class ManipulationManager(avango.script.Script):
### input fields
sf_key_1 = avango.SFBool()
sf_key_2 = avango.SFBool()
sf_key_3 = avango.SFBool()
sf_key_4 = avango.SFBool()
sf_key_5 = avango.SFBool()
sf_key_6 = avango.SFBool()
sf_key_7 = avango.SFBool()
sf_key_8 = avango.SFBool()
sf_hand_mat = avango.gua.SFMatrix4()
sf_dragging_trigger = avango.SFBool()
# constructor
def __init__(self):
self.super(ManipulationManager).__init__()
def my_constructor(self,
PARENT_NODE = None,
SCENE_ROOT = None,
TARGET_LIST = [],
):
### external references ###
self.SCENE_ROOT = SCENE_ROOT
self.TARGET_LIST = TARGET_LIST
### variables ###
self.dragged_objects_list = []
self.lf_hand_mat = avango.gua.make_identity_mat() # last frame hand matrix
## init hand geometry
_loader = avango.gua.nodes.TriMeshLoader() # init trimesh loader to load external meshes
self.hand_geometry = _loader.create_geometry_from_file("hand_geometry", "data/objects/hand.obj", avango.gua.LoaderFlags.DEFAULTS)
self.hand_geometry.Transform.value = \
avango.gua.make_rot_mat(45.0,1,0,0) * \
avango.gua.make_rot_mat(180.0,0,1,0) * \
avango.gua.make_scale_mat(0.06)
self.hand_geometry.Material.value.set_uniform("Color", avango.gua.Vec4(1.0, 0.86, 0.54, 1.0))
self.hand_geometry.Material.value.set_uniform("Emissivity", 0.9)
self.hand_geometry.Material.value.set_uniform("Metalness", 0.1)
self.hand_transform = avango.gua.nodes.TransformNode(Name = "hand_transform")
self.hand_transform.Children.value = [self.hand_geometry]
PARENT_NODE.Children.value.append(self.hand_transform)
self.hand_transform.Transform.connect_from(self.sf_hand_mat)
### init sub-classes ###
## init inputs
self.mouseInput = MouseInput()
self.mouseInput.my_constructor("gua-device-mouse")
if SPACEMOUSE_TYPE == "Spacemouse":
self.spacemouseInput = SpacemouseInput()
self.spacemouseInput.my_constructor("gua-device-spacemouse")
elif SPACEMOUSE_TYPE == "Blue Spacemouse":
self.spacemouseInput = NewSpacemouseInput()
self.spacemouseInput.my_constructor("gua-device-spacemouse")
## init manipulation techniques
self.IPCManipulation = IsotonicPositionControlManipulation()
self.IPCManipulation.my_constructor(self.mouseInput.mf_dof, self.mouseInput.mf_buttons)
self.EPCManipulation = ElasticPositionControlManipulation()
self.EPCManipulation.my_constructor(self.spacemouseInput.mf_dof, self.spacemouseInput.mf_buttons)
self.IRCManipulation = IsotonicRateControlManipulation()
self.IRCManipulation.my_constructor(self.mouseInput.mf_dof, self.mouseInput.mf_buttons)
self.ERCManipulation = ElasticRateControlManipulation()
self.ERCManipulation.my_constructor(self.spacemouseInput.mf_dof, self.spacemouseInput.mf_buttons)
self.IACManipulation = IsotonicAccelerationControlManipulation()
self.IACManipulation.my_constructor(self.mouseInput.mf_dof, self.mouseInput.mf_buttons)
self.EACManipulation = ElasticAccelerationControlManipulation()
self.EACManipulation.my_constructor(self.spacemouseInput.mf_dof, self.spacemouseInput.mf_buttons)
self.NIIPCManipulation = NonIsomorphicIsotonicPositionControlManipulation()
self.NIIPCManipulation.my_constructor(self.mouseInput.mf_dof, self.mouseInput.mf_buttons)
self.NIERCManipulation = NonIsomorphicElasticRateControlManipulation()
self.NIERCManipulation.my_constructor(self.spacemouseInput.mf_dof, self.spacemouseInput.mf_buttons)
## init keyboard sensor for system control
self.keyboard_sensor = avango.daemon.nodes.DeviceSensor(DeviceService = avango.daemon.DeviceService())
self.keyboard_sensor.Station.value = "gua-device-keyboard0"
self.sf_key_1.connect_from(self.keyboard_sensor.Button16) # key 1
self.sf_key_2.connect_from(self.keyboard_sensor.Button17) # key 2
self.sf_key_3.connect_from(self.keyboard_sensor.Button18) # key 3
self.sf_key_4.connect_from(self.keyboard_sensor.Button19) # key 4
self.sf_key_5.connect_from(self.keyboard_sensor.Button20) # key 5
self.sf_key_6.connect_from(self.keyboard_sensor.Button21) # key 6
self.sf_key_7.connect_from(self.keyboard_sensor.Button22) # key 7
self.sf_key_8.connect_from(self.keyboard_sensor.Button23) # key 8
### set initial states ###
self.set_manipulation_technique(1) # switch to isotonic position control
### functions ###
def set_manipulation_technique(self, INT):
self.manipulation_technique = INT
# disable prior manipulation technique
self.IPCManipulation.enable_manipulation(False)
self.EPCManipulation.enable_manipulation(False)
self.IRCManipulation.enable_manipulation(False)
self.ERCManipulation.enable_manipulation(False)
self.IACManipulation.enable_manipulation(False)
self.EACManipulation.enable_manipulation(False)
self.NIIPCManipulation.enable_manipulation(False)
self.NIERCManipulation.enable_manipulation(False)
# remove existing field connections
self.sf_hand_mat.disconnect()
self.sf_dragging_trigger.disconnect()
if self.manipulation_technique == 1: # isotonic position control
