def generateTerrain(self, loader, heightMap):
image = Image.open(heightMap)
rgb_image = image.convert('RGB')
VERTEX_COUNT = image.height
image.close()
self.heights = np.empty(shape=[VERTEX_COUNT, VERTEX_COUNT])
vertices = []
normals = []
textureCoords = []
for i in range(VERTEX_COUNT):
for j in range(VERTEX_COUNT):
height = self.__getHeight(j, i, rgb_image)
self.heights[j][i] = height
vertices.append(
Vector3([
j / (VERTEX_COUNT - 1) * self.__SIZE, height,
i / (VERTEX_COUNT - 1) * self.__SIZE
]))
normal = self.__calculateNormal(j, i, rgb_image)
normals.append(normal)
textureCoords.append(
Vector3(
[j / (VERTEX_COUNT - 1), i / (VERTEX_COUNT - 1), 0.0]))
indices = []
for gz in range(VERTEX_COUNT - 1):
for gx in range(VERTEX_COUNT - 1):
topLeft = (gz * VERTEX_COUNT) + gx
topRight = topLeft + 1
bottomLeft = ((gz + 1) * VERTEX_COUNT) + gx
bottomRight = bottomLeft + 1
indices.append(topLeft)
indices.append(bottomLeft)
indices.append(topRight)
indices.append(topRight)
indices.append(bottomLeft)
indices.append(bottomRight)
finalVertexList = []
finalNormalList = []
finalTextCoordsList = []
for num in range(len(indices)):
vertexNumber = indices[num]
finalVertexList.append(Vector3(vertices[vertexNumber]))
finalNormalList.append(Vector3(normals[vertexNumber]))
finalTextCoordsList.append(Vector3(textureCoords[vertexNumber]))
finalVertexList = np.array(finalVertexList)
finalNormalList = np.array(finalNormalList)
finalTextCoordsList = np.array(finalTextCoordsList)
return loader.loadToVAO(finalVertexList, finalTextCoordsList,
finalNormalList)
def __init__(self):
self.camera_pos = Vector3([0.0, 4.0, 3.0])
self.camera_front = Vector3([0.0, 0.0, -1.0])
self.camera_up = Vector3([0.0, 1.0, 0.0])
self.camera_right = Vector3([1.0, 0.0, 0.0])
self.mouse_sensitivity = 0.25
self.jaw = -90
self.pitch = 0
self.projectionMatrix = matrix44.create_perspective_projection_matrix(65, Config.WINDOW_WIDTH / Config.WINDOW_HEIGHT, 0.1, 100.0)
def create_nodes_with_importance(layer_nodes: List[int],
center_position: Vector3,
x_range: Tuple[float, float],
y_range: Tuple[float, float],
z_range: Tuple[float, float],
node_importance_data: List[np.array],
node_size: float = None) -> List[List[Node]]:
nodes: List[List[Node]] = []
num_classes: int = layer_nodes[len(layer_nodes) - 1]
padding: int = get_buffer_padding(num_classes, ADDITIONAL_NODE_BUFFER_DATA)
for layer, node_count in enumerate(layer_nodes):
input_edges: int = 0
output_edges: int = 0
if 0 < layer:
input_edges = layer_nodes[layer - 1]
if layer < len(layer_nodes) - 1:
output_edges = layer_nodes[layer + 1]
nodes_sqrt = math.ceil(math.sqrt(node_count))
current_layer_nodes: List[Node] = []
if node_count <= 1:
position: Vector3 = Vector3([
center_position.x, center_position.y,
z_range[0] * (1 - layer / (len(layer_nodes) - 1)) +
z_range[1] * layer / (len(layer_nodes) - 1)
])
current_layer_nodes.append(
Node(len(current_layer_nodes), input_edges,
output_edges).importance_init(
num_classes, padding, position,
node_importance_data[layer][0]))
else:
node_size_x: float = node_size
node_size_y: float = node_size
if node_size is None:
node_size_x = abs(x_range[1] - x_range[0]) / nodes_sqrt
node_size_y = abs(y_range[1] - y_range[0]) / nodes_sqrt
for i in range(node_count):
pos_x: float = (i % nodes_sqrt) - (nodes_sqrt - 1.0) / 2.0
