def init_opengl(self):
#model view matrix
self.inverseModelView = numpy.identity(4)
#its anti-matrix
self.modelView = numpy.identity(4)
#open tichu effect
glEnable(GL_CULL_FACE)
#to not rend invisible part
glCullFace(GL_BACK)
#open depth test
glEnable(GL_DEPTH_TEST)
#objects being covered ot to rend
glDepthFunc(GL_LESS)
#open light 0
glEnable(GL_LIGHT0)
#to set the position of light
glLightfv(GL_LIGHT0, GL_POSITION, GLfloat_4(0, 0, 1, 0))
#to set the direction that light sheds at
glLightfv(GL_LIGHT0, GL_SPOT_DIRECTION, GLfloat_3(0, 0, -1))
#to set material color
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
#set the color of a clear-screen
glClearColor(0.4, 0.4, 0.4, 0.0)
def init_opengl(self):
""" initialize the opengl settings to render the scene """
self.inverseModelView = numpy.identity(4)
self.modelView = numpy.identity(4)
glEnable(GL_CULL_FACE)
glCullFace(GL_BACK)
glEnable(GL_DEPTH_TEST)
glDepthFunc(GL_LESS)
glEnable(GL_LIGHT0)
glLightfv(GL_LIGHT0, GL_POSITION, GLfloat_4(0, 0, 1, 0))
glLightfv(GL_LIGHT0, GL_SPOT_DIRECTION, GLfloat_3(0, 0, -1))
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
glClearColor(0.4, 0.4, 0.4, 0.0)
def init_opengl(self):
""" 初始化opengl的配置 """
#模型视图矩阵
self.inverseModelView = numpy.identity(4)
#模型视图矩阵的逆矩阵
self.modelView = numpy.identity(4)
#开启剔除操作效果
glEnable(GL_CULL_FACE)
#取消对多边形背面进行渲染的计算（看不到的部分不渲染）
glCullFace(GL_BACK)
#开启深度测试
glEnable(GL_DEPTH_TEST)
#测试是否被遮挡，被遮挡的物体不予渲染
glDepthFunc(GL_LESS)
#启用0号光源
glEnable(GL_LIGHT0)
#设置光源的位置
glLightfv(GL_LIGHT0, GL_POSITION, GLfloat_4(0, 0, 1, 0))
#设置光源的照射方向
glLightfv(GL_LIGHT0, GL_SPOT_DIRECTION, GLfloat_3(0, 0, -1))
#设置材质颜色
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
#设置清屏的颜色
glClearColor(0.4, 0.4, 0.4, 0.0)
def apply(self, face=GL_FRONT_AND_BACK):
'''Apply the material on current context'''
if self.texture:
self.texture.enable()
self.texture.bind()
glEnable(GL_COLOR_MATERIAL)
glMaterialfv(face, GL_DIFFUSE, self.diffuse + [self.opacity])
glMaterialfv(face, GL_AMBIENT, self.ambient + [self.opacity])
glMaterialfv(face, GL_SPECULAR, self.specular + [self.opacity])
glMaterialfv(face, GL_EMISSION, self.emission + [self.opacity])
glMaterialf(face, GL_SHININESS, self.shininess)
glColorMaterial(face, GL_AMBIENT_AND_DIFFUSE)
def apply(self, face=GL_FRONT_AND_BACK):
'''Apply the material on current context'''
if self.texture:
self.texture.enable()
self.texture.bind()
glEnable(GL_COLOR_MATERIAL)
glMaterialfv(face, GL_DIFFUSE, self.diffuse + [self.opacity])
glMaterialfv(face, GL_AMBIENT, self.ambient + [self.opacity])
glMaterialfv(face, GL_SPECULAR, self.specular + [self.opacity])
glMaterialfv(face, GL_EMISSION, self.emission + [self.opacity])
glMaterialf(face, GL_SHININESS, self.shininess)
glColorMaterial(face, GL_AMBIENT_AND_DIFFUSE)
def init_opengl(self):
""" initialize the opengl settings to render the scene """
self.inverseModelView = numpy.identity(4)
self.modelView = numpy.identity(4)
glEnable(GL_CULL_FACE)
glCullFace(GL_BACK)
glEnable(GL_DEPTH_TEST)
glDepthFunc(GL_LESS)
glEnable(GL_LIGHT0)
glLightfv(GL_LIGHT0, GL_POSITION, GLfloat_4(0, 0, 1, 0))
glLightfv(GL_LIGHT0, GL_SPOT_DIRECTION, GLfloat_3(0, 0, -1))
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
glClearColor(1.0, 1.0, 1.0, 0.0)
def init_opengl(self) -> bool:
"""Initialize and set OpenGL capabilities.
