def main():
global wingl
global wingr
viz.cam.setHandler(vizcam.KeyboardCamera())
myo.init()
gyrolist = [[0,0,0]]
viz.setMultiSample(4)
viz.fov(150)
wingl = viz.addChild('basketball.osgb')
wingl.setScale([10,0.3,1])
wingl.setCenter([100,100,100])
wingl.setEuler([0,90,0])
wingl.collideSphere(0.5)
lStartPOS = [ 0, 2.5, 2 ]
wingl.setPosition( lStartPOS )
wingr = viz.addChild('basketball.osgb')
wingr.setScale([10,0.3,1])
wingr.setCenter([100,100,100])
wingr.setEuler([0,90,0])
wingr.collideSphere(0.5)
rStartPOS = [ 0, 2.5, 2 ]
wingr.setPosition( rStartPOS )
#viz.MainView.setPosition([0,2,-15])
hub = myo.Hub()
hub.set_locking_policy(myo.locking_policy.none)
hub.run(1000, Listener())
vizact.ontimer(0.01 ,updateMyo, [gy, gy2, gy3, wingl, orx, ory, orz, orw, or1x, or1y, or1z, or1w, wingr])
def addAppendage(avatar, skinChoices, skin = 0, appendage = 0):
global thirdAppendage, usingInvisibleRod
thirdAppendageHorn = viz.addGroup()
if(appendage == 0):
#Third Arm
usingInvisibleRod = False
thirdAppendage = viz.addChild(resources.ARM)
if skin == 9:
texture = viz.addTexture("skin_tones/010.png")
texture.wrap(viz.WRAP_S,viz.REPEAT)
texture.wrap(viz.WRAP_T,viz.REPEAT)
else:
texture = viz.addTexture("skin_tones/00" + skinChoices[skin] + ".png")
texture.wrap(viz.WRAP_S,viz.REPEAT)
texture.wrap(viz.WRAP_T,viz.REPEAT)
thirdAppendage.texture(texture)
thirdAppendage.emissive([.75, .75, .75])
thirdAppendage.setScale(resources.ARM_SCALE)
elif(appendage == 1):
#Cylinder
usingInvisibleRod = False
thirdAppendage = viz.addChild(resources.CYLINDER)
thirdAppendage.setScale(resources.ARM_SCALE)
thirdAppendage.setParent(thirdAppendageHorn)
global tahLink
tahLink = viz.link(avatar.getBone('Bip01 Spine'), thirdAppendageHorn)
global offsetOp
offsetOp = tahLink.preTrans([0, 0.3, 0.1])
tahLink.preEuler([-90.0, 0.0, 0.0])
thirdAppendage.collideBox()
thirdAppendage.disable(viz.DYNAMICS)
TouchCube.thirdAppendage = thirdAppendage
def SpawnStandingNPC(train, stage):
# Remove
if (len(trainStandingNPC) > 0):
for x in range(0, len(trainStandingNPC)):
trainStandingNPC[x].remove()
trainStandingNPC[:] = []
spotsTaken = []
for x in range(0, 82):
spotsTaken.append(1)
spotsTaken[x] = False
numToSpawn = 0
if (stage == 0):
numToSpawn = 0
elif (stage == 1):
numToSpawn = 2
elif (stage == 2):
numToSpawn = 20
elif (stage == 3):
numToSpawn = 55
elif (stage == 4):
numToSpawn = 75
elif (stage == 5):
numToSpawn = 80
else:
numToSpawn = 0
if (numToSpawn > 0):
for x in range(0, numToSpawn):
# Random Pos
numFound = False
rand = 0
while (numFound == False):
rand = random.randint(0, 81)
if (spotsTaken[rand] == False):
numFound = True
spotsTaken[rand] = True
pos = trainStandingPos[rand]
trainStandingNPC.append(1)
randGener = random.randint(0, 10)
if (randGener < 5):
trainStandingNPC[x] = viz.addChild('vcc_male.cfg')
else:
trainStandingNPC[x] = viz.addChild('vcc_female.cfg')
trainStandingNPC[x].state(1) # Looping idle animation
trainStandingNPC[x].setEuler(random.randint(-180, 180), 0,
0) # Turns him to face you
trainStandingNPC[x].setPosition(
pos
) # Moves him back so that he is in full view xPos,yPos,zPos
trainStandingNPC[x].setParent(train)
def SpawnPlatformNPC():
seatTaken = []
for x in range(0, 29):
seatTaken.append(1)
seatTaken[x] = False
for x in range(0, 10):
# Random Pos
numFound = False
rand = 0
while (numFound == False):
rand = random.randint(0, 28)
if (seatTaken[rand] == False):
numFound = True
seatTaken[rand] = True
pos = platStandingPos[rand]
platformNPC.append(1)
randGener = random.randint(0, 10)
if (randGener < 5):
platformNPC[x] = viz.addChild('vcc_male.cfg')
else:
platformNPC[x] = viz.addChild('vcc_female.cfg')
platformNPC[x].state(1) # Looping idle animation
platformNPC[x].setEuler(0, 0, 0)
platformNPC[x].setPosition(pos)
#seatedNPC.append(1)
#seatedNPC[0] = viz.addChild('vcc_male2.cfg')
#seatedNPC[0].state(6) # Looping idle animation
#seatedNPC[0].setEuler(180,0,) # Turns him to face you
#seatedNPC[0].setPosition(-0.8,0.2,7) # Moves him back so that he is in full view
##man.collideMesh()
#
#seatedNPC.append(1)
#seatedNPC[1] = viz.addChild('vcc_male2.cfg')
#seatedNPC[1].state(6) # Looping idle animation
#seatedNPC[1].setEuler(180,0,) # Turns him to face you
#seatedNPC[1].setPosition(0.0,0.2,7) # Moves him back so that he is in full view
##man.collideMesh()
#
#seatedNPC.append(1)
#seatedNPC[2] = viz.addChild('vcc_male2.cfg')
#seatedNPC[2].state(6) # Looping idle animation
#seatedNPC[2].setEuler(180,0,) # Turns him to face you
#seatedNPC[2].setPosition(0.7,0.2,7) # Moves him back so that he is in full view
##man.collideMesh()
#
#seatedNPC.append(1)
#seatedNPC[3] = viz.addChild('vcc_male2.cfg')
#seatedNPC[3].state(6) # Looping idle animation
#seatedNPC[3].setEuler(180,0,) # Turns him to face you
#seatedNPC[3].setPosition(1.4,0.2,7) # Moves him back so that he is in full view
##man.collideMesh()
def loadColiseum():
"""loads colosseum enviornment"""
sf = .5
colosseum = viz.addChild('.\\dataset\\environment\\coliseum.OSGB')
colosseum.setEuler([0,-90,0])
colosseum.setScale([sf,sf,sf])
colosseum.setPosition([-37.5*sf , 0, 0]) #center colisseum
pedistal = viz.addChild('.\\dataset\\environment\\capital.OSGB')
pedistal.setScale([100,100,100])
pedistal.setPosition([0,-7.26,0]) #Found by testing
def main():
### Configuration parameters
# moved to config.py
### Game startup
#overwrite escape key
viz.setOption('viz.default_key.quit','0')
# Physics
viz.phys.enable()
#viz.phys.setGravity(0,0,0)
