def handle_mouse_move(self, x, screen_y):
""" Called when the mouse is moved """
xSize, ySize = glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)
y = ySize - screen_y # invert the y coordinate because OpenGL is inverted
if self.pressed is not None:
dx = x - self.mouse_loc[0]
dy = y - self.mouse_loc[1]
if self.pressed == GLUT_RIGHT_BUTTON and self.trackball is not None:
# ignore the updated camera loc because we want to always rotate around the origin
self.trackball.drag_to(self.mouse_loc[0], self.mouse_loc[1],
dx, dy)
elif self.pressed == GLUT_LEFT_BUTTON:
self.trigger('move', x, y)
elif self.pressed == GLUT_MIDDLE_BUTTON:
self.translate(dx / 60.0, dy / 60.0, 0)
else:
pass
glutPostRedisplay()
self.mouse_loc = (x, y)
def process_events(self):
delta = play(self.midi, self.device, wait=False)
glutPostRedisplay()
if delta > 0:
sleep(delta)
else:
sys.exit(0)
def handle_keystroke(self, key, x, screen_y):
""" Called on keyboard input from the user """
xSize, ySize = glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)
y = ySize - screen_y
if key == 's':
self.trigger('place', 'sphere', x, y)
elif key == 'c':
self.trigger('place', 'cube', x, y)
elif key == 'f':
self.trigger('place', 'figure', x, y)
elif key == GLUT_KEY_UP:
self.trigger('scale', up=True)
elif key == GLUT_KEY_DOWN:
self.trigger('scale', up=False)
elif key == GLUT_KEY_LEFT:
self.trigger('rotate_color', forward=True)
elif key == GLUT_KEY_RIGHT:
self.trigger('rotate_color', forward=False)
elif key == '\033':
self.trigger('close')
elif key == 'm':
self.trigger('setCameraMode','LookAt')
elif key == ',':
self.trigger('setCameraMode','LookAtFollow')
elif key == 'n':
self.trigger('setCameraMode','Trackball')
# embed()
glutPostRedisplay()
def handle_mouse_button(self, button, mode, x, y):
""" Called when the mouse button is pressed or released """
xSize, ySize = glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)
y = ySize - y # invert the y coordinate because OpenGL is inverted
self.mouse_loc = (x, y)
if mode == GLUT_DOWN:
self.pressed = button
if button == GLUT_RIGHT_BUTTON:
pass
elif button == GLUT_LEFT_BUTTON: # pick
self.trigger('pick', x, y)
elif button == 3: # scroll up
self.translate(0, 0, 1.0)
elif button == 4: # scroll down
self.translate(0, 0, -1.0)
else: # mouse button release
self.pressed = None
glutPostRedisplay()
def idle(self):
if self.running:
if time() - self.time_mark >= self.delay:
self.active_index += self.direction
self.time_mark = time()
if self.active_index <= 0:
# self.direction = 1
self.active_index = 0
# elif self.active_index >= len(self.plan)-1:
# #self.direction = -1
# self.active_index = len(self.plan)-1
elif self.active_index >= len(self.plan):
self.active_index = 0
logger.info("config {} of {}".format(self.active_index, len(self.plan) - 1))
if self.plan:
u = (time() - self.time_mark) / self.delay
if self.active_index + 1 < len(self.plan):
self.knowledge_base.robot_state.sensed_config = vectorops.interpolate(
self.plan[self.active_index], self.plan[self.active_index + 1], u
)
else:
self.knowledge_base.robot_state.sensed_config = self.plan[self.active_index]
glutPostRedisplay()
def process_events(self):
delta = play(self.midi, self.device, wait=False)
glutPostRedisplay()
if delta > 0:
sleep(delta)
else:
sys.exit(0)
def on_drag(self, cursor_x, cursor_y):
""" Mouse cursor is moving
Glut calls this function (when mouse button is down)
and pases the mouse cursor postion in window coords as the mouse moves.
