def render_cli(self):
glPushMatrix()
glTranslatef(-self.zoom * .094 * self.width,
-self.zoom * .094 * self.height, 400.0)
glColor4f(0.5, 0.5, 1.0, 0.4)
x0 = -self.zoom * .0023 * self.width
y0 = -self.zoom * .0023 * self.height # bottom left corner
x1 = self.zoom * .065 * self.width # width
y1 = self.zoom * .19 * self.height # height
glBegin(GL_QUADS)
glVertex3f(x0, y0, -1)
glVertex3f(x1, y0, -1)
glVertex3f(x1, y1, -1)
glVertex3f(x0, y1, -1)
glEnd()
glColor4f(0.0, 0.0, 0.0, 1.0)
screen_text = self.text[-100:]
for text in screen_text:
if text[0] == 'c':
if text[1][:len(self.prompt)] != self.prompt:
text[1] = self.prompt + text[1]
i = 0
for text in reversed(screen_text):
text = text[1]
if len(text) <= self.max_line_chr:
glPushMatrix()
display.text_at_pos(0,
self.zoom * i * 3,
0,
text,
font=GLUT_BITMAP_9_BY_15)
glPopMatrix()
i += 1
else:
tmp = []
for j in range(0, len(text), self.max_line_chr):
segment = text[j:j + self.max_line_chr]
n = self.max_line_chr - len(segment)
for _ in range(n):
segment += ' '
tmp.append(segment)
tmp.reverse()
for c in tmp:
glPushMatrix()
display.text_at_pos(0,
self.zoom * i * 3,
0,
c,
font=GLUT_BITMAP_9_BY_15)
glPopMatrix()
i += 1
glPopMatrix()
def draw(self):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glPushMatrix()
#looking at x/y plane - down z axis
glTranslatef(self.transX, self.transY, self.transZ)
glRotatef(self.angleY, 0.0, 1.0, 0.0)
glRotatef(self.angleX, 1.0, 0.0, 0.0)
if config.floor_on:
self.room.render()
glColor3f(0, 0, 0)
#display.draw_axes(20, '1')
self.robot.render()
glPopMatrix()
# reference axis
glPushMatrix()
glTranslatef(self.zoom * .07 * self.width,
self.zoom * .07 * self.height, 400.0)
glRotatef(self.angleY, 0.0, 1.0, 0.0)
glRotatef(self.angleX, 1.0, 0.0, 0.0)
display.draw_axes(self.zoom * 13, '')
glPopMatrix()
if self.aux_msg_enabled:
glPushMatrix()
glTranslatef(-self.zoom * .094 * self.width,
-self.zoom * .094 * self.height, 400.0)
glColor4f(0.0, 0.0, 0.0, 1.0)
glPushMatrix()
display.text_at_pos(0,
self.zoom * 1 * 3,
0,
self.aux_msg,
font=GLUT_BITMAP_9_BY_15)
glPopMatrix()
glPopMatrix()
if not self.hide_cli:
self.render_cli()
glutSwapBuffers()
def render_cli(self):
glPushMatrix()
glTranslatef(-self.zoom*.094*self.width, -self.zoom*.094*self.height, 400.0)
glColor4f(0.5, 0.5, 1.0, 0.4)
x0 = -self.zoom*.0023*self.width
y0 = -self.zoom*.0023*self.height # bottom left corner
x1 = self.zoom*.065*self.width # width
y1 = self.zoom*.19*self.height # height
glBegin(GL_QUADS)
glVertex3f(x0, y0, -1)
glVertex3f(x1, y0, -1)
glVertex3f(x1, y1, -1)
glVertex3f(x0, y1, -1)
glEnd()
glColor4f(0.0, 0.0, 0.0, 1.0)
screen_text = self.text[-100:]
for text in screen_text:
if text[0] == 'c':
if text[1][:len(self.prompt)] != self.prompt:
text[1] = self.prompt + text[1]
i = 0
for text in reversed(screen_text):
text = text[1]
if len(text) <= self.max_line_chr:
glPushMatrix()
display.text_at_pos(0, self.zoom*i*3, 0, text, font=GLUT_BITMAP_9_BY_15)
glPopMatrix()
i += 1
else:
tmp = []
for j in range(0, len(text), self.max_line_chr):
segment = text[j:j + self.max_line_chr]
n = self.max_line_chr - len(segment)
for _ in range(n):
segment += ' '
tmp.append(segment)
tmp.reverse()
for c in tmp:
glPushMatrix()
display.text_at_pos(0, self.zoom*i*3, 0, c, font=GLUT_BITMAP_9_BY_15)
glPopMatrix()
i += 1
glPopMatrix()
def draw(self):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glPushMatrix()
#looking at x/y plane - down z axis
glTranslatef(self.transX, self.transY, self.transZ)
glRotatef(self.angleY, 0.0, 1.0, 0.0)
glRotatef(self.angleX, 1.0, 0.0, 0.0)
if config.floor_on:
self.room.render()
glColor3f(0, 0, 0)
#display.draw_axes(20, '1')
self.robot.render()
glPopMatrix()
# reference axis
glPushMatrix()
glTranslatef(self.zoom*.07*self.width, self.zoom*.07*self.height, 400.0)
glRotatef(self.angleY, 0.0, 1.0, 0.0)
glRotatef(self.angleX, 1.0, 0.0, 0.0)
display.draw_axes(self.zoom*13, '')
glPopMatrix()
if self.aux_msg_enabled:
glPushMatrix()
glTranslatef(-self.zoom*.094*self.width, -self.zoom*.094*self.height, 400.0)
glColor4f(0.0, 0.0, 0.0, 1.0)
glPushMatrix()
display.text_at_pos(0, self.zoom*1*3, 0, self.aux_msg, font=GLUT_BITMAP_9_BY_15)
glPopMatrix()
glPopMatrix()
if not self.hide_cli:
self.render_cli()
glutSwapBuffers()
