def _make_list( self ):
"""generate opengl display list to draw triangles in mesh
"""
# get available list name
self.list_name = glGenLists( 1 )
# start new display list
glNewList( self.list_name, GL_COMPILE )
# set material
glMaterialfv( GL_FRONT, GL_SPECULAR, self.specular )
glMaterialfv( GL_FRONT, GL_SHININESS, self.shininess )
glMaterialfv( GL_FRONT, GL_DIFFUSE, self.diffuse )
# start list of triangles in mesh
glBegin( GL_TRIANGLES )
# for each triangle give normal and 3 vertices
for triangle in self.triangles:
glNormal3f( *triangle[0] )
for i in range( 1, 4 ):
glVertex3f( *triangle[i] )
glEnd()
glEndList()
def show_geometry():
glNewList(1, GL_COMPILE)
glBegin(GL_TRIANGLES)
glColor3f(1, 1, 1)
vnum = dm.np_get_vertices(np_verts)
tnum = dm.np_get_triangles_vertices(np_tris)
dm.np_get_triangles_intensity(np_int)
move_scale(np_verts[:vnum, :])
coords = np_verts[np_tris[:tnum, :], :]
mi = coords[:, :, 0].min(axis=0)
ma = coords[:, :, 0].max(axis=0)
for f, vv in enumerate(coords):
v1 = vv[2, :] - vv[0, :]
v2 = vv[1, :] - vv[0, :]
n = cross(v2, v1).squeeze()
n /= norm(n)
glNormal3f(*n)
c = np_int[f]
glColor3f(c, c, c)
glVertex3f(*vv[0, :].squeeze())
glVertex3f(*vv[1, :].squeeze())
glVertex3f(*vv[2, :].squeeze())
glEnd()
glEndList()
return concatenate((mi, ma))
def make_cube():
glNewList(G_OBJ_CUBE, GL_COMPILE)
vertices = [((-0.5, -0.5, -0.5), (-0.5, -0.5, 0.5), (-0.5, 0.5, 0.5),
(-0.5, 0.5, -0.5)),
((-0.5, -0.5, -0.5), (-0.5, 0.5, -0.5), (0.5, 0.5, -0.5),
(0.5, -0.5, -0.5)),
((0.5, -0.5, -0.5), (0.5, 0.5, -0.5), (0.5, 0.5, 0.5),
(0.5, -0.5, 0.5)),
((-0.5, -0.5, 0.5), (0.5, -0.5, 0.5), (0.5, 0.5, 0.5),
(-0.5, 0.5, 0.5)),
((-0.5, -0.5, 0.5), (-0.5, -0.5, -0.5), (0.5, -0.5, -0.5),
(0.5, -0.5, 0.5)),
((-0.5, 0.5, -0.5), (-0.5, 0.5, 0.5), (0.5, 0.5, 0.5),
(0.5, 0.5, -0.5))]
normals = [(-1.0, 0.0, 0.0), (0.0, 0.0, -1.0), (1.0, 0.0, 0.0),
(0.0, 0.0, 1.0), (0.0, -1.0, 0.0), (0.0, 1.0, 0.0)]
glBegin(GL_QUADS)
for i in range(6):
glNormal3f(normals[i][0], normals[i][1], normals[i][2])
for j in range(4):
glVertex3f(vertices[i][j][0], vertices[i][j][1], vertices[i][j][2])
glEnd()
glEndList()
def render_me(self):
glColor3f(0.75, 0.3, 0.66)
#glColor3f(1, 1, 1)
# surface bounds
x_lower_bound = -10
x_upper_bound = 10
y_lower_bound = -10
y_upper_bound = 10
step = 0.5
x_current = x_lower_bound + step
y_current = y_lower_bound + step
# draw part of surface
glBegin(GL_LINES)
while x_current <= x_upper_bound + 0.0001:
while y_current < y_upper_bound + 0.0001:
normal = self.calculate_vertex_normal([
x_current,
self.surface_function(x_current, y_current), y_current
])
glNormal3f(normal[0], normal[1], normal[2])
glVertex3f(x_current,
