def ontimer(): #Get data from sensors rightData = RightSensor.getPosition()+RightSensor.getEuler() leftData = LeftSensor.getPosition()+LeftSensor.getEuler() #Save current drumstick position for calculating speed PrevRightTipPos = RightStickTip.get(viz.POSITION,viz.ABSOLUTE_WORLD) PrevLeftTipPos = LeftStickTip.get(viz.POSITION,viz.ABSOLUTE_WORLD) #Apply sensor data to drum sticks RightStick.translate(rightData[0],rightData[1],rightData[2]) RightStick.setEuler([rightData[3],rightData[4],rightData[5]]) LeftStick.translate(leftData[0],leftData[1],leftData[2]) LeftStick.setEuler([leftData[3],leftData[4],leftData[5]]) #Get position of drumstick tips RightTipPos = RightStickTip.get(viz.POSITION,viz.ABSOLUTE_WORLD) LeftTipPos = LeftStickTip .get(viz.POSITION,viz.ABSOLUTE_WORLD) #Calculate speed of drumsticks RightTipSpeed = (viz.Vector(RightTipPos) - PrevRightTipPos).length() / viz.elapsed() LeftTipSpeed = (viz.Vector(LeftTipPos) - PrevLeftTipPos).length() / viz.elapsed() #Update each drum for drum in DrumList: drum.checkHit(0,RightTipPos,RightTipSpeed) drum.checkHit(1,LeftTipPos,LeftTipSpeed)
def updateView():
if Navigation.walk == Move.FORWARD:
viz.MainView.move(0, 0, Navigation.translation_speed * viz.elapsed(), viz.BODY_ORI)
elif Navigation.walk == Move.BACK:
viz.MainView.move(0, 0, -Navigation.translation_speed * viz.elapsed(), viz.BODY_ORI)
if Navigation.yaw == Rotate.CW: # right
viz.MainView.setEuler([Navigation.rotation_speed * viz.elapsed() * 2.0, 0, 0], viz.BODY_ORI, viz.REL_PARENT)
elif Navigation.yaw == Rotate.CCW: # left
viz.MainView.setEuler([-Navigation.rotation_speed * viz.elapsed() * 2.0, 0, 0], viz.BODY_ORI, viz.REL_PARENT)
if Navigation.pitch == Rotate.CW: # down
viz.MainView.setEuler([0, Navigation.rotation_speed * viz.elapsed(), 0], viz.HEAD_ORI, viz.REL_LOCAL)
elif Navigation.pitch == Rotate.CCW: # up
viz.MainView.setEuler([0, -Navigation.rotation_speed * viz.elapsed(), 0], viz.HEAD_ORI, viz.REL_LOCAL)
if Navigation.roll == Rotate.CW: # right
viz.MainView.setEuler([0, 0, Navigation.rotation_speed * viz.elapsed()], viz.HEAD_ORI, viz.REL_LOCAL)
elif Navigation.roll == Rotate.CCW: # left
viz.MainView.setEuler([0, 0, -Navigation.rotation_speed * viz.elapsed()], viz.HEAD_ORI, viz.REL_LOCAL)
if Navigation.fly == Move.UP:
viz.MainView.move(0, Navigation.TRANSLATION_SPEED / 2 * viz.elapsed(), 0, viz.BODY_ORI)
elif Navigation.fly == Move.DOWN:
viz.MainView.move(0, -Navigation.TRANSLATION_SPEED / 2 * viz.elapsed(), 0, viz.BODY_ORI)
def UpdateMovement():
pos = joy.getPosition()
twist = joy.getTwist()
viz.MainView.setAxisAngle(0, 1, 0,
twist * viz.elapsed() * 35, viz.BODY_ORI,
viz.REL_PARENT)
viz.MainView.move(
[pos[0] * viz.elapsed() * 5, 0, -pos[1] * viz.elapsed() * 5])
def updateView():
if viz.key.isDown(viz.KEY_UP):
viz.MainView.move([0, 0, MOVE_SPEED * viz.elapsed()], viz.BODY_ORI)
elif viz.key.isDown(viz.KEY_DOWN):
viz.MainView.move([0, 0, -MOVE_SPEED * viz.elapsed()], viz.BODY_ORI)
elif viz.key.isDown(viz.KEY_LEFT):
viz.MainView.move([-MOVE_SPEED * viz.elapsed(), 0, 0], viz.BODY_ORI)
elif viz.key.isDown(viz.KEY_RIGHT):
viz.MainView.move([MOVE_SPEED * viz.elapsed(), 0, 0], viz.BODY_ORI)
def updateView():
if viz.key.isDown('W'):
view.move([0,0,MOVE_SPEED*viz.elapsed()],viz.BODY_ORI)
elif viz.key.isDown('S'):
view.move([0,0,-MOVE_SPEED*viz.elapsed()],viz.BODY_ORI)
elif viz.key.isDown('D'):
view.setEuler([TURN_SPEED*viz.elapsed(),0,0],viz.BODY_ORI,viz.REL_PARENT)
elif viz.key.isDown('A'):
