(self.editingIndex - i)
for i in order:
#draw transparent
opacity = pow(0.5, abs(i - self.editingIndex))
for j in xrange(self.robot.numLinks()):
self.robot.link(j).appearance().setColor(
0.5, 0.5, 0.5, opacity)
if i == self.editingIndex:
#this line will draw the robot at the current editing config
self.klamptwidgetmaster.drawGL(self.viewport())
else:
self.robot.setConfig(self.value[i])
self.robot.drawGL()
for j in xrange(self.robot.numLinks()):
self.robot.link(j).appearance().setColor(0.5, 0.5, 0.5, 1)
glDisable(GL_BLEND)