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graphics.py
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graphics.py
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import numpy as np
from OpenGL.GL import *
from OpenGL.GLU import *
import OpenGL.GL.shaders
from pyrr import matrix44, vector3,Vector4
from math import atan2, asin
import pygame
from pygame.locals import *
from PIL import Image
class Radar:
def __init__(self):
self.enemy_disp = Text(45)
self.projectile_disp = Text(45)
self.radar_surface = pygame.Surface((400,200))
self.radar_surface.set_colorkey((0,0,0))
self.radar_plane = pygame.transform.scale(pygame.image.load("res/radar_plane.png"),(20,20))
self.enemy_plane = pygame.transform.scale(pygame.image.load("res/radar_plane3.png"),(30,30))
self.projectiles = pygame.transform.scale(pygame.image.load("res/Rocket.png"),(10,30))
def draw(self, positions,heading,planes,projectiles,warning):
position = (-.2222,-1, 0)
color1 = (100,150,100,1)
color2 = (0,255,0,1)
color3 = (200,200,125,1)
color4 = (175,0,0,1)
color5 = (0,100,150,1)
color6 = (150,100,100,1)
self.enemy_disp.draw(0.14,-0.975,str(planes),(255,0,0,1))
self.projectile_disp.draw(-0.155,-0.975,str(projectiles),(0,0,255,1))
if warning:
pygame.draw.circle(self.radar_surface,color6,(200,100),100)
else:
pygame.draw.circle(self.radar_surface,color1,(200,100),100)
pygame.draw.circle(self.radar_surface,color2,(200,100),100,3)
pygame.draw.circle(self.radar_surface,color2,(200,100),75,1)
pygame.draw.circle(self.radar_surface,color2,(200,100),50,1)
pygame.draw.circle(self.radar_surface,color2,(200,100),25,1)
pygame.draw.line(self.radar_surface,color2,(100,100),(300,100),1)
pygame.draw.line(self.radar_surface,color2,(200,0),(200,200),1)
pygame.draw.line(self.radar_surface,color4,(200,100),self.rotate(0,-99,heading),2)
self.radar_surface.blit(self.radar_plane,(190,90))
self.radar_surface.blit(self.enemy_plane,(295,150))
self.radar_surface.blit(self.projectiles,(82,150))
v_x, v_y, v_z = positions
for x,y,z in zip(v_x[1:],v_y[1:],v_z[1:]):
r1 = int((y-v_y[0])/100)
r2 = -int((x-v_x[0])/100)
r3 = v_z[0]-z
r = np.sqrt(r1*r1 + r2*r2)
if r3 > 0:
color = color5
else:
color = color3
if r < 95:
pygame.draw.circle(self.radar_surface,color,self.rotate(r1,r2,heading),5)
else:
pygame.draw.line(self.radar_surface,color,self.rotate(r1*97/r,r2*97/r,heading),self.rotate(r1*85/r,r2*85/r,heading),4)
textData = pygame.image.tostring(self.radar_surface, "RGBA", True)
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA)
glRasterPos3d(*position)
glDrawPixels(self.radar_surface.get_width(), self.radar_surface.get_height(),GL_RGBA, GL_UNSIGNED_BYTE, textData)
glDisable(GL_BLEND)
def _load_shader(shader_file):
shader_source = ""
with open(shader_file) as f:
shader_source = f.read()
f.close()
return str.encode(shader_source)
def compile_shader(vs, fs):
vert_shader = _load_shader(vs)
frag_shader = _load_shader(fs)
shader = OpenGL.GL.shaders.compileProgram(OpenGL.GL.shaders.compileShader(vert_shader, GL_VERTEX_SHADER),
OpenGL.GL.shaders.compileShader(frag_shader, GL_FRAGMENT_SHADER))
return shader
def load_texture(path):
texture = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, texture)
# Set the texture wrapping parameters
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT)
# Set texture filtering parameters
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
# load image
image = Image.open(path)
img_data = np.array(list(image.getdata()), np.uint8)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, image.width, image.height, 0, GL_RGB, GL_UNSIGNED_BYTE, img_data)
glEnable(GL_TEXTURE_2D)
return texture
def create_from_inverse_of_quaternion(quat):
return np.array([[1.0 - 2.0 * (quat[1]**2 + quat[2]**2), 2.0 * (quat[0] * quat[1] + quat[3] * quat[2]),2.0 * (quat[0] * quat[2] - quat[3] * quat[1]),0.],
[2.0 * (quat[0] * quat[1] - quat[3] * quat[2]),1.0 - 2.0 * ((quat[0]**2) + quat[2]**2),2.0 * (quat[1] * quat[2] + quat[3] * quat[0]),0.],
[2.0 * (quat[0] * quat[2] + quat[3] * quat[1]),2.0 * (quat[1] * quat[2] - quat[3] * quat[0]),1.0 - 2.0 * ((quat[0]**2) + quat[1]**2),0.],
[0.,0.,0.,1.]])
