class Mover(avango.script.Script):
## output field
sf_mat = avango.gua.SFMatrix4()
## constructor
def __init__(self):
self.super(Mover).__init__()
def my_constructor(self,
SCENEGRAPH=None,
START_MATRIX=avango.gua.make_identity_mat(),
VIEWER=None):
## init internal classes
self.input = KeyboardInput()
self.input.my_constructor(VIEWER=VIEWER)
self.accumulator = Accumulator()
self.accumulator.my_constructor(START_MATRIX=START_MATRIX)
self.groundFollowing = GroundFollowing()
self.groundFollowing.my_constructor(SCENEGRAPH=SCENEGRAPH,
START_MATRIX=START_MATRIX)
## init field connections
self.accumulator.sf_move_vec.connect_from(
self.input.sf_move_vec) # connect input into accumulator
self.sf_mat.connect_from(
self.accumulator.sf_mat
) # connect output of accumulator to mover output matrix
def start():
## create scenegraph
scenegraph = avango.gua.nodes.SceneGraph(Name="scenegraph")
## init viewing setup
viewingSetup = SimpleViewingSetup(SCENEGRAPH=scenegraph,
STEREO_MODE="mono")
#viewingSetup = SimpleViewingSetup(SCENEGRAPH = scenegraph, STEREO_MODE = "anaglyph")
## init game avatar
avatar = Avatar(SCENEGRAPH=scenegraph,
START_MATRIX=avango.gua.make_trans_mat(0.1, 0.14, 0.0))
## init scene
scene = Scene(PARENT_NODE=scenegraph.Root.value)
print_graph(scenegraph.Root.value)
keyboardInput = KeyboardInput()
accumulator = Accumulator()
viewingSetup.navigation_node.Transform.connect_from(accumulator.sf_mat)
## init field connections (dependency graph)
viewingSetup.connect_navigation_matrix(
avatar.avatar_transform.Transform
) # connect avatar matrix to camera matrix
viewingSetup.viewer.DesiredFPS.connect_from(
avatar.input.sf_max_fps
) # change viewer FPS during runtime (enforce slow/fast frame-rate rendering)
## start application/render loop
viewingSetup.run(locals(), globals())
def __init__(
self,
PARENT_NODE,
DIAMETER=0.1, # in meter
LENGTH=0.1, # in meter
ROT_OFFSET_MAT=avango.gua.make_identity_mat(
), # the rotation offset relative to the parent coordinate system
):
## get unique id for this instance
self.id = Arm.number_of_instances
Arm.number_of_instances += 1
self.parent = PARENT_NODE
### resources ###
_loader = avango.gua.nodes.TriMeshLoader(
) # get trimesh loader to load external tri-meshes
self.input = KeyboardInput()
self.arm_geometry = _loader.create_geometry_from_file(
"arm_geometry", "data/objects/cylinder.obj",
avango.gua.LoaderFlags.DEFAULTS)
self.arm_geometry.Transform.value = avango.gua.make_trans_mat(
0.0, 0.0, 0.0) * avango.gua.make_scale_mat(DIAMETER, LENGTH,
DIAMETER)
self.arm_geometry.Material.value.set_uniform(
"Color", avango.gua.Vec4(1.0, 1.0, 0.0, 1.0))
self.arm_node = avango.gua.nodes.TransformNode(Name="ArmNode")
self.arm_node.Children.value.append(self.arm_geometry)
PARENT_NODE.Children.value.append(self.arm_node)
def __init__(self):
self.super(Hinge).__init__()
## get unique id for this instance
self.id = Hinge.number_of_instances
Hinge.number_of_instances += 1
self.input = KeyboardInput()
self.degree = 0.0
def my_constructor(
self,
START_MATRIX=avango.gua.make_identity_mat(),
):
## set initial state
self.sf_mat.value = START_MATRIX
## init internal sub-classes
input = KeyboardInput()
def __init__(
self,
PARENT_NODE=None,
TARGET_LIST=[],
):
## init internal sub-classes
self.input = KeyboardInput()
# b.Input.connect_from(a.Output)
## init base node for whole crane
self.base_node = avango.gua.nodes.TransformNode(Name="base_node")
self.base_node.Transform.value = \
avango.gua.make_trans_mat(.0, -.1,.0)
PARENT_NODE.Children.value.append(self.base_node)
# rotational axises
rotAxi0 = avango.gua.Vec3(0, 1, 0)
rotAxi1 = avango.gua.Vec3(0, 0, 1)
# FIRST
hinge0 = Hinge()
hinge0.my_constructor(PARENT_NODE=self.base_node,
DIAMETER=.1,
HEIGHT=.01,
ROT_AXIS=rotAxi0,
SF_ROT_INPUT_MAT=[-180, 180])
hinge0.sf_rot_value.connect_from(self.input.sf_rot_input0)
arm0 = Arm(hinge0.matrix, .01, .1)
# SECOND
hinge1 = Hinge()
hinge1.my_constructor(PARENT_NODE=hinge0.matrix,
DIAMETER=.02,
HEIGHT=.01,
ROT_OFFSET_MAT=avango.gua.make_trans_mat(
.0, arm0.length, .0),
ROT_AXIS=rotAxi1,
SF_ROT_INPUT_MAT=[0, 90])
hinge1.sf_rot_value.connect_from(self.input.sf_rot_input1)
arm1 = Arm(hinge1.matrix, .005, .08)
# THIRD
hinge2 = Hinge()
hinge2.my_constructor(PARENT_NODE=hinge1.matrix,
DIAMETER=.02,
HEIGHT=.01,
ROT_OFFSET_MAT=avango.gua.make_trans_mat(
.0, arm1.length, .0),
ROT_AXIS=rotAxi1,
SF_ROT_INPUT_MAT=[-90, 90])
hinge2.sf_rot_value.connect_from(self.input.sf_rot_input2)
arm2 = Arm(hinge2.matrix, .005, .08)
# FOURTH
hook = Hook()
hook.rot_mat = avