def set_particlesys(self, psys):
# Attach particle system to hand joint
h3d.findNodes(self._knight, 'Bip01_R_Hand', h3d.NodeTypes.Joint)
hand = h3d.getNodeFindResult(0)
if self._particleSystem is not None:
h3d.removeNode(self._particleSystem)
self._particleSystem = h3d.addNodes(hand, psys)
h3d.setNodeTransform(self._particleSystem, 0, 40, 0, 90, 0, 0, 1, 1, 1)
def update_solids(self, curr_state):
for solid_id, params in self.__solids.items():
solid_state = curr_state.get(solid_id, [])
nodes = params['nodes']
scale = params['scale']
bscale = params['bscale']
CoM = params['com']
# translate to CoM
tmat1 = np.mat(np.eye(4))
tmat1[0, 3], tmat1[1, 3], tmat1[2, 3] = -CoM
# scale mat
smat = np.mat(np.eye(4))
smat[0, 0], smat[1, 1], smat[2, 2] = scale
if len(nodes) > len(solid_state):
# remove extra solids
for _ in range(len(nodes) - len(solid_state)):
# print "remove node"
h3d.removeNode(nodes.pop())
elif len(nodes) < len(solid_state):
# add nodes
for _ in range(len(solid_state) - len(nodes)):
# print "add node"
node = h3d.addNodes(h3d.RootNode, params['scnres'])
if not node:
print "failed to add solid node"
return
h3d.setNodeTransform(node, 0, 0, 0, 0, 0, 0, scale[0],
scale[1], scale[2])
nodes.append(node)
for i in range(len(solid_state)):
node = nodes[i]
cm, rot = solid_state[i]
# rotation matrix
rmat = np.mat(np.zeros((4, 4)))
rmat[3, 3] = 1.0
rmat[0:3, 0:3] = np.mat(rot).T + rmat[0:3, 0:3]
# print rmat
# translate to pos
pos = cm * bscale
tmat2 = np.mat(np.eye(4))
tmat2[0, 3], tmat2[1, 3], tmat2[2, 3] = pos
transform = (tmat2 * smat * rmat * tmat1)
h3d.setNodeTransMat(node, transform)
def change_skybox(self, skyres):
if self._sky != 0:
# remove the old sky box
h3d.removeNode(self._sky)
h3dres = self._h3dres
# Add skybox
self._sky = h3d.addNodes(h3d.RootNode, skyres)
h3d.setNodeTransform(self._sky, 0, 0, 0, 0, 0, 0, 20, 20, 20)
# Set ligth envmap
mesh = h3d.getNodeChild(self._sky, 0)
res = h3d.getNodeParamI(mesh, h3d.Mesh.MatResI)
idx = self.get_smapler_by_name(res, "albedoMap")
if idx != -1 :
evn_map = h3d.getResParamI(res, h3d.MatRes.SamplerElem, idx, h3d.MatRes.SampTexResI)
idx = self.get_smapler_by_name(h3dres.lightMat, "envMap")
if idx != -1:
h3d.setResParamI(h3dres.lightMat, h3d.MatRes.SamplerElem, idx, h3d.MatRes.SampTexResI, evn_map)
def change_skybox(self, skyres):
if self._sky != 0:
# remove the old sky box
h3d.removeNode(self._sky)
h3dres = self._h3dres
# Add skybox
self._sky = h3d.addNodes(h3d.RootNode, skyres)
h3d.setNodeTransform(self._sky, 0, 0, 0, 0, 0, 0, 20, 20, 20)
# Set ligth envmap
mesh = h3d.getNodeChild(self._sky, 0)
res = h3d.getNodeParamI(mesh, h3d.Mesh.MatResI)
idx = self.get_smapler_by_name(res, "albedoMap")
if idx != -1:
evn_map = h3d.getResParamI(res, h3d.MatRes.SamplerElem, idx,
h3d.MatRes.SampTexResI)
idx = self.get_smapler_by_name(h3dres.lightMat, "envMap")
if idx != -1:
h3d.setResParamI(h3dres.lightMat, h3d.MatRes.SamplerElem, idx,
h3d.MatRes.SampTexResI, evn_map)
def remove(self):
h3d.removeNode(self.node)
def remove(self):
h3d.removeNode(self.node)