"""
from .geometry.rodrigues import rodrigues
if (self.isdragging):
mouse_pt = Point2fT(cursor_x, cursor_y)
ThisQuat = self.arcball.drag(
mouse_pt
) # // Update End Vector And Get Rotation As Quaternion
self.thisrot = Matrix3fSetRotationFromQuat4f(
ThisQuat) # // Convert Quaternion Into Matrix3fT
# Use correct Linear Algebra matrix multiplication C = A * B
self.thisrot = Matrix3fMulMatrix3f(
self.lastrot,
self.thisrot) # // Accumulate Last Rotation Into This One
# make sure it is a rotation
self.thisrot = rodrigues(rodrigues(self.thisrot)[0])[0]
self.transform = Matrix4fSetRotationFromMatrix3f(
self.transform, self.thisrot
) # // Set Our Final Transform's Rotation From This One
glutPostRedisplay()
return
def handle_key(self, key, x, y):
super().handle_key(key, x, y)
key_id = ord(key)
if key_id == 27: # ESC
sys.exit(0)
elif key_id == 32: # SPACE
self._is_perspective = not self._is_perspective
glutPostRedisplay()
def idleFunc():
# do state stuff.
one = time()
state = get_state()
idle(state)
two = time()
#print "idleFunc idle time: ", (two - one)
glutPostRedisplay()
def redraw(self, callback=None, synchronous=False):
"""Trigger redisplay and trigger callback after render."""
assert not (callback and synchronous), 'Call should either be asynchronous or process callback'
self.__callback = callback
self.__synchronous = synchronous
glutPostRedisplay()
if self.__synchronous:
glutMainLoopEvent()
def redraw(self, callback=None, synchronous=False):
"""Trigger redisplay and trigger callback after render."""
assert not (callback and synchronous
), 'Call should either be asynchronous or process callback'
self.__callback = callback
self.__synchronous = synchronous
glutPostRedisplay()
if self.__synchronous:
glutMainLoopEvent()
def calc_movement_all_shapes(self, _):
#Snake logic, best logic
self.snake_instance.game_tick()
#Reset our timer
glutTimerFunc(TICKRATE_MS, self.calc_movement_all_shapes, 0)
#Tell glut to rerun our display function
glutPostRedisplay()
def keyupevent(self, c, x, y):
try:
if c in self.keys: self.keys[c] = False
print(self.keys)
except Exception as e:
print(e)
pass
glutPostRedisplay()
def special_keypress(self, key, x, y):
if key == GLUT_KEY_LEFT:
self.rot_z += 0.3
if key == GLUT_KEY_RIGHT:
self.rot_z -= 0.3
if key == GLUT_KEY_DOWN:
self.rot_x -= 0.3
if key == GLUT_KEY_UP:
self.rot_x += 0.3
glutPostRedisplay()
def idle_light_animation_func(self):
if self.vertical_rotation:
self.theta_light_angle += 1
else:
self.phi_light_angle += 1
self.draw_light_source()
glLoadIdentity()
glutPostRedisplay()
def handle_special_key(self, key, x, y):
super().handle_special_key(key, x, y)
if key == GLUT_KEY_RIGHT:
self._rotate_y += 1
elif key == GLUT_KEY_LEFT:
self._rotate_y -= 1
elif key == GLUT_KEY_UP:
self._rotate_x += 1
elif key == GLUT_KEY_DOWN:
self._rotate_x -= 1
glutPostRedisplay()
def handle_special_key(self, key, x, y):
super().handle_special_key(key, x, y)
if key == GLUT_KEY_LEFT:
self._circle_pos[0] -= self._step
elif key == GLUT_KEY_UP:
self._circle_pos[1] += self._step