view.setEuler([-TURN_SPEED*viz.elapsed(),0,0],viz.BODY_ORI,viz.REL_PARENT)
def updatecar():
if viz.key.isDown(viz.KEY_UP):
view.move([0,0,MOVE_SPEED*viz.elapsed()],viz.BODY_ORI)
elif viz.key.isDown(viz.KEY_DOWN):
view.move([0,0,-MOVE_SPEED*viz.elapsed()],viz.BODY_ORI)
elif viz.key.isDown(viz.KEY_RIGHT):
view.setEuler([TURN_SPEED*viz.elapsed(),0,0],viz.BODY_ORI,viz.REL_PARENT)
elif viz.key.isDown(viz.KEY_LEFT):
view.setEuler([-TURN_SPEED*viz.elapsed(),0,0],viz.BODY_ORI,viz.REL_PARENT)
#Hier wurde das auto an den Viewpoint getakert
car.setPosition(view.getPosition())
car.setEuler(view.getEuler(viz.BODY_ORI))
car.setPosition([0.35,-1.2,0.2],viz.REL_LOCAL)
def ontimer(self,num): self.yaw += self.yawspeed * viz.elapsed() self.yawspeed *= 0.99 self.pitch += viz.elapsed() * 360 if self.pitch > 360: self.magnitude *= 0.7 self.pitch -= 360 pitch = math.sin(viz.radians(self.pitch)) * self.magnitude self.model.setEuler([self.yaw,pitch,0])
def updatecar():
if viz.key.isDown(viz.KEY_UP):
view.move([0, 0, MOVE_SPEED * viz.elapsed()], viz.BODY_ORI)
elif viz.key.isDown(viz.KEY_DOWN):
view.move([0, 0, -MOVE_SPEED * viz.elapsed()], viz.BODY_ORI)
elif viz.key.isDown(viz.KEY_RIGHT):
view.setEuler([TURN_SPEED * viz.elapsed(), 0, 0], viz.BODY_ORI,
viz.REL_PARENT)
elif viz.key.isDown(viz.KEY_LEFT):
view.setEuler([-TURN_SPEED * viz.elapsed(), 0, 0], viz.BODY_ORI,
viz.REL_PARENT)
car.setPosition(view.getPosition())
car.setEuler(view.getEuler(viz.BODY_ORI))
car.setPosition([0.35, -1.2, 0.2], viz.REL_LOCAL)
def UpdateMovement():
elapsed = viz.elapsed()
# Get the joystick position
x, y, z = environment3D.joy.getPosition()
# Get the twist of the joystick
twist = environment3D.joy.getTwist()
# Move the point based on xy-axis value
move_amount = 10 * elapsed
position = environment3D.point.getPosition()
position = [
position[0] + x * move_amount, position[1],
position[2] + y * move_amount
]
# compute size direction and position of arrow
environment3D.point.setPosition(position)
if (training == True):
environment3D.arrow.setPosition(position[0] + 2, 21, position[2] + 2)
environment3D.arrow.setAxisAngle(
[0, 1, 0, windSpeed.computeWindDirection(position)])
environment3D.arrow.setScale([
windSpeed.computeWindSpeed(position) * 5, 1,
windSpeed.computeWindSpeed(position) * 5
])
def joyhat(self, e):
# e.hat - new hat value
# e.oldHat - old hat value
if e.joy != self.joystick:
return
if not isinstance(self.toolActive, int):
self.moveCursor = True
if e.hat >= 0:
deg = e.hat
x = y = 0
if deg > 180:
deg = deg - 360
#check y move
if abs(deg) < 90:
y = 1
elif abs(deg) > 90:
y = -1
#check x move
if deg < 0:
x = -1
elif 180 > deg > 0:
x = 1
speed = viz.elapsed() * CURSOR_SPEED
self.moveCursor = [speed * x, speed * y, 0]
else:
self.moveCursor = False
def UpdateMovement(): global tracker global node global yaw_ringbuffer, pitch_ringbuffer, roll_ringbuffer, ringbuffer_idx global ringbuffer_len global elapsed_sum, elapsed_N elapsed_sum = elapsed_sum + viz.elapsed() elapsed_N = elapsed_N + 1 if ( elapsed_N == 50 ): #print 'upp latency:',(elapsed_sum/elapsed_N)*12*1000,' ms' #print 'med latency:',(elapsed_sum/elapsed_N)*6*1000,' ms' #print 'low latency:',(elapsed_sum/elapsed_N)*1*1000,' ms' elapsed_sum = 0 elapsed_N = 0 yaw = yaw_ringbuffer[ringbuffer_idx] pitch = pitch_ringbuffer[ringbuffer_idx] roll = roll_ringbuffer[ringbuffer_idx] node.setPosition( viz.MainView.getPosition() ) node.setEuler( viz.MainView.getEuler() ) #node.setEuler( yaw,pitch,roll ) #Get tracker euler rotation yaw,pitch,roll = tracker.getEuler() viz.MainView.setEuler([yaw,pitch,roll]) #yaw,pitch,roll = viz.MainView.getEuler() yaw_ringbuffer[ringbuffer_idx] = yaw pitch_ringbuffer[ringbuffer_idx] = pitch roll_ringbuffer[ringbuffer_idx] = roll ringbuffer_idx = (ringbuffer_idx + 1)%ringbuffer_len
