def createAxis(previousJoint):
height = 12.0
radius = .5
zmt = osg.MatrixTransform()
previousJoint.addChild(zmt)
zShape = osg.ShapeDrawable(osg.Cylinder(osg.Vec3(0.0,0.0,height/2),radius,height),hints)
zCone = osg.ShapeDrawable(osg.Cone(osg.Vec3(0.0,0.0,1.0),radius+1.0,2.0),hints)
zmtCone = osg.MatrixTransform()
zgCone = osg.Geode()
zmtCone.setMatrix( osg.Matrix.translate(0.0,0.0,height))
previousJoint.addChild(zmtCone)
zShape.setColor(osg.Vec4(0.0, 0.0, 1.0, 1.0))
zCone.setColor(osg.Vec4(0.0, 0.0, 1.0, 1.0))
z = osg.Geode()
z.addDrawable(zShape)
zgCone.addDrawable(zCone)
zmtCone.addChild(zgCone)
zmt.addChild(z)
mt = osg.MatrixTransform()
previousJoint.addChild(mt)
xMatrix = osg.Matrix.rotate(-osg.PI_2, 0.0, 1.0, 0.0)
mt.setMatrix(xMatrix)
xShape = osg.ShapeDrawable(osg.Cylinder(osg.Vec3(0.0,0.0,height/2),radius,height),hints)
xShape.setColor(osg.Vec4(1.0, 0.0, 0.0, 1.0))
x = osg.Geode()
x.addDrawable(xShape)
mt.addChild(x)
yMt = osg.MatrixTransform()
previousJoint.addChild(yMt)
yMatrix = osg.Matrix.rotate(osg.PI_2, 1.0, 0.0, 0.0)
yMt.setMatrix(yMatrix)
yShape = osg.ShapeDrawable(osg.Cylinder(osg.Vec3(0.0,0.0,height/2),radius,height),hints)
yShape.setColor(osg.Vec4(0.0, 1.0, 0.0, 1.0))
y = osg.Geode()
y.addDrawable(yShape)
yMt.addChild(y)
def buildJoint6(previousJoint):
height = 3.0
radius = 1.0
joint = osg.Geode()
joint.addDrawable(osg.ShapeDrawable(osg.Cylinder(osg.Vec3(0.0,0.0,height/2),radius,height),hints))
xTransform = osg.MatrixTransform()
xRot = osg.Matrix.rotate(osg.PI_2, 1.0, 0.0, 0.0)
xTransform.setMatrix(xRot)
xTransform.addChild(joint)
previousJoint.addChild(xTransform)
if showAxis :
createAxis(xTransform)
return xTransform
def buildJoint1(previousJoint):
xTransform = osg.MatrixTransform()
previousJoint.addChild(xTransform)
radius = 6.7640
height = 45.0
joint = osg.Geode()
xTransform.addChild(joint)
joint.addDrawable(osg.ShapeDrawable(osg.Cylinder(osg.Vec3(0.0,0.0,height/2),radius,height),hints))
zTransform = osg.MatrixTransform()
xTransform.addChild(zTransform)
zTrans = osg.Matrix.translate(0.0, 0.0, height)
zRot = osg.Matrix.rotate(jointAngle1, 0.0, 0.0, 1.0)
zTransform.setMatrix(zTrans*zRot)
return zTransform
def createShapes():
geode = osg.Geode()
# ---------------------------------------
# Set up a StateSet to texture the objects
# ---------------------------------------
stateset = osg.StateSet()
image = osgDB.readImageFile( "Images/lz.rgb" )
if image :
texture = osg.Texture2D()
texture.setImage(image)
texture.setFilter(osg.Texture.MIN_FILTER, osg.Texture.LINEAR)
stateset.setTextureAttributeAndModes(0,texture, osg.StateAttribute.ON)
stateset.setMode(GL_LIGHTING, osg.StateAttribute.ON)
geode.setStateSet( stateset )
radius = 0.8
height = 1.0
hints = osg.TessellationHints()
hints.setDetailRatio(0.5)
