def __init__(self,
width,
height,
f1="./testdata/Mallisuoritus.csv",
f2="./testdata/Nopea_oikein.csv"):
self.width = width
self.height = height
self.screen = pygame.display.set_mode((width, height))
pygame.display.set_caption('Wireframe Display')
self.background = (10, 10, 50)
self.wireframes = {}
self.displayNodes = True
self.displayEdges = True
self.nodeColour = (255, 255, 255)
self.edgeColour = (200, 200, 200)
self.nodeRadius = 4
self.cT = m.affine(m.rotX(0), np.array([width / 2, height / 2, 0]))
self.dataModel = csv2data.DataReader(f1)
self.dataCmp = csv2data.DataReader(f2)
def rotateNode(self, node, axis):
R = []
if (axis == 'x'):
R = m.affine(m.rotX(0.1 * np.pi), np.array([0, 0, 0]))
if (axis == 'y'):
R = m.affine(m.rotY(0.05 * np.pi), np.array([0, 0, 0]))
if (axis == 'z'):
R = m.affine(m.rotZ(0.05 * np.pi), np.array([0, 0, 0]))
if (axis == 'x-'):
R = m.affine(m.rotX(-0.05 * np.pi), np.array([0, 0, 0]))
if (axis == 'y-'):
R = m.affine(m.rotY(-0.05 * np.pi), np.array([0, 0, 0]))
if (axis == 'z-'):
R = m.affine(m.rotZ(-0.05 * np.pi), np.array([0, 0, 0]))
for wireframe in self.wireframes.values():
wireframe.nodes[node].rotate(R)
import numpy as np import matrices as m X = m.rotX(0.5) X2 = m.rotX(0.1) X3 = X * X2 x = np.array([1, 0, 0]) x2 = np.array([0, 1, 0]) A = m.affine(X, x) A2 = m.affine(X2, x2) R = np.array([1, 0, 0, 1]) R_ = A * R print(A) print(R_)
class ProjectionViewer:
""" Displays 3D objects on a Pygame screen """
camera = m.affine(m.rotX(0), np.array([0, 0, 0]))
cT = m.affine(m.rotX(0), np.array([500, 500, 0]))
cR = m.affine(m.rotX(np.pi / 6), np.array([0, 0, 0]))
rotationToggle = False
animToggle = False
animation = []
frame = 0
def __init__(self,
width,
height,
f1="./testdata/Mallisuoritus.csv",
f2="./testdata/Nopea_oikein.csv"):
self.width = width
self.height = height
self.screen = pygame.display.set_mode((width, height))
pygame.display.set_caption('Wireframe Display')
self.background = (10, 10, 50)
self.wireframes = {}
self.displayNodes = True
self.displayEdges = True
self.nodeColour = (255, 255, 255)
self.edgeColour = (200, 200, 200)
self.nodeRadius = 4
self.cT = m.affine(m.rotX(0), np.array([width / 2, height / 2, 0]))
self.dataModel = csv2data.DataReader(f1)
self.dataCmp = csv2data.DataReader(f2)
def addWireframe(self, name, wireframe):
""" Add a named wireframe object. """
self.wireframes[name] = wireframe
def run(self):
""" Create a pygame screen until it is closed. """
clock = pygame.time.Clock()
running = True
while running:
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
elif event.type == pygame.KEYDOWN:
if event.key in key_to_function:
key_to_function[event.key](self)
elif event.key == pygame.K_q:
self.rotateCameraR()
elif event.key == pygame.K_e:
self.rotateCameraL()
elif event.key == pygame.K_r:
self.rotationToggle = not self.rotationToggle
elif event.key == pygame.K_a:
self.animToggle = not self.animToggle
if self.rotationToggle:
self.rotateCameraR(0.01)
if self.animToggle:
if len(self.animation) == 0:
self.loadAni()
self.animate()