self.surface_function(x_current, y_current),
y_current)
y_current += step
y_current = y_lower_bound + step
x_current += step
x_current = x_lower_bound + step
y_current = y_lower_bound + step
# draw part of surface
while y_current <= y_upper_bound + 0.01:
while x_current <= x_upper_bound + 0.01:
normal = self.calculate_vertex_normal([
x_current,
self.surface_function(x_current, y_current), y_current
])
glNormal3f(normal[0], normal[1], normal[2])
glVertex3f(x_current,
self.surface_function(x_current, y_current),
y_current)
x_current += step
x_current = x_lower_bound + step
y_current += step
glEnd()
def make_man():
glNewList(G_OBJ_MAN, GL_COMPILE)
obj=OBJ('./OBJ/smpl_np.obj')
vertices=obj.vertices
face=obj.faces
for i in range(len(face)):
glColor3f(216 / 255, 186 / 255, 160 / 255)
glBegin(GL_TRIANGLES)
glNormal3f(face[i][1][0],face[i][1][1],face[i][1][2])
for j in range(3):
glVertex3f(vertices[face[i][0][j]-1][0],vertices[face[i][0][j]-1][1],vertices[face[i][0][j]-1][2])
glEnd()
glEndList()
def make_cube():
glNewList(G_OBJ_CUBE, GL_COMPILE)
vertices = [((-0.5, -0.5, -0.5), (-0.5, -0.5, 0.5), (-0.5, 0.5, 0.5), (-0.5, 0.5, -0.5)),
((-0.5, -0.5, -0.5), (-0.5, 0.5, -0.5), (0.5, 0.5, -0.5), (0.5, -0.5, -0.5)),
((0.5, -0.5, -0.5), (0.5, 0.5, -0.5), (0.5, 0.5, 0.5), (0.5, -0.5, 0.5)),
((-0.5, -0.5, 0.5), (0.5, -0.5, 0.5), (0.5, 0.5, 0.5), (-0.5, 0.5, 0.5)),
((-0.5, -0.5, 0.5), (-0.5, -0.5, -0.5), (0.5, -0.5, -0.5), (0.5, -0.5, 0.5)),
((-0.5, 0.5, -0.5), (-0.5, 0.5, 0.5), (0.5, 0.5, 0.5), (0.5, 0.5, -0.5))]
normals = [(-1.0, 0.0, 0.0), (0.0, 0.0, -1.0), (1.0, 0.0, 0.0), (0.0, 0.0, 1.0), (0.0, -1.0, 0.0), (0.0, 1.0, 0.0)]
glBegin(GL_QUADS)
for i in xrange(6):
glNormal3f(normals[i][0], normals[i][1], normals[i][2])
for j in xrange(4):
glVertex3f(vertices[i][j][0], vertices[i][j][1], vertices[i][j][2])
glEnd()
glEndList()
def make_mesh():
glNewList(G_OBJ_MESH,GL_COMPILE)
vertices=[[1.0,0.0,1.0],[0.0,0.0,-1.0],[-1.0,0.0,1.0],[0.0,1.0,0.0]]
face=[[1,4,3],[1,2,4],[2,3,4],[1,3,2]]
for i in range(len(face)):
glColor3f(216/255,186/255,160/255)
point0=np.array(vertices[face[i][0]-1])
point1 = np.array(vertices[face[i][1]-1])
point2 =np.array(vertices[face[i][2]-1])
A=point1-point0
B=point0-point2
C = np.cross(B, A)
N = C/np.linalg.norm(C)
glBegin(GL_TRIANGLES)
glNormal3f(N[0],N[1],N[2])
for j in range(3):
glVertex3f(vertices[face[i][j]-1][0],vertices[face[i][j]-1][1],vertices[face[i][j]-1][2])
glEnd()
glEndList()
def _render_wall(cls, wall: Wall, height: float, color: List[float]):
"""Draws walls out of quads in the 3D Viewer. The walls are drawn a
constant height above their ground-plane points, as a convention.