pos_y: float = (math.floor(
i / nodes_sqrt)) - (nodes_sqrt - 1.0) / 2.0
position: Vector3 = Vector3([
pos_x * node_size_x + center_position.x,
pos_y * node_size_y + center_position.y,
z_range[0] * (1 - layer / (len(layer_nodes) - 1)) +
z_range[1] * layer / (len(layer_nodes) - 1)
])
current_layer_nodes.append(
Node(len(current_layer_nodes), input_edges,
output_edges).importance_init(
num_classes, padding, position,
node_importance_data[layer][i]))
nodes.append(current_layer_nodes)
return nodes
def set_position(self, camera_position_index: CameraPose):
self.move_vector = Vector3([0, 0, 0])
self.camera_up = Vector3([0.0, 1.0, 0.0])
self.camera_pos = CAMERA_POSE_POSITION[camera_position_index]
self.camera_pos = self.base + self.camera_pos
self.camera_front = Vector3(
vector.normalise(self.base - self.camera_pos))
self.set_yaw_pitch_from_front(not camera_position_index == 0)
self.camera_right = Vector3(
vector.normalise(np.cross(self.camera_up, self.camera_front)))
self.yaw_offset = 0.0
def refract(v: vec3, n: vec3, ni_over_nt: float, refracted: vec3) -> bool:
uv = v.normalized
dt = uv.dot(n)
discriminant = 1.0 - ni_over_nt**2 * (1.0 - dt**2)
if discriminant > 0:
new_refracted = ni_over_nt * (uv - n * dt) - n * sqrt(discriminant)
refracted.x = new_refracted.x
refracted.y = new_refracted.y
refracted.z = new_refracted.z
return True
return False
def __init__(self, radius: float, **kwargs):
self._radius: float = radius
self._pos: Vector3 = Vector3([0.0, 0.0, 0.0])
self._center: Vector3 = Vector3(kwargs.get("center", [0.0, 0.0, 0.0]))
self._axes_lengths: Vector3 = Vector3(
kwargs.get("axes_lengths", [0.0, 0.0, 0.0]))
self._velocities: Vector3 = Vector3(
kwargs.get("velocities", [0.0, 0.0, 0.0]))
self._phase: Vector3 = Vector3(kwargs.get("phase", [0.0, 0.0, 0.0]))
self._color: (float, float,
float) = tuple(kwargs.get("color", (1.0, 1.0, 1.0)))
def pTov(self, x, y, radius):
x = (2.0 * x) / self.windowWidth - 1.0
y = 1.0 - (2.0 * y) / self.windowHeight
d = math.sqrt(x * x + y * y)
z = 0
if d < radius:
z = math.sqrt(radius * radius - d * d)
return Vector3([x, y, z])
else:
z = 0
return Vector3([x / d * radius, y / d * radius, z])
def __init__(self):
self.camera_pos = Vector3([0.0, 0, 3.0])
self.camera_front = Vector3([0.0, 0.0, -1.0])
self.camera_up = Vector3([0.0, 1.0, 0.0])
self.camera_right = Vector3([1.0, 0.0, 0.0])
self.mouse_sensitivity = 0.25
self.jaw = -90
self.pitch = 0
self.pitch_constraint = 60
self.move_disabled = False
def update_camera_vectors(self):
front = Vector3([0.0, 0.0, 0.0])
front.x = cos(radians(self.yaw)) * cos(radians(self.pitch))
front.y = sin(radians(self.pitch))
front.z = sin(radians(self.yaw)) * cos(radians(self.pitch))
self.camera_front = vector.normalise(front)
self.camera_right = vector.normalise(
vector3.cross(self.camera_front, Vector3([0.0, 1.0, 0.0])))
self.camera_up = vector.normalise(
vector3.cross(self.camera_right, self.camera_front))
def __init__(self):
self.camera_pos = Vector3([0.0, 0.0, 3.0])
self.camera_front = Vector3([0.0, 0.0, -1.0])
self.camera_up = Vector3([0.0, 1.0, 0.0])
self.camera_right = Vector3([1.0, 0.0, 0.0])
self.mouse_sensitivity = 0.25
self.yaw = -90.0
self.pitch = 0.0
self.last_camera_y = 0
def __compute_view_matrix(self, drone_pose):
