def __init__(self,
fps=DEFAULT_FPS,
sim_settings=None,
sync_sim=True,
sim_dt=DEFAULT_SIM_DT):
self.maxfps = fps
self.sim_dt = sim_dt
self.interval = 1.0 / self.maxfps
if sim_settings is None:
sim_settings = dict()
self.sim_settings = sim_settings
sim = None
if constants.activate_simulation:
self.sim_settings["auto_disable"] = False
if "engine" not in self.sim_settings:
self.sim_settings["engine"] = "ode"
self.sim_settings["add_ground"] = True
sim = SimWorld(**self.sim_settings)
self.scene = Scene(False, sim=sim)
self.keyboard_handler = dict()
self.last_time = time.perf_counter()
self.next_time = self.last_time + self.interval
self.scene.global_vars["step"] = 0
self.scene.global_vars["fps"] = self.maxfps
self.synchronize_updates = True
self.synchronize_simulation = sync_sim and self.scene.sim is not None
self.is_running = False
self.visualize = False
self.fixed_dt = False
def init_scenes(self):
sim = None
if constants.activate_simulation:
sim_settings = dict()
sim_settings["auto_disable"] = False
sim_settings["engine"] = "ode"
sim_settings["add_ground"] = True
sim = SimWorld(**sim_settings)
self.scene = EditorScene(self.visualize, sim)
self.scene.added_scene_object.connect(self.relayAddedSceneObject)
self.scene.reached_end_of_animation.connect(self.relayEndOfAnimation)
self.scene.deleted_scene_object.connect(self.relayDeletedSceneObject)
self.scene.update_scene_object.connect(self.relayUpdateSceneObject)
self.scene.updated_animation_frame.connect(self.relayUpdateAnimationFrame)
self.interaction.set_scene(self.scene)
for view in self.views:
view.mouse_click.connect(self.on_mouse_click)
view.mouse_move.connect(self.on_mouse_move)
view.mouse_release.connect(self.on_mouse_release)
print("init scene")
def __init__(self, fps=60.0, sim_settings=None, sync_sim=True):
self.maxfps = fps
self.sim_dt = 1 / 200
self.interval = 1.0 / self.maxfps
if sim_settings is None:
sim_settings = dict()
sim = None
if constants.activate_simulation:
sim_settings["auto_disable"] = False
sim_settings["engine"] = "ode"
sim_settings["add_ground"] = True
sim = SimWorld(**sim_settings)
self.scene = Scene(False, sim=sim)
self.keyboard_handler = dict()
self.current_time = time.perf_counter()
self.last_time = self.current_time
self.last_fps_update_time = self.current_time
self.next_time = self.current_time + self.interval
self.scene.global_vars["step"] = 0
self.scene.global_vars["fps"] = self.maxfps
self.synchronize_simulation = sync_sim and self.scene.sim is not None
self.isRunning = False
def __init__(self,
width,
height,
setup_scene=None,
title="PyGameApp",
console_scale=0.5,
camera_pose=None,
draw_plot=False,
sim_settings=None,
sim_delta_time=SIM_DELTA_TIME,
fps=DEFAULT_FPS):
self.maxfps = fps
self.interval = 1000.0 / self.maxfps
#self.interval = 1 / self.maxfps
self.width = width
self.height = height
self.aspect = float(width) / float(height)
pygame.init()
pygame.display.set_caption(title)
self.surface = pygame.display.set_mode(
(width, height), pygame.OPENGL | pygame.DOUBLEBUF, 16)
self.graphics_context = GraphicsContext(width, height)
self.console = Console([0, 0], scale=console_scale)
self.plot_manager = PlotManager(self.width, self.height)
sim = None
if constants.activate_simulation:
if sim_settings is None:
sim_settings = dict()
sim_settings["auto_disable"] = False
sim_settings["engine"] = "ode"
#self.sim_settings["engine"] = "bullet"
sim_settings["add_ground"] = True
sim = SimWorld(**sim_settings)
self.scene = EditorScene(True, sim)
self.scene._create_visual_reference_frame()
self.scene.sim_delta_time = sim_delta_time
if sim_settings is not None and "delta_time" in sim_settings:
self.scene.sim_delta_time = sim_settings["delta_time"]
#self.camera = OrbitingCamera()
self.camera_controller = CameraController(self.graphics_context.camera,
camera_pose)
glClearColor(0.0, 0.0, 0.0, 1.0)
self.reshape()
self.keyboard_handler = dict()
self.mouse_move_handler = dict()
self.mouse_click_handler = dict()
self.mouse_move_handler["camera_mouse"] = (
self.camera_controller.mouse_move, None)
self.mouse_click_handler["camera_zoom"] = (self.camera_controller.zoom,
None)
self.draw_plot = draw_plot
self.scene.global_vars["step"] = 0
if setup_scene is not None:
setup_scene(app=self)
self.last_time = pygame.time.get_ticks()
self.next_time = self.last_time + self.interval
def __init__(self,
width,
height,
title="GLUTApp",
console_scale=0.5,
camera_pose=None,
maxfps=60,
sim_settings=None,
sync_sim=True,
clear_color=DEFAULT_CLEAR_COLOR):
self.maxfps = maxfps
self.interval = 1.0 / self.maxfps
self.width = width
self.height = height
self.aspect = float(width) / float(height)
glutInit(sys.argv)
pygame.init()
# Create a double-buffer RGBA window
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH)
glutInitWindowSize(width, height)
glutCreateWindow(str.encode(title))
glutReshapeFunc(self.reshape)
glutDisplayFunc(self.update)
glutKeyboardFunc(self.keyboard)
glutMouseFunc(self.mouse)
glutMotionFunc(self.mouse_motion)
glutPassiveMotionFunc(self.passive_mouse_motion)
glutMouseWheelFunc(self.mouse_wheel)
glutKeyboardFunc(self.keyboard)
self.shader_manager = ShaderManager()
self.shader_manager.initShaderMap()
self.primitive_manager = PrimitiveManager()
self.console = IMGUIConsole([0, 0], scale=console_scale)
self.show_console = True
if sim_settings is None:
sim_settings = dict()
self.sim_settings = sim_settings
sim = None
if constants.activate_simulation:
self.sim_settings["auto_disable"] = False
self.sim_settings["engine"] = "ode"
self.sim_settings["add_ground"] = True
sim = SimWorld(**self.sim_settings)
self.scene = EditorScene(True, sim=sim)
self.main_renderer = MainRenderer()
self.camera = OrbitingCamera()
self.camera_controller = CameraController(self.camera, camera_pose)
glClearColor(0.0, 0.0, 0.0, 1.0)
self.keyboard_handler = dict()
self.last_time = time.perf_counter()
self.next_time = self.last_time + self.interval
self.scene.global_vars["step"] = 0
self.scene.global_vars["fps"] = self.maxfps
self.synchronize_simulation = sync_sim
self.last_click_position = np.zeros(3)
self.mutex = threading.Lock()
self.synchronize_updates = True
self.plot_manager = PlotManager(self.width, self.height)
self.draw_plot = True
self.fixed_dt = True
self.clear_color = clear_color
imgui.create_context()
self.imgui_renderer = ProgrammablePipelineRenderer()
self.io = imgui.get_io()
self.io.display_size = width, height
self.reshape(width, height)
def __init__(self,
width,
height,
title="GLUTApp",
console_scale=0.5,
camera_pose=None,
maxfps=60,
sim_settings=None,
sync_sim=True,
use_shadows=True,
use_frame_buffer=True,
clear_color=DEFAULT_CLEAR_COLOR,
sim_dt=1.0 / 200):
self.maxfps = maxfps
self.sim_dt = sim_dt
self.interval = 1.0 / self.maxfps
self.width = width
self.height = height
self.aspect = float(width) / float(height)
glutInit(sys.argv)
# needed for the console which uses font functions of pygame
pygame.init()
# Create a double-buffer RGBA window.
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH)
glutInitWindowSize(width, height)
glutCreateWindow(str.encode(title))
#wglSwapIntervalEXT(0) disable vsync
glutReshapeFunc(self.reshape)
glutDisplayFunc(self.update)
glutKeyboardFunc(self.keyboard)
glutKeyboardFunc(self.keyboard)
if sim_settings is None:
sim_settings = dict()
self.sim_settings = sim_settings
self.graphics_context = GraphicsContext(width, height)
self.console = Console([0, 0], scale=console_scale)
sim = None
if constants.activate_simulation:
self.sim_settings["auto_disable"] = False
self.sim_settings["engine"] = "ode"
self.sim_settings["add_ground"] = True
sim = SimWorld(**self.sim_settings)
self.scene = EditorScene(True, sim=sim)
self.camera_controller = CameraController(self.graphics_context.camera,
camera_pose)
glutMouseFunc(self.mouse_click)
glutMotionFunc(self.mouse_motion)
glutMouseWheelFunc(self.mouse_wheel)
glClearColor(0.0, 0.0, 0.0, 1.0)
self.keyboard_handler = dict()
self.last_time = time.perf_counter()
self.next_time = self.last_time + self.interval
self.scene.global_vars["step"] = 0
self.scene.global_vars["fps"] = self.maxfps
self.synchronize_simulation = sync_sim and self.scene.sim is not None
self.last_click_position = np.zeros(3)
self.mutex = threading.Lock()
self.synchronize_updates = True
self.enable_object_selection = False
self.clear_color = clear_color
self.use_shadows = use_shadows
self.use_frame_buffer = use_frame_buffer
self.reshape(width, height)