def draw_arrow(self, color):
# Set material
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, color)
#glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, color)
#glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, [1, 1, 1, 0.0])
#glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, 20)
# Draw cylinder
quad = gluNewQuadric()
gluQuadricDrawStyle(quad, GLU_FILL)
gluQuadricTexture(quad, True)
gluQuadricNormals(quad, GLU_SMOOTH)
gluCylinder(quad, self.size / 30, self.size / 30,
self.size * 0.8, 20, 20)
# Move to the arrowhead position
glTranslatef(0, 0, self.size * 0.8)
# Draw arrowhead
gluQuadricDrawStyle(quad, GLU_FILL)
gluQuadricTexture(quad, True)
gluQuadricNormals(quad, GLU_SMOOTH)
gluCylinder(quad, self.size / 15, 0,
self.size * 0.2, 20, 20)
# Revert to the original position
glTranslatef(0, 0, -self.size * 0.8)
def render(self):
glPushMatrix()
glMultMatrixf(numpy.transpose(self.translation))
glMultMatrixf(self.scalemat)
cur_color = color.COLORS[self.color_index]
glColor3f(cur_color[0], cur_color[1], cur_color[2])
if self.selected: # emit light if the node is selected
glMaterialfv(GL_FRONT, GL_EMISSION, [0.3, 0.3, 0.3])
glCallList(self.call_list)
if self.selected:
glMaterialfv(GL_FRONT, GL_EMISSION, [0.0, 0.0, 0.0])
glPopMatrix()
def render(self):
""" renders the item to the screen """
glPushMatrix()
glMultMatrixf(numpy.transpose(self.translation_matrix))
glMultMatrixf(self.scaling_matrix)
cur_color = color.COLORS[self.color_index]
glColor3f(cur_color[0], cur_color[1], cur_color[2])
if self.selected: # emit light if the node is selected
glMaterialfv(GL_FRONT, GL_EMISSION, [0.3, 0.3, 0.3])
self.render_self()
if self.selected:
glMaterialfv(GL_FRONT, GL_EMISSION, [0.0, 0.0, 0.0])
glPopMatrix()
def init_opengl(self, width, height, x, y):
glutInit()
glutInitWindowPosition(x, y)
glutInitWindowSize(width, height)
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH | GLUT_MULTISAMPLE)
glutCreateWindow("Rainbow Alga")
glutDisplayFunc(self.render)
glutIdleFunc(self.render)
glutReshapeFunc(self.resize)
glutMouseFunc(self.mouse)
glutMotionFunc(self.drag)
glutKeyboardFunc(self.keyboard)
glutSpecialFunc(self.special_keyboard)
glClearDepth(1.0)
glClearColor(0.0, 0.0, 0.0, 0.0)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 3000)
glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT)
# Lighting
light_ambient = (0.0, 0.0, 0.0, 1.0)
light_diffuse = (1.0, 1.0, 1.0, 1.0)
light_specular = (1.0, 1.0, 1.0, 1.0)
light_position = (-100.0, 100.0, 100.0, 0.0)
mat_ambient = (0.7, 0.7, 0.7, 1.0)
mat_diffuse = (0.8, 0.8, 0.8, 1.0)
mat_specular = (1.0, 1.0, 1.0, 1.0)
high_shininess = (100)
glEnable(GL_LIGHT0)
glEnable(GL_NORMALIZE)
glEnable(GL_COLOR_MATERIAL)
glEnable(GL_LIGHTING)
glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient)
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse)
glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular)
glLightfv(GL_LIGHT0, GL_POSITION, light_position)
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient)
glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse)
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular)
glMaterialfv(GL_FRONT, GL_SHININESS, high_shininess)
# Transparency
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
def apply(self, face=GL_FRONT_AND_BACK):
'''Apply the material on current context'''
if self.texture:
self.texture.enable()
self.texture.bind()
glEnable(GL_COLOR_MATERIAL)
glMaterialfv(face, GL_DIFFUSE, self.diffuse + [self.opacity])
