def __make_arrow(self, color):
arrow_top = self.obj_reader.get_mesh("Cone")
arrow_bottom = self.obj_reader.get_mesh("Cylinder")
arrow_bottom.scale.xyz = 0.6, 0.5, 0.6
arrow_top.scale.xyz = 1.0, 0.5, 1.0
arrow_bottom.position.xyz = 0, 0.5, 0
arrow_bottom.uniforms['diffuse'] = color
arrow_top.position.xyz = 0, 0.75, 0
arrow_top.uniforms['diffuse'] = color
arrow = rc.EmptyEntity()
arrow.add_children(arrow_top, arrow_bottom)
return arrow
def __make_axis(self):
axis = rc.EmptyEntity(name='arrow')
x_axis_arrow = self.__make_arrow(color=(1, 0, 0))
y_axis_arrow = self.__make_arrow(color=(0, 1, 0))
z_axis_arrow = self.__make_arrow(color=(0, 0, 1))
x_axis_arrow.scale.xyz = 0.2, 2.0, 0.2
y_axis_arrow.scale.xyz = 0.2, 2.0, 0.2
z_axis_arrow.scale.xyz = 0.2, 2.0, 0.2
x_axis_arrow.rotation.xyz = 0., 0., 0.
y_axis_arrow.rotation.xyz = 0., 0., -90.
z_axis_arrow.rotation.xyz = -90., 0., 0.
axis.add_children(x_axis_arrow, y_axis_arrow, z_axis_arrow)
return axis
def __make_quadrotor(self):
toruses = [
self.obj_reader.get_mesh("Torus", position=(0, 0.5, 0), scale=.3),
self.obj_reader.get_mesh("Torus", position=(0, -0.5, 0), scale=.3),
self.obj_reader.get_mesh("Torus", position=(0.5, 0, 0), scale=.3),
self.obj_reader.get_mesh("Torus", position=(-0.5, 0, 0), scale=.3)
]
quad = rc.EmptyEntity(name='quadrotor')
for torus in toruses:
torus.uniforms['diffuse'] = (0.0, 0.0, 0.0)
quad.add_children(torus)
quad.scale = .5
return quad
def __make_arrow(self, color):
arrow_top = self.obj_reader.get_mesh("Cone")
arrow_bottom = self.obj_reader.get_mesh("Cylinder")
arrow_bottom.scale.xyz = 0.3, 0.25, 0.3
arrow_top.scale.xyz = 0.5, 0.25, 0.5
arrow_bottom.position.xyz = 0, 0.25, 0
arrow_bottom.uniforms['diffuse'] = color
arrow_bottom.uniforms['flat_shading'] = False
arrow_top.position.xyz = 0, 0.375, 0
arrow_top.uniforms['diffuse'] = color
arrow_top.uniforms['flat_shading'] = False
arrow = rc.EmptyEntity()
arrow.add_children(arrow_top, arrow_bottom)
return arrow
def __init_window(self, width, height, name):
self.window = pyglet.window.Window(width=width,
height=height,
caption=name)
self.world = rc.EmptyEntity(name='world')
self.world.position.xyz = 0, 0, -2
self.world.scale = 0.5
self.grid = self.__make_grid()
self.scene = rc.Scene(meshes=self.world)
self.scene.camera.position.xyz = 0, 0, 2
self.world.rotation.xyz = 45, 45, 0
self.__reset_drawing()
#This is called on the draw event
@self.window.event
def on_draw():
with rc.default_shader:
self.scene.draw()
[lbl.draw() for lbl in self.labels]
self.__reset_drawing()
#This is called during a mouse drag event
@self.window.event
def on_mouse_drag(x, y, dx, dy, buttons, modifiers):
rot_speed = 1.0
self.world.rotation.y += dx * rot_speed
self.world.rotation.x -= dy * rot_speed
#Register keyboard handler
keys = key.KeyStateHandler()
self.window.push_handlers(keys)
def on_key_press(dt):
camera_speed = 3
if keys[key.W]:
self.scene.camera.position.z -= camera_speed * dt
if keys[key.S]:
self.scene.camera.position.z += camera_speed * dt
if keys[key.R]:
self.scene.camera.position.xyz = 0, 0, 0
self.world.rotation.xyz = 0, 0, 0
#Processes key presses on a clock schedule
pyglet.clock.schedule(on_key_press)
def view_arenafit(motive_filename, projector_filename, arena_filename, screen):