# Camera view matrix
return Matrix44.look_at(
# eye: position of the camera in world coordinates
drone_pose.translation,
# target: position in world coordinates that the camera is looking at
drone_pose.translation +
(drone_pose.orientation * Vector3([1.0, 0.0, 0.0])),
# up: up vector of the camera.
drone_pose.orientation * Vector3([0.0, 0.0, 1.0]),
)
def calculateMouseRay(self, projectionMatrix, viewMAtrix, screenX, screenY,
mouse_x, mouse_y):
x = (2.0 * mouse_x) / screenX - 1.0
y = 1.0 - (2.0 * mouse_y) / screenY
z = -1.0
D_view = Vector4.from_vector3(Vector3([x, y, z]), w=1.0)
ray_eye = projectionMatrix.inverse * D_view
ray_eye = Vector4([ray_eye.x, ray_eye.y, -1.0, 0.0])
ray_wor = ((viewMAtrix.inverse) * ray_eye).xyz
return Vector3(ray_wor)
def __init__(self, width, height, view):
self.camera_position = Vector3([0., 0., 3.])
self.camera_front = Vector3([0., 0., -1.])
self.view_loc = view
self.sensitivity = .4
self.last_frame = 0
self.last_x = width / 2
self.last_y = height / 2
self.pitch = 0
self.yaw = 0
self.last_cam_y = 0
def Axis_from_jaw_pitch(jaw, pitch):
front = Vector3([0.0, 0.0, 0.0])
# jaw, pitch are spherical coordinates that define a unit vector
front.x = cos(radians(jaw)) * cos(radians(pitch))
front.z = sin(radians(pitch))
front.y = sin(radians(jaw)) * cos(radians(pitch))
right = vector3.cross(front, Vector3([0.0, 0.0, 1.0]))
up = vector3.cross(right, front)
return (front, right, up)
def __init__(self, x, y, radius): #
self.windowWidth = x
self.windowHeight = y
self.radius = radius
self.startX = 0
self.startY = 0
self.trackballMove = False
self.curPos = Vector3([0, 0, 0])
self.lastPos = Vector3([0, 0, 0])
self.angle = 0
self.axis = Vector3([1, 0, 1])
self.doingAnything = True
def barryCentric(p1, p2, p3, pos):
# pos is a Vector2
p1 = Vector3(p1)
p2 = Vector3(p2)
p3 = Vector3(p3)
det = (p2.z - p3.z) * (p1.x - p3.x) + (p3.x - p2.x) * (p1.z - p3.z)
l1 = ((p2.z - p3.z) * (pos[0] - p3.x) + (p3.x - p2.x) *
(pos[1] - p3.z)) / det
l2 = ((p3.z - p1.z) * (pos[0] - p3.x) + (p1.x - p3.x) *
(pos[1] - p3.z)) / det
l3 = 1.0 - l1 - l2
return l1 * p1.y + l2 * p2.y + l3 * p3.y
def rotate(data, xs=1, ys=1, zs=1):
out = []
if xs != 1 or ys != 1 or zs != 1:
scale = Vector3([xs, ys, zs])
else:
scale = None
for i in xrange(0, len(data), 3):
vec = rotation * Vector3(data[i:i + 3])
if scale is not None:
vec *= scale
out += list(vec)
return out
def __init__(self, ratio):
self._field_of_view_degrees = 60.0
self._z_near = 0.1
self._z_far = 1000
self._ratio = ratio
self.build_projection()
self._camera_position = Vector3([-20.0, 100.0, -20.0])
self._camera_front = Vector3([50.0, -50.0, 50.0])
self._camera_up = Vector3([0.0, 1.0, 0.0])
self._cameras_target = (self._camera_position + self._camera_front)
self.build_look_at()
def __init__(self):
self.camera_pos = Vector3([0.0, 0.0, 0.0])
self.camera_front = Vector3([0.0, 0.0, -1.0])
self.camera_up = Vector3([0.0, 1.0, 0.0])
self.camera_right = Vector3([1.0, 0.0, 0.0])
self.mouse_sensitivity = 0.5
self.velocity = 0.05
self.yaw = 0.0
self.pitch = 0.0
self.lastX = 64
self.lastY = 64
def OnDragValue(self, event):
pos = Vector3([
self.position_x.value, self.position_y.value, self.position_z.value
])
up = Vector3([self.up_x.value, self.up_y.value, self.up_z.value])
direction = Vector3([
self.direction_x.value, self.direction_y.value,