# Initialize pointer tool
# Unused?
glove = viz.addChild('.\\dataset\\Hand\\handPoint_Reduced.ply')
glove.disable([viz.PHYSICS, viz.DYNAMICS])
glovePhys = glove.collideSphere()
glove.setPosition([0,1,0])
glove.setScale([1,1,1])
# Initialize environment this will load the coliseum and sky
sky = viz.addChild('sky_day.osgb')
sky.collideMesh()
sky.disable(viz.DYNAMICS)
init.loadTemple()
# Initialize pointer controls
device = init.pointerInput(config.pointerMode, glove, sky)
# Initialize display
puzzle.model.display = init.DisplayInstance(config.dispMode,config.camMode,device,glove)
#init.display(config.dispMode)
# Initialize camera controls
#init.cameraInput(config.camMode,config.dispMode, device, glove)
# Launch menu system
menu.init()
puzzle.model.pointer = glove
puzzle.model.pointer.setScale(0.015, 0.015, 0.015)
puzzle.model.pointer.setEuler(0, -115, 0)
# Override default escape key map to call main menu
vizact.onkeydown(viz.KEY_ESCAPE, menu.toggle)
# # Record moviefilms
# viz.setOption('viz.AVIRecorder.maxWidth', '1280')
# viz.setOption('viz.AVIRecorder.maxHeight', '720')
# vizact.onkeydown(viz.KEY_F11, viz.window.startRecording, 'D:\\recording.avi')
# vizact.onkeydown(viz.KEY_F12, viz.window.stopRecording)
# Stuff to run on program termination
vizact.onexit(puzzle.controller.end)
def main():
### Configuration parameters
# moved to config.py
### Game startup
# overwrite escape key
viz.setOption("viz.default_key.quit", "0")
# Physics
viz.phys.enable()
# viz.phys.setGravity(0,0,0)
# Initialize pointer tool
# Unused?
glove = viz.addChild(".\\dataset\\Hand\\handPoint_Reduced.ply")
glove.disable([viz.PHYSICS, viz.DYNAMICS])
glovePhys = glove.collideSphere()
glove.setPosition([0, 1, 0])
glove.setScale([1, 1, 1])
# Initialize environment this will load the coliseum and sky
sky = viz.addChild("sky_day.osgb")
sky.collideMesh()
sky.disable(viz.DYNAMICS)
init.loadTemple()
# Initialize pointer controls
device = init.pointerInput(config.pointerMode, glove, sky)
# Initialize display
puzzle.model.display = init.DisplayInstance(config.dispMode, config.camMode, device, glove)
# init.display(config.dispMode)
# Initialize camera controls
# init.cameraInput(config.camMode,config.dispMode, device, glove)
# Launch menu system
menu.init()
puzzle.model.pointer = glove
puzzle.model.pointer.setScale(0.015, 0.015, 0.015)
puzzle.model.pointer.setEuler(0, -115, 0)
# Override default escape key map to call main menu
vizact.onkeydown(viz.KEY_ESCAPE, menu.toggle)
# # Record moviefilms
# viz.setOption('viz.AVIRecorder.maxWidth', '1280')
# viz.setOption('viz.AVIRecorder.maxHeight', '720')
# vizact.onkeydown(viz.KEY_F11, viz.window.startRecording, 'D:\\recording.avi')
# vizact.onkeydown(viz.KEY_F12, viz.window.stopRecording)
# Stuff to run on program termination
vizact.onexit(puzzle.controller.end)
def loadColiseum():
"""loads colosseum enviornment"""
sf = .5
colosseum = viz.addChild('.\\dataset\\environment\\coliseum.OSGB')
colosseum.setEuler([0, -90, 0])
colosseum.setScale([sf, sf, sf])
colosseum.setPosition([-37.5*sf, 0.0, 0.0]) #center colisseum
pedistal = viz.addChild('.\\dataset\\environment\\capital.OSGB')
pedistal.setScale([100, 100, 100])
pedistal.setPosition([0.0, -7.26, 0.0]) #Found by testing
def main():
global train
train = viz.addChild('Assets/Railcar_Main_OS.osgb', scene=viz.Scene1)
platform = viz.addChild('Assets/environment.osgb', scene=viz.Scene1)
viz.addChild('sky_day.osgb', scene=viz.Scene1)
EnvironmentSetup.Start(train)
NPCSpawner.InitPlat(platform)
NPCSpawner.InitSeatedPos(train)
NPCSpawner.InitStandingPos(train)
NPCSpawner.SpawnPlatformNPC()
viztask.schedule(RecordHR())
viztask.schedule(InitalSetup(train))
def recordViewAnimation():
### replace with your own application setup
import viz
import vizcam
import vizact
viz.setMultiSample(4)
viz.go()
vizcam.WalkNavigate()
piazza = viz.addChild("piazza.osgb")
###
### Add this at the bottom
'''
Create an AnimationPathRecorder and link it to any node, which needs to have it's transformation documented.
If 'start' is set to True the recording will start automatically, otherwise you need to start manually.
you can specify the file name under which the animation will be saved. '.txt' is automatically added.
'''
rec = AnimationPathRecorder(start=False)
viz.link(viz.MainView, rec)
# toggle path recording and saving finished recording to a file named 'test_animation.txt'
def toggleRecord(rec):
if rec.isRunning():
rec.stop()
rec.writeToFile("test_animation")
print "Animation path saved to test_animation.txt"
else:
rec.start()
print "Animation path recording started."
vizact.onkeydown('r', toggleRecord, rec)
def __init__(self, fileName, SF=1.0 / 500):
"""Pull the BodyParts3D mesh into an instance and set everything up"""
self.tooltip = None
self.snapAttempts = 0
self.metaData = model.ds.getMetaData(file=fileName)
self.centerPoint = self.metaData['centerPoint']
self.centerPointScaled = [a * SF for a in self.centerPoint]
self.centerPointScaledFlipped = [a * SF * -1 for a in self.centerPoint]
self._lineUpdateEvent = None
self.name = self.metaData['name']
for region, names in config.OntologicalGroups.regions.iteritems():
files = model.ds.getOntologySet([(set.union, names)])
if self.metaData['filename'] in files:
self.region = region
break
else:
self.region = None
self.nameFormatted = ''
for i, w in enumerate(self.name.split()):
if (i + 1) % 2 == 0 and i != 0:
self.nameFormatted += w + '\n'
else:
self.nameFormatted += w + ' '
# We are using a 'center' viznode to make manipulation easy
self.center = vizshape.addCube(0.001) # An arbitrary placeholder cube
super(Mesh, self).__init__(self.center.id)
# This is the actual mesh we will see
self.mesh = viz.addChild(config.DATASET_PATH + fileName + '.obj')
self.mesh.setScale([SF, SF, SF])
# This is the viznode that will be moved around to check distances for snapping
self.checker = vizshape.addCube(0.001)
# Setup heirarchy for proper movement behavior
self.mesh.setParent(self)
self.checker.setParent(self.mesh)
# Offset mesh to lie in center of center viznode
self.mesh.setPosition(self.centerPointScaledFlipped, viz.ABS_PARENT)
self.checker.setPosition(self.centerPoint)
# Turn off visibility of center and checker viznodes
self.mesh.color(self.metaData['color'])
self.checker.disable([viz.RENDERING, viz.INTERSECTION, viz.PHYSICS])
self.center.disable([viz.RENDERING, viz.INTERSECTION, viz.PHYSICS])
self.scale = SF
self._enabled = True
self.grounded = False
self.grabbedFlag = 0
self.proxCounter = 0
# Group handling
self.group = MeshGroup([self])
def __init__(self):
# base class constructor
viz.EventClass.__init__(self)
self.model = viz.addChild('piazza.osgb')
# set up keyboard and timer callback methods
self.callback(viz.KEYDOWN_EVENT,self.onKeyDown)
self.callback(viz.MOUSEDOWN_EVENT,self.onMouseDown)
#booleans for video
self.check1 = False
#avatar's postion and rotation angle
self.x = 0.5
self.z = 0.5
#counts for animaions
self.count = 0.0
self.count2 = 0.0
self.theta = 0
#inserting avater
self.avatar = vizfx.addAvatar('mazinger/mazinger.cfg')
self.avatar.state(0)
#translating avatar to correct position
mat = viz.Matrix()
#mat.postAxisAngle(0,1,0,self.theta)
mat.postTrans(0,7,0);
self.avatar.setMatrix(mat)
self.callback(viz.TIMER_EVENT,self.onTimer)
#mazin.addAction(spin)
#Music
#add ground
grass = viz.addTexture('images/tile_grass.jpg', wrap=viz.REPEAT)
def createEnvironment():
#create 2D environment
if parameters.DreiDEnvironment:
viz.clearcolor(viz.WHITE)
#look from above
viz.MainView.setPosition([0,50,0])
viz.MainView.setEuler([0,90,0])
goal.setEuler(0,90,0)
goal.color(viz.GREEN)
point.setEuler(0,90,0)
point.setPosition(0,20,0)
point.color(viz.RED)
arrow.setPosition(0,20,0)
arrow.color(viz.BLUE)
#or create 3d environment
else:
piazza = viz.addChild('piazza.osgb')
#look from above
viz.MainView.setPosition([0,1.8,0])
#viz.MainView.setEuler([0,90,0])
goal.setEuler(0,90,0)
goal.color(viz.GREEN)
point.setEuler(0,90,0)
point.setPosition(0,20,0)
point.color(viz.RED)
arrow.setPosition(0,20,0)
arrow.color(viz.BLUE)
def Collect(objName, objLoc, ScaleFac, tel):
viz.MainWindow.setScene(1)
#teleport to new location each trial?
