def compile_total_list(self):
if self.total_list is not None:
glNewList(self.total_list, GL_COMPILE)
# reset a few things
glDisable(GL_DEPTH_TEST)
glDisable(GL_LIGHTING)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# change the modelview to camera coordinates
viewport = glGetIntegerv(GL_VIEWPORT)
width = viewport[2] - viewport[0]
height = viewport[3] - viewport[1]
if width > height:
w = float(width) / float(height)
h = 1.0
else:
w = 1.0
h = float(height) / float(width)
glScalef(2/w, 2/h, 1.0)
glCallList(self.draw_list)
glEnable(GL_DEPTH_TEST)
glEnable(GL_LIGHTING)
glEndList()
def prepare_for_rendering(self, projector: Projector, camera: Camera,
lights: List[Light]):
"""Selects the window, clears buffers, and sets up the scene transform and lighting state.
:param projector: The projector configuration to use for this rendering pass.
:param camera: The camera object to use for this rendering pass.
:param lights: The light list to use for this rendering pass.
"""
glutSetWindow(self._gl_window)
# Clear the screen and the depth buffer
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
# Apply our projection so the window is ready to render in perspective
projector.apply(self)
# Add scene lights
light_count = len(lights)
for i in range(light_count):
lights[i].apply(i)
# Set scale from mm to cm
glScalef(0.1, 0.1, 0.1)
# Orient the camera
camera.apply()
def draw(self):
# background
set_color(*self.style['bg-color'])
drawCSSRectangle(size=self.size, style=self.style)
# content dynamic update
with gx_matrix:
glTranslatef(self.style['margin'][3], self.style['margin'][2], 0)
# draw precalculated background
self._current_cache['background'].draw()
# draw active keys layer
# +2 and -4 result of hard margin coded in _do_update (m = 3 * s)
# we substract 1 cause of border (draw-border is activated.)
set_color(*self.style['color-down'])
for key, size in self._active_keys:
x, y, w, h = size
drawCSSRectangle(pos=(x+2, y+2), size=(w-4, h-4),
style=self.style, prefix='key', state='down')
# search the good scale for current precalculated keys layer
if self._last_update_scale == self.scale:
s = 1. / self.scale# / self._last_update_scale
glScalef(s, s, s)
else:
s = 1. / self._last_update_scale
glScalef(s, s, s)
self._current_cache['keys'].draw()
def draw(self):
t1 = time.time()
glClearColor(0.0, 0.0, 0.0, 0.0)
glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
glLoadIdentity ()
horizonY = 1 * 2.2 - .6 + .5
GLU.gluLookAt(self.eyeX.x, horizonY, 8.0,
self.lookX.x, horizonY, 0.0,
0.0, 1.0, 0.0)
glEnable(GL.GL_TEXTURE_2D)
if 0:
with pushMatrix():
glColor3f(1,0,0)
glTranslatef(*self.ball)
glScalef(.2, .2, 1)
imageCard("sample.jpg")
with pushMatrix():
with mode(disable=[GL.GL_LIGHTING]):
for card in self.cards:
card.draw(self.eyeX.x, horizonY, self.cardList)
glFlush()
pygame.display.flip()
def draw(self):
t1 = time.time()
glClearColor(0.0, 0.0, 0.0, 0.0)
glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
horizonY = 1 * 2.2 - .6 + .5
GLU.gluLookAt(self.eyeX.x, horizonY, 8.0, self.lookX.x, horizonY, 0.0,
0.0, 1.0, 0.0)
glEnable(GL.GL_TEXTURE_2D)
if 0:
with pushMatrix():
glColor3f(1, 0, 0)
glTranslatef(*self.ball)
glScalef(.2, .2, 1)
imageCard("sample.jpg")
with pushMatrix():
with mode(disable=[GL.GL_LIGHTING]):
for card in self.cards:
card.draw(self.eyeX.x, horizonY, self.cardList)
glFlush()
pygame.display.flip()
def draw(self):
# background
set_color(*self.style['bg-color'])
drawCSSRectangle(size=self.size, style=self.style)
# content dynamic update
with gx_matrix:
glTranslatef(self.style['margin'][3], self.style['margin'][2], 0)
# draw precalculated background
self._current_cache['background'].draw()