glMaterialfv(face, GL_AMBIENT, self.ambient + [self.opacity])
glMaterialfv(face, GL_SPECULAR, self.specular + [self.opacity])
glMaterialfv(face, GL_EMISSION, self.emission + [self.opacity])
glMaterialf(face, GL_SHININESS, self.shininess)
glColorMaterial(face, GL_AMBIENT_AND_DIFFUSE)
def apply(self, face=GL_FRONT_AND_BACK):
'''Apply the material on current context'''
if self.texture:
self.texture.enable()
self.texture.bind()
glEnable(GL_COLOR_MATERIAL)
glMaterialfv(face, GL_DIFFUSE, self.diffuse + [self.opacity])
glMaterialfv(face, GL_AMBIENT, self.ambient + [self.opacity])
glMaterialfv(face, GL_SPECULAR, self.specular + [self.opacity])
glMaterialfv(face, GL_EMISSION, self.emission + [self.opacity])
glMaterialf(face, GL_SHININESS, self.shininess)
glColorMaterial(face, GL_AMBIENT_AND_DIFFUSE)
def _set_color(color: List[float]):
"""Modifies the OpenGL state's active material with a specific color
used on the specular & diffuse channels, with limited ambient.
This function must be invoked inside the OpenGL render loop.
:param color: the color to use for the material
"""
glColor(color)
glMaterialfv(GL_FRONT, GL_AMBIENT, [color[0] * 0.1, color[1] * 0.1, color[2] * 0.1, 1.0])
glMaterialfv(GL_FRONT, GL_DIFFUSE, color)
glMaterialfv(GL_FRONT, GL_SPECULAR, color)
glMaterialfv(GL_FRONT, GL_SHININESS, 10.0)
def _make_list( self ):
"""generate opengl display list to draw triangles in mesh
"""
# get available list name
self.list_name = glGenLists( 1 )
# start new display list
glNewList( self.list_name, GL_COMPILE )
# set material
glMaterialfv( GL_FRONT, GL_SPECULAR, self.specular )
glMaterialfv( GL_FRONT, GL_SHININESS, self.shininess )
glMaterialfv( GL_FRONT, GL_DIFFUSE, self.diffuse )
# start list of triangles in mesh
glBegin( GL_TRIANGLES )
# for each triangle give normal and 3 vertices
for triangle in self.triangles:
glNormal3f( *triangle[0] )
for i in range( 1, 4 ):
glVertex3f( *triangle[i] )
glEnd()
glEndList()
def InitGL(self):
glClearColor(0.0, 0.0, 0.0, 1)
glColor3f(1, 0, 0)
glEnable(GL_DEPTH_TEST)
glEnable(GL_CULL_FACE)
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
glEnable(GL_LIGHT1)
glLightfv(GL_LIGHT0, GL_POSITION, vec(.5, .5, 1, 0))
glLightfv(GL_LIGHT0, GL_SPECULAR, vec(.5, .5, 0.5, 1))
glLightfv(GL_LIGHT0, GL_DIFFUSE, vec(1, 1, 1, 1))
glLightfv(GL_LIGHT1, GL_POSITION, vec(1, 0, .5, 0))
glLightfv(GL_LIGHT1, GL_DIFFUSE, vec(.5, .5, .5, 1))
glLightfv(GL_LIGHT1, GL_SPECULAR, vec(1, 1, 1, 1))
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE,
vec(0.5, 0, 0.3, 1))
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, vec(1, 1, 1, 1))
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, 80)
glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, vec(0.1, 0.1, 0.1, 0.9))
glLightfv(GL_LIGHT0, GL_POSITION, vec(0.0, 200.0, 100.0, 1))
glLightfv(GL_LIGHT1, GL_POSITION, vec(0.0, -200.0, 100.0, 1))
def render(self):
if self.list < 0:
self.list = glGenLists(1)
glNewList(self.list, GL_COMPILE)
for n, f in enumerate(self.faces):
glMaterialfv(GL_FRONT, GL_DIFFUSE, self.colors[n])
glMaterialfv(GL_FRONT, GL_SPECULAR, self.colors[n])
glMaterialf(GL_FRONT, GL_SHININESS, 50.0)
glColor4fv(self.colors[n])
glBegin(GL_POLYGON)
if self.colors[n][0] > 0:
glNormal3fv(self.normals[n])
for i in f:
if self.colors[n][1] > 0:
glNormal3fv(self.vnormals[i])
glVertex3fv(self.vertices[i])
glEnd()
glEndList()
glCallList(self.list)
def _apply_material(material: dict):
"""Utility function to apply a specific MTL material to the current
OpenGL rendering state.