def update_joystick_movement(joystick, view_node, move_speed, turn_speed, lsl_stream):
"""
Updates the viewpoint depending on joystick movements.
Sends 6dof of viz.MainView via lsl.
Args:
joystick: joystick loaded with either vizconnect or directly as in 'use_control' function above
view_node: Viewpoint node
move_speed: move speed translated from joystick movement to viewpoint updating. Default value is 5.
turn_speed: turn speed elicited by joystick twist in VR. Default value is 90.
lsl_stream: stream to push 6dof sample
"""
elapsed = viz.elapsed()
# Get the joystick position
x, y, z = joystick.getPosition()
# Move the viewpoint based on xy-axis value
view_node.setPosition([0, 0, y * move_speed * viz.getFrameElapsed()], viz.REL_LOCAL)
# Turn the viewpoint left/right based on twist value
view_node.setEuler([x * turn_speed * elapsed, 0, 0], viz.REL_LOCAL)
# stream the HMD 6DOF
pos = viz.MainView.getPosition()
ori = viz.MainView.getEuler()
lsl_stream.push_sample([pos[0], pos[1], pos[2], ori[0], ori[1], ori[2]])
def updatecar(): #move view forward and backward if viz.key.isDown(viz.KEY_UP): view.move([0,0,MOVE_SPEED*viz.elapsed()],viz.BODY_ORI) elif viz.key.isDown(viz.KEY_DOWN): view.move([0,0,-MOVE_SPEED*viz.elapsed()],viz.BODY_ORI) #rotate body of view left and right if viz.key.isDown(viz.KEY_RIGHT): view.setEuler([TURN_SPEED*viz.elapsed(),0,0],viz.BODY_ORI,viz.REL_PARENT) elif viz.key.isDown(viz.KEY_LEFT): view.setEuler([-TURN_SPEED*viz.elapsed(),0,0],viz.BODY_ORI,viz.REL_PARENT) #set the car to view position and body orientation car.setPosition(view.getPosition()) car.setEuler(view.getEuler(viz.BODY_ORI)) car.setPosition([3.02,-5.50,5.04],viz.REL_LOCAL)
def animateTexture():
#Increment texture position
tex.pos += ANIMATE_SPEED * viz.elapsed()
#Create transform for texture
mat = viz.Transform()
mat.setTrans(tex.pos,0,0)
#Apply transform to texture
quad.texmat(mat)
def UpdateMovement():
global positionList
elapsed = viz.elapsed()
# Get the joystick position
x, y, z = environment.joy.getPosition()
# Get the twist of the joystick
twist = environment.joy.getTwist()
# Move the point based on xy-axis value
move_amount = parameters.joySpeed * elapsed
position = environment.point.getPosition()
if parameters.joystick:
if ((position[0] + x * move_amount) > parameters.fieldsizeX):
position[0] = parameters.fieldsizeX
elif ((position[0] + x * move_amount) < -parameters.fieldsizeX):
position[0] = -parameters.fieldsizeX
else:
position[0] += x * move_amount
if ((position[2] + y * move_amount) > parameters.fieldsizeZ):
position[2] = parameters.fieldsizeZ
elif ((position[2] + y * move_amount) < -parameters.fieldsizeZ):
position[2] = -parameters.fieldsizeZ
else:
position[2] += y * move_amount
else:
position = [
position[0] + x * move_amount, position[1],
position[2] + y * move_amount
]
environment.point.setPosition(position)
# compute size direction and position of arrow
if parameters.dreiDEnvironment:
environment.shadow.setPosition(position[0], parameters.shadow_height,
position[2])
if (parameters.intro or parameters.training):
if parameters.dreiDEnvironment:
#environment.arrow.setPosition(position[0], parameters.arrow_height3D, position[2])
