def render(c, resolution, objects, lights, ambient_intensity, anti_aliasing=False):
# image plane coordinates
x2 = Vector3(1, resolution[1]/resolution[0], 0)
x1 = Vector3(-1, resolution[1]/resolution[0], 0)
x4 = Vector3(1, -resolution[1]/resolution[0], 0)
x3 = Vector3(-1, -resolution[1]/resolution[0], 0)
# Pool is used for conducting multiple raycasts simultaneously
# adjust the '12' according to how much processing power you are willing to devote to the render
p = Pool(12)
# generate list of commands to execute in parallel
arglist = []
for y in range(0, resolution[1]):
for x in range(0, resolution[0]):
arglist.append([x, y, x1, x2, x3, x4, c, resolution, objects, lights, ambient_intensity, anti_aliasing])
results = []
for a in arglist:
results.append(p.apply_async(single_ray, args=a,))
# actually execute commands
p.close()
p.join()
results = [r.get() for r in results]
#write resultant pixel data to image
image = []
i = 0
for y in range(0, resolution[1]):
image.append([])
for x in range(0, resolution[0]):
image[y].append(results[i])
i += 1
Image.fromarray(np.uint8(np.array(image))).save('test.png')
def __init__(self,
ni=5,
nj=10,
chordRoot=1.0,
chordTip=1.0,
twistRoot=0.0,
twistTip=0.0,
span=5.0,
sweep=30.0,
Sref=1.0,
referencePoint=[0.0, 0.0, 0.0],
wingType=1,
alphaRange=[0.0]):
self.size = ni * nj
self.A = np.zeros((self.size, self.size))
self.rhs = np.zeros(self.size)
self.inducedDownwash = [
np.zeros((self.size, self.size)),
np.zeros((self.size, self.size)),
np.zeros((self.size, self.size))
]
self.nw = 1
self.panels = []
self.wakePanels = []
self.ni = ni
self.nj = nj
self.gamma = np.zeros(self.size)
self.gammaij = np.zeros(self.size)
self.liftAxis = Vector3(0.0, 0.0, 1.0)
self.Sref = Sref
self.chordRoot = chordRoot
self.chordTip = chordTip
self.cavg = 0.5 * (chordRoot + chordTip)
self.twistRoot = twistRoot
self.twistTip = twistTip
self.span = span
self.sweep = sweep * pi / 180.0
self.referencePoint = Vector3(referencePoint[0], referencePoint[1],
referencePoint[2])
self.wingType = wingType
self.CL = []
self.CD = []
self.CM = []
self.spanLoad = []
self.alphaRange = alphaRange
self.Ufree = Vector3(1.0, 0.0, 0.0)
self.rho = 1.0
def __init__(self,
name,
filename,
position=Vector3(0, 0, 0),
rotation=Vector3(0, 0, 0),
scale=1):
self.name = name
self.vertices = self.loadOBJ(filename, "vertices")
self.normals = self.loadOBJ(filename, "normals")
self.faces = self.loadOBJ(filename, "faces")
self.rotation = rotation
self.position = position
self.scaleVertices(scale)
def getVerticalAngle(self, vertexPosition):
verticalLookDirection = Vector3(self.topLeftDirection.x, 0,
self.topLeftDirection.z)
verticalVertexDirection = Vector3(vertexPosition.x - self.position.x,
0, vertexPosition.z -
self.position.z) #.normalise()
dotProduct = verticalLookDirection.dot(verticalVertexDirection)
magnitude = verticalLookDirection.getLength(
) * verticalVertexDirection.getLength()
verticalAngle = math.acos(dotProduct / magnitude)
return verticalAngle
def getHorizontalAngle(self, vertexPosition):
horizontalLookDirection = Vector3(self.topLeftDirection.x,