:param material: A dictionary of MTL attributes defining a material.
"""
def _as_rgba(color):
if len(color) >= 4:
return color
# RGB - add alpha defaulted to 1
return color + [1.0]
if 'texture_Kd' in material:
# use diffuse texture map
glBindTexture(GL_TEXTURE_2D, material['texture_Kd'])
else:
# No texture map
glBindTexture(GL_TEXTURE_2D, 0)
# Diffuse light
mtl_kd_rgba = _as_rgba(material['Kd'])
glColor(mtl_kd_rgba)
# Ambient light
if 'Ka' in material:
mtl_ka_rgba = _as_rgba(material['Ka'])
glMaterialfv(GL_FRONT, GL_AMBIENT, mtl_ka_rgba)
glMaterialfv(GL_FRONT, GL_DIFFUSE, mtl_kd_rgba)
else:
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, mtl_kd_rgba)
# Specular light
if 'Ks' in material:
mtl_ks_rgba = _as_rgba(material['Ks'])
glMaterialfv(GL_FRONT, GL_SPECULAR, mtl_ks_rgba)
if 'Ns' in material:
specular_exponent = material['Ns']
glMaterialfv(GL_FRONT, GL_SHININESS, specular_exponent)
def apply_material(color, glprefs = None):
# todo: move into glprefs.py (see comment above for why)
"""
In the current GL context,
set material parameters based on the given color (length 3 or 4) and
the material-related prefs values in glprefs (which defaults to
drawing_globals.glprefs).
"""
if glprefs is None:
glprefs = drawing_globals.glprefs
pass
#bruce 051215: make sure color is a tuple, and has length exactly 4, for all
# uses inside this function, assuming callers pass sequences of length 3 or
# 4. Needed because glMaterial requires four-component vector and PyOpenGL
# doesn't check. [If this is useful elsewhere, we can split it into a
# separate function.]
color = tuple(color)
if len(color) == 3:
color = color + (1.0,) # usual case
elif len(color) != 4:
# should never happen; if it does, this assert will always fail
assert len(color) in [3,4], \
"color tuples must have length 3 or 4, unlike %r" % (color,)
glColor4fv(color) # For drawing lines with lighting disabled.
if not glprefs.enable_specular_highlights:
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, color)
# glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, (0,0,0,1))
return
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, color)
whiteness = glprefs.specular_whiteness
brightness = glprefs.specular_brightness
if whiteness == 1.0:
specular = (1.0, 1.0, 1.0, 1.0) # optimization
else:
if whiteness == 0.0:
specular = color # optimization
else:
# assume color[3] (alpha) is not passed or is always 1.0
c1 = 1.0 - whiteness
specular = ( c1 * color[0] + whiteness,
c1 * color[1] + whiteness,
c1 * color[2] + whiteness, 1.0 )
if brightness != 1.0:
specular = ( specular[0] * brightness,
specular[1] * brightness,
specular[2] * brightness, 1.0 )
#e Could optimize by merging this with above 3 cases (or, of course,
# by doing it in C, which we'll do eventually.)
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, specular)
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS,
glprefs.specular_shininess)
return
def apply_material(color, glprefs=None):
# todo: move into glprefs.py (see comment above for why)
"""
In the current GL context,
set material parameters based on the given color (length 3 or 4) and
the material-related prefs values in glprefs (which defaults to
drawing_globals.glprefs).