environment.arrow.setPosition(0, parameters.arrow_height3D, 0)
else:
environment.arrow.setPosition(position[0],
parameters.arrow_height2D,
position[2])
environment.arrow.setAxisAngle(
[0, 1, 0, windSpeed.computeWindDirection(position)])
environment.arrow.setScale([
windSpeed.computeWindSpeed(position) * parameters.arrow_size +
parameters.arroa_min_size,
windSpeed.computeWindSpeed(position) * parameters.arrow_size +
parameters.arroa_min_size,
windSpeed.computeWindSpeed(position) * parameters.arrow_size +
parameters.arroa_min_size
])
positionList.append(position)
def onTimer(num):
#Use the time ids to identify the timer.
move_speed = 5
if viz.MainWindow.isCulled(gplane1):
print "gplane1 culled"
gplane1.setPosition(0, 0, texture_z_size * 2,
viz.REL_GLOBAL) #bring to driver pos
if viz.MainWindow.isCulled(gplane2):
print "gplane2 culled"
gplane2.setPosition(0, 0, texture_z_size * 2,
viz.REL_GLOBAL) #bring to driver pos
if viz.key.isDown(viz.KEY_UP):
viz.MainView.move([0, 0, move_speed * viz.elapsed()], viz.BODY_ORI)
elif viz.key.isDown(viz.KEY_DOWN):
viz.MainView.move([0, 0, move_speed * viz.elapsed()], viz.BODY_ORI)
def mytimer(self, num):
#Increment the angle
self.angle += self.speed * viz.elapsed()
#Calculate the new position
x = math.sin(viz.radians(self.angle)) * self.radius
z = math.cos(viz.radians(self.angle)) * self.radius
#Translate the object to the new position, accounting for the offset
self.object.setAxisAngle(0, 1, 0, self.angle + 90)
self.object.setPosition(
[self.offset[0] + x, self.offset[1], self.offset[2] + z])
def updateView(self): """ Use joystick axes to move joystick node""" elapsed = viz.elapsed() x,y,z = self.joy.getPosition() twist = self.joy.getTwist() elevation_amount = 0 if self.joy.isButtonDown(self.KEYS['up']) and self.CAN_ELEVATE: elevation_amount = self.MOVE_SPEED * elapsed if self.joy.isButtonDown(self.KEYS['down']) and self.CAN_ELEVATE: elevation_amount = -self.MOVE_SPEED * elapsed move_amount = 0 if self.CAN_STRAFE: self.MOVE_SPEED * elapsed self.VIEW.setPosition([x*move_amount,elevation_amount,y*move_amount], viz.REL_LOCAL)
def update(): global grab #print 'analog getData', analog.getData() #add the analog data to a list so that interactions can be made leap = analog.getData() #if a hand is present (stops movement when hand is taken away) if leap[98] > 0.3: #if gesture is a fist (grab) if leap[96] >= 0.5: if grab is None: #grab the object grab = viz.grab(view, h) elif leap[96] < 0.5: if grab is not None: grab.remove() grab = None if leap[2] < -40: view.move([0,0,MOVE_SPEED*viz.elapsed()],viz.BODY_ORI) if leap[2] > 40: view.move([0,0,-MOVE_SPEED*viz.elapsed()],viz.BODY_ORI) if leap[0] < -40: view.setEuler([-TURN_SPEED*viz.elapsed(),0,0],viz.BODY_ORI,viz.REL_PARENT) if leap[0] > 40: view.setEuler([TURN_SPEED*viz.elapsed(),0,0],viz.BODY_ORI,viz.REL_PARENT)
def viewTrackerUpdate(self): #viewTracker constants speed = 2000000 # move speed rot_speed = 17 # rotate speed # print viz.elapsed() #about 0.003 @ 30 fps elapsed = viz.elapsed() fps_speed = elapsed*speed fps_rot_speed = elapsed*rot_speed viewTracker.setPosition(artTracker.x,artTracker.y,artTracker.z+depth/2) viewTracker.setEuler(artTracker.yaw,artTracker.pitch,artTracker.roll) self.cave_origin.setPosition(artTracker.jy*artTracker.x2*fps_speed, artTracker.jy*artTracker.y2*fps_speed, artTracker.jy*artTracker.z2*fps_speed,viz.REL_LOCAL) self.cave_origin.setEuler(fps_rot_speed*artTracker.jx,0.0,0.0,viz.REL_LOCAL)