def create_from_translation(vec):
return np.array([[1.,0.,0.,0.],
[0.,1.,0.,0.],
[0.,0.,1.,0.],
[vec[0],vec[1],vec[2],1.]])
def create_from_z_rotation(rotation):
s = np.sin(rotation)
c = np.cos(rotation)
return np.array([[c,-s,0.,0.],
[s,c,0.,0.],
[0.,0.,1.,0.],
[0.,0.,0.,1.]])
#calculates quaternion product
def quatProd(A, B):
a = A[0]*B[0]-A[1]*B[1]-A[2]*B[2]-A[3]*B[3]
b = A[0]*B[1]+A[1]*B[0]+A[2]*B[3]-A[3]*B[2]
c = A[0]*B[2]-A[1]*B[3]+A[2]*B[0]+A[3]*B[1]
d = A[0]*B[3]+A[1]*B[2]-A[2]*B[1]+A[3]*B[0]
return [a,b,c,d]
#returns quaterion conjugate
def quatConj(e):
return [e[0],-e[1],-e[2],-e[3]]
#calculates Euler angles from Quaternion according to 11.7.9 (returns angles in degrees)
def eulFromQuat(e):
phi = atan2(2*(e[0]*e[1]+e[2]*e[3]),(e[0]**2+e[3]**2-e[1]**2-e[2]**2))*180./np.pi
theta = asin(2*(e[0]*e[2]-e[1]*e[3]))*180./np.pi
gamma = atan2(2*(e[0]*e[3]+e[1]*e[3]),(e[0]**2+e[1]**2-e[2]**2-e[3]**2))*180./np.pi
if gamma<0.:
gamma+=360.
E = np.array([gamma,theta,phi])
return E
#transforms vector in body fixed coordinates to earth fixed coordinates
def Body2Fixed(vec,e):
x,y,z = vec
e0,ex,ey,ez = e
To = x*ex+y*ey+z*ez
Tx = x*e0-y*ez+z*ey
Ty = x*ez+y*e0-z*ex
Tz = -x*ey+y*ex+z*e0
a = e0*Tx+ex*To+ey*Tz-ez*Ty
b = e0*Ty-ex*Tz+ey*To+ez*Tx
c = e0*Tz+ex*Ty-ey*Tx+ez*To
return [a,b,c]
#changes quaternion from (e0,ex,ey,ez) to (x,y,z,w)
def swap_quat(e):
return [e[1],e[2],e[3],e[0]]
def vector_normalise(vec):
if vec[0] == 0. and vec[1] == 0. and vec[2] == 0.:
return np.array([0.,0.,0.])
else:
mag =np.sqrt(vec[0]**2+vec[1]**2+vec[2]**2)
return np.array([vec[0]/mag,vec[1]/mag,vec[2]/mag])
class Mesh:
def __init__(self,filename,vertexshadername, fragmentshadername,texturename,width,height):
self.vert_coords = []
self.text_coords = []
self.norm_coords = []
self.vert_index = []
self.text_index = []
self.norm_index = []
self.model = []
self.projection_matrix = matrix44.create_perspective_projection_matrix(60.0, width/height,0.1,10000)
self.position = [0.,0.,0.]
self.orientation = [0.,0.,0.,1.]
