def _create_euler_ocs(self, yaw, pitch, roll):
ocs = coordinate_system.CoordinateSystem()
a_frame = ocs.a_frame
a_frame.rotate(a_frame.y_axis, yaw)
a_frame.rotate(a_frame.x_axis, pitch)
a_frame.rotate(a_frame.z_axis, roll)
return ocs
def __init__(self):
self.mode = self.PERSPECTIVE
self.ocs = coordinate_system.CoordinateSystem()
self.pixel_aspect_w_h = 1.
#--------------------
# read-only from here
#--------------------
self.fovx = 80.
self.fovy = 80.
self.orthox = 5000. # window width in opengl units
self.orthoy = 5000.
self.z_near = 50.
self.z_far = 500. * 1000.
self.w_pixels = 1
self.h_pixels = 1
self._tanfovx_2 = 0.
self._tanfovy_2 = 0.
self.set_fovx(self.fovx)
self.set_fovy(self.fovy)
def __init__(self, wx=1., wy=1., wz=1., color=0xaabbccdd):
""" wx, wy, wz : size """
self.ocs = coordinate_system.CoordinateSystem()
self.wx = wx
self.wy = wy
self.wz = wz
#self.flags = 0
self.color = color
def __init__(self):
self.size = 0.7 # halfsize
self.color = (1., 0., 0.2, 1.)
self.ocs = coordinate_system.CoordinateSystem()
self.parent = None
self.children = []
# normal list is a kludge. normal of the last quad vertex is used.
# front right back left top bottom
# self.vertex_list = pyglet.graphics.vertex_list_indexed(8, [0,1,2,3, 1,5,6,2, 5,4,7,6, 3,7,4,0, 0,4,5,1, 3,2,6,7],
# ('v3f/static', (-1.,1.,-1., 1.,1.,-1., 1.,-1.,-1., -1.,-1.,-1., -1.,1.,1., 1.,1.,1., 1.,-1.,1., -1.,-1.,1.)),
# ('n3f/static', (-1.,0.,0., 0.,1.,0., 1.,0.,0., 0.,0.,-1., 2.,2.,2., 2.,2.,2., 0.,0.,1., 0.,-1.,0.))
# )
# updated every frame from the outside
self.target_ocs = coordinate_system.CoordinateSystem()
def get_ocs_to(self, dest_object=None):
"""
TODO: move this to object3d subclass. and make it work with hierarchies deeper than 1 :)
return an ocs where projv_out projects vectors into dest_object space.
dest_object None is the root object. the purest world-space there is..
"""
assert dest_object == None, "not implemented :("
ocs = coordinate_system.CoordinateSystem()
ocs.set(self.ocs)
return ocs
def _build_body(self):
cubes = []
# body
c = cube.Cube(0.6, 0.03, 0.6)
body_ocs = coordinate_system.CoordinateSystem()
body_ocs.set(c.ocs)
c.ocs.a_frame.rotate(c.ocs.a_frame.y_axis, 45.)
c.set_color_f(.7, .7, .7, 1.)
cubes.append(c)
# support beams
beam_len = 1.9
beam_width = 0.05
beam_color = (.1, .1, .1, 1.)
c = cube.Cube(beam_len, beam_width, beam_width)
beam1_ocs = c.ocs
c.set_color_f(*beam_color)
cubes.append(c)
c = cube.Cube(beam_len, beam_width, beam_width)
c.ocs.a_frame.rotate(c.ocs.a_frame.y_axis, 90.)
c.set_color_f(*beam_color)
cubes.append(c)
beam_len = 1.9
blade_yofs = 0.1
# blades
cubes += self._build_blade(body_ocs.a_frame.x_axis * beam_len * 0.5 +
c.ocs.a_frame.y_axis * blade_yofs)
cubes += self._build_blade(-body_ocs.a_frame.x_axis * beam_len * 0.5 +
c.ocs.a_frame.y_axis * blade_yofs)
cubes += self._build_blade(body_ocs.a_frame.z_axis * beam_len * 0.5 +
c.ocs.a_frame.y_axis * blade_yofs)
cubes += self._build_blade(-body_ocs.a_frame.z_axis * beam_len * 0.5 +
c.ocs.a_frame.y_axis * blade_yofs)
return cubes
def __init__(self):
self.mode = self.MODE_RAW
self.ocs = coordinate_system.CoordinateSystem()
self.camera_desired_orientation = axial_frame.AxialFrame()
self.camera_trackpoint = vector.Vector()
self.camera_trackpoint_normal = vector.Vector()
# calculated motor angles
self.yaw = 0.
