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 ]
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
