def change_lookatpos(self, lookatpos):
"""
This function is questionable
as lookat changes the rotation of the camera
:param lookatpos:
:return:
author: weiwei
date: 20180606
"""
self.cam.lookAt(lookatpos[0], lookatpos[1], lookatpos[2])
self.lookatpos = lookatpos
self.inputmgr = im.InputManager(self, self.lookatpos)
def __init__(self,
base: wd.World,
window_title: str = "WRS Robot Planning and Control System",
cam_pos: np.ndarray = np.array([2.0, 0, 2.0]),
lookat_pos: np.ndarray = np.array([0, 0, 0.25]),
up: np.ndarray = np.array([0, 0, 1]),
fov: int = 40,
w: int = 1920,
h: int = 1080,
lens_type: str = "perspective"):
self._base = base
# setup render scene
self.render = NodePath("extra_win_render")
# setup render 2d
self.render2d = NodePath("extra_win_render2d")
self.render2d.setDepthTest(0)
self.render2d.setDepthWrite(0)
self.win = base.openWindow(
props=WindowProperties(base.win.getProperties()),
makeCamera=False,
scene=self.render,
requireWindow=True,
)
# set window background to white
base.setBackgroundColor(r=1, g=1, b=1, win=self.win)
# set window title and window's dimension
self.set_win_props(
title=window_title,
size=(w, h),
)
# set len for the camera and set the camera for the new window
lens = PerspectiveLens()
lens.setFov(fov)
lens.setNearFar(0.001, 5000.0)
if lens_type == "orthographic":
lens = OrthographicLens()
lens.setFilmSize(1, 1)
# make aspect ratio looks same as base window
aspect_ratio = base.getAspectRatio()
lens.setAspectRatio(aspect_ratio)
self.cam = base.makeCamera(
self.win,
scene=self.render,
) # can also be found in base.camList
self.cam.reparentTo(self.render)
self.cam.setPos(Point3(cam_pos[0], cam_pos[1], cam_pos[2]))
self.cam.lookAt(Point3(lookat_pos[0], lookat_pos[1], lookat_pos[2]),
Vec3(up[0], up[1], up[2]))
self.cam.node().setLens(lens) # use same len as sys
# set up cartoon effect
self._separation = 1
self.filter = flt.Filter(self.win, self.cam)
self.filter.setCartoonInk(separation=self._separation)
# camera in camera 2d
self.cam2d = base.makeCamera2d(self.win, )
self.cam2d.reparentTo(self.render2d)
# attach GPTop to the render2d to make sure the DirectGui can be used
self.aspect2d = self.render2d.attachNewNode(PGTop("aspect2d"))
# self.aspect2d.setScale(1.0 / aspect_ratio, 1.0, 1.0)
# setup mouse for the new window
# name of mouse watcher is to adapt to the name in the input manager
self.mouse_thrower = base.setupMouse(self.win, fMultiWin=True)
self.mouseWatcher = self.mouse_thrower.getParent()
self.mouseWatcherNode = self.mouseWatcher.node()
self.aspect2d.node().setMouseWatcher(self.mouseWatcherNode)
# self.mouseWatcherNode.addRegion(PGMouseWatcherBackground())
# setup input manager
self.inputmgr = im.InputManager(self, lookatpos=lookat_pos)
# copy attributes and functions from base
## change the bound function to a function, and bind to `self` to become a unbound function
self._interaction_update = functools.partial(
base._interaction_update.__func__, self)
self.p3dh = base.p3dh
base.taskMgr.add(self._interaction_update,
"interaction_extra_window",
appendTask=True)
def change_campos_and_lookatpos(self, campos, lookatpos):
self.cam.setPos(campos[0], campos[1], campos[2])
self.cam.lookAt(lookatpos[0], lookatpos[1], lookatpos[2])
self.lookatpos = lookatpos
self.inputmgr = im.InputManager(self, self.lookatpos)
def change_campos(self, campos):
self.cam.setPos(campos[0], campos[1], campos[2])
self.inputmgr = im.InputManager(self, self.lookatpos)
def __init__(self,
cam_pos=np.array([2.0, 0.5, 2.0]),
lookat_pos=np.array([0, 0, 0.25]),
up=np.array([0, 0, 1]),
fov=40,
w=1920,
h=1080,
lens_type="perspective",
toggle_debug=False,
auto_cam_rotate=False):