self.direction_z.value
])
self.flythrough.camera.look_at(pos, pos + direction, up)
self.gl_canvas.camera_interactor.reset_position(False)
self.gl_canvas.Refresh()
self.UpdateTimeline()
def get_position(self) -> Vector3:
""" Get camera position in world coordinate system. """
mat = self.matrix
relative_pos = Vector3([mat[3, 0], mat[3, 1], mat[3, 2]])
relative_pos *= -1
actual_pos = Vector3()
for i in range(3):
actual_pos[i] = mat[i, 0] * relative_pos.x + mat[
i, 1] * relative_pos.y + mat[i, 2] * relative_pos.z
return actual_pos
def parse_input(input_file: TextIO) -> list[Scanner]:
scanners = []
for line in input_file:
line = line.strip()
if line.startswith("---"):
res = parse("--- scanner {idx:d} ---", line)
scanner = Scanner(res.named["idx"], [], Vector3(),
Matrix33.identity())
scanners.append(scanner)
elif line:
scanner.beacons.append(
Vector3([int(p) for p in line.split(",")], dtype=np.int_))
return scanners
def __init__(self, ctx, vao):
"""
Construct the Fresnel helper class.
:param ctx: The OpenGL context to render in.
:param vao: The model to render.
"""
self.ctx = ctx
self.vao = vao
self.light_pos = Vector3([0.0, 0.0, 2.0], dtype='f4')
self.light_color = Vector3([1.0, 1.0, 1.0], dtype='f4')
self.object_color = Vector3([1.0, 0.5, 0.31], dtype='f4')
def test_intersects_bbox():
bbox = BoundingBox(0, 0, 0, 100, 100, 20)
origin = Vector3(numpy.array([105, 105, 25], dtype=numpy.float32))
world_origin = Vector3(numpy.array([0, 0, 0], dtype=numpy.float32))
up = Vector3([0, 0, 1], numpy.float32)
c = Camera()
c.look_at(origin, world_origin, up)
direction = c.get_direction()
ray = Ray(origin, direction)
assert ray.intersects_bbox(bbox)
ray.origin = -origin # Move ray past bbox
assert not ray.intersects_bbox(bbox)
ray.direction = -direction # Now look at it from opposite side
assert ray.intersects_bbox(bbox)
def spawn_initial_planets(self):
# create sun
self.sun = Circle(
position=Vector3([PsauxConfig.width / 2.0, PsauxConfig.height / 2.0, 0.0]),
mass=1e6,
velocity=Vector3([0.0, 0.0, 0.0]),
color=RED,
batch=self.drawing_batch,
)
self.entities.append(self.sun)
# create starting planets
self.spawn_planet(
position=Vector3([200.0, 700.0, 0.0]),
velocity=Vector3([3e-4, 4e-5, 0.0]),
mass=1e4,
color=GREEN,
)
self.spawn_planet(Vector3([213.3, 700.0, 0.0]), Vector3([-3e-4, 4e-5, 0.0]))
self.spawn_planet(
position=Vector3([400.0, 480.0, 0.0]),
velocity=Vector3([5e-4, 2e-4, 0.0]),
mass=1e4,
color=GREEN,
)
def create_transformation(self, rotation=None, translation=None):
"""Convenient transformation method doing rotations and translation"""
mat = None
if rotation is not None:
mat = Matrix44.from_eulers(Vector3(rotation))
if translation is not None:
trans = matrix44.create_from_translation(Vector3(translation))
if mat is None:
mat = trans
else:
mat = matrix44.multiply(mat, trans)
return mat
def __compute_bbox_coords(self, mesh, view):
upright = Quaternion.from_y_rotation(np.pi / 2)
rotation = Quaternion(mesh['rotation'])
center = mesh['translation']
world_corners = {
'top_left':
Vector3([center[0], center[1], center[2]]) +
(rotation * upright *
Vector3([0, mesh['width'] / 2, mesh['height'] / 2])),
'top_right':
Vector3([center[0], center[1], center[2]]) +
(rotation * upright *
Vector3([0, -mesh['width'] / 2, mesh['height'] / 2])),