This function must be invoked inside the OpenGL render loop.
:param wall_list: the walls to draw
:param radius: the size of the rendered circle
:param sections: the number of vertices used in the dashed line circle
:param color: the color to render the points
"""
cls._set_color(color)
glBegin(GL_QUADS)
for wall_segment in wall.segments:
glNormal3f(wall_segment.normal.x, wall_segment.normal.y, wall_segment.normal.z)
glVertex3f(wall_segment.a.x, wall_segment.a.y, wall_segment.a.z)
glVertex3f(wall_segment.b.x, wall_segment.b.y, wall_segment.b.z)
glVertex3f(wall_segment.b.x, wall_segment.b.y, wall_segment.b.z + height)
glVertex3f(wall_segment.a.x, wall_segment.a.y, wall_segment.a.z + height)
glEnd()
def render(self, random_colors=False):
from OpenGL.GL import GL_TRIANGLES, glBegin, glEnd, glVertex3f, glNormal3f, glColor3f
glBegin(GL_TRIANGLES)
try:
for triangle in self.yield_triangles():
plane = triangle.calc_plane()
glNormal3f(plane.unit_normal.x, plane.unit_normal.y,
plane.unit_normal.z)
if random_colors:
color = Vector().random()
glColor3f(color.x, color.y, color.z)
glVertex3f(triangle.point_a.x, triangle.point_a.y,
triangle.point_a.z)
glVertex3f(triangle.point_b.x, triangle.point_b.y,
triangle.point_b.z)
glVertex3f(triangle.point_c.x, triangle.point_c.y,
triangle.point_c.z)
except Exception as ex:
error = str(ex)
error = None
finally:
glEnd()
def draw(self, resolution_meter, position, orientation,yaw):
try:
self._lock.acquire()
vehicle_position = (
position[0] * resolution_meter, position[1] * resolution_meter,
position[2] * resolution_meter)
glTranslatef(vehicle_position[0],vehicle_position[1],vehicle_position[2]) # Translate Box
matrix = quaternion_matrix(orientation) # convert quaternion to translation matrix
glMultMatrixf(matrix) # Rotate Box
glBegin(GL_TRIANGLES)
glColor3f(0.0078, 0.2588, 0.39607)
for tri in self.get_triangles():
glNormal3f(tri.normal.x, tri.normal.z, tri.normal.y)
glVertex3f((tri.points[0].x - self.vehicle_size_y) * resolution_meter,
(tri.points[0].z - self.vehicle_size_x) * resolution_meter,
(tri.points[0].y - self.vehicle_size_z) * resolution_meter)
glVertex3f((tri.points[1].x - self.vehicle_size_y) * resolution_meter,
(tri.points[1].z - self.vehicle_size_x) * resolution_meter,
(tri.points[1].y - self.vehicle_size_z) * resolution_meter)
glVertex3f((tri.points[2].x - self.vehicle_size_y) * resolution_meter,
(tri.points[2].z - self.vehicle_size_x) * resolution_meter,
(tri.points[2].y - self.vehicle_size_z) * resolution_meter)
glEnd()
if self._lock_on_sub:
modelview_matrix = self.gl_view.get_view_matrix()
modelview_matrix[3] = [vehicle_position[0] * -1 , vehicle_position[1] * -1, modelview_matrix[3][2], modelview_matrix[3][3]]
self.gl_view.load_view_matrix(modelview_matrix)
if self._lock_rotate:
self.gl_view.rotate_absolute((0,0,1),yaw)
finally:
self._lock.release()
def initializeGL(self):