elif key == GLUT_KEY_RIGHT:
self._circle_pos[0] += self._step
elif key == GLUT_KEY_DOWN:
self._circle_pos[1] -= self._step
glutPostRedisplay()
def keydownevent(self, c, x, y):
print(
"*******************************************************************************"
)
try:
self.keys[c] = True
print(self.keys)
except Exception as e:
print(e)
pass
glutPostRedisplay()
def _glut_redisplay():
evloop = getEventLoop()
# hack, glut seem can't handle the leaving on the mainloop
# so... leave with sys.exit() :[
try:
evloop.idle()
except KeyboardInterrupt:
evloop.quit = True
if evloop.quit:
sys.exit(0)
glutPostRedisplay()
def _glut_redisplay():
evloop = getEventLoop()
# hack, glut seem can't handle the leaving on the mainloop
# so... leave with sys.exit() :[
try:
evloop.idle()
except KeyboardInterrupt:
evloop.quit = True
if evloop.quit:
sys.exit(0)
glutPostRedisplay()
def display(self):
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
gluLookAt(0.0, 240.0, 1000.0, 0.0, 240.0, 0.0, 0.0, 1.0, 0.0)
glClear(GL_COLOR_BUFFER_BIT)
for i in self.fountains:
i.life -= 1
i.init()
i.update()
glutPostRedisplay()
glutSwapBuffers()
def onClick(self, button, button_state, x, y):
self.m_IsDragging = False
if (button == GLUT_RIGHT_BUTTON and button_state == GLUT_UP):
# Right button click
self.setRotation(Matrix3f())
glutPostRedisplay()
elif (button == GLUT_LEFT_BUTTON and button_state == GLUT_UP):
# Left button clicked down
self.m_IsDragging = False
self.endDrag()
elif (button == GLUT_LEFT_BUTTON and button_state == GLUT_DOWN):
# Left button clicked down
self.m_IsDragging = True
self.click(Point2f(x, y))
def handle_mouse_button(self, button, mode, x, y):
xSize, ySize = glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)
y = ySize - y # opengl's o is zuoxia, window's o is zuoshang
self.mouse_loc = (x, y)
if mode == GLUT_DOWN:
self.pressed = button
if button == GLUT_RIGHT_BUTTON:
pass
elif button == GLUT_LEFT_BUTTON:
self.trigger('pick', x, y)
else:
self.pressed = None
# current window need redrawing
glutPostRedisplay()
def spin_display():
global progress
global current_mosaic_picture
global start_picture_coord
global start_orientation
duration = args.duration * 1000.
old_progress = progress
progress = (glutGet(GLUT_ELAPSED_TIME) % duration) / duration
if progress < old_progress:
current_tile_picture = current_mosaic_picture
start_orientation = current_mosaic_picture.orientation
current_mosaic_picture = iterator.next()
start_picture_coord = find_picture_in_mosaic(
current_tile_picture,
mosaic_factory.mosaic(current_mosaic_picture, args.tiles,
args.reuse))
glutPostRedisplay()
def idle(self):
# check for updated state
if self.child_pipe.poll():
try:
# path = self.child_pipe.recv()
# logger.error('remote path: {}'.format(path))
# (self.knowledge_base, self.robot_state) = pickle.load(open(path))
# logger.error('finished loading')
(self.knowledge_base, self.robot_state) = self.child_pipe.recv()
except EOFError:
logger.info("visualization exiting from EOF")
sys.exit(0)
else:
# acknowledge the receipt
self.child_pipe.send(True)
