def init2(self):
# C++ OpenGL.
_itbl.loadOpenGL()
# 2D shader.
vertex_source = os.path.join(get_data(), 'shader', '2d.vs')
fragment_source = os.path.join(get_data(), 'shader', '2d.fs')
self.flat_shader = Shader(vertex_source, fragment_source)
# Object
self.env_contacts = None
self.manip_contacts = None
self.env_contacts = None
self.manifold = None
self.v_m = None
self.counter = 0
self.targets = in_hand_targets(self.object_shape)
self.collision_manager = in_hand()
self.all_configs_on = False
self.step_on = False
self.path_on = False
self.manip_p = None
self.next_manip_p = None
def init2(self):
# C++ OpenGL.
_itbl.loadOpenGL()
# 2D shader.
vertex_source = os.path.join(get_data(), 'shader', '2d.vs')
fragment_source = os.path.join(get_data(), 'shader', '2d.fs')
self.flat_shader = Shader(vertex_source, fragment_source)
# Object
self.env_contacts = None
self.manip_contacts = None
self.env_contacts = None
self.manifold = None
self.v_m = None
self.counter = 0
if self.example == 'sofa':
self.collision_manager = create_hallway(
HALLWAY_W, BLOCK_W, BLOCK_H, self.object_shape[0] * 2.5 +
BLOCK_W * 0.5) # uniform_sample_maze((4,4), 3, 1.25)
elif self.example == 'maze':
self.collision_manager = uniform_sample_maze((3, 3), 3, 1.25)
elif self.example == 'corner':
self.collision_manager = corner()
elif self.example == 'wall':
self.collision_manager = wall()
elif self.example == 'table':
self.collision_manager = table()
elif self.example == 'obstacle_course':
self.collision_manager = obstacle_course()
elif self.example == 'peg-in-hole-v':
self.collision_manager = peg_in_hole_v()
elif self.example == 'peg-in-hole-p':
self.collision_manager = peg_in_hole_p()
elif self.example == 'book':
self.collision_manager = book()
elif self.example == 'unpacking':
self.collision_manager = unpacking()
elif self.example == 'pushing':
self.collision_manager = pushing()
elif self.example == 'inhand':
self.collision_manager = in_hand()
self.targets = in_hand_targets(self.object_shape)
else:
print('Cannot find collision manager!')
raise
if self.example != 'inhand':
self.target = _itbl.Rectangle(self.object_shape[0] * 2,
self.object_shape[1] * 2, 2, 0.0)
self.all_configs_on = False
self.step_on = False
self.path_on = False
self.manip_p = None
self.next_manip_p = None
def init(self):
super(iTM2d, self).init()
# Basic lighting shader.
vertex_source = os.path.join(get_data(), 'shader', 'basic_lighting.vs')
fragment_source = os.path.join(get_data(), 'shader', 'basic_lighting.fs')
self.basic_lighting_shader = Shader(vertex_source, fragment_source)
# Lamp shader.
vertex_source = os.path.join(get_data(), 'shader', 'flat.vs')
fragment_source = os.path.join(get_data(), 'shader', 'flat.fs')
self.lamp_shader = Shader(vertex_source, fragment_source)
# Normal shader.
vertex_source = os.path.join(get_data(), 'shader', 'normals.vs')
fragment_source = os.path.join(get_data(), 'shader', 'normals.fs')
geometry_source = os.path.join(get_data(), 'shader', 'normals.gs')
self.normal_shader = Shader(vertex_source, fragment_source, geometry_source)
# Trackball camera.
self.camera = TrackballCamera(radius=50)
# Toggle variables.
self.draw_mesh = True
self.draw_wireframe = True
self.draw_normals = False