glClearColor(0.85, 0.85, 0.85, 1.0)
glClearDepth(1.0)
glDepthFunc(GL_LESS)
glEnable(GL_DEPTH_TEST)
glEnable(GL_CULL_FACE)
glShadeModel(GL_SMOOTH)
glEnable(GL_NORMALIZE)
glEnable(GL_COLOR_MATERIAL)
glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE)
glLightfv(GL_LIGHT0, GL_POSITION, (0.0, 0.0, 1.0, 0.0))
glEnable(GL_LIGHT0)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
self.display_list = glGenLists(1)
glNewList(self.display_list, GL_COMPILE)
glScalef(0.5, 0.5, 0.5)
glEnable(GL_LIGHTING)
# board
glColor3f(0.0, 0.0, 0.0)
self.draw_cuboid(4.0, 4.0, 0.16)
# USB connector
glPushMatrix()
glColor3f(0.5, 0.51, 0.58)
glTranslatef(0.0, -1.6, 0.28)
self.draw_cuboid(0.75, 0.9, 0.4)
glPopMatrix()
# right button
glPushMatrix()
glColor3f(0.5, 0.51, 0.58)
glTranslatef(1.15, -1.85, 0.16)
self.draw_cuboid(0.4, 0.3, 0.16)
glColor3f(0.0, 0.0, 0.0)
glTranslatef(0.0, -0.155, 0.025)
self.draw_cuboid(0.18, 0.1, 0.08)
glPopMatrix()
# left button
glPushMatrix()
glColor3f(0.5, 0.51, 0.58)
glTranslatef(-1.15, -1.85, 0.16)
self.draw_cuboid(0.4, 0.3, 0.16)
glColor3f(0.0, 0.0, 0.0)
glTranslatef(0.0, -0.155, 0.025)
self.draw_cuboid(0.18, 0.1, 0.08)
glPopMatrix()
# left btb top
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(-1.65, 0.0, 0.38)
self.draw_cuboid(0.5, 1.4, 0.9)
glPopMatrix()
# right btb top
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(1.65, 0.0, 0.38)
self.draw_cuboid(0.5, 1.4, 0.9)
glPopMatrix()
# left btb bottom
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(-1.65, 0.0, -0.33)
self.draw_cuboid(0.5, 1.4, 0.5)
glPopMatrix()
# right btb bottom
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(1.65, 0.0, -0.33)
self.draw_cuboid(0.5, 1.4, 0.5)
glPopMatrix()
# left bricklet port
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(-0.85, 1.8, -0.23)
self.draw_cuboid(1.2, 0.4, 0.3)
glPopMatrix()
# right bricklet port
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(0.85, 1.8, -0.23)
self.draw_cuboid(1.2, 0.4, 0.3)
glPopMatrix()
# left direction LED
glPushMatrix()
glColor3f(0.0, 0.5, 0.0)
glTranslatef(-1.05, 1.425, 0.115)
self.draw_cuboid(0.1, 0.2, 0.07)
glPopMatrix()
# top direction LED
glPushMatrix()
glColor3f(0.0, 0.5, 0.0)
glTranslatef(-0.675, 1.8, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# right direction LED
glPushMatrix()
glColor3f(0.0, 0.5, 0.0)
glTranslatef(-0.3, 1.425, 0.115)
self.draw_cuboid(0.1, 0.2, 0.07)
glPopMatrix()
# bottom direction LED
glPushMatrix()
glColor3f(0.0, 0.5, 0.0)
glTranslatef(-0.675, 1.05, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# left y orientation LED
glPushMatrix()
glColor3f(0.0, 0.0, 1.0)
glTranslatef(0.275, 1.7, 0.115)
self.draw_cuboid(0.1, 0.2, 0.07)
glPopMatrix()
# right y orientation LED
glPushMatrix()
glColor3f(1.0, 0.0, 0.0)
glTranslatef(0.425, 1.7, 0.115)
self.draw_cuboid(0.1, 0.2, 0.07)
glPopMatrix()