Returns:
True if initialized without error, False otherwise.
"""
if self._gl_initialized:
return True
if self._context is None:
return False
glClearColor(*self.background_color)
glClearDepth(1.0)
glDepthFunc(GL_LESS)
glEnable(GL_DEPTH_TEST)
glEnable(GL_CULL_FACE)
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
# set antialiasing
glEnable(GL_LINE_SMOOTH)
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
glEnable(GL_MULTISAMPLE)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
self.create_vaos()
# compile shader programs
self._shaders['default'] = shaderlib.compile_shader(*shaderlib.default)
self._shaders['single_color'] = shaderlib.compile_shader(
*shaderlib.single_color)
self._shaders['instanced_model_color'] = shaderlib.compile_shader(
*shaderlib.instanced_model_color)
self._shaders['instanced_picking'] = shaderlib.compile_shader(
*shaderlib.instanced_picking)
self._shaders['diffuse'] = shaderlib.compile_shader(*shaderlib.diffuse)
self._shaders['solid'] = shaderlib.compile_shader(*shaderlib.solid)
self._gl_initialized = True
return True
def draw(self):
glPushMatrix()
glTranslated(self.pos.x, self.pos.y, self.pos.z)
glEnable(GL_LIGHTING)
color_r = 0.5
color_g = 0.0
color_b = 0.0
glColor3f(color_r, color_g, color_b)
glEnable(GL_COLOR_MATERIAL)
glColorMaterial(GL_FRONT, GL_DIFFUSE)
#glDisable(GL_TEXTURE_2D)
glutSolidSphere(self.radius, 64, 64)
glDisable(GL_COLOR_MATERIAL)
glDisable(GL_LIGHTING)
glPopMatrix()
def initializeGL(self):
print("initializeGL")
self.texNumeros, self.texDecor = self.load_textures()
glEnable(GL_TEXTURE_2D)
glShadeModel(GL_SMOOTH)
glEnable(GL_DEPTH_TEST)
glEnable(GL_CULL_FACE)
glFrontFace(GL_CCW)
light_ambient = [0.3, 0.3, 0.3, 0.1]
glEnable(GL_LIGHTING)
lightpos = (0, 0, 50)
glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient)
glLightfv(GL_LIGHT0, GL_POSITION, lightpos)
glEnable(GL_LIGHT0)
glEnable(GL_COLOR_MATERIAL)
glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE)
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST)
def initializeGL(self):
# We call this right after our OpenGL window is created.
glClearColor(1.0, 1.0, 1.0, 1.0)
glClearDepth(1.0)
glDepthFunc(GL_LESS)
glEnable(GL_DEPTH_TEST)
glShadeModel(GL_SMOOTH)
glEnable(GL_NORMALIZE)
light_position = (0., 0., 1., 0.)
white_light = (1., 1., 1., 0.501)
d_light = (1., 1., 1., 0.01)
spec = (1., 1., 1., 0.08)
glLightfv(GL_LIGHT0, GL_POSITION, light_position)
glLightfv(GL_LIGHT0, GL_AMBIENT, white_light)
#glLightfv(GL_LIGHT0, GL_DIFFUSE, d_light)
glLightfv(GL_LIGHT0, GL_SPECULAR, spec)
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
#glBlendFunc(GL_SRC_ALPHA,GL_ONE)
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(
45.0,
float(self.size().height()) / float(self.size().width()), 0.1,
1000000.0)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
self.rotation = [0.0, 0.0]
self.mesh.prepDraw()
def _draw_compass_geometry():
"""
Do GL state changes and draw constant geometry for compass.
