def _init_scene(self):
self._current_scene = RobotScene(self)
if self._current_scene:
self._current_scene.init()
self._defaultHandler._selected_node = self._current_scene
glutSetMenu(self._menu_scene)
def _add_node_menu_entry(node, prefix):
glutAddMenuEntry(
prefix + node.name + "",
self._defaultHandler.get_menu_id(
'menu_scene_select_%u' % hash(node), [
node,
]))
return ([prefix + node.name + " / "], {})
self._current_scene.map(_add_node_menu_entry, [""], {}, True)
def _init_scene(self):
self._current_scene = RobotScene(self)
if self._current_scene:
self._current_scene.init()
self._defaultHandler._selected_node = self._current_scene
glutSetMenu(self._menu_scene)
def _add_node_menu_entry(node, prefix):
glutAddMenuEntry(prefix + node.name + "", self._defaultHandler.get_menu_id('menu_scene_select_%u' % hash(node), [node, ]))
return ([prefix + node.name + " / "], {})
self._current_scene.map(_add_node_menu_entry, [""], {}, True)
class Application(object):
def __init__(self):
"""Initialize a new application by creating a logger object and calling
the required initialization methods.
"""
self._init_log()
self._init_config(['cg1_defaults.conf'])
self._init_windows()
self._init_callbacks()
self._init_scene()
def __del__(self):
self._log.info(u"Exiting...")
def _init_log(self):
logging.basicConfig(level=logging.DEBUG)
self._log = logging.getLogger("Application")
self._log.info(u"Starting up...")
def _init_config(self, default_config_files):
self._log.info(u"Initializing configuration...")
config_files = list(default_config_files)
parser = OptionParser()
parser.add_option(
'-c',
'--conf',
dest='config_file',
default=None,
help=u"config file to use (besides cg1_defaults.conf)")
(options, args) = parser.parse_args()
if options.config_file:
config_files.append(options.config_file)
self._log.info(u"Reading config files %s...", config_files)
self._config = SafeConfigParser()
self._config.read(config_files)
def _init_windows(self):
self._log.info(u"Initializing windows...")
glutInit([])
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH)
glutInitWindowSize(self._config.getint('window', 'width'),
self._config.getint('window', 'height'))
glutInitWindowPosition(self._config.getint('window', 'x'),
self._config.getint('window', 'y'))
self._window = glutCreateWindow(self._config.get('window', 'title'))
def _init_callbacks(self):
self._log.info(u"Initializing callbacks...")
self._dispatcher = EventDispatcher()
self._defaultHandler = DefaultHandler(self)
self._dispatcher.push_handlers(self._defaultHandler)
glutKeyboardFunc(self._dispatcher.handle_type('keyboard'))
glutReshapeFunc(self._dispatcher.handle_type('reshape'))
glutMouseFunc(self._dispatcher.handle_type('mouse_button'))
glutMotionFunc(self._dispatcher.handle_type('mouse_motion'))
self._menu_main = glutCreateMenu(self._dispatcher.handle_type('menu'))
glutAddMenuEntry("Quit", self._defaultHandler.get_menu_id('menu_quit'))
glutAttachMenu(GLUT_RIGHT_BUTTON)
self._menu_scene = glutCreateMenu(self._dispatcher.handle_type('menu'))
glutSetMenu(self._menu_main)
glutAddSubMenu("Scene", self._menu_scene)
glutTimerFunc(1, self.update, 1)
glutDisplayFunc(self.render)
def _init_scene(self):
self._current_scene = RobotScene(self)
if self._current_scene:
self._current_scene.init()
self._defaultHandler._selected_node = self._current_scene
glutSetMenu(self._menu_scene)
def _add_node_menu_entry(node, prefix):
glutAddMenuEntry(
prefix + node.name + "",
self._defaultHandler.get_menu_id(
'menu_scene_select_%u' % hash(node), [
node,
]))
return ([prefix + node.name + " / "], {})
self._current_scene.map(_add_node_menu_entry, [""], {}, True)
def run(self):
self._log.info(u"Running...")
self._time = glutGet(GLUT_ELAPSED_TIME)
glutMainLoop()
def stop(self):
self._log.info(u"Stopping...")