if tel:
x, y = pol2cart(numpy.random.randint(12, radius),
numpy.random.randint(0, 360))
viz.MainView.setPosition(x, 0, y)
viz.MainView.setEuler(numpy.random.randint(0, 360), 0, 0)
#add object
obj = viz.addChild(objName + '.osgb')
obj.setPosition(objLoc)
obj.setScale([ScaleFac, ScaleFac, ScaleFac])
sensor = vizproximity.addBoundingBoxSensor(obj, scale=(1.5, 10, 1.5))
manager.addSensor(sensor)
obj.visible(viz.ON)
yield vizproximity.waitEnter(sensor)
obj.remove()
manager.removeSensor(sensor)
def __init__(self, room, size, marker_num, hand='left'):
VisualObject.__init__(self, room=room, shape='sphere', size=size)
# remove the sphere and add the baseball glove
self.vis_node.remove()
model_path = 'res/glove_{}.OSGB'.format(hand)
try:
self.vis_node = viz.addChild(model_path)
except:
print 'Hand must be left or right.'
# setup position and orientation tracking
glove_tracker = ppt.add_tracker(1)
isense = viz.add('intersense.dle')
self.ori_tracker = isense.addTracker(port=0)
self.ori_tracker.setCompass(0)
self.ori_tracker.setEnhancement(0)
self.ori_tracker.resetHeading()
vizact.onkeydown('i', self.ori_tracker.resetHeading)
if hand == 'left':
pre_trans = [0.04, -0.02, 0]
else:
pre_trans = [-0.04, -0.02, 0]
link = ppt.link(tracker=glove_tracker, target=self.vis_node, ori=self.ori_tracker, pre_trans=pre_trans)
# setup physics object
# TODO: do we really want this?
self.toggleUpdatePhysWithVis()
def main():
global marker
global current
if marker.getVisible() and current == 1:
current = 0
baseValueX1 = marker.getPosition(0)[0]
#this denotes the X position
baseValueY1 = marker.getPosition(0)[1]
#this denotes the Y position
baseValueZ1 = marker.getPosition(0)[2]
#this denotes the Z position
endValueX1 = endMarker.getPosition()[0]
endValueY1 = endMarker.getPosition()[1]
endValueZ1 = endMarker.getPosition()[2]
arrow = viz.add('thesis/greenArrow.dae')
scaleSize = 0.5
arrow.setScale(scaleSize, scaleSize, scaleSize)
#change the size of arrow object
arrow.setEuler(90)
arrow.setPosition([baseValueX1, baseValueY1, baseValueZ1])
positions = [[baseValueX1, baseValueY1, baseValueZ1], [1, 1, 1],
[2, 2, 2], [3, 3, 3], [4, 4, 4]]
for p in range(5):
pinch = viz.addChild('thesis/niceHand_5.dae')
scaleSize = 0.5
pinch.setScale(scaleSize, scaleSize, scaleSize)
#change the size of arrow object
pinch.setEuler([90, 0, 0])
pinch.setPosition(positions[p])
def froo():
yield viztask.waitKeyDown('k')
boxL.visible(0)
stuff = viz.addChild('targetexplode12.osgb',pos=[-0.2,targetL,0],scale=[0.1,(targettol+0.02),0.0125])
# stuff = viz.addChild('targetexplode10.osgb',pos=[0,2,20])
stuff.setAnimationState(0)
def loadTemple(bounding = True):
"""loads temple enviornment"""
sf = 100
temple = viz.addChild('.\\dataset\\environment\\temple.OSGB')
temple.setEuler([0,90,0])
temple.setScale([sf,sf,sf])
temple.setPosition([0.0, -1.569, 0.0]) #Found by measuring
pedistal = viz.addChild('.\\dataset\\environment\\Column.OSGB')
pedistal.setScale([3.0, 3.0, 3.0])
pedistal.setPosition([0.0, -1.5, 0.0]) #Found by testing
if bounding == True:
dimensions = [2,4,1]
boundingBox = games.puzzleView.WireFrameCube(dimensions)
# boundingBox.setPosition(0,dimensions[1],0)
boundingBox.alpha(0.25)
def loadTemple(bounding = True):
"""loads temple enviornment"""
sf = 100
temple = viz.addChild('.\\dataset\\environment\\temple.OSGB')
temple.setEuler([0,90,0])
temple.setScale([sf,sf,sf])
temple.setPosition([0.0, -1.569, 0.0]) #Found by measuring
pedistal = viz.addChild('.\\dataset\\environment\\Column.OSGB')
pedistal.setScale([3.0, 3.0, 3.0])
pedistal.setPosition([0.0, -1.5, 0.0]) #Found by testing
if bounding == True:
dimensions = [2,4,1]
boundingBox = games.puzzleView.WireFrameCube(dimensions)
# boundingBox.setPosition(0,dimensions[1],0)
boundingBox.alpha(0.25)
def __init__(self, plane, planepos, escena, next, sound):
self.plane = viz.addChild(plane, scene=escena)
self.plane.setScale(2.5, 2.5, 2.5)
self.plane.setPosition(planepos[0], planepos[1])
self.sensorPlane = vizproximity.Sensor(
vizproximity.RectangleArea(
[2, 10], center=[self.plane.getPosition(0)[0], 0]), None)
self.chimesound = sound
self.next = next
def setModel (self, path): global model global modelIsLoaded if not (modelIsLoaded): model = viz.addChild(path) model.disable(viz.CULL_FACE) model.setPosition(0,0,60, viz.ABS_GLOBAL) model.setEuler([0,0,0]) alphaSlider.set(1.0) modelIsLoaded = True
def __init__(self): if Falcon._captainFalcon == None: Falcon._captainFalcon = viz.addChild(Falcon._MODEL_FILE) Falcon._captainFalcon.visible(viz.OFF) self.node = Falcon._captainFalcon.copy() viz.VizNode.__init__(self,self.node.id) self.collideBox() self.initEuler() self.initForces()
def setup(self):
yield viztask.waitTime(3)
self.head.reset()
stamp = datetime.datetime.now().strftime('%Y%m%d%H%M%S')
self.output = os.path.join(
DESKTOP, 'tracing-data', '{}-{:08x}'.format(
stamp, random.randint(0, 0xffffff)))
logging.info('storing output in %s', self.output)
self.environment = viz.addChild('dojo.osgb')
def setUpWorld():
global city
city = viz.addChild('metro.osgb')