glutPostRedisplay()
def handle_mouse_button(self, button, mode, x, y):
""" 当鼠标按键被点击或者释放的时候调用 """
xSize, ySize = glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)
y = ySize - y # OpenGL原点在窗口左下角，窗口原点在左上角，所以需要这种转换。
self.mouse_loc = (x, y)
if mode == GLUT_DOWN:
# 鼠标按键按下的时候
self.pressed = button
if button == GLUT_RIGHT_BUTTON:
pass
elif button == GLUT_LEFT_BUTTON:
self.trigger('pick', x, y)
else: # 鼠标按键被释放的时候
self.pressed = None
# 标记当前窗口需要重新绘制
glutPostRedisplay()
def handle_keystroke(self, key, x, screen_y):
""" 键盘输入时调用 """
xSize, ySize = glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)
y = ySize - screen_y
if key == 's':
self.trigger('place', 'sphere', x, y)
elif key == 'c':
self.trigger('place', 'cube', x, y)
elif key == GLUT_KEY_UP:
self.trigger('scale', up=True)
elif key == GLUT_KEY_DOWN:
self.trigger('scale', up=False)
elif key == GLUT_KEY_LEFT:
self.trigger('rotate_color', forward=True)
elif key == GLUT_KEY_RIGHT:
self.trigger('rotate_color', forward=False)
glutPostRedisplay()
def handle_keystroke(self, key, x, screen_y):
""" Called on keyboard input from the user """
xSize, ySize = glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)
y = ySize - screen_y
if key == 's':
self.trigger('place', 'sphere', x, y)
elif key == 'c':
self.trigger('place', 'cube', x, y)
elif key == GLUT_KEY_UP:
self.trigger('scale', up=True)
elif key == GLUT_KEY_DOWN:
self.trigger('scale', up=False)
elif key == GLUT_KEY_LEFT:
self.trigger('rotate_color', forward=True)
elif key == GLUT_KEY_RIGHT:
self.trigger('rotate_color', forward=False)
glutPostRedisplay()
def animate(self, FPS=30):
currentTime = time()
#key movement for omnicontrol
try:
if self.keys["x"]: self.cam_focus.x += 1
if self.keys["z"]: self.cam_focus.x -= 1
if self.keys["d"]: self.cam_focus.y += 1
if self.keys["c"]: self.cam_focus.y -= 1
if self.keys["f"]: self.cam_focus.z += 1
if self.keys["v"]: self.cam_focus.z -= 1
except:
pass
# run calculations for level inc collision etc
if not self.level == None:
self.level.evaluate(self.joystick, self.keys)
glutPostRedisplay()
glutTimerFunc(int(1000 / FPS), self.animate, FPS)
drawTime = currentTime - self.lastFrameTime
self.topFPS = int(1000 / drawTime)
# set camera target focus points
self.cam_focus_target = XYZ(
self.level.solomon.x + 0.2 * self.level.solomon.facing,
self.level.solomon.y - 0.5, 3.0)
# set camera target position
self.cam_pos_target = XYZ(
self.level.solomon.x + 1 * self.level.solomon.facing,
self.level.solomon.y - 0.2, float(self.level.target_z))
# calculate current focal point and camera position
# self.camera_sweep is the "speed" at which transitions are being made
self.cam_pos = self.cam_pos.add(
self.cam_pos_target.sub(self.cam_pos).mult(1 / self.camera_sweep))
self.cam_focus = self.cam_focus.add(
self.cam_focus_target.sub(self.cam_focus).mult(1 /
self.camera_sweep))
self.lastFrameTime = time()
def on_click(self, button, button_state, cursor_x, cursor_y):
""" Mouse button clicked.
Glut calls this function when a mouse button is
clicked or released.