"""
if glprefs is None:
glprefs = drawing_globals.glprefs
pass
#bruce 051215: make sure color is a tuple, and has length exactly 4, for all
# uses inside this function, assuming callers pass sequences of length 3 or
# 4. Needed because glMaterial requires four-component vector and PyOpenGL
# doesn't check. [If this is useful elsewhere, we can split it into a
# separate function.]
color = tuple(color)
if len(color) == 3:
color = color + (1.0, ) # usual case
elif len(color) != 4:
# should never happen; if it does, this assert will always fail
assert len(color) in [3,4], \
"color tuples must have length 3 or 4, unlike %r" % (color,)
glColor4fv(color) # For drawing lines with lighting disabled.
if not glprefs.enable_specular_highlights:
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, color)
# glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, (0,0,0,1))
return
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, color)
whiteness = glprefs.specular_whiteness
brightness = glprefs.specular_brightness
if whiteness == 1.0:
specular = (1.0, 1.0, 1.0, 1.0) # optimization
else:
if whiteness == 0.0:
specular = color # optimization
else:
# assume color[3] (alpha) is not passed or is always 1.0
c1 = 1.0 - whiteness
specular = (c1 * color[0] + whiteness, c1 * color[1] + whiteness,
c1 * color[2] + whiteness, 1.0)
if brightness != 1.0:
specular = (specular[0] * brightness, specular[1] * brightness,
specular[2] * brightness, 1.0)
#e Could optimize by merging this with above 3 cases (or, of course,
# by doing it in C, which we'll do eventually.)
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, specular)
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, glprefs.specular_shininess)
return
def renderizar(self):
glBegin(GL_LINES)
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, self.cor)
glMaterialfv(GL_FRONT, GL_DIFFUSE, (1.0, 1.0, 1.0, 1.0))
glMaterialfv(GL_FRONT, GL_SPECULAR, 1.0, 1.0, 1.0, 1.0)
glMateriali(GL_FRONT, GL_SHININESS, 128)
for aresta in Cubo.arestas:
for ponto in aresta:
glVertex3fv(self.vertices[ponto])
glEnd()
def handle_draw( self ):
"""draw a teapot
"""
#print "handle draw 0"
glMaterialfv( GL_FRONT, GL_SPECULAR, self.specular )
glMaterialfv( GL_FRONT, GL_SHININESS, self.shininess )
glMaterialfv( GL_FRONT, GL_DIFFUSE, self.diffuse )
if self.teapot:
glutSolidTeapot( 10.0 )
else:
glutSolidSphere( 10.0, 12, 12 )
def display(self, color: List[float], draw_solid: bool):
"""Displays the cube with a specific color.
:param color: Color to display the cube.
:param draw_solid: Whether to draw solid polygons (False to draw wireframe).
"""
glColor(color)
if draw_solid:
ambient_color = [color[0] * 0.1, color[1] * 0.1, color[2] * 0.1, 1.0]
else:
ambient_color = color
glMaterialfv(GL_FRONT, GL_AMBIENT, ambient_color)
glMaterialfv(GL_FRONT, GL_DIFFUSE, color)
glMaterialfv(GL_FRONT, GL_SPECULAR, color)
glMaterialfv(GL_FRONT, GL_SHININESS, 10.0)
if draw_solid:
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
else:
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
self.display_by_key(self._display_list_name)
def draw( self ):
"""draw a cube using glut solid cube
"""
# save current matrix
glPushMatrix()
# set material
glMaterialfv( GL_FRONT, GL_SPECULAR, self.specular )
glMaterialfv( GL_FRONT, GL_SHININESS, self.shininess )
glMaterialfv( GL_FRONT, GL_DIFFUSE, self.diffuse )
# move to centroid
glTranslatef( *self.centroid )
# draw cube
glutSolidCube( self.size )
# restore matrix
glPopMatrix()
def paintGL(self):
"""
Drawing routine
"""
if self._fatal_error: return
GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
GL.glEnable(GL.GL_NORMALIZE)
amb = [0., 0.0, 0.0, 1.]