# NOTE: Look at CityModel.py for more details on the avatars, cars, and pigeons.
viz.addChild('models/People/CC2_f001_hipoly_A1_v2.cfg')
# Add avatars
for avatarInfo in cityModel.PEOPLE_INFO:
addAvatarToWorld(avatarInfo)
# Add cars
for carInfo in cityModel.CARS_INFO:
addCarToWorld(carInfo)
# Add pigeons
for pigeonInfo in cityModel.PIGEONS_INFO:
addPigeonToWorld(pigeonInfo)
# Fog color
viz.fogcolor([.5] * 3)
def CreateRoom():
#Load in the entire room, s tore all geometry in the roomgroup
#BL:start
global roomGroup
# roomGroup = viz.addChild("Resources/NewRoom/vroom.obj")
roomGroup = viz.addChild('Resources/NewRoom/labroom.osgb')
roomGroup.setScale([0.8,0.75,0.8])
# roomGroup.setPosition([-0.4,0,-1.4])
# roomGroup.setPosition(-3, -1.75, 0, viz.ABS_GLOBAL)
roomGroup.emissive([1, 1, 1])
#BL:end
# Lag...
placeMirror()
def addArm(texturePath, pathToArm): # armPointer = viz.addChild(resources.ARM) armPointer = viz.addChild(pathToArm) texture = viz.addTexture(texturePath) texture.wrap(viz.WRAP_S,viz.REPEAT) texture.wrap(viz.WRAP_T,viz.REPEAT) armPointer.texture(texture) armPointer.emissive([.75, .75, .75]) armPointer.setScale(resources.ARM_SCALE) armPointer.collideBox() armPointer.disable(viz.DYNAMICS) armPointer.visible(False) return armPointer
def __init__(self,use_keyboard = True, desktop_mode = False):
"""Initialization function."""
#
viz.phys.enable()
self.view = viz.MainView;
caveapp.CaveApplication.__init__(self,desktop_mode) #call constructor of super class, you have to do this explicitly in Python
self.wand = vizshape.addAxes()#load axis model to represent the wand\
self.cylinder = vizshape.addCylinder(15,0.002,axis=vizshape.AXIS_X)
self.cylinder.setEuler([0,0,0])
#self.cylinder.setCenter([0,0,-1])
self.cylinder.setPosition(7.5,0.08,0)
self.stuff = vizshape.addSphere(0.0001)
self.cylinder.setParent(self.stuff)
# temp = vizshape.addSphere(0.05)
# temp.setParent(self.cylinder)
# temp.setPosition(self.cylinder.getCenter())
self.wand = self.stuff
# self.wand.setPosition(.5,-1,0)
# self.cm = self.wand.getMatrix()
# self.Room = viz.addChild('D:\Cave software\NFI Cave\Scene\ScannedRoom.3DS')
# self.Room.collidePlane()
# self.Room.setScale([1.25,1.25,1.25])
# self.Room.setEuler([90,0,0])
# self.Room.setPosition([-1.5,0,1.55])
self.Room = viz.addChild('scene/ScannedRoom.3DS')
self.Room.collidePlane()
self.Room.setScale([0.002,0.002,0.002])
self.Room.setEuler([90,0,0])
self.Room.setPosition([-1.5,0.015,1.58])
"""
mylight = viz.addLight()
mylight.enable()
mylight.position(0, 1, 0)
mylight.spread(180)
mylight.intensity(2)
# vizact.onkeydown('f', dance)
"""
viz.disable(viz.LIGHTING)
self.headLight = viz.MainView.getHeadLight() #disable the headlight
self.headLight.disable() #the headlight is disabled because the piazza.osgb is already shaded
self.use_keyboard = use_keyboard #store if we want to use the keyboard
self.time = 0.0 #note that to 0.0 is important because it is a double precision floating point number
def __init__(self, use_keyboard = True, desktop_mode = True):
caveapp.CaveApplication.__init__(self, desktop_mode) #call constructor of super class, you have to do this explicitly in Python
self.wand = vizshape.addAxes()#load axis model to represent the wand
self.thing = viz.addChild('plant.osgb') #load plant model to represent the thing
self.horse = viz.addChild('horse.wrl') #load a horse model (this model will be animated in cave space)
self.horse.color(0.5,0.5,0.5)#make the horse gray
self.horse.disable(viz.LIGHTING) #disable the shading of the horse
self.worldModel = viz.add('piazza.osgb') #load a world model
self.headLight = viz.MainView.getHeadLight() #disable the headlight
self.headLight.disable() #the headlight is disabled because the piazza.osgb is already shaded
self.use_keyboard = use_keyboard #store if we want to use the keyboard
self.time = 0.0 #note that to 0.0 is important because it is a double precision floating point number
self.forwardVelocity = 0.0
def main():
viz.vsync(viz.ON)
viz.window.setFullscreenMonitor([2])
viz.setMultiSample(4)
viz.MainWindow.clip(0.01, 200)
viz.go(viz.FULLSCREEN)
environment = viz.addChild("piazza.osgb")
environment.setPosition(2.75, 0, -0.75)
mocap = phasespace.Phasespace()
head = mocap.get_rigidTracker("hmd")
# DOES NOT ACCOUNT FOR RIGID BODY OFFSET DURING RESET
# mocap.track_rigid('Resources/hmd-nvisMount.rb', center_markers=(1,2))
head.link_pose(viz.MainView)
# glove = mocap.track_points([8, 9, 10])
paddle = mocap.track_rigid({17: (0, 0, 1), 19: (0, 0, 0), 20: (1, 0, 0), 22: (0, 1, 0)})
mocap.start_thread()
# mocap.start_timer()
def log_mocap(timer_id):
# print 'glove#9 pos {0[1]:.2f} {0[1]:.2f} {0[2]:.2f}'.format(*glove.get_marker(9))
print "head pos {0[0]:.2f} {0[1]:.2f} {0[2]:.2f}, quat {1[0]:.3f} {1[1]:.3f} {1[2]:.3f} {1[3]:.3f}".format(
*head.get_pose()
)
print "main " + str(viz.MainView.getPosition())
# print 'paddle pos {0[0]:.2f} {0[1]:.2f} {0[2]:.2f}, quat {1[0]:.3f} {1[1]:.3f} {1[2]:.3f} {1[3]:.3f}'.format(*paddle.get_pose())
viz.callback(viz.TIMER_EVENT, log_mocap)
viz.starttimer(0, 1, viz.FOREVER)
def keydown(key):
if key == "h":
head.reset()
if key == "H":
head.save()
elif key == "1":
print "Marker Pos: " + str(mocap.get_MarkerPos(1))
viz.callback(viz.KEYDOWN_EVENT, keydown)
def DrawArrow(positions, parabolaHeight):
global pathSpeed
#from config file
arrow = viz.addChild('thesis/greenArrow.dae')
#import the arrow .dae object
#arrow = viz.addChild('thesis/niceHand_1.dae');
scaleSize = parabolaHeight * 0.1
arrow.setScale(scaleSize, scaleSize, scaleSize)
#change the size of arrow object
path = viz.addAnimationPath()
#create an animation path
for x, pos in enumerate(
positions): #for every position in the array (x = pos)
a = viz.addChild('beachball.osgb', cache=viz.CACHE_CLONE)
#add a control point object
a.setPosition(pos)
#set the object at the position specified
a.alpha(0.5)
#make it almost invisible
path.addControlPoint(x + 1, pos=pos)
#add it onto the path
path.setSpeed(pathSpeed)
#set the speed of the path
path.setLoopMode(viz.LOOP)
#set the path on a loop
path.computeTangents()
#compute the tangents
path.setAutoRotate(viz.ON)
#set it to auto rotate
viz.link(path, arrow)
#link the path to the arrow object so that the arrow will move
