def __init__(self, joint, radius=0.05):
"""Constructor.
\param joint (\c Joint) The joint that uses this geom
\param radius (\c float) Radius of the wire sphere at the joint position
"""
GeomObject.__init__(self)
self.joint = joint
self.radius = radius
self.spheregeom = SphereGeom(radius=self.radius,
segmentsu=8,
segmentsv=4)
def __init__(self, joint, radius=0.05):
"""Constructor.
\param joint (\c Joint) The joint that uses this geom
\param radius (\c float) Radius of the wire sphere at the joint position
"""
GeomObject.__init__(self)
self.joint = joint
self.radius = radius
self.spheregeom = SphereGeom(radius=self.radius, segmentsu=8, segmentsv=4)
class JointGeom(GeomObject):
"""The geom object class for Joint objects.
The geometry draws a wire frame sphere at the joint position
and connections to all children joints (visualizing the bones).
"""
def __init__(self, joint, radius=0.05):
"""Constructor.
\param joint (\c Joint) The joint that uses this geom
\param radius (\c float) Radius of the wire sphere at the joint position
"""
GeomObject.__init__(self)
self.joint = joint
self.radius = radius
self.spheregeom = SphereGeom(radius=self.radius, segmentsu=8, segmentsv=4)
def uniformCount(self):
return 0
def varyingCount(self):
return 0
def vertexCount(self):
return 0
def boundingBox(self):
r = vec3(self.radius, self.radius, self.radius)
return BoundingBox(-r, r)
def drawGL(self):
# Draw sphere
glPushAttrib(GL_LIGHTING_BIT | GL_CURRENT_BIT | GL_POLYGON_BIT)
glDisable(GL_LIGHTING)
glPushMatrix()
# The joint is located at the pivot point
p = self.joint.getOffsetTransform()[3]
pivot = vec3(p.x, p.y, p.z)
glTranslate(pivot.x, pivot.y, pivot.z)
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
self.spheregeom.drawGL()
# Draw bone
glBegin(GL_LINES)
for child in self.joint.iterChilds():
if not isinstance(child, Joint):
continue
p = child.pos-pivot
try:
b1 = p.ortho().normalize()
b2 = p.cross(b1).normalize()
except:
continue
b1 *= 0.75*self.radius
b2 *= 0.75*self.radius
glVertex3d(b1.x, b1.y, b1.z)
glVertex3d(p.x, p.y, p.z)
glVertex3d(-b1.x, -b1.y, -b1.z)
glVertex3d(p.x, p.y, p.z)
glVertex3d(b2.x, b2.y, b2.z)
glVertex3d(p.x, p.y, p.z)
glVertex3d(-b2.x, -b2.y, -b2.z)
glVertex3d(p.x, p.y, p.z)
glEnd()
# Pivot coordinate system...
P = self.joint.getOffsetTransform()
r = 1.5*self.radius
glBegin(GL_LINES)
# X axis
b = r*P[0]
glColor3f(1,0,0)
glVertex3f(0,0,0)
glVertex3f(b.x,b.y,b.z)
# Y axis
b = r*P[1]
glColor3f(0,1,0)
glVertex3f(0,0,0)
glVertex3f(b.x,b.y,b.z)
# Z axis
b = r*P[2]
glColor3f(0,0,1)
glVertex3f(0,0,0)
glVertex3f(b.x,b.y,b.z)
glEnd()
glPopMatrix()
glPopAttrib()
class JointGeom(GeomObject):
"""The geom object class for Joint objects.
The geometry draws a wire frame sphere at the joint position
and connections to all children joints (visualizing the bones).
"""
def __init__(self, joint, radius=0.05):
"""Constructor.
\param joint (\c Joint) The joint that uses this geom
\param radius (\c float) Radius of the wire sphere at the joint position
"""
GeomObject.__init__(self)
self.joint = joint
self.radius = radius
self.spheregeom = SphereGeom(radius=self.radius,
segmentsu=8,
segmentsv=4)
def uniformCount(self):
return 0
def varyingCount(self):
return 0
def vertexCount(self):
return 0
def boundingBox(self):
r = vec3(self.radius, self.radius, self.radius)
return BoundingBox(-r, r)
def drawGL(self):
# Draw sphere
glPushAttrib(GL_LIGHTING_BIT | GL_CURRENT_BIT | GL_POLYGON_BIT)
glDisable(GL_LIGHTING)
glPushMatrix()
# The joint is located at the pivot point
p = self.joint.getOffsetTransform()[3]
pivot = vec3(p.x, p.y, p.z)
glTranslate(pivot.x, pivot.y, pivot.z)
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
self.spheregeom.drawGL()
# Draw bone
glBegin(GL_LINES)
for child in self.joint.iterChilds():
if not isinstance(child, Joint):
continue
p = child.pos - pivot
try:
b1 = p.ortho().normalize()
b2 = p.cross(b1).normalize()
except:
continue
b1 *= 0.75 * self.radius
b2 *= 0.75 * self.radius
glVertex3d(b1.x, b1.y, b1.z)
glVertex3d(p.x, p.y, p.z)
glVertex3d(-b1.x, -b1.y, -b1.z)
glVertex3d(p.x, p.y, p.z)
glVertex3d(b2.x, b2.y, b2.z)
glVertex3d(p.x, p.y, p.z)
glVertex3d(-b2.x, -b2.y, -b2.z)
glVertex3d(p.x, p.y, p.z)
glEnd()
# Pivot coordinate system...
P = self.joint.getOffsetTransform()
r = 1.5 * self.radius
glBegin(GL_LINES)
# X axis
b = r * P[0]
glColor3f(1, 0, 0)
glVertex3f(0, 0, 0)
glVertex3f(b.x, b.y, b.z)
# Y axis
b = r * P[1]
glColor3f(0, 1, 0)
glVertex3f(0, 0, 0)
glVertex3f(b.x, b.y, b.z)
# Z axis
b = r * P[2]
glColor3f(0, 0, 1)
glVertex3f(0, 0, 0)
glVertex3f(b.x, b.y, b.z)
glEnd()
glPopMatrix()
glPopAttrib()
