def __build_Star_Sphere(self, bg_stars):
from panda3d.core import GeomVertexWriter, GeomVertexFormat, GeomVertexData
from panda3d.core import Geom, GeomNode, GeomPoints, AmbientLight
self.star_sphere_np.removeNode()
# Fill GeomVertexData.
vformat = GeomVertexFormat.getV3c4()
vdata = GeomVertexData("Data", vformat, Geom.UHStatic)
vertices = GeomVertexWriter(vdata, "vertex")
colours = GeomVertexWriter(vdata, "color")
for coords in bg_stars:
x, y, z = coords
vertices.addData3f(x, y, z)
colours.addData4f(1, 1, 1, 1)
# Render bg stars.
bg_stars = GeomPoints(Geom.UHStatic)
bg_stars.addNextVertices(_env.STAR_COUNT)
bg_stars_geom = Geom(vdata)
bg_stars_geom.addPrimitive(bg_stars)
star_sphere = GeomNode("star_sphere")
star_sphere.addGeom(bg_stars_geom)
star_sphere_np = NodePath(star_sphere)
star_sphere_np.reparentTo(self.NP)
return star_sphere_np
class PointMaker():
def __init__(self, name):
self.name = name
self.new()
def new(self):
self.point = 0
self.vdata = GeomVertexData(
self.name, GeomVertexFormat.get_v3c4(), Geom.UHStatic)
self.vdata.set_num_rows(2)
self.vertex = GeomVertexWriter(self.vdata, 'vertex')
self.color = GeomVertexWriter(self.vdata, 'color')
self.prim = GeomPoints(Geom.UHStatic)
def add(self, pos=(0,0,0), color=(1,1,1,1)):
self.vertex.add_data3(pos[0],pos[1],pos[2]+0.02)
self.color.add_data4(color)
self.prim.add_vertex(self.point)
self.point += 1
def wrap_up(self):
self.prim.close_primitive()
geom = Geom(self.vdata)
geom.add_primitive(self.prim)
node = GeomNode('point')
node.add_geom(geom)
return NodePath(node)
def __build_Star_Sphere(self, bg_stars):
from panda3d.core import GeomVertexWriter, GeomVertexFormat, GeomVertexData
from panda3d.core import Geom, GeomNode, GeomPoints, AmbientLight
self.star_sphere_np.removeNode()
# Fill GeomVertexData.
vformat = GeomVertexFormat.getV3c4()
vdata = GeomVertexData("Data", vformat, Geom.UHStatic)
vertices = GeomVertexWriter(vdata, "vertex")
colours = GeomVertexWriter(vdata, "color")
for coords in bg_stars:
x, y, z = coords
vertices.addData3f(x, y, z)
colours.addData4f(1, 1, 1, 1)
# Render bg stars.
bg_stars = GeomPoints(Geom.UHStatic)
bg_stars.addNextVertices(_env.STAR_COUNT)
bg_stars_geom = Geom(vdata)
bg_stars_geom.addPrimitive(bg_stars)
star_sphere = GeomNode("star_sphere")
star_sphere.addGeom(bg_stars_geom)
star_sphere_np = NodePath(star_sphere)
star_sphere_np.reparentTo(self.NP)
return star_sphere_np
def makePoints(n=1000):
""" make a cloud of points that are a single node VS branching and making subnodes to control display """
#points = np.random.uniform(-10,10,(n,4))
#points = np.random.randn(n,3)
points = np.cumsum(np.random.randint(-1,2,(n,3)), axis=0) #classic random walk
#colors = np.random.rand(n,4)
clr4 = np.random.rand(1,4)
#points = [(0,0,0)]
fmt = GeomVertexFormat.getV3c4() #3 component vertex, w/ 4 comp color
vertexData = GeomVertexData('points', fmt, Geom.UHStatic)
verts = GeomVertexWriter(vertexData, 'vertex')
color = GeomVertexWriter(vertexData, 'color')
#for point,clr4 in zip(points,colors):
for point in points:
verts.addData3f(*point)
#color.addData4f(*point)
color.addData4f(*clr4[0])
#color.addData4f(.1,.1,.1,1)
#pointCloud = GeomLinestrips(Geom.UHStatic) #this is f*****g cool!
#pointCloud = GeomTristrips(Geom.UHStatic) #this is f*****g cool!
pointCloud = GeomPoints(Geom.UHStatic)
pointCloud.addConsecutiveVertices(0,n) #warning may error since n-1?
pointCloud.closePrimitive()
cloud = Geom(vertexData)
cloud.addPrimitive(pointCloud)
return cloud
def new(self):
self.point = 0
self.vdata = GeomVertexData(
self.name, GeomVertexFormat.get_v3c4(), Geom.UHStatic)
self.vdata.set_num_rows(2)
self.vertex = GeomVertexWriter(self.vdata, 'vertex')
self.color = GeomVertexWriter(self.vdata, 'color')
self.prim = GeomPoints(Geom.UHStatic)
def empty_geom(prefix,
nb_data,
nb_vertices,
points=False,
normal=True,
texture=True,
color=False,
tanbin=False):
array = GeomVertexArrayFormat()
array.addColumn(InternalName.make('vertex'), 3, Geom.NTFloat32,
Geom.CPoint)
if color:
array.addColumn(InternalName.make('color'), 4, Geom.NTFloat32,
Geom.CColor)
if texture:
array.addColumn(InternalName.make('texcoord'), 2, Geom.NTFloat32,
Geom.CTexcoord)
if normal:
array.addColumn(InternalName.make('normal'), 3, Geom.NTFloat32,
Geom.CVector)
if tanbin:
array.addColumn(InternalName.make('binormal'), 3, Geom.NTFloat32,
Geom.CVector)
array.addColumn(InternalName.make('tangent'), 3, Geom.NTFloat32,
Geom.CVector)
format = GeomVertexFormat()
format.addArray(array)
format = GeomVertexFormat.registerFormat(format)
gvd = GeomVertexData('gvd', format, Geom.UHStatic)
if nb_data != 0:
gvd.unclean_set_num_rows(nb_data)
geom = Geom(gvd)
gvw = GeomVertexWriter(gvd, 'vertex')
if color:
gcw = GeomVertexWriter(gvd, 'color')
else:
gcw = None
if texture:
gtw = GeomVertexWriter(gvd, 'texcoord')
else:
gtw = None
if normal:
gnw = GeomVertexWriter(gvd, 'normal')
else:
gnw = None
if tanbin:
gtanw = GeomVertexWriter(gvd, 'tangent')
gbiw = GeomVertexWriter(gvd, 'binormal')
else:
gtanw = None
gbiw = None
if points:
prim = GeomPoints(Geom.UHStatic)
else:
prim = GeomTriangles(Geom.UHStatic)
if nb_vertices != 0:
prim.reserve_num_vertices(nb_vertices)
return (gvw, gcw, gtw, gnw, gtanw, gbiw, prim, geom)
def __init__(self):
ShowBase.__init__(self)
PanditorDisableMouseFunc()
camera.setPos(0.0, 0.0, 50.0)
camera.lookAt(0.0)
PanditorEnableMouseFunc()
# 1) create GeomVertexData
frmt = GeomVertexFormat.getV3n3cp()
vdata = GeomVertexData('triangle', frmt, Geom.UHDynamic)
# 2) create Writers/Rewriters (must all be created before any readers and readers are one-pass-temporary)
vertex = GeomVertexRewriter(vdata, 'vertex')
normal = GeomVertexRewriter(vdata, 'normal')
color = GeomVertexRewriter(vdata, 'color')
zUp = Vec3(0, 0, 1)
wt = Vec4(1.0, 1.0, 1.0, 1.0)
gr = Vec4(0.5, 0.5, 0.5, 1.0)
# 3) write each column on the vertex data object (for speed, have a different writer for each column)
def addPoint(x, y, z):
vertex.addData3f(x, y, z)
normal.addData3f(zUp)
color.addData4f(wt)
addPoint(0.0, 0.0, 0.0)
addPoint(5.0, 0.0, 0.0)
addPoint(0.0, 5.0, 0.0)
addPoint(5.0, 5.0, 0.0)
# 4) create a primitive and add the vertices via index (not truely associated with the actual vertex table, yet)
tris = GeomTriangles(Geom.UHDynamic)
tris.addVertices(0, 1, 2)
tris.closePrimitive() # exception thrown if verts added != 3, other types inform Panda how many verts/primitive
tris.addVertices(2, 1, 3)
print "vdataPoints", vdata.getArrays()[0]
# 5.1) (adding to scene) create a Geom and add primitives of like base-type i.e. triangles and triangle strips
geom = Geom(vdata)
geom.addPrimitive(tris)
# 5.2) create a GeomNode to hold the Geom(s) and add the Geom(s)
gn = GeomNode('gnode')
gn.addGeom(geom)
# 5.3) attache the node to the scene
gnNodePath = render.attachNewNode(gn)
geomPts = Geom(vdata)
pts = GeomPoints(Geom.UHStatic)
pts.addVertices(0, 1, 2)
pts.closePrimitive()
geomPts.addPrimitive(pts)
pointsNode = GeomNode('points_node')
pointsNode.addGeom(geomPts)
pointsNP = render.attachNewNode(pointsNode)
pointsNP.setZ(0.5)
render.ls()
def __node(self):
# this function creates and returns particles' GeomNode
points = GeomPoints(GeomEnums.UH_static)
points.addNextVertices(self.__numPart)
format_ = GeomVertexFormat.getEmpty()
geom = Geom(GeomVertexData("abc", format_, GeomEnums.UH_static))
geom.addPrimitive(points)
geom.setBounds(OmniBoundingVolume()) # always render it
node = GeomNode("node")
node.addGeom(geom)
return node
def makeGeom(self, points, colors, sizes):
#format = GeomVertexFormat.getV3c4()
array = GeomVertexArrayFormat()
array.addColumn(InternalName.make('vertex'), 3, Geom.NTFloat32,
Geom.CPoint)
array.addColumn(InternalName.make('color'), 4, Geom.NTFloat32,
Geom.CColor)
array.addColumn(InternalName.make('size'), 1, Geom.NTFloat32,
Geom.COther)
format = GeomVertexFormat()
format.addArray(array)
format = GeomVertexFormat.registerFormat(format)
vdata = GeomVertexData('vdata', format, Geom.UH_static)
vdata.unclean_set_num_rows(len(points))
self.vwriter = GeomVertexWriter(vdata, 'vertex')
self.colorwriter = GeomVertexWriter(vdata, 'color')
self.sizewriter = GeomVertexWriter(vdata, 'size')
geompoints = GeomPoints(Geom.UH_static)
geompoints.reserve_num_vertices(len(points))
index = 0
for (point, color, size) in zip(points, colors, sizes):
self.vwriter.addData3f(*point)
self.colorwriter.addData4f(*color)
self.sizewriter.addData1f(size)
geompoints.addVertex(index)
geompoints.closePrimitive()
index += 1
geom = Geom(vdata)
geom.addPrimitive(geompoints)
return geom
def __init__(self):
ShowBase.__init__(self)
vertexFormat = GeomVertexFormat.getV3c4()
self.vertexData = GeomVertexData("data", vertexFormat, Geom.UHDynamic)
geometry = Geom(self.vertexData)
self.primitive = GeomPoints(Geom.UHDynamic)
geometry.addPrimitive(self.primitive)
node = GeomNode("node")
node.addGeom(geometry)
self.nodePath = NodePath(node)
self.nodePath.setPos(0, 0, 0)
self.nodePath.setRenderModeThickness(10.0)
self.camera.setPos(0.0, -10.0, 0.0)
self.disableMouse()
self.nodePath.reparentTo(self.render)
def makePoint(point=(0,0,0)):
clr4 = [1,1,1,1]
fmt = GeomVertexFormat.getV3c4() #3 component vertex, w/ 4 comp color
vertexData = GeomVertexData('points', fmt, Geom.UHStatic)
verts = GeomVertexWriter(vertexData, 'vertex')
verts.addData3f(*point)
color = GeomVertexWriter(vertexData, 'color')
color.addData4f(*clr4)
pointCloud = GeomPoints(Geom.UHStatic)
pointCloud.addVertex(0)
pointCloud.closePrimitive()
cloud = Geom(vertexData)
cloud.addPrimitive(pointCloud)
cloudNode = GeomNode('point')
cloudNode.addGeom(cloud)
return cloudNode