self.IPCManipulation.enable_manipulation(True)
# init field connections
self.sf_hand_mat.connect_from(self.IPCManipulation.sf_mat)
self.sf_dragging_trigger.connect_from(self.IPCManipulation.sf_action_trigger)
elif self.manipulation_technique == 2: # elastic position control
self.EPCManipulation.enable_manipulation(True)
# init field connections
self.sf_hand_mat.connect_from(self.EPCManipulation.sf_mat)
self.sf_dragging_trigger.connect_from(self.EPCManipulation.sf_action_trigger)
elif self.manipulation_technique == 3: # isotonic rate control
self.IRCManipulation.enable_manipulation(True)
# init field connections
self.sf_hand_mat.connect_from(self.IRCManipulation.sf_mat)
self.sf_dragging_trigger.connect_from(self.IRCManipulation.sf_action_trigger)
elif self.manipulation_technique == 4: # elastic rate control
self.ERCManipulation.enable_manipulation(True)
# init field connections
self.sf_hand_mat.connect_from(self.ERCManipulation.sf_mat)
self.sf_dragging_trigger.connect_from(self.ERCManipulation.sf_action_trigger)
elif self.manipulation_technique == 5: # isotonic acceleration control
self.IACManipulation.enable_manipulation(True)
# init field connections
self.sf_hand_mat.connect_from(self.IACManipulation.sf_mat)
self.sf_dragging_trigger.connect_from(self.IACManipulation.sf_action_trigger)
elif self.manipulation_technique == 6: # elastic acceleration control
self.EACManipulation.enable_manipulation(True)
# init field connections
self.sf_hand_mat.connect_from(self.EACManipulation.sf_mat)
self.sf_dragging_trigger.connect_from(self.EACManipulation.sf_action_trigger)
elif self.manipulation_technique == 7:
self.NIIPCManipulation.enable_manipulation(True)
# init field connections
self.sf_hand_mat.connect_from(self.NIIPCManipulation.sf_mat)
self.sf_dragging_trigger.connect_from(self.NIIPCManipulation.sf_action_trigger)
elif self.manipulation_technique == 8:
self.NIERCManipulation.enable_manipulation(True)
# init field connections
self.sf_hand_mat.connect_from(self.NIERCManipulation.sf_mat)
self.sf_dragging_trigger.connect_from(self.NIERCManipulation.sf_action_trigger)
def start_dragging(self):
_hand_mat = self.hand_transform.WorldTransform.value
for _node in self.TARGET_LIST:
if self.is_highlight_material(_node.CurrentColor.value) == True: # a monkey node in close proximity
_node.CurrentColor.value = avango.gua.Vec4(1.0, 0.0, 0.0, 1.0)
_node.Material.value.set_uniform("Color", _node.CurrentColor.value) # switch to dragging material
self.dragged_objects_list.append(_node) # add node for dragging
## dragging without snapping
# clac tool-hand offset
_dragging_offset_mat = avango.gua.make_inverse_mat(_hand_mat) * _node.Transform.value # object transformation in hand coordinate system
_node.DraggingOffsetMatrix.value = _dragging_offset_mat # here you can store node dependent dragging transformations
def update_dragging_candidates(self):
_hand_pos = self.hand_transform.WorldTransform.value.get_translate()
for _node in self.TARGET_LIST:
_pos = _node.Transform.value.get_translate() # a monkey position
_dist = (_hand_pos - _pos).length() # hand-object distance
_color = _node.CurrentColor.value
## toggle object highlight
if _dist < 0.025 and self.is_default_material(_color) == True:
_node.CurrentColor.value = avango.gua.Vec4(0.0, 1.0, 0.0, 1.0)
_node.Material.value.set_uniform("Color", _node.CurrentColor.value) # switch to highlight material
elif _dist > 0.03 and self.is_highlight_material(_color) == True:
_node.CurrentColor.value = avango.gua.Vec4(1.0, 1.0, 1.0, 1.0)
_node.Material.value.set_uniform("Color", _node.CurrentColor.value) # switch to default material
def object_dragging(self):
# apply hand movement to (all) dragged objects
for _node in self.dragged_objects_list:
_node.Transform.value = self.hand_transform.WorldTransform.value * _node.DraggingOffsetMatrix.value # apply tool-hand offset to absolute hand transformation
def stop_dragging(self):
## handle all dragged objects
for _node in self.dragged_objects_list:
_node.CurrentColor.value = avango.gua.Vec4(0.0, 1.0, 0.0, 1.0)
_node.Material.value.set_uniform("Color", _node.CurrentColor.value) # switch to highlight material
self.dragged_objects_list = [] # clear list
def is_default_material(self, VEC4):
return VEC4.x == 1.0 and VEC4.y == 1.0 and VEC4.z == 1.0 and VEC4.w == 1.0
def is_highlight_material(self, VEC4):
return VEC4.x == 0.0 and VEC4.y == 1.0 and VEC4.z == 0.0 and VEC4.w == 1.0
def is_dragging_material(self, VEC4):
return VEC4.x == 1.0 and VEC4.y == 0.0 and VEC4.z == 0.0 and VEC4.w == 1.0
### callback functions ###
@field_has_changed(sf_key_1)
def sf_key_1_changed(self):
if self.sf_key_1.value == True: # key is pressed
self.set_manipulation_technique(1) # switch to isotonic position control
@field_has_changed(sf_key_2)
def sf_key_2_changed(self):
if self.sf_key_2.value == True: # key is pressed
