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scene.py
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scene.py
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import sys
import time
import numpy as np
import numpy.linalg as la
import transformations as tr
from OpenGL.GL import *
from OpenGL.GLU import *
import math as m
if sys.platform.startswith('win'):
timer = time.clock
else:
timer = time.time
from camera import Camera
from jcube import JellyCube
from jcontrol import JellyControl
from plane import Plane
from mesh import Mesh
from cube import Cube
class Scene :
def __init__( self , fovy , ratio , near , far , robot_files ) :
self.fovy = fovy
self.near = near
self.far = far
self.ratio = ratio
self.camera = None
self.jelly = JellyCube();
self.jctl = JellyControl( self.jelly , [1.5,1.5,1.5] )
self.jelly.set_borders( (-10,10,-10,10,-10,10) )
self.mode = 0
def mkpln( s , p , r , a , c ) :
p = Plane((s,s),np.dot(tr.translation_matrix(p),tr.rotation_matrix(r*m.pi/180.0,a)))
p.c = c
return p
self.borders = [
mkpln(20,(-10,0,0),-90,(0,0,1),(.4,1,0)) ,
mkpln(20,( 10,0,0), 90,(0,0,1),(.4,1,0)) ,
mkpln(20,(0,0,-10), 90,(1,0,0),(.4,1,0)) ,
mkpln(20,(0,0, 10),-90,(1,0,0),(.4,1,0)) ,
mkpln(20,(0,-10,0), 0,(1,0,0),(.4,1,0)) ,
mkpln(20,(0, 10,0),180,(1,0,0),(.4,1,0)) ]
self.cube = Cube( 100 )
# self.cube = Mesh( 'data/FROG.3DS.gk2' )
self.x = 0.0
self.last_time = timer()
self.plane_alpha = 65.0 / 180.0 * m.pi
self.lpos = [ 1 ,-1 , 0 ]
def gfx_init( self ) :
self.camera = Camera( ( 0 , 0 ,10 ) , ( 0 , 0 , 0 ) , ( 0 , 1 , 0 ) )
self.jelly.gfx_init()
self.jctl.gfx_init()
self.cube.gfx_init()
self._update_proj()
glEnable( GL_DEPTH_TEST )
glEnable( GL_NORMALIZE )
glEnable( GL_CULL_FACE )
glEnable( GL_COLOR_MATERIAL )
glColorMaterial( GL_FRONT , GL_AMBIENT_AND_DIFFUSE )
def draw( self ) :
self.time = timer()
dt = self.time - self.last_time
self._step( dt )
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
self.camera.look()
self.lpos = [ 3,2,1 ]
self._set_lights()
self._draw_scene()
self.x+=dt*.3
self.last_time = self.time
def _step( self , dt ) :
if self.mode == 0 :
self.jelly.wobble( dt , self.jctl.forces( dt ) )
else :
self.jelly.wobble( dt )
def _draw_scene( self ) :
glTranslatef( -1.5 , - 1.5 , -1.5 )
glCullFace( GL_BACK )
self.jelly.draw( self.cube )
self.jctl.draw()
glCullFace( GL_FRONT )
for b in self.borders :
glColor3f( *b.c )
b.draw()
def _update_proj( self ) :
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective( self.fovy , self.ratio , self.near , self.far )
glMatrixMode(GL_MODELVIEW)
def _set_lights( self ) :
glEnable(GL_LIGHTING);
glLightfv(GL_LIGHT0, GL_AMBIENT, [ 0.2 , 0.2 , 0.2 ] );
glLightfv(GL_LIGHT0, GL_DIFFUSE, [ 0.5 , 0.5 , 0.5 ] );
glLightfv(GL_LIGHT0, GL_SPECULAR,[ 0.0 , 0.0 , 0.0 ] );
glLightfv(GL_LIGHT0, GL_POSITION, self.lpos );
glEnable(GL_LIGHT0);
def set_fov( self , fov ) :
self.fov = fov
self._update_proj()
def set_near( self , near ) :
self.near = near
self._update_proj()
def set_ratio( self , ratio ) :
self.ratio = ratio
self._update_proj()
def set_screen_size( self , w , h ) :
self.width = w
self.height = h
self.set_ratio( float(w)/float(h) )
def mouse_move( self , df , buts ) :
if 1 in buts and buts[1] :
mv = np.array( (-df[0],df[1],0,0) , np.float )
mv *= .01
self.jctl.move( np.dot( mv , np.linalg.inv(self.camera.m) ) )
elif 3 in buts and buts[3] :
self.camera.rot( *map( lambda x : -x*.2 , df ) )
def key_pressed( self , mv ) :
self.camera.move( *map( lambda x : x*.25 , mv ) )
def toggle_control( self ) :
self.mode = not self.mode