self.frame += 1
self.frame = self.frame % len(self.animation[0][0])
self.display()
pygame.display.flip()
clock.tick(60)
def display(self):
""" Draw the wireframes on the screen. """
self.screen.fill(self.background)
i = 0
color = [(255, 255, 0), (200, 200, 200)]
for wireframe in self.wireframes.values():
if self.displayEdges:
for edge in wireframe.edges:
c = color[i]
r1 = np.array(
[edge.start.x, edge.start.y, edge.start.z, 1])
R1 = self.cT.mat.dot(
self.cR.mat.dot(
self.camera.mat.dot(wireframe.ori.mat.dot(r1))))
r2 = np.array([edge.stop.x, edge.stop.y, edge.stop.z, 1])
R2 = self.cT.mat.dot(
self.cR.mat.dot(
self.camera.mat.dot(wireframe.ori.mat.dot(r2))))
pygame.draw.line(self.screen, c, (R1[0], R1[1]),
(R2[0], R2[1]), 1)
if self.displayNodes:
for node in wireframe.nodes:
rr = np.array([node.x, node.y, node.z, 1])
R = self.cT.mat.dot(
self.cR.mat.dot(
self.camera.mat.dot(wireframe.ori.mat.dot(rr))))
pygame.draw.circle(self.screen, self.nodeColour,
(int(R[0]), int(R[1])), self.nodeRadius,
0)
ori = np.asarray(node.ori.mat)
X = self.cT.mat.dot(
self.cR.mat.dot(
self.camera.mat.dot(
ori.dot(np.array([20, 0, 0, 0])))))
X += R
Y = self.cT.mat.dot(
self.cR.mat.dot(
self.camera.mat.dot(
ori.dot(np.array([0, -20, 0, 0])))))
Y += R
Z = self.cT.mat.dot(
self.cR.mat.dot(
self.camera.mat.dot(
ori.dot(np.array([0, 0, 20, 0])))))
Z += R
pygame.draw.line(self.screen, (255, 0, 0), [R[0], R[1]],
[X[0], X[1]], 1)
pygame.draw.line(self.screen, (0, 255, 0), [R[0], R[1]],
[Y[0], Y[1]], 1)
pygame.draw.line(self.screen, (0, 0, 255), [R[0], R[1]],
[Z[0], Z[1]], 1)
i += 1
def translate(self, d):
"""Translates the wireframe"""
T = m.affine(m.rotX(0), d)
for wireframe in self.wireframes.values():
wireframe.ori.set(wireframe.ori * T)
def rotateCameraR(self, a=0.05):
"""Rotates the camera"""
R = m.rotY(a * np.pi)
aff_ = m.affine(R, np.array([0, 0, 0]))
self.camera.set(aff_ * self.camera)
def rotateCameraL(self, a=0.05):
"""Rotates the camera"""
R = m.rotY(-a * np.pi)
aff_ = m.affine(R, np.array([0, 0, 0]))
self.camera.set(aff_ * self.camera)
def loadAni(self):
"""Loads animation csv:s from malli.csv and testi.csv"""
#df = pd.read_csv("malli.csv")
#df2 = pd.read_csv("testi.csv")
data1 = k.getSpatial(self.dataModel)
data2 = k.getSpatial(self.dataCmp)
l1 = len(list(data1.values())[0])
l2 = len(list(data2.values())[0])
if (l1 < l2):
for j in data1.values():
v = np.asarray(j)
for i in range(l1, l2):
v = np.append(j, np.array([0, 0, 0]))
else:
for j in data2.values():
v = np.asarray(j)
for i in range(l2, l1):
v = np.append(j, np.array([0, 0, 0]))
self.animation.append(list(data1.values()))
self.animation.append(list(data2.values()))
#ani1 = getAnimation(df)
#ani2 = getAnimation(df2)
#self.animation.append(ani1)
#self.animation.append(ani2)
def animate(self):
"""Helper function that runs the animation"""
if len(self.animation) == 0:
return
else:
# print(np.asarray(self.animation).shape)
for i in range(len(self.wireframes)):
wireframe = list(self.wireframes.values())[i]
wireframe.setNodes(self.animation[i], self.frame)