self.set_manipulation_technique(2) # switch to elastic position control
@field_has_changed(sf_key_3)
def sf_key_3_changed(self):
if self.sf_key_3.value == True: # key is pressed
self.set_manipulation_technique(3) # switch to isotonic rate control
@field_has_changed(sf_key_4)
def sf_key_4_changed(self):
if self.sf_key_4.value == True: # key is pressed
self.set_manipulation_technique(4) # switch to elastic rate control
@field_has_changed(sf_key_5)
def sf_key_5_changed(self):
if self.sf_key_5.value == True: # key is pressed
self.set_manipulation_technique(5) # switch to isotonic acceleration control
@field_has_changed(sf_key_6)
def sf_key_6_changed(self):
if self.sf_key_6.value == True: # key is pressed
self.set_manipulation_technique(6) # switch to elastic acceleration control
@field_has_changed(sf_key_7)
def sf_key_7_changed(self):
print("field_has_changed")
if self.sf_key_7.value == True: # key is pressed
self.set_manipulation_technique(7) # switch to elastic acceleration control
@field_has_changed(sf_key_8)
def sf_key_8_changed(self):
if self.sf_key_8.value == True: # key is pressed
self.set_manipulation_technique(8) # switch to elastic acceleration control
@field_has_changed(sf_dragging_trigger)
def sf_dragging_trigger_changed(self):
if self.sf_dragging_trigger.value == True:
self.start_dragging()
else:
self.stop_dragging()
def evaluate(self): # evaluated every frame if any input field has changed (incl. dependency evaluation)
self.update_dragging_candidates()
self.object_dragging() # possibly drag object with hand input
## print covered distance and hand velocity as debug output
_distance = (self.sf_hand_mat.value.get_translate() - self.lf_hand_mat.get_translate()).length()
_velocity = _distance * 60.0 # application loop runs with 60Hz
self.lf_hand_mat = self.sf_hand_mat.value
def my_constructor(self,
PARENT_NODE = None,
SCENE_ROOT = None,
TARGET_LIST = [],
):
### external references ###
self.SCENE_ROOT = SCENE_ROOT
self.TARGET_LIST = TARGET_LIST
### variables ###
self.dragged_objects_list = []
self.lf_hand_mat = avango.gua.make_identity_mat() # last frame hand matrix
## init hand geometry
_loader = avango.gua.nodes.TriMeshLoader() # init trimesh loader to load external meshes
self.hand_geometry = _loader.create_geometry_from_file("hand_geometry", "data/objects/hand.obj", avango.gua.LoaderFlags.DEFAULTS)
self.hand_geometry.Transform.value = \
avango.gua.make_rot_mat(45.0,1,0,0) * \
avango.gua.make_rot_mat(180.0,0,1,0) * \
avango.gua.make_scale_mat(0.06)
self.hand_geometry.Material.value.set_uniform("Color", avango.gua.Vec4(1.0, 0.86, 0.54, 1.0))
self.hand_geometry.Material.value.set_uniform("Emissivity", 0.9)
self.hand_geometry.Material.value.set_uniform("Metalness", 0.1)
self.hand_transform = avango.gua.nodes.TransformNode(Name = "hand_transform")
self.hand_transform.Children.value = [self.hand_geometry]
PARENT_NODE.Children.value.append(self.hand_transform)
self.hand_transform.Transform.connect_from(self.sf_hand_mat)
### init sub-classes ###
## init inputs
self.mouseInput = MouseInput()
self.mouseInput.my_constructor("gua-device-mouse")
if SPACEMOUSE_TYPE == "Spacemouse":
self.spacemouseInput = SpacemouseInput()
self.spacemouseInput.my_constructor("gua-device-spacemouse")
elif SPACEMOUSE_TYPE == "Blue Spacemouse":
self.spacemouseInput = NewSpacemouseInput()
self.spacemouseInput.my_constructor("gua-device-spacemouse")
## init manipulation techniques
self.IPCManipulation = IsotonicPositionControlManipulation()
self.IPCManipulation.my_constructor(self.mouseInput.mf_dof, self.mouseInput.mf_buttons)
self.EPCManipulation = ElasticPositionControlManipulation()
self.EPCManipulation.my_constructor(self.spacemouseInput.mf_dof, self.spacemouseInput.mf_buttons)
self.IRCManipulation = IsotonicRateControlManipulation()
self.IRCManipulation.my_constructor(self.mouseInput.mf_dof, self.mouseInput.mf_buttons)
self.ERCManipulation = ElasticRateControlManipulation()
self.ERCManipulation.my_constructor(self.spacemouseInput.mf_dof, self.spacemouseInput.mf_buttons)
self.IACManipulation = IsotonicAccelerationControlManipulation()
self.IACManipulation.my_constructor(self.mouseInput.mf_dof, self.mouseInput.mf_buttons)
self.EACManipulation = ElasticAccelerationControlManipulation()
self.EACManipulation.my_constructor(self.spacemouseInput.mf_dof, self.spacemouseInput.mf_buttons)
self.NIIPCManipulation = NonIsomorphicIsotonicPositionControlManipulation()
self.NIIPCManipulation.my_constructor(self.mouseInput.mf_dof, self.mouseInput.mf_buttons)
self.NIERCManipulation = NonIsomorphicElasticRateControlManipulation()
self.NIERCManipulation.my_constructor(self.spacemouseInput.mf_dof, self.spacemouseInput.mf_buttons)
## init keyboard sensor for system control
self.keyboard_sensor = avango.daemon.nodes.DeviceSensor(DeviceService = avango.daemon.DeviceService())