# draw active keys layer
# +2 and -4 result of hard margin coded in _do_update (m = 3 * s)
# we substract 1 cause of border (draw-border is activated.)
set_color(*self.style['color-down'])
for key, size in self._active_keys:
x, y, w, h = size
drawCSSRectangle(pos=(x+2, y+2), size=(w-4, h-4),
style=self.style, prefix='key', state='down')
# search the good scale for current precalculated keys layer
if self._last_update_scale == self.scale:
s = 1. / self.scale# / self._last_update_scale
glScalef(s, s, s)
else:
s = 1. / self._last_update_scale
glScalef(s, s, s)
self._current_cache['keys'].draw()
def compile_total_list(self):
if self.total_list is not None:
glNewList(self.total_list, GL_COMPILE)
# reset a few things
glDisable(GL_DEPTH_TEST)
glDisable(GL_LIGHTING)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# change the modelview to camera coordinates
viewport = glGetIntegerv(GL_VIEWPORT)
width = viewport[2] - viewport[0]
height = viewport[3] - viewport[1]
if width > height:
w = float(width) / float(height)
h = 1.0
else:
w = 1.0
h = float(height) / float(width)
glScalef(2 / w, 2 / h, 1.0)
glCallList(self.draw_list)
glEnable(GL_DEPTH_TEST)
glEnable(GL_LIGHTING)
glEndList()
def reshape_function(self, w, h):
# prevent dividing by zero if window height is 0
if h == 0:
h = 1
self.window_width = w
self.window_height = h
proportional_rate = float(w) / h
glViewport(0, 0, w, h)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(60.0, proportional_rate, 0.1, 100)
camera_settings_matrix = [0 for i in range(9)]
# calculate camera's point of view
camera_settings_matrix = self.recalculate_camera_settings(
camera_settings_matrix)
# set camera's point of view
gluLookAt(camera_settings_matrix[0], camera_settings_matrix[1],
camera_settings_matrix[2], camera_settings_matrix[3],
camera_settings_matrix[4], camera_settings_matrix[5],
camera_settings_matrix[6], camera_settings_matrix[7],
camera_settings_matrix[8])
glScalef(self.scale_factor, self.scale_factor, self.scale_factor)
glMatrixMode(GL_MODELVIEW)
def traverse(node):
'''
'''
def rotate():
if len(node.rotate) != 4:
for r in node.rotate:
glRotatef(*r)
else:
glRotatef(*node.rotate)
glPushMatrix()
if isinstance(node, Object3D):
glTranslatef(*node.translate)
if node.rotation_points is not None:
glTranslatef(*node.rotation_points[0])
rotate()
glTranslatef(*node.rotation_points[1])
else:
rotate()
glScalef(*node.scale)
node.render()
for b in node.branches:
traverse(b)
glPopMatrix()
def draw(self, x, y, z=0, angle=0, scale=1):
"""Draws the SVG to screen.
:Parameters
`x` : float
The x-coordinate at which to draw.
`y` : float
The y-coordinate at which to draw.
`z` : float
The z-coordinate at which to draw. Defaults to 0. Note that z-ordering may not
give expected results when transparency is used.
`angle` : float
The angle by which the image should be rotated (in degrees). Defaults to 0.
`scale` : float
The amount by which the image should be scaled, either as a float, or a tuple
of two floats (xscale, yscale).
"""
glPushMatrix()
glTranslatef(x, y, z)
if angle:
glRotatef(angle, 0, 0, 1)
if scale != 1:
try:
glScalef(scale[0], scale[1], 1)
except TypeError:
glScalef(scale, scale, 1)
if self._a_x or self._a_y:
glTranslatef(-self._a_x, -self._a_y, 0)
glCallList(self.disp_list)
glPopMatrix()
def draw(self, x, y, z=0, angle=0, scale=1):
"""Draws the SVG to screen.