Doesn't depend on any outside state, so can be compiled
into an unchanging display list.
"""
glEnable(GL_COLOR_MATERIAL)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
glDisable(GL_CULL_FACE)
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
#ninad 070122 - parametrized the compass drawing. (also added some doc).
#Also reduced the overall size of the compass.
p1 = -1 # ? start point of arrow cyl?
p2 = 3.25 #end point of the arrow cylindrical portion
p3 = 2.5 #arrow head start point
p5 = 4.5 # cone tip
r1 = 0.2 #cylinder radius
r2 = 0.2
r3 = 0.2
r4 = 0.60 #cone base radius
glePolyCone([[p1, 0, 0], [0, 0, 0], [p2, 0, 0], [p3, 0, 0], [_P4, 0, 0],
[p5, 0, 0]], [[0, 0, 0], [1, 0, 0], [1, 0, 0], [.5, 0, 0],
[.5, 0, 0], [0, 0, 0]], [r1, r2, r3, r4, 0, 0])
glePolyCone([[0, p1, 0], [0, 0, 0], [0, p2, 0], [0, p3, 0], [0, _P4, 0],
[0, p5, 0]], [[0, 0, 0], [0, .9, 0], [0, .9, 0], [0, .4, 0],
[0, .4, 0], [0, 0, 0]], [r1, r2, r3, r4, 0, 0])
glePolyCone([[0, 0, p1], [0, 0, 0], [0, 0, p2], [0, 0, p3], [0, 0, _P4],
[0, 0, p5]], [[0, 0, 0], [0, 0, 1], [0, 0, 1], [0, 0, .4],
[0, 0, .4], [0, 0, 0]], [r1, r2, r3, r4, 0, 0])
glEnable(GL_CULL_FACE)
glDisable(GL_COLOR_MATERIAL)
return
def _draw_compass_geometry():
"""
Do GL state changes and draw constant geometry for compass.
Doesn't depend on any outside state, so can be compiled
into an unchanging display list.
"""
glEnable(GL_COLOR_MATERIAL)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
glDisable(GL_CULL_FACE)
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
#ninad 070122 - parametrized the compass drawing. (also added some doc).
#Also reduced the overall size of the compass.
p1 = -1 # ? start point of arrow cyl?
p2 = 3.25 #end point of the arrow cylindrical portion
p3 = 2.5 #arrow head start point
p5 = 4.5 # cone tip
r1 = 0.2 #cylinder radius
r2 =0.2
r3 = 0.2
r4 = 0.60 #cone base radius
glePolyCone([[p1,0,0], [0,0,0], [p2,0,0], [p3,0,0], [_P4,0,0], [p5,0,0]],
[[0,0,0], [1,0,0], [1,0,0], [.5,0,0], [.5,0,0], [0,0,0]],
[r1,r2,r3,r4,0,0])
glePolyCone([[0,p1,0], [0,0,0], [0,p2,0], [0,p3,0], [0,_P4,0], [0,p5,0]],
[[0,0,0], [0,.9,0], [0,.9,0], [0,.4,0], [0,.4,0], [0,0,0]],
[r1,r2,r3,r4,0,0])
glePolyCone([[0,0,p1], [0,0,0], [0,0,p2], [0,0,p3], [0,0,_P4], [0,0,p5]],
[[0,0,0], [0,0,1], [0,0,1], [0,0,.4], [0,0,.4], [0,0,0]],
[r1,r2,r3,r4,0,0])
glEnable(GL_CULL_FACE)
glDisable(GL_COLOR_MATERIAL)
return
def initializeGL(self): # We call this right after our OpenGL window is created. glClearColor(1.0, 1.0, 1.0, 1.0) glClearDepth(1.0) glDepthFunc(GL_LESS) glEnable(GL_DEPTH_TEST) glShadeModel(GL_SMOOTH) glEnable(GL_NORMALIZE) light_position = (0., 0., 1., 0.) white_light = (1., 1., 1., 0.501) d_light = (1., 1., 1., 0.01) spec = (1., 1., 1., 0.08) glLightfv(GL_LIGHT0, GL_POSITION, light_position) glLightfv(GL_LIGHT0, GL_AMBIENT, white_light) #glLightfv(GL_LIGHT0, GL_DIFFUSE, d_light) glLightfv(GL_LIGHT0, GL_SPECULAR, spec) glEnable(GL_LIGHTING) glEnable(GL_LIGHT0) glEnable(GL_BLEND) glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA) #glBlendFunc(GL_SRC_ALPHA,GL_ONE) glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE) glEnable(GL_COLOR_MATERIAL) glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST) glMatrixMode(GL_PROJECTION) glLoadIdentity() gluPerspective(45.0, float(self.size().height())/ float(self.size().width()), 0.1, 1000000.0) glMatrixMode(GL_MODELVIEW) glLoadIdentity() self.rotation = [0.0, 0.0] self.mesh.prepDraw()