self.topLeftDirection.y, 0)
horizontalVertexDirection = Vector3(vertexPosition.x - self.position.x,
vertexPosition.y - self.position.y,
0) #.normalise()
dotProduct = horizontalLookDirection.dot(horizontalVertexDirection)
magnitude = horizontalLookDirection.getLength(
) * horizontalVertexDirection.getLength()
horizontalAngle = math.acos(dotProduct / magnitude)
return horizontalAngle
def rotateY(self, y):
for i, vertex in enumerate(self.vertexList):
newVertex = Vector3(0, 0, 0)
newVertex.x = vertex.x * cos(y) + vertex.z * sin(y)
newVertex.y = vertex.y
newVertex.z = -vertex.x * sin(y) + vertex.z * cos(y)
self.vertexList[i] = newVertex
def rotateZ(self, z):
for i, vertex in enumerate(self.vertexList):
newVertex = Vector3(0, 0, 0)
newVertex.x = vertex.x
newVertex.y = vertex.y * cos(z) - vertex.z * sin(z)
newVertex.z = vertex.y * sin(z) + vertex.z * cos(z)
self.vertexList[i] = newVertex
def __init__(self, game_object):
super(MeshComponent, self).__init__(game_object)
self.points = []
self.triangles = {}
self.color = Vector3(random() * 255,
random() * 255,
random() * 255)
def computeForcesAndMoment(self):
self.CL.append(0.0)
self.CM.append(0.0)
self.CD.append(0.0)
inducedDownwashX = np.dot(self.inducedDownwash[0], self.gamma)
inducedDownwashY = np.dot(self.inducedDownwash[1], self.gamma)
inducedDownwashZ = np.dot(self.inducedDownwash[2], self.gamma)
for index, panel in enumerate(self.panels):
force = self.Ufree.crossProduct(
panel.dl()) * self.rho * self.gammaij[index]
distToRefrence = self.referencePoint - panel.forceActingPoint()
moment = force.crossProduct(distToRefrence)
downWash = Vector3(inducedDownwashX[index],
inducedDownwashY[index],
inducedDownwashZ[index])
self.CL[-1] += force.dot(self.liftAxis)
self.CM[-1] += moment[1]
self.CD[-1] -= self.rho * downWash.dot(
self.liftAxis) * self.gammaij[index] * panel.dy()
self.CL[-1] /= (0.5 * self.rho * self.Ufree.Magnitude()**2 * self.Sref)
self.CD[-1] /= (0.5 * self.rho * self.Ufree.Magnitude()**2 * self.Sref)
self.CM[-1] /= (0.5 * self.rho * self.Ufree.Magnitude()**2 *
self.Sref * self.cavg)
def translate_vertexes(vertexes, translation):
new_vertexes = []
for v in vertexes:
new_vertexes.append(
Vector3(v[0] + translation[0], v[1] + translation[1],
v[2] + translation[2]))
return new_vertexes
def rotateX(self, x):
for i, vertex in enumerate(self.vertexList):
newVertex = Vector3(0, 0, 0)
newVertex.x = vertex.x * cos(x) - vertex.y * sin(x)
newVertex.y = vertex.x * sin(x) + vertex.y * cos(x)
newVertex.z = vertex.z
self.vertexList[i] = newVertex
def drawBline(self, point0, point1, color):
x0 = int(point0.x)
y0 = int(point0.y)
x1 = int(point1.x)
y1 = int(point1.y)
dx = abs(x1 - x0)
dy = abs(y1 - y0)
if (x0 < x1):
sx = 1
else:
sx = -1
if y0 < y1:
sy = 1
else:
sy = -1
err = dx - dy
while x0 != x1 or y0 != y1:
self.putPixel(Vector3(x0, y0, 0), color)
e2 = 2 * err
if e2 > -dy:
err -= dy
x0 += sx
elif e2 < dx:
err += dx
y0 += sy
def scale_vertexes(vertexes, scale_factor):
print(vertexes[0])
new_vertexes = []
for v in vertexes:
new_vertexes.append(