geode.addDrawable(osg.ShapeDrawable(osg.Sphere(osg.Vec3(0.0,0.0,0.0),radius),hints))
geode.addDrawable(osg.ShapeDrawable(osg.Box(osg.Vec3(2.0,0.0,0.0),2*radius),hints))
geode.addDrawable(osg.ShapeDrawable(osg.Cone(osg.Vec3(4.0,0.0,0.0),radius,height),hints))
geode.addDrawable(osg.ShapeDrawable(osg.Cylinder(osg.Vec3(6.0,0.0,0.0),radius,height),hints))
geode.addDrawable(osg.ShapeDrawable(osg.Capsule(osg.Vec3(8.0,0.0,0.0),radius,height),hints))
grid = osg.HeightField()
grid.allocate(38,39)
grid.setXInterval(0.28)
grid.setYInterval(0.28)
for(unsigned int r=0r<39++r)
for(unsigned int c=0c<38++c)
grid.setHeight(c,r,vertex[r+c*39][2])
def buildJoint5(previousJoint):
radius = 2.86479
height = 2.86479*2
joint = osg.Geode()
shape = osg.ShapeDrawable(osg.Cylinder(osg.Vec3(0.0,0.0,0.0),radius,height),hints)
joint.addDrawable(shape)
xTransform = osg.MatrixTransform()
previousJoint.addChild(xTransform)
xRot = osg.Matrix.rotate(-osg.PI_2, 1.0,0,0)
xTransform.setMatrix(xRot)
xTransform.addChild(joint)
if showAxis :
createAxis(xTransform)
zTransform = osg.MatrixTransform()
zRot = osg.Matrix.rotate(jointAngle5, 0,0,1)
zTrans = osg.Matrix.translate(0,0,0)
zTransform.setMatrix(zTrans*zRot)
xTransform.addChild(zTransform)
return zTransform
def buildTube5(previousJoint):
if showAxis :
createAxis(previousJoint)
height = 7.5
radius = 2.86479
height = 15.0
joint = osg.Geode()
shape = osg.ShapeDrawable(osg.Cylinder(osg.Vec3(0.0,0.0,height/2),radius,height),hints)
joint.addDrawable(shape)
xTransform = osg.MatrixTransform()
previousJoint.addChild(xTransform)
xTransform.addChild(joint)
zTransform = osg.MatrixTransform()
zTrans = osg.Matrix.translate(0,0,height)
zTransform.setMatrix(zTrans)
xTransform.addChild(zTransform)
return zTransform
def createDemoScene(fixedSizeInScreen):
root = osg.Group()
geode_1 = osg.Geode()
transform_1 = osg.MatrixTransform()
geode_2 = osg.Geode()
transform_2 = osg.MatrixTransform()
geode_3 = osg.Geode()
transform_3 = osg.MatrixTransform()
geode_4 = osg.Geode()
transform_4 = osg.MatrixTransform()
geode_5 = osg.Geode()
transform_5 = osg.MatrixTransform()
geode_6 = osg.Geode()
transform_6 = osg.MatrixTransform()
geode_7 = osg.Geode()
transform_7 = osg.MatrixTransform()
radius = 0.8
height = 1.0
hints = osg.TessellationHints()
hints.setDetailRatio(2.0)
shape = osg.ShapeDrawable()
shape = osg.ShapeDrawable(osg.Box(osg.Vec3(0.0, 0.0, -2.0), 10, 10.0, 0.1), hints)
shape.setColor(osg.Vec4(0.5, 0.5, 0.7, 1.0))
geode_1.addDrawable(shape)
shape = osg.ShapeDrawable(osg.Cylinder(osg.Vec3(0.0, 0.0, 0.0), radius * 2,radius), hints)
shape.setColor(osg.Vec4(0.8, 0.8, 0.8, 1.0))
geode_2.addDrawable(shape)
shape = osg.ShapeDrawable(osg.Cylinder(osg.Vec3(-3.0, 0.0, 0.0), radius,radius), hints)
shape.setColor(osg.Vec4(0.6, 0.8, 0.8, 1.0))