def draw_vert(self,v, v_color):
format = GeomVertexFormat.getV3cp()
vdata=GeomVertexData('vert', format, Geom.UHDynamic)
vertex=GeomVertexWriter(vdata, 'vertex')
color=GeomVertexWriter(vdata, 'color')
vertex.addData3f(0.0,0.0,0.0)
color.addData4f(v_color)
mesh = Geom(vdata)
point = GeomPoints(Geom.UHDynamic)
point.addVertex(0)
point.closePrimitive()
mesh.addPrimitive(point)
vert_node = GeomNode(self.mesh.name+'_vert_'+str(v.ID))
vert_node.addGeom(mesh)
vert_node.setTag('ID',str(v.ID))
rendered_vert = self.render_root.attachNewNode(vert_node)
rendered_vert.setPos(v.pos.x,v.pos.y,v.pos.z)
rendered_vert.setRenderModeThickness(5.0)
self.render_nodes['vert_'+str(v.ID)] = rendered_vert
def draw_rain_mesh(self):
_format = GeomVertexFormat.get_v3cp()
self.rain_vdata = GeomVertexData('rain', _format, Geom.UHDynamic)
self.rain_vdata.setNumRows(self.n_points**2)
vertex = GeomVertexWriter(self.rain_vdata, 'vertex')
color = GeomVertexWriter(self.rain_vdata, 'color')
for j in range(self.n_points):
for i in range(self.n_points):
# Rain Vertices
vertex.addData3f(self.x[j][i], self.y[j][i], self.n_points)
# Rain Colors
color.addData4f(0.3, 0.3, 1, 0)
# Rain Primitive
prim = GeomPoints(Geom.UHDynamic)
for j in range(self.n_points):
for i in range(self.n_points):
prim.add_vertices(j * (self.n_points) + i,
j * (self.n_points) + i,
j * (self.n_points) + i)
geom = Geom(self.rain_vdata)
prim.closePrimitive()
geom.addPrimitive(prim)
node = GeomNode('gnode')
node.addGeom(geom)
rain_nodePath = render.attachNewNode(node)
rain_nodePath.setTransparency(TransparencyAttrib.MAlpha)
rain_nodePath.setAntialias(AntialiasAttrib.MAuto)
rain_nodePath.setRenderModeThickness(2)
rain_nodePath.setPos(-50, -50, 0)
def makeSprite(name, texture, scale, add = False):
from panda3d.core import (GeomVertexFormat, GeomVertexData, GeomEnums,
InternalName, GeomVertexWriter, GeomPoints,
Geom, GeomNode, NodePath, TextureStage,
TexGenAttrib, BoundingSphere)
format = GeomVertexFormat.getV3()
data = GeomVertexData(name + "_data", format, GeomEnums.UHStatic)
writer = GeomVertexWriter(data, InternalName.getVertex())
writer.addData3f((0, 0, 0))
primitive = GeomPoints(GeomEnums.UHStatic)
primitive.addVertex(0)
primitive.closePrimitive()
geom = Geom(data)
geom.addPrimitive(primitive)
geomNode = GeomNode(name)
geomNode.addGeom(geom)
np = NodePath(geomNode)
np.setLightOff(1)
np.setMaterialOff(1)
np.setRenderModePerspective(True)
ts = TextureStage('sprite')
if add:
ts.setMode(TextureStage.MAdd)
np.setTexture(ts, texture)
np.setTexGen(ts, TexGenAttrib.MPointSprite)
np.setDepthWrite(False)
np.setDepthOffset(1)
np.setTransparency(True)
np.node().setBounds(BoundingSphere((0, 0, 0), 1))
np.node().setFinal(True)
np.flattenStrong()
np.setScale(scale)
return np
def create_GeomNode_Single_Point(color_vec4=Vec4(1., 1., 1., 1.)):
# ---- step 1: create point at (0,0,0) and close the primitive
format = GeomVertexFormat.getV3c4()
vdata = GeomVertexData("colored_point", format, Geom.UHStatic)
vdata.setNumRows(4)
# add color to each vertex
colorWriter = GeomVertexWriter(vdata, "color")
# add a vertex position to each vertex
vertexPosWriter = GeomVertexWriter(vdata, "vertex")
# just one origin point vertex, it gets transformed later
# to it's intended position
vertexPosWriter.addData3f(0., 0., 0.)
colorWriter.addData4f(color_vec4)
# build the primitive
pointsprimitive = GeomPoints(Geom.UHStatic)
pointsprimitive.addVertex(0)
pointsprimitive.closePrimitive() # this resets all the data contained in the vertexPosWriter and colorWriter
# ----- step 3: make a GeomNode out of the Geom (to which the Primitives have been added)
# make a Geom object to hold the primitives
geom = Geom(vdata)
geom.addPrimitive(pointsprimitive)
geom_node = GeomNode("colored_point_node")
geom_node.addGeom(geom)
return geom_node
def makePoints(n=1000):
""" make a cloud of points that are a single node VS branching and making subnodes to control display """
#points = np.random.uniform(-10,10,(n,4))
#points = np.random.randn(n,3)
points = np.cumsum(np.random.randint(-1, 2, (n, 3)),
axis=0) #classic random walk
#colors = np.random.rand(n,4)
clr4 = np.random.rand(1, 4)
#points = [(0,0,0)]
fmt = GeomVertexFormat.getV3c4() #3 component vertex, w/ 4 comp color
vertexData = GeomVertexData('points', fmt, Geom.UHStatic)
verts = GeomVertexWriter(vertexData, 'vertex')
color = GeomVertexWriter(vertexData, 'color')
#for point,clr4 in zip(points,colors):
for point in points:
verts.addData3f(*point)
#color.addData4f(*point)
color.addData4f(*clr4[0])
#color.addData4f(.1,.1,.1,1)
#pointCloud = GeomLinestrips(Geom.UHStatic) #this is f*****g cool!
#pointCloud = GeomTristrips(Geom.UHStatic) #this is f*****g cool!
pointCloud = GeomPoints(Geom.UHStatic)
pointCloud.addConsecutiveVertices(0, n) #warning may error since n-1?