"""
self.isdragging = False
# if (button == GLUT_RIGHT_BUTTON and button_state == GLUT_UP):
# # Right button click
# self.lastrot = Matrix3fSetIdentity (); # // Reset Rotation
# self.thisrot = Matrix3fSetIdentity (); # // Reset Rotation
# self.transform = Matrix4fSetRotationFromMatrix3f (self.transform, self.thisrot); # // Reset Rotation
if (button == GLUT_LEFT_BUTTON and button_state == GLUT_UP):
# Left button released
self.lastrot = copy.copy(
self.thisrot) # Set Last Static Rotation To Last Dynamic One
elif (button == GLUT_LEFT_BUTTON and button_state == GLUT_DOWN):
# Left button clicked down
self.lastrot = copy.copy(
self.thisrot) # Set Last Static Rotation To Last Dynamic One
self.isdragging = True # // Prepare For Dragging
mouse_pt = Point2fT(cursor_x, cursor_y)
self.arcball.click(
mouse_pt) # Update Start Vector And Prepare For Dragging
elif (button == GLUT_RIGHT_BUTTON and button_state == GLUT_DOWN):
# If a mouse click location was requested, return it to caller
if hasattr(self, 'event_port'):
self.mouseclick_port = self.event_port
del self.event_port
if hasattr(self, 'mouseclick_port'):
self.send_mouseclick_to_caller(cursor_x, cursor_y)
elif (button == GLUT_MIDDLE_BUTTON and button_state == GLUT_DOWN):
# If a mouse click location was requested, return it to caller
if hasattr(self, 'event_port'):
self.mouseclick_port = self.event_port
del self.event_port
if hasattr(self, 'mouseclick_port'):
self.send_mouseclick_to_caller(cursor_x,
cursor_y,
button='middle')
glutPostRedisplay()
def handle_mouse_move(self, x, screen_y):
""" 鼠标移动时调用 """
xSize, ySize = glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)
y = ySize - screen_y
if self.pressed is not None:
dx = x - self.mouse_loc[0]
dy = y - self.mouse_loc[1]
if self.pressed == GLUT_RIGHT_BUTTON and self.trackball is not None:
# 变化场景的角度
self.trackball.drag_to(self.mouse_loc[0], self.mouse_loc[1], dx, dy)
elif self.pressed == GLUT_LEFT_BUTTON:
self.trigger('move', x, y)
elif self.pressed == GLUT_MIDDLE_BUTTON:
self.translate(dx/60.0, dy/60.0, 0)
else:
pass
glutPostRedisplay()
self.mouse_loc = (x, y)
def handle_key(self, key, x, y):
super().handle_key(key, x, y)
key_id = ord(key)
if key_id == 27: # ESC
sys.exit(0)
elif key_id == 91: # [
self._eye_x -= self._eye_step
elif key_id == 93: # ]
self._eye_x += self._eye_step
elif key_id == 39: # '
self._eye_y -= self._eye_step
elif key_id == 92: # \
self._eye_y += self._eye_step
elif key_id == 46: # .
self._eye_z -= self._eye_step
elif key_id == 47: # /
self._eye_z += self._eye_step
glutPostRedisplay()
def handle_mouse_move(self, x, screen_y):
""" Called when the mouse is moved """
xSize, ySize = glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)
y = ySize - screen_y # invert the y coordinate because OpenGL is inverted
if self.pressed is not None:
dx = x - self.mouse_loc[0]
dy = y - self.mouse_loc[1]
if self.pressed == GLUT_RIGHT_BUTTON and self.trackball is not None:
# ignore the updated camera loc because we want to always rotate around the origin
self.trackball.drag_to(self.mouse_loc[0], self.mouse_loc[1], dx, dy)
elif self.pressed == GLUT_LEFT_BUTTON:
self.trigger('move', x, y)
elif self.pressed == GLUT_MIDDLE_BUTTON:
self.translate(dx/60.0, dy/60.0, 0)
else:
pass
glutPostRedisplay()
self.mouse_loc = (x, y)
def handle_mouse_button(self, button, mode, x, y):
""" Called when the mouse button is pressed or released """
xSize, ySize = glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)
y = ySize - y # invert the y coordinate because OpenGL is inverted
self.mouse_loc = (x, y)
if mode == GLUT_DOWN:
self.pressed = button
if button == GLUT_RIGHT_BUTTON:
pass
