def AddLightActor (r):
if (r!=0):
print('pre: r_exits')
lights = r.GetLIghts()
lights.InitTraversal()
l = lights.GetNextItem()
while(l!=0):
angle = l.GetConeAngle()
if(l.LIghtTypeIsSceneLight() and l.GetPositional() and angle<180. ):
la = vtk.vtkLightActor()
la.SetLight(l)
r.AddViewProp(la)
la.Delete
l = lights .GetNextItem()
def AddLightActor (r):
if (r!=0):
print('pre: r_exits')
lights = r.GetLIghts()
lights.InitTraversal()
l = lights.GetNextItem()
while(l!=0):
angle = l.GetConeAngle()
if(l.LIghtTypeIsSceneLight() and l.GetPositional() and angle<180. ):
la = vtk.vtkLightActor()
la.SetLight(l)
r.AddViewProp(la)
la.Delete
l = lights .GetNextItem()
def light(
self,
pos=(1, 1, 1),
fp=(0, 0, 0),
deg=25,
diffuse="y",
ambient="r",
specular="b",
showsource=False,
):
"""
Generate a source of light placed at pos, directed to focal point fp.
:param fp: focal Point, if this is a ``vtkActor`` use its position.
:type fp: vtkActor, list
:param deg: aperture angle of the light source
:param showsource: if `True`, will show a vtk representation
of the source of light as an extra actor
.. hint:: |lights.py|_
"""
if isinstance(fp, vtk.vtkActor):
fp = fp.GetPosition()
light = vtk.vtkLight()
light.SetLightTypeToSceneLight()
light.SetPosition(pos)
light.SetPositional(1)
light.SetConeAngle(deg)
light.SetFocalPoint(fp)
light.SetDiffuseColor(colors.getColor(diffuse))
light.SetAmbientColor(colors.getColor(ambient))
light.SetSpecularColor(colors.getColor(specular))
save_int = self.interactive
self.show(interactive=0)
self.interactive = save_int
if showsource:
lightActor = vtk.vtkLightActor()
lightActor.SetLight(light)
self.renderer.AddViewProp(lightActor)
self.renderer.AddLight(light)
return light
def __init__(self, position=None, focal_point=None, color=None, light_type='scene light'):
"""Initialize the light."""
super().__init__()
if position is not None:
self.position = position
if focal_point is not None:
self.focal_point = focal_point
if color is not None:
self.ambient_color = color
self.diffuse_color = color
self.specular_color = color
if isinstance(light_type, str):
# be forgiving: ignore spaces and case
light_type_orig = light_type
type_normalized = light_type.replace(' ', '').lower()
mapping = {'headlight': LightType.HEADLIGHT,
'cameralight': LightType.CAMERA_LIGHT,
'scenelight': LightType.SCENE_LIGHT,
}
try:
light_type = mapping[type_normalized]
except KeyError:
raise ValueError(f'Invalid light_type "{light_type_orig}"') from None
elif not isinstance(light_type, int):
raise TypeError('Parameter light_type must be int or str,'
f' not {type(light_type).__name__}.')