self.roll = 0.
self.pitch = 0.
cubes_lists, ocs_list = self._build_gimbal()
cubes_yaw = cubes_lists[0]
cubes_roll = cubes_lists[1]
cubes_pitch = cubes_lists[2]
self.ocs_yaw = ocs_list[0]
self.ocs_roll = ocs_list[1]
self.ocs_pitch = ocs_list[2]
# vertex_lists = self._build_body()
# self.vertex_lists_blade = vertex_lists[0]
# self.vertex_lists_body = vertex_lists[1]
cubes_body = self._build_body()
self.cubes_vbo_body = cubes_vbo.CubesVbo(len(cubes_body))
self.cubes_vbo_body.update_cubes(0, cubes_body)
self.cubes_vbo_yaw = cubes_vbo.CubesVbo(len(cubes_yaw))
self.cubes_vbo_yaw.update_cubes(0, cubes_yaw)
self.cubes_vbo_roll = cubes_vbo.CubesVbo(len(cubes_roll))
self.cubes_vbo_roll.update_cubes(0, cubes_roll)
self.cubes_vbo_pitch = cubes_vbo.CubesVbo(len(cubes_pitch))
self.cubes_vbo_pitch.update_cubes(0, cubes_pitch)
self.color = (1., 0., 0.2, 1.)
def _build_gimbal(self):
scale = 0.5
# yaw platform
ocs_yaw = coordinate_system.CoordinateSystem()
s = .05 * scale # pipe base radius
h = .5 * scale
gimbal_color = (1., 0., 0.2, 1.)
cubes_yaw = [self._gen_box(-s, s, -s, s, -h - s, s)]
for c in cubes_yaw:
c.set_color_f(*gimbal_color)
# roll platform (top view)
# 0 x1
# | |
# O | O--z2
# O | O
# O | O
# OOOOOOOOOOO--z1
# O
# O-------0
#
ocs_roll = coordinate_system.CoordinateSystem()
ocs_roll.pos.set((0., -h, 0.))
s1 = s * .8
s2 = s
s3 = s * .9
x1 = .5 * scale
z1 = .2 * scale
z2 = z1 + .5 * scale
cubes_roll = [
self._gen_box(-s1, s1, -s1, s1, -s1, z1 + s1), # 0 .. z1
self._gen_box(-x1 - s2, s2, z1 - s2, x1 + s2, -s2,
z1 + s2), # -x1 .. x1
self._gen_box(-x1 - s3, s3, z1 + s3, -x1 + s3, -s3,
z2 + s3), # z1 .. z2 (left)
self._gen_box(x1 - s3, s3, z1 + s3, x1 + s3, -s3, z2 + s3)
] # z1 .. z2 (right)
for c in cubes_roll:
c.set_color_f(*gimbal_color)
# pitch platform (top view)
# 0 x1 x2
# | | |
# OOOOOOOOO--|--z1
# O O |
# OOOO OOOO--0
# O O
# OOOOOOOOO
#
ocs_pitch = coordinate_system.CoordinateSystem()
ocs_pitch.pos.set((0., 0., z2))
s1 = s * .3 # pole radius
s2 = s * .4 # platform thickness
x2 = x1
x1 = x1 * .8
z1 = (z2 - z1) * .8
cubes_pitch = [
self._gen_box(-x2 - s1, s1, -s1, x2 + s1, -s1, s1), # pole
self._gen_box(-x1, s2, -z1, x1, -s2, z1)
] # platform
for c in cubes_pitch:
c.set_color_f(*gimbal_color)
return (cubes_yaw, cubes_roll, cubes_pitch), (ocs_yaw, ocs_roll,
ocs_pitch)