"""
:param cam_pos:
:param lookat_pos:
:param fov:
:param w: width of window
:param h: height of window
author: weiwei
date: 2015?, 20201115
"""
# the taskMgr, loader, render2d, etc. are added to builtin after initializing the showbase parental class
super().__init__()
# set up window
winprops = WindowProperties(base.win.getProperties())
winprops.setTitle("WRS Robot Planning and Control System")
base.win.requestProperties(winprops)
self.disableAllAudio()
self.setBackgroundColor(1, 1, 1)
# set up lens
lens = PerspectiveLens()
lens.setFov(fov)
lens.setNearFar(0.001, 5000.0)
if lens_type == "orthographic":
lens = OrthographicLens()
lens.setFilmSize(640, 480)
# disable the default mouse control
self.disableMouse()
self.cam.setPos(cam_pos[0], cam_pos[1], cam_pos[2])
self.cam.lookAt(Point3(lookat_pos[0], lookat_pos[1], lookat_pos[2]),
Vec3(up[0], up[1], up[2]))
self.cam.node().setLens(lens)
# set up slight
## ambient light
ablight = AmbientLight("ambientlight")
ablight.setColor(Vec4(0.2, 0.2, 0.2, 1))
self.ablightnode = self.cam.attachNewNode(ablight)
self.render.setLight(self.ablightnode)
## point light 1
ptlight0 = PointLight("pointlight0")
ptlight0.setColor(Vec4(1, 1, 1, 1))
self._ptlightnode0 = self.cam.attachNewNode(ptlight0)
self._ptlightnode0.setPos(0, 0, 0)
self.render.setLight(self._ptlightnode0)
## point light 2
ptlight1 = PointLight("pointlight1")
ptlight1.setColor(Vec4(.4, .4, .4, 1))
self._ptlightnode1 = self.cam.attachNewNode(ptlight1)
self._ptlightnode1.setPos(self.cam.getPos().length(), 0,
self.cam.getPos().length())
self.render.setLight(self._ptlightnode1)
## point light 3
ptlight2 = PointLight("pointlight2")
ptlight2.setColor(Vec4(.3, .3, .3, 1))
self._ptlightnode2 = self.cam.attachNewNode(ptlight2)
self._ptlightnode2.setPos(-self.cam.getPos().length(), 0,
self.cam.getPos().length())
self.render.setLight(self._ptlightnode2)
# helpers
self.p3dh = p3dh
# self.o3dh = o3dh
self.rbtmath = rm
# set up inputmanager
self.lookatpos = lookat_pos
self.inputmgr = im.InputManager(self, self.lookatpos)
taskMgr.add(self._interaction_update, "interaction", appendTask=True)
# set up rotational cam
if auto_cam_rotate:
taskMgr.doMethodLater(.1, self._rotatecam_update, "rotate cam")
# set window size
props = WindowProperties()
props.setSize(w, h)
self.win.requestProperties(props)
# outline edge shader
# self.set_outlineshader()
# set up cartoon effect
self._separation = 1
self.filter = flt.Filter(self.win, self.cam)
self.filter.setCartoonInk(separation=self._separation)
# self.filter.setViewGlow()
# set up physics world
self.physics_scale = 1e3
self.physicsworld = BulletWorld()
self.physicsworld.setGravity(Vec3(0, 0, -9.81 * self.physics_scale))
taskMgr.add(self._physics_update, "physics", appendTask=True)
globalbprrender = base.render.attachNewNode("globalbpcollider")
debugNode = BulletDebugNode('Debug')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(True)
self._debugNP = globalbprrender.attachNewNode(debugNode)
self._debugNP.show()
self.toggledebug = toggle_debug
if toggle_debug:
self.physicsworld.setDebugNode(self._debugNP.node())
self.physicsbodylist = []
# set up render update (TODO, only for dynamics?)
self._internal_update_obj_list = [
] # the nodepath, collision model, or bullet dynamics model to be drawn
self._internal_update_robot_list = []
taskMgr.add(self._internal_update, "internal_update", appendTask=True)
# for remote visualization
self._external_update_objinfo_list = [] # see anime_info.py
self._external_update_robotinfo_list = []
taskMgr.add(self._external_update, "external_update", appendTask=True)
# for stationary models
self._noupdate_model_list = []