def initializeGL(self):
glClearColor(0.85, 0.85, 0.85, 1.0)
glClearDepth(1.0)
glDepthFunc(GL_LESS)
glEnable(GL_DEPTH_TEST)
glEnable(GL_CULL_FACE)
glShadeModel(GL_SMOOTH)
glEnable(GL_NORMALIZE)
glEnable(GL_COLOR_MATERIAL)
glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE)
glLightfv(GL_LIGHT0, GL_POSITION, (0.0, 0.0, 1.0, 0.0))
glEnable(GL_LIGHT0)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
self.display_list = glGenLists(1)
glNewList(self.display_list, GL_COMPILE)
glScalef(0.5, 0.5, 0.5)
glEnable(GL_LIGHTING)
# board
glColor3f(0.0, 0.0, 0.0)
self.draw_cuboid(4.0, 4.0, 0.16)
# USB connector
glPushMatrix()
glColor3f(0.5, 0.51, 0.58)
glTranslatef(0.0, -1.6, 0.28)
self.draw_cuboid(0.75, 0.9, 0.4)
glPopMatrix()
# right button
glPushMatrix()
glColor3f(0.5, 0.51, 0.58)
glTranslatef(1.15, -1.85, 0.16)
self.draw_cuboid(0.4, 0.3, 0.16)
glColor3f(0.0, 0.0, 0.0)
glTranslatef(0.0, -0.155, 0.025)
self.draw_cuboid(0.18, 0.1, 0.08)
glPopMatrix()
# left button
glPushMatrix()
glColor3f(0.5, 0.51, 0.58)
glTranslatef(-1.15, -1.85, 0.16)
self.draw_cuboid(0.4, 0.3, 0.16)
glColor3f(0.0, 0.0, 0.0)
glTranslatef(0.0, -0.155, 0.025)
self.draw_cuboid(0.18, 0.1, 0.08)
glPopMatrix()
# left btb top
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(-1.65, 0.0, 0.38)
self.draw_cuboid(0.5, 1.4, 0.6)
glPopMatrix()
# right btb top
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(1.65, 0.0, 0.38)
self.draw_cuboid(0.5, 1.4, 0.6)
glPopMatrix()
# left btb bottom
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(-1.65, 0.0, -0.33)
self.draw_cuboid(0.5, 1.4, 0.5)
glPopMatrix()
# right btb bottom
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(1.65, 0.0, -0.33)
self.draw_cuboid(0.5, 1.4, 0.5)
glPopMatrix()
# left bricklet port
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(-0.85, 1.8, -0.23)
self.draw_cuboid(1.2, 0.4, 0.3)
glPopMatrix()
# right bricklet port
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(0.85, 1.8, -0.23)
self.draw_cuboid(1.2, 0.4, 0.3)
glPopMatrix()
# left direction LED
glPushMatrix()
glColor3f(0.0, 0.5, 0.0)
glTranslatef(-1.05, 1.425, 0.115)
self.draw_cuboid(0.1, 0.2, 0.07)
glPopMatrix()
# top direction LED
glPushMatrix()
glColor3f(0.0, 0.5, 0.0)
glTranslatef(-0.675, 1.8, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# right direction LED
glPushMatrix()
glColor3f(0.0, 0.5, 0.0)
glTranslatef(-0.3, 1.425, 0.115)
self.draw_cuboid(0.1, 0.2, 0.07)
glPopMatrix()
# bottom direction LED
glPushMatrix()
glColor3f(0.0, 0.5, 0.0)
glTranslatef(-0.675, 1.05, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# left y orientation LED