for line in open(filename, 'r'):
if line.startswith('#'):continue
values = line.split()
if not values: continue
if values[0] == 'v':
self.vert_coords.append(values[1:4])
if values[0] == 'vt':
self.text_coords.append(values[1:3])
if values[0] == 'vn':
self.norm_coords.append(values[1:4])
if values[0] == 'f':
vi = []
ti = []
ni = []
for v in values[1:4]:
w = v.split('/')
vi.append(int(w[0])-1)
ti.append(int(w[1])-1)
ni.append(int(w[2])-1)
self.vert_index.append(vi)
self.text_index.append(ti)
self.norm_index.append(ni)
self.vert_index = [y for x in self.vert_index for y in x]
self.text_index = [y for x in self.text_index for y in x]
self.norm_index = [y for x in self.norm_index for y in x]
for i in self.vert_index:
self.model.extend(self.vert_coords[i])
for i in self.text_index:
self.model.extend(self.text_coords[i])
for i in self.norm_index:
self.model.extend(self.norm_coords[i])
self.model = np.array(self.model, dtype = 'float32')
self.texture_offset = len(self.vert_index)*12
self.normal_offset = (self.texture_offset+len(self.text_index)*8)
self.shader = compile_shader(vertexshadername, fragmentshadername)
self.model_loc = glGetUniformLocation(self.shader, "model")
self.view_loc = glGetUniformLocation(self.shader, "view")
self.proj_loc = glGetUniformLocation(self.shader, "proj")
self.orientation_loc = glGetUniformLocation(self.shader, "orientation")
glUseProgram(self.shader)
glUniformMatrix4fv(self.proj_loc,1,GL_FALSE,self.projection_matrix)
glUseProgram(0)
self.texture = load_texture(texturename)
self.vao = glGenVertexArrays(1)
glBindVertexArray(self.vao)
self.vbo = glGenBuffers(1)
glBindBuffer(GL_ARRAY_BUFFER,self.vbo)
glBufferData(GL_ARRAY_BUFFER, self.model.itemsize*len(self.model), self.model, GL_STATIC_DRAW)
#position
glVertexAttribPointer(0,3,GL_FLOAT,GL_FALSE, self.model.itemsize*3, ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
#texture
glVertexAttribPointer(1,2,GL_FLOAT,GL_FALSE,self.model.itemsize*2, ctypes.c_void_p(self.texture_offset))
glEnableVertexAttribArray(1)
#normals
glVertexAttribPointer(2,3,GL_FLOAT,GL_FALSE,self.model.itemsize*3, ctypes.c_void_p(self.normal_offset))
glEnableVertexAttribArray(2)
glBindVertexArray(0)
self.set_position(self.position)
self.set_orientation(self.orientation)
def set_position(self,position):
self.position = position
self.model_matrix = create_from_translation(self.position)
glUseProgram(self.shader)
glUniformMatrix4fv(self.model_loc,1,GL_FALSE,self.model_matrix)
glUseProgram(0)
def set_orientation(self,orientation):
self.orientation = orientation
self.orientation_matrix = create_from_inverse_of_quaternion(self.orientation)
glUseProgram(self.shader)
glUniformMatrix4fv(self.orientation_loc,1, GL_FALSE, self.orientation_matrix)
glUseProgram(0)
def set_orientation_z(self,rotation):
self.orientation_matrix = create_from_z_rotation(-np.radians(rotation))
glUseProgram(self.shader)
glUniformMatrix4fv(self.orientation_loc,1, GL_FALSE, self.orientation_matrix)
glUseProgram(0)
def change_projection_matrix(self, fov, aspect_ratio, near, far):
self.projection_matrix = matrix44.create_perspective_projection_matrix(fov,aspect_ratio,near,far)
glUseProgram(self.shader)
glUniformMatrix4fv(self.proj_loc,1,GL_FALSE,self.projection_matrix)
glUseProgram(0)
def set_view(self,view):
glUseProgram(self.shader)
glUniformMatrix4fv(self.view_loc,1,GL_FALSE,view)
glUseProgram(0)
def render(self):