Vector3(v[0] * scale_factor[0], v[1] * scale_factor[1],
v[2] * scale_factor[2]))
return new_vertexes
def rotate(self, x):
newVertex = Vector3(0, 0, 0)
newVertex.x = self.lookDirection.x * cos(
x) - self.lookDirection.y * sin(x)
newVertex.y = self.lookDirection.x * sin(
x) + self.lookDirection.y * cos(x)
newVertex.z = self.lookDirection.z
self.lookDirection.copyFrom(newVertex)
def generateVertices(self):
self.vertexList = list()
positionalModifiers = (Vector3(1, 1, 1), Vector3(1, 1, -1),
Vector3(1, -1, 1), Vector3(1, -1, -1),
Vector3(-1, 1, 1), Vector3(-1, 1, -1),
Vector3(-1, -1, 1), Vector3(-1, -1, -1))
for positionalModifier in positionalModifiers:
newVertex = self.position + (positionalModifier *
(self.sideLength / 2.0))
self.vertexList.append(newVertex)
def transpose_points(self):
result = []
for point in self.points:
new_point = Vector3.rotate_y(point, self.game_object.transform.rotation.y)
new_point = (new_point * self.game_object.transform.scale) + self.game_object.transform.position
result.append(new_point)
return result
def __init__(self, position):
self.position = position
self.lookDirection = Vector3(1, 0, 0)
self.aspectRatio = 16 / 9
self.horizontalFOV = math.pi #0.5 * math.pi
self.verticalFOV = self.horizontalFOV / self.aspectRatio
self.objectList = list()
self.projectedVertexList = list()
def createCube(cubeList, cam, colours, rotSpeeds):
x = uniform(-3, 3)
y = uniform(-3, 3)
z = uniform(-5, 0)
sideLength = uniform(0.5, 2)
cube = Cube(Vector3(x, y, z), sideLength)
rotSpeeds.append([uniform(-0.05, 0.05), uniform(-0.05, 0.05), uniform(-0.05, 0.05)])
colours.append([randint(100, 255), randint(100, 255), randint(100, 255)])
cubeList.append(cube)
cam.addObject(cube)
def initializeWingCosine(self):
theta_i = np.linspace(0.5 * np.pi, np.pi, self.nj + 1)
y_i = -self.span * np.cos(theta_i)
dy = self.span / float(self.nj)
for j in range(self.nj):
y = y_i[j]
yNext = y_i[j + 1]
eta = y / self.span
etaNext = yNext / self.span
twist = (1.0 - eta) * self.twistRoot + eta * self.twistTip
twistNext = (1.0 -
etaNext) * self.twistRoot + etaNext * self.twistTip
chord = Vector3((1.0 - eta) * self.chordRoot + eta * self.chordTip,
0.0, 0.0).rotate(0.0, twist, 0.0)
chordNext = Vector3(
(1.0 - etaNext) * self.chordRoot + etaNext * self.chordTip,
0.0, 0.0).rotate(0.0, twistNext, 0.0)
pt = Vector3(tan(self.sweep) * y, y, 0.0)
ptNext = Vector3(tan(self.sweep) * yNext, yNext, 0.0)
ds = chord / float(self.ni)
dsNext = chordNext / float(self.ni)
for i in range(self.ni):
p1 = pt
p4 = ptNext
pt = pt + ds
ptNext += dsNext
p2 = pt
p3 = ptNext
self.panels.append(panel(p1, p2, p3, p4))
def preformCollision(self, ray, distance):
normal = (ray.rot * distance) - self.pos
pos = ray.rot * distance
theta = 2 * math.pi * random.uniform(0, 1)
u = math.cos(math.acos(w * random.uniform(0, 1) - 1))
x = math.sqrt(1 - u ** 2) * math.cos(theta)
y = math.sqrt(1 - u ** 2) * math.sin(theta)
tmpDir = Vector3(x, y, u)
if tmpDir.dotProduct(normal) < 0:
tmpDir *= -1
#return a tuple of the new ray plus a color? Or integrate color with the ray?