glPushMatrix()
glColor3f(0.0, 0.0, 1.0)
glTranslatef(0.275, 1.7, 0.115)
self.draw_cuboid(0.1, 0.2, 0.07)
glPopMatrix()
# right y orientation LED
glPushMatrix()
glColor3f(1.0, 0.0, 0.0)
glTranslatef(0.425, 1.7, 0.115)
self.draw_cuboid(0.1, 0.2, 0.07)
glPopMatrix()
# top z orientation LED
glPushMatrix()
glColor3f(1.0, 0.0, 0.0)
glTranslatef(0.35, 1.15, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# bottom z orientation LED
glPushMatrix()
glColor3f(0.0, 0.0, 1.0)
glTranslatef(0.35, 1.0, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# top x orientation LED
glPushMatrix()
glColor3f(1.0, 0.0, 0.0)
glTranslatef(1.0, 1.15, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# bottom x orientation LED
glPushMatrix()
glColor3f(0.0, 0.0, 1.0)
glTranslatef(1.0, 1.0, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# top alignment corner
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glBegin(GL_TRIANGLES)
glNormal3f(0.0, 0.0, 1.0)
glVertex3f(-2.0, -2.0, 0.081)
glVertex3f(-1.1, -2.0, 0.081)
glVertex3f(-2.0, -1.1, 0.081)
glEnd()
glPopMatrix()
# bottom alignment corner
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glBegin(GL_TRIANGLES)
glNormal3f(0.0, 0.0, -1.0)
glVertex3f(-2.0, -2.0, -0.081)
glVertex3f(-2.0, -1.1, -0.081)
glVertex3f(-1.1, -2.0, -0.081)
glEnd()
glPopMatrix()
glDisable(GL_LIGHTING)
# axis
glPushMatrix()
glTranslatef(-2.3, -2.3, -0.38)
glLineWidth(3.0)
glBegin(GL_LINES)
glColor3f(1, 0, 0) # x axis is red
glVertex3f(0, 0, 0)
glVertex3f(3, 0, 0)
glColor3f(0, 0.5, 0) # y axis is green
glVertex3f(0, 0, 0)
glVertex3f(0, 3, 0)
glColor3f(0, 0, 1) # z axis is blue
glVertex3f(0, 0, 0)
glVertex3f(0, 0, 3)
glEnd()
glLineWidth(1.0)
glPopMatrix()
glEndList()
def OnDraw(self):
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glFrustum(-50.0 * self.zoom, 50.0 * self.zoom, -50.0 * self.zoom,
50.0 * self.zoom, 200, 800.0)
#glTranslatef(0.0, 0.0, -400.0)
gluLookAt(200.0, -200.0, 400.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.0)
glMatrixMode(GL_MODELVIEW)
if self.resetView:
glLoadIdentity()
self.lastx = self.x = 0
self.lasty = self.y = 0
self.anglex = self.angley = self.anglez = 0
self.transx = self.transy = 0
self.resetView = False
if self.size is None:
self.size = self.GetClientSize()
w, h = self.size
w = max(w, 1.0)
h = max(h, 1.0)
xScale = 180.0 / w
yScale = 180.0 / h
glRotatef(self.angley * yScale, 1.0, 0.0, 0.0)
glRotatef(self.anglex * xScale, 0.0, 1.0, 0.0)
glRotatef(self.anglez, 0.0, 0.0, 1.0)
glTranslatef(self.transx, self.transy, 0.0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
glEnable(GL_LIGHT1)
if self.drawGrid:
glBegin(GL_LINES)
for i in range(len(self.gridVertices)):
glColor(self.gridColors[i])
p = self.gridVertices[i]
glVertex3f(p[0], p[1], p[2])
glVertex3f(p[3], p[4], p[5])
glEnd()
colors = {MT_RAPID: [0.0, 1.0, 1.0, 1], MT_NORMAL: [1.0, 1.0, 1.0, 1]}
currentLineType = MT_RAPID
glColor(colors[MT_RAPID])
glBegin(GL_LINE_STRIP)
for p in self.dataPoints:
if p[3] != currentLineType:
currentLineType = p[3]
glColor(colors[currentLineType])
glVertex3f(p[0], p[1], p[2])
glEnd()
self.SwapBuffers()
glDisable(GL_LIGHT0)
glDisable(GL_LIGHT1)
glDisable(GL_LIGHTING)
self.anglex = self.angley = self.anglez = 0
self.transx = self.transy = 0
def initializeGL(self):
glClearColor(0.85, 0.85, 0.85, 1.0)
glClearDepth(1.0)
glDepthFunc(GL_LESS)
glEnable(GL_DEPTH_TEST)
glEnable(GL_CULL_FACE)
glShadeModel(GL_SMOOTH)
glEnable(GL_NORMALIZE)
glEnable(GL_COLOR_MATERIAL)
glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE)
glLightfv(GL_LIGHT0, GL_POSITION, (0.0, 0.0, 1.0, 0.0))
glEnable(GL_LIGHT0)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
self.display_list = glGenLists(1)
glNewList(self.display_list, GL_COMPILE)
glScalef(0.5, 0.5, 0.5)
glEnable(GL_LIGHTING)
# board
glColor3f(0.0, 0.0, 0.0)
self.draw_cuboid(4.0, 4.0, 0.16)
# USB connector
glPushMatrix()
glColor3f(0.5, 0.51, 0.58)
glTranslatef(0.0, -1.6, 0.28)
self.draw_cuboid(0.75, 0.9, 0.4)
glPopMatrix()
# right button
glPushMatrix()
glColor3f(0.5, 0.51, 0.58)
glTranslatef(1.15, -1.85, 0.16)
self.draw_cuboid(0.4, 0.3, 0.16)
glColor3f(0.0, 0.0, 0.0)
glTranslatef(0.0, -0.155, 0.025)
self.draw_cuboid(0.18, 0.1, 0.08)
glPopMatrix()
# left button
glPushMatrix()
glColor3f(0.5, 0.51, 0.58)
glTranslatef(-1.15, -1.85, 0.16)
self.draw_cuboid(0.4, 0.3, 0.16)
glColor3f(0.0, 0.0, 0.0)
glTranslatef(0.0, -0.155, 0.025)
self.draw_cuboid(0.18, 0.1, 0.08)
glPopMatrix()
# left btb top
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(-1.65, 0.0, 0.38)
self.draw_cuboid(0.5, 1.4, 0.9)
glPopMatrix()
# right btb top
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(1.65, 0.0, 0.38)
self.draw_cuboid(0.5, 1.4, 0.9)
glPopMatrix()
# left btb bottom
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(-1.65, 0.0, -0.33)
self.draw_cuboid(0.5, 1.4, 0.5)
glPopMatrix()
# right btb bottom
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(1.65, 0.0, -0.33)
self.draw_cuboid(0.5, 1.4, 0.5)
glPopMatrix()
# left bricklet port
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(-0.85, 1.8, -0.23)
self.draw_cuboid(1.2, 0.4, 0.3)
glPopMatrix()
# right bricklet port
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(0.85, 1.8, -0.23)
self.draw_cuboid(1.2, 0.4, 0.3)
glPopMatrix()
# left direction LED
glPushMatrix()
glColor3f(0.0, 0.5, 0.0)
glTranslatef(-1.05, 1.425, 0.115)
self.draw_cuboid(0.1, 0.2, 0.07)
glPopMatrix()
# top direction LED
glPushMatrix()
glColor3f(0.0, 0.5, 0.0)
glTranslatef(-0.675, 1.8, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# right direction LED
glPushMatrix()
glColor3f(0.0, 0.5, 0.0)
glTranslatef(-0.3, 1.425, 0.115)
self.draw_cuboid(0.1, 0.2, 0.07)
glPopMatrix()
# bottom direction LED
glPushMatrix()
glColor3f(0.0, 0.5, 0.0)
glTranslatef(-0.675, 1.05, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# left y orientation LED
glPushMatrix()
glColor3f(0.0, 0.0, 1.0)
glTranslatef(0.275, 1.7, 0.115)
self.draw_cuboid(0.1, 0.2, 0.07)
glPopMatrix()
# right y orientation LED
glPushMatrix()
glColor3f(1.0, 0.0, 0.0)
