def StraightMaker(x,
start_z,
end_z,
colour=[.8, .8, .8],
primitive=viz.QUAD_STRIP,
width=None):
"""returns a straight, given some starting coords and length"""
viz.startlayer(primitive)
if width is None:
if primitive == viz.QUAD_STRIP:
width = .05
elif primitive == viz.LINE_STRIP:
width = 2
viz.linewidth(width)
width = 0
viz.vertex(x - width, .1, start_z)
viz.vertexcolor(colour)
viz.vertex(x + width, .1, start_z)
viz.vertexcolor(colour)
viz.vertex(x - width, .1, end_z)
viz.vertexcolor(colour)
viz.vertex(x + width, .1, end_z)
straightedge = viz.endlayer()
return straightedge
def addCoordinateAxes(self):
viz.startLayer(viz.LINES)
viz.linewidth(7)
viz.vertexColor(viz.RED)
# positive y axis
viz.vertex(0, 0, 0)
viz.vertex(0, 20, 0)
#positive x axis
viz.vertex(0, 0, 0)
viz.vertex(20, 0, 0)
#positive z axis
viz.vertex(0, 0, 0)
viz.vertex(0, 0, 20)
#y=1 tick mark
viz.vertex(-0.25, 1, 0)
viz.vertex(0.25, 1, 0)
#y=2 tick mark
viz.vertex(-0.25, 2, 0)
viz.vertex(0.25, 2, 0)
#x=1 tick mark
viz.vertex(1, 0, -.25)
viz.vertex(1, 0, .25)
#x=2 tick mark
viz.vertex(2, 0, -.25)
viz.vertex(2, 0, +.25)
#z=1 tick mark
viz.vertex(-.25, 0, 1)
viz.vertex(.25, 0, 1)
#z=2 tick mark
viz.vertex(-.25, 0, 2)
viz.vertex(.25, 0, 2)
viz.endLayer()
def BendMaker(radlist):
#make left and right road edges for for a given radii and return them in a list.
#needs to work with an array of radii
rdsize = 1000 # Hz size for curve length
#left_array= np.arange(0.0, np.pi*1000)/1000
left_array = np.linspace(0.0, np.pi, rdsize)
#right_array = np.arange(np.pi*1000, 0.0, -1)/1000 ##arange(start,stop,step). Array with 3142(/1000) numbers
right_array = np.linspace(
np.pi, 0.0,
rdsize) ##arange(start,stop,step). Array with 3142(/1000) numbers
leftbendlist = []
rightbendlist = []
grey = [.8, .8, .8]
for r in radlist:
x1 = np.zeros(rdsize)
z1 = np.zeros(rdsize)
x2 = np.zeros(rdsize)
z2 = np.zeros(rdsize)
i = 0
viz.startlayer(viz.LINE_STRIP)
#viz.linewidth(5)
viz.linewidth(3)
viz.vertexColor(grey)
viz.vertex(0, .1, 0) #START AT ORIGIN
if r > 0: #r=-1 means it is a straight.
while i < rdsize:
x1[i] = (r * np.cos(right_array[i])) + r
z1[i] = (r * np.sin(right_array[i]))
#print (z1[i])
viz.vertexColor(grey)
viz.vertex(x1[i], .1, z1[i])
i += 1
else:
viz.vertex(0, .1, 100.0) #100m straight
rightbend = viz.endlayer()
rightbend.visible(0)
rightbend.dynamic()
# left bend of a given radii
viz.startlayer(viz.LINE_STRIP)
#viz.linewidth(5)
viz.linewidth(3)
viz.vertexColor(grey)
viz.vertex(0, .1, 0) #START AT ORIGIN
i = 0
if r > 0: #r=-1 means it is a straight.
