def draw_ray(click_pos, position):
line = arena.Object(
ttl=1,
objType=arena.Shape.thickline,
thickline=arena.Thickline( # slightly below camera so you can see line vs head-on
{
(click_pos[0],click_pos[1]-0.2,click_pos[2]),
(position[0],position[1],position[2])
},5,"#FF00FF")
)
def make_hudtext(self, label, location, text):
return arena.Object(
objName=(label + "_" + self.camname),
objType=arena.Shape.text,
parent=self.camname,
text=text,
location=location,
color=CLR_HUDTEXT,
scale=(0.1, 0.1, 0.1),
)
def __init__(self, config):
self.hud = arena.Object(objName='circle_' + config.arenaname,
parent=config.client_id,
objType=arena.Shape.circle,
location=(0, 0, -0.5),
rotation=(0, 0, 0, 1),
scale=(0.02, 0.02, 0.02),
persist=True)
self.arenaname = config.arenaname
self.reset()
def make_followspot(object_id, position, delim, color):
name = (object_id + delim + "spot")
CONTROLS[object_id][name] = (arena.Object( # follow spot on ground
objType=arena.Shape.circle,
objName=name,
scale=(0.1, 0.1, 0.1),
color=color,
ttl=arblib.TTL_TEMP,
location=(position[0], arblib.FLOOR_Y, position[2]),
rotation=(-0.7, 0, 0, 0.7),
data='{"material":{"transparent":true,"opacity":0.4,"shader":"flat"}}'))
def initCube(x, y, color):
name = "cube_" + str(x) + "_" + str(y)
cubes[(x,y)]=arena.Object(objType=arena.Shape.cube,
persist=True,
objName=name,
physics=arena.Physics.static,
data='{"collision-listner":"", "material": {"transparent":true,"opacity": 0.5},"impulse":{"on":"mouseup","force":"0 40 0","position": "10 1 1"}}',
location=(x,y,-3),
color=color,
scale=(0.6,0.6,0.6),
clickable=True);
def do_rename(camname, old_id, new_id):
if new_id == old_id:
return
pobjs = arena.get_network_persisted_obj(old_id, BROKER, SCENE)
if not pobjs:
return
data = json.dumps(pobjs[0]["attributes"])
arena.Object(objName=new_id, persist=True, data=data)
USERS[camname].target_id = new_id
print("Duplicating " + old_id + " to " + new_id)
arblib.delete_obj(REALM, SCENE, old_id)
def signs():
arena.Object(
objName="signpost1",
url="store/users/wiselab/models/signpost/scene.gltf",
objType=arena.Shape.gltf_model,
scale=(0.1, 0.1, 0.1),
rotation=(0, 0.3, 0, 1),
location=(-18.2, 0.2, -2.3),
clickable=True,
persist=True
)
def create_line(self, pts1, pts2, name):
x1 = pts1[0]
y1 = pts1[1] + 2
x2 = pts2[0]
y2 = pts2[1] + 2
line = arena.Line((x1, y1, -0.5), (x2, y2, -0.5), 2, "#ffffff")
arena.Object(objName=name,
objType=arena.Shape.line,
line=line,
persist=False)
def set_lamp(self, enabled):
if enabled:
self.lamp = arena.Object(
objName=self.camname + "_lamp",
objType=arena.Shape.light,
parent=self.camname,
color=(144, 144, 173),
data='{"light":{"type":"point","intensity":"0.75"}}',
)
elif self.lamp:
self.lamp.delete()
def got_click(location):
for name in drones:
if drones[name].active == True:
arena.Object(objName="line1",
objType=arena.Shape.line,
line=arena.Line(start=drones[name].location,
end=location,
color=(206, 0, 255)),
ttl=2)
break
print("No drone selected")
def show_redpill_scene(enabled):
# any scene changes must not persist
# show gridlines
glen = arblib.GRIDLEN
y = arblib.FLOOR_Y
hcolor = arblib.rgb2hex(arblib.CLR_GRID)
for z in range(-glen, glen + 1):
name = "grid_z" + str(z)
if enabled:
arena.Object(objName=name, objType=arena.Shape.line,
line=arena.Line((-glen, y, z), (glen, y, z), 1, hcolor))
else:
arblib.delete_obj(REALM, SCENE, name)
for x in range(-glen, glen + 1):
name = "grid_x" + str(x)
if enabled:
arena.Object(objName=name, objType=arena.Shape.line,
line=arena.Line((x, y, -glen), (x, y, glen), 1, hcolor))
else:
arblib.delete_obj(REALM, SCENE, name)
pobjs = arblib.get_network_persisted_scene(BROKER, SCENE)
for pobj in pobjs:
obj = arblib.ObjectPersistence(pobj)
# show occulded objects
if obj.transparent_occlude:
name = "redpill_" + obj.object_id
if enabled:
arena.Object(
objName=name,
objType=obj.object_type,
location=obj.position,
