75 + random.randint(-5, 5))
return vapory.Box(
[-0.195, 0, -0.095], [.195, 0.095, 0.095],
vapory.Texture(
vapory.Pigment('color', [0.5 * 1. / 255. * e for e in color])),
vapory.Finish("ambient", 0.1, "diffuse", 0.6))
def add_objects(self, list):
# pass
list.append(self.foundation)
# for block in self.blocks:
# list.append(block)
if __name__ == "__main__":
camera = vapory.Camera('orthographic', 'angle', 50, 'location',
[5.0, 6.0, 5.0], 'look_at', [0.0, 1.0, 0.0])
sun = vapory.LightSource([1500, 2500, 2500], 'color', 1)
sky = vapory.Sphere([0, 0, 0], 1, 'hollow',
vapory.Texture(
vapory.Pigment(
'gradient', [0, 1, 0],
vapory.ColorMap([0, 'color', 'White'],
[1, 'color', 'White']),
'quick_color', 'White'),
vapory.Finish('ambient', 1, 'diffuse', 0)),
'scale', 10000)
ground = vapory.Box(
[-2, 0, -2], [2, -0.05, 2],
def to_povray(vis, world, properties={}):
"""Convert a frame in klampt visualization to a povray script (or render
to an image)
Args:
vis: sub-class of GLProgram
world: sub-class of WorldModel
properties: some additional information that povray can take but does
not map to anything in klampt.
Note::
Do not modify properties, use the convenience functions that I provide
below (after this function). These take the form ``render_to_x`` and
``add_x``.
"""
#patch on vapory
patch_vapory()
#camera
mat = vis.view.camera.matrix()
pos = mat[1]
right = mat[0][0:3]
up = mat[0][3:6]
dir = op.mul(mat[0][6:9], -1)
tgt = op.add(mat[1], dir)
#scale
fovy = vis.view.fov * vis.view.h / vis.view.w
fovx = math.atan(vis.view.w * math.tan(fovy * math.pi / 360.) /
vis.view.h) * 360. / math.pi
right = op.mul(right, -float(vis.view.w) / vis.view.h)
#camera
camera_params = [
'orthographic' if vis.view.orthogonal else 'perspective', 'location',
[pos[0], pos[1], pos[2]], 'look_at', [tgt[0], tgt[1], tgt[2]], 'right',
[right[0], right[1], right[2]], 'up', [up[0], up[1], up[2]], 'angle',
fovx, 'sky',
get_property(properties, [], "sky", [0., 0., 1.])
]
camera = vp.Camera(*camera_params)
#tempfile
tempfile = get_property(properties, [], "tempfile", None)
tempfile_path = os.path.dirname(tempfile) if tempfile is not None else '.'
if not os.path.exists(tempfile_path):
os.mkdir(tempfile_path)
#objects
objects = []
objs = [o for o in properties["visualObjects"]
] if "visualObjects" in properties else []
objs += [world.terrain(i) for i in range(world.numTerrains())]
objs += [world.rigidObject(i) for i in range(world.numRigidObjects())]
for r in range(world.numRobots()):
objs += [
world.robot(r).link(i) for i in range(world.robot(r).numLinks())
]
for obj in objs:
transient = get_property(properties, [obj], "transient", default=True)
if transient:
objects += geometry_to_povray(obj.appearance(),
obj.geometry(),
obj,
None,
properties=properties)
else:
path = tempfile_path + '/' + obj.getName() + '.pov'
if not os.path.exists(path):
R, t = obj.geometry().getCurrentTransform()
obj.geometry().setCurrentTransform([1, 0, 0, 0, 1, 0, 0, 0, 1],
[0, 0, 0])
geom = geometry_to_povray(obj.appearance(),
obj.geometry(),
obj,
None,
properties=properties)
if len(geom) > 1:
file_content = vp.Union(*geom)
elif len(geom) > 0:
file_content = vp.Object(*geom)
else:
file_content = None
if file_content is not None:
f = open(path, 'w')
f.write(str(file_content))
f.close()
obj.geometry().setCurrentTransform(R, t)
else:
path = None
#include
if path is not None:
R, t = obj.geometry().getCurrentTransform()
objects.append(
vp.Object('#include "%s"' % path, "matrix", R + t))
#light
if "lights" in properties:
objects += properties["lights"]
#scene
gsettings = []
scene = vp.Scene(camera=camera,
objects=objects,
included=get_property(properties, [], "included", []),
global_settings=get_property(properties, [],
"global_settings", []))
try:
#this works with later version of vapory
return \
render_povstring(str(scene), \