self.keyboard_sensor.Station.value = "gua-device-keyboard0"
self.sf_key_1.connect_from(self.keyboard_sensor.Button16) # key 1
self.sf_key_2.connect_from(self.keyboard_sensor.Button17) # key 2
self.sf_key_3.connect_from(self.keyboard_sensor.Button18) # key 3
self.sf_key_4.connect_from(self.keyboard_sensor.Button19) # key 4
self.sf_key_5.connect_from(self.keyboard_sensor.Button20) # key 5
self.sf_key_6.connect_from(self.keyboard_sensor.Button21) # key 6
self.sf_key_7.connect_from(self.keyboard_sensor.Button22) # key 7
self.sf_key_8.connect_from(self.keyboard_sensor.Button23) # key 8
### set initial states ###
self.set_manipulation_technique(1) # switch to isotonic position control
def start():
## create scenegraph
scenegraph = avango.gua.nodes.SceneGraph(Name = "scenegraph")
#physics = avango.gua.nodes.Physics()
## init scene
scene = Scene(PARENT_NODE = scenegraph.Root.value)
#scene.Physics.value = physics
## init navigation technique
deviceInput = NewSpacemouseInput()
deviceInput.my_constructor("gua-device-spacemouse")
steeringNavigation = SteeringNavigation()
steeringNavigation.my_constructor(deviceInput.mf_dof, deviceInput.mf_buttons, 0.15, 1.0) # connect navigation with spacemouse input
steeringNavigation.set_start_matrix(avango.gua.make_trans_mat(-2.1, 0.96, 0.705))
## init viewing setup
## init viewing and interaction setups
hostname = open('/etc/hostname', 'r').readline()
hostname = hostname.strip(" \n")
print("wokstation:", hostname)
if hostname == "medusa": # Samsung 3D-TV workstation
_tracking_transmitter_offset = avango.gua.make_trans_mat(-2.1, 0.96, 0.705) * avango.gua.make_rot_mat(90.0, 0, 1, 0) * avango.gua.make_rot_mat(90.0, -1, 0, 0) # transformation into tracking coordinate system
viewingSetup = MultiUserViewingSetup(
SCENEGRAPH = scenegraph,
WINDOW_RESOLUTION = avango.gua.Vec2ui(1400, 1050),
SCREEN_DIMENSIONS = avango.gua.Vec2(1.135, 0.85),
SCREEN_MATRIX = avango.gua.make_trans_mat(-2.1, 0.96, 0.705) * avango.gua.make_rot_mat(90.0, 0, 1, 0) * avango.gua.make_rot_mat(90.0, -1, 0, 0),
# TRACKING_TRANSMITTER_OFFSET = _tracking_transmitter_offset,
LEFT_POSITION = avango.gua.Vec2ui(0, 0),
LEFT_RESOLUTION = avango.gua.Vec2ui(1400, 1050),
RIGHT_POSITION = avango.gua.Vec2ui(1400, 0),
RIGHT_RESOLUTION = avango.gua.Vec2ui(1400, 1050),
DISPLAY_STRING_LIST = [[":0.0"], [":0.1"], [":0.2"]], # 3 user slots (left and right eye on same GPU)
WARP_MATRIX_RED_RIGHT = "/opt/dlp-warpmatrices/dlp_6_warp_P1.warp",
WARP_MATRIX_GREEN_RIGHT = "/opt/dlp-warpmatrices/dlp_6_warp_P2.warp",
WARP_MATRIX_BLUE_RIGHT = "/opt/dlp-warpmatrices/dlp_6_warp_P3.warp",
WARP_MATRIX_RED_LEFT = "/opt/dlp-warpmatrices/dlp_6_warp_P1.warp",
WARP_MATRIX_GREEN_LEFT = "/opt/dlp-warpmatrices/dlp_6_warp_P2.warp",
WARP_MATRIX_BLUE_LEFT = "/opt/dlp-warpmatrices/dlp_6_warp_P3.warp",
)
viewingSetup.init_user(HEADTRACKING_SENSOR_STATION = "tracking-dlp-glasses-1")
viewingSetup.init_user(HEADTRACKING_SENSOR_STATION = "tracking-dlp-glasses-2")
viewingSetup.init_user(HEADTRACKING_SENSOR_STATION = "tracking-dlp-glasses-3")
# manipulationManager = ManipulationManager()
# manipulationManager.my_constructor(
# SCENEGRAPH = scenegraph,
# NAVIGATION_NODE = viewingSetup.navigation_node,
# POINTER_TRACKING_STATION = "tracking-pst-pointer-1",
# TRACKING_TRANSMITTER_OFFSET = _tracking_transmitter_offset,
# POINTER_DEVICE_STATION = "device-pointer-1",
# HEAD_NODE = viewingSetup.head_node,
# )
else:
print("No Viewing Setup available for this workstation")
quit()
# viewingSetup.connect_navigation_matrix(steeringNavigation.sf_nav_mat)
# steeringNavigation.set_rotation_center_offset(viewingSetup.get_head_position())
print_graph(scenegraph.Root.value)
# leap = LeapSensor()
# leap.my_constructor(SCENE = scene, SCENEGRAPH = scenegraph, TRACKING_TRANSMITTER_OFFSET = _tracking_transmitter_offset)
## start application/render loop
viewingSetup.run(locals(), globals())
def my_constructor(self,
SCENEGRAPH = None,
NAVIGATION_NODE = None,
POINTER_TRACKING_STATION = "",
TRACKING_TRANSMITTER_OFFSET = avango.gua.make_identity_mat(),
POINTER_DEVICE_STATION = "",
):
### external references ###
self.SCENEGRAPH = SCENEGRAPH
self.NAVIGATION_NODE = NAVIGATION_NODE
### parameters ###
self.ray_length = 15.0 # in meter
self.ray_thickness = 0.015 # in meter
self.intersection_point_size = 0.02 # in meter
### variables ###
self.active_navigation_technique = None
## picking stuff
self.pick_result = None
self.white_list = []
self.black_list = ["invisible"]
self.pick_options = avango.gua.PickingOptions.PICK_ONLY_FIRST_OBJECT \
| avango.gua.PickingOptions.GET_POSITIONS \
| avango.gua.PickingOptions.GET_NORMALS \
| avango.gua.PickingOptions.GET_WORLD_POSITIONS \
| avango.gua.PickingOptions.GET_WORLD_NORMALS
### resources ###
## init sensors
self.keyboard_sensor = avango.daemon.nodes.DeviceSensor(DeviceService = avango.daemon.DeviceService())
