def __init__(self,world,name="My GL Widget Program"):
GLRealtimeProgram.__init__(self,name)
self.world = world
self.world.robot(0).setConfig(motion.robot.getKlamptCommandedPosition())
self.widgetMaster = WidgetSet()
self.widgetButton = 2 #right-clicks
self.draggingWidget = False
def __init__(self, simworld=None, planworld=None, controller=None, sim=None, helper=None):
if simworld == None and planworld == None:
# Dummy GLViewer
print "simworld and planworld are None"
return
GLRealtimeProgram.__init__(self, "My GL program")
self.simworld = simworld
self.planworld = planworld
self.sim = sim
self.widgetMaster = WidgetSet()
self.widgetButton = 2 # right-clicks
self.draggingWidget = False
self.poseWidget = PointPoser()
self.widgetMaster.add(self.poseWidget)
self.robotWidget = RobotPoser(self.simworld.robot(0))
self.widgetMaster.add(self.robotWidget)
self.simulate = True
if self.sim == None:
self.simulate = False
self.controller = controller
self.command_queue = Queue()
if helper != None:
print "helper is not none"
helper.run()
self.points = None
self.extraControllers = {}
class GLWidgetProgram(GLRealtimeProgram):
"""A base class for using widgets. Right-clicks are passed onto widgets.
Subclasses should call self.widgetMaster.add() upon initializiation to
add widgets to the program.
"""
def __init__(self,world,name="My GL Widget Program"):
GLRealtimeProgram.__init__(self,name)
self.world = world
self.world.robot(0).setConfig(motion.robot.getKlamptCommandedPosition())
self.widgetMaster = WidgetSet()
self.widgetButton = 2 #right-clicks
self.draggingWidget = False
def display(self):
#Put your display handler here
#the next few lines draw everything but the robot
for i in xrange(self.world.numTerrains()):
self.world.terrain(i).drawGL()
for i in xrange(self.world.numRigidObjects()):
self.world.rigidObject(i).drawGL()
for i in xrange(1,self.world.numRobots()):
self.world.robot(i).drawGL()
#this line will draw the robot
self.widgetMaster.drawGL(self.viewport())
def idle(self):
self.widgetMaster.idle()
if self.widgetMaster.wantsRedraw():
self.refresh()
def mousefunc(self,button,state,x,y):
#print "mouse",button,state,x,y
if button==self.widgetButton:
if state==0:
if self.widgetMaster.beginDrag(x,self.height-y,self.viewport()):
self.draggingWidget = True
else:
if self.draggingWidget:
self.widgetMaster.endDrag()
self.draggingWidget = False
if self.widgetMaster.wantsRedraw():
self.refresh()
self.lastx,self.lasty = x,y
return
GLRealtimeProgram.mousefunc(self,button,state,x,y)
def motionfunc(self,x,y):
if self.draggingWidget:
self.widgetMaster.drag(x-self.lastx,self.lasty-y,self.viewport())
if self.widgetMaster.wantsRedraw():
self.refresh()
self.lastx,self.lasty = x,y
else:
res = self.widgetMaster.hover(x,self.height-y,self.viewport())
if self.widgetMaster.wantsRedraw():
self.refresh()
GLRealtimeProgram.motionfunc(self,x,y)
def specialfunc(self,c,x,y):
#Put your keyboard special character handler here
print c,"pressed"
self.widgetMaster.keypress(c)
self.refresh()
def keyboardfunc(self,c,x,y):
#Put your keyboard handler here
#the current example toggles simulation / movie mode
print c,"pressed"
self.widgetMaster.keypress(c)
self.refresh()
class CustomGLViewer(GLRealtimeProgram):
def __init__(self, simworld=None, planworld=None, controller=None, sim=None, helper=None):
if simworld == None and planworld == None:
# Dummy GLViewer
print "simworld and planworld are None"
return
GLRealtimeProgram.__init__(self, "My GL program")
self.simworld = simworld
self.planworld = planworld
self.sim = sim
self.widgetMaster = WidgetSet()
self.widgetButton = 2 # right-clicks
self.draggingWidget = False
self.poseWidget = PointPoser()
self.widgetMaster.add(self.poseWidget)
self.robotWidget = RobotPoser(self.simworld.robot(0))
self.widgetMaster.add(self.robotWidget)
self.simulate = True
if self.sim == None:
self.simulate = False
self.controller = controller
self.command_queue = Queue()
if helper != None:
print "helper is not none"
helper.run()
self.points = None
self.extraControllers = {}
def idle(self):
if self.extraControllers != {}:
remove_indices = []
for controller in self.extraControllers:
self.dt = 0.01
controller.sim.simulate(self.dt)
glutPostRedisplay()
if controller.remainingTime() <= 0:
remove_indices.append(controller)
for controller in remove_indices:
del self.extraControllers[controller]
print "controller removed"
if self.simulate:
self.dt = 0.01
self.sim.simulate(self.dt)
glutPostRedisplay()
self.widgetMaster.idle()
if self.widgetMaster.wantsRedraw():
print "widgetMaster wants redraw"
self.refresh()
def printStuff(self):
print "shelf xform:", knowledge.shelf_xform
print self.simworld.terrain(0).geometry()
# print "terrain xform:", self.simworld.terrain(0).geometry().getTransform(), "\n\n"
def updatePoints(self, points):
self.points = points
def addController(self, new_controller, rgb):
self.extraControllers[new_controller] = rgb
def glShowPointCloud(self, pc, downsample_rate=5, pt_size=None):
# print glGetFloatv(GL_CURRENT_COLOR)
pc = np.array(pc)
# print 'Rendering %d points'%pc.shape[0]
try:
d = pc.shape[1]
assert d == 3 or d == 4, "Unrecognized point cloud shape: " + str(pc.shape)
pc = pc[::downsample_rate, :]
pc = pc.tolist()
glDisable(GL_LIGHTING)
glColor3f(0, 1, 0)
if pt_size is not None:
glPointSize(pt_size)
glBegin(GL_POINTS)
for p in pc:
if d == 4:
r, g, b = pcl_float_to_rgb(p[3])
r /= 255.0
g /= 255.0
b /= 255.0
glColor3f(r, g, b)
glVertex3f(p[0], p[1], p[2])
glEnd()
glEnable(GL_LIGHTING)
glColor3f(1, 0, 0)
except:
# print 'Insufficient data'
pass
def updateBox(self, index, vertices):
BOX_COORDS[index] = vertices
def display(self):
global BOX_COORDS
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, [1, 0, 0, 0.5])
# only 1 robot in this case, but still use for-loop for generality
for i in xrange(self.simworld.numRobots()):
r = self.controller.robotModel
q = self.controller.getCommandedConfig()
if self.widgetMaster.wantsRedraw():
# restart sim - start it with the new robot config
# if simulating
if self.sim != None:
# put more checks on mouse function here
# might accidentally reset if you mouse over
q = self.robotWidget.get()
# print 'self.sim is not None'
self.controller.robotModel.setConfig(q)
self.simworld.robot(0).setConfig(q)
self.controller.setLinear(q, 0.01)
else:
self.robotWidget.set(q)
# q = self.controller.getSensedConfig()
r.setConfig(q)
r.drawGL(False)
glDisable(GL_BLEND)
for controller in self.extraControllers:
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, self.extraControllers[controller])
r = controller.robotModel
q = controller.getCommandedConfig()
r.setConfig(q)
r.drawGL(False)
glDisable(GL_BLEND)
for i in xrange(self.simworld.numTerrains()):
self.simworld.terrain(i).drawGL()
if self.points != None:
self.glShowPointCloud(self.points)
for i in BOX_COORDS:
self.draw_wire_box(*BOX_COORDS[i])
self.widgetMaster.drawGL(self.viewport())
def draw_wire_box(self, bmin, bmax):
"""Helper: draws a wireframe box"""
glBegin(GL_LINE_LOOP)
glVertex3f(bmin[0], bmin[1], bmin[2])
glVertex3f(bmin[0], bmin[1], bmax[2])
glVertex3f(bmin[0], bmax[1], bmax[2])
glVertex3f(bmin[0], bmax[1], bmin[2])
glEnd()
glBegin(GL_LINE_LOOP)
glVertex3f(bmax[0], bmin[1], bmin[2])
glVertex3f(bmax[0], bmin[1], bmax[2])
glVertex3f(bmax[0], bmax[1], bmax[2])
glVertex3f(bmax[0], bmax[1], bmin[2])
glEnd()
glBegin(GL_LINES)
glVertex3f(bmin[0], bmin[1], bmin[2])
glVertex3f(bmax[0], bmin[1], bmin[2])
glVertex3f(bmin[0], bmin[1], bmax[2])
glVertex3f(bmax[0], bmin[1], bmax[2])
glVertex3f(bmin[0], bmax[1], bmax[2])
glVertex3f(bmax[0], bmax[1], bmax[2])
glVertex3f(bmin[0], bmax[1], bmin[2])
glVertex3f(bmax[0], bmax[1], bmin[2])
glEnd()
def keyboardfunc(self, c, x, y):