'bottom_right':
Vector3([center[0], center[1], center[2]]) +
(rotation * upright *
Vector3([0, -mesh['width'] / 2, -mesh['height'] / 2])),
'bottom_left':
Vector3([center[0], center[1], center[2]]) +
(rotation * upright *
Vector3([0, mesh['width'] / 2, -mesh['height'] / 2]))
}
hidden_corners = 0
left = right = top = bottom = None
for key, value in world_corners.items():
img_coords = self.__project_to_img_frame(value, view)
if (img_coords[0] < 10 or img_coords[0] > (self.width - 10)
or img_coords[1] < 10 or img_coords[1] >
(self.height - 10)):
hidden_corners += 1
if left is None or (img_coords[0] < left['x']):
left = {'x': img_coords[0], 'y': img_coords[1]}
if top is None or (img_coords[1] < top['y']):
top = {'x': img_coords[0], 'y': img_coords[1]}
if bottom is None or (img_coords[1] > bottom['y']):
bottom = {'x': img_coords[0], 'y': img_coords[1]}
if right is None or (img_coords[0] > right['x']):
right = {'x': img_coords[0], 'y': img_coords[1]}
image_corners = {
'min': [int(left['x']), int(top['y'])],
'max': [int(right['x']), int(bottom['y'])]
}
if hidden_corners > 3:
return {}
elif hidden_corners > 0:
for key, img_coords in image_corners.items():
for i in range(0, 2):
if img_coords[i] < 0:
img_coords[i] = 0
elif img_coords[i] > (self.width
if i == 0 else self.height):
img_coords[i] = self.width if i == 0 else self.height
image_corners[key] = img_coords
return image_corners
def on_mouse_release(self, x: float, y: float, button: int,
modifiers: int):
if self.drag and modifiers ^ pyglet.window.key.MOD_SHIFT:
start_x, start_y = self.click_coord
movement_vector = Vector3([x - start_x, y - start_y, 0])
delta_x, delta_y, _ = movement_vector * self.world.settings.drag_sensitivity
self.world.spawn_planet(
position=Vector3([start_x, start_y, 0.0]),
velocity=Vector3([delta_x, delta_y, 0.0]),
)
self.click_coord = None
self.drag = False
self.mouse_line.visible = False
def render(self, time: float, frametime: float):
self.ctx.enable_only(moderngl.CULL_FACE | moderngl.DEPTH_TEST)
m_rot = Matrix44.from_eulers(Vector3((time, time, time)))
m_trans = matrix44.create_from_translation(Vector3((0.0, 0.0, -3.0)))
m_mv = matrix44.multiply(m_rot, m_trans)
self.prog['m_proj'].write(self.camera.projection.tobytes())
self.prog['m_model'].write(m_mv.astype('f4').tobytes())
self.prog['m_camera'].write(self.camera.matrix.astype('f4').tobytes())
self.prog['layer'].value = math.fmod(time, 10)
self.prog['texture0'].value = 0
self.texture.use(location=0)
self.cube.render(self.prog)
def create_perspective_projection():
view = matrix44.create_from_translation(Vector3([0.0, 0.0, -2.0]))
projection = matrix44.create_perspective_projection_matrix(45.0, 1280.0 / 720.0, 0.1, 100.0)
vp = matrix44.multiply(view, projection).flatten().astype("float32")
c_vp = numpy.ctypeslib.as_ctypes(vp)
vp_loc = glGetUniformLocation(InitShader.shader, b"vp")
glUniformMatrix4fv(vp_loc, 1, GL_FALSE, c_vp)
def test_conversions(self):
from pyrr import Quaternion, Matrix33, Matrix44, Vector3, Vector4
v3 = Vector3([1.,0.,0.])
v4 = Vector4.from_vector3(v3, w=1.0)
v3, w = Vector3.from_vector4(v4)
m44 = Matrix44()
q = Quaternion(m44)
m33 = Matrix33(q)
m33 = Matrix44().matrix33
m44 = Matrix33().matrix44
q = Matrix44().quaternion
q = Matrix33().quaternion
m33 = Quaternion().matrix33
m44 = Quaternion().matrix44