while i < rdsize:
x1[i] = (r * np.cos(left_array[i])) - r
z1[i] = (r * np.sin(left_array[i]))
viz.vertexColor(grey)
viz.vertex(x1[i], .1, z1[i])
i += 1
else:
viz.vertex(0, .1, 100.0) #100m straight
leftbend = viz.endlayer()
leftbend.visible(0)
leftbend.dynamic()
leftbendlist.append(leftbend)
rightbendlist.append(rightbend)
return leftbendlist, rightbendlist
def createSolidBox(min, max):
viz.startlayer(viz.QUADS, "top")
viz.vertexcolor(1.0, 0.5, 0.0)
# top
# viz.vertexcolor(0.0,1.0,0.0)
viz.normal(0, 1, 0)
viz.vertex(max[0], max[1], min[2])
viz.vertex(min[0], max[1], min[2])
viz.vertex(min[0], max[1], max[2])
viz.vertex(max[0], max[1], max[2])
viz.startlayer(viz.QUADS, "bottom")
viz.vertexcolor(0.5, 0.5, 0.0)
viz.linewidth(2.0)
# bottom
# viz.vertexcolor(1.0,0.5,0.0)
viz.normal(0, -1, 0)
viz.vertex(max[0], min[1], max[2])
viz.vertex(min[0], min[1], max[2])
viz.vertex(min[0], min[1], min[2])
viz.vertex(max[0], min[1], min[2])
viz.startlayer(viz.QUADS, "front")
viz.vertexcolor(0.5, 0.5, 0.0)
viz.linewidth(2.0)
# front
# viz.vertexcolor(1.0,0.0,0.0)
viz.normal(0, 0, 1)
viz.vertex(max[0], max[1], max[2])
viz.vertex(min[0], max[1], max[2])
viz.vertex(min[0], min[1], max[2])
viz.vertex(max[0], min[1], max[2])
viz.startlayer(viz.QUADS, "back")
viz.vertexcolor(0.5, 0.5, 0.0)
viz.linewidth(2.0)
# back
# viz.vertexcolor(1.0,1.0,0.0)
viz.normal(0, 0, -1)
viz.vertex(max[0], min[1], min[2])
viz.vertex(min[0], min[1], min[2])
viz.vertex(min[0], max[1], min[2])
viz.vertex(max[0], max[1], min[2])
viz.startlayer(viz.QUADS, "left")
viz.vertexcolor(0.5, 0.5, 0.0)
viz.linewidth(2.0)
# left
# viz.vertexcolor(0.0,0.0,1.0)
viz.normal(-1, 0, 0)
viz.vertex(min[0], max[1], max[2])
viz.vertex(min[0], max[1], min[2])
viz.vertex(min[0], min[1], min[2])
viz.vertex(min[0], min[1], max[2])
viz.startlayer(viz.QUADS, "right")
viz.vertexcolor(0.5, 0.5, 0.0)
viz.linewidth(2.0)
# right
# viz.vertexcolor(1.0,0.0,1.0)
viz.normal(1, 0, 0)
viz.vertex(max[0], max[1], min[2])
viz.vertex(max[0], max[1], max[2])
viz.vertex(max[0], min[1], max[2])
viz.vertex(max[0], min[1], min[2])
return viz.endlayer()
def roadEdges(): global inside_edge, outside_edge, trialtype_signed, rdsize, edge, trialtype if edge == 1: #if already drawn inside_edge.remove() outside_edge.remove() road_x = 0 roadWidth = 3.0 r = 60 x1 = np.zeros(rdsize) z1 = np.zeros(rdsize) x2 = np.zeros(rdsize) z2 = np.zeros(rdsize) #normal edges if trialtype_signed > 0: #right curve ##Outside Edge - Right # outside edge drawing of straight line i = 0 viz.startlayer(viz.LINE_STRIP) viz.linewidth(1) viz.vertex((road_x-(roadWidth/2)), .1, 0) viz.vertex((road_x-(roadWidth/2)), .1, straight_road) # outside edge drawing of right curve while i < rdsize: x1[i] = (r+(roadWidth/2))*np.cos(right_array[i]) + r z1[i] = (r+(roadWidth/2))*np.sin(right_array[i]) + straight_road viz.vertex(x1[i], .1, z1[i] ) i += 1 outside_edge = viz.endlayer() outside_edge.alpha(1) # inside edge drawing of straight line i = 0 