def __init__(self, shutdown_delegate: callable, camera: opengl.Camera,
input_intent_queue: mp.Queue, viewer):
self._logger = util.get_class_logger(__name__, self)
self._input_intent_queue = input_intent_queue
self._last_robot_control_intents = _RobotControlIntents()
self._is_keyboard_control_enabled = False
# Keyboard
self._is_key_pressed = {}
self._is_alt_down = False
self._is_ctrl_down = False
self._is_shift_down = False
# Mouse
self._is_mouse_down = {}
self._mouse_pos = None # type: util.Vector2
self._shutdown_delegate = shutdown_delegate
self._last_robot_position = None
self._camera = camera
self._opengl_viewer = viewer
def __init__(self,
close_event: mp.Event,
input_intent_queue: mp.Queue,
nav_map_queue: mp.Queue,
world_frame_queue: mp.Queue,
extra_render_function_queue: mp.Queue,
user_data_queue: mp.Queue,
resolution: List[int] = None,
projector: opengl.Projector = None,
camera: opengl.Camera = None,
lights: List[opengl.Light] = None,
show_viewer_controls: bool = True):
if resolution is None:
resolution = default_resolution
if projector is None:
projector = default_projector
if camera is None:
camera = default_camera
if lights is None:
lights = default_lights
self._close_event = close_event
self._input_intent_queue = input_intent_queue
self._nav_map_queue = nav_map_queue
self._world_frame_queue = world_frame_queue
self._extra_render_function_queue = extra_render_function_queue
self._user_data_queue = user_data_queue
self._logger = util.get_class_logger(__name__, self)
self._extra_render_calls = []
self._internal_function_finished = False
# Controls
self.show_controls = show_viewer_controls
self._instructions = '\n'.join([
'W, S: Move forward, backward', 'A, D: Turn left, right',
'R, F: Lift up, down', 'T, G: Head up, down', '',
'C: Connect to LightCube', '', 'LMB: Rotate camera',
'RMB: Move camera', 'LMB + RMB: Move camera up/down',
'LMB + Z: Zoom camera', 'X: same as RMB',
'TAB: center view on robot', '', 'H: Toggle help'
])
self._vector_view_manifest = opengl_vector.VectorViewManifest()
self._main_window = opengl.OpenGLWindow(0, 0, resolution[0],
resolution[1],
b"Vector 3D Visualizer")
# Create a 3d projector configuration class.
self._projector = projector
self._camera = camera
self._lights = lights
self._view_controller = _OpenGLViewController(self.close, self._camera,
self._input_intent_queue,
self)
self._latest_world_frame: opengl_vector.WorldRenderFrame = None
def __init__(self, resource_manager: ResourceManager, asset_key: str):
# All worldspace vertex positions in this mesh (coordinates stored as list of 3 floats).
self._vertices: List[List[float]] = []
# All directional vertex normals in this mesh (coordinates stored as list of 3 floats).
self._normals: List[List[float]] = []
# All texture coordinates in this mesh (coordinates stored as list of 2 floats).
self._tex_coords: List[List[float]] = []
# All supported mesh groups, indexed by group name.
self._groups: Dict[str, MeshGroup] = {}
# A container that MTL material attribute dicts can be fetched from by string key.
self._material_library: MaterialLibrary = None
# Resource manager that can be used to load internally referenced assets
self._resource_manager = resource_manager
self._logger = util.get_class_logger(__name__, self)
self.load_from_obj_asset(asset_key)
def __init__(self):
self.logger = util.get_class_logger(__name__, self)
super(NavMapView, self).__init__()