pointCloud.closePrimitive()
cloud = Geom(vertexData)
cloud.addPrimitive(pointCloud)
return cloud
def __init__(self, base, obj, **kwargs):
super(GalaxyView, self).__init__(base, obj, **kwargs)
array = GeomVertexArrayFormat()
array.addColumn(InternalName.make('vertex'), 3, Geom.NTFloat32,
Geom.CPoint)
array.addColumn(InternalName.make('color'), 4, Geom.NTFloat32,
Geom.CColor)
array.addColumn(InternalName.make('size'), 1, Geom.NTFloat32,
Geom.COther)
gmformat = GeomVertexFormat()
gmformat.addArray(array)
gmformat = GeomVertexFormat.registerFormat(gmformat)
vdata = GeomVertexData('points', gmformat, Geom.UHDynamic)
vertex = GeomVertexWriter(vdata, 'vertex')
color = GeomVertexWriter(vdata, 'color')
size = GeomVertexWriter(vdata, 'size')
self.node = NodePath('galaxy')
self.node.reparentTo(self.base.render)
self.node.setTransparency(TransparencyAttrib.MAlpha)
lumsort = sorted([star.luminosity for star in self.obj.stars])
#highest_luminosity = lumsort[-1]
median_luminosity = lumsort[len(lumsort) / 2]
for star in self.obj.stars:
vertex.addData3f(star.galpos.x, star.galpos.y, star.galpos.z)
color.addData4f(star.red, star.green, star.blue, 1.0)
#size.addData1f(min(100, max(5, 10-star.magnitude/2)))
sizeval = 10 + log(star.luminosity)
size.addData1f(min(30, max(10, sizeval)))
prim = GeomPoints(Geom.UHStatic)
prim.addConsecutiveVertices(0, len(self.obj.stars))
prim.closePrimitive()
geom = Geom(vdata)
geom.addPrimitive(prim)
node = GeomNode('gnode')
node.addGeom(geom)
galaxy_node = self.node.attachNewNode(node)
galaxy_node.setRenderModeThickness(1)
ts = TextureStage.getDefault() #TextureStage('ts')
#ts.setMode(TextureStage.MGlow)
galaxy_node.setTexGen(ts, TexGenAttrib.MPointSprite)
galaxy_node.setTexture(
ts, self.base.loader.loadTexture('texture/flare.png'))
#galaxy_node.setRenderModePerspective(True)
galaxy_node.setBin("unsorted", 1)
galaxy_node.setDepthWrite(0)
galaxy_node.setTransparency(1)
self.setup_glow_shader()
"""
def __init__(self):
ShowBase.__init__(self)
PanditorDisableMouseFunc()
camera.setPos(0.0, 0.0, 50.0)
camera.lookAt(0.0)
PanditorEnableMouseFunc()
# 1) create GeomVertexData
frmt = GeomVertexFormat.getV3n3cp()
vdata = GeomVertexData('triangle', frmt, Geom.UHDynamic)
# 2) create Writers/Rewriters (must all be created before any readers and readers are one-pass-temporary)
vertex = GeomVertexRewriter(vdata, 'vertex')
normal = GeomVertexRewriter(vdata, 'normal')
color = GeomVertexRewriter(vdata, 'color')
zUp = Vec3(0, 0, 1)
wt = Vec4(1.0, 1.0, 1.0, 1.0)
gr = Vec4(0.5, 0.5, 0.5, 1.0)
# 3) write each column on the vertex data object (for speed, have a different writer for each column)
def addPoint(x, y, z):
vertex.addData3f(x, y, z)
normal.addData3f(zUp)
color.addData4f(wt)
addPoint(0.0, 0.0, 0.0)
addPoint(5.0, 0.0, 0.0)
addPoint(0.0, 5.0, 0.0)
addPoint(5.0, 5.0, 0.0)
# 4) create a primitive and add the vertices via index (not truely associated with the actual vertex table, yet)
tris = GeomTriangles(Geom.UHDynamic)
tris.addVertices(0, 1, 2)
tris.closePrimitive(
) # exception thrown if verts added != 3, other types inform Panda how many verts/primitive
tris.addVertices(2, 1, 3)
print "vdataPoints", vdata.getArrays()[0]
# 5.1) (adding to scene) create a Geom and add primitives of like base-type i.e. triangles and triangle strips
geom = Geom(vdata)
geom.addPrimitive(tris)
# 5.2) create a GeomNode to hold the Geom(s) and add the Geom(s)
gn = GeomNode('gnode')
gn.addGeom(geom)
# 5.3) attache the node to the scene
gnNodePath = render.attachNewNode(gn)
geomPts = Geom(vdata)
pts = GeomPoints(Geom.UHStatic)
pts.addVertices(0, 1, 2)
pts.closePrimitive()
geomPts.addPrimitive(pts)
pointsNode = GeomNode('points_node')
pointsNode.addGeom(geomPts)
pointsNP = render.attachNewNode(pointsNode)
pointsNP.setZ(0.5)
render.ls()
def __init__(self, data, timescale, scale, record, dark_matter,
no_ordinary_matter):
self.data = data
self.scale = scale
self.timescale = timescale
self.dark_matter = dark_matter
self.no_ordinary_matter = no_ordinary_matter
self.n_particles = self.data.shape[1]
ShowBase.__init__(self)
vdata = GeomVertexData('galaxies', GeomVertexFormat.get_v3c4(),
Geom.UHStatic)
vdata.setNumRows(self.n_particles)
self.vertex = GeomVertexWriter(vdata, 'vertex')
color = GeomVertexWriter(vdata, 'color')
for i in range(self.n_particles):
if (self.data[0][i].dark_matter and
not self.dark_matter) or (not self.data[0][i].dark_matter
and self.no_ordinary_matter):
continue
pos = self.data[0][i].pos / self.scale
self.vertex.addData3(*pos)
color.addData4(1, 1, 1, 1)
prim = GeomPoints(Geom.UHStatic)
prim.add_consecutive_vertices(0, self.n_particles - 1)
geom = Geom(vdata)
geom.addPrimitive(prim)
node = GeomNode('gnode')
node.addGeom(geom)
nodePath = self.render.attach_new_node(node)
nodePath.setRenderModeThickness(2)
self.disableMouse()
self.useTrackball()
self.trackball.node().set_pos(0, 100, 0)
self.trackball.node().set_hpr(90, 0, 90)
self.setBackgroundColor(0, 0, 0)
self.taskMgr.add(self.update_task, "VertexUpdateTask")
self.record(record)
def makePoint(point=(0, 0, 0)):
clr4 = [1, 1, 1, 1]
fmt = GeomVertexFormat.getV3c4() #3 component vertex, w/ 4 comp color
vertexData = GeomVertexData('points', fmt, Geom.UHStatic)
verts = GeomVertexWriter(vertexData, 'vertex')
verts.addData3f(*point)
color = GeomVertexWriter(vertexData, 'color')
color.addData4f(*clr4)
pointCloud = GeomPoints(Geom.UHStatic)
pointCloud.addVertex(0)
pointCloud.closePrimitive()
cloud = Geom(vertexData)
cloud.addPrimitive(pointCloud)
cloudNode = GeomNode('point')
cloudNode.addGeom(cloud)
return cloudNode
def pandageom_from_points(vertices, rgba_list=None, name=''):
"""
pack the vertices into a panda3d point cloud geom
:param vertices:
:param rgba_list: a list with a single 1x4 nparray or with len(vertices) 1x4 nparray
:param name:
:return:
author: weiwei
date: 20170328, 20210116
"""
if rgba_list is None:
# default
vertex_rgbas = np.array([[0, 0, 0, 255]] * len(vertices),
dtype=np.uint8)
elif type(rgba_list) is not list:
raise Exception('rgba\_list must be a list!')
