def draw_joint(self, joint):
with utils.glPreserveMatrix():
mat = joint.localMat
glMultMatrixf(utils.npmat_to_glmat(mat))
self.cylinder.draw()
# draw links
for link in joint.links:
self.draw_link(link)
self.draw_joint(link.child)
def draw_link(self, link):
pos = link.child.localPos3
r = utils.norm(pos)
if r < 1e-8:
return
n = np.cross((0, 0, 1), pos / r)
a = np.arccos(np.dot((0, 0, 1), pos / r))
with utils.glPreserveMatrix():
if utils.norm(n) > 1e-8:
glRotated(a * 180 / np.pi, *n/utils.norm(n))
quad = gluNewQuadric()
G.glMaterialfv(GL_FRONT, GL_DIFFUSE, self.LINK_COLOR)
gluCylinder(quad, self.LINK_RADIUS, self.LINK_RADIUS, r, 16, 1)
gluDeleteQuadric(quad)
def draw(self):
# glViewport(0, 0, self.size[0], self.size[1])
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
width, height = self.size
far = 1000
for win in self.subWindows:
win.adjust_view()
glLoadIdentity()
with utils.glPreserveMatrix():
win.set_camera()
self.set_light()
# draw sprites for this window
for sp in self.sprites:
sp.draw()
self.draw_borders()
def draw(self):
glColor3f(0., 0., 0.)
height = 0.002
glDisable(GL_LIGHTING)
with utils.glPreserveMatrix():
glMultMatrixf(utils.npmat_to_glmat(self.localMat))
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
with utils.glPrimitive(GL_POLYGON):
glVertex3f(0, -self.top / 2, 0)
glVertex3f(0, self.top / 2, 0)
glVertex3f(self.length, self.bottom / 2, 0)
glVertex3f(self.length, -self.bottom / 2, 0)
with utils.glPrimitive(GL_LINES):
y1 = self.top / 2
y2 = self.bottom / 2
l = self.length
# draw bars
for x in self.bars[1:]:
h = y1 + (y2 - y1) / l * x
glVertex3f(x, -h, 0)
glVertex3f(x, h, 0)
# draw strings
for i in range(1, 7):
y1, y2 = self.get_string_ys(i)
glVertex3f(0, y1, height)
glVertex3f(l, y2, height)
# draw marks
d = self.top / 12
glColor3f(1., .2, .2)
for fp in self.marks:
x, y = self.pos_fret_to_plane(fp)
glVertex3f(x - d, y + d, 0)
glVertex3f(x + d, y - d, 0)
glVertex3f(x + d, y + d, 0)
glVertex3f(x - d, y - d, 0)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
glEnable(GL_LIGHTING)