:Parameters
`x` : float
The x-coordinate at which to draw.
`y` : float
The y-coordinate at which to draw.
`z` : float
The z-coordinate at which to draw. Defaults to 0. Note that z-ordering may not
give expected results when transparency is used.
`angle` : float
The angle by which the image should be rotated (in degrees). Defaults to 0.
`scale` : float
The amount by which the image should be scaled, either as a float, or a tuple
of two floats (xscale, yscale).
"""
glPushMatrix()
glTranslatef(x, y, z)
if angle:
glRotatef(angle, 0, 0, 1)
if scale != 1:
try:
glScalef(scale[0], scale[1], 1)
except TypeError:
glScalef(scale, scale, 1)
if self._a_x or self._a_y:
glTranslatef(-self._a_x, -self._a_y, 0)
glCallList(self.disp_list)
glPopMatrix()
def InitGL(self, Width, Height):
self.view_port_xr = 1
self.view_port_yr = 1
self.original_x = Width
self.original_y = Height
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
glOrtho(0, Width, 0, Height, -1, 1)
glScalef(1, -1, 1)
glTranslatef(0, -Height, 0)
glMatrixMode(GL_MODELVIEW)
glDisable(GL_DEPTH_TEST) # Disables Depth Testing
glShadeModel(GL_SMOOTH) # Enables Smooth Color Shading
# Anti-aliasing/prettyness stuff
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glEnable(GL_BLEND)
glHint(GL_LINE_SMOOTH_HINT, GL_NICEST)
glHint(GL_POINT_SMOOTH_HINT, GL_NICEST)
glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST)
glEnable(GL_LINE_SMOOTH)
glEnable(GL_POINT_SMOOTH)
glEnable(GL_POLYGON_SMOOTH)
glClearColor(background_color()[0],
background_color()[1],
background_color()[2], 1.0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
def iniciar_renderizado(self):
"""Acciones posteriores al renderizado de objetos."""
self.fbos[0].usar()
#glClearColor(*self.capa.escena.color)#0.) para fondo transparente
glClear(GL_COLOR_BUFFER_BIT) #| GL_DEPTH_BUFFER_BIT)
# Transformación de la cámara
glLoadIdentity()
glScalef(self.acerc, self.acerc, 0.)
glTranslatef(-self.pos.x, -self.pos.y, 0.)
glRotatef(-self.angulo, 0., 0., 1.)
def draw(self, from_fixed_frame: bool = True):
self.opgl_move_to_pose(from_fixed_frame)
self.apply_material()
# draw parallelepiped
quad = gluNewQuadric()
gluQuadricDrawStyle(quad, GLU_FILL)
gluQuadricTexture(quad, True)
gluQuadricNormals(quad, GLU_SMOOTH)
glScalef(self.length, self.width, self.height)
glutSolidCube(1)
def draw(self, from_fixed_frame: bool = True):
self.opgl_move_to_pose(from_fixed_frame)
self.apply_material()
# draw parallelepiped
quad = gluNewQuadric()
gluQuadricDrawStyle(quad, GLU_FILL)
gluQuadricTexture(quad, True)
gluQuadricNormals(quad, GLU_SMOOTH)
glScalef(self.length, self.width, self.height)
glutSolidCube(1)
def render(self):
'''
'''
super(Sector, self).render()
glPushMatrix()
glScalef(3, 5, 5)
self._set_material()
self._cube_()
glPopMatrix()
def DrawPlot(self):
"""Plots the curves for all sensors in self.sensors"""
glPushMatrix()
# TODO the following is "moving away from frame",
# and should use the framedata (plastic, etc.)
# from the GuiObject base class.
# Probably this stuff should be done in GuiObject!
glTranslatef(0.005, 0.01, 0.0)
glScalef(0.99 / self.resolution, 0.7 / self.maxValue, 1.0)
for sensorInfo, data in zip(self.sensors, self.history):
glColor3f(*(sensorInfo["color"]))
data.Draw()
glPopMatrix()
def DrawPlot(self):
"""Plots the curves for all sensors in self.sensors"""
glPushMatrix()