viz.startlayer(viz.LINE_STRIP) viz.linewidth(1) viz.vertex(road_x-(roadWidth/2), 0.1, 0) viz.vertex(road_x-(roadWidth/2), 0.1, straight_road) # inside edge drawing of right curve while i < rdsize: x2[i] = (r-(roadWidth/2))*np.cos(right_array[i]) + r z2[i] = (r-(roadWidth/2))*np.sin(right_array[i]) + straight_road viz.vertex(x2[i], 0.1, z2[i]) i += 1 inside_edge = viz.endlayer() inside_edge.alpha(1) elif trialtype_signed < 0: # left curve # outside edge drawing of straight line viz.startlayer(viz.LINE_STRIP) viz.linewidth(1) viz.vertex(road_x+(roadWidth/2), .1, 0) viz.vertex(road_x+(roadWidth/2), .1, straight_road) i = 0 # outside edge drawing of left curve while i < rdsize: x1[i] = (r+(roadWidth/2))*np.cos(left_array[i]) - r z1[i] = (r+(roadWidth/2))*np.sin(left_array[i]) + straight_road viz.vertex(x1[i], .1, z1[i]) i += 1 outside_edge = viz.endlayer() outside_edge.alpha(1) # inside edge drawing of straight line viz.startlayer(viz.LINE_STRIP) viz.linewidth(1) viz.vertex(road_x-(roadWidth/2), .1, 0) viz.vertex(road_x-(roadWidth/2), .1, straight_road) # inside edge drawing of left curve i = 0 while i < rdsize: x2[i] = (r-(roadWidth/2))*np.cos(left_array[i]) - r z2[i] = (r-(roadWidth/2))*np.sin(left_array[i]) + straight_road viz.vertex(x2[i], 0.1, z2[i]) i += 1 inside_edge = viz.endlayer() inside_edge.alpha(1) edge = 1
def createSolidBox(min,max): viz.startlayer(viz.QUADS, 'top') viz.vertexcolor(1.0,0.5,0.0) #top #viz.vertexcolor(0.0,1.0,0.0) viz.normal(0,1,0) viz.vertex( max[0], max[1], min[2]) viz.vertex( min[0], max[1], min[2]) viz.vertex( min[0], max[1], max[2]) viz.vertex( max[0], max[1], max[2]) viz.startlayer(viz.QUADS,'bottom') viz.vertexcolor(.5,.5,0.0) viz.linewidth(2.0) #bottom #viz.vertexcolor(1.0,0.5,0.0) viz.normal(0,-1,0) viz.vertex( max[0], min[1], max[2]) viz.vertex( min[0], min[1], max[2]) viz.vertex( min[0], min[1], min[2]) viz.vertex( max[0], min[1], min[2]) viz.startlayer(viz.QUADS,'front') viz.vertexcolor(.5,.5,0.0) viz.linewidth(2.0) #front #viz.vertexcolor(1.0,0.0,0.0) viz.normal(0,0,1) viz.vertex( max[0], max[1], max[2]) viz.vertex( min[0], max[1], max[2]) viz.vertex( min[0], min[1], max[2]) viz.vertex( max[0], min[1], max[2]) viz.startlayer(viz.QUADS,'back') viz.vertexcolor(.5,.5,0.0) viz.linewidth(2.0) #back #viz.vertexcolor(1.0,1.0,0.0) viz.normal(0,0,-1) viz.vertex( max[0], min[1], min[2]) viz.vertex( min[0], min[1], min[2]) viz.vertex( min[0], max[1], min[2]) viz.vertex( max[0], max[1], min[2]) viz.startlayer(viz.QUADS,'left') viz.vertexcolor(.5,.5,0.0) viz.linewidth(2.0) #left #viz.vertexcolor(0.0,0.0,1.0) viz.normal(-1,0,0) viz.vertex( min[0], max[1], max[2]) viz.vertex( min[0], max[1], min[2]) viz.vertex( min[0], min[1], min[2]) viz.vertex( min[0], min[1], max[2]) viz.startlayer(viz.QUADS,'right') viz.vertexcolor(.5,.5,0.0) viz.linewidth(2.0) #right #viz.vertexcolor(1.0,0.0,1.0) viz.normal(1,0,0) viz.vertex( max[0], max[1], min[2]) viz.vertex( max[0], max[1], max[2]) viz.vertex( max[0], min[1], max[2]) viz.vertex( max[0], min[1], min[2]) return viz.endlayer()