elif len(rgba_list) == 1:
vertex_rgbas = np.tile((np.array(rgba_list[0]) * 255).astype(np.uint8),
(len(vertices), 1))
elif len(rgba_list) == len(vertices):
vertex_rgbas = (np.array(rgba_list) * 255).astype(np.uint8)
else:
raise ValueError(
'rgba_list must be a list of one or len(vertices) 1x4 nparray!')
vertformat = GeomVertexFormat()
arrayformat = GeomVertexArrayFormat()
arrayformat.addColumn(InternalName.getVertex(), 3, GeomEnums.NTFloat32,
GeomEnums.CPoint)
vertformat.addArray(arrayformat)
arrayformat = GeomVertexArrayFormat()
arrayformat.addColumn(InternalName.getColor(), 4, GeomEnums.NTUint8,
GeomEnums.CColor)
vertformat.addArray(arrayformat)
vertformat = GeomVertexFormat.registerFormat(vertformat)
vertexdata = GeomVertexData(name, vertformat, Geom.UHStatic)
vertexdata.modifyArrayHandle(0).copyDataFrom(
np.ascontiguousarray(vertices, dtype=np.float32))
vertexdata.modifyArrayHandle(1).copyDataFrom(vertex_rgbas)
primitive = GeomPoints(Geom.UHStatic)
primitive.setIndexType(GeomEnums.NTUint32)
primitive.modifyVertices(-1).modifyHandle().copyDataFrom(
np.arange(len(vertices), dtype=np.uint32))
geom = Geom(vertexdata)
geom.addPrimitive(primitive)
return geom
def pandageom_from_points(vertices, rgba=None, name=''):
"""
pack the vertices into a panda3d point cloud geom
:param vertices:
:param rgba: rgba color for each vertex, can be list or nparray (rgb is also acceptable)
:param name:
:return:
author: weiwei
date: 20170328, 20210116, 20220721
"""
if rgba is None:
# default
vertex_rgbas = np.asarray([[0, 0, 0, 255]] * len(vertices),
dtype=np.uint8)
if isinstance(rgba, list):
rgba = np.array(rgba)
if not isinstance(rgba, np.array):
raise ValueError('rgba must be a list or an nparray!')
if len(rgba) == 1:
vertex_rgbas = np.tile((rgba * 255).astype(np.uint8),
(len(vertices), 1))
elif len(rgba) == len(vertices):
vertex_rgbas = (rgba * 255).astype(np.uint8)
n_color_bit = rgba.shape[1]
vertformat = GeomVertexFormat()
arrayformat = GeomVertexArrayFormat()
arrayformat.addColumn(InternalName.getVertex(), 3, GeomEnums.NTFloat32,
GeomEnums.CPoint)
vertformat.addArray(arrayformat)
arrayformat = GeomVertexArrayFormat()
arrayformat.addColumn(InternalName.getColor(), n_color_bit,
GeomEnums.NTUint8, GeomEnums.CColor)
vertformat.addArray(arrayformat)
vertformat = GeomVertexFormat.registerFormat(vertformat)
vertexdata = GeomVertexData(name, vertformat, Geom.UHStatic)
vertexdata.modifyArrayHandle(0).copyDataFrom(
np.ascontiguousarray(vertices, dtype=np.float32))
vertexdata.modifyArrayHandle(1).copyDataFrom(vertex_rgbas)
primitive = GeomPoints(Geom.UHStatic)
primitive.setIndexType(GeomEnums.NTUint32)
primitive.modifyVertices(-1).modifyHandle().copyDataFrom(
np.arange(len(vertices), dtype=np.uint32))
geom = Geom(vertexdata)
geom.addPrimitive(primitive)
return geom
def load_pcd_content(content,
w=2,
color_mode="intensity",
intensity_filter=50):
pc = pypcd.PointCloud.from_buffer(content)
fmt = GeomVertexFormat() #3 component vertex, w/ 4 comp color
fmt_arr = GeomVertexArrayFormat()
fmt_arr.addColumn(InternalName.make('vertex'), 3, Geom.NTFloat32,
Geom.CPoint)
fmt_color_arr = GeomVertexArrayFormat()
fmt_color_arr.addColumn(InternalName.make('color'), 4, Geom.NTUint8,
Geom.CColor)
fmt.addArray(fmt_arr)
fmt.addArray(fmt_color_arr)
fmt = GeomVertexFormat.registerFormat(fmt)
vertexData = GeomVertexData('points', fmt, Geom.UHStatic)
pointCloud = GeomPoints(Geom.UHStatic)
pc.pc_data.dtype = numpy.dtype("<f4")
v, c = arrayfilter.vertices_filter(pc.pc_data.reshape((pc.points, 4)))
for i in xrange(len(v)):
pointCloud.addVertex(i)
pointCloud.closePrimitive()
arr = GeomVertexArrayData(fmt.getArray(0), GeomEnums.UHStream)
datahandle = arr.modifyHandle()
datahandle.copyDataFrom(v)
vertexData.setArray(0, arr)
arr = GeomVertexArrayData(fmt.getArray(1), GeomEnums.UHStream)
datahandle = arr.modifyHandle()
datahandle.copyDataFrom(c)
vertexData.setArray(1, arr)
cloud = Geom(vertexData)
cloud.addPrimitive(pointCloud)
cloudNode = GeomNode('points')
cloudNode.addGeom(cloud)
cloudNodePath = NodePath(cloudNode)
cloudNodePath.setRenderModeThickness(w)
cloudNodePath.setRenderModePerspective(True)
return cloudNode
def draw_vert(self, v, v_color):
format = GeomVertexFormat.getV3cp()
vdata = GeomVertexData('vert', format, Geom.UHDynamic)
vertex = GeomVertexWriter(vdata, 'vertex')
color = GeomVertexWriter(vdata, 'color')
vertex.addData3f(0.0, 0.0, 0.0)
color.addData4f(v_color)
mesh = Geom(vdata)
point = GeomPoints(Geom.UHDynamic)
point.addVertex(0)
point.closePrimitive()
mesh.addPrimitive(point)
vert_node = GeomNode(self.mesh.name + '_vert_' + str(v.ID))
vert_node.addGeom(mesh)
vert_node.setTag('ID', str(v.ID))
rendered_vert = self.render_root.attachNewNode(vert_node)
rendered_vert.setPos(v.pos.x, v.pos.y, v.pos.z)
rendered_vert.setRenderModeThickness(5.0)
self.render_nodes['vert_' + str(v.ID)] = rendered_vert
def make_cloud_node(pts, col=LColorf(1.0, 0.0, 0.0, 1.0)):
ptCloudData = GeomVertexData("PointCloudData", GeomVertexFormat.getV3c4(),
GeomEnums.UH_static)
