def circle(pos, radius, color=(1.0,1.0,1.0), alpha=1.0,segments=6):
"""
Draws a circle with gluDisk
:param pos: center of the circle
:type pos: 2-float tuple
:param radius: radius of the circle
:type radius: float
:param color: the color in [0..1] range
:type color: 3-float tuple
:param alpha: the alpha value in [0..1] range
:param segments: number of segments
:type segments: int
"""
glDisable(GL_TEXTURE_2D)
c = gluNewQuadric()
glColor4f(color[0], color[1], color[2], alpha)
glPushMatrix()
glTranslatef(pos[0], pos[1], 0)
gluDisk(c, 0, radius, segments, 1)
glPopMatrix()
glColor4f(1.0,1.0,1.0,1.0)
glEnable(GL_TEXTURE_2D)
def __init__(self, x, y, z=50, radius=1, color=(0, 0, 1, 0)):
super(Sphere, self).__init__(color)
self.x = x
# Need to swap y and z (y is up)
self.y = z
self.z = y
self.radius = radius
self.sphere = gl.gluNewQuadric()
def draw_shape_circle(self, circle, position):
glPushMatrix()
center = position + circle.center
# We have no need for unit perfect circle, as we will still have a
# projection in the game.
# draw_circle(center.x, center.y, circle.radius, iterations=32)
glTranslatef(center.x, center.y, 0)
sphere = gluNewQuadric()
gluSphere(sphere, circle.radius, 32, 5)
glPopMatrix()
def render_mesh(self, segment: bool, enable_leds: bool):
self.mesh.render(segment=segment)
if enable_leds and self.kind == MapFormat1Constants.KIND_DUCKIEBOT:
# attrs =
# gl.glPushAttrib(gl.GL_ALL_ATTRIB_BITS)
s_main = 0.01 # 1 cm sphere
# LIGHT_MULT_MAIN = 10
s_halo = 0.04
height = 0.05
positions = {
"front_left": [0.1, -0.05, height],
"front_right": [0.1, +0.05, height],
"center": [0.1, +0.0, height],
"back_left": [-0.1, -0.05, height],
"back_right": [-0.1, +0.05, height],
}
if isinstance(self, DuckiebotObj):
colors = self.leds_color
else:
colors = {
"center": (0, 0, 1),
"front_left": (0, 0, 1),
"front_right": (0, 0, 1),
"back_left": (0, 0, 1),
"back_right": (0, 0, 1),
}
for light_name, (px, py, pz) in positions.items():
color = np.clip(colors[light_name], 0, +1)
color_intensity = float(np.mean(color))
gl.glPushMatrix()
gl.glTranslatef(px, pz, py)
gl.glEnable(gl.GL_BLEND)
# gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE)
sphere = gluNewQuadric()
gl.glColor4f(color[0], color[1], color[2], 1.0)
gluSphere(sphere, s_main, 10, 10)
gl.glColor4f(color[0], color[1], color[2], 0.2)
s_halo_effective = color_intensity * s_halo
gluSphere(sphere, s_halo_effective, 10, 10)
gl.glColor4f(1.0, 1.0, 1.0, 1.0)
gl.glBlendFunc(gl.GL_ONE, gl.GL_ZERO)
gl.glDisable(gl.GL_BLEND)
gl.glPopMatrix()
def draw(self):
"""
Draws a circle.
"""
self.before_draw()
sphere = gl.gluNewQuadric()
gl.glTranslatef(self.x, self.y, -10)
gl.gluSphere(sphere, self.radius, 25, 25)
# Restore the transformation matrix
gl.glPopMatrix()
def __init__(self,
x,
y,
z=0,
color=(0., 0., 0., 1.),
stroke=0,
rotation=0):
# try :
# self.rect
# except AttributeError:
# self.rect = Rect(x,y,1,1) # this inits x,y and loc as well
self.visible = 1 #
self.z = z
self.rotation = rotation
self.stroke = stroke
self.color = color
self.q = gl.gluNewQuadric()
def on_draw():
# Reset
# =====
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
# Camera view
# ===========
gl.gluPerspective(70, window.width / window.height, 1, 1000)
gl.gluLookAt(2, 1, 1, 0, 0, 0, 0, 0, 1)
# Draw the cube
# =============
gl.glBegin(gl.GL_QUADS)
# Left face
gl.glColor3f(1.0, 0, 0)
gl.glVertex3f(1, -1, -1)
gl.glVertex3f(1, -1, 1)
gl.glVertex3f(-1, -1, 1)
gl.glVertex3f(-1, -1, -1)
# Right face
gl.glColor3f(0, 1.0, 0)
gl.glVertex3f(-1, -1, 1)
gl.glVertex3f(-1, 1, 1)
gl.glVertex3f(-1, 1, -1)
gl.glVertex3f(-1, -1, -1)
#Bottom face
gl.glColor3f(0, 0, 1.0)
gl.glVertex3f(1, -1, -1)
gl.glVertex3f(-1, -1, -1)
gl.glVertex3f(-1, 1, -1)
gl.glVertex3f(1, 1, -1)
gl.glEnd()
gl.glColor3f(0, 0, 0)
pointer = gl.gluNewQuadric()
gl.gluSphere(pointer, 0.1, 20, 20)