# TODO the following is "moving away from frame",
# and should use the framedata (plastic, etc.)
# from the GuiObject base class.
# Probably this stuff should be done in GuiObject!
glTranslatef(0.005, 0.01, 0.0)
glScalef(0.99 / self.resolution, 0.7 / self.maxValue, 1.0)
for sensorInfo, data in zip(self.sensors, self.history):
glColor3f(*(sensorInfo["color"]))
data.Draw()
glPopMatrix()
def render(self):
glTranslatef(self.position.x, self.position.y, 0.0)
glRotatef(self.rotation, 0.0, 0.0, 1.0)
glScalef(self.scale.x, self.scale.y, 0.0)
for child in self._children:
glPushMatrix()
child.render()
glPopMatrix()
self.draw()
def on_resize(self, width, height):
'''Event called when the window is resized'''
glViewport(0, 0, width, height)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glFrustum(-width / 2, width / 2, -height / 2, height / 2, .1, 1000)
glScalef(5000, 5000, 1)
glTranslatef(-width / 2, -height / 2, -500)
glMatrixMode(GL_MODELVIEW)
for w in self.children:
shw, shh = w.size_hint
if shw and shh:
w.size = shw * width, shh * height
elif shw:
w.width = shw * width
elif shh:
w.height = shh * height
def __draw(self, widget, event):
x = self.__distance * sin(self.__angle)
z = self.__distance * cos(self.__angle)
gldrawable = widget.get_gl_drawable()
glcontext = widget.get_gl_context()
# OpenGL begin.
if not gldrawable.gl_begin(glcontext):
return
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity ()
gluLookAt(x, 0.0, z, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0)
#==========================
glPushMatrix()
glLineWidth(3)
glRotatef(self.__arm_angles[0], 1., 0., 0.)
glRotatef(self.__arm_angles[1], 0., 1., 0.)
glRotatef(self.__arm_angles[2], 0., 0., 1.)
glTranslatef(self.__upper_arm, 0., 0.)
#==========================
glPushMatrix()
glColor3f(30./255., 126./255., 30./255.)
glScalef(self.__upper_arm, 0.4, 1.0)
self.__draw_cube() # shoulder
glPopMatrix()
#==========================
glTranslatef(self.__upper_arm, 0., 0.)
glRotatef(self.__arm_angles[3] , 0., 0., 1.)
glTranslatef(self.__forearm, 0., 0.)
glPushMatrix()
#==========================
glScalef(self.__forearm, 0.3, 0.75)
glColor3f(126./255., 30./255., 30./255.)
self.__draw_cube() # elbow
glPopMatrix()
glPopMatrix()
#==========================
if gldrawable.is_double_buffered():
gldrawable.swap_buffers()
else:
glFlush()
gldrawable.gl_end()
# OpenGL end
return
def drawGround(self):
GROUND_SIZE = 1000
glColor3f(0.9, 0.9, 0.9)
glPushAttrib(GL_POLYGON_BIT)
glEnable(GL_POLYGON_OFFSET_FILL)
glPolygonOffset(2.0, 2.0)
glDisable(GL_COLOR_MATERIAL)
glPushMatrix()
glTranslatef(0, 0, 0)
glScalef(GROUND_SIZE, GROUND_SIZE, 1.0)
glBegin(GL_QUADS)
glVertex2d(1, 1)
glVertex2d(1, -1)
glVertex2d(-1, -1)
glVertex2d(-1, 1)
glEnd()
glPopMatrix()
glPopAttrib()
def display(self, pose: util.Pose):
"""Displays the precomputed view at a specific pose in 3d space.
:param pose: Where to display the cube.