def updateView(self): elapsed = viz.elapsed() x,y,z = self.joy.getPosition() twist = self.joy.getTwist() elevation_amount = 0 if self.joy.isButtonDown(self.KEYS['up']) and self.CAN_ELEVATE: elevation_amount = self.MOVE_SPEED * elapsed if self.joy.isButtonDown(self.KEYS['down']) and self.CAN_ELEVATE: elevation_amount = -self.MOVE_SPEED * elapsed move_amount = 0 if self.CAN_STRAFE: move_amount = self.MOVE_SPEED * elapsed # self.NODE.setPosition([0, 0, y * self.MOVE_SPEED * viz.getFrameElapsed()], viz.REL_LOCAL) self.NODE.setPosition([x*move_amount,elevation_amount,y*move_amount], viz.REL_LOCAL) turn_amount = self.TURN_SPEED * elapsed self.NODE.setEuler([twist*turn_amount,0,0], viz.REL_LOCAL)
def UpdateMovement(): elapsed = viz.elapsed() # Get the joystick position x,y,z = environment3D.joy.getPosition() # Get the twist of the joystick twist = environment3D.joy.getTwist() # Move the point based on xy-axis value move_amount = 10 * elapsed position = environment3D.point.getPosition() position = [position[0] + x*move_amount,position[1],position[2] + y*move_amount] # compute size direction and position of arrow environment3D.point.setPosition(position) if (training == True): environment3D.arrow.setPosition(position[0] + 2, 21, position[2] + 2) environment3D.arrow.setAxisAngle( [0, 1, 0 , windSpeed.computeWindDirection(position)] ) environment3D.arrow.setScale([windSpeed.computeWindSpeed(position) * 5 , 1, windSpeed.computeWindSpeed(position) * 5])
def UpdateMovement(): global positionList elapsed = viz.elapsed() # Get the joystick position x,y,z = environment.joy.getPosition() # Get the twist of the joystick twist = environment.joy.getTwist() # Move the point based on xy-axis value move_amount = parameters.joySpeed * elapsed position = environment.point.getPosition() if parameters.joystick: if ((position[0] + x*move_amount) > parameters.fieldsizeX): position[0] = parameters.fieldsizeX elif((position[0] + x*move_amount) < -parameters.fieldsizeX): position[0] = -parameters.fieldsizeX else: position[0]+= x*move_amount if ((position[2] + y*move_amount) > parameters.fieldsizeZ): position[2] = parameters.fieldsizeZ elif((position[2] + y*move_amount) < -parameters.fieldsizeZ): position[2] = -parameters.fieldsizeZ else: position[2]+= y*move_amount else: position = [position[0] + x*move_amount,position[1],position[2] + y*move_amount] environment.point.setPosition(position) # compute size direction and position of arrow if parameters.dreiDEnvironment: environment.shadow.setPosition(position[0], parameters.shadow_height, position[2]) if (parameters.intro or parameters.training): if parameters.dreiDEnvironment: #environment.arrow.setPosition(position[0], parameters.arrow_height3D, position[2]) environment.arrow.setPosition(0, parameters.arrow_height3D,0) else: environment.arrow.setPosition(position[0], parameters.arrow_height2D, position[2]) environment.arrow.setAxisAngle( [0, 1, 0 , windSpeed.computeWindDirection(position)] ) environment.arrow.setScale([windSpeed.computeWindSpeed(position) * parameters.arrow_size + parameters.arroa_min_size, windSpeed.computeWindSpeed(position) * parameters.arrow_size + parameters.arroa_min_size, windSpeed.computeWindSpeed(position) * parameters.arrow_size + parameters.arroa_min_size]) positionList.append(position)
def setPositionFromKeyboard():
#move view forward and backward
if viz.key.isDown(viz.KEY_UP):
viz.MainView.move([0,0,MOVE_SPEED*viz.elapsed()],viz.BODY_ORI)
elif viz.key.isDown(viz.KEY_DOWN):