tmpDir.normalize()
return Ray(pos, tmpDir, ray.color + material.color)
def initializeWing(self):
dy = self.span / float(self.nj)
y = 0.0
yNext = y + dy
for j in range(self.nj):
eta = y / self.span
etaNext = yNext / self.span
twist = (1.0 - eta) * self.twistRoot + eta * self.twistTip
twistNext = (1.0 -
etaNext) * self.twistRoot + etaNext * self.twistTip
chord = Vector3((1.0 - eta) * self.chordRoot + eta * self.chordTip,
0.0, 0.0).rotate(0.0, twist, 0.0)
chordNext = Vector3(
(1.0 - etaNext) * self.chordRoot + etaNext * self.chordTip,
0.0, 0.0).rotate(0.0, twistNext, 0.0)
pt = Vector3(tan(self.sweep) * y, y, 0.0)
ptNext = Vector3(tan(self.sweep) * yNext, yNext, 0.0)
ds = chord / float(self.ni)
dsNext = chordNext / float(self.ni)
for i in range(self.ni):
p1 = pt
p4 = ptNext
pt = pt + ds
ptNext += dsNext
p2 = pt
p3 = ptNext
self.panels.append(panel(p1, p2, p3, p4))
y += dy
yNext += dy
def rotate_vertexes(vertexes, angles):
angles = Vector3(angles[0] * 2 * math.pi / 360,
angles[1] * 2 * math.pi / 360,
angles[2] * 2 * math.pi / 360)
new_vertexes = []
for v in vertexes:
xtheta = angles[0]
newv = Vector3(v[0],
(v[1] * math.cos(xtheta) - v[2] * math.sin(xtheta)),
((v[1] * math.sin(xtheta)) + (v[2] * math.cos(xtheta))))
ytheta = angles[1]
newv = Vector3(
(newv[0] * math.cos(ytheta) + newv[2] * math.sin(ytheta)), newv[1],
((-newv[0] * math.sin(ytheta)) + (newv[2] * math.cos(ytheta))))
ztheta = angles[2]
newv = Vector3(
(newv[0] * math.cos(ztheta) - newv[1] * math.sin(ztheta)),
((newv[0] * math.sin(ztheta)) + (newv[1] * math.cos(ztheta))),
newv[2])
new_vertexes.append(newv)
return new_vertexes
def loadOBJ(self, filename, option=True):
if option == "vertices":
verts = []
elif option == "normals":
norms = []
else:
facesOut = []
# normsOut = []
for line in open(filename, "r"):
vals = line.split()
if vals[0] == "v" and option != "faces" and option != "normals":
v = map(float, vals[1:4])
vector = Vector3(v[0], v[1], v[2])
verts.append(vector)
elif vals[0] == "vn" and option != "vertices" and option != "faces":
n = map(float, vals[1:4])
normal = Vector3(n[0], n[1], n[2])
norms.append(normal)
elif vals[
0] == "f" and option != "vertices" and option != "normals":
face = []
norm = []
for f in vals[1:]:
w = f.split("/")
face.append(int(w[0]) - 1)
norm.append(int(w[2]) - 1)
facesOut.append([[face[0], face[1], face[2]],
[norm[0], norm[1], norm[2]]])
# return vertsOut, normsOut
if option == "vertices":
return verts
elif option == "normals":
return norms
else:
return facesOut
def render(self, scene):
# Render the mesh points.
cam = scene.get_camera()
points = self.transpose_points()
# Cast every point to a cameras' screen.
for point in points:
point_vector = point - cam.transform.position
point_rad = Vector3.dot_relative(point_vector.normalize(), cam.direction)
# Assume projection 1:1 ratio.
cam_rad = cam.fov_rad
point_x = (point_rad.y + cam_rad / 2.0) / cam_rad
point_y = (point_rad.x + cam_rad / 2.0) / cam_rad
scene.render_point(point_x, point_y)
pass
def project(self, vector, aspectRatio, zNear, zFar, fov_degree):
if (aspectRatio > 1):
sX = 1/aspectRatio
else:
sX = 1
if (aspectRatio > 1):
sY = 1
else:
sY = aspectRatio
fov = 1/math.tan(math.radians(fov_degree/2))
scaleX = fov * sX
scaleY = fov * sY
projectionMatrix = self.matrix.get_projection_matrix(zNear, zFar, scaleX, scaleY)
projectedVector = Vector4(vector.x, vector.y, vector.z, 1).dot_product_with_matrix(projectionMatrix)
return Vector3(projectedVector[0] + self.width/2, projectedVector[1]+ self.height/2, projectedVector[2])
def main(x, y, z, a, b, c):
rospy.init_node('init1', anonymous=True)
now = rospy.get_rostime()
rospy.loginfo("Current time %i %i", now.secs, now.nsecs)
pub1 = rospy.Publisher('/firefly/command/trajectory',