glTranslatef(0.425, 1.7, 0.115)
self.draw_cuboid(0.1, 0.2, 0.07)
glPopMatrix()
# top z orientation LED
glPushMatrix()
glColor3f(1.0, 0.0, 0.0)
glTranslatef(0.35, 1.15, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# bottom z orientation LED
glPushMatrix()
glColor3f(0.0, 0.0, 1.0)
glTranslatef(0.35, 1.0, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# top x orientation LED
glPushMatrix()
glColor3f(1.0, 0.0, 0.0)
glTranslatef(1.0, 1.15, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# bottom x orientation LED
glPushMatrix()
glColor3f(0.0, 0.0, 1.0)
glTranslatef(1.0, 1.0, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# top alignment corner
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glBegin(GL_TRIANGLES)
glNormal3f(0.0, 0.0, 1.0)
glVertex3f(-2.0, -2.0, 0.09)
glVertex3f(-1.1, -2.0, 0.09)
glVertex3f(-2.0, -1.1, 0.09)
glEnd()
glPopMatrix()
# bottom alignment corner
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glBegin(GL_TRIANGLES)
glNormal3f(0.0, 0.0, -1.0)
glVertex3f(-2.0, -2.0, -0.09)
glVertex3f(-2.0, -1.1, -0.09)
glVertex3f(-1.1, -2.0, -0.09)
glEnd()
glPopMatrix()
glDisable(GL_LIGHTING)
# axis
glPushMatrix()
glTranslatef(-2.3, -2.3, -0.38)
glLineWidth(3.0)
glBegin(GL_LINES)
glColor3f(1,0,0) # x axis is red
glVertex3f(0,0,0)
glVertex3f(3,0,0)
glColor3f(0,0.5,0) # y axis is green
glVertex3f(0,0,0)
glVertex3f(0,3,0)
glColor3f(0,0,1) # z axis is blue
glVertex3f(0,0,0)
glVertex3f(0,0,3)
glEnd()
glLineWidth(1.0)
glPopMatrix()
glEndList()
def position_mars_3d(temp=None):
'''
This is a simple 3D window that shows a spacecraft in MSO coordinates.
This tool will look for links to the tplot variable that are named either "x/y/z" or "mso_(x/y/z)"
'''
# Import 3D functionality from opengl
try:
import pyqtgraph.opengl as gl
from pyqtgraph.Qt import QtGui
from OpenGL.GL import glLightModelfv, glLightfv, GL_LIGHT0, GL_POSITION, \
GL_LIGHT_MODEL_AMBIENT, GL_LIGHTING, glEnable, GL_COLOR_MATERIAL, \
GL_AMBIENT, GL_SPECULAR, GL_DIFFUSE, glMaterial, GL_FRONT_AND_BACK, \
GL_AMBIENT_AND_DIFFUSE, GL_FRONT, glColorMaterial, GL_PROJECTION, \
glMatrixMode, glLoadIdentity, glTexParameterf
except:
raise (
"In order to use the 3D position viewing tool you must pip install PyOpenGL"
)
# Tell Pytplot about new window
window = pytplot.tplot_utilities.get_available_qt_window(name='3D_MARS')
window.resize(1000, 600)
window.setWindowTitle('3D Mars Window')
# Defining a new class that keeps track of spacecraft position and moves the
class PlanetView(gl.GLViewWidget):
spacecraft_x = 0
spacecraft_y = 0
spacecraft_z = 0
tvar_name = 'temp' # Store the name of the tplot variable stored, so we know if we need to redraw the orbit
def paintGL(self, region=None, viewport=None, useItemNames=False):
glLightfv(GL_LIGHT0, GL_POSITION, [-100000, 0, 0, 0])
super().paintGL(region=region,
viewport=viewport,
useItemNames=useItemNames)
plot1 = PlanetView()
# Set up the "sun"
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, [.3, .3, .3, 1.0])