viz.MainView.move([0,0,-MOVE_SPEED*viz.elapsed()],viz.BODY_ORI)
#rotate view left and right
if viz.key.isDown(viz.KEY_RIGHT):
viz.MainView.setEuler([TURN_SPEED*viz.elapsed(),0,0],viz.BODY_ORI,viz.REL_PARENT)
elif viz.key.isDown(viz.KEY_LEFT):
viz.MainView.setEuler([-TURN_SPEED*viz.elapsed(),0,0],viz.BODY_ORI,viz.REL_PARENT)
#move view up ('w') and down ('s')
if viz.key.isDown('w'):
viz.MainView.move([0,MOVE_SPEED*viz.elapsed(),0],viz.BODY_ORI)
elif viz.key.isDown('s'):
viz.MainView.move([0,-MOVE_SPEED*viz.elapsed(),0],viz.BODY_ORI)
def updateJoy(): elapsed = viz.elapsed() x,y,z = joystick.getPosition() move_amount = 5 * elapsed view.move([x*move_amount, 0, y*move_amount]) view.setPosition([view.getPosition()[0], 1.8, view.getPosition()[2]])
def _move(self, amount):
self.camera.move([0, 0, amount * self.move_speed * viz.elapsed()],
viz.BODY_ORI)
def _turn(self, amount):
self.camera.setEuler([amount * self.turn_speed * viz.elapsed(), 0, 0],
viz.BODY_ORI, viz.REL_PARENT)
def updatePositionLabel(self, num):
"""Timer function that gets called every frame. Updates parameters for saving"""
"""Here need to bring in steering bias updating from Trout as well"""
if self.UPDATELOOP:
dt = viz.elapsed()
#print ("elapsed:", dt)
#print ("frame elapsed:", viz.getFrameElapsed())
self.Trial_Timer = self.Trial_Timer + dt
#print("UpdatingPosition...")
#update driver view.
if self.AUTOMATION:
newSWApos = self.Trial_SWA_readout[self.Current_playbackindex]
newSWApos *= np.sign(
self.Trial_trialtype_signed) #flip if left hand bend
if self.AUTOWHEEL:
self.Wheel.set_position(
newSWApos) #set steering wheel to position.
newyawrate = self.Trial_YR_readout[self.Current_playbackindex]
#add yawrateoffset.
#if self.Trial_Timer > self.Trial_OnsetTime: #2 seconds into the bend.
time_after_onset = self.Trial_Timer - self.Trial_OnsetTime
transition_duration = .5
if time_after_onset > 0:
newyawrate += smooth_step(
time_after_onset / transition_duration
) * self.Trial_YawRate_Offset #positive offset = greater oversteering.
self.Current_playbackindex += 1
newyawrate *= np.sign(
self.Trial_trialtype_signed) #flip if left hand bend
else:
newyawrate = None
UpdateValues = self.driver.UpdateView(
YR_input=newyawrate
) #update view and return values used for update
pos = self.caveview.getPosition()
ori = self.getNormalisedEuler()
### #update Current parameters ####
self.Current_pos_x = pos[0]
self.Current_pos_z = pos[2]
self.Current_SWA = UpdateValues[4]
self.Current_yaw = ori[0]
self.Current_RowIndex += 1
self.Current_Time = viz.tick()
self.Current_YawRate_seconds = UpdateValues[0]
self.Current_TurnAngle_frames = UpdateValues[1]
self.Current_distance = UpdateValues[2]
self.Current_dt = UpdateValues[3]
self.Current_WheelCorrection = UpdateValues[5]
self.Current_steeringbias, self.Current_closestpt = self.calculatebias(
)
#update txtCurrent.
if self.DEBUG:
currentmessage = 'TrialTime: ' + str(round(
self.Trial_Timer, 2)) + '\nLanePos: ' + str(
round(self.Current_steeringbias, 2))
self.txtCurrent.message(currentmessage)
if self.DEBUG_PLOT:
#add to plot position array
self.plot_positionarray_x.append(self.Current_pos_x)
self.plot_positionarray_z.append(self.Current_pos_z)
midpos = self.Trial_midline[self.Current_closestpt]
self.plot_closestpt_x.append(midpos[0])
self.plot_closestpt_z.append(midpos[1])
if self.plottimer > self.plotinterval:
self.UpdatePlot()
self.plottimer = 0
self.plottimer += viz.elapsed()
self.RecordData() #write a line in the dataframe.