MultiDOFJointTrajectory,
queue_size=100)
# initial position of the first pelican
trajectory1 = MultiDOFJointTrajectory()
trajectory1_point = MultiDOFJointTrajectoryPoint()
trajectory1.header.frame_id = 'firefly/base_link'
transform1 = Transform()
#transform1.translation.x = 0
#transform1.translation.y = 0
#transform1.translation.z = 4
transform1.translation = Vector3(x, y, z)
q_rot = quaternion_from_euler(a, b, c)
transform1.rotation.x = q_rot[0]
transform1.rotation.y = q_rot[1]
transform1.rotation.z = q_rot[2]
transform1.rotation.w = q_rot[3]
velocity1 = Twist()
accelerate1 = Twist()
t = rospy.Time.now()
trajectory1.header.stamp.secs = t.secs
trajectory1.header.stamp.nsecs = t.nsecs
trajectory1_point.transforms.append(transform1)
trajectory1_point.velocities.append(velocity1)
trajectory1_point.accelerations.append(accelerate1)
trajectory1.points.append(trajectory1_point)
# publish the related messages
rate = rospy.Rate(100)
while not rospy.is_shutdown():
pub1.publish(trajectory1)
rate.sleep()
def render():
# spheres.append(Sphere(Vector3( 7, 5, -18), 4, Vector3(80, 120, 60)))
# lights.append(Light(Vector3(-20, 20, 20), 50))
# for j in range(height):
# for i in range(width):
# for k in range(len(spheres)):
# x, y, z = buildRay(i, j)
# if(intersect(cam.location, Vector3(x, y, z).Normal(), spheres[k])): #i,j,-1.0
# frameBuffer.append(spheres[k].material)
# else:
# frameBuffer.append(Vector3(51, 178, 204))
for j in range(height):
for i in range(width):
x, y, z = buildRay(i, j)
frameBuffer.append(
intersect(cam.location,
Vector3(x, y, z).Normal(), spheres)) #i,j,-1.
body = bodyFormat(frameBuffer, width)
createFile(header, body)
def drawScanLine(self, pointA, pointB, y, sz, ez, sShade, eShade, color):
if pointA > pointB:
temp = pointA
pointA = pointB
pointB = temp
z_slope = (ez - sz)/(pointB - pointA)
shadingGradient = (eShade - sShade)/(pointB - pointA)
for x in range(int(pointA), int(pointB)):
if x > self.width:
return
if y > self.height:
return
color *= sShade
color = self.clamp(color, 0, 255)
self.putPixel(Vector3(x, y, sz), (color, color, color))
sz += z_slope
sShade += shadingGradient
p.join()
results = [r.get() for r in results]
#write resultant pixel data to image
image = []
i = 0
for y in range(0, resolution[1]):
image.append([])
for x in range(0, resolution[0]):
image[y].append(results[i])
i += 1
Image.fromarray(np.uint8(np.array(image))).save('test.png')
if __name__ == '__main__':
t= time.time()
# camera location
c = Vector3(0, 0, -1)
# CHANGE THINGS AFTER THIS POINT
# setup code which is used for renders
# all of this is adjustable depending on what you want to render
# blue and red test materials, with different shininesses
m = Material(Color(0.6, 0.1, 0.1), Color(0.6, 0.1, 0.1), Color(0.3, 0.3, 0.3), 2, Color(0.3, 0.3, 0.3))
m2 = Material(Color(0.1, 0.1, 0.6), Color(0.1, 0.1, 0.6), Color(0.3, 0.3, 0.3), 2, Color(0.3, 0.3, 0.3))
# mirror material, high reflectivity, low diffuse constant
m3 = Material(Color(0.1, 0.1,0.1), Color(0.1,0.1,0.1), Color(0.2, 0.2, 0.2), 2, Color(0.7, 0.7, 0.7))
# glass material, refracts, index of refraction is 1.5
m4 = Material(Color(0.6, 0.1, 0.1), Color(0.6, 0.1, 0.1), Color(0.3, 0.3, 0.3), 2, Color(0.3, 0.3, 0.3), True, 1.5)
# objects in the scene
#objects = [Sphere(Vector3(0, 0, 8), 3, m)]
#!/usr/bin/env python3 # Test of Vector3 class from Vector3 import Vector3 v = Vector3() v[0] = 1.0 v[1] = 2.0 v[2] = 3.0 print(v[0], v[1], v[2]) print(v) v1 = Vector3(1.1, 2.2, 3.3) print(v1) v2 = Vector3(1, 2) print(v2) v2 = Vector3(1) print(v2)
def __init__(self, rad, xh, yh, zh):
"""
Constructor
"""
Vector3.__init__(self, xh, yh, zh)
self.radius = rad
def __init__(self, new_x, new_y, new_z):
'''
Constructor
'''
Vector3.__init__(self, new_x, new_y, new_z)