def __init__( self , av_type = 0):
self.in_quad = 0
if av_type == 0:
type = random.randrange(0,4)
if type == 0:
self.avatar = viz.add('male.cfg',viz.WORLD,scene=viz.MainScene)
elif type == 1:
self.avatar = viz.add('vcc_male.cfg',viz.WORLD,scene=viz.MainScene)
elif type == 2:
self.avatar = viz.add('female.cfg',viz.WORLD,scene=viz.MainScene)
else:
self.avatar = viz.add('vcc_female.cfg',viz.WORLD,scene=viz.MainScene)
else:
self.avatar = viz.add('vcc_male.cfg',viz.WORLD,scene=viz.MainScene)
#Add the hat model
self.hat = viz.add('tophat.3ds')
self.hat.setScale([1,5,1])
#Get the head bone of the avatar
head = self.avatar.getBone('Bip01 Head')
#Link the hat to the head
HatLink = viz.link(head,self.hat)
#Tweek the hat link so it fits snuggly on the head
HatLink.preTrans( [0,0.1,-0.0] )
HatLink.preEuler( [0,-10,0] )
#HatLink.([0,5,0])
self.avatar.setPosition(get_random_point())
self.next_point = get_quadrant(self.avatar.getPosition()).get_random_walk()
self.coll = 0
self.avatar.collideMesh()
self.avatar.enable(viz.COLLIDE_NOTIFY)
#setup the AR
viz.startlayer(viz.QUADS)
viz.vertexcolor(1,0,0)
#viz.pointsize(20)
viz.linewidth(20)
pos = self.avatar.getPosition()
#viz.vertex(pos[0], -20, pos[2])
#viz.vertex(pos[0], 20, pos[2])
#rx = 0.5
#ry = 1
#viz.vertex(-rx, 0, 0)
#viz.vertex(-rx, r, 0)
#viz.vertex(r, r, 0)
#viz.vertex(r, -r, 0)
#viz.vertex(0,0,0)
#viz.vertex(0,2,0)
viz.vertex(-0.3,0,0)
viz.vertex(0.3,0,0)
viz.vertex(0.3,2,0)
viz.vertex(-0.3,2,0)
self.pointAR = viz.endlayer(viz.WORLD, viz.Scene2)
self.set_AR(True)
#self.pointAR.alpha(0.3)
self.arev = vizact.ontimer(.01,self.move_AR)
def __init__(self, startpos, bearing, clothoid_midline, road_width = 3.0, colour = viz.WHITE, primitive = viz.QUAD_STRIP, primitive_width=None, midline_step_size = .005, edge_step_size = .5, x_dir = 1, z_dir = 1, texturefile = None):
#make sign -1 if you want a left bend.
#improve to have a flag if it's a quad, and the quad width.
print ("Creating a Bend")
self.RoadStart = startpos #2 dim xz array
self.Bearing = bearing
self.RoadWidth = road_width
if self.RoadWidth == 0:
self.HalfRoadWidth = 0
else:
self.HalfRoadWidth = road_width/2.0
self.Colour = colour
self.Primitive = primitive
self.PrimitiveWidth = primitive_width
if primitive_width is None:
if primitive == viz.QUAD_STRIP:
primitive_width = .05
self.primitive_width = primitive_width
elif primitive == viz.LINE_STRIP:
self.primitive_width = 2
viz.linewidth(self.primitive_width)
primitive_width = 0 #so I can use the same code below for both primitive types.
self.BendLength = clothoid_midline ### need help!!!
#### TODO!!!!!!
self.MidlineStepSize = midline_step_size
self.Midline_Points = int(round(self.BendLength / self.MidlineStepSize))
self.EdgeStepSize = edge_step_size
self.EdgePoints = int(round(self.BendLength / self.EdgeStepSize))
self.Xdirection = x_dir
"""
This needs updating for clothoid curve!!!