def keyDown(whichKey):
global debug
global cursorPos
global highlightedObj
global highlightedObjType
global selectedObj
global selectedObjType
global selectedIndex
global blockState
#print 'The following key was pressed: ', whichKey
if whichKey == 'x':
debug = not debug
# navigation
if whichKey == viz.KEY_UP:
viz.MainView.move(0,0,Navigation.translation_speed*viz.elapsed(),viz.BODY_ORI)
elif whichKey == viz.KEY_DOWN:
viz.MainView.move(0,0,-Navigation.translation_speed*viz.elapsed(),viz.BODY_ORI)
if whichKey == viz.KEY_LEFT:
Navigation.yaw = Rotate.CCW
elif whichKey == viz.KEY_RIGHT:
Navigation.yaw = Rotate.CW
if whichKey == ']':
Navigation.pitch = Rotate.CCW
elif whichKey == '[':
Navigation.pitch = Rotate.CW
if whichKey == '}':
Navigation.roll = Rotate.CCW
elif whichKey == '{':
Navigation.roll = Rotate.CW
if whichKey == 'i':
Navigation.fly = Move.UP
elif whichKey == 'k':
Navigation.fly = Move.DOWN
# cursor
if whichKey == 'w':
cursorPos[1] += 0.05
elif whichKey == 's':
cursorPos[1] -= 0.05
if whichKey == 'a':
cursorPos[0] -= 0.05
elif whichKey == 'd':
cursorPos[0] += 0.05
if whichKey == 'e':
cursorPos[2] += 0.05
elif whichKey == 'q':
cursorPos[2] -= 0.05
# selection
if whichKey == viz.KEY_RETURN:
#picking a piece up
if selectedObj == None and highlightedObj != None:
if highlightedObjType == 'piece':
for i in pieceAttr[selectedIndex].puzzleIndices:
blockState[i] = False
selectedObj = highlightedObj
selectedObjType = highlightedObjType
selectedIndex = pieces.index(selectedObj)
pieceAttr[selectedIndex].placed = False
# piece placement (try to drop a piece)
elif selectedObj != None:
if place_piece():
check_for_win()
selectedObj = None
selectedObjType = None
selectedIndex = -1
# selection #2 (up/down piece selection)
if whichKey == 'm':
cycle_select(forward = True)
elif whichKey == 'n':
cycle_select(forward = False)
# translation of the selected object is done by moving the cursor
# orientation
if selectedObj != None:
if whichKey == 't':
selectedObj.setEuler(0,90,0,viz.REL_LOCAL)#yaw,pitch,roll
elif whichKey == 'g':
selectedObj.setEuler(0,-90,0,viz.REL_LOCAL)#yaw,pitch,roll
if whichKey == 'f':
selectedObj.setEuler(90,0,0,viz.REL_LOCAL)#yaw,pitch,roll
elif whichKey == 'h':
selectedObj.setEuler(-90,0,0,viz.REL_LOCAL)#yaw,pitch,roll
if whichKey == 'y':
selectedObj.setEuler(0,0,90,viz.REL_LOCAL)#yaw,pitch,roll
elif whichKey == 'r':
selectedObj.setEuler(0,0,-90,viz.REL_LOCAL)#yaw,pitch,roll
def keyDown(whichKey):
global debug
global cursor
global cursorPos
global highlightedObj
global highlightedObjType
global selectedObj
global selectedObjType
global selectedIndex
global blockState
global absCursorPos
absCursorPos = cursor.getPosition(viz.ABS_GLOBAL)
# print 'The following key was pressed: ', whichKey
if whichKey == "x":
debug = not debug
# navigation
if whichKey == viz.KEY_UP:
viz.MainView.move(0, 0, Navigation.translation_speed * viz.elapsed(), viz.BODY_ORI)
elif whichKey == viz.KEY_DOWN:
viz.MainView.move(0, 0, -Navigation.translation_speed * viz.elapsed(), viz.BODY_ORI)
if whichKey == viz.KEY_LEFT:
Navigation.yaw = Rotate.CCW
elif whichKey == viz.KEY_RIGHT:
Navigation.yaw = Rotate.CW
if whichKey == "]":
Navigation.pitch = Rotate.CCW
elif whichKey == "[":
Navigation.pitch = Rotate.CW
if whichKey == "}":
Navigation.roll = Rotate.CCW
elif whichKey == "{":
Navigation.roll = Rotate.CW
if whichKey == "i":