sys.exit()
def update(self, enabled):
# update the current time
time = glutGet(GLUT_ELAPSED_TIME)
d_time = time - self._time
self._time = time
if enabled == 1:
#self._log.debug(u"%u ms elapsed", d_time)
if self._current_scene:
self._current_scene.update(d_time)
glutPostRedisplay()
glutTimerFunc(
int(1000 / self._config.getint('general', 'framerate')) -
(glutGet(GLUT_ELAPSED_TIME) - time), self.update, 1)
def render(self):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
gluLookAt(0.0, 0.0, 3.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0)
if self._current_scene:
self._current_scene.render()
glutSwapBuffers()
class Application(object):
def __init__(self):
"""Initialize a new application by creating a logger object and calling
the required initialization methods.
"""
self._init_log()
self._init_config(['cg1_defaults.conf'])
self._init_windows()
self._init_callbacks()
self._init_scene()
def __del__(self):
self._log.info(u"Exiting...")
def _init_log(self):
logging.basicConfig(level=logging.DEBUG)
self._log = logging.getLogger("Application")
self._log.info(u"Starting up...")
def _init_config(self, default_config_files):
self._log.info(u"Initializing configuration...")
config_files = list(default_config_files)
parser = OptionParser()
parser.add_option('-c', '--conf', dest='config_file', default=None, help=u"config file to use (besides cg1_defaults.conf)")
(options, args) = parser.parse_args()
if options.config_file:
config_files.append(options.config_file)
self._log.info(u"Reading config files %s...", config_files)
self._config = SafeConfigParser()
self._config.read(config_files)
def _init_windows(self):
self._log.info(u"Initializing windows...")
glutInit([])
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH)
glutInitWindowSize(self._config.getint('window', 'width'), self._config.getint('window', 'height'))
glutInitWindowPosition(self._config.getint('window', 'x'), self._config.getint('window', 'y'))
self._window = glutCreateWindow(self._config.get('window', 'title'))
def _init_callbacks(self):
self._log.info(u"Initializing callbacks...")
self._dispatcher = EventDispatcher()
self._defaultHandler = DefaultHandler(self)
self._dispatcher.push_handlers(self._defaultHandler)
glutKeyboardFunc(self._dispatcher.handle_type('keyboard'))
glutReshapeFunc(self._dispatcher.handle_type('reshape'))
glutMouseFunc(self._dispatcher.handle_type('mouse_button'))
glutMotionFunc(self._dispatcher.handle_type('mouse_motion'))
self._menu_main = glutCreateMenu(self._dispatcher.handle_type('menu'))
glutAddMenuEntry("Quit", self._defaultHandler.get_menu_id('menu_quit'))
glutAttachMenu(GLUT_RIGHT_BUTTON)
self._menu_scene = glutCreateMenu(self._dispatcher.handle_type('menu'))
glutSetMenu(self._menu_main)
glutAddSubMenu("Scene", self._menu_scene)
glutTimerFunc(1, self.update, 1)
glutDisplayFunc(self.render)
def _init_scene(self):
self._current_scene = RobotScene(self)
if self._current_scene:
self._current_scene.init()
self._defaultHandler._selected_node = self._current_scene
glutSetMenu(self._menu_scene)
def _add_node_menu_entry(node, prefix):
glutAddMenuEntry(prefix + node.name + "", self._defaultHandler.get_menu_id('menu_scene_select_%u' % hash(node), [node, ]))
return ([prefix + node.name + " / "], {})
self._current_scene.map(_add_node_menu_entry, [""], {}, True)
def run(self):
self._log.info(u"Running...")
self._time = glutGet(GLUT_ELAPSED_TIME)
glutMainLoop()
def stop(self):
self._log.info(u"Stopping...")
sys.exit()
def update(self, enabled):
# update the current time
time = glutGet(GLUT_ELAPSED_TIME)
d_time = time - self._time
self._time = time
if enabled == 1:
#self._log.debug(u"%u ms elapsed", d_time)
if self._current_scene:
self._current_scene.update(d_time)
glutPostRedisplay()
glutTimerFunc(int(1000/self._config.getint('general', 'framerate')) - (glutGet(GLUT_ELAPSED_TIME) - time), self.update, 1)
def render(self):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
gluLookAt(0.0, 0.0, 3.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0)
if self._current_scene:
self._current_scene.render()
glutSwapBuffers()