self.keyboard_sensor.Station.value = "gua-device-keyboard0"
self.sf_key_1.connect_from(self.keyboard_sensor.Button16) # key 1
self.sf_key_2.connect_from(self.keyboard_sensor.Button17) # key 2
self.sf_key_3.connect_from(self.keyboard_sensor.Button18) # key 3
self.pointer_tracking_sensor = avango.daemon.nodes.DeviceSensor(DeviceService = avango.daemon.DeviceService())
self.pointer_tracking_sensor.Station.value = POINTER_TRACKING_STATION
self.pointer_tracking_sensor.TransmitterOffset.value = TRACKING_TRANSMITTER_OFFSET
self.pointer_device_sensor = avango.daemon.nodes.DeviceSensor(DeviceService = avango.daemon.DeviceService())
self.pointer_device_sensor.Station.value = POINTER_DEVICE_STATION
self.spacemouseInput = NewSpacemouseInput()
self.spacemouseInput.my_constructor("gua-device-spacemouse")
## init nodes
self.pointer_node = avango.gua.nodes.TransformNode(Name = "pointer_node")
self.pointer_node.Transform.connect_from(self.pointer_tracking_sensor.Matrix)
NAVIGATION_NODE.Children.value.append(self.pointer_node)
_loader = avango.gua.nodes.TriMeshLoader()
self.ray_geometry = _loader.create_geometry_from_file("ray_geometry", "data/objects/cylinder.obj", avango.gua.LoaderFlags.DEFAULTS)
self.ray_geometry.Material.value.set_uniform("Color", avango.gua.Vec4(1.0,0.0,0.0,1.0))
self.ray_geometry.Tags.value = ["invisible"]
self.pointer_node.Children.value.append(self.ray_geometry)
self.intersection_geometry = _loader.create_geometry_from_file("intersection_geometry", "data/objects/sphere.obj", avango.gua.LoaderFlags.DEFAULTS)
self.intersection_geometry.Material.value.set_uniform("Color", avango.gua.Vec4(1.0,0.0,0.0,1.0))
self.intersection_geometry.Tags.value = ["invisible"]
SCENEGRAPH.Root.value.Children.value.append(self.intersection_geometry)
## init manipulation techniques
self.steeringNavigation = SteeringNavigation()
self.steeringNavigation.my_constructor(self, self.spacemouseInput.mf_dof)
self.cameraInHandNavigation = CameraInHandNavigation()
self.cameraInHandNavigation.my_constructor(self)
self.navidgetNavigation = NavidgetNavigation()
self.navidgetNavigation.my_constructor(self, SCENEGRAPH)
self.ray = avango.gua.nodes.Ray() # required for trimesh intersection
NAVIGATION_NODE.Transform.connect_from(self.sf_nav_mat)
### set initial states ###
self.set_navigation_technique(0)
self.set_navigation_matrix(avango.gua.make_trans_mat(0.0,1.2,0.0))
class NavigationManager(avango.script.Script):
## input fields
sf_key_1 = avango.SFBool()
sf_key_2 = avango.SFBool()
sf_key_3 = avango.SFBool()
## output fields
sf_nav_mat = avango.gua.SFMatrix4()
sf_nav_mat.value = avango.gua.make_identity_mat()
## constructor
def __init__(self):
self.super(NavigationManager).__init__()
def my_constructor(self,
SCENEGRAPH = None,
NAVIGATION_NODE = None,
POINTER_TRACKING_STATION = "",
TRACKING_TRANSMITTER_OFFSET = avango.gua.make_identity_mat(),
POINTER_DEVICE_STATION = "",
):
### external references ###
self.SCENEGRAPH = SCENEGRAPH
self.NAVIGATION_NODE = NAVIGATION_NODE
### parameters ###
self.ray_length = 15.0 # in meter
self.ray_thickness = 0.015 # in meter
self.intersection_point_size = 0.02 # in meter
### variables ###
self.active_navigation_technique = None
## picking stuff
self.pick_result = None
self.white_list = []
self.black_list = ["invisible"]
self.pick_options = avango.gua.PickingOptions.PICK_ONLY_FIRST_OBJECT \
| avango.gua.PickingOptions.GET_POSITIONS \
| avango.gua.PickingOptions.GET_NORMALS \
| avango.gua.PickingOptions.GET_WORLD_POSITIONS \
| avango.gua.PickingOptions.GET_WORLD_NORMALS
### resources ###
## init sensors
self.keyboard_sensor = avango.daemon.nodes.DeviceSensor(DeviceService = avango.daemon.DeviceService())
self.keyboard_sensor.Station.value = "gua-device-keyboard0"
self.sf_key_1.connect_from(self.keyboard_sensor.Button16) # key 1
self.sf_key_2.connect_from(self.keyboard_sensor.Button17) # key 2
self.sf_key_3.connect_from(self.keyboard_sensor.Button18) # key 3
self.pointer_tracking_sensor = avango.daemon.nodes.DeviceSensor(DeviceService = avango.daemon.DeviceService())
self.pointer_tracking_sensor.Station.value = POINTER_TRACKING_STATION
self.pointer_tracking_sensor.TransmitterOffset.value = TRACKING_TRANSMITTER_OFFSET
self.pointer_device_sensor = avango.daemon.nodes.DeviceSensor(DeviceService = avango.daemon.DeviceService())
self.pointer_device_sensor.Station.value = POINTER_DEVICE_STATION
self.spacemouseInput = NewSpacemouseInput()
self.spacemouseInput.my_constructor("gua-device-spacemouse")
## init nodes
self.pointer_node = avango.gua.nodes.TransformNode(Name = "pointer_node")
self.pointer_node.Transform.connect_from(self.pointer_tracking_sensor.Matrix)
NAVIGATION_NODE.Children.value.append(self.pointer_node)
_loader = avango.gua.nodes.TriMeshLoader()
self.ray_geometry = _loader.create_geometry_from_file("ray_geometry", "data/objects/cylinder.obj", avango.gua.LoaderFlags.DEFAULTS)