path.play()
def __load_STL(self, stl_directory, objects_STL, initial_orientations,
initial_position):
parent_object = None
for file_name, dh_parameters in objects_STL:
full_file_name = os.path.join(stl_directory, file_name)
if parent_object:
current_object = viz.addChild(full_file_name,
parent=parent_object)
else:
current_object = viz.addChild(full_file_name)
current_object.color(1.0, .5, 0)
current_object.specular(.1, .1, .1)
current_object.shininess(50)
current_object.collideMesh()
self.__axes.append(current_object)
self.__angles.append(0.0)
parent_object = current_object
self.__axes[1].color(.8, .8, .8)
self.__axes[3].color(.8, .8, .8)
self.__axes[5].color(.8, .8, .8)
self.__axes[7].color(.8, .8, .8)
for index, current_object in enumerate(self.__axes):
dh_parameters = objects_STL[index][1]
current_object.setAxisAngle(0, 0, 1, dh_parameters[0],
viz.REL_PARENT)
current_object.setPosition(0, 0, dh_parameters[1], viz.REL_PARENT)
current_object.setPosition(dh_parameters[2], 0, 0, viz.REL_LOCAL)
current_object.setAxisAngle(1, 0, 0, dh_parameters[3],
viz.REL_LOCAL)
for o in initial_orientations:
self.set_axis_angle(o[0], o[1])
if initial_position != None:
self.set_position(initial_position)
def main():
global marker;
global current;
if marker.getVisible() and current == 1:
current = 0;
print "MARKER:" + str(marker.getPosition());
baseValueX1 = marker.getPosition(0)[0]; #this denotes the X position
baseValueY1 = marker.getPosition(0)[1]; #this denotes the Y position
baseValueZ1 = marker.getPosition(0)[2]; #this denotes the Z position
path = viz.addAnimationPath()
positions = [ [baseValueX1,baseValueY1,baseValueZ1]];
endValueX1 = endMarker.getPosition()[0];
endValueY1 = endMarker.getPosition()[1];
endValueZ1 = endMarker.getPosition()[2];
print "END:" + str(endValueX1) + "," + str(endValueY1) + "," + str(endValueZ1)
i = 0;
numPositions = 5;
Coe = numPositions;
constant = 0;
X = baseValueX1;
endX = endValueX1;
Y = baseValueY1;
endY = endValueY1;
endZ = endValueZ1;
Z = baseValueZ1;
if float(abs(endX) - abs(X)) == 0:
denominator = 1;
else:
denominator = float(abs(endX) - abs(X));
angle = math.atan(float(abs(endY) - abs(Y))/denominator);
for p in range(numPositions+1): #need the +1 to complete the parabolic path
#altering p affects the end point and speed of the parabolas
X = (float(p)/float(numPositions))*endX;
Y = (float(p)/float(numPositions))*endY;
Z = (float(p)/float(numPositions))*endZ + 10;
print str(p) + ": [" + str(X)+ ", " + str(Y)+ ", " + str(Z) + "]";
positions.append([X,Y,Z]);
for i in range(numPositions):
b = viz.addChild('beachball.osgb');
#print pos;
b.setPosition(positions[i]);
b.alpha(0.5);
def bambooForest(self):
# Add the ground plane
ground = viz.addChild('ground.osgb')
# Bamboo sticks
bambooForest1 = []
bambooForest2 = []
# add 200 bamboo trees to each forest
for i in range(0, 400, 1):
bambooForest1.append(vizshape.addCylinder(random.randint(10,16),0.1))
bambooForest2.append(vizshape.addCylinder(random.randint(10,16),0.1))
bambooForest1[i].setPosition(random.randint(-16,-3),0.5,random.randint(-20,20))
bambooForest2[i].setPosition(random.randint(3,16),0.5,random.randint(-20,20))
bambooForest1[i].color(0.3,0.8,0.3)
bambooForest2[i].color(0.3,0.8,0.3)
def __setupWorld__(self):
#Initialize cave and load the powerwall#
self.cave = vizcave.Cave()
#This line of code opens the file if a filename is provided and loads the corner co-ordinates from it, else uses the default co-ordinates#
self.cave.load(self.caveWallFileName) if None is not self.caveWallFileName else self.cave.addWall(self.powerwall)
# TODO: Pair every obstacle with an invisible "hat" object to detect when the obstacle was avoided.
# Create a seperate module that does this automatically for each object added.
# Like from a config file.
self.crate = viz.addChild( 'crate.osgb' )
self.crate.setScale([.2,.2,.2])
self.crate.setPosition([-.45, 0, -.10])
self.cratePole = vizshape.addCylinder(height = .5, radius = 0.025)
self.cratePole.setPosition( [-.45, .3, -.10] )
self.cratePole.alpha(0.5)
self.avatar = viz.addAvatar('duck.cfg')
self.avatar.setScale(.2, .2, .2)
self.avatar.setPosition([-1, .1, -.10])
#self.floor = viz.addChild('lab.osgb')
self.floor = viz.addChild('piazza.osgb')
def __init__(self, handTracker = None): # These two lines are weird necessities to subclass the VizNode class (which most Vizard objects are?) self.node = viz.addChild(Dart._MODEL_FILE) viz.VizNode.__init__(self,self.node.id) self.setScale(Dart._SCALE, Dart._SCALE, Dart._SCALE) self.color(1, 0, 0) self.collideBox() self.enable(viz.COLLIDE_NOTIFY) viz.callback(viz.COLLIDE_BEGIN_EVENT, onCollide) self.initVelocity() self.initEuler() self.setVelocity([0, 0, 0]) if handTracker != None: self.attachToHand(handTracker)
def main():
viz.setOption('viz.fullscreen.monitor', 1)
viz.setOption('viz.window.width', 2 * 640)
viz.setOption('viz.window.height', 480)
viz.setMultiSample(4)
viz.MainWindow.clip(0.01, 500)
vizconfig.register(nvis.nvisorSX111())
viz.go(viz.FULLSCREEN)
piazza = viz.addChild('piazza.osgb')
mocap = phasespace.Mocap('192.168.1.230')
head = mocap.track_rigid('Resources/hmd-nvis.rb', center_markers=(0, 5))
head.link_pose(viz.MainView)
glove = mocap.track_points([8, 9, 10])
paddle = mocap.track_rigid({
17: (0, 0, 1),
19: (0, 0, 0),
20: (1, 0, 0),
22: (0, 1, 0),
})
mocap.start_thread()
#mocap.start_timer()
def log_mocap(timer_id):
print 'glove#9 pos {0[1]:.2f} {0[1]:.2f} {0[2]:.2f}'.format(
*glove.get_marker(9))
print 'head pos {0[0]:.2f} {0[1]:.2f} {0[2]:.2f}, quat {1[0]:.3f} {1[1]:.3f} {1[2]:.3f} {1[3]:.3f}'.format(
*head.get_pose())
print 'paddle pos {0[0]:.2f} {0[1]:.2f} {0[2]:.2f}, quat {1[0]:.3f} {1[1]:.3f} {1[2]:.3f} {1[3]:.3f}'.format(
*paddle.get_pose())
viz.callback(viz.TIMER_EVENT, log_mocap)
viz.starttimer(0, 1, viz.FOREVER)
def keydown(*args):
head.reset()
paddle.reset()
viz.callback(viz.KEYDOWN_EVENT, keydown)
def main():
if marker.getVisible():
current = 0
print "MARKER:" + str(marker.getPosition())
baseValueX1 = marker.getPosition(0)[0]
#this denotes the X position
baseValueY1 = marker.getPosition(0)[1]
#this denotes the Y position
baseValueZ1 = marker.getPosition(0)[2]
#this denotes the Z position
pinch = viz.addChild('thesis/niceHand_5.dae')