outfile=get_property(properties,[],"outfile",None), \
width=vis.view.w,height=vis.view.h, \
quality=get_property(properties,[],"quality",None), \
antialiasing=get_property(properties,[],"antialiasing",0.3), \
remove_temp=get_property(properties,[],"remove_temp",False), \
show_window=get_property(properties,[],"show_window",False), \
tempfile=tempfile, \
includedirs=get_property(properties,[],"includedirs",None), \
output_alpha=get_property(properties,[],"output_alpha",True))
except:
#this works with earlier version of vapory
return \
render_povstring(str(scene), \
outfile=get_property(properties,[],"outfile",None), \
width=vis.view.w,height=vis.view.h, \
quality=get_property(properties,[],"quality",None), \
antialiasing=get_property(properties,[],"antialiasing",0.3), \
remove_temp=get_property(properties,[],"remove_temp",False))
sky = vp.Sphere([0, 0, 0], 1, 'hollow',
vp.Texture(vp.Pigment('gradient', [0, 1, 0],
vp.ColorMap([0, 'color', 'White'],
[1, 'color', 'White']),
'quick_color', 'White'),
vp.Finish('ambient', 1, 'diffuse', 0)),
'scale', 10000)
ground = vp.Box([-4.36, 0, -4.36], [4.36, -0.05, 4.36],
vp.Texture(vp.Pigment('color', [1.1 * e for e in [0.40, 0.45, 0.85]])),
vp.Finish('phong', 0.1))
objects = [sun, ground, sky]
camera_1 = vp.Camera('orthographic', 'angle', 2 * 180 / math.pi * math.atan2(6.4, 5),
'location', [5.0, 2.31, 0],
'look_at', [0.0, 2.31, 0.0])
camera_2 = vp.Camera('orthographic', 'angle', 50,
'location', [10, 11, 10],
'look_at', [0.0, 1, 0.0])
data = pickle.load(open("./data/dream.dat", "rb")).pop()
data["stickman_1"]["pos"]= (data["stickman_1"]["pos"][0], data["stickman_1"]["pos"][1]+0.325)
data["stickman_2"]["pos"]= (data["stickman_2"]["pos"][0], data["stickman_2"]["pos"][1]+0.325)
data["stickman_3"]["pos"]= (data["stickman_3"]["pos"][0], data["stickman_3"]["pos"][1]+0.325)
objects_a = objects.copy()
MakeTree.scene(0, objects_a)
tree = objects_a.pop()
union.args = elems
return union
def _get_cylinder(self, start, end, radius, texture):
c1 = vp.Sphere(start, radius, texture)
c2 = vp.Sphere(end, radius, texture)
c3 = vp.Cylinder(start, end, radius, texture)
return vp.Union(c1, c2, c3)
def add_object(self, list):
list.append(self.body.add_args(["rotate", [self.orientation, 0, 0], "translate", self.position]))
if __name__ == "__main__":
camera = vp.Camera('orthographic', 'angle', 50,
'location', [3.0, .5, -0.0],
'look_at', [0.0, .5, 0.0])
sun = vp.LightSource([1500, 2500, 2500], 'color', 1)
sky = vp.Sphere([0, 0, 0], 1, 'hollow',
vp.Texture(vp.Pigment('gradient', [0, 1, 0],
vp.ColorMap([0, 'color', 'White'],
[1, 'color', 'White']),
'quick_color', 'White'),
vp.Finish('ambient', 1, 'diffuse', 0)),
'scale', 10000)
ground = vp.Box([-2, 0, -2], [2, -0.05, 2],
vp.Texture(vp.Pigment('color', [1.1 * e for e in [0.40, 0.45, 0.85]])),
vp.Finish('phong', 0.1))
string_list = [
"function {}u + 0.05*u * sin(6*v+{}){} ".format("{", a + b, "}")
]
string_list.append(
"function {}v*(1-0.1*u) + sin(min(4*u,3.14159/2))*(0.025 * sin(10 * u + {})+0.025*sin(19 * u + {})+0.0015*sin(39*u) -(1-cos(0.4*u))){} "
.format("{", a, b, "}"))
string_list.append(
"function {}0.02 * sin(10 * u)+0.02*sin(19*u)+0.25* u * sin(6*v+{}){} "
.format("{", a + b, "}"))
string_list.append("<0,0>, <1,1> ")
string_list.append("contained_by {sphere{0, 10}} ")
return "".join(string_list)
if __name__ == "__main__":
camera = vp.Camera('orthographic', 'angle', 50, 'location',
[1.4 * 5.0, 1.0, 0 * 5.0], 'look_at', [0.0, 1.0, 0.0])
sun = vp.LightSource([1500, 2500, 2500], 'color', 1)
sky = vp.Sphere([0, 0, 0], 1, 'hollow',
vp.Texture(
vp.Pigment(
'gradient', [0, 1, 0],
vp.ColorMap([0, 'color', 'White'],
[1, 'color', 'White']),
'quick_color', 'White'),
vp.Finish('ambient', 1, 'diffuse', 0)), 'scale', 10000)
ground = vp.Box([-2, 0, -2], [2, -0.05, 2],
vp.Texture(
vp.Pigment('color',