Esempio n. 1
0
def draw_axes(axes_l=10, number=''):
    glLineWidth(5.0)
    glBegin(GL_LINES)

    # x axis, red

    if config.enable_lighting:
        material.red()
    else:
        glColor3f(1.0, 0, 0)
    glVertex3f(0, 0, 0)
    glVertex3f(axes_l, 0, 0)

    # y axis, green

    if config.enable_lighting:
        material.green()
    else:
        glColor3f(0, 1.0, 0)
    glVertex3f(0, 0, 0)
    glVertex3f(0, axes_l, 0)

    # z axis

    if config.enable_lighting:
        material.blue()
    else:
        glColor3f(0, 0, 1.0)
    glVertex3f(0, 0, 0)
    glVertex3f(0, 0, axes_l)

    glEnd()

    glLineWidth(1.0)

    offset = axes_l / 7

    text_at_pos(offset + axes_l, 0, 0, 'X' + number)
    text_at_pos(0, offset + axes_l, 0, 'Y' + number)
    text_at_pos(0, 0, offset + axes_l, 'Z' + number)
Esempio n. 2
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def draw_axes(axes_l = 10, number=''):
    glLineWidth(5.0)
    glBegin(GL_LINES)

    # x axis, red

    if config.enable_lighting:
        material.red()
    else:
        glColor3f(1.0, 0, 0)
    glVertex3f(0, 0, 0)
    glVertex3f(axes_l, 0, 0)
    
    # y axis, green

    if config.enable_lighting:
        material.green()
    else:
        glColor3f(0, 1.0, 0)
    glVertex3f(0, 0, 0)
    glVertex3f(0, axes_l, 0)
    
    # z axis

    if config.enable_lighting:
        material.blue()
    else:
        glColor3f(0, 0, 1.0)
    glVertex3f(0, 0, 0)
    glVertex3f(0, 0, axes_l)

    glEnd()
    
    glLineWidth(1.0)
    
    offset = axes_l/7
    
    text_at_pos(offset + axes_l, 0, 0, 'X' + number)
    text_at_pos(0, offset + axes_l, 0, 'Y' + number)
    text_at_pos(0, 0, offset + axes_l, 'Z' + number)
Esempio n. 3
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    def render(self):
        for link in self.links:
            R = link.R
            P = link.P
            h = link.h

            if config.enable_lighting:
                material.black()
            else:
                glColor3f(0, 0, 0)

            glPushMatrix()
            glLineWidth(15)
            glBegin(GL_LINES)
            if not link.is_prismatic():
                glVertex3f(0, 0, 0)
                glVertex3f(P[0], P[1], P[2])
            else:
                glVertex3f(0, 0, 0)
                glVertex3f(P[0] - link.q * link.h[0],
                           P[1] - link.q * link.h[1],
                           P[2] - link.q * link.h[2])
            glEnd()

            glTranslate(P[0], P[1], P[2])

            if config.enable_axis:
                if link.index != self.N:
                    display.draw_axes(20, str(link.index))
                else:
                    display.draw_axes(20, 'T')

            # draw joint
            if link.is_prismatic():  # prismatic joint
                display.draw_prismatic_joint([[0], [0], [0]], link.q * link.h,
                                             10)
            elif link.is_rotational():
                if config.enable_lighting:
                    material.green()
                else:
                    glColor3f(0, 0.6, 0)
                display.draw_rotational_joint(h * 10, h * -10, 8,
                                              link.q * 180 / PI)
                if config.enable_lighting:
                    material.grey()
                else:
                    glColor3f(0.3, 0.3, 0.3)

                glRotate(link.q * 180 / PI, link.h[0], link.h[1], link.h[2])
            elif (R == eye(3)).all():  # link - no joint
                pass

        # pop all joints off
        for matPop in self.links:
            glPopMatrix()

        glLineWidth(5)
        glPointSize(10)