# """Displays mesh in .obj file. Useful for checking that files are rendering properly."""
reader = rc.WavefrontReader(arena_filename)
arena = reader.get_mesh('Arena', mean_center=True)
arena.rotation = arena.rotation.to_quaternion()
print('Arena Loaded. Position: {}, Rotation: {}'.format(arena.position, arena.rotation))
camera = rc.Camera.from_pickle(projector_filename)
camera.projection.fov_y = 39
light = rc.Light(position=(camera.position.xyz))
root = rc.EmptyEntity()
root.add_child(arena)
sphere = rc.WavefrontReader(rc.resources.obj_primitives).get_mesh('Sphere', scale=.05)
root.add_child(sphere)
scene = rc.Scene(meshes=root,
camera=camera,
light=light,
bgColor=(.2, .4, .2))
scene.gl_states = scene.gl_states[:-1]
display = pyglet.window.get_platform().get_default_display()
screen = display.get_screens()[screen]
window = pyglet.window.Window(fullscreen=True, screen=screen)
label = pyglet.text.Label()
fps_display = FPSDisplay(window)
shader = rc.Shader.from_file(*rc.resources.genShader)
@window.event
def on_draw():
with shader:
scene.draw()
# label.draw()
# window.clear()
fps_display.draw()
@window.event
def on_resize(width, height):
camera.projection.aspect = float(width) / height
@window.event
def on_key_release(sym, mod):
if sym == key.UP:
scene.camera.projection.fov_y += .5
elif sym == key.DOWN:
scene.camera.projection.fov_y -= .5
import motive
motive.initialize()
motive.load_project(motive_filename.encode())
motive.update()
rb = motive.get_rigid_bodies()['Arena']
# for el in range(3):
# rb.reset_orientation()
def update_arena_position(dt):
motive.update()
arena.position.xyz = rb.location
arena.rotation.xyzw = rb.rotation_quats
arena.update()
sphere.position.xyz = rb.location
label.text = "aspect={}, fov_y={}, ({:2f}, {:2f}, {:2f}), ({:2f}, {:2f}, {:2f})".format(scene.camera.projection.aspect,
scene.camera.projection.fov_y, *(arena.position.xyz + rb.location))
pyglet.clock.schedule(update_arena_position)
pyglet.app.run()
# Insert filename into WavefrontReader.
obj_filename = rc.resources.obj_primitives
obj_reader = rc.WavefrontReader(obj_filename)
# Create Meshes
sun = obj_reader.get_mesh("Sphere", name='sun')
merkury = obj_reader.get_mesh("Sphere", scale=.1, name='merkury')
venus = obj_reader.get_mesh("Sphere", scale=.2, name='venus')
earth = obj_reader.get_mesh("Sphere", scale=.2, name='earth')
mars = obj_reader.get_mesh("Sphere", scale=.2, name='mars')
jupyter = obj_reader.get_mesh("Sphere", scale=.4, name='jupyter')
moon = obj_reader.get_mesh("Sphere", scale=.5, name='moon')
# Create Empty Entities
empty_merkury = rc.EmptyEntity(name='sun_merkury')
empty_venus = rc.EmptyEntity(name='sun_venus')
empty_earth = rc.EmptyEntity(name='sun_earth')
empty_mars = rc.EmptyEntity(name='sun_mars')
empty_jupyter = rc.EmptyEntity(name='sun_jupyter')
# Define Relationships
sun.add_children(empty_merkury, empty_earth, empty_venus, empty_mars,
empty_jupyter)
empty_merkury.add_child(merkury)
empty_venus.add_child(venus)
empty_earth.add_child(earth)
empty_mars.add_child(mars)
empty_jupyter.add_child(jupyter)
def __make_vector(self):
vector = self.__make_arrow((0, 0, 0))
vector.scale.xyz = 0.2, 2.0, 0.2
vec = rc.EmptyEntity(name='vector')
vec.add_children(vector)
return vec
monkey2.uniforms['flat_shading'] = False
monkey2.uniforms['spec_weight'] = 0
monkey3 = obj_reader.get_mesh("Monkey", position=(0, 0, -3), name='specular')
monkey3.uniforms['flat_shading'] = False
monkey3.uniforms['spec_weight'] = 30
monkey4 = obj_reader.get_mesh("Monkey", position=(0, 0, -3), name='specular')
monkey4.uniforms['flat_shading'] = False
monkey4.uniforms['spec_weight'] = 30
monkey5 = obj_reader.get_mesh("Monkey", position=(0, 0, -3), name='specular')
monkey5.uniforms['flat_shading'] = False
monkey5.uniforms['spec_weight'] = 30
meshes = cycle([monkey, monkey2, monkey3, monkey4, monkey5, rc.EmptyEntity()])
mesh = [next(meshes)]
img = rc.Texture.from_image(rc.resources.img_colorgrid)
def change_mesh(dt):
mesh[0] = next(meshes)
pyglet.clock.schedule_interval(change_mesh, 4)
@window.event
def on_draw():
rc.clear_color(*plane.uniforms['diffuse'])