# LightType is an int subclass
self.light_type = light_type
self._actor = vtk.vtkLightActor()
self._actor.SetLight(self)
self._actor.VisibilityOff()
def main():
interactor = vtk.vtkRenderWindowInteractor()
renderWindow = vtk.vtkRenderWindow()
renderWindow.SetSize(400, 400)
renderWindow.SetMultiSamples(0)
renderWindow.SetAlphaBitPlanes(1)
interactor.SetRenderWindow(renderWindow)
renderer = vtk.vtkOpenGLRenderer()
renderWindow.AddRenderer(renderer)
renderWindow.SetSize(640, 480)
rectangleSource = vtk.vtkPlaneSource()
rectangleSource.SetOrigin(-5.0, 0.0, 5.0)
rectangleSource.SetPoint1(5.0, 0.0, 5.0)
rectangleSource.SetPoint2(-5.0, 0.0, -5.0)
rectangleSource.SetResolution(100, 100)
rectangleMapper = vtk.vtkPolyDataMapper()
rectangleMapper.SetInputConnection(rectangleSource.GetOutputPort())
rectangleMapper.SetScalarVisibility(0)
shadows = vtk.vtkShadowMapPass()
seq = vtk.vtkSequencePass()
passes = vtk.vtkRenderPassCollection()
passes.AddItem(shadows.GetShadowMapBakerPass())
passes.AddItem(shadows)
seq.SetPasses(passes)
cameraP = vtk.vtkCameraPass()
cameraP.SetDelegatePass(seq)
# tell the renderer to use our render pass pipeline
glrenderer = renderer
glrenderer.SetPass(cameraP)
colors = vtk.vtkNamedColors()
boxColor = colors.GetColor3d("Tomato")
rectangleColor = colors.GetColor3d("Beige")
coneColor = colors.GetColor3d("Peacock")
sphereColor = colors.GetColor3d("Banana")
rectangleActor = vtk.vtkActor()
rectangleActor.SetMapper(rectangleMapper)
rectangleActor.VisibilityOn()
rectangleActor.GetProperty().SetColor(rectangleColor)
boxSource = vtk.vtkCubeSource()
boxSource.SetXLength(2.0)
boxNormals = vtk.vtkPolyDataNormals()
boxNormals.SetInputConnection(boxSource.GetOutputPort())
boxNormals.ComputePointNormalsOff()
boxNormals.ComputeCellNormalsOn()
boxNormals.Update()
boxNormals.GetOutput().GetPointData().SetNormals(None)
boxMapper = vtk.vtkPolyDataMapper()
boxMapper.SetInputConnection(boxNormals.GetOutputPort())
boxMapper.ScalarVisibilityOff()
boxActor = vtk.vtkActor()
boxActor.SetMapper(boxMapper)
boxActor.VisibilityOn()
boxActor.SetPosition(-2.0, 2.0, 0.0)
boxActor.GetProperty().SetColor(boxColor)
coneSource = vtk.vtkConeSource()
coneSource.SetResolution(24)
coneSource.SetDirection(1.0, 1.0, 1.0)
coneMapper = vtk.vtkPolyDataMapper()
coneMapper.SetInputConnection(coneSource.GetOutputPort())
coneMapper.SetScalarVisibility(0)
coneActor = vtk.vtkActor()
coneActor.SetMapper(coneMapper)
coneActor.VisibilityOn()
coneActor.SetPosition(0.0, 1.0, 1.0)
coneActor.GetProperty().SetColor(coneColor)
sphereSource = vtk.vtkSphereSource()
sphereSource.SetThetaResolution(32)
sphereSource.SetPhiResolution(32)
sphereMapper = vtk.vtkPolyDataMapper()
sphereMapper.SetInputConnection(sphereSource.GetOutputPort())
sphereMapper.ScalarVisibilityOff()
sphereActor = vtk.vtkActor()
sphereActor.SetMapper(sphereMapper)
sphereActor.VisibilityOn()
sphereActor.SetPosition(2.0, 2.0, -1.0)
sphereActor.GetProperty().SetColor(sphereColor)
renderer.AddViewProp(rectangleActor)
renderer.AddViewProp(boxActor)
renderer.AddViewProp(coneActor)
renderer.AddViewProp(sphereActor)