if self.Xdirection > 0:
self.RoadArray = np.linspace(np.pi, (np.pi - self.arc_angle), self.Edge_Pts)
self.MidlineArray = np.linspace(np.pi, (np.pi - self.arc_angle), self.Midline_Pts) #right bend
else:
self.RoadArray = np.linspace(0.0, self.arc_angle, self.Edge_Pts) #left bend
self.MidlineArray = np.linspace(0.0, self.arc_angle, self.Midline_Pts)
"""
self.Zdirection = z_dir #[1, -1]
if self.RoadWidth == 0:
self.MidlineEdge = self.EdgeMaker([self.RoadStart[0], ABOVEGROUND, self.RoadStart[1]], self.Bearing, primitive_width)
self.InsideEdge = None
self.OutsideEdge = None
else:
self.InsideEdgeClothoid = self.ClothoidMidline - (self.HalfRoadWidth)
self.InsideEdgeStart = [self.RoadStart[0] - self.HalfRoadWidth, ABOVEGROUND, self.RoadStart[1]]
self.OutsideEdgeClothoid = self.ClothoidMidline + (self.RoadWidth/2.0)
self.OutsideEdgeStart = [self.RoadStart[0] +self.HalfRoadWidth, ABOVEGROUND, self.RoadStart[1]]
self.InsideEdge = self.EdgeMaker(self.InsideEdge_Start, self.InsideEdge_Rads, primitive_width)
self.OutsideEdge = self.EdgeMaker(self.OutsideEdge_Start, self.OutsideEdge_Rads, primitive_width)
#make it so both edges have the same center. The setCenter is in local coordinates
self.InsideEdge.setCenter([-self.HalfRoadWidth, 0, 0])
self.OutsideEdge.setCenter([+self.HalfRoadWidth, 0, 0])
self.MidlineEdge = None
self.midline = self.MidlineMaker()
self.midline = np.add(self.midline, self.RoadStart)
#CurveOrigin always starts at zero. We need to make it so curve origin equals the following.
translate = self.Bearing * self.Xdirection
self.CurveOrigin = np.add(self.RoadStart, [translate,0])
print ("CurveOrigin: ", self.CurveOrigin)
#this requires translating the bend position and the midline by the radius, in the opposite direction of X_direction.
if self.RoadWidth == 0:
self.MidlineEdge.setPosition([translate, 0, 0], mode = viz.REL_LOCAL)
else:
self.InsideEdge.setPosition([translate, 0, 0], mode = viz.REL_LOCAL)
self.OutsideEdge.setPosition([translate, 0, 0], mode = viz.REL_LOCAL)
self.midline[:,0] = np.add(self.midline[:,0], translate)
#ensure all bends start invisible.
self.ToggleVisibility(viz.OFF)
self.Texturefile = texturefile
if primitive == viz.QUAD_STRIP:
self.AddTexture()
#add road end.
self.RoadEnd = self.midline[-1,:]
def __init__( self , speedMultiplier = 1.0, av_type = 0 ):
print "Creating a person"
self.speedMultiplier = speedMultiplier
self.save_path = path.Path()
self.in_quad = 0
if av_type == 0:
type = random.randrange(0,4)
if type == 0:
self.avatar = viz.add('male.cfg',viz.WORLD,scene=viz.MainScene)
elif type == 1:
self.avatar = viz.add('vcc_male.cfg',viz.WORLD,scene=viz.MainScene)
elif type == 2:
self.avatar = viz.add('female.cfg',viz.WORLD,scene=viz.MainScene)
else:
self.avatar = viz.add('vcc_female.cfg',viz.WORLD,scene=viz.MainScene)
else:
self.avatar = viz.add('vcc_male.cfg',viz.WORLD,scene=viz.MainScene)
#Add the hat model
self.hat = viz.add('tophat.3ds')
self.hat.setScale([1,5,1])
#Get the head bone of the avatar
head = self.avatar.getBone('Bip01 Head')
#Link the hat to the head
HatLink = viz.link(head,self.hat)
#Tweek the hat link so it fits snuggly on the head
HatLink.preTrans( [0,0.1,-0.0] )
HatLink.preEuler( [0,-10,0] )
self.avatar.setPosition(quadSet.get_random_point())
#self.save_path.setStart(self.avatar.getPosition())
self.save_path.addPoint(self.avatar.getPosition(), 0)
self.next_point = quadSet.get_quadrant(self.avatar.getPosition())[0].get_random_walk()
self.next_speed = get_next_speed()
self.save_path.addPoint(self.next_point, self.next_speed)
self.coll = 0
self.avatar.collideMesh()
self.avatar.enable(viz.COLLIDE_NOTIFY)
#setup the AR
viz.startlayer(viz.QUADS)
if av_type == 0:
viz.vertexcolor(1,0,0)
else:
viz.vertexcolor(1,0,0)
viz.linewidth(20)
pos = self.avatar.getPosition()
viz.vertex(-0.3,0,0)
viz.vertex(0.3,0,0)
viz.vertex(0.3,2,0)
viz.vertex(-0.3,2,0)
self.pointAR = viz.endlayer(viz.WORLD, viz.Scene2)
self.pointAR.alpha(0.3)
self.tracking_error = []
self.arev = vizact.ontimer(.01,self.move_AR)
self.myquadrants = [False,False,False,False,False,False,False,False]
self.lastTime = 0
self.timeNotVisible = 0
def __init__(self,
startpos,
length=50,
size=500,
z_dir=1,
colour=viz.WHITE,
primitive=viz.QUAD_STRIP,
primitive_width=None,
road_width=3.0,
texturefile=None,
midline_step_size=.005):
"""ultimately this class should inherit a super class called road section. But for now let's just make a straight"""
"""returns a straight, given some starting coords and length"""
print('Creating vizStraight')
self.RoadLength = length
self.RoadStart = startpos #2 dimensional x, z array.