# top z orientation LED
glPushMatrix()
glColor3f(1.0, 0.0, 0.0)
glTranslatef(0.35, 1.15, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# bottom z orientation LED
glPushMatrix()
glColor3f(0.0, 0.0, 1.0)
glTranslatef(0.35, 1.0, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# top x orientation LED
glPushMatrix()
glColor3f(1.0, 0.0, 0.0)
glTranslatef(1.0, 1.15, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# bottom x orientation LED
glPushMatrix()
glColor3f(0.0, 0.0, 1.0)
glTranslatef(1.0, 1.0, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# top alignment corner
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glBegin(GL_TRIANGLES)
glNormal3f(0.0, 0.0, 1.0)
glVertex3f(-2.0, -2.0, 0.09)
glVertex3f(-1.1, -2.0, 0.09)
glVertex3f(-2.0, -1.1, 0.09)
glEnd()
glPopMatrix()
# bottom alignment corner
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glBegin(GL_TRIANGLES)
glNormal3f(0.0, 0.0, -1.0)
glVertex3f(-2.0, -2.0, -0.09)
glVertex3f(-2.0, -1.1, -0.09)
glVertex3f(-1.1, -2.0, -0.09)
glEnd()
glPopMatrix()
glDisable(GL_LIGHTING)
# axis
glPushMatrix()
glTranslatef(-2.3, -2.3, -0.38)
glLineWidth(3.0)
glBegin(GL_LINES)
glColor3f(1,0,0) # x axis is red
glVertex3f(0,0,0)
glVertex3f(3,0,0)
glColor3f(0,0.5,0) # y axis is green
glVertex3f(0,0,0)
glVertex3f(0,3,0)
glColor3f(0,0,1) # z axis is blue
glVertex3f(0,0,0)
glVertex3f(0,0,3)
glEnd()
glLineWidth(1.0)
glPopMatrix()
glEndList()
def initializeGL(self):
glClearColor(0.85, 0.85, 0.85, 1.0)
glClearDepth(1.0)
glDepthFunc(GL_LESS)
glEnable(GL_DEPTH_TEST)
glEnable(GL_CULL_FACE)
glShadeModel(GL_SMOOTH)
glEnable(GL_NORMALIZE)
glEnable(GL_COLOR_MATERIAL)
glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE)
glLightfv(GL_LIGHT0, GL_POSITION, (0.0, 0.0, 1.0, 0.0))
glEnable(GL_LIGHT0)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
self.display_list = glGenLists(1)
glNewList(self.display_list, GL_COMPILE)
glScalef(0.5, 0.5, 0.5)
glEnable(GL_LIGHTING)
# board
glColor3f(0.0, 0.0, 0.0)
self.draw_cuboid(4.0, 4.0, 0.16)
# USB connector
glPushMatrix()
glColor3f(0.5, 0.51, 0.58)
glTranslatef(0.0, -1.6, 0.28)
self.draw_cuboid(0.75, 0.9, 0.4)
glPopMatrix()
# right button
glPushMatrix()
glColor3f(0.5, 0.51, 0.58)
glTranslatef(1.15, -1.85, 0.16)
self.draw_cuboid(0.4, 0.3, 0.16)
glColor3f(0.0, 0.0, 0.0)
glTranslatef(0.0, -0.155, 0.025)
self.draw_cuboid(0.18, 0.1, 0.08)
glPopMatrix()
# left button
glPushMatrix()
glColor3f(0.5, 0.51, 0.58)
glTranslatef(-1.15, -1.85, 0.16)
self.draw_cuboid(0.4, 0.3, 0.16)
glColor3f(0.0, 0.0, 0.0)
glTranslatef(0.0, -0.155, 0.025)
self.draw_cuboid(0.18, 0.1, 0.08)
glPopMatrix()
# left btb top
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(-1.65, 0.0, 0.38)
self.draw_cuboid(0.5, 1.4, 0.6)
glPopMatrix()
# right btb top
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(1.65, 0.0, 0.38)
self.draw_cuboid(0.5, 1.4, 0.6)
glPopMatrix()