elif button == GLUT_LEFT_BUTTON: # pick
self.trigger('pick', x, y)
elif button == 3: # scroll up
self.translate(0, 0, 1.0)
elif button == 4: # scroll up
self.translate(0, 0, -1.0)
else: # mouse button release
self.pressed = None
glutPostRedisplay()
def checkQueue(self, unused_timer_id):
glutTimerFunc(20, self.checkQueue, 0)
# if True: # spinning
# w_whole_window = glutGet(GLUT_WINDOW_WIDTH)
# h_whole_window = glutGet(GLUT_WINDOW_HEIGHT)
# center_x = w_whole_window/2
# center_y = h_whole_window/2
# self.on_click(GLUT_LEFT_BUTTON, GLUT_DOWN, center_x, center_y)
# self.on_drag(center_x+2, center_y)
try:
request = self.server.recv_pyobj(zmq.NOBLOCK)
except zmq.ZMQError as e:
if e.errno != zmq.EAGAIN:
raise # something wrong besides empty queue
return # empty queue, no problem
if not request:
return
while (request):
task_completion_time = time.time()
if not self.handle_request(request):
raise Exception('Unknown command string: %s' %
(request['label']))
task_completion_time = time.time() - task_completion_time
if 'port' in request: # caller wants confirmation
port = request['port']
client = zmq.Context.instance().socket(zmq.PUSH)
client.connect('tcp://127.0.0.1:%d' % (port))
client.send_pyobj(task_completion_time)
try:
request = self.server.recv_pyobj(zmq.NOBLOCK)
except zmq.ZMQError as e:
if e.errno != zmq.EAGAIN:
raise
request = None
if self.need_redraw:
glutPostRedisplay()
def main_loop(self):
"""
Function responsible for main simulation loop
"""
t = self.dt - (time.time() - self.lasttime)
# check if we need to do anything, dt
if t > 0 and self.real_time:
time.sleep(t)
for agent in self.agents_to_add:
agent.create_geometry()
self.agents.append(agent)
self.agents_to_add.remove(agent)
for agent in self.agents:
if (agent.energy <= 0):
self.agents.remove(agent)
agent.body.disable()
del agent.body
del agent.geom
del agent
else:
agent.live()
if not self.no_graphics:
glutPostRedisplay()
n = 4
for i in range(n):
self.space.collide((), self.near_callback)
self.world.step(self.dt / n)
self.contactJoints.empty()
self.iter += 1
if self.max_iter != -1:
if self.iter > self.max_iter:
print self
exit(0)
self.lasttime = time.time()
def handle_keystroke(self, key, x, screen_y):
""" 键盘输入时调用 """
print('进入handle_keystroke()函数')
xSize, ySize = glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)
y = ySize - screen_y
print('key值:',key)
if key == b'S':
self.trigger('place', 'sphere', x, y)
elif key == b'C':
self.trigger('place', 'cube', x, y)
elif key == GLUT_KEY_UP:
print('come in :key_up')
self.trigger('scale', up=True)
elif key == GLUT_KEY_DOWN:
self.trigger('scale', up=False)
elif key == GLUT_KEY_LEFT:
self.trigger('rotate_color', forward=True)
elif key == GLUT_KEY_RIGHT:
self.trigger('rotate_color', forward=False)
glutPostRedisplay()
def spin_display():
global progress
global current_mosaic_picture
global start_picture_coord
global start_orientation
duration = args.duration * 1000.
old_progress = progress
progress = (glutGet(GLUT_ELAPSED_TIME) % duration) / duration
if progress < old_progress:
current_tile_picture = current_mosaic_picture
start_orientation = current_mosaic_picture.orientation
current_mosaic_picture = iterator.next()
start_picture_coord = find_picture_in_mosaic(
current_tile_picture,
mosaic_factory.mosaic(
current_mosaic_picture,
args.tiles,
args.reuse
)
)
glutPostRedisplay()
def onMouseMove(self, x, y):
if self.m_IsDragging:
mouse_pt = Point2f(x, y)
self.drag(mouse_pt)
glutPostRedisplay()
return
def handle_idle(self):
if self._should_rotate:
self._angle -= 1
glutPostRedisplay()
def onIdle(self):
if self.idleDelegate:
self.idleDelegate.onIdle()
return
self.scene.step(Environment.dt)
glutPostRedisplay()