# Spotlights.
# lighting the box.
l1 = vtk.vtkLight()
l1.SetPosition(-4.0, 4.0, -1.0)
l1.SetFocalPoint(boxActor.GetPosition())
l1.SetColor(1.0, 1.0, 1.0)
l1.PositionalOn()
renderer.AddLight(l1)
l1.SwitchOn()
# lighting the sphere
l2 = vtk.vtkLight()
l2.SetPosition(4.0, 5.0, 1.0)
l2.SetFocalPoint(sphereActor.GetPosition())
l2.SetColor(1.0, 0.0, 1.0)
l2.PositionalOn()
renderer.AddLight(l2)
l2.SwitchOn()
# For each spotlight, add a light frustum wireframe representation and a cone
# wireframe representation, colored with the light color.
angle = l1.GetConeAngle()
if l1.LightTypeIsSceneLight() and l1.GetPositional(
) and angle < 180.0: # spotlight
la = vtk.vtkLightActor()
la.SetLight(l1)
renderer.AddViewProp(la)
angle = l2.GetConeAngle()
if l2.LightTypeIsSceneLight() and l2.GetPositional(
) and angle < 180.0: # spotlight
la = vtk.vtkLightActor()
la.SetLight(l2)
renderer.AddViewProp(la)
renderer.SetBackground2(colors.GetColor3d("Silver"))
renderer.SetBackground(colors.GetColor3d("LightGrey"))
renderer.SetGradientBackground(True)
renderWindow.Render()
renderWindow.SetWindowName('ShadowsLightsDemo')
renderer.ResetCamera()
camera = renderer.GetActiveCamera()
camera.Azimuth(40.0)
camera.Elevation(10.0)
renderWindow.Render()
interactor.Start()
def __init__(self,parent = None):
super(robotWindow,self).__init__(parent = None)
self.setupUi(self)
self.robot = palmModel()
self.vtkWidget = QVTKRenderWindowInteractor(self.robotWidget)
self.ren = vtk.vtkRenderer()
lightPosition = [0,0,1]
lightFocalPoint = [0,0,0]
light = vtk.vtkLight()
light.SetLightTypeToSceneLight()
light.SetPosition(lightPosition[0], lightPosition[1], lightPosition[2])
light.SetPositional(True)
light.SetConeAngle(10)
light.SetFocalPoint(lightFocalPoint[0], lightFocalPoint[1], lightFocalPoint[2])
light.SetDiffuseColor(1,0,0)
light.SetAmbientColor(0,1,0)
light.SetSpecularColor(0,0,1)
lightActor = vtk.vtkLightActor()
lightActor.SetLight(light)
self.ren.AddViewProp(lightActor)
self.ren.SetBackground(0, 0.6, 0.9)
self.renderWindow = self.vtkWidget.GetRenderWindow()
self.renderWindow.AddRenderer(self.ren)
self.style = vtk.vtkInteractorStyleTrackballCamera()
self.vtkWidget.SetInteractorStyle(self.style)
self.checkBox = [self.thumbChectBox,self.foreCheckBox,self.middleCheckBox,
self.ringCheckBox,self.littleCheckBox]
if not self.thumbChectBox.isChecked():
self.robot = robotModel()
self.setArmConnect()
self.finger = [self.robot.thumb.finger,self.robot.fingerOne,self.robot.fingerTwo,
self.robot.fingerThree,self.robot.fingerFour]
self.fingerSender = [self.thumbYSlide,self.thumbSlide,self.foreSlide,
self.middleSlide,self.ringSlide,self.littleSlide]
self.setPalmConnect()
map(self.connectFun,self.checkBox,
[self.changeCheckBoxConnect for i in range(len(self.checkBox))],
[SIGNAL("clicked()") for i in range(len(self.checkBox))])
self.fingerTogether = []
self.slideTogether = []
self.connect(self.palmModelCheckBox,SIGNAL("stateChanged(int)"),self.changeRobotModel)
self.ren.AddActor(self.robot.getAssembly())
self.axes = vtk.vtkAxesActor()
self.axes.SetTotalLength(100,100,100)
center = self.ren.GetCenter()
self.axes.SetPosition(0,0,0)
#self.ren.AddActor(self.axes)
self.iren = self.vtkWidget.GetRenderWindow().GetInteractor()
self.iren.Initialize()