glBindVertexArray(self.vao)
glUseProgram(self.shader)
glBindTexture(GL_TEXTURE_2D, self.texture)
glDrawArrays(GL_TRIANGLES,0,len(self.vert_index))
glBindTexture(GL_TEXTURE_2D, 0)
glUseProgram(0)
glBindVertexArray(0)
class Text:
def __init__(self, size):
self.font = pygame.font.Font(None, size)
def draw(self, x, y, text, color = None):
position = (x, y, 0)
if color:
textSurface = self.font.render(text, True, color)
else:
textSurface = self.font.render(text, True, (0,0,0,1))
textData = pygame.image.tostring(textSurface, "RGBA", True)
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA)
glRasterPos3d(*position)
glDrawPixels(textSurface.get_width(), textSurface.get_height(),GL_RGBA, GL_UNSIGNED_BYTE, textData)
glDisable(GL_BLEND)
class FlightData:
def __init__(self):
self.text = Text(36)
def render(self,flight_data):
#left side data
self.text.draw(-0.9,0.90,"Airspeed")
self.text.draw(-0.9,0.84,str(round(flight_data["Airspeed"],1))+" fps")
self.text.draw(-0.9,0.75,"AoA")
self.text.draw(-0.9,0.69,str(round(flight_data["AoA"],5))+" deg")
self.text.draw(-0.9,0.60,"Sideslip")
self.text.draw(-0.9,0.54,str(round(flight_data["Sideslip"],5))+" deg")
self.text.draw(-0.9,0.45,"Altitude")
self.text.draw(-0.9,0.39,str(round(flight_data["Altitude"],2))+" ft")
self.text.draw(-0.9,0.30,"Latitude")
self.text.draw(-0.9,0.24,str(round(flight_data["Latitude"],6))+" deg")
self.text.draw(-0.9,0.15,"Longitude")
self.text.draw(-0.9,0.09,str(round(flight_data["Longitude"],6))+" deg")
self.text.draw(-0.9,0.0,"Bank")
self.text.draw(-0.9,-0.06,str(round(flight_data["Bank"],2))+" deg")
self.text.draw(-0.9,-0.15,"Elevation")
self.text.draw(-0.9,-0.21,str(round(flight_data["Elevation"],2))+" deg")
self.text.draw(-0.9,-0.30,"Heading")
self.text.draw(-0.9,-0.36,str(round(flight_data["Heading"],2))+" deg")
self.text.draw(-0.9,-0.45,"Gnd Speed")
self.text.draw(-0.9,-0.51,str(round(flight_data["Gnd Speed"],1))+" fps")
self.text.draw(-0.9,-0.60,"Gnd Track")
self.text.draw(-0.9,-0.66,str(round(flight_data["Gnd Track"],2))+" deg")
self.text.draw(-0.9,-0.75,"Climb")
self.text.draw(-0.9,-0.81,str(round(flight_data["Climb"],0))+" fpm")
#right side data
self.text.draw(0.7,0.90,"Axial G-Force")
self.text.draw(0.7,0.84,str(round(flight_data["Axial G-Force"],4))+" g's")
self.text.draw(0.7,0.75,"Side G-Force")
self.text.draw(0.7,0.69,str(round(flight_data["Side G-Force"],4))+" g's")
self.text.draw(0.7,0.60,"Normal G-Force")
self.text.draw(0.7,0.54,str(round(flight_data["Normal G-Force"],4))+" g's")
self.text.draw(0.7,0.45,"Roll Rate")
self.text.draw(0.7,0.39,str(round(flight_data["Roll Rate"],2))+" deg/s")
self.text.draw(0.7,0.30,"Pitch Rate")
self.text.draw(0.7,0.24,str(round(flight_data["Pitch Rate"],2))+" deg/s")
self.text.draw(0.7,0.15,"Yaw Rate")
self.text.draw(0.7,0.09,str(round(flight_data["Yaw Rate"],2))+" deg/s")
self.text.draw(0.7,0.00,"Throttle")
self.text.draw(0.7,-0.06,str(round(flight_data["Throttle"],0))+" %")
self.text.draw(0.7,-0.15,"Elevator")
self.text.draw(0.7,-0.21,str(round(flight_data["Elevator"],1))+" deg")
self.text.draw(0.7,-0.30,"Ailerons")
self.text.draw(0.7,-0.36,str(round(flight_data["Ailerons"],1))+" deg")
self.text.draw(0.7,-0.45,"Rudder")
self.text.draw(0.7,-0.51,str(round(flight_data["Rudder"],1))+" deg")
self.text.draw(0.7,-0.60,"Flaps")
self.text.draw(0.7,-0.66,str(round(flight_data["Flaps"],1))+" deg")
self.text.draw(0.7,-0.75,"Time")