def rotateNode(self, node, axis):
R = []
if (axis == 'x'):
R = m.affine(m.rotX(0.1 * np.pi), np.array([0, 0, 0]))
if (axis == 'y'):
R = m.affine(m.rotY(0.05 * np.pi), np.array([0, 0, 0]))
if (axis == 'z'):
R = m.affine(m.rotZ(0.05 * np.pi), np.array([0, 0, 0]))
if (axis == 'x-'):
R = m.affine(m.rotX(-0.05 * np.pi), np.array([0, 0, 0]))
if (axis == 'y-'):
R = m.affine(m.rotY(-0.05 * np.pi), np.array([0, 0, 0]))
if (axis == 'z-'):
R = m.affine(m.rotZ(-0.05 * np.pi), np.array([0, 0, 0]))
for wireframe in self.wireframes.values():
wireframe.nodes[node].rotate(R)
def rotateCameraL(self, a=0.05):
"""Rotates the camera"""
R = m.rotY(-a * np.pi)
aff_ = m.affine(R, np.array([0, 0, 0]))
self.camera.set(aff_ * self.camera)
def translate(self, d):
"""Translates the wireframe"""
T = m.affine(m.rotX(0), d)
for wireframe in self.wireframes.values():
wireframe.ori.set(wireframe.ori * T)
def __init__(self, coordinates):
self.x = coordinates[0]
self.y = coordinates[1]
self.z = coordinates[2]
self.ori = m.affine(m.rotX(0), np.array([0, 0, 0]))
class Wireframe:
ori = m.affine(m.rotX(0), np.array([0, 0, 0]))
def __init__(self):
self.nodes = []
self.edges = []
def addNodes(self, nodeList):
for node in nodeList:
self.nodes.append(Node(node))
def addEdges(self, edgeList):
for (start, stop) in edgeList:
self.edges.append(Edge(self.nodes[start], self.nodes[stop]))
def translate(self, axis, d):
""" Add constant 'd' to the coordinate 'axis' of each node of a wireframe """
if axis in ['x', 'y', 'z']:
for node in self.nodes:
setattr(node, axis, getattr(node, axis) + d)
def scale(self, centre_x, centre_y, scale):
""" Scale the wireframe from the centre of the screen """
for node in self.nodes:
node.x = centre_x + scale * (node.x - centre_x)
node.y = centre_y + scale * (node.y - centre_y)
node.z *= scale
def findCentre(self):
""" Find the centre of the wireframe. """
num_nodes = len(self.nodes)
meanX = sum([node.x for node in self.nodes]) / num_nodes
meanY = sum([node.y for node in self.nodes]) / num_nodes
meanZ = sum([node.z for node in self.nodes]) / num_nodes
return (meanX, meanY, meanZ)
def rotateX(self, cx, cy, cz, radians):
for node in self.nodes:
y = node.y - cy
z = node.z - cz
d = math.hypot(y, z)
theta = math.atan2(y, z) + radians
node.z = cz + d * math.cos(theta)
node.y = cy + d * math.sin(theta)
def rotateY(self, cx, cy, cz, radians):
for node in self.nodes:
x = node.x - cx
z = node.z - cz
d = math.hypot(x, z)
theta = math.atan2(x, z) + radians
node.z = cz + d * math.cos(theta)
node.x = cx + d * math.sin(theta)
def rotateZ(self, cx, cy, cz, radians):
for node in self.nodes:
x = node.x - cx
y = node.y - cy
d = math.hypot(y, x)
theta = math.atan2(y, x) + radians
node.x = cx + d * math.cos(theta)
node.y = cy + d * math.sin(theta)
def transform(self, M):
self.ori.set(M * self.ori)
def setNodes(self, arr, frame):
idx = min(frame, len(arr[0]) - 1)
for i in range(0, len(arr)):
self.nodes[i].x = arr[i][idx][0]
self.nodes[i].y = arr[i][idx][1]
self.nodes[i].z = arr[i][idx][2]