def drawCube(self, point):
ygh.beginDraw()
ygh.drawPoint(point)
ygh.endDraw()
glPushMatrix()
glTranslated(point[0], point[1], point[2])
glutWireCube(.1)
glPopMatrix()
def extraDrawCallback():
frame = viewer.getCurrentFrame()
meshPositions = meshMotion[frame].getPointPositions()
ygh.drawPoint(
ysu.getUpperCOMPos(meshPositions, vertexMasses, upperVertexIndices,
upperMass))
ygh.drawPoint(ysu.getCOMPos(meshPositions, vertexMasses, totalMass),
(255, 255, 0))
if frame > 0:
meshVelocities = meshMotion.getPointVelocities(frame, frame - 1)
ygh.drawVector(
ysu.getUpperCOMVel(meshVelocities, vertexMasses,
upperVertexIndices, upperMass),
ysu.getUpperCOMPos(meshPositions, vertexMasses,
upperVertexIndices, upperMass))
ygh.drawVector(
ysu.getCOMVel(meshVelocities, vertexMasses, totalMass),
ysu.getCOMPos(meshPositions, vertexMasses, totalMass),
(255, 255, 0))
def extraDrawCallback():
for p in pointsA:
ygh.drawPoint(p, (255,0,0))
for p in pointsB:
ygh.drawPoint(p, (0,255,0))
for p in pointsC:
ygh.drawPoint(p, (0,255,255))
def extraDraw():
frame = viewer.getCurrentFrame()
for footName in footNames:
# if footName == RFOOT:
if footName == LFOOT:
# if True:
footPos = motion[frame].getPosition(footName)
Rg = motion[frame].getGlobalRFromParent(footName)
# ygh.drawSO3(Rg, footPos, (0,255,0))
logRg = mm.logSO3(Rg)
logRg_sagittal = mm.projectionOnVector(logRg, sagittalAxis)
logRg_lateral = mm.projectionOnVector(logRg,
lateralAxisMap[footName])
ygh.drawVector(logRg_sagittal, footPos, (255, 255, 0))
ygh.drawVector(logRg_lateral, footPos, (0, 255, 255))
for index, contactStates in list(contactStatesMap.items()):
if contactStates[frame]:
ygh.drawPoint(motion.getPosition(index, frame),
(255, 255, 255), 5.)
def extraDrawCallback():
frame = viewer.getCurrentFrame()
for i in range(jointMotions[0][0].skeleton.getElementNum()):
ygh.drawPoint(jointMotions[0][frame].getPosition(i))
def extraDrawCallback():
for p in positions:
ygh.drawPoint(p)
def extraDrawCallback():
frame = viewer.getCurrentFrame()
for index, contactStates in contactStatesMap.items():
if contactStates[frame]:
ygh.drawPoint(motion.getPosition(index, frame),
(255, 255, 255), 5.)