scaleSize = 0.5
pinch.setScale(scaleSize, scaleSize, scaleSize)
#change the size of arrow object
pinch.setEuler([90, 0, 0])
pinch.setPosition([baseValueX1, baseValueY1, baseValueZ1])
markerLink = viz.link(marker, pinch)
def __init__(self, scale=1, color=None): if Balloon._masterBalloon == None: Balloon._masterBalloon = viz.addChild(Balloon._MODEL_FILE) Balloon._masterBalloon.visible(viz.OFF) self.node = Balloon._masterBalloon.copy() viz.VizNode.__init__(self,self.node.id) self.setScale(scale * Balloon._SCALE_NORMALIZER, scale * Balloon._SCALE_NORMALIZER, scale * Balloon._SCALE_NORMALIZER) if color != None: self.color(color) else: self.color(self._DEFAULT_COLOR) self.collideBox() self.float()
def bmw_card_driver():
car = viz.addChild('bmw.dae')
car.setEuler([0,0,0])
car.setScale(0.5,0.5,0.5)
MOVE_SPEED = 5
TURN_SPEED = 60
def updatecar():
#move view forward and backward
if viz.key.isDown(viz.KEY_UP):
view.move([0,0,MOVE_SPEED*viz.elapsed()],viz.BODY_ORI)
elif viz.key.isDown(viz.KEY_DOWN):
view.move([0,0,-MOVE_SPEED*viz.elapsed()],viz.BODY_ORI)
#rotate body of view left and right
if viz.key.isDown(viz.KEY_RIGHT):
view.setEuler([TURN_SPEED*viz.elapsed(),0,0],viz.BODY_ORI,viz.REL_PARENT)
elif viz.key.isDown(viz.KEY_LEFT):
view.setEuler([-TURN_SPEED*viz.elapsed(),0,0],viz.BODY_ORI,viz.REL_PARENT)
#set the car to view position and body orientation
car.setPosition(view.getPosition())
car.setEuler(view.getEuler(viz.BODY_ORI))
car.setPosition([3.02,-5.50,5.04],viz.REL_LOCAL)
vizact.ontimer(0,updatecar)
#update head of view based on mouse movements
def mousemove(e):
euler = view.getEuler(viz.HEAD_ORI)
euler[0] += e.dx*0.1
euler[1] += -e.dy*0.1
euler[1] = viz.clamp(euler[1],-85.0,85.0)
view.setEuler(euler,viz.HEAD_ORI)
viz.callback(viz.MOUSE_MOVE_EVENT,mousemove)
viz.mouse(viz.OFF)
viz.mouse.setVisible(False)
vizact.onmousedown(viz.MOUSEBUTTON_LEFT,view.reset,viz.HEAD_ORI)
vizact.onmousedown(viz.MOUSEBUTTON_RIGHT,view.reset, viz.BODY_ORI |viz.HEAD_POS)
vizact.onmousedown(viz.MOUSEBUTTON_RIGHT,updatecar)
def main():
viz.setOption('viz.fullscreen.monitor', 1)
viz.setOption('viz.window.width', 2 * 640)
viz.setOption('viz.window.height', 480)
viz.setMultiSample(4)
viz.MainWindow.clip(0.01, 500)
vizconfig.register(nvis.nvisorSX111())
viz.go(viz.FULLSCREEN)
piazza = viz.addChild('piazza.osgb')
mocap = phasespace.Mocap('192.168.1.230')
head = mocap.track_rigid('Resources/hmd-nvis.rb', center_markers=(0, 5))
head.link_pose(viz.MainView)
glove = mocap.track_points([8, 9, 10])
paddle = mocap.track_rigid({
17:(0, 0, 1),
19:(0, 0, 0),
20:(1, 0, 0),
22:(0, 1, 0),
})
mocap.start_thread()
#mocap.start_timer()
def log_mocap(timer_id):
print 'glove#9 pos {0[1]:.2f} {0[1]:.2f} {0[2]:.2f}'.format(*glove.get_marker(9))
print 'head pos {0[0]:.2f} {0[1]:.2f} {0[2]:.2f}, quat {1[0]:.3f} {1[1]:.3f} {1[2]:.3f} {1[3]:.3f}'.format(*head.get_pose())
print 'paddle pos {0[0]:.2f} {0[1]:.2f} {0[2]:.2f}, quat {1[0]:.3f} {1[1]:.3f} {1[2]:.3f} {1[3]:.3f}'.format(*paddle.get_pose())
viz.callback(viz.TIMER_EVENT, log_mocap)
viz.starttimer(0, 1, viz.FOREVER)
def keydown(*args):
head.reset()
paddle.reset()
viz.callback(viz.KEYDOWN_EVENT, keydown)
def loadTemple(bounding=True):
"""loads temple enviornment"""
global boundingBox
global temple
sf = 100
temple = viz.addChild('.\\dataset\\environment\\temple.OSGB')
temple.setEuler([0, 90, 0])
temple.setScale([sf, sf, sf])
temple.setPosition([0, -2.8, 0]) #Found by testing
# pedistal = viz.addChild('.\\dataset\\environment\\Column.OSGB')
# pedistal.setScale([3.0,3.0,3.0])
# pedistal.setPosition([0,-1.5,0]) #Found by testing
if bounding == True:
dimensions = [1, 2, 0.5]
boundingBox = puzzle.view.wireframeCube(dimensions)
boundingBox.setPosition(0, dimensions[1] / 2, 0)
boundingBox.alpha(0.25)
def create3DEnvironment():
#ground = viz.add('tut_ground.wrl') # Add ground
#ground.collidePlane() # Make collideable plane
#viz.clearcolor(viz.WHITE)
piazza = viz.addChild('piazza.osgb')
#look from above
viz.MainView.setPosition([0,1.8,0])
#viz.MainView.setEuler([0,90,0])
goal.setEuler(0,90,0)
goal.color(viz.GREEN)
point.setEuler(0,90,0)
point.setPosition(0,20,0)
point.color(viz.RED)
arrow.setPosition(0,20,0)
arrow.color(viz.BLUE)
def loadTemple(bounding = True):
"""loads temple enviornment"""
global boundingBox
global temple
sf = 100
temple = viz.addChild('.\\dataset\\environment\\temple.OSGB')
temple.setEuler([0,90,0])
temple.setScale([sf,sf,sf])
temple.setPosition([0,-2.8, 0]) #Found by testing
# pedistal = viz.addChild('.\\dataset\\environment\\Column.OSGB')
# pedistal.setScale([3.0,3.0,3.0])
# pedistal.setPosition([0,-1.5,0]) #Found by testing
if bounding == True:
dimensions = [1,2,0.5]
boundingBox = puzzle.view.wireframeCube(dimensions)
boundingBox.setPosition(0,dimensions[1]/2,0)
boundingBox.alpha(0.25)
def addFishes(self):
self.fishes = []
fish_root = viz.addChild('art/environment/floater.osgb')
fish_root.angle = 30
fish_root.setPosition(0, -100, 0)
self.fishes.append(fish_root)
fishToAdd = self.numFish + 1;
for angle in self.angularOffsets:
fishToAdd -= 1
if (self.numFish != DEFAULT_NUM_FISH and fishToAdd >= (self.numFish * .9)):
continue
#FISH EULER NEEDS TO BE SET IN INSPECTOR
fish = vizfx.addChild(self.FISH_FILE, parent=fish_root)
if (self.modScale):
mult = vizmat.GetRandom(-.1, .2) * (self.numFish - fishToAdd)
fish.setScale(1 + mult,1 + mult,1 + mult,viz.ABSOLUTE)
fish.angle = angle / (vizmat.GetRandom(self.numFish - 2, self.numFish + .5))
self.updateFishCircle(fish)
self.fishes.append(fish)
if (fishToAdd == 0):
break
def main():
global wingl
# global wingr
viz.cam.setHandler(vizcam.KeyboardCamera())
myo.init()
gyrolist = [[0,0,0]]
viz.setMultiSample(4)
#
wingl = viz.addChild('basketball.osgb')
wingl.setScale([10,0.3,1])
wingl.setCenter([100,100,100])
wingl.setEuler([0,90,0])
wingl.collideSphere(0.5)
lStartPOS = [ 0, 2.5, 2 ]
wingl.setPosition( lStartPOS )
# wingr = viz.addChild('basketball.osgb')
# wingr.setScale([10,0.3,1])
# wingr.setCenter([100,100,100])
# wingr.setEuler([0,90,0])
# wingr.collideSphere(0.5)
# rStartPOS = [ 0, 2.5, 2 ]
# wingr.setPosition( rStartPOS )
#viz.MainView.setPosition([0,2,-15])
hub = myo.Hub()
hub.set_locking_policy(myo.locking_policy.none)