vertexWriter = GeomVertexWriter(ptCloudData, Thread.getCurrentThread())
vertexWriter.setColumn("vertex")
colorWriter = GeomVertexWriter(ptCloudData, Thread.getCurrentThread())
colorWriter.setColumn("color")
for (x, y, z) in pts:
vertexWriter.addData3(x, y, z)
colorWriter.addData4(col)
geomPts = GeomPoints(GeomEnums.UH_static)
geomPts.addConsecutiveVertices(0, len(pts))
geomPts.closePrimitive()
geom = Geom(ptCloudData)
geom.addPrimitive(geomPts)
node = GeomNode("PointCloudNode")
node.addGeom(geom, RenderState.makeEmpty())
return node
class UI(ShowBase):
def __init__(self):
ShowBase.__init__(self)
vertexFormat = GeomVertexFormat.getV3c4()
self.vertexData = GeomVertexData("data", vertexFormat, Geom.UHDynamic)
geometry = Geom(self.vertexData)
self.primitive = GeomPoints(Geom.UHDynamic)
geometry.addPrimitive(self.primitive)
node = GeomNode("node")
node.addGeom(geometry)
self.nodePath = NodePath(node)
self.nodePath.setPos(0, 0, 0)
self.nodePath.setRenderModeThickness(10.0)
self.camera.setPos(0.0, -10.0, 0.0)
self.disableMouse()
self.nodePath.reparentTo(self.render)
def add_task(self, task):
def task_wrapper(taskObject):
task()
return Task.cont
self.taskMgr.add(task_wrapper)
def set_points(self, position, color):
assert len(position) == len(color)
self.vertexData.setNumRows(len(position))
self.primitive.clearVertices()
for i in range(len(position)):
self.primitive.addVertex(i)
self.primitive.closePrimitive()
positionWriter = GeomVertexWriter(self.vertexData, "vertex")
colorWriter = GeomVertexWriter(self.vertexData, "color")
for p, c in zip(position, color):
positionWriter.addData3f(p[0], p[1], p[2])
colorWriter.addData4f(c[0], c[1], c[2], c[3])
def __make_points(vertices, colours=None, geom: Geom = None) -> Geom:
"""
This function is largely inspired by panda3d_viewer's implementation.
Copyright (c) 2020, Igor Kalevatykh
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE
OR OTHER DEALINGS IN THE SOFTWARE.
"""
if not isinstance(vertices, np.ndarray):
vertices = np.asarray(vertices, dtype=np.float32)
if colours is not None:
if not isinstance(colours, np.ndarray):
colours = np.asarray(colours)
if colours.dtype != np.uint8:
colours = np.uint8(colours * 255)
vertices = np.column_stack((vertices.view(dtype=np.uint32).reshape(-1, 3),
colours.view(dtype=np.uint32)))
data = vertices.tostring()
if geom is None:
if vertices.strides[0] == 12:
vformat = GeomVertexFormat.get_v3()
elif vertices.strides[0] == 16:
vformat = GeomVertexFormat.get_v3c4()
else:
raise ValueError('Incompatible point clout format: {},{}'.format(vertices.dtype, vertices.shape))
vdata = GeomVertexData('vdata', vformat, Geom.UHDynamic)
vdata.unclean_set_num_rows(len(vertices))
vdata.modify_array_handle(0).set_subdata(0, len(data), data)
prim = GeomPoints(Geom.UHDynamic)
prim.clear_vertices()
prim.add_consecutive_vertices(0, len(vertices))
prim.close_primitive()
geom = Geom(vdata)
geom.add_primitive(prim)
else:
vdata = geom.modify_vertex_data()
vdata.unclean_set_num_rows(len(vertices))
vdata.modify_array_handle(0).set_subdata(0, len(data), data)
prim = geom.modify_primitive(0)
prim.clear_vertices()
prim.add_consecutive_vertices(0, len(vertices))
prim.close_primitive()
return geom
def draw_shape(angles, width, radius):
res = 10
if radius == 0:
point = GeomNode('gnode')
vdata = GeomVertexData('occ', GeomVertexFormat.getV3(), Geom.UHStatic)
vdata.setNumRows(1)
vertex = GeomVertexWriter(vdata, 'vertex')
vertex.addData3f(0, 0, 0)
geom = Geom(vdata)
g = GeomPoints(Geom.UHStatic)
g.addVertex(0)
geom.addPrimitive(g)
point.addGeom(geom)
return point, point
#first, sort angles in ascending order
#if negative is given, translate to range of 2pi
for i in range(len(angles)):
if angles[i] < 0: angles[i] = 360 + angles[i]
angles.sort()
angles = [math.radians(a) for a in angles]
angles.append(angles[0]) #read first angle to account for wrapping around
#function = 'w/sin(theta)'
vdata = GeomVertexData('occ', GeomVertexFormat.getV3(), Geom.UHStatic)
vdata.setNumRows(1)
vertex = GeomVertexWriter(vdata, 'vertex')
numverts = [3] * (len(angles) - 1
) #center, and two points on function lines
for i in range(len(angles) - 1):
#find center point
#L = [None,None]
#sign = [-1,1]
#for p in range(2):
# theta1 = angles[i+p] - sign[p]*math.pi/2
# theta2 = angles[i+p] + sign[p]*math.pi/4
# x1 = width*math.cos(theta1)
# y1 = width*math.sin(theta1)
# r = math.sqrt(2*width**2)
# x2 = r*math.cos(theta2)
# y2 = r*math.sin(theta2)
# L[p] = line([x1,y1], [x2,y2])
#R = intersection(L[0],L[1])
#if R is False:
# R = [x1,y1] #if parallel, shift both lines down by y_width
#vertex.addData3f(R[0],R[1],1)
difang = (angles[i + 1] - angles[i]) / 2
l = width / math.sin(difang)
avgang = (angles[i] + angles[i + 1]) / 2
x0 = l * math.cos(avgang)
y0 = l * math.sin(avgang)
vertex.addData3f(x0, y0, 1)
newang1 = angles[i] + (math.pi / 2 - math.acos(width / radius))
x = radius * math.cos(newang1)
y = radius * math.sin(newang1)
vertex.addData3f(x, y, 1)
newang2 = angles[i + 1] - (math.pi / 2 - math.acos(width / radius))
for angle in arc(newang1, newang2, res):