self.ray_geometry.Material.value.set_uniform("Color", avango.gua.Vec4(1.0,0.0,0.0,1.0))
self.ray_geometry.Tags.value = ["invisible"]
self.pointer_node.Children.value.append(self.ray_geometry)
self.intersection_geometry = _loader.create_geometry_from_file("intersection_geometry", "data/objects/sphere.obj", avango.gua.LoaderFlags.DEFAULTS)
self.intersection_geometry.Material.value.set_uniform("Color", avango.gua.Vec4(1.0,0.0,0.0,1.0))
self.intersection_geometry.Tags.value = ["invisible"]
SCENEGRAPH.Root.value.Children.value.append(self.intersection_geometry)
## init manipulation techniques
self.steeringNavigation = SteeringNavigation()
self.steeringNavigation.my_constructor(self, self.spacemouseInput.mf_dof)
self.cameraInHandNavigation = CameraInHandNavigation()
self.cameraInHandNavigation.my_constructor(self)
self.navidgetNavigation = NavidgetNavigation()
self.navidgetNavigation.my_constructor(self, SCENEGRAPH)
self.ray = avango.gua.nodes.Ray() # required for trimesh intersection
NAVIGATION_NODE.Transform.connect_from(self.sf_nav_mat)
### set initial states ###
self.set_navigation_technique(0)
self.set_navigation_matrix(avango.gua.make_trans_mat(0.0,1.2,0.0))
### functions ###
def set_navigation_technique(self, INT):
# possibly disable prior technique
if self.active_navigation_technique is not None:
self.active_navigation_technique.enable(False)
# enable new technique
if INT == 0: # Steering Navigation
self.active_navigation_technique = self.steeringNavigation
print("Switch to Steering Navigation")
elif INT == 1: # Camera-in-Hand Navigation
self.active_navigation_technique = self.cameraInHandNavigation
print("Switch to Camera-In-Hand Navigation")
elif INT == 2: # Navidget Navigation
self.active_navigation_technique = self.navidgetNavigation
print("Switch to Navidget Navigation")
self.active_navigation_technique.enable(True)
def set_navigation_matrix(self, MAT4):
self.sf_nav_mat.value = MAT4
def get_navigation_matrix(self):
return self.sf_nav_mat.value
def calc_pick_result(self):
# update ray parameters
self.ray.Origin.value = self.pointer_node.WorldTransform.value.get_translate()
_vec = avango.gua.make_rot_mat(self.pointer_node.WorldTransform.value.get_rotate()) * avango.gua.Vec3(0.0,0.0,-1.0)
_vec = avango.gua.Vec3(_vec.x,_vec.y,_vec.z)
self.ray.Direction.value = _vec * self.ray_length
# intersect
_mf_pick_result = self.SCENEGRAPH.ray_test(self.ray, self.pick_options, self.white_list, self.black_list)
if len(_mf_pick_result.value) > 0: # intersection found
self.pick_result = _mf_pick_result.value[0] # get first pick result
else: # nothing hit
self.pick_result = None
def update_ray_visualization(self):
if self.pick_result is not None: # something hit
_pick_world_pos = self.pick_result.WorldPosition.value # pick position in world coordinate system
_distance = self.pick_result.Distance.value * self.ray_length # pick distance in ray coordinate system
self.ray_geometry.Transform.value = \
avango.gua.make_trans_mat(0.0,0.0,_distance * -0.5) * \
avango.gua.make_rot_mat(-90.0,1,0,0) * \
avango.gua.make_scale_mat(self.ray_thickness, _distance, self.ray_thickness)
self.intersection_geometry.Tags.value = [] # set intersection point visible
self.intersection_geometry.Transform.value = avango.gua.make_trans_mat(_pick_world_pos) * avango.gua.make_scale_mat(self.intersection_point_size)
else: # nothing hit --> apply default ray visualization
self.ray_geometry.Transform.value = \
avango.gua.make_trans_mat(0.0,0.0,self.ray_length * -0.5) * \
avango.gua.make_rot_mat(-90.0,1,0,0) * \
avango.gua.make_scale_mat(self.ray_thickness, self.ray_length, self.ray_thickness)
self.intersection_geometry.Tags.value = ["invisible"] # set intersection point invisible
### callback functions ###
@field_has_changed(sf_key_1)
def sf_key_1_changed(self):
if self.sf_key_1.value == True: # key is pressed
self.set_navigation_technique(0)
@field_has_changed(sf_key_2)
def sf_key_2_changed(self):
if self.sf_key_2.value == True: # key is pressed
self.set_navigation_technique(1)
@field_has_changed(sf_key_3)
def sf_key_3_changed(self):
if self.sf_key_3.value == True: # key is pressed
self.set_navigation_technique(2)
def start():
## create scenegraph
scenegraph = avango.gua.nodes.SceneGraph(Name="scenegraph")
## init scene
scene = Scene(PARENT_NODE=scenegraph.Root.value)
## init navigation technique
deviceInput = NewSpacemouseInput()
deviceInput.my_constructor("gua-device-spacemouse")
steeringNavigation = SteeringNavigation()
steeringNavigation.my_constructor(
deviceInput.mf_dof, deviceInput.mf_buttons, 0.15,
1.0) # connect navigation with spacemouse input
steeringNavigation.set_start_matrix(
avango.gua.make_trans_mat(0.0, 0.2, 0.25))
## init viewing setup
## init viewing and interaction setups
hostname = open('/etc/hostname', 'r').readline()