self.text.draw(0.7,-0.81,str(round(flight_data["Time"],1))+" sec")
#bottom data
self.text.draw(0.1,-0.75,"Graphics Time Step: " +str(flight_data["Graphics Time Step"])+" sec")
self.text.draw(-0.6,-0.75,"Physics Time Step: " +str(round(flight_data["Physics Time Step"],6))+" sec")
class HeadsUp:
def __init__(self,width, height):
#initialize HUD objects
self.view = np.identity(4)
#initialize pitch ladder
self.ladder = Mesh("res/ladder.obj","shaders/HUD.vs","shaders/HUD.fs","res/HUD_texture.jpg",width,height)
#initialize flight path indicator
self.flightPath = Mesh("res/flightPath.obj", "shaders/HUD.vs", "shaders/HUD.fs", "res/HUD_texture.jpg",width,height)
#initialize crosshair
self.crosshair = Mesh("res/crosshair.obj","shaders/HUD.vs","shaders/HUD.fs","res/HUD_texture.jpg",width,height)
self.crosshair.set_position([0.,0.,-0.5])
self.crosshair.set_view(self.view)
#initialize bank angle indicator
self.bank = Mesh("res/bank.obj","shaders/HUD.vs","shaders/HUD.fs","res/HUD_texture.jpg",width,height)
self.bank.set_position([0.,-0.205,-0.075])
self.bank.set_view(self.view)
#initialize compass
self.compass = Mesh("res/compass.obj","shaders/HUD.vs","shaders/HUD.fs","res/HUD_texture.jpg",width,height)
self.compass.set_view(self.view)
#initialize speedometer
self.speed = Mesh("res/speedometer.obj","shaders/HUD.vs","shaders/HUD.fs","res/HUD_texture.jpg",width,height)
self.speed.set_view(self.view)
#initialize altimeter
self.alt = Mesh("res/altimeter.obj","shaders/HUD.vs","shaders/HUD.fs","res/HUD_texture.jpg",width,height)
self.alt.set_view(self.view)
#initialize viewports for HUD objects
self.viewport = Frame(0.75,0.75,width,height,[0.,0.,-1.])
self.speed_viewport = Frame(1.25,0.3,width,height,[0.,0.,-1.])
self.bank_viewport = Frame(0.5,0.125,width, height,[0.,0.26,-1.])
#change HUD matrices to fit in center_viewport
self.compass.change_projection_matrix(60,self.viewport.external_aspect_ratio,0.1,10)
self.bank.change_projection_matrix(60,self.bank_viewport.external_aspect_ratio,0.05,10)
self.crosshair.change_projection_matrix(60,self.viewport.external_aspect_ratio,0.1,10)
self.speed.change_projection_matrix(60,self.speed_viewport.external_aspect_ratio,0.1,10)
self.alt.change_projection_matrix(60,self.speed_viewport.external_aspect_ratio,0.1,10)
def render(self, aircraft_condition, world_view):
velocity_b = aircraft_condition["Velocity"]
orientation_b = aircraft_condition["Orientation"]
position_f = aircraft_condition["Position"]
Vo = np.sqrt(velocity_b[0]**2+velocity_b[1]**2+velocity_b[2]**2)
#determine position of flight path indicator
velocity_f = Body2Fixed(velocity_b, orientation_b)
flight_path = vector_normalise(velocity_f)
cam_position = position_f
self.flightPath.set_position(cam_position+0.6*flight_path)
self.flightPath.set_orientation(swap_quat(orientation_b))
#calculate changes in pitch ladder and compass positions
euler = eulFromQuat(orientation_b)
self.ladder.set_position(cam_position)
self.ladder.set_orientation_z(euler[0])
self.compass.set_position([-euler[0]*0.2,-0.22,-0.75])
self.speed.set_position([-0.35,Vo*-0.002,-0.25])
self.alt.set_position([0.35,position_f[2]*0.002,-0.25])
self.bank.set_orientation_z(euler[2])
#render ladder
self.ladder.set_view(world_view)
self.flightPath.set_view(world_view)
self.ladder.render()
self.flightPath.render()
#altimeter and airspeed indicator viewframe
self.speed_viewport.start_draw_to_frame(0.)