"""
glPushMatrix()
# TODO if cube_pose.is_accurate is False, render half-translucent?
# (This would require using a shader, or having duplicate objects)
cube_matrix = pose.to_matrix()
glMultMatrixf(cube_matrix.in_row_order)
# Cube is drawn slightly larger than the 10mm to 1 cm scale, as the model looks small otherwise
cube_scale_amt = 10.7
glScalef(cube_scale_amt, cube_scale_amt, cube_scale_amt)
self.display_all()
glPopMatrix()
def display(self, pose: util.Pose, head_angle: util.Angle,
lift_position: util.Distance):
"""Displays the precomputed view at a specific pose in 3d space.
:param pose: Where to display the robot.
"""
if not self._display_lists:
return
robot_matrix = pose.to_matrix()
head_angle_degrees = head_angle.degrees
# Get the angle of Vector's lift for rendering - we subtract the angle
# of the lift in the default pose in the object, and apply the inverse
# rotation
sin_angle = (lift_position.distance_mm -
LIFT_PIVOT_HEIGHT_MM) / LIFT_ARM_LENGTH_MM
angle_radians = math.asin(sin_angle)
lift_angle = -(angle_radians - LIFT_ANGLE_IN_DEFAULT_POSE)
lift_angle_degrees = math.degrees(lift_angle)
glPushMatrix()
glEnable(GL_LIGHTING)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glEnable(GL_BLEND)
glMultMatrixf(robot_matrix.in_row_order)
robot_scale_amt = 10.0 # cm to mm
glScalef(robot_scale_amt, robot_scale_amt, robot_scale_amt)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
self._display_vector_body()
self._display_vector_lift(lift_angle_degrees)
self._display_vector_head(head_angle_degrees)
glDisable(GL_LIGHTING)
glPopMatrix()
def display():
start_point = (
start_picture_coord[0] * HEIGHT * mosaic_factory.ratio / (args.tiles - 1),
start_picture_coord[1] * HEIGHT / (args.tiles - 1)
)
center = (HEIGHT * mosaic_factory.ratio / 2., HEIGHT / 2.)
reverse_sigmoid_progress = fake_sigmoid(1 - progress)
sigmoid_progress = 1 - reverse_sigmoid_progress
max_zoom = args.tiles
zoom = max_zoom ** reverse_sigmoid_progress
angle = start_orientation + sigmoid_progress * angle_difference(
current_mosaic_picture.orientation,
start_orientation
)
if reverse_sigmoid_progress > 0.1:
alpha = 1.0
else:
alpha = reverse_sigmoid_progress * 10.0
glClear(GL_COLOR_BUFFER_BIT)
glPushMatrix()
glTranslatef(center[0], center[1], 0.0)
glRotatef(angle, 0, 0, 1)
glTranslatef(-center[0], -center[1], 0.0)
glTranslatef(start_point[0], start_point[1], 0.0)
glScalef(zoom, zoom, 1.0)
glTranslatef(-start_point[0], -start_point[1], 0.0)
glColor4f(0.0, 0.0, 0.0, alpha)
glCallList(mosaic_display_lists[current_mosaic_picture])
glColor4f(0.0, 0.0, 0.0, 1.0 - alpha)
glScalef(max_zoom, max_zoom, 1.0)
glCallList(picture_display_lists[current_mosaic_picture])
glPopMatrix()
glutSwapBuffers()
def render(self):
'''
'''
super(IonPump, self).render()
pumpheight = 3
pumpwidth = 2
pumplength = 4
glPushMatrix()
self._set_material()
h = 0.75
glPushMatrix()
glTranslatef(pumpwidth / 4.0, pumpheight / 2.0 + h, 0)
self._cylinder_(0.5, h)
glPopMatrix()
h = 0.5
glPushMatrix()
glTranslatef(pumpwidth / 4.0, pumpheight / 2.0 + 1.5 - h, 0)
self._can_(radius=0.75, height=h)
glPopMatrix()
h = pumpheight / 2.0 + 0.75
h2 = 10.5
points = [(pumpwidth / 4.0, h, 0),
(pumpwidth / 4.0, h, 0),
(pumpwidth / 4.0, h + 2, 0),
(0, h2 - 2, 0), (0, h2, 0), (0, h2, 0)]
self._tube_(points, self.color, radius=0.45)
glScalef(pumplength, pumpheight, pumpwidth)
self._cube_()
glPopMatrix()
def update_viewport(self):
width, height = self.system_size
w2 = width / 2.0
h2 = height / 2.0
# prepare the viewport
glViewport(0, 0, width, height)
# set the projection
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glFrustum(-w2, w2, -h2, h2, 0.1, 1000)
glScalef(5000, 5000, 1)