hostname = hostname.strip(" \n")
print("wokstation:", hostname)
if hostname == "orestes": # Mitsubishi 3D-TV workstation
_tracking_transmitter_offset = avango.gua.make_trans_mat(
-0.98, -(0.58 + 0.975), 0.27 + 3.48) * avango.gua.make_rot_mat(
90.0, 0, 1,
0) # transformation into tracking coordinate system
viewingSetup = StereoViewingSetup(
SCENEGRAPH=scenegraph,
WINDOW_RESOLUTION=avango.gua.Vec2ui(1920, 1080),
SCREEN_DIMENSIONS=avango.gua.Vec2(1.445, 0.81),
LEFT_SCREEN_RESOLUTION=avango.gua.Vec2ui(1920, 1080),
RIGHT_SCREEN_RESOLUTION=avango.gua.Vec2ui(1920, 1080),
STEREO_FLAG=True,
STEREO_MODE=avango.gua.StereoMode.CHECKERBOARD,
HEADTRACKING_FLAG=True,
HEADTRACKING_STATION=
"tracking-art-glasses-1", # wired 3D-TV glasses on Mitsubishi 3D-TV workstation
TRACKING_TRANSMITTER_OFFSET=_tracking_transmitter_offset,
)
manipulationManager = ManipulationManager()
manipulationManager.my_constructor(
SCENEGRAPH=scenegraph,
NAVIGATION_NODE=viewingSetup.navigation_node,
POINTER_TRACKING_STATION="tracking-art-pointer-3",
TRACKING_TRANSMITTER_OFFSET=_tracking_transmitter_offset,
POINTER_DEVICE_STATION="device-pointer-3", # gyromouse
HEAD_NODE=viewingSetup.head_node,
)
elif hostname == "athena": # small powerwall workstation
_tracking_transmitter_offset = avango.gua.make_trans_mat(
0.0, -1.42, 1.6) # transformation into tracking coordinate system
viewingSetup = StereoViewingSetup(
SCENEGRAPH=scenegraph,
WINDOW_RESOLUTION=avango.gua.Vec2ui(1920 * 2, 1200),
SCREEN_DIMENSIONS=avango.gua.Vec2(3.0, 2.0),
LEFT_SCREEN_POSITION=avango.gua.Vec2ui(140, 0),
LEFT_SCREEN_RESOLUTION=avango.gua.Vec2ui(1780, 1185),
RIGHT_SCREEN_POSITION=avango.gua.Vec2ui(1920, 0),
RIGHT_SCREEN_RESOLUTION=avango.gua.Vec2ui(1780, 1185),
STEREO_FLAG=True,
STEREO_MODE=avango.gua.StereoMode.SIDE_BY_SIDE,
HEADTRACKING_FLAG=True,
HEADTRACKING_STATION=
"tracking-art-glasses-2", # small powerwall polarization glasses
TRACKING_TRANSMITTER_OFFSET=_tracking_transmitter_offset,
)
manipulationManager = ManipulationManager()
manipulationManager.my_constructor(
SCENEGRAPH=scenegraph,
NAVIGATION_NODE=viewingSetup.navigation_node,
POINTER_TRACKING_STATION="tracking-art-pointer-2",
TRACKING_TRANSMITTER_OFFSET=_tracking_transmitter_offset,
POINTER_DEVICE_STATION="device-pointer-2",
HEAD_NODE=viewingSetup.head_node,
)
elif hostname == "kronos": # Samsung 3D-TV workstation
_tracking_transmitter_offset = avango.gua.make_trans_mat(
0.0, -0.5, 0.6) # transformation into tracking coordinate system
viewingSetup = StereoViewingSetup(
SCENEGRAPH=scenegraph,
WINDOW_RESOLUTION=avango.gua.Vec2ui(1920, 1080),
SCREEN_DIMENSIONS=avango.gua.Vec2(1.235, 0.7),
LEFT_SCREEN_RESOLUTION=avango.gua.Vec2ui(1920, 1080),
RIGHT_SCREEN_RESOLUTION=avango.gua.Vec2ui(1920, 1080),
STEREO_FLAG=True,
STEREO_MODE=avango.gua.StereoMode.CHECKERBOARD,
HEADTRACKING_FLAG=True,
HEADTRACKING_STATION=
"tracking-pst-glasses-1", # wired 3D-TV glasses on Samsung 3D-TV workstation
TRACKING_TRANSMITTER_OFFSET=_tracking_transmitter_offset,
)
manipulationManager = ManipulationManager()
manipulationManager.my_constructor(
SCENEGRAPH=scenegraph,
NAVIGATION_NODE=viewingSetup.navigation_node,
POINTER_TRACKING_STATION="tracking-pst-pointer-1",
TRACKING_TRANSMITTER_OFFSET=_tracking_transmitter_offset,
POINTER_DEVICE_STATION="device-pointer-1",
HEAD_NODE=viewingSetup.head_node,
)
else:
print("No Viewing Setup available for this workstation")
quit()
viewingSetup.connect_navigation_matrix(steeringNavigation.sf_nav_mat)
steeringNavigation.set_rotation_center_offset(
viewingSetup.get_head_position())
print_graph(scenegraph.Root.value)
## start application/render loop
viewingSetup.run(locals(), globals())
def start():
## create scenegraph
scenegraph = avango.gua.nodes.SceneGraph(Name="scenegraph")
## init scene
scene = Scene(PARENT_NODE=scenegraph.Root.value)
## init navigation technique
deviceInput = NewSpacemouseInput()
deviceInput.my_constructor("gua-device-spacemouse")
navigation = SpacemouseNavigation()
navigation.my_constructor(deviceInput.mf_dof, deviceInput.mf_buttons, 0.15,
1.0) # connect navigation with spacemouse input
navigation.set_start_matrix(avango.gua.make_trans_mat(0.0, 0.2, 0.25))
## init viewing and interaction setups
hostname = open('/etc/hostname', 'r').readline()
hostname = hostname.strip(" \n")
print("wokstation:", hostname)
if hostname == "perseus": # Mitsubishi 3D-TV workstation
_tracking_transmitter_offset = avango.gua.make_trans_mat(
-0.98, -(0.58 + 0.975), 0.27 + 3.48) * avango.gua.make_rot_mat(
90.0, 0, 1,
0) # transformation into tracking coordinate system
viewingSetup = StereoViewingSetup(
SCENEGRAPH=scenegraph,
WINDOW_RESOLUTION=avango.gua.Vec2ui(1920, 1080),
SCREEN_DIMENSIONS=avango.gua.Vec2(1.445, 0.81),
LEFT_SCREEN_RESOLUTION=avango.gua.Vec2ui(1920, 1080),
RIGHT_SCREEN_RESOLUTION=avango.gua.Vec2ui(1920, 1080),
STEREO_FLAG=True,
