def drawRotor(self, pMat, mvMat, rotMat, transMat, speed):
"""
Zeichne den Rotor mit allen Matrizen. Berechne Drehungen
korrekt
@param pMat: perspektivische Matrix des Helis
@param mvMat: modelviewMatrix der Camera
@param rotMat: vorberechnete Rotationsmatrix des Rotors
@param transMat: translationsmatrix des Helicopters
@param speed: aktueller Auftrieb des Helicopters
"""
if self.start and self.r < self.maximum:
if speed < 1:
if self.r < self.maximum + 4:
self.r += 0.009
elif speed > 1:
if self.r > self.maximum - 1:
self.r -= 0.009
else:
if self.r < self.maximum - 1:
self.r += 0.009
else:
if self.r > 1:
self.r -= 0.009
(a, b, c) = self.dist
t = geo.translationMatrix(a, b, c)
tb = geo.translationMatrix(-a, -b, -c)
f = geo.rotationMatrix(self.r, self.axis)
self.rotationMatrix = self.rotationMatrix * t * f * tb
glEnableClientState(GL_VERTEX_ARRAY)
glEnableClientState(GL_NORMAL_ARRAY)
glEnableClientState(GL_TEXTURE_COORD_ARRAY)
glEnable(GL_TEXTURE_2D)
modelMatrix = mvMat * transMat * rotMat * self.rotationMatrix
mvpMatrix = pMat * modelMatrix
normalMat = linalg.inv(modelMatrix[0:3, 0:3]).transpose()
glUseProgram(self.program)
geo.sendMat4(self.program, "mvMatrix", modelMatrix)
geo.sendMat4(self.program, "mvpMatrix", mvpMatrix)
geo.sendMat3(self.program, "normalMatrix", normalMat)
self.useRotorGeometry()
glDisableClientState(GL_VERTEX_ARRAY)
glDisableClientState(GL_NORMAL_ARRAY)
glDisableClientState(GL_TEXTURE_COORD_ARRAY)
def initHelicopter(self):
self.objectVertices, self.objectTextures, self.objectNormals, self.objectFaces = self.objLoader.loadObjFile(self.filename)
self.data, self.heli_vbo = self.objLoader.createDataFromObj()
# Create BoundingBox
self.boundingBox = [map(min, zip(*self.objectVertices)), map(max, zip(*self.objectVertices))]
self.center = [(x[0]+x[1])/2.0 for x in zip(*self.boundingBox)]
self.scaleFactor = 2.0/max([(x[1]-x[0]) for x in zip(*self.boundingBox)])
# Scale, Center
self.handler.pushModelMatrix(geo.scaleMatrix(self.scaleFactor, self.scaleFactor, self.scaleFactor))
self.handler.pushModelMatrix(geo.translationMatrix(-self.center[0], -self.center[1], -self.center[2]))
im = Image.open("./heli_data/500DLINE.JPG")
width, height = im.size
image = array(im)[::-1,:].tostring()
self.textureIDs = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, self.textureIDs)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_RGB, GL_UNSIGNED_BYTE, image)
glGenerateMipmap(GL_TEXTURE_2D)
def step(self):
"""
Berechnet fuer alle Objekten die neue Position im neuen step
Fuer den Helicopter wird eine Vorberechnung der moeglichen
neuen Position durchgefuehrt und bei Erfolg diese Position
uebernommen
"""
detection, padDetection = False, False # flag for collision detection
# with all objects
up = Vector(0, 1, 0).multMatrix(self.heli.actOri.T)
temp = self.heli.position + (up + self.gravity) * 0.15 # kraftvektor
temp += Vector(0, 1, 0) + self.gravity * self.heli.speed # auftrieb
tempBB = map(lambda x: x + temp, self.heli.bb)
if self.intersectBB(tempBB):
detection = True
else:
for obj in self.objs:
if self.intersect(tempBB, obj.bb):
padDetection = True
self.heli.speed = 1
self.collision = True if detection else False
self.padCollision = True if padDetection else False
if not self.collision and not self.padCollision:
self.heli.position = temp
(x, y, z) = self.heli.position
self.heli.translationMatrix = geo.translationMatrix(x, y, z)
def reset(self):
"""
setzt helicopter an Ursprung zurueck
"""
self.heli.position = self.heli.startPosition
self.heli.translationMatrix =\
geo.translationMatrix(self.heli.position[0],
self.heli.position[1],
self.heli.position[2])
self.heli.speed = 1
self.heli.actOri = geo.identity()
self.heli.collision = False
def __init__(self, program, radius, gamesize, height, faces, x, z):
"""
Konstruktor fuer Helipad
@param program: image-Shader fuer Helipad
@param radius: Radius fuer die Saeule des Helipads
@param gamesize: Groesse / 2 der Skybox
@param height: Absolute Hoehe des Helipads
@param faces: Flaechen der Saeule, Approximativer Kreis
@param x: Verschiebung auf der Welt nach x
@param z: Verschiebung auf der Welt nach z
"""
self.radius = radius
self.height = height
self.faces = faces
self.program = program
self.x = x
self.z = z
self.gamesize = gamesize
self.tMat = geo.translationMatrix(x, -gamesize, z)
self.initHeliPad()
def initHelicopter(self):
self.objectVertices, self.objectTextures, self.objectNormals, self.objectFaces = self.objLoader.loadObjFile(
self.filename)