rotation=obj.rotation,
scale=obj.scale,
color=obj.color,
clickable=True,
url=obj.url,
transparency=arena.Transparency(True, 0.5),
)
print("Wrapping occlusion " + name)
else:
arblib.delete_obj(REALM, SCENE, name)
def camera_callback(event=None):
global last_position
global cam_color
cam_moved = distance.euclidean(event.position, last_position)
if cam_moved > 0.25:
last_position = event.position
arena.Object(objType=arena.Shape.sphere,
location=event.position,
scale=(0.1, 0.1, 0.1),
color=cam_color)
print("Draw Marker")
def create_line(self, pts1, pts2, name):
x1 = float(pts1[0]) * self.width
y1 = float(pts1[1]) * self.height + self.height
x2 = float(pts2[0]) * self.width
y2 = float(pts2[1]) * self.height + self.height
line = arena.Line((x1, y1, -0.5), (x2, y2, -0.5), 2,
users[self.ID]["color"])
arena.Object(objName=name,
objType=arena.Shape.line,
line=line,
persist=False)
def dir_clickers(object_id, axis, direction, delim, location,
color, cones, callback, parent=""):
if parent:
location = (location[0] * 10, location[1] * 10, location[2] * 10)
loc = location
npos = 0.1
if direction == "p":
npos = -0.1
if axis == "x":
loc = (location[0] + npos, location[1], location[2])
elif axis == "y":
loc = (location[0], location[1] + npos, location[2])
elif axis == "z":
loc = (location[0], location[1], location[2] + npos)
name = (object_id + delim + axis + "p_" + direction)
CONTROLS[object_id][name] = (arena.Object( # click object positive
objType=arena.Shape.cone,
objName=name,
color=color,
clickable=True,
location=location,
rotation=cones[axis + direction][0],
scale=(0.05, 0.09, 0.05),
transparency=arena.Transparency(True, arblib.OPC_CLINE),
ttl=arblib.TTL_TEMP,
parent=parent,
callback=callback))
name = (object_id + delim + axis + "n_" + direction)
CONTROLS[object_id][name] = (arena.Object( # click object negative
objType=arena.Shape.cone,
objName=name,
color=color,
clickable=True,
location=loc,
rotation=cones[axis + direction][1],
scale=(0.05, 0.09, 0.05),
transparency=arena.Transparency(True, arblib.OPC_CLINE),
ttl=arblib.TTL_TEMP,
parent=parent,
callback=callback))
def icon_select(x, y):
global icons
global grid
global wineNames
if (grid[y][x] == 0):
#idk yet. enter text?
wineDisp = arena.Object(objType=arena.Shape.text,
objName="wine_name",
persist=True,
data='{"text":"empty"}',
location=(0, 1.8, -0.4),
color=color[1],
scale=(1, 1, 1))
else:
icons[(x, y)].update(color=color[1])
wineDisp = arena.Object(objType=arena.Shape.text,
objName="wine_name",
persist=True,
data='{"text":"' + wineNames[y][x] + '"}',
location=(0, 1.8, -0.4),
color=color[1],
scale=(1, 1, 1))
def init_origin():
"""Origin object, construction cone, so user knows ARB is running."""
size = [0.2, 0.4, 0.2]
arena.Object( # 370mm x 370mm # 750mm
objType=arena.Shape.cone,
objName="arb-origin",
data='{"material":{"transparent":true,"opacity":0.5,"shader":"flat"}}',
color=(255, 114, 33),
location=(0, size[1] / 2, 0),
scale=(size[0] / 2, size[1], size[2] / 2))
arena.Object(objType=arena.Shape.cone,
objName="arb-origin-hole",
data='{"material":{"colorWrite":false},"render-order":"0"}',
location=(0, size[1] - (size[1] / 2 / 15), 0),
scale=(size[0] / 15, size[1] / 10, size[2] / 15))
arena.Object(
objType=arena.Shape.cube,
objName="arb-origin-base",
data='{"material":{"transparent":true,"opacity":0.5,"shader":"flat"}}',
color=(0, 0, 0),
location=(0, size[1] / 20, 0),
scale=(size[0], size[1] / 10, size[2]))
def draw_ray(click_pos, position):
global clock_objects
boing = arena.Object(
location=(pinata_loc[0], pinata_loc[1], pinata_loc[2]),
data=
'{"sound":{"positional":true,"poolSize":8,"src":"store/users/wiselab/audio/glass.oga","autoplay":"true"}}'
)
boing.delete()
random_number = random.randint(0, 16777215)
rand_color = str(hex(random_number))
rand_color = '#' + rand_color[2:]
line = arena.Object(
#ttl=1, DON'T USE THIS FOR high traffic objects since it uses the DB!