vertex.addData3f(radius * math.cos(math.radians(angle)),
radius * math.sin(math.radians(angle)), 1)
numverts[i] = numverts[i] + 1
x = radius * math.cos(newang2)
y = radius * math.sin(newang2)
vertex.addData3f(x, y, 1)
#copy all data to the bottom, moving it down to z = -1
vertread = GeomVertexReader(vdata, 'vertex')
while not vertread.isAtEnd():
v = vertread.getData3f()
vertex.addData3f(v[0], v[1], -1)
#draw
geom = Geom(vdata)
#draw top
for i in range(len(angles) - 1):
for j in range(numverts[i] - 2):
ind = sum(numverts[0:i]) + j
g = GeomTriangles(Geom.UHStatic)
g.add_vertices(ind - j, ind + 1, ind + 2)
geom.addPrimitive(g)
#draw bottom
for i in range(len(angles) - 1):
for j in range(numverts[i] - 2):
ind = sum(numverts) + sum(numverts[0:i]) + j
g = GeomTriangles(Geom.UHStatic)
g.add_vertices(ind - j, ind + 2, ind + 1)
geom.addPrimitive(g)
#draw edges
for i in range(len(angles) - 1):
for j in range(numverts[i] - 1):
ind = sum(numverts[0:i]) + j
g = GeomTriangles(Geom.UHStatic)
g.add_vertices(ind, ind + sum(numverts), ind + 1)
g.add_vertices(ind + sum(numverts), ind + 1 + sum(numverts),
ind + 1)
geom.addPrimitive(g)
g = GeomTriangles(Geom.UHStatic)
ind = sum(numverts[0:i])
indx = sum(numverts[0:i + 1])
g.add_vertices(indx - 1, indx + sum(numverts) - 1, ind)
g.add_vertices(indx + sum(numverts) - 1, sum(numverts) + ind, ind)
geom.addPrimitive(g)
#outline object
lines = Geom(vdata)
l = GeomLines(Geom.UHStatic)
for i in range(len(angles) - 1):
for j in range(numverts[i] - 1):
ind = sum(numverts[0:i]) + j
l.add_vertices(ind, ind + 1)
l.add_vertices(sum(numverts) + ind, sum(numverts) + ind + 1)
ind = sum(numverts[0:i])
indx = sum(numverts[0:i + 1])
l.add_vertices(ind, indx - 1)
l.add_vertices(sum(numverts) + ind, sum(numverts) + indx - 1)
l.add_vertices(ind + 1, sum(numverts) + ind + 1)
l.add_vertices(indx - 1, sum(numverts) + indx - 1)
lines.addPrimitive(l)
node = GeomNode('gnode')
node.addGeom(geom)
nodeL = GeomNode('gnode')
nodeL.addGeom(lines)
return node, nodeL
def generate(
self
): # call this after setting some of the variables to update it
if not self.vertices:
return
if hasattr(self, 'geomNode'):
self.geomNode.removeAllGeoms()
static_mode = Geom.UHStatic if self.static else Geom.UHDynamic
formats = {
(0, 0, 0): GeomVertexFormat.getV3(),
(1, 0, 0): GeomVertexFormat.getV3c4(),
(0, 1, 0): GeomVertexFormat.getV3t2(),
(0, 0, 1): GeomVertexFormat.getV3n3(),
(1, 0, 1): GeomVertexFormat.getV3n3c4(),
(1, 1, 0): GeomVertexFormat.getV3c4t2(),
(0, 1, 1): GeomVertexFormat.getV3n3t2(),
(1, 1, 1): GeomVertexFormat.getV3n3c4t2(),
}
vertex_format = formats[(bool(self.colors), bool(self.uvs),
bool(self.normals))]
vdata = GeomVertexData('name', vertex_format, static_mode)
vdata.setNumRows(len(self.vertices)) # for speed
vertexwriter = GeomVertexWriter(vdata, 'vertex')
for v in self.vertices:
vertexwriter.addData3f((v[0], v[2], v[1])) # swap y and z
if self.colors:
colorwriter = GeomVertexWriter(vdata, 'color')
for c in self.colors:
colorwriter.addData4f(c)
if self.uvs:
uvwriter = GeomVertexWriter(vdata, 'texcoord')
for uv in self.uvs:
uvwriter.addData2f(uv[0], uv[1])
if self.normals != None:
normalwriter = GeomVertexWriter(vdata, 'normal')
for norm in self.normals:
normalwriter.addData3f((norm[0], norm[2], norm[1]))
modes = {
'triangle': GeomTriangles(static_mode),
'tristrip': GeomTristrips(static_mode),
'ngon': GeomTrifans(static_mode),
'line': GeomLines(static_mode),
'lines': GeomLinestrips(static_mode),
'point': GeomPoints(static_mode),
}
if self.mode == 'line' and len(self.vertices) % 2 > 0:
if len(self.vertices) == 1:
self.mode = point
print(
'warning: number of vertices must be even for line mode, ignoring last vert'
)
self.vertices = self.vertices[:len(self.vertices) - 1]
prim = modes[self.mode]
if self._triangles:
if isinstance(self._triangles[0], int):
for t in self._triangles:
prim.addVertex(t)
elif len(
self._triangles[0]
) >= 3: # if tris are tuples like this: ((0,1,2), (1,2,3))
for t in self._triangles:
if len(t) == 3:
for e in t:
prim.addVertex(e)
elif len(t) == 4: # turn quad into tris
prim.addVertex(t[0])
prim.addVertex(t[1])
prim.addVertex(t[2])
prim.addVertex(t[2])
prim.addVertex(t[3])
prim.addVertex(t[0])
else:
prim.addConsecutiveVertices(0, len(self.vertices))
prim.close_primitive()
geom = Geom(vdata)
geom.addPrimitive(prim)
self.geomNode = GeomNode('mesh')
self.geomNode.addGeom(geom)
self.attachNewNode(self.geomNode)
# print('finished')
self.recipe = f'''Mesh(
alight.setColor(Vec4(0.2, 0.2, 0.2, 1))
dlnp.setHpr(0, -60, 0)
#altRender.setLight(dlnp)
#altRender.setLight(alnp)
# vertex writer
vdata = GeomVertexData('points', GeomVertexFormat.getV3(), Geom.UHDynamic)
vwriter = GeomVertexWriter(vdata, 'vertex')
# 100 randomly generated vertex coordinates
for i in range(100):
vwriter.addData3f(uniform(-100, 100), uniform(-100, 100),
uniform(-100, 100))
# create geom
points = GeomPoints(Geom.UHDynamic)
points.addNextVertices(100)
points.closePrimitive()
geo = Geom(vdata)
geo.addPrimitive(points)
gnode = GeomNode('points')
gnode.addGeom(geo)