self.data, self.heli_vbo = self.objLoader.createDataFromObj()
# Create BoundingBox
self.boundingBox = [
map(min, zip(*self.objectVertices)),
map(max, zip(*self.objectVertices))
]
self.center = [(x[0] + x[1]) / 2.0 for x in zip(*self.boundingBox)]
self.scaleFactor = 2.0 / max([(x[1] - x[0])
for x in zip(*self.boundingBox)])
# Scale, Center
self.handler.pushModelMatrix(
geo.scaleMatrix(self.scaleFactor, self.scaleFactor,
self.scaleFactor))
self.handler.pushModelMatrix(
geo.translationMatrix(-self.center[0], -self.center[1],
-self.center[2]))
im = Image.open("./heli_data/500DLINE.JPG")
width, height = im.size
image = array(im)[::-1, :].tostring()
self.textureIDs = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, self.textureIDs)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_RGB,
GL_UNSIGNED_BYTE, image)
glGenerateMipmap(GL_TEXTURE_2D)
def gier(self, angle):
self.handler.pushModelMatrix(geo.rotationMatrix(angle, (1, 0, 0)))
self.handler.pushModelMatrix(geo.translationMatrix(0, 0, 1))
def initHelicopter(self):
"""
initialisiere Helicopter mit Hilfe von Obj-Loader
"""
# load obj File
self.objectVertices, self.facesDic, self.matDic, self.bb =\
self.objLoader.loadObjFile(self.filename)
(a, b, c), (d, e, f) = self.bb[0], self.bb[1]
self.bb = [Vector(a, b, c), Vector(d, e, f)]
self.startPosition[1] += abs(b) # vector
self.position = self.startPosition
self.translationMatrix = geo.translationMatrix(self.position[0],
self.position[1],
self.position[2])
# initial Helicopter Geometry
self.initHelicopterGeometry()
rojoData = self.objLoader.createData(self.facesDic["500-D_Rojo"])
maxRotor = [max([x[0] for x in rojoData]),
max([x[1] for x in rojoData]),
max([x[2] for x in rojoData])]
minRotor = [min([x[0] for x in rojoData]),
min([x[1] for x in rojoData]),
min([x[2] for x in rojoData])]
mittel = map(lambda x, y: x + (y - x) / 2, minRotor, maxRotor)
#### MAIN
self.mainRotor = Rotor(self.vboTextureDic[self.mainRotorMat][0],
self.vboTextureDic[self.mainRotorMat][1],
self.vboTextureDic[self.mainRotorMat][2],
self.objLoader.createData(self.facesDic[
self.mainRotorMat]),
self.matDic, self.program,
self.mainRotorMat, "main", mittel)
#### TAIL und FrontLine separieren
tailRotorFaces = []
frontLine = []
for facesList in self.facesDic[self.tailRotorMat]:
for faces in facesList:
if [singleFace for singleFace in faces if singleFace > 2720]\
!= []:
tailRotorFaces.append([singleFace for singleFace in faces\
if singleFace > 2720])
if [singleFace for singleFace in faces if singleFace < 2720]\
!= []:
frontLine.append([singleFace for singleFace in faces])
self.tailRotorData = self.objLoader.createData([tailRotorFaces])
self.tailRotorDataLen = len(self.tailRotorData)
self.tailRotorVbo = vbo.VBO(np.array(self.tailRotorData, 'f'))
self.tailRotorTextureId = self.vboTextureDic[self.tailRotorMat][1]
frontLineData = self.objLoader.createData([frontLine])
frontLineDataLen = len(frontLineData)
self.frontLineDataLenList = []
self.frontLineDataLenList.append(frontLineDataLen)
frontLineVbo = vbo.VBO(np.array(frontLineData, 'f'))
self.frontLineVboList = []
self.frontLineVboList.append(frontLineVbo)
frontLineTextureId = self.vboTextureDic[self.tailRotorMat][1]
self.frontLineTextureIdList = []
self.frontLineTextureIdList.append(frontLineTextureId)
maxRotor = [max([x[0] for x in self.tailRotorData]),
max([x[1] for x in self.tailRotorData]),
max([x[2] for x in self.tailRotorData])]
minRotor = [min([x[0] for x in self.tailRotorData]),
min([x[1] for x in self.tailRotorData]),
min([x[2] for x in self.tailRotorData])]
mittel = map(lambda x, y: x + (y - x) / 2, minRotor, maxRotor)
self.tailRotor = Rotor(vbo.VBO(np.array(self.tailRotorData, 'f')),
self.vboTextureDic[self.tailRotorMat][1],
len(self.tailRotorData),
self.objLoader.createData([tailRotorFaces]),
self.matDic, self.program, self.tailRotorMat,
"heck", mittel, 12)
self.actOri = geo.identity()
# Frontline zum vboTextureDic hinzufuegen
del(self.vboTextureDic[self.tailRotorMat])
if not self.tailRotorMat in self.vboTextureDic.keys():
self.vboTextureDic[self.tailRotorMat] =\
self.vboTextureDic.get(self.tailRotorMat,
self.frontLineVboList\
+ self.frontLineTextureIdList\
+ self.frontLineDataLenList)
else:
self.vboTextureDic[self.tailRotorMat].append(self.frontLineVboList\
+ self.frontLineTextureIdList\
+ self.frontLineDataLenList)
def gier(self, angle):
self.handler.pushModelMatrix(geo.rotationMatrix(angle, (1, 0, 0)))
self.handler.pushModelMatrix(geo.translationMatrix(0, 0, 1))