spec = [1.0, 1., 1., 1]
shine = 80.
glMaterialfv(GL.GL_FRONT_AND_BACK, GL.GL_AMBIENT, amb)
glMaterialfv(GL.GL_FRONT_AND_BACK, GL.GL_SHININESS, shine)
glMaterialfv(GL.GL_FRONT_AND_BACK, GL.GL_SPECULAR, spec)
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glPushMatrix()
GL.glScalef(self.zoom, self.zoom, self.zoom)
#glRotate(self.rotation[0], 1., 0., 0.)
#glRotate(self.rotation[1], 0., 1., 0.)
mx=np.zeros([4,4])
mx[0:3,0:3] = self.rotation
mx[3,3]=1.
GL.glMultMatrixf(mx)
for index, coords in self.coords.items():
if coords is None:
continue
if index == 1:
color = [0.65, 0.0, 0.0, 1.]
if index == 2:
color = [0.00, 0.65, 0., 1.]
GL.glMaterialfv(GL.GL_FRONT_AND_BACK, GL.GL_DIFFUSE, color)
try:
self.system.draw(coords, index)
except NotImplementedError:
self._fatal_error = True
raise
GL.glPopMatrix()
GL.glFlush()
def paintGL(self):
"""
Drawing routine
"""
if self._fatal_error: return
GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
GL.glEnable(GL.GL_NORMALIZE)
amb = [0., 0.0, 0.0, 1.]
spec = [1.0, 1., 1., 1]
shine = 80.
glMaterialfv(GL.GL_FRONT_AND_BACK, GL.GL_AMBIENT, amb)
glMaterialfv(GL.GL_FRONT_AND_BACK, GL.GL_SHININESS, shine)
glMaterialfv(GL.GL_FRONT_AND_BACK, GL.GL_SPECULAR, spec)
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glPushMatrix()
GL.glScalef(self.zoom, self.zoom, self.zoom)
#glRotate(self.rotation[0], 1., 0., 0.)
#glRotate(self.rotation[1], 0., 1., 0.)
mx = np.zeros([4, 4])
mx[0:3, 0:3] = self.rotation
mx[3, 3] = 1.
GL.glMultMatrixf(mx)
for index, coords in self.coords.items():
if coords is None:
continue
if index == 1:
color = [0.65, 0.0, 0.0, 1.]
if index == 2:
color = [0.00, 0.65, 0., 1.]
GL.glMaterialfv(GL.GL_FRONT_AND_BACK, GL.GL_DIFFUSE, color)
try:
self.system.draw(coords, index)
except NotImplementedError:
self._fatal_error = True
raise
GL.glPopMatrix()
GL.glFlush()
def apply_material(self):
# Set material
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, self.ambient_color)
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, self.diffuse_color)
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, [1, 1, 1, 0.0])
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, 20)
def material(cls, face: MaterialFace,
material_parameter: MaterialParameter, value):
if isinstance(value, Iterable):
glMaterialfv(face.value, material_parameter.value, value)
else:
glMaterialf(face.value, material_parameter.value, value)
def display(self):
if self.knowledge_base:
# update the world
if self.knowledge_base.shelf_xform:
# load the shelf once a transform is available
if not self.shelf:
self.shelf = self.world.loadRigidObject("klampt_models/north_shelf/shelf_with_bins.obj")
logger.info("spawned shelf model")
self.shelf.setTransform(*self.knowledge_base.shelf_xform)
if self.knowledge_base.order_bin_xform:
# load the order bin once a transform is available
if not self.order_bin:
self.order_bin = self.world.loadRigidObject("klampt_models/apc_bin/apc_bin.obj")
logger.info("spawned order bin model")
self.order_bin.setTransform(*self.knowledge_base.order_bin_xform)
# spawn/update objects
for (name, xform) in self.knowledge_base.object_xforms.items():
# load the object once a transform is availale
if name not in self.objects:
body = self.world.loadRigidObject("klampt_models/items/{0}/{0}.obj".format(name))
logger.info("spawned {} model".format(name))
# load the point cloud
if name in self.knowledge_base.object_clouds:
self.n += 1
display_list = glGenLists(self.n)
# compile the display list
glNewList(display_list, GL_COMPILE)
glDisable(GL_LIGHTING)
glBegin(GL_POINTS)
points = self.knowledge_base.object_clouds[name]
for point in points:
if len(point) == 2:
xyz = point[0]
rgb = point[1]
else:
xyz = point[:3]
if len(point) == 4:
rgb = point[3]
elif len(point) > 3:
rgb = point[3:6]
else:
rgb = None
if rgb is not None:
glColor3f(*map(lambda x: x / 255.0, rgb))
else:
glColor3f(*colors[i % len(colors)])
glVertex3f(*xyz[:3])
glEnd()
glEndList()
logging.debug("compiled {} points for {}".format(len(points), name))
else:
display_list = None
self.objects[name] = {"body": body, "display_list": display_list}
# self.objects[name]['body'].setTransform(*xform)
# delete objects
for (name, props) in self.objects.items():
if name not in self.knowledge_base.object_xforms:
# remove the object
# XXX: cannot actually delete object... so move it far away... very far away
props["body"].setTransform(so3.identity(), [1e3, 1e3, 1e3])
del self.objects[name]
# update the robot state
if self.robot_state:
try:
self.robot.setConfig(self.robot_state.sensed_config)
except TypeError as e:
logger.error("error visualizing config: {}".format(self.robot_state.sensed_config))
logger.error(traceback.format_exc())
sys.exit(-1)
self.world.drawGL()
# draw commanded configurations
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, [0, 1, 0, 0.5])
if self.robot_state:
qi = self.robot.getConfig()
self.robot.setConfig(self.robot_state.commanded_config)
self.robot.drawGL(False)
self.robot.setConfig(qi)
glDisable(GL_BLEND)
# draw the point clouds
glPointSize(2)
for (name, props) in self.objects.items():
if "display_list" in props:
glCallList(props["display_list"])
# draw gripper link transforms
for name in ["left_gripper", "right_gripper"]:
gldraw.xform_widget(self.robot.getLink(name).getTransform(), 0.1, 0.01)
# draw axis-aligned axes for reference
gldraw.xform_widget((so3.identity(), [0, 0, 1]), 0.1, 0.01)
# draw local origins of objects
if self.knowledge_base:
for xform in self.knowledge_base.object_xforms.values():
gldraw.xform_widget(xform, 0.1, 0.01)
def inicializar_renderizacao():
glBegin(GL_QUADS)
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, Esfera.cor)
glMaterialfv(GL_FRONT, GL_SPECULAR, 0.4, 0.4, 0.4, 0.2)
glMateriali(GL_FRONT, GL_SHININESS, 128)
def __draw_visualisations(self, triangles, frame, leds_vertices,
intensities):
# dict_properties = getPropertiesFile("../properties/default.properties")
# _frame_objfilename = dict_properties['FrameModel']['frame.objfilename']
# _frame_scale = float(dict_properties['FrameModel']['frame.scale'])
_frame_objfilename = property_to_string(section="FrameModel",
key="frame.objfilename")
_frame_scale = property_to_number(section="FrameModel",
key="frame.scale",
vmin=0,
vmax=None,
vtype=float)
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, (0.0, 0.0, 0.0, 1))
glMaterialfv(GL_FRONT, GL_SPECULAR, (0, 0, 0, .2))
glMaterialf(GL_FRONT, GL_SHININESS, 20)