geode_3.addDrawable(shape)
shape = osg.ShapeDrawable(osg.Cone(osg.Vec3(3.0, 0.0, 0.0), 2 * radius,radius), hints)
shape.setColor(osg.Vec4(0.4, 0.9, 0.3, 1.0))
geode_4.addDrawable(shape)
shape = osg.ShapeDrawable(osg.Cone(osg.Vec3(0.0, -3.0, 0.0), radius, height), hints)
shape.setColor(osg.Vec4(0.2, 0.5, 0.7, 1.0))
geode_5.addDrawable(shape)
shape = osg.ShapeDrawable(osg.Cylinder(osg.Vec3(0.0, 3.0, 0.0), radius, height), hints)
shape.setColor(osg.Vec4(1.0, 0.3, 0.3, 1.0))
geode_6.addDrawable(shape)
shape = osg.ShapeDrawable(osg.Cone(osg.Vec3(0.0, 0.0, 3.0), 2.0, 2.0), hints)
shape.setColor(osg.Vec4(0.8, 0.8, 0.4, 1.0))
geode_7.addDrawable(shape)
# material
matirial = osg.Material()
matirial.setColorMode(osg.Material.DIFFUSE)
matirial.setAmbient(osg.Material.FRONT_AND_BACK, osg.Vec4(0, 0, 0, 1))
matirial.setSpecular(osg.Material.FRONT_AND_BACK, osg.Vec4(1, 1, 1, 1))
matirial.setShininess(osg.Material.FRONT_AND_BACK, 64.0)
root.getOrCreateStateSet().setAttributeAndModes(matirial, osg.StateAttribute.ON)
transform_1.addChild(addDraggerToScene(geode_1,"TabBoxDragger",fixedSizeInScreen))
transform_2.addChild(addDraggerToScene(geode_2,"TabPlaneDragger",fixedSizeInScreen))
transform_3.addChild(addDraggerToScene(geode_3,"TabBoxTrackballDragger",fixedSizeInScreen))
transform_4.addChild(addDraggerToScene(geode_4,"TrackballDragger",fixedSizeInScreen))
transform_5.addChild(addDraggerToScene(geode_5,"Translate1DDragger",fixedSizeInScreen))
transform_6.addChild(addDraggerToScene(geode_6,"Translate2DDragger",fixedSizeInScreen))
transform_7.addChild(addDraggerToScene(geode_7,"TranslateAxisDragger",fixedSizeInScreen))
root.addChild(transform_1)
root.addChild(transform_2)
root.addChild(transform_3)
root.addChild(transform_4)
root.addChild(transform_5)
root.addChild(transform_6)
root.addChild(transform_7)
return root
"\n"
" gl_FragColor = clamp( color, 0.0, 1.0 )\n"
"\n"
#####################################/
static osg.Group rootNode
# Create some geometry upon which to render GLSL shaders.
static osg.Geode*
CreateModel()
geode = osg.Geode()
geode.addDrawable(osg.ShapeDrawable(osg.Sphere(osg.Vec3(0.0,0.0,0.0),1.0)))
geode.addDrawable(osg.ShapeDrawable(osg.Cone(osg.Vec3(2.2,0.0,-0.4),0.9,1.8)))
geode.addDrawable(osg.ShapeDrawable(osg.Cylinder(osg.Vec3(4.4,0.0,0.0),1.0,1.4)))
return geode
# Add a reference to the masterModel at the specified translation, and
# return its StateSet so we can easily attach StateAttributes.
static osg.StateSet*
ModelInstance()
static float zvalue = 0.0
static osg.Node* masterModel = CreateModel()
xform = osg.PositionAttitudeTransform()
xform.setPosition(osg.Vec3( 0.0, -1.0, zvalue ))
zvalue = zvalue + 2.2
xform.addChild(masterModel)
rootNode.addChild(xform)
return xform.getOrCreateStateSet()