self.speed.render()
self.alt.render()
self.speed_viewport.end_draw_to_frame()
#crosshair and compass viewframe
self.viewport.start_draw_to_frame(0.)
self.crosshair.render()
self.compass.render()
self.viewport.end_draw_to_frame()
#bank indicator viewport
self.bank_viewport.start_draw_to_frame(0.)
self.bank.render()
self.bank_viewport.end_draw_to_frame()
#render viewports
self.speed_viewport.draw_frame()
self.viewport.draw_frame()
self.bank_viewport.draw_frame()
class Frame:
def __init__(self,x,y,width,height,position):
self.plane = [-0.5*x, -0.5*y, 0.0, 0.0, 0.0,
0.5*x, -0.5*y, 0.0, 1.0, 0.0,
0.5*x, 0.5*y, 0.0, 1.0, 1.0,
-0.5*x, 0.5*y, 0.0, 0.0, 1.0]
self.plane = np.array(self.plane, dtype=np.float32)
self.plane_indices = [0, 1, 2, 2, 3, 0]
self.plane_indices = np.array(self.plane_indices, dtype=np.uint32)
self.external_aspect_ratio = x/y
aspect_ratio = float(width/height)
self.shader = compile_shader("shaders/blank.vs", "shaders/blank.fs")
self.model_loc = glGetUniformLocation(self.shader, "model")
self.proj_loc = glGetUniformLocation(self.shader, "proj")
self.projection = matrix44.create_perspective_projection_matrix(45.0, aspect_ratio, 0.1, 100.0)
# plane VAO
self.vao = glGenVertexArrays(1)
glBindVertexArray(self.vao)
self.VBO = glGenBuffers(1)
glBindBuffer(GL_ARRAY_BUFFER, self.VBO)
glBufferData(GL_ARRAY_BUFFER, self.plane.itemsize * len(self.plane), self.plane, GL_STATIC_DRAW)
self.EBO = glGenBuffers(1)
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, self.EBO)
glBufferData(GL_ELEMENT_ARRAY_BUFFER, self.plane_indices.itemsize * len(self.plane_indices), self.plane_indices, GL_STATIC_DRAW)
# position
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, self.plane.itemsize * 5, ctypes.c_void_p(0))
glEnableVertexAttribArray(0)
# textures
glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, self.plane.itemsize * 5, ctypes.c_void_p(12))
glEnableVertexAttribArray(1)
glBindVertexArray(0)
self.texture = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, self.texture)
# texture wrapping params
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT)
# texture filtering params
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, None)
glBindTexture(GL_TEXTURE_2D, 0)
self.depth_buff = glGenRenderbuffers(1)
glBindRenderbuffer(GL_RENDERBUFFER, self.depth_buff)
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH_COMPONENT, width, height)
self.FBO = glGenFramebuffers(1)
glBindFramebuffer(GL_FRAMEBUFFER, self.FBO)
glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, self.texture, 0)
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, self.depth_buff)
glBindFramebuffer(GL_FRAMEBUFFER, 0)
position_matrix = create_from_translation(position)
glUseProgram(self.shader)
glUniformMatrix4fv(self.model_loc, 1, GL_FALSE, position_matrix)
glUniformMatrix4fv(self.proj_loc,1,GL_FALSE,self.projection)
glUseProgram(0)
def start_draw_to_frame(self,opacity):
glBindFramebuffer(GL_FRAMEBUFFER,self.FBO)
glClearColor(0.,0.,0.,opacity)
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT)
def end_draw_to_frame(self):
glBindFramebuffer(GL_FRAMEBUFFER,0)
def draw_frame(self):
glBindVertexArray(self.vao)
glBindTexture(GL_TEXTURE_2D, self.texture)
glUseProgram(self.shader)
glDrawElements(GL_TRIANGLES, len(self.plane_indices), GL_UNSIGNED_INT, None)
glUseProgram(0)
glBindVertexArray(0)
class Camera:
def __init__(self):
self.pos_storage = []
self.up_storage = []
self.target_storage =[]
self.IDENTITY = np.identity(4)
self.IDENTITY2 = np.identity(4)
def third_view(self, graphics_aircraft):
"""creates view matrix such that camera is positioned behind and slightly above graphics_aircraft. camera location and orientation is tied to graphics_aircraft
Parameters
----------
graphics_aircraft: graphics_aircraft object used in graphics
Returns
-------
view matrix
Raises
------
Notes
-----
This function does several conversions between (e0,ex,ey,ez) and (x,y,z,w) forms of quaternions. It should not be altered.