# Have a harvester thread above instead
objType=arena.Shape.thickline,
thickline=arena.Thickline( # slightly below camera so you can see line vs head-on
{
(click_pos[0],click_pos[1]-0.2,click_pos[2]),
(position[0],position[1],position[2])
},5,rand_color)
)
click_objects.append(line)
def arm_click_handler(event=None):
global animateState
print("ARM event handler")
if event.event_type == arena.EventType.mousedown:
draw_ray(event.click_pos, event.position)
print("ARM click!")
if animateState == False:
animateStr = '{"animation-mixer": {"clip": "Armature.002|Armature.002Action.001"}}'
arm1 = arena.Object(
objName="arm1",
url="store/models/factory_robot_arm/scene.gltf",
objType=arena.Shape.gltf_model,
# scale=(0.001,0.001,0.001),
# location=(0,0,-4),
rotation=(0.7, 0, 0, 0.7),
scale=(robot1Scale, robot1Scale, robot1Scale),
location=(0, 0, 0),
data=animateStr,
clickable=True,
callback=arm_click_handler)
animateState = True
else:
animateStr = '{"animation-mixer": {"clip": "pause"}}'
arm1 = arena.Object(
objName="arm1",
url="store/models/factory_robot_arm/scene.gltf",
objType=arena.Shape.gltf_model,
# scale=(0.001,0.001,0.001),
# location=(0,0,-4),
rotation=(0.7, 0, 0, 0.7),
scale=(robot1Scale, robot1Scale, robot1Scale),
location=(0, 0, 0),
data=animateStr,
clickable=True,
callback=arm_click_handler)
animateState = False
def game_thread():
global vi
global t
global fire_impulse
global gravity_enabled
global kill_flag
#cnt = 0
while True:
if kill_flag==1:
print("Kill Flat!")
return
#if gravity_enabled is True:
# pinataParent.update(location=(pinata_loc[0],pinata_loc[1],pinata_loc[2]))
if(fire_impulse>0):
print("Hit!")
t=0.1
vi=20.0
H = pinata_loc[1]
fire_impulse=0
if gravity_enabled is True:
pinata_loc[1] = H + vi * t + 0.5*GRAVITY*(t*t)
#if cnt%4==0 and pinata_loc[1]>6.0:
if pinata_loc[1]>6.0:
pinata_loc[0] += random.uniform(-1,1)
pinata_loc[2] += random.uniform(-1,1)
t=t+0.1
# print( "H, Vi,t,y: " + str(H) + "," + str(vi) + "," + str(t) + "," + str(pinata_loc[1]))
if( pinata_loc[1]<=0):
pinata_loc[1]=0
vi= (-1*GRAVITY*t) / 5
if(vi<2.0):
vi=0.0
else:
boing = arena.Object( location=(pinata_loc[0],pinata_loc[1],pinata_loc[2]),data='{"sound":{"positional":true,"poolSize":8,"src":"store/users/wiselab/audio/boing.wav","autoplay":"true"}}')
boing.delete()
