def __init__(self, filename, parent=None):
"""
Constructor
Class constructor for OpenGL VBO
in:
CAD_LCS_GCS - array of center of body mass in GCS
geom_file - a body geometry full filename (filename = name + extension)
geom_file_extension - extension
color_GL - a normalized array of RGB color vector for the body
transparent_GL - a transparency factor of a body between 0 and 1
out:
VBO interleaved array of data saved to GPU memory
"""
self._parent = parent
self.filename = filename
self._filename, self._file_extension = os.path.splitext(filename)
# read geom data from stl (geometry) geom_file with model_loader
if os.path.isfile(filename):
self.geom_data = ModelLoader(filename)
else:
raise IOError, "File not found!"
# created status
self.VBO_created = False
# shift vertices that body center of mass is the origin
self.geom_data.vertices = vertices_offset.offset(self.geom_data.vertices, parent.CM_CAD_LCS)
def __init__(self, filename, parent=None):
"""
Constructor
Class constructor for OpenGL VBO
in:
CAD_LCS_GCS - array of center of body mass in GCS
geom_file - a body geometry full filename (filename = name + extension)
geom_file_extension - extension
out:
VBO interleaved array of data saved to GPU memory
"""
super(Geometry, self).__init__(filename, parent)
# parent
self._parent = parent
# type
self._typeInfo = "geometry"
# filename
self.filename = filename
if self.filename is not None:
self._filename, self._file_extension = os.path.splitext(filename)
# read geom data from stl (geometry) geom_file with model_loader
if os.path.isfile(filename):
self.geom_data = ModelLoader(filename)
else:
print "File not found!"
# visualization properties
self._visible = True
self.vtk_actor = None
class Geometry(object):
"""
classdocs
"""
def __init__(self, filename, parent=None):
"""
Constructor
Class constructor for OpenGL VBO
in:
CAD_LCS_GCS - array of center of body mass in GCS
geom_file - a body geometry full filename (filename = name + extension)
geom_file_extension - extension
color_GL - a normalized array of RGB color vector for the body
transparent_GL - a transparency factor of a body between 0 and 1
out:
VBO interleaved array of data saved to GPU memory
"""
self._parent = parent
self.filename = filename
self._filename, self._file_extension = os.path.splitext(filename)
# read geom data from stl (geometry) geom_file with model_loader
if os.path.isfile(filename):
self.geom_data = ModelLoader(filename)
else:
raise IOError, "File not found!"
# created status
self.VBO_created = False
# shift vertices that body center of mass is the origin
self.geom_data.vertices = vertices_offset.offset(self.geom_data.vertices, parent.CM_CAD_LCS)
# print "self.geom_data.vertices ="
# print self.geom_data.vertices
#
# print len(self.geom_data.vertices)
# print np.shape(self.geom_data.vertices)
# triangles = np.arange(0, len(self.geom_data.vertices)).reshape(3, len(self.geom_data.vertices)/3)+0
# np.savetxt(filename+"triagnles.txt", triangles, "%4i", delimiter=",", newline=";\n")
def create_VBO(self):
"""
Method creates a Vertex Buffer Object and writes it to VRAM on GPU
"""
# generate a new VBO and get the associated vbo_id
num_of_VBOs = 1
# create buffer name
self.vbo_id = GLuint()
self.vbo_id = glGenBuffers(num_of_VBOs)
# bind name to buffer
glBindBuffer(GL_ARRAY_BUFFER, self.vbo_id)
# test if is buffer
if glIsBuffer(self.vbo_id) == 1:
self.VBO_created = True
else:
self.VBO_created = False
raise Error, "VBO not created!"
# number of vertices
self.N_vertices = len(self.geom_data.vertices)
# color vector
# check if color vector is a uniform color - every vertex has the same color or is a color vector different for every vertex
if len(self._parent.color_GL) == 3:
color_GL = np.array([np.append(self._parent.color_GL, self._parent.transparent_GL)], dtype='float32')
self.vertex_color = np.repeat(color_GL, self.N_vertices, axis=0)
elif color_GL.shape == color_GL.shape:
None
else:
raise Error, "Color data shape not equal to vertices."
# reshape VBO_data and create interleaved VBO
self.VBO_data = VBO_reshape.create_VBO_array(self._file_extension, self.geom_data.get_vertices_3D(), self.geom_data.get_normals_3D(), self.vertex_color, GL_primitive_type="triangle")
# VBO_data size in bytes
self.VBO_data_size_in_bytes = arrays.ArrayDatatype.arrayByteCount(self.VBO_data)
# allocate space and upload the data from CPU to GPU
# bind data to buffer
glBindBuffer(GL_ARRAY_BUFFER, self.vbo_id)
# add VBO data to buffer
glBufferData(GL_ARRAY_BUFFER, self.VBO_data_size_in_bytes, self.VBO_data, GL_DYNAMIC_DRAW)
glBindBuffer(GL_ARRAY_BUFFER, 0)
if glGetError() == GL_NO_ERROR:
self.VBO_created = True
def __del__(self):
"""
Delete opengl object VBO from VRAM
"""
try:
glDeleteBuffers(1, int(self.vbo_id))
except:
pass
def _update_VBO_color(self, color, transparent):
"""
Update color of VBO object
"""
# color array of each vertex
_color = np.array([np.append(color, transparent)], dtype='float32').flatten()
# offset in bits
_offset = 24
# size in bits, to be replaces
_size = arrays.ArrayDatatype.arrayByteCount(_color)
glBindBuffer(GL_ARRAY_BUFFER, self.vbo_id)
# loop through nodes
for i in range(0, self.N_vertices):
glBufferSubData(GL_ARRAY_BUFFER, _offset+i*(_offset+16), _size, _color)
glBindBuffer(GL_ARRAY_BUFFER, 0)
def _paint_VBO(self):
"""
:return:
"""
if self.VBO_created:
# bind to buffer
glBindBuffer(GL_ARRAY_BUFFER, self.vbo_id)
# pointer - offset in bits
v_pointer = ctypes.c_void_p(0)
n_pointer = ctypes.c_void_p(12)
c_pointer = ctypes.c_void_p(24)
# stride in bits (1 float = 4 bits)
stride_in_bits = 40
glVertexPointer(3, GL_FLOAT, stride_in_bits, v_pointer)
glColorPointer(4, GL_FLOAT, stride_in_bits, c_pointer)
glEnableClientState(GL_NORMAL_ARRAY)
glNormalPointer(GL_FLOAT, stride_in_bits, n_pointer)
# draw by type of visualization
if self._parent.display_style == "wireframe":
glDisable(GL_LIGHTING)
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE) # GL_FRONT, GL_FRONT_AND_BACK
glDrawArrays(GL_TRIANGLES, 0, self.N_vertices)
glEnable(GL_LIGHTING)
elif self._parent.display_style == "filled":
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
glDrawArrays(GL_TRIANGLES, 0, self.N_vertices)
elif self._parent.display_style == "points":
glDisable(GL_LIGHTING)
glPointSize(0.2)
glPolygonMode(GL_FRONT_AND_BACK, GL_POINT)
glDrawArrays(GL_TRIANGLES, 0, self.N_vertices)
glPointSize(1)
glEnable(GL_LIGHTING)
else:
None
glBindBuffer(GL_ARRAY_BUFFER, 0)