hub.run(1000, Listener())
vizact.ontimer(0.01 ,updateMyo, [gy, gy2, gy3, wingl, orx, ory, orz, orw, or1x, or1y, or1z, or1w])
vizact.onkeydown('p', hub.shutdown)
FileReader()
initializeObjectFiles()
initializeLocations()
vizact.ontimer(0.1, update)
vizact.onkeydown(' ', statusUpdate)
vizact.onkeydown('s', hub.shutdown)
# viz.AVIRecorder.maxWidth = 1920;
# viz.AVIRecorder.maxHight = 1080;
vizact.onkeydown('b', viz.window.startRecording, 'myo_capture.avi' )
vizact.onkeydown('e', viz.window.stopRecording )
def __init__(self, camera, player_prefs, move_speed=5.0, turn_speed=25.0):
self.view = viz.MainView
self.camera = camera
self.player_prefs = player_prefs
# TODO: Init paddle and board based on player_prefs
self.paddle = None
self.board = viz.addChild('seaeagle.dae')
self.board.collidePlane()
self.board.disable(viz.DYNAMICS)
self.move_speed = move_speed
self.turn_speed = turn_speed
self.max_speed = 10
self.ball_dir = viz.add('white_ball.wrl')
#viz.link(self.board, self.ball_board)
self.PS1 = None
self.PS2 = None
self.ball1 = None
self.ball = None
self.last_pos_ball = None
self.water_level = 0.4
def __init__(self,**kw):
# Initialize base class with model
model = viz.addChild('models/steve.ive')
model.setCenter(0,.3,0)
viz.VizNode.__init__(self,model.id,**kw)
# Get handle to head/body
self.head = self.getChild(_HEAD_NAME)
self.body = self.getChild(_BODY_YAW_NAME)
self.body_root = self.getChild(_BODY_NAME)
# Internal state variables
self._updateFunc = None
self._incrementFunc = None
self._tracker = None
self._trackerFlag = 0
self._bodyTrackMode = BODY_TRACK_NONE
self._bodyYawIncrement = 0.0
self._bodyIncrementTime = 0.0
self._lastBodyYaw = 0.0
self._bodyDragPos = [0.0,0.0,0.0]
def setup(self):
# set up a folder to store data for a subject.
dirname = self.find_output(threshold_min=GAP_MINUTES)
self.output = os.path.join(BASE_PATH, dirname)
logging.info('storing output in %s', self.output)
# configure the phasespace.
mocap = vrlab.Phasespace('192.168.1.230', freq=120)
self.suit = mocap.track_points(range(len(suit.MARKER_LABELS)))
self.leds = []
for i in range(50):
sphere = vizshape.addSphere(0.02, color=viz.RED)
self.suit.link_marker(i, sphere)
self.leds.append(sphere)
mocap.start_thread()
# set up a proximity manager to detect touch events.
self.prox = vizproximity.Manager()
#self.prox.setDebug(viz.ON)
# add an environment and navigation to help with visualization.
self.environment = viz.addChild('dojo.osgb')
viz.cam.setHandler(None)
def setup(self):
# set up a folder to store data for a subject.
dirname = self.find_output(threshold_min=GAP_MINUTES)
self.output = os.path.join(BASE_PATH, dirname)
logging.info('storing output in %s', self.output)
# configure the phasespace.
mocap = vrlab.Phasespace('192.168.1.230', freq=120)
self.suit = mocap.track_points(range(len(suit.MARKER_LABELS)))
self.leds = []
for i in range(50):
sphere = vizshape.addSphere(0.02, color=viz.RED)
self.suit.link_marker(i, sphere)
self.leds.append(sphere)
mocap.start_thread()
# set up a proximity manager to detect touch events.
self.prox = vizproximity.Manager()
#self.prox.setDebug(viz.ON)
# add an environment and navigation to help with visualization.
self.environment = viz.addChild('dojo.osgb')
viz.cam.setHandler(None)
def __init__(self, gem, gempos, escena, sound):
print "ESCENA-2", escena
self.gem = viz.addChild(gem, scene=escena)
self.gem.setScale(2.5, 2.5, 2.5)
self.gem.setPosition(gempos[0], gempos[1])
self.sensorGem = vizproximity.addBoundingBoxSensor(self.gem,
scale=[6, 4, 6])
self.chimesound = sound
self.canvas = viz.addGUICanvas()
self.canvas.alignment(viz.ALIGN_CENTER)
viz.MainWindow.setDefaultGUICanvas(self.canvas)
self.info = vizinfo.InfoPanel('AVERNO',
align=viz.ALIGN_RIGHT_TOP,
icon=False)
self.info.setTitle('Ejemplo')
self.info.setPanelVisible(False)
self.canvas.setRenderWorld([600, 500], [3, viz.AUTO_COMPUTE])
self.canvas.setPosition([
self.gem.getPosition()[0],
self.gem.getPosition()[1] + 0.5,
self.gem.getPosition()[2]
])
self.canvas.setEuler(0, 0, 0)
def load_robot_parts():
"""
Die Einzelteile des Roboters werden geladen und auf
dem Tisch positioniert. Die Positionen sthen in der
globalen Liste positions.
"""
global robot, positions
robot_parts = []
i = 0
for file_name, dh_parameters in robot.objects_STL:
full_file_name = os.path.join(r'STL', file_name)
current_object = viz.addChild(full_file_name)
current_object.color(1.0, 0.5, 0) # current_object.color(.5, .5, .7)
current_object.specular(.1, .1, .1)
current_object.shininess(50)
# Die Basis des Roboters wird nicht auf dem
# Tisch positioniert
if robot_parts:
current_object.setPosition([positions[i], 1.1, 4.5])
current_object.collideBox()
i += 1
robot_parts.append(current_object)
# Positionierung der Basis
robot_parts[0].setPosition(robot.get_position(0))
#robot_parts[0].setPosition([0,-0.3,0],viz.REL_LOCAL)
robot_parts[0].setAxisAngle(robot.get_orientation(0))
robot_parts[0].collideMesh()
robot_parts[1].setAxisAngle([0, 0, 1, 90])
robot_parts[4].setAxisAngle([0, 0, 1, 90])
robot_parts[5].setAxisAngle([1, 0, 0, 90])
robot_parts[1].color(.8, .8, .8)
robot_parts[3].color(.8, .8, .8)
robot_parts[5].color(.8, .8, .8)
robot_parts[7].color(.8, .8, .8)
return robot_parts
def playerAnimationPath (player, trial=getLatestTrial()):
data = loadLogFile('position', trial)
if data == None or not data.has_key(player):
return
data = data[player]
#Add the ball as avatar to animate
avatar = viz.addChild('beachball.osgb', scale=[1.5,1.5,1.5])
colors = [[197, 106, 183], [83, 171, 224], [255, 189, 0]]
avatar.color([float(c)/255 for c in colors[player-1]])
#Create the animation path
path = viz.addAnimationPath()
#Initialize an array of control points and add them to the path
positions = [[p[1],0,p[2]] for p in data]
for x,pos in enumerate(positions):
path.addControlPoint(x+1,pos=pos)
#Set the initial loop mode to circular
# path.setLoopMode(viz.LOOP)
#Automatically rotate the path to face trajectory
path.setAutoRotate(viz.ON)
path.setRotateMode(viz.BEZIER)
#Link the ball to the path
viz.link(path, avatar)
#Play the animation path
path.play()
def _setup_environment(self):
"""
Setup all objects to create the environments. Environments can be switched with the R key on the keyboard.