t=0.1
H = 0.0
# pinata_loc[0]=random.uniform(0,10)
# pinata_loc[1]=random.uniform(0,10)
# pinata_loc[2]=random.uniform(0,10)
# Tweening Move...
if gravity_enabled is True and vi>0:
pinataParent.update(location=(pinata_loc[0],pinata_loc[1],pinata_loc[2]))
pinataParent.update(data='{"animation": {"property": "position","to": "' + str(pinata_loc[0]) + ' ' + str(pinata_loc[1]) + ' ' + str(pinata_loc[2]) + '","easing": "linear","dur": 100}}')
time.sleep(0.1)
def regline(object_id, axis, direction, delim, suffix, start,
end, line_width, color=(255, 255, 255), parent=""):
if parent:
end = ((end[0] - start[0]) * 10,
(end[1] - start[1]) * 10,
(end[2] - start[2]) * 10)
start = (0, 0, 0)
name = (object_id + delim + axis + direction + "_" + suffix)
CONTROLS[object_id][name] = (arena.Object(
objType=arena.Shape.line,
objName=name,
color=color,
ttl=arblib.TTL_TEMP,
parent=parent,
line=arena.Line(start, end, line_width, color)))
def draw_landmarks(self):
arena.Object(objName="origin",
objType=arena.Shape.sphere,
scale=(0.01, 0.01, 0.01),
location=(0, 2, -0.5),
persist=False)
for i in range(0, len(self.jawPts) - 1):
draw_line(self.jawPts[i], self.jawPts[i + 1], "jaw" + str(i))
for i in range(0, len(self.eyebrowLPts) - 1):
draw_line(self.eyebrowLPts[i], self.eyebrowLPts[i + 1],
"browL" + str(i))
for i in range(0, len(self.eyebrowRPts) - 1):
draw_line(self.eyebrowRPts[i], self.eyebrowRPts[i + 1],
"browR" + str(i))
for i in range(0, len(self.noseBridgePts) - 1):
draw_line(self.noseBridgePts[i], self.noseBridgePts[i + 1],
"noseB" + str(i))
for i in range(0, len(self.noseLowerPts) - 1):
draw_line(self.noseLowerPts[i], self.noseLowerPts[i + 1],
"noseL" + str(i))
draw_line(self.noseLowerPts[0], self.noseLowerPts[-1],
"noseL" + str(i + 1))
for i in range(0, len(self.eyeLPts) - 1):
draw_line(self.eyeLPts[i], self.eyeLPts[i + 1], "eyeL" + str(i))
draw_line(self.eyeLPts[0], self.eyeLPts[-1], "eyeL" + str(i + 1))
for i in range(0, len(self.eyeRPts) - 1):
draw_line(self.eyeRPts[i], self.eyeRPts[i + 1], "eyeR" + str(i))
draw_line(self.eyeRPts[0], self.eyeRPts[-1], "eyeR" + str(i + 1))
for i in range(0, len(self.lipOuterPts) - 1):
draw_line(self.lipOuterPts[i], self.lipOuterPts[i + 1],
"lipO" + str(i))
draw_line(self.lipOuterPts[0], self.lipOuterPts[-1],
"lipO" + str(i + 1))
for i in range(0, len(self.lipInnerPts) - 1):
draw_line(self.lipInnerPts[i], self.lipInnerPts[i + 1],
"lipI" + str(i))
draw_line(self.lipInnerPts[0], self.lipInnerPts[-1],
"lipI" + str(i + 1))
def create_obj(camname, clipboard, location):
randstr = str(random.randrange(0, 1000000))
# make a copy of static object in place
new_obj = arena.Object(
persist=True,
objName=clipboard.objType.name + "_" + randstr,
objType=clipboard.objType,
location=location,
rotation=(0, 0, 0, 1), # undo clipboard rotation for visibility
scale=clipboard.scale,
color=clipboard.color,
transparency=arena.Transparency(False),
url=clipboard.url,
clickable=True)
USERS[camname].target_id = new_obj.objName
print("Created " + new_obj.objName)
def initIcons():
global Xcoords, Ycoords
global icons
for x in range(0, 6):
for y in range(0, 10):
#print("x: " + str(x) + " y: " + str(y))
name = "icon_" + str(x) + "_" + str(y)
icons[(x, y)] = arena.Object(
objType=arena.Shape.sphere,
persist=True,
objName=name,
physics=arena.Physics.static,
data=
'{"collision-listner":"", "material": {"transparent":true,"opacity": 0.8},"impulse":{"on":"mouseup","force":"0 40 0","position": "10 1 1"}}',
location=(Xcoords[x], Ycoords[y], 0.2),
color=color[2],
scale=(0.02, 0.02, 0.02),
clickable=True)
def draw_hud(score):
global reds
global blues
global draws
if score == -1:
draws = draws + 1
if score == 1:
reds = reds + 1
if score == 0:
blues = blues + 1
hud = arena.Object(
persist=True,
objName="hudText",
objType=arena.Shape.text,
text="red:"+str(reds)+" blue:"+str(blues)+" draw:"+str(draws),
location=(0, 0.4, -0.5),
parent="myCamera",
scale=(0.2, 0.2, 0.2),
)
def arena_callback(self, msg):
if msg.event_action != arena.EventAction.clientEvent:
return
if msg.event_type == arena.EventType.mouseenter:
self.hover = True
elif msg.event_type == arena.EventType.mouseleave:
self.hover = False
elif msg.event_type == arena.EventType.mouseup:
location = tuple(float(num) for num in msg.position)
arena.Object(location=location + self.offset,
objType=arena.Shape.cylinder,
scale=(.1, .1, .1),
color=(200, 0, 0),
ttl=1)
if self.ros_callback:
self.ros_callback(location)
import arena
arena.init("arena.andrew.cmu.edu", "realm", "sprng-changeme")
prnum = arena.Object(objName="a-prnum")
prnum.delete()
def on_tag_detect(msg):
json_msg = None
try:
json_msg = json.loads(msg.payload.decode("utf-8"),
object_hook=dict_to_sns)
except ValueError:
pass
if hasattr(json_msg, 'vio'):
client_id = msg.topic.split('/')[-1]
scene = json_msg.scene
# Only take first marker for now, later iterate and avg all markers
detected_tag = json_msg.detections[0]
pos = json_msg.vio.position
rot = json_msg.vio.rotation
vio_pose = np.identity(4)
vio_pose[0:3,
0:3] = Rotation.from_quat([rot._x, rot._y, rot._z,
rot._w]).as_matrix()
vio_pose[0:3, 3] = [pos.x, pos.y, pos.z]
dtag_pose = np.identity(4)
R_correct = np.array(detected_tag.pose.R).T
dtag_pose[0:3, 0:3] = R_correct
dtag_pose[0:3, 3] = detected_tag.pose.t
dtag_pose = np.array(FLIP) @ dtag_pose @ np.array(FLIP)
update_type = ""
if (hasattr(json_msg, "localize_tag") and json_msg.localize_tag
and detected_tag.id != 0):
print("Solve for tag", str(detected_tag.id))
# Solve for tag, not client
rig_pose = RIGS.get(client_id)
if rig_pose is None:
# Don't have client RIG offset, can't solve
print("Don't have client rig pose:", client_id)
else:
ref_tag_pose = rig_pose @ vio_pose @ dtag_pose
ref_tag_pos = ref_tag_pose[0:3, 3]
ref_tag_rotq = Rotation.from_matrix(
ref_tag_pose[0:3, 0:3]).as_quat()
TAGS[detected_tag.id] = ref_tag_pose # Store as reference
arena.Object(objId="apriltag_" + str(detected_tag.id),
position=(ref_tag_pos[0], ref_tag_pos[1],
ref_tag_pos[2]),
rotation={
ref_tag_rotq[0], ref_tag_rotq[1],
ref_tag_rotq[2], ref_tag_rotq[3]
})
else: # Solving for client rig, default localization operation
print("Localizing", client_id, "on", str(detected_tag.id))
ref_tag_pose = TAGS.get(detected_tag.id)
if ref_tag_pose is None:
# Tag not found. TODO: query ATLAS for it
print("Tag not found, not in build mode")
return
rig_pose = ref_tag_pose @ np.linalg.inv(dtag_pose) @ np.linalg.inv(
vio_pose)
rig_pos = rig_pose[0:3, 3]
rig_rotq = Rotation.from_matrix(rig_pose[0:3, 0:3]).as_quat()
RIGS[client_id] = rig_pose
arena.updateRig(
client_id, (rig_pos[0], rig_pos[1], rig_pos[2]),
(rig_rotq[0], rig_rotq[1], rig_rotq[2], rig_rotq[3]))
JFILE = os.environ["JSONCFG"]
print("JSONCFG:" + JFILE)
screensData = None
with open(JFILE) as dataFile:
screensData = json.load(dataFile)
cnt = 0
for key in screensData:
print("Key:" + key)
value = screensData[key]
if key == "projector":
print("Projector")
projector_start = arena.Object(persist=True,
objName="projector_start",
objType=arena.Shape.cube,
clickable=True,
color=(0, 255, 0),
location=value["location"],
scale=value["scale"],
rotation=value["rotation"],
callback=projector_start)
stop_location = value["location"]
stop_location[1] = stop_location[1] - value["button_distance"]
projector_stop = arena.Object(persist=True,
objName="projector_stop",
objType=arena.Shape.cube,
clickable=True,
location=stop_location,
color=(255, 0, 0),
scale=value["scale"],
rotation=value["rotation"],
callback=projector_stop)
return float(random.randint(0, 10000)) / 1000
def randcolor():
x = random.randint(0, 255)
y = random.randint(0, 255)
z = random.randint(0, 255)
return (x, y, z)
def signal_handler(sig, frame):
exit()
signal.signal(signal.SIGINT, signal_handler)
counter = 0
while True:
obj_id = str(counter)
name = "sphere" + "_" + obj_id
counter += 1
obj = arena.Object(physics=arena.Physics.dynamic,
objName=obj_id,
objType=arena.Shape.sphere,
location=(rando(), 0, rando()),
color=randcolor(),
ttl=40)
time.sleep(0.1)
# balls.py
#
import arena
arena.init("arena.andrew.cmu.edu", "realm", "example")
arena.Object(objType=arena.Shape.cone, location=(1, 0, -3))
arena.handle_events()