# use the rotated size.
width, height = self.size
w2 = width / 2.0
h2 = height / 2.0
glTranslatef(-w2, -h2, -500)
# set the model view
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
glTranslatef(w2, h2, 0)
glRotatef(self._rotation, 0, 0, 1)
glTranslatef(-w2, -h2, 0)
# update window size
for w in self.children:
shw, shh = w.size_hint
if shw and shh:
w.size = shw * width, shh * height
elif shw:
w.width = shw * width
elif shh:
w.height = shh * height
def display():
start_point = (start_picture_coord[0] * HEIGHT * mosaic_factory.ratio /
(args.tiles - 1),
start_picture_coord[1] * HEIGHT / (args.tiles - 1))
center = (HEIGHT * mosaic_factory.ratio / 2., HEIGHT / 2.)
reverse_sigmoid_progress = fake_sigmoid(1 - progress)
sigmoid_progress = 1 - reverse_sigmoid_progress
max_zoom = args.tiles
zoom = max_zoom**reverse_sigmoid_progress
angle = start_orientation + sigmoid_progress * angle_difference(
current_mosaic_picture.orientation, start_orientation)
if reverse_sigmoid_progress > 0.1:
alpha = 1.0
else:
alpha = reverse_sigmoid_progress * 10.0
glClear(GL_COLOR_BUFFER_BIT)
glPushMatrix()
glTranslatef(center[0], center[1], 0.0)
glRotatef(angle, 0, 0, 1)
glTranslatef(-center[0], -center[1], 0.0)
glTranslatef(start_point[0], start_point[1], 0.0)
glScalef(zoom, zoom, 1.0)
glTranslatef(-start_point[0], -start_point[1], 0.0)
glColor4f(0.0, 0.0, 0.0, alpha)
glCallList(mosaic_display_lists[current_mosaic_picture])
glColor4f(0.0, 0.0, 0.0, 1.0 - alpha)
glScalef(max_zoom, max_zoom, 1.0)
glCallList(picture_display_lists[current_mosaic_picture])
glPopMatrix()
glutSwapBuffers()
def update_viewport(self):
width, height = self.system_size
w2 = width / 2.
h2 = height / 2.
# prepare the viewport
glViewport(0, 0, width, height)
# set the projection
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glFrustum(-w2, w2, -h2, h2, .1, 1000)
glScalef(5000, 5000, 1)
# use the rotated size.
width, height = self.size
w2 = width / 2.
h2 = height / 2.