# left btb bottom
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(-1.65, 0.0, -0.33)
self.draw_cuboid(0.5, 1.4, 0.5)
glPopMatrix()
# right btb bottom
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(1.65, 0.0, -0.33)
self.draw_cuboid(0.5, 1.4, 0.5)
glPopMatrix()
# left bricklet port
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(-0.85, 1.8, -0.23)
self.draw_cuboid(1.2, 0.4, 0.3)
glPopMatrix()
# right bricklet port
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glTranslatef(0.85, 1.8, -0.23)
self.draw_cuboid(1.2, 0.4, 0.3)
glPopMatrix()
# left direction LED
glPushMatrix()
glColor3f(0.0, 0.5, 0.0)
glTranslatef(-1.05, 1.425, 0.115)
self.draw_cuboid(0.1, 0.2, 0.07)
glPopMatrix()
# top direction LED
glPushMatrix()
glColor3f(0.0, 0.5, 0.0)
glTranslatef(-0.675, 1.8, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# right direction LED
glPushMatrix()
glColor3f(0.0, 0.5, 0.0)
glTranslatef(-0.3, 1.425, 0.115)
self.draw_cuboid(0.1, 0.2, 0.07)
glPopMatrix()
# bottom direction LED
glPushMatrix()
glColor3f(0.0, 0.5, 0.0)
glTranslatef(-0.675, 1.05, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# left y orientation LED
glPushMatrix()
glColor3f(0.0, 0.0, 1.0)
glTranslatef(0.275, 1.7, 0.115)
self.draw_cuboid(0.1, 0.2, 0.07)
glPopMatrix()
# right y orientation LED
glPushMatrix()
glColor3f(1.0, 0.0, 0.0)
glTranslatef(0.425, 1.7, 0.115)
self.draw_cuboid(0.1, 0.2, 0.07)
glPopMatrix()
# top z orientation LED
glPushMatrix()
glColor3f(1.0, 0.0, 0.0)
glTranslatef(0.35, 1.15, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# bottom z orientation LED
glPushMatrix()
glColor3f(0.0, 0.0, 1.0)
glTranslatef(0.35, 1.0, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# top x orientation LED
glPushMatrix()
glColor3f(1.0, 0.0, 0.0)
glTranslatef(1.0, 1.15, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# bottom x orientation LED
glPushMatrix()
glColor3f(0.0, 0.0, 1.0)
glTranslatef(1.0, 1.0, 0.115)
self.draw_cuboid(0.2, 0.1, 0.07)
glPopMatrix()
# top alignment corner
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glBegin(GL_TRIANGLES)
glNormal3f(0.0, 0.0, 1.0)
glVertex3f(-2.0, -2.0, 0.081)
glVertex3f(-1.1, -2.0, 0.081)
glVertex3f(-2.0, -1.1, 0.081)
glEnd()
glPopMatrix()
# bottom alignment corner
glPushMatrix()
glColor3f(1.0, 1.0, 1.0)
glBegin(GL_TRIANGLES)
glNormal3f(0.0, 0.0, -1.0)
glVertex3f(-2.0, -2.0, -0.081)
glVertex3f(-2.0, -1.1, -0.081)
glVertex3f(-1.1, -2.0, -0.081)
glEnd()
glPopMatrix()
glDisable(GL_LIGHTING)
# axis
glPushMatrix()
glTranslatef(-2.3, -2.3, -0.38)
glLineWidth(3.0)
glBegin(GL_LINES)
glColor3f(1, 0, 0) # x axis is red
glVertex3f(0, 0, 0)
glVertex3f(3, 0, 0)
glColor3f(0, 0.5, 0) # y axis is green
glVertex3f(0, 0, 0)
glVertex3f(0, 3, 0)
glColor3f(0, 0, 1) # z axis is blue
glVertex3f(0, 0, 0)
glVertex3f(0, 0, 3)
glEnd()
glLineWidth(1.0)
glPopMatrix()
glEndList()