self.RoadEnd = [
startpos[0], startpos[1] + (length * z_dir)
] #currently only if it's north or south orientation. #2dim xz array
self.midline_step_size = midline_step_size
self.Midline_Pts = int(round(self.RoadLength / self.midline_step_size))
#self.RoadSize_Pts = size
self.RoadWidth = road_width
if self.RoadWidth == 0:
self.HalfRoadWidth = 0
else:
self.HalfRoadWidth = road_width / 2.0
self.Z_direction = z_dir #[1, -1]
self.colour = colour
self.primitive = primitive
self.primitive_width = primitive_width
if primitive_width is None:
if primitive == viz.QUAD_STRIP:
primitive_width = .05
self.primitive_width = primitive_width
elif primitive == viz.LINE_STRIP:
self.primitive_width = 2
viz.linewidth(self.primitive_width)
primitive_width = 0 #so I can use the same code below for both primitive types.
if self.RoadWidth == 0:
self.MidlineEdge = self.StraightEdgeMaker(
[self.RoadStart[0], ABOVEGROUND, self.RoadStart[1]],
[self.RoadEnd[0], ABOVEGROUND, self.RoadEnd[1]],
primitive_width)
self.InsideEdge = None
self.OutsideEdge = None
else:
self.InsideEdge_Start = [
self.RoadStart[0] - self.HalfRoadWidth, ABOVEGROUND,
self.RoadStart[1]
]
self.InsideEdge_End = [
self.RoadEnd[0] - self.HalfRoadWidth, ABOVEGROUND,
self.RoadEnd[1]
]
self.OutsideEdge_Start = [
self.RoadStart[0] + self.HalfRoadWidth, ABOVEGROUND,
self.RoadStart[1]
]
self.OutsideEdge_End = [
self.RoadEnd[0] + self.HalfRoadWidth, ABOVEGROUND,
self.RoadEnd[1]
]
self.InsideEdge = self.StraightEdgeMaker(self.InsideEdge_Start,
self.InsideEdge_End,
primitive_width)
self.OutsideEdge = self.StraightEdgeMaker(self.OutsideEdge_Start,
self.OutsideEdge_End,
primitive_width)
#make it so both edges have the same center. The setCenter is in local coordinates
self.InsideEdge.setCenter([-self.HalfRoadWidth, 0, 0])
self.OutsideEdge.setCenter([+self.HalfRoadWidth, 0, 0])
self.MidlineEdge = None
self.midline = self.StraightMidlineMaker()
#ensure all bends start invisible.
self.ToggleVisibility(viz.OFF)
self.Texturefile = texturefile
if primitive == viz.QUAD_STRIP:
self.AddTexture()
def __init__(self, startpos, rads, size = 500, x_dir = 1, z_dir = 1, colour = viz.WHITE, primitive = viz.QUAD_STRIP, primitive_width=None, road_width = 3.0, texturefile = None, arc_angle = np.pi, midline_step_size = .005, edge_step_size = .5):
"""Returns a bend of a specific road width, with functions to set the visibility, position, or Euler of both edges at once. Put road_width to 0 for single edge"""
"""
arc_angle is the length of the arc in radians.
step_size is the granulation of the midline road arrays, in metres
size is the edge array size, doesn't need to be as granulated.
