def render(self):
glClearColor(0.2, 0.3, 0.3, 1.0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glEnable(GL_DEPTH_TEST)
glEnable(GL_MULTISAMPLE)
glEnable(GL_BLEND)
# glEnable(GL_CULL_FACE)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
self.basic_lighting_shader.use()
print_opengl_error()
model = glm.mat4(1.0)
self.basic_lighting_shader.set_mat4('model', np.asarray(model))
view = self.camera.get_view()
self.basic_lighting_shader.set_mat4('view', np.asarray(view))
projection = glm.perspective(glm.radians(45.0), 1200. / 900, 0.1, 100.0)
self.basic_lighting_shader.set_mat4('projection', np.asarray(projection))
# colors
# self.basic_lighting_shader.set_vec3('objectColor', np.array([1.0, 0.5, 0.31], 'f'))
self.basic_lighting_shader.set_vec3('lightColor', np.array([1.0, 1.0, 1.0], 'f'))
# light
lightPos = glm.vec3([1.00, 1.75, 10.0])
self.basic_lighting_shader.set_vec3('lightPos', np.asarray(lightPos))
# camera
cameraPos = glm.vec3(glm.column(glm.inverse(view), 3))
self.basic_lighting_shader.set_vec3('viewPos', np.asarray(cameraPos))
# Draw object.
if self.draw_mesh:
# Draw obstacles.
self.basic_lighting_shader.set_vec3('objectColor', get_color('gray'))
self.collision_manager.draw(self.basic_lighting_shader.id, True, True)
# Draw object.
self.basic_lighting_shader.set_vec3('objectColor', get_color('clay'))
self.target.draw3d(self.basic_lighting_shader.id)
# Draw normals.
self.normal_shader.use()
self.normal_shader.set_mat4('model', np.asarray(model))
self.normal_shader.set_mat4('view', np.asarray(view))
self.normal_shader.set_mat4('projection', np.asarray(projection))
if self.draw_normals:
self.mesh.draw(self.normal_shader)
# Draw edges and light.
self.lamp_shader.use()
self.lamp_shader.set_mat4('model', np.asarray(model))
self.lamp_shader.set_mat4('view', np.asarray(view))
self.lamp_shader.set_mat4('projection', np.asarray(projection))
self.lamp_shader.set_vec3('objectColor', np.ones((3, 1), 'float32'))
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
if self.draw_wireframe:
# Draw object.
self.target.draw3d(self.lamp_shader.id)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
light_model = glm.mat4(1.0)
light_model = glm.translate(light_model, lightPos)
self.lamp_shader.set_mat4('model', np.asarray(light_model))
# self.light_box.draw(self.lamp_shader)
self.lamp_shader.set_mat4('model', np.asarray(model))
self.lamp_shader.set_vec3('objectColor', get_color('teal'))
model = glm.mat4(1.0)
self.lamp_shader.set_vec3('objectColor', np.ones((3, 1), 'float32'))
self.lamp_shader.set_mat4('model', np.asarray(model))
def render2(self):
glClearColor(0.2, 0.3, 0.3, 1.0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glEnable(GL_DEPTH_TEST)
glEnable(GL_MULTISAMPLE)
# glEnable(GL_BLEND)
# glEnable(GL_CULL_FACE)
# glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
# glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
self.flat_shader.use()
model = glm.mat4(1.0)
self.flat_shader.set_mat4('model', np.asarray(model))
view = glm.mat4(1.0)
self.flat_shader.set_mat4('view', np.asarray(view))
aspect_ratio = 800. / 600.
d = 10
ortho = glm.ortho(-d * aspect_ratio, d * aspect_ratio, -d, d, -100.0, 100.0)
# ortho = glm.ortho(-2*aspect_ratio, 2*aspect_ratio, -2, 2, -100.0, 100.0)
self.flat_shader.set_mat4('projection', np.asarray(ortho))
self.flat_shader.set_vec3('offset', np.zeros((3, 1), 'float32'))
self.flat_shader.set_float('scale', 1.0)
self.flat_shader.set_vec3('objectColor', np.ones((3, 1), 'float32'))
# self.draw_grid(5, 0.25)
# Draw obstacles.
self.flat_shader.set_vec3('objectColor', get_color('gray'))
self.collision_manager.draw(self.flat_shader.id, True, False)
if self.step_on:
# Draw object.
new_m = point_manipulator()
if self.counter >= len(self.path):
self.counter = 0
self.config = self.path[self.counter]
self.manip_p = self.mnp_path[self.counter]
if self.manip_p is not None:
for mnp in self.manip_p:
p = mnp.p
p = p[0:2]
new_m.update_config(np.array(p),self.config)
self.flat_shader.set_vec3('objectColor', get_color('red'))
new_m.obj.draw2d(self.flat_shader.id, True)
self.flat_shader.set_vec3('objectColor', get_color('clay'))
T2 = config2trans(np.array(self.config))
T3 = np.identity(4)
T3[0:2, 3] = T2[0:2, 2]
T3[0:2, 0:2] = T2[0:2, 0:2]
self.target.transform()[:, :] = T3
self.target.draw2d(self.flat_shader.id, True)
# print(self.counter, len(self.path))
time.sleep(0.07)
self.counter += 1
if self.visualize:
# Draw object.
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
for i in range(len(self.key_path)):
new_m = point_manipulator()
self.config = self.key_path[i]
self.manip_p = self.key_mnp_path[i]
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
if self.manip_p is not None:
for mnp in self.manip_p:
p = mnp.p
p = p[0:2]
new_m.update_config(np.array(p), self.config)
self.flat_shader.set_vec3('objectColor', get_color('red'))
new_m.obj.draw2d(self.flat_shader.id, True)
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
self.flat_shader.set_vec3('objectColor', get_color('clay'))
T2 = config2trans(np.array(self.config))
T3 = np.identity(4)
T3[0:2, 3] = T2[0:2, 2]
T3[0:2, 0:2] = T2[0:2, 0:2]
self.target.transform()[:, :] = T3
self.target.draw2d(self.flat_shader.id, True)
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
i=1
while i < len(self.path):
self.flat_shader.set_vec3('objectColor', get_color('clay'))
target_config = self.path[i]
T2 = config2trans(np.array(target_config))
T3 = np.identity(4)
T3[0:2, 3] = T2[0:2, 2]
T3[0:2, 0:2] = T2[0:2, 0:2]
self.target.transform()[:, :] = T3
self.target.draw2d(self.flat_shader.id, True)
i+=2
if self.path_on:
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
for i in range(len(self.path)):
if i % 5 != 0 and i != len(self.path) - 1:
continue
self.flat_shader.set_vec3('objectColor', get_color('clay'))
target_config = self.path[i]
T2 = config2trans(np.array(target_config))
T3 = np.identity(4)
T3[0:2, 3] = T2[0:2, 2]
T3[0:2, 0:2] = T2[0:2, 0:2]
self.target.transform()[:, :] = T3
self.target.draw2d(self.flat_shader.id, True)
if self.all_configs_on:
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
# show all nodes
for node in self.nodes:
self.flat_shader.set_vec3('objectColor', get_color('clay'))
target_config = np.array(node)
T2 = config2trans(target_config)
T3 = np.identity(4)
T3[0:2, 3] = T2[0:2, 2]
T3[0:2, 0:2] = T2[0:2, 0:2]
self.target.transform()[:, :] = T3
self.target.draw2d(self.flat_shader.id, True)
def render2(self):
glClearColor(0.2, 0.3, 0.3, 1.0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glEnable(GL_DEPTH_TEST)
glEnable(GL_MULTISAMPLE)
# glEnable(GL_BLEND)
# glEnable(GL_CULL_FACE)
# glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
# glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
self.flat_shader.use()
model = glm.mat4(1.0)
self.flat_shader.set_mat4('model', np.asarray(model))
view = glm.mat4(1.0)
self.flat_shader.set_mat4('view', np.asarray(view))
aspect_ratio = 800. / 600.
d = 10
ortho = glm.ortho(-d * aspect_ratio, d * aspect_ratio, -d, d, -100.0,
100.0)
# ortho = glm.ortho(-2*aspect_ratio, 2*aspect_ratio, -2, 2, -100.0, 100.0)
self.flat_shader.set_mat4('projection', np.asarray(ortho))
self.flat_shader.set_vec3('offset', np.zeros((3, 1), 'float32'))
self.flat_shader.set_float('scale', 1.0)
self.flat_shader.set_vec3('objectColor', np.ones((3, 1), 'float32'))
# self.draw_grid(5, 0.25)
# Draw obstacles.
self.flat_shader.set_vec3('objectColor', get_color('gray'))
self.collision_manager.draw(self.flat_shader.id, True, False)
if self.example == 'inhand':
# self.flat_shader.set_vec3('objectColor', get_color('green'))
# config = self.x_start
# T2 = config2trans(np.array(config))
# T3 = np.identity(4)
# T3[0:2, 3] = T2[0:2, 2]
# T3[0:2, 0:2] = T2[0:2, 0:2]
# self.targets[0].transform()[:, :] = np.dot(T3, self.T0)
# self.targets[0].draw2d(self.flat_shader.id, True)
# self.targets[1].transform()[:, :] = np.dot(T3, self.T1)
# self.targets[1].draw2d(self.flat_shader.id, True)
self.flat_shader.set_vec3('objectColor', get_color('red'))
config = self.x_goal
T2 = config2trans(np.array(config))
T3 = np.identity(4)
T3[0:2, 3] = T2[0:2, 2]
T3[0:2, 0:2] = T2[0:2, 0:2]
self.targets[0].transform()[:, :] = np.dot(T3, self.T0)
self.targets[0].draw2d(self.flat_shader.id, True)
self.targets[1].transform()[:, :] = np.dot(T3, self.T1)
self.targets[1].draw2d(self.flat_shader.id, True)
else:
self.flat_shader.set_vec3('objectColor', get_color('green'))
target_config = self.x_start
T2 = config2trans(np.array(target_config))
T3 = np.identity(4)
T3[0:2, 3] = T2[0:2, 2]
T3[0:2, 0:2] = T2[0:2, 0:2]
self.target.transform()[:, :] = T3
self.target.draw2d(self.flat_shader.id, True)
self.flat_shader.set_vec3('objectColor', get_color('red'))
target_config = self.x_goal
T2 = config2trans(np.array(target_config))
T3 = np.identity(4)
T3[0:2, 3] = T2[0:2, 2]
T3[0:2, 0:2] = T2[0:2, 0:2]
self.target.transform()[:, :] = T3
self.target.draw2d(self.flat_shader.id, True)