Navigation.fly = Move.UP
elif whichKey == "k":
Navigation.fly = Move.DOWN
# cursor
if whichKey == "w":
cursorPos[1] += 0.05
elif whichKey == "s":
cursorPos[1] -= 0.05
if whichKey == "a":
cursorPos[0] -= 0.05
elif whichKey == "d":
cursorPos[0] += 0.05
if whichKey == "e":
cursorPos[2] += 0.05
elif whichKey == "q":
cursorPos[2] -= 0.05
# selection
if whichKey == viz.KEY_RETURN:
selection()
rem_piece()
# #picking a piece up
# if selectedObj == None and highlightedObj != None:
# if highlightedObjType == 'piece':
# for i in pieceAttr[selectedIndex].puzzleIndices:
# blockState[i] = False
# selectedObj = highlightedObj
# selectedObjType = highlightedObjType
# selectedIndex = pieces.index(selectedObj)
# pieceAttr[selectedIndex].placed = False
# rem_piece()
#
# # piece placement (try to drop a piece)
# elif selectedObj != None:
# if place_piece():
# check_for_win()
# selectedObj = None
# selectedObjType = None
# selectedIndex = -1
# selection #2 (up/down piece selection)
if whichKey == "m":
cycle_select(forward=True)
elif whichKey == "n":
cycle_select(forward=False)
# translation of the selected object is done by moving the cursor
# orientation
if selectedObj != None:
if whichKey == "t":
selectedObj.setEuler(0, 90, 0, viz.REL_LOCAL) # yaw,pitch,roll
elif whichKey == "g":
selectedObj.setEuler(0, -90, 0, viz.REL_LOCAL) # yaw,pitch,roll
if whichKey == "f":
selectedObj.setEuler(90, 0, 0, viz.REL_LOCAL) # yaw,pitch,roll
elif whichKey == "h":
selectedObj.setEuler(-90, 0, 0, viz.REL_LOCAL) # yaw,pitch,roll
if whichKey == "y":
selectedObj.setEuler(0, 0, 90, viz.REL_LOCAL) # yaw,pitch,roll
elif whichKey == "r":
selectedObj.setEuler(0, 0, -90, viz.REL_LOCAL) # yaw,pitch,roll
def UpdateView(self):
elapsedTime = viz.elapsed(
) #retrieves amount of time passed from last function call.
yawrate = 0.0
turnangle = 0.0
distance = 0.0
dt = elapsedTime
#dt = 1.0/60.0 #not sure why but it's perceptually smoother with a constant. This shouldn't be the case.
#Get steering wheel and gas position
data = joy.getPosition()
SteeringWheelValue = data[0] # on scale from -1 to 1.
gas = data[1]
if self.__automation:
#keep heading up to date.
ori = self.__view.getEuler()
self.__heading = ori[0]
elif not self.__automation:
if viz.key.isDown(viz.KEY_UP):
gas = -5
elif viz.key.isDown(viz.KEY_DOWN):
gas = 5
if viz.key.isDown(
viz.KEY_LEFT
): #rudimentary control with the left/right arrows.
data[0] = -1
elif viz.key.isDown(viz.KEY_RIGHT):
data[0] = 1
# #Compute drag
# drag = self.__speed / 300.0
self.__dir = 1
yawrate = self.__dir * SteeringWheelValue * 35.0 #max wheel lock is 35degrees per s yawrate
turnangle = yawrate * dt #amount of angular distance to move per frame.
self.__heading += turnangle
self.__pause = self.__pause + 1
#Update the viewpoint
if self.__pause > 0:
distance = self.__speed * dt #amount of metres that the camera needs to move per frame.
#posnew = (0,0,self.__speed)
posnew = (0, 0, distance)
eulernew = (self.__heading, 0, 0)
self.__view.setPosition(posnew, viz.REL_LOCAL)
self.__view.setEuler(eulernew) #set absolutely.
else:
self.__heading = 0.0
self.__dir = 1.0
turnangle = 0.0
#return the values used in position update
UpdateValues = []
UpdateValues.append(yawrate)
UpdateValues.append(turnangle)
UpdateValues.append(distance)
UpdateValues.append(dt)
UpdateValues.append(SteeringWheelValue)
return (UpdateValues)