light_position = [-100000, 0, 0, 0]
glLightfv(GL_LIGHT0, GL_POSITION, light_position)
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
glEnable(GL_COLOR_MATERIAL)
glLightfv(GL_LIGHT0, GL_AMBIENT, [1, 1, 1, 0])
glLightfv(GL_LIGHT0, GL_DIFFUSE, [1, 1, 1, 1])
glLightfv(GL_LIGHT0, GL_SPECULAR, [1, 0, 0, 0])
# Create Mars and spacecraft icons (assuming spherical spacecraft)
md = gl.MeshData.sphere(rows=100, cols=220)
mars = gl.GLMeshItem(meshdata=md,
smooth=True,
color=(.5, 0, 0, 1),
glOptions='opaque')
mars.translate(0, 0, 0)
mars.scale(3390, 3390, 3390)
spacecraft = gl.GLMeshItem(meshdata=md, smooth=True, color=(1, 1, 1, 1))
spacecraft.translate(plot1.spacecraft_x, plot1.spacecraft_y,
plot1.spacecraft_z)
spacecraft.scale(200, 200, 200)
orbit_path = gl.GLLinePlotItem()
plot1.addItem(mars)
plot1.addItem(spacecraft)
plot1.addItem(orbit_path)
glMaterial(GL_FRONT_AND_BACK, GL_SPECULAR, [.5, .5, .5, 1])
glEnable(GL_COLOR_MATERIAL)
glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE)
# Put the planetview plot into the pytplot window
window.setCentralWidget(plot1)
# Move around the camera
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
plot1.setModelview()
plot1.setCameraPosition(distance=30000, azimuth=0, elevation=0)
# Turn on the window!
window.show()
# Define the function that is called on new hover_time updates
def update(t, name):
# Move spacecraft back to 0,0,0
previous_x = plot1.spacecraft_x
previous_y = plot1.spacecraft_y
previous_z = plot1.spacecraft_z
previous_tvar = plot1.tvar_name
spacecraft.translate(-1 * previous_x, -1 * previous_y, -1 * previous_z)
# Get the xarray for x/y/z positions of the spacecraft
if 'x' in pytplot.data_quants[name].attrs['plot_options']['links']:
x_tvar = pytplot.data_quants[
pytplot.data_quants[name].attrs['plot_options']['links']['x']]
y_tvar = pytplot.data_quants[
pytplot.data_quants[name].attrs['plot_options']['links']['y']]
z_tvar = pytplot.data_quants[
pytplot.data_quants[name].attrs['plot_options']['links']['z']]
elif 'mso_x' in pytplot.data_quants[name].attrs['plot_options'][
'links']:
x_tvar = pytplot.data_quants[pytplot.data_quants[name].attrs[
'plot_options']['links']['mso_x']]
y_tvar = pytplot.data_quants[pytplot.data_quants[name].attrs[
'plot_options']['links']['mso_y']]
z_tvar = pytplot.data_quants[pytplot.data_quants[name].attrs[
'plot_options']['links']['mso_z']]
else:
return
if name != previous_tvar:
import numpy as np
pathasdf = np.array((x_tvar.data, y_tvar.data, z_tvar.data),
dtype=float).T
orbit_path.setData(pos=pathasdf)
# Get the nearest x/y/z of the hover time
new_x = x_tvar.sel(time=t, method='nearest').values
new_y = y_tvar.sel(time=t, method='nearest').values
new_z = z_tvar.sel(time=t, method='nearest').values
# Move the spacecraft
spacecraft.translate(new_x, new_y, new_z)
plot1.spacecraft_x, plot1.spacecraft_y, plot1.spacecraft_z = new_x, new_y, new_z
plot1.tvar_name = name
plot1.paintGL()
# Register the above update function to the called functions
pytplot.hover_time.register_listener(update)
return