def __init__(self):
'''Future methods
- Add light
- Add mesh
- Add ros-camera (How to handle rigid-body offsets?)
'''
self.entities = []
self.my_lights = []
self.shader_manager = ShaderManager()
def __init__(self):
'''Future methods
- Add light
- Add mesh
- Add ros-camera (How to handle rigid-body offsets?)
'''
self.entities = []
self.my_lights = []
self.shader_manager = ShaderManager()
class World(object):
def __init__(self):
'''Future methods
- Add light
- Add mesh
- Add ros-camera (How to handle rigid-body offsets?)
'''
self.entities = []
self.my_lights = []
self.shader_manager = ShaderManager()
def add_sphere(self, position, radius, color, **kwargs):
'''Add a sphere entity to the scene'''
kwargs["shader_manager"] = self.shader_manager
sphere = Sphere(position, radius, color, **kwargs)
self.entities.append(sphere)
return sphere
def add_box(self, position, width, height, depth, color):
'''Add a box entity to the scene'''
box = Box(position,
width,
height,
depth,
color,
shader_manager=self.shader_manager)
self.entities.append(box)
return box
def add_plane(self,
position,
width,
height,
color=(0, 0, 255),
orientation=None):
plane = Plane(position,
width,
height,
color,
orientation,
shader_manager=self.shader_manager)
self.entities.append(plane)
return plane
def add_mesh(self, mesh, *args, **kwargs):
kwargs["shader_manager"] = self.shader_manager
mesh = Mesh(mesh, *args, **kwargs)
self.entities.append(mesh)
return mesh
def add_entity(self, Entity_Type, *args, **kwargs):
kwargs["shader_manager"] = self.shader_manager
entity = Entity_Type(*args, **kwargs)
self.entities.append(entity)
return entity
def add_camera(self, position, orientation, topic, projection=None):
'''Add a ros-camera to view the scene
TODO: Only draw when the frame is going to be needed
'''
raise (NotImplementedError('add_camera not implemented!'))
# camera = Camera((640, 640), position, orientation, topic, projection=projection)
# self.views.append(camera)
# return camera
def add_sonar(self, position, orientation, projection=None, maxdepth=100):
'''Add a ros-sonar to view the scene'''
raise (NotImplementedError('add_sonar not implemented!'))
def add_point_light(self, position, intensity):
'''Add a point-light to illuminate the scene
Shading implemented:
- Diffuse (Lambert)
- Blinn-Phong
- Multiple lights
TODO:
- Shadows
'''
self.shader_manager.get_lighting_manager().add_item(
position, intensity)
def set_view(self, view):
for entity in self.entities:
entity.set_view(view)
def draw(self, cur_view):
'''Todo:
Swappable shaders'''
# Draw the objects to the screen
for entity in self.entities[::-1]:
entity.set_view(cur_view)
entity.draw()
class World(object):
def __init__(self):
'''Future methods
- Add light
- Add mesh
- Add ros-camera (How to handle rigid-body offsets?)
'''
self.entities = []
self.my_lights = []
self.shader_manager = ShaderManager()
def add_sphere(self, position, radius, color, **kwargs):
'''Add a sphere entity to the scene'''
kwargs["shader_manager"] = self.shader_manager
sphere = Sphere(position, radius, color, **kwargs)
self.entities.append(sphere)
return sphere
def add_box(self, position, width, height, depth, color):
'''Add a box entity to the scene'''
box = Box(position, width, height, depth, color, shader_manager=self.shader_manager)
self.entities.append(box)
return box
def add_plane(self, position, width, height, color=(0, 0, 255), orientation=None):
plane = Plane(position, width, height, color, orientation, shader_manager=self.shader_manager)
self.entities.append(plane)
return plane
def add_mesh(self, mesh, *args, **kwargs):
kwargs["shader_manager"] = self.shader_manager
mesh = Mesh(mesh, *args, **kwargs)
self.entities.append(mesh)
return mesh
def add_entity(self, Entity_Type, *args, **kwargs):
kwargs["shader_manager"] = self.shader_manager
entity = Entity_Type(*args, **kwargs)
self.entities.append(entity)
return entity
def add_camera(self, position, orientation, topic, projection=None):
'''Add a ros-camera to view the scene
TODO: Only draw when the frame is going to be needed
'''
raise NotImplementedError
# camera = Camera((640, 640), position, orientation, topic, projection=projection)
# self.views.append(camera)
# return camera
def add_sonar(self, position, orientation, projection=None, maxdepth=100):
'''Add a ros-sonar to view the scene'''
raise NotImplementedError
def add_point_light(self, position, intensity):
'''Add a point-light to illuminate the scene
Shading implemented:
- Diffuse (Lambert)
- Blinn-Phong
- Multiple lights
TODO:
- Shadows
'''
self.shader_manager.get_lighting_manager().add_item(position, intensity)
def set_view(self, view):
for entity in self.entities:
entity.set_view(view)
def draw(self, cur_view):
'''Todo:
Swappable shaders'''
# Draw the objects to the screen
for entity in self.entities[::-1]:
entity.set_view(cur_view)
entity.draw()