STEREO_MODE=avango.gua.StereoMode.CHECKERBOARD,
HEADTRACKING_FLAG=True,
HEADTRACKING_STATION=
"tracking-glasses-1", # wired 3D-TV glasses on Mitsubishi 3D-TV workstation
TRACKING_TRANSMITTER_OFFSET=_tracking_transmitter_offset,
)
pointerInput = PointerInput()
pointerInput.init_art_pointer(
POINTER_DEVICE_STATION="device-pointer-2", # gyromouse pointer
POINTER_TRACKING_STATION="tracking-pointer-2", # gyromouse pointer
TRACKING_TRANSMITTER_OFFSET=_tracking_transmitter_offset,
KEYBOARD_STATION="gua-device-keyboard",
)
manipulationManager = ManipulationManager()
manipulationManager.my_constructor(
SCENEGRAPH=scenegraph,
NAVIGATION_NODE=viewingSetup.navigation_node,
HEAD_NODE=viewingSetup.head_node,
POINTER_INPUT=pointerInput,
)
elif hostname == "andromeda": # ASUS 3D mirror display
_tracking_transmitter_offset = avango.gua.make_rot_mat(
12.46, 1, 0, 0) * avango.gua.make_trans_mat(
0.5, -(0.22 + 0.975), 0.39 + 3.48) * avango.gua.make_rot_mat(
90.0, 0, 1,
0) # transformation into tracking coordinate system
viewingSetup = StereoViewingSetup(
SCENEGRAPH=scenegraph,
WINDOW_RESOLUTION=avango.gua.Vec2ui(2560 * 2, 1440),
SCREEN_DIMENSIONS=avango.gua.Vec2(0.595, 0.335),
LEFT_SCREEN_POSITION=avango.gua.Vec2ui(0, 0),
LEFT_SCREEN_RESOLUTION=avango.gua.Vec2ui(2560, 1440),
RIGHT_SCREEN_RESOLUTION=avango.gua.Vec2ui(2560, 1440),
RIGHT_SCREEN_POSITION=avango.gua.Vec2ui(2560, 0),
STEREO_FLAG=True,
STEREO_MODE=avango.gua.StereoMode.SIDE_BY_SIDE,
HEADTRACKING_FLAG=True,
HEADTRACKING_STATION=
"tracking-glasses-4", # ASUS 3D mirror display glasses
TRACKING_TRANSMITTER_OFFSET=_tracking_transmitter_offset,
)
pointerInput = PointerInput()
pointerInput.init_art_pointer(
POINTER_DEVICE_STATION="device-pointer-1", # HAS
POINTER_TRACKING_STATION="tracking-pointer-1", # HAS
TRACKING_TRANSMITTER_OFFSET=_tracking_transmitter_offset,
KEYBOARD_STATION="gua-device-keyboard",
)
manipulationManager = ManipulationManager()
manipulationManager.my_constructor(
SCENEGRAPH=scenegraph,
NAVIGATION_NODE=viewingSetup.navigation_node,
HEAD_NODE=viewingSetup.head_node,
POINTER_INPUT=pointerInput,
)
elif hostname == "athena": # small powerwall workstation
_tracking_transmitter_offset = avango.gua.make_trans_mat(
0.0, -1.42, 1.6) # transformation into tracking coordinate system
viewingSetup = StereoViewingSetup(
SCENEGRAPH=scenegraph,
WINDOW_RESOLUTION=avango.gua.Vec2ui(1920 * 2, 1200),
SCREEN_DIMENSIONS=avango.gua.Vec2(3.0, 2.0),
LEFT_SCREEN_POSITION=avango.gua.Vec2ui(134, 1),
LEFT_SCREEN_RESOLUTION=avango.gua.Vec2ui(1770, 1175),
RIGHT_SCREEN_POSITION=avango.gua.Vec2ui(1934, 0),
RIGHT_SCREEN_RESOLUTION=avango.gua.Vec2ui(1765, 1165),
STEREO_FLAG=True,
STEREO_MODE=avango.gua.StereoMode.SIDE_BY_SIDE,
HEADTRACKING_FLAG=True,
HEADTRACKING_STATION=
"tracking-glasses-2", # wired 3D-TV glasses on Samsung 3D-TV workstation
TRACKING_TRANSMITTER_OFFSET=_tracking_transmitter_offset,
)
pointerInput = PointerInput()
pointerInput.init_art_pointer(
POINTER_DEVICE_STATION="device-pointer-3", # 2.4G pointer (green)
POINTER_TRACKING_STATION=
"tracking-pointer-3", # 2.4G pointer (green)
TRACKING_TRANSMITTER_OFFSET=_tracking_transmitter_offset,
KEYBOARD_STATION="gua-device-keyboard",
)
manipulationManager = ManipulationManager()
manipulationManager.my_constructor(
SCENEGRAPH=scenegraph,
NAVIGATION_NODE=viewingSetup.navigation_node,
HEAD_NODE=viewingSetup.head_node,
POINTER_INPUT=pointerInput,
)
elif hostname == "boreas": # Samsung 3D-TV workstation
_tracking_transmitter_offset = avango.gua.make_trans_mat(
0.0, -1.3, 1.45) # transformation into tracking coordinate system
viewingSetup = StereoViewingSetup(
SCENEGRAPH=scenegraph,
WINDOW_RESOLUTION=avango.gua.Vec2ui(1920, 1080),
SCREEN_DIMENSIONS=avango.gua.Vec2(1.24, 0.69),
LEFT_SCREEN_RESOLUTION=avango.gua.Vec2ui(1920, 1080),
RIGHT_SCREEN_RESOLUTION=avango.gua.Vec2ui(1920, 1080),
STEREO_FLAG=True,
STEREO_MODE=avango.gua.StereoMode.CHECKERBOARD,
HEADTRACKING_FLAG=True,
HEADTRACKING_STATION="tracking-glasses-3",
TRACKING_TRANSMITTER_OFFSET=_tracking_transmitter_offset,
)
pointerInput = PointerInput()
pointerInput.init_art_pointer(
POINTER_DEVICE_STATION="device-pointer-3", # 2.4G Mouse
POINTER_TRACKING_STATION="tracking-pointer-3", # 2.4G Mouse
TRACKING_TRANSMITTER_OFFSET=_tracking_transmitter_offset,
KEYBOARD_STATION="gua-device-keyboard",
)
manipulationManager = ManipulationManager()
manipulationManager.my_constructor(
SCENEGRAPH=scenegraph,
NAVIGATION_NODE=viewingSetup.navigation_node,
HEAD_NODE=viewingSetup.head_node,
POINTER_INPUT=pointerInput,
)
else:
print("No Viewing Setup available for this workstation")
quit()
viewingSetup.connect_navigation_matrix(navigation.sf_nav_mat)
navigation.set_rotation_center_offset(viewingSetup.get_head_position())
print_graph(scenegraph.Root.value)
## start application/render loop
viewingSetup.run(locals(), globals())