np = render.attachNewNode(gnode)
# point sprite effect
np.setTransparency(TransparencyAttrib.MDual)
np.setTexGen(TextureStage.getDefault(), TexGenAttrib.MPointSprite)
np.setTexture(altBuffer.getTexture())
np.setRenderModePerspective(True)
np.setRenderModeThickness(8)
def generate(
self
): # call this after setting some of the variables to update it
if hasattr(self, 'geomNode'):
self.geomNode.removeAllGeoms()
static_mode = Geom.UHStatic if self.static else Geom.UHDynamic
formats = {
(0, 0, 0): GeomVertexFormat.getV3(),
(1, 0, 0): GeomVertexFormat.getV3c4(),
(0, 1, 0): GeomVertexFormat.getV3t2(),
(0, 0, 1): GeomVertexFormat.getV3n3(),
(1, 0, 1): GeomVertexFormat.getV3n3c4(),
(1, 1, 0): GeomVertexFormat.getV3c4t2(),
(0, 1, 1): GeomVertexFormat.getV3n3t2(),
(1, 1, 1): GeomVertexFormat.getV3n3c4t2(),
}
vertex_format = formats[(bool(self.colors), bool(self.uvs),
bool(self.normals))]
vdata = GeomVertexData('name', vertex_format, static_mode)
vdata.setNumRows(len(self.vertices)) # for speed
vertexwriter = GeomVertexWriter(vdata, 'vertex')
for v in self.vertices:
vertexwriter.addData3f((v[0], v[2], v[1])) # swap y and z
if self.colors:
colorwriter = GeomVertexWriter(vdata, 'color')
for c in self.colors:
colorwriter.addData4f(c)
if self.uvs:
uvwriter = GeomVertexWriter(vdata, 'texcoord')
for uv in self.uvs:
uvwriter.addData2f(uv[0], uv[1])
if self.normals != None:
normalwriter = GeomVertexWriter(vdata, 'normal')
for norm in self.normals:
normalwriter.addData3f((norm[0], norm[2], norm[1]))
modes = {
'triangle': GeomTriangles(static_mode),
'tristrip': GeomTristrips(static_mode),
'ngon': GeomTrifans(static_mode),
'line': GeomLinestrips(static_mode),
'point': GeomPoints(static_mode),
}
if self.mode != 'line' or not self._triangles:
prim = modes[self.mode]
if self._triangles:
if isinstance(self._triangles[0], int):
for t in self._triangles:
prim.addVertex(t)
elif len(
self._triangles[0]
) >= 3: # if tris are tuples like this: ((0,1,2), (1,2,3))
for t in self._triangles:
if len(t) == 3:
for e in t:
prim.addVertex(e)
elif len(t) == 4: # turn quad into tris
prim.addVertex(t[0])
prim.addVertex(t[1])
prim.addVertex(t[2])
prim.addVertex(t[2])
prim.addVertex(t[3])
prim.addVertex(t[0])
else:
prim.addConsecutiveVertices(0, len(self.vertices))
prim.close_primitive()
geom = Geom(vdata)
geom.addPrimitive(prim)
else: # line with segments defnined in triangles
for line in self._triangles:
prim = modes[self.mode]
for e in line:
prim.addVertex(e)
prim.close_primitive()
geom = Geom(vdata)
geom.addPrimitive(prim)
self.geomNode = GeomNode('mesh')
self.geomNode.addGeom(geom)
self.attachNewNode(self.geomNode)
# if self.normals:
# self.normals = [tuple(e) for e in self.normals]
self.recipe = dedent(f'''
Mesh(
vertices={[tuple(e) for e in self.vertices]},
triangles={self._triangles},
colors={[tuple(e) for e in self.colors]},
uvs={self.uvs},
normals={[tuple(e) for e in self.normals]},
static={self.static},
mode="{self.mode}",
thickness={self.thickness}
)
''')
def make_points(vertices, colors=None, texture_coords=None, geom=None):
"""Make or update existing points set geometry.
Arguments:
root_path {str} -- path to the group's root node
name {str} -- node name within a group
vertices {list} -- point coordinates (and other data in a point cloud format)
Keyword Arguments:
colors {list} -- colors (default: {None})
texture_coords {list} -- texture coordinates (default: {None})
geom {Geom} -- geometry to update (default: {None})
Returns:
Geom -- p3d geometry
"""
if not isinstance(vertices, np.ndarray):
vertices = np.asarray(vertices, dtype=np.float32)
if colors is not None:
if not isinstance(colors, np.ndarray):
colors = np.asarray(colors)
if colors.dtype != np.uint8:
colors = np.uint8(colors * 255)
vertices = np.column_stack((
vertices.view(dtype=np.uint32).reshape(-1, 3),
colors.view(dtype=np.uint32)))
if texture_coords is not None:
if not isinstance(texture_coords, np.ndarray):
texture_coords = np.asarray(texture_coords)
vertices = np.column_stack((
vertices.view(dtype=np.uint32).reshape(-1, 3),
texture_coords.view(dtype=np.uint32).reshape(-1, 2)))
data = vertices.tostring()
if geom is None:
if vertices.strides[0] == 12:
vformat = GeomVertexFormat.get_v3()
elif vertices.strides[0] == 16:
vformat = GeomVertexFormat.get_v3c4()
elif vertices.strides[0] == 20:
vformat = GeomVertexFormat.get_v3t2()
else:
raise ViewerError('Incompatible point clout format: {},{}'.format(
vertices.dtype, vertices.shape))
vdata = GeomVertexData('vdata', vformat, Geom.UHDynamic)
vdata.unclean_set_num_rows(len(vertices))
vdata.modify_array_handle(0).set_subdata(0, len(data), data)
prim = GeomPoints(Geom.UHDynamic)
prim.clear_vertices()
prim.add_consecutive_vertices(0, len(vertices))
prim.close_primitive()
geom = Geom(vdata)
geom.add_primitive(prim)
else:
vdata = geom.modify_vertex_data()
vdata.unclean_set_num_rows(len(vertices))
vdata.modify_array_handle(0).set_subdata(0, len(data), data)
prim = geom.modify_primitive(0)
prim.clear_vertices()
prim.add_consecutive_vertices(0, len(vertices))
prim.close_primitive()
return geom