# print c,"pressed"
# print 'int value =', ord(c)
self.widgetMaster.keypress(c)
self.refresh()
if c == "`":
self.simulate = not self.simulate
print "Simulating:", self.simulate
else:
self.command_queue.put(c)
# print int(c)
if c == chr(27):
# c == esc
# self.picking_thread.join()
exit(0)
glutPostRedisplay()
def mousefunc(self, button, state, x, y):
# print "mouse",button,state,x,y
if button == self.widgetButton:
if state == 0:
# print 'state was zero'
if self.widgetMaster.beginDrag(x, self.height - y, self.viewport()):
# print 'beginning drag'
self.draggingWidget = True
else:
# print 'state of button not zero'
if self.draggingWidget:
# print 'dragging widget true - ending drag'
self.widgetMaster.endDrag()
self.draggingWidget = False
if self.widgetMaster.wantsRedraw():
self.refresh()
self.lastx, self.lasty = x, y
return
GLRealtimeProgram.mousefunc(self, button, state, x, y)
def motionfunc(self, x, y, dx, dy):
if self.draggingWidget:
self.widgetMaster.drag(dx, -dy, self.viewport())
if self.widgetMaster.wantsRedraw():
self.refresh()
else:
res = self.widgetMaster.hover(x, self.height - y, self.viewport())
if self.widgetMaster.wantsRedraw():
self.refresh()
GLRealtimeProgram.motionfunc(self, x, y, dx, dy)
def specialfunc(self, c, x, y):
# Put your keyboard special character handler here
# print c,"pressed"
self.widgetMaster.keypress(c)
self.refresh()
def __init__(self,world,name="My GL Widget Program"):
GLRealtimeProgram.__init__(self,name)
self.world = world
self.widgetMaster = WidgetSet()
self.widgetButton = 2 #right-clicks
self.draggingWidget = False
class GLWidgetProgram(GLRealtimeProgram):
"""A base class for using widgets. Right-clicks are passed onto widgets.
Subclasses should call self.widgetMaster.add() upon initializiation to
add widgets to the program.
"""
def __init__(self, world, name="My GL Widget Program"):
GLRealtimeProgram.__init__(self, name)
self.world = world
self.widgetMaster = WidgetSet()
self.widgetButton = 2 #right-clicks
self.draggingWidget = False
def display(self):
#Put your display handler here
#the next few lines draw everything but the robot
for i in xrange(self.world.numTerrains()):
self.world.terrain(i).drawGL()
for i in xrange(self.world.numRigidObjects()):
self.world.rigidObject(i).drawGL()
for i in xrange(1, self.world.numRobots()):
self.world.robot(i).drawGL()
#this line will draw the robot
self.widgetMaster.drawGL(self.viewport())
def idle(self):
self.widgetMaster.idle()
if self.widgetMaster.wantsRedraw():
self.refresh()
def mousefunc(self, button, state, x, y):
print "mouse", button, state, x, y
if button == self.widgetButton:
if state == 0:
if self.widgetMaster.beginDrag(x, self.height - y,
self.viewport()):
self.draggingWidget = True
else:
if self.draggingWidget:
self.widgetMaster.endDrag()
self.draggingWidget = False
if self.widgetMaster.wantsRedraw():
self.refresh()
self.lastx, self.lasty = x, y
return
GLRealtimeProgram.mousefunc(self, button, state, x, y)
def motionfunc(self, x, y, dx, dy):
if self.draggingWidget:
self.widgetMaster.drag(dx, -dy, self.viewport())
if self.widgetMaster.wantsRedraw():
self.refresh()
else:
res = self.widgetMaster.hover(x, self.height - y, self.viewport())
if self.widgetMaster.wantsRedraw():
self.refresh()
GLRealtimeProgram.motionfunc(self, x, y, dx, dy)
def specialfunc(self, c, x, y):
#Put your keyboard special character handler here
print c, "pressed"
self.widgetMaster.keypress(c)
self.refresh()
def keyboardfunc(self, c, x, y):
#Put your keyboard handler here
#the current example toggles simulation / movie mode
print c, "pressed"
self.widgetMaster.keypress(c)
self.refresh()
def __init__(self, world, name="My GL Widget Program"):
GLRealtimeProgram.__init__(self, name)
self.world = world
self.widgetMaster = WidgetSet()
self.widgetButton = 2 #right-clicks
self.draggingWidget = False