draw_wire_frame_of_obj_from_filename(_frame_objfilename,
scale=float(_frame_scale) * 1.04)
# if not EvaluatorGeneric.warned:
# print("Frame has n mounting points available:"+str(len(frame)))
# EvaluatorGeneric.warned=True
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, (.2, 0.2, 0.2, 1))
glMaterialfv(GL_FRONT, GL_SPECULAR, (1, 0, 0, .2))
glMaterialf(GL_FRONT, GL_SHININESS, 20)
for j in range(len(frame)):
draw_point(frame[j], size=8) if frame[j] is not None else None
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, (1.0, 0.0, 0.0, 1))
glMaterialfv(GL_FRONT, GL_SPECULAR, (1, 0, 0, .2))
glMaterialf(GL_FRONT, GL_SHININESS, 20)
for i in range(len(leds_vertices)):
led = leds_vertices[i]
draw_wire_sphere(vertex=led, size=0.35,
scale=1) if led is not None else None
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, (0.2, 0.2, 0.6, 1))
glMaterialfv(GL_FRONT, GL_SPECULAR, (1, 1, 1, .2))
glMaterialf(GL_FRONT, GL_SHININESS, 99)
for tri in triangles:
make_triangle_face(tri)
def display(self):
glLoadIdentity()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
gluLookAt(self.cam_pos.x, self.cam_pos.y, self.cam_pos.z,
self.cam_focus.x, self.cam_focus.y, self.cam_focus.z, 0, 1,
0)
self.level.draw()
glLoadIdentity()
gluLookAt(0, -0.5, 2.5, 0, 0, 0, 0, 1, 0)
wdth = 0.3
glTranslate(
0.0 -
(len(self.level.solomon.current_state.keys()) - 1) * wdth / 2.0,
-1.3, 0)
if debug == True:
for k in self.level.solomon.current_state.keys():
col = "red"
if self.level.solomon.current_state[k]: col = "green"
glMaterialfv(GL_FRONT, GL_DIFFUSE, colours[col])
glutSolidCube(wdth - 0.02)
glTranslate(wdth, 0, 0)
glPushMatrix()
#glLoadIdentity()
glScale(0.005, 0.01, -0.01)
glTranslate(-90, 4, -20)
#glTranslate(-180,-70,0)
glTranslate(-wdth, 0, 0)
self.letters.drawString(k[:4])
glPopMatrix()
glLoadIdentity()
gluLookAt(0, -0.5, 2.5, 0, 0, 0, 0, 1, 0)
wdth = 0.2
joystick_actions = [x for x in dir(self.joystick) if x[0:2] == "is"]
glTranslate(0.0 - (len(joystick_actions) - 1) * wdth / 2.0, -1.0, 0)
if debug == True:
for k in joystick_actions:
#print(k)
col = "red"
if getattr(self.joystick, k)(self.keys): col = "green"
glMaterialfv(GL_FRONT, GL_DIFFUSE, colours[col])
glutSolidCube(wdth - 0.02)
glTranslate(wdth, 0, 0)
glPushMatrix()
#glLoadIdentity()
glScale(0.005, 0.01, -0.01)
glTranslate(-45, 0, -20)
#glTranslate(-180,-70,0)
glTranslate(-wdth, 0, 0)
self.letters.drawString(k[2:4])
glPopMatrix()
glLoadIdentity()
gluLookAt(0, 0, 2.5, 0, 0, 0, 0, 1, 0)
glScale(0.01, 0.01, -0.01)
glTranslate(-180, -70, 0)
if debug == True:
self.letters.drawString('X:' + str(self.level.solomon.x) + ' Y:' +
str(self.level.solomon.y))
glTranslate(0, 0 - 15, 0)
gx, gy = int(self.level.solomon.x), int(self.level.solomon.y)
self.letters.drawString('G {0} on: {1} below: {2}'.format(
str((gx, gy)), self.level.grid[gy][gx],
self.level.grid[gy - 1][gx]))
glTranslate(0, 0 - 15, 0)
self.letters.drawString('')
glutSwapBuffers()
def apply_material(self):
# Set material
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, self.ambient_color)
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, self.diffuse_color)
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, [1, 1, 1, 0.0])
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, 20)