"""
# Add the comfortable "kitchen" room
self._room = viz.addChild("Room.osgb")
self._room.setScale(.01, .01, .01)
# Create the clean "ground" environment (just a white round ground).
# This environment isn't saved in a osgb file, because the lights couldn't be configured to use the light group 1 instead of 0.
# Only 8 lights are allowed per light group. Room has already 8 lights.
img = viz.addTexture('assets/ground.png')
self._ground = vizshape.addQuad()
self._ground.setScale(6, 6, 6)
self._ground.setEuler(0, 90, 0)
self._ground.texture(img)
# Create the lights for the "ground" envirtonment.
light_positions = [
[0, 5, 0], # From top
[0, -5, 0], # From bottom
[3, 1.5, 0],
[-3, 1.5, 0],
[0, 1.5, 3],
[0, 1.5, -3]
]
for light_position in light_positions:
light = viz.addLight(group=1)
light.setParent(self._ground)
light.spread(45)
light.intensity(1)
light.spotexponent(3)
light.setPosition(light_position, mode=viz.ABS_GLOBAL)
light.lookAt(self._ground.getPosition())
# Hide the second environment until the environment gets changed
self._ground.visible(False)
def __init__(self, model, escena, gems, gemspos, gemcount, planes,
planespos, nextScene, gemsound, planesound):
self.mine = viz.addChild(model, scene=escena)
self.planeList = list()
contpos = 0
for x in planes:
planeitem = Plane(x, planespos[contpos], escena,
nextScene[contpos], planesound)
self.planeList.append(planeitem)
contpos = contpos + 1
self.btn_regresa = viz.addButtonLabel("regresar", scene=escena)
self.btn_regresa.setPosition(0.9, 0.1)
self.gemList = list()
contpos = 0
print escena
for x in gems:
gemitem = Gem(x, gemspos[contpos], escena, gemsound)
self.gemList.append(gemitem)
contpos = contpos + 1
#setup a variable to scale the height of objects so that the screen setup is optimized for viewing base on target values
global scalorxx
scalorxx = 0.6667
#set target tolerance for step time
global targetL
targetL = 1
global targetR
targetR = 1
global targettol
targettol = 0.05
global boxL
boxL = viz.addChild('target.obj',color=(0.063,0.102,0.898),scale=[0.1,(targettol+0.04)*0.75,0.0125])
boxL.setPosition([-0.2,targetL*scalorxx,0])
#place quad behind to show movie
global rvideo
global lvideo
global Rquad
global Lquad
rvideo = viz.addVideo('RightSuccess0001-0040.avi')
lvideo = viz.addVideo('LeftSuccess0001-0040.avi')
#rvideo.loop()
#lvideo.loop()
#rvideo.play()
#lvideo.play()
import vizact
import viztask
import vizproximity
import vizinfo
from vhil_devkit import *
RIFT = True
PPT1 = True
vhilGo(RIFT, PPT1)
view = viz.MainView
view.setPosition(0, .5, -10)
viz.setMultiSample(4)
viz.fov(60)
#viz.go(viz.FULLSCREEN)
room = viz.addChild('MeghaRoom2.osgb')
room.setEuler(-88, 0, 0)
room.setScale(.08, .08, .08)
instructions = vizinfo.InfoPanel(icon=False,text=None)
cat = viz.addAvatar('cat_tabby_med2.cfg')
girl = viz.addAvatar('CC2_f006_hipoly_A2_v2.cfg')
girl.state(34)
girl.setEuler(180, 0, 0)
cat.setPosition(-2.8, 0, -3)
girl.setPosition(-2.8, 0, 2)
cat.setScale(1.5, 1.5, 1.5)
girl.setScale(1.5, 1.5, 1.5)
cat.lookAt([2.8, 0, -3])
ball = viz.add('ball.wrl')
def __init__(self, fileName, SF = 1.0/200): """Pull the BodyParts3D mesh into an instance and set everything up""" self.metaData = ds.getMetaData(file = fileName) self.centerPoint = self.metaData['centerPoint'] self.centerPointScaled = [a*SF for a in self.centerPoint] self.centerPointScaledFlipped = [a*SF*-1 for a in self.centerPoint] print self.centerPointScaledFlipped self.name = self.metaData['name'] self.nameFormatted = '' for i, w in enumerate(self.name.split()): if (i + 1) % 2 == 0 and i != 0: self.nameFormatted += w + '\n' else: self.nameFormatted += w + ' ' #give a bone an information property # self.info = '' # for j,bd in enumerate(boneDesc['info'].split()): # if(j+1) % 10 ==0 and j != 0: # self.info += bd + ' \n' # else: # self.info += bd + ' ' # We are using a 'center' viznode to make manipulation easy self.center = vizshape.addCube(0.1) # An arbitrary placeholder cube super(Mesh, self).__init__(self.center.id) # This is the actual mesh we will see self.mesh = viz.addChild(config.DATASET_PATH + fileName + '.obj') self.mesh.setScale([SF,SF,SF]) # This is the viznode that will be moved around to check distances for snapping self.checker = vizshape.addCube(10.0) # Tooltip self.tooltip = viz.addText(self.nameFormatted) self.tooltip.color(0,5,1) self.tooltip.billboard(viz.BILLBOARD_VIEW) self.tooltip.setScale(0.001,0.001,0.001) #small scale for bounding box calc #Description # if display.displayMode == 2: # self.dialogue = viz.addText(self.info,pos = [0,3,0],parent=viz.WORLD) # self.dialogue.billboard(viz.BILLBOARD_VIEW) # self.dialogue.setBackdrop(viz.BACKDROP_CENTER_TOP) # self.dialogue.setScale(0.15,0.15,0.15) # self.dialogue.alignment(viz.ALIGN_CENTER_CENTER) # #self.dialogue.setPosition([0.03,0.85,0]) # #self.dialogue.color(viz.BLACK) # else: # self.dialogue = viz.addText(self.info,parent=viz.SCREEN) # #self.dialogue.setBackdrop(viz.BACKDROP_CENTER_TOP) # self.dialogue.setScale(0.3,0.3,0.0) # self.dialogue.alignment(viz.ALIGN_LEFT_BOTTOM) # self.dialogue.setPosition([0.03,0.85,0]) # #self.dialogue.color(viz.BLACK) # Setup heirarchy for proper movement behavior self.mesh.setParent(self) self.tooltip.setParent(self.center) self.checker.setParent(self.mesh) # Offset mesh to lie in center of center viznode self.mesh.setPosition(self.centerPointScaledFlipped, viz.ABS_PARENT) self.checker.setPosition(self.centerPoint) self.addSensor() # Tooltip formatting self.tooltip.setScale(0.1,0.1,0.1)#set to prefered scale self.tooltip.setPosition(0,0,-1) self.tooltip.alignment(viz.TEXT_CENTER_CENTER) self.tooltip.visible(viz.OFF) #Line between tooltip and mesh centerPoint # viz.startLayer(viz.LINES) # viz.vertexColor(viz.BLUE) # viz.lineWidth(5) # viz.vertex(self.getPosition(viz.ABS_GLOBAL)) # viz.vertex(self.tooltip.getPosition(viz.ABS_GLOBAL)) # self.nameLine = viz.endLayer() # self.nameLine.dynamic() # self.nameLine.visible(viz.OFF) # Turn off visibility of center and checker viznodes self.center.disable([viz.RENDERING]) self.color([0.3,0,0]) self.checker.disable([viz.RENDERING,viz.INTERSECTION,viz.PHYSICS]) self.scale = SF self._enabled = True self.nameAudioFlag = 1 #defualt: 1, 1 allows name to be played, 0 does not allow name playback self.descAudioFlag = 1 #default: 1, 1 allows description to be played, 0 does not allow dec playback self.grabbedFlag = 0 self.proxCounter = 0 # Group handling self.group = BoneGroup([self]) groups.append(self.group)
