def _add_rendering(self, mode='osg'):
# Set renderer
self.app.setAutoStepping(True)
self.app.setEnableDebugRenderer(False)
self.app.setEnableOSGRenderer(True)
file_directory = os.path.dirname(os.path.abspath(__file__))
package_directory = os.path.split(file_directory)[0]
gripper_texture = os.path.join(package_directory, TEXTURE_GRIPPER_FILE)
# Create scene graph for rendering
root = self.app.getSceneRoot()
rbs = self.sim.getRigidBodies()
for rb in rbs:
node = agxOSG.createVisual(rb, root)
if rb.getName() == "hollow_cylinder":
agxOSG.setDiffuseColor(node, agxRender.Color_SteelBlue())
agxOSG.setShininess(node, 15)
elif rb.getName() == "gripper_body":
agxOSG.setDiffuseColor(node,
agxRender.Color(1.0, 1.0, 1.0, 1.0))
agxOSG.setTexture(node, gripper_texture, False,
agxOSG.DIFFUSE_TEXTURE)
agxOSG.setShininess(node, 2)
elif "dlo" in rb.getName(): # Cable segments
agxOSG.setDiffuseColor(node,
agxRender.Color(0.0, 1.0, 0.0, 1.0))
else:
agxOSG.setDiffuseColor(node, agxRender.Color.Beige())
agxOSG.setAlpha(node, 0.0)
# Set rendering options
scene_decorator = self.app.getSceneDecorator()
scene_decorator.setEnableLogo(False)
scene_decorator.setBackgroundColor(agxRender.Color(1.0, 1.0, 1.0, 1.0))
def add_color(geomerty):
waterNode = agxOSG.createVisual(geomerty, demoutils.root())
color = agxRender.Color.DeepSkyBlue()
alpha = 0.4
agxOSG.setDiffuseColor(waterNode, color)
agxOSG.setAmbientColor(waterNode, agx.Vec4f(1))
agxOSG.setShininess(waterNode, 120)
agxOSG.setAlpha(waterNode, alpha)
def create_water_visual(geo, root):
node = agxOSG.createVisual(geo, root)
diffuse_color = agxRender.Color(0.0, 0.75, 1.0, 1)
ambient_color = agxRender.Color(1, 1, 1, 1)
specular_color = agxRender.Color(1, 1, 1, 1)
agxOSG.setDiffuseColor(node, diffuse_color)
agxOSG.setAmbientColor(node, ambient_color)
agxOSG.setSpecularColor(node, specular_color)
agxOSG.setShininess(node, 120)
agxOSG.setAlpha(node, 0.5)
return node
def create_visual(obj, diffuse_color: Color = None, ambient_color: Color = None,
shininess=None, alpha: float = None):
node = agxOSG.createVisual(obj, root())
if diffuse_color is not None:
agxOSG.setDiffuseColor(node, diffuse_color)
if ambient_color is not None:
agxOSG.setAmbientColor(node, ambient_color)
if shininess is not None:
agxOSG.setShininess(node, shininess)
if alpha is not None:
agxOSG.setAlpha(node, alpha)
return node
def addGround(MiroSystem, size_x, size_y, size_z, pos, heightmap, texture='test.jpg', scale=[4,3], Collide=True, Fixed=True, rotX=0, rotY=0, rotZ=0, rotOrder=['x','y','z'], rotAngle=0, rotAxis=[1,0,0], rotDegrees=True, mass=False, density=1000, dynamic=False, color=[0.5, 0.5, 0.5]):
agxSim = agxPython.getContext().environment.getSimulation()
agxApp = agxPython.getContext().environment.getApplication()
agxRoot = agxPython.getContext().environment.getSceneRoot()
# Create the ground
ground_material = agx.Material("Ground")
# Create the height field from a heightmap
hf = agxCollide.HeightField.createFromFile("textures/"+heightmap, size_x, size_z, 0, size_y)
ground_geometry = agxCollide.Geometry(hf)
ground = agx.RigidBody(ground_geometry)
ground.setPosition(agxVecify(pos))
ground.setMotionControl(agx.RigidBody.STATIC)
node = agxOSG.createVisual( ground, agxRoot )
agxOSG.setShininess(node, 5)
# Add a visual texture.
agxOSG.setTexture(node, "textures/"+texture, True, agxOSG.DIFFUSE_TEXTURE, 100, 100)
agxSim.add(ground)
def __init__(self, ground: agxCollide.Geometry, rov, depth):
"""
Args:
ground:
rov:
depth:
"""
super().__init__()
self.setMask(ContactEventListener.CONTACT)
b = agxCollide.Box(.1, .1, depth)
self.beam = Geometry(b)
# print(self.beam.getShapes(),self.beam)
self.beam.setPosition(0, 0, -depth)
self.beam.setSensor(True)
self.setFilter(GeometryFilter(self.beam, ground))
color = agxRender.Color.IndianRed()
node = agxOSG.createVisual(self.beam, demoutils.root())
agxOSG.setDiffuseColor(node, color)
agxOSG.setAmbientColor(node, agx.Vec4f(1))
agxOSG.setShininess(node, 120)
agxOSG.setAlpha(node, 0.6)
self.ground = ground.getShape().asHeightField()
def __init__(self):
hf = agxCollide.HeightField.createFromFile("assets/textures/dirtRoad128.png", 6, 6, -0.5, 0.5)
terrain = agxModel.Terrain(hf)
snakeapp.add(terrain)
self.material = agx.Material("GroundMaterial")
terrain_data = terrain.getDataInterface() # type: agxModel.TerrainDataInterface
terrain_data.setMaxCompressionMultiplier(32)
particle_adhesion = 0
deformity = 100
angle_of_repose = math.pi * 0.2
material_index = 0
terrain_data.add(self.material, material_index, particle_adhesion, deformity, angle_of_repose)
range_for_youngs_modulus = agx.RangeReal(10000, 20000)
terrain_renderer = agxOSG.TerrainRenderer(terrain, range_for_youngs_modulus, snakeapp.root())
snakeapp.add(terrain_renderer)
terrain_visual = terrain_renderer.getTerrainNode()
agxOSG.setDiffuseColor(terrain_visual, Color(0.7, 0.7, 0.8, 1))
agxOSG.setSpecularColor(terrain_visual, Color(0.4, 0.4, 0.4, 1))
agxOSG.setShininess(terrain_visual, 128)