        # only save the last whatever points
        self.trace = self.trace[-config.max_trace:]

        if config.enable_ghost:
            if config.enable_lighting:
                material.grey()
            else:
                glColor3f(0.4, 0.4, 0.4)

            glPointSize(8)
            for verts, i in zip(self.trace, range(len(self.trace))):
                if i % config.ghost_interval == 1:
                    glBegin(GL_POINTS)
                    for vert in verts:
                        glVertex3f(vert[0], vert[1], vert[2])
                    glEnd()

            if config.enable_lighting:
                material.grey()
            else:
                glColor3f(0.7, 0.7, 0.7)

            for verts, i in zip(self.trace, range(len(self.trace))):
                if i % config.ghost_interval == 1:
                    glBegin(GL_LINE_STRIP)
                    for vert in verts:
                        glVertex3f(vert[0], vert[1], vert[2])
                    glEnd()

        if config.enable_trace:
            # saved tool positions

            if config.enable_lighting:
                material.red()
            else:
                glColor3f(1.0, 0.0, 0)
            glBegin(GL_LINE_STRIP)
            for verts in self.trace:
                vert = verts[-1]
                glVertex3f(vert[0], vert[1], vert[2])
            glEnd()
Esempio n. 4
0
    def render(self):
        for link in self.links:
            R = link.R
            P = link.P
            h = link.h
            
            if config.enable_lighting:
                material.black()
            else:
                glColor3f(0, 0, 0)

            glPushMatrix()
            glLineWidth(15)
            glBegin(GL_LINES)
            if not link.is_prismatic():
                glVertex3f(0, 0, 0)
                glVertex3f(P[0], P[1], P[2])
            else:
                glVertex3f(0, 0, 0)
                glVertex3f(P[0]-link.q*link.h[0], P[1] - link.q*link.h[1], P[2] - link.q*link.h[2])
            glEnd()

            glTranslate(P[0], P[1], P[2])
            
            if config.enable_axis:
                if link.index != self.N:
                    display.draw_axes(20, str(link.index))
                else:
                    display.draw_axes(20, 'T')
            
            # draw joint
            if link.is_prismatic(): # prismatic joint
                display.draw_prismatic_joint([[0], [0], [0]], link.q*link.h, 10)
            elif link.is_rotational():
                if config.enable_lighting:
                    material.green()
                else:
                    glColor3f(0, 0.6, 0)
                display.draw_rotational_joint(h*10, h*-10, 8, link.q*180/PI)
                if config.enable_lighting:
                    material.grey()
                else:
                    glColor3f(0.3, 0.3, 0.3)
                
                glRotate(link.q * 180 / PI, link.h[0], link.h[1], link.h[2])
            elif (R == eye(3)).all(): # link - no joint
                pass

        # pop all joints off
        for matPop in self.links:
            glPopMatrix()

        glLineWidth(5)
        glPointSize(10)
        
        # only save the last whatever points
        self.trace = self.trace[-config.max_trace:]

        if config.enable_ghost:
            if config.enable_lighting:
                material.grey()
            else:
                glColor3f(0.4, 0.4, 0.4)
            
            glPointSize(8)
            for verts, i in zip(self.trace, range(len(self.trace))):
                if i % config.ghost_interval == 1:
                    glBegin(GL_POINTS)
                    for vert in verts:
                        glVertex3f(vert[0], vert[1], vert[2])
                    glEnd()

            if config.enable_lighting:
                material.grey()
            else:
                glColor3f(0.7, 0.7, 0.7)
            
            for verts, i in zip(self.trace, range(len(self.trace))):
                if i % config.ghost_interval == 1:
                    glBegin(GL_LINE_STRIP)
                    for vert in verts:
                        glVertex3f(vert[0], vert[1], vert[2])
                    glEnd()
        
        if config.enable_trace:
            # saved tool positions

            if config.enable_lighting:
                material.red()
            else:
                glColor3f(1.0, 0.0, 0)
            glBegin(GL_LINE_STRIP)
            for verts in self.trace:
                vert = verts[-1]
                glVertex3f(vert[0], vert[1], vert[2])
            glEnd()