glTranslatef(-w2, -h2, -500)
# set the model view
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
glTranslatef(w2, h2, 0)
glRotatef(self._rotation, 0, 0, 1)
glTranslatef(-w2, -h2, 0)
# update window size
for w in self.children:
shw, shh = w.size_hint
if shw and shh:
w.size = shw * width, shh * height
elif shw:
w.width = shw * width
elif shh:
w.height = shh * height
def scale(x=0.0, y=0.0, z=0.0):
glScalef(x, y, z)
def draw_cuboid(self, x, y, z):
glPushMatrix()
glScalef(x, y, z) # size cuboid
self.cube()
glPopMatrix()
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 draw_cuboid(self, x, y, z):
glPushMatrix()
glScalef(x, y, z) # size cuboid
self.cube()
glPopMatrix()
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()
shaders.glUseProgram(shaderProg)
points = vbo.VBO(data=imgnp,
usage="GL_DYNAMIC_DRAW",
target='GL_ARRAY_BUFFER',
size=None)
points.bind()
modelmat = glGetUniformLocation(shaderProg, 'model')
viewmat = glGetUniformLocation(shaderProg, 'view')
projectionmat = glGetUniformLocation(shaderProg, 'projection')
glPushMatrix()
glRotatef(-90, 0, 0, 1)
scal = 0.01
glTranslatef(-0.5, -0.5, 0)
glScalef(1 / imgnp.shape[0], 1 / imgnp.shape[1], 1)
model2 = glGetDoublev(GL_MODELVIEW_MATRIX)
glPopMatrix()
# print(model2)
glUniformMatrix4fv(modelmat, 1, GL_FALSE, model2)
glutDisplayFunc(draw_points)
# glutInitWindowPosition(600, 100)
# wind2 = glutCreateWindow("OpenGL Window2")
# glutMouseFunc(moveMouse)
glutMainLoop()
def mirror_y():
glScalef(1.0, -1.0, 1.0)
def resize(w, h):
glViewport(0, 0, w, h)
glLoadIdentity()
glTranslatef(-1 , 1, 0)
glScalef(2 / w, -2 / h, 1)
pass
def _render_world_frame(self, world_frame: opengl_vector.WorldRenderFrame):
"""Render the world to the current OpenGL context
:param world_frame: frame to render
"""
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
glEnable(GL_NORMALIZE) # to re-scale scaled normals
light_cube_view = self._vector_view_manifest.light_cube_view
unit_cube_view = self._vector_view_manifest.unit_cube_view
robot_view = self._vector_view_manifest.robot_view
nav_map_view = self._vector_view_manifest.nav_map_view
robot_frame = world_frame.robot_frame
robot_pose = robot_frame.pose
try:
glDisable(GL_LIGHTING)
nav_map_view.display()
glEnable(GL_LIGHTING)
# Render the cube
for obj in world_frame.cube_frames:
cube_pose = obj.pose
if cube_pose is not None and cube_pose.is_comparable(
robot_pose):
light_cube_view.display(cube_pose)
# Render the custom objects
for obj in world_frame.custom_object_frames:
obj_pose = obj.pose
if obj_pose is not None and obj_pose.is_comparable(robot_pose):
glPushMatrix()
obj_matrix = obj_pose.to_matrix()
glMultMatrixf(obj_matrix.in_row_order)
glScalef(obj.x_size_mm * 0.5, obj.y_size_mm * 0.5,
obj.z_size_mm * 0.5)
# Only draw solid object for observable custom objects
if obj.is_fixed:
# fixed objects are drawn as transparent outlined boxes to make
# it clearer that they have no effect on vision.
FIXED_OBJECT_COLOR = [1.0, 0.7, 0.0, 1.0]
unit_cube_view.display(FIXED_OBJECT_COLOR, False)
else:
CUSTOM_OBJECT_COLOR = [1.0, 0.3, 0.3, 1.0]
unit_cube_view.display(CUSTOM_OBJECT_COLOR, True)
glPopMatrix()
glBindTexture(GL_TEXTURE_2D, 0)
for face in world_frame.face_frames:
face_pose = face.pose
if face_pose is not None and face_pose.is_comparable(
robot_pose):
glPushMatrix()
face_matrix = face_pose.to_matrix()
glMultMatrixf(face_matrix.in_row_order)
# Approximate size of a head
glScalef(100, 25, 100)
FACE_OBJECT_COLOR = [0.5, 0.5, 0.5, 1.0]
draw_solid = face.time_since_last_seen < 30
unit_cube_view.display(FACE_OBJECT_COLOR, draw_solid)
glPopMatrix()
except BaseException as e:
self._logger.error('rendering error: {0}'.format(e))
glDisable(GL_LIGHTING)
# Draw the Vector robot to the screen
robot_view.display(robot_frame.pose, robot_frame.head_angle,
robot_frame.lift_position)
if self.show_controls:
self._draw_controls(world_frame.cube_connected(),
world_frame.cube_connecting())
def mirror_x():
glScalef(-1.0, 1.0, 1.0)
def scale(cls, x: float, y: float, z: float):
glScalef(x, y, z)