"""
#make sign -1 if you want a left bend.
#improve to have a flag if it's a quad, and the quad width.
print ("Creating a Bend")
self.RoadStart = startpos #2 dim xz array
self.RoadWidth = road_width
if self.RoadWidth == 0:
self.HalfRoadWidth = 0
else:
self.HalfRoadWidth = road_width/2.0
self.Rads = rads
self.arc_angle = arc_angle
circumference = 2 * np.pi * rads
self.bend_length = (arc_angle / (2*np.pi)) * circumference
print ("Bend_length:",self.bend_length)
self.midline_step_size = midline_step_size
self.edge_step_size = edge_step_size
self.Edge_Pts = int(round(self.bend_length / self.edge_step_size))
print ("Edge_Pts: ", self.Edge_Pts)
self.Midline_Pts = int(round(self.bend_length / self.midline_step_size))
print ("Midline_Pts: ", self.Midline_Pts)
self.X_direction = x_dir
if self.X_direction > 0:
self.RoadArray = np.linspace(np.pi, (np.pi - self.arc_angle), self.Edge_Pts)
self.MidlineArray = np.linspace(np.pi, (np.pi - self.arc_angle), self.Midline_Pts) #right bend
else:
self.RoadArray = np.linspace(0.0, self.arc_angle, self.Edge_Pts) #left bend
self.MidlineArray = np.linspace(0.0, self.arc_angle, self.Midline_Pts)
self.Z_direction = z_dir #[1, -1]
self.colour = colour
self.primitive = primitive
self.primitive_width = primitive_width
if primitive_width is None:
if primitive == viz.QUAD_STRIP:
primitive_width = .05
self.primitive_width = primitive_width
elif primitive == viz.LINE_STRIP:
self.primitive_width = 2
viz.linewidth(self.primitive_width)
primitive_width = 0 #so I can use the same code below for both primitive types.
if self.RoadWidth == 0:
self.MidlineEdge = self.EdgeMaker([self.RoadStart[0],ABOVEGROUND,self.RoadStart[1]], self.Rads, primitive_width)
self.InsideEdge = None
self.OutsideEdge = None
else:
self.InsideEdge_Rads = self.Rads-(self.HalfRoadWidth)
self.InsideEdge_Start = [self.RoadStart[0]-self.HalfRoadWidth,ABOVEGROUND, self.RoadStart[1]]
self.OutsideEdge_Rads = self.Rads+(self.RoadWidth/2.0)
self.OutsideEdge_Start = [self.RoadStart[0]+self.HalfRoadWidth,ABOVEGROUND, self.RoadStart[1]]
self.InsideEdge = self.EdgeMaker(self.InsideEdge_Start, self.InsideEdge_Rads, primitive_width)
self.OutsideEdge = self.EdgeMaker(self.OutsideEdge_Start, self.OutsideEdge_Rads, primitive_width)
#make it so both edges have the same center. The setCenter is in local coordinates
self.InsideEdge.setCenter([-self.HalfRoadWidth, 0, 0])
self.OutsideEdge.setCenter([+self.HalfRoadWidth, 0, 0])
self.MidlineEdge = None
self.midline = self.MidlineMaker()
self.midline = np.add(self.midline, self.RoadStart)
#CurveOrigin always starts at zero. We need to make it so curve origin equals the following.
translate = self.Rads * self.X_direction
self.CurveOrigin = np.add(self.RoadStart, [translate,0])
print ("CurveOrigin: ", self.CurveOrigin)
#this requires translating the bend position and the midline by the radius, in the opposite direction of X_direction.
if self.RoadWidth == 0:
self.MidlineEdge.setPosition([translate, 0, 0], mode = viz.REL_LOCAL)
else:
self.InsideEdge.setPosition([translate, 0, 0], mode = viz.REL_LOCAL)
self.OutsideEdge.setPosition([translate, 0, 0], mode = viz.REL_LOCAL)
self.midline[:,0] = np.add(self.midline[:,0], translate)
#ensure all bends start invisible.
self.ToggleVisibility(viz.OFF)
self.Texturefile = texturefile
if primitive == viz.QUAD_STRIP:
self.AddTexture()
#add road end.
self.RoadEnd = self.midline[-1,:]