"""
#third person camera view of plane
to_camera = [-70.,0.,-5.]
quat_orientation = [graphics_aircraft.orientation[3], graphics_aircraft.orientation[0], graphics_aircraft.orientation[1], graphics_aircraft.orientation[2]]
graphics_aircraft_to_camera = Body2Fixed(to_camera, quat_orientation)
cam_up = [0.,0.,-1.]
rotated_cam_up = Body2Fixed(cam_up,quat_orientation)
self.pos_storage.append(graphics_aircraft.position+graphics_aircraft_to_camera)
self.up_storage.append(rotated_cam_up)
self.target_storage.append(graphics_aircraft.position)
#latency. stores position, target, and up in lists and pulls out and uses old values to create a delayed effect
delay = 5
if len(self.pos_storage)<=delay:
self.camera_pos = self.pos_storage[0]
self.camera_up = self.up_storage[0]
self.target = self.target_storage[0]
else:
self.camera_pos = self.pos_storage.pop(0)
self.camera_up = self.up_storage.pop(0)
self.target = self.target_storage.pop(0)
return self.look_at(self.camera_pos, self.target, self.camera_up)
def cockpit_view(self, graphics_aircraft):
"""creates view matrix such that camera is positioned at the graphics_aircraft location, as if in the cockpit
Parameters
----------
graphics_aircraft: graphics_aircraft object used in graphics
Returns
-------
view matrix
Raises
------
Notes
-----
"""
graphics_aircraft_forward = Body2Fixed([1.0,0.,0.],[graphics_aircraft.orientation[3],graphics_aircraft.orientation[0],graphics_aircraft.orientation[1],graphics_aircraft.orientation[2]])
graphics_aircraft_up = Body2Fixed([0.,0.,-1.],[graphics_aircraft.orientation[3],graphics_aircraft.orientation[0],graphics_aircraft.orientation[1],graphics_aircraft.orientation[2]])
return self.look_at(graphics_aircraft.position, graphics_aircraft.position+graphics_aircraft_forward, graphics_aircraft_up)
def look_at(self, position, target, world_up):
"""creates view matrix based on three arguments: camera position, camera target, and camera up
Parameters
----------
position: vector position of the camera
target: vector point the camera is looking at
up: vector pointing in the up direction
Returns
-------
view matrix
Raises
------
Notes
-----
"""
#returns view matrix based on position, target, and up vector
# 1.Position = known
# 2.Calculate cameraDirection
zaxis = vector_normalise(position - target)
# 3.Get positive right axis vector
xaxis = vector_normalise(np.cross(vector_normalise(world_up), zaxis))
# 4.Calculate the camera up vector
yaxis = vector3.cross(zaxis, xaxis)
# create translation and rotation matrix
translation = self.IDENTITY
translation[3][0] = -position[0]
translation[3][1] = -position[1]
translation[3][2] = -position[2]
rotation = self.IDENTITY2
rotation[0][0] = xaxis[0]
rotation[1][0] = xaxis[1]
rotation[2][0] = xaxis[2]
rotation[0][1] = yaxis[0]
rotation[1][1] = yaxis[1]
rotation[2][1] = yaxis[2]
rotation[0][2] = zaxis[0]
rotation[1][2] = zaxis[1]
rotation[2][2] = zaxis[2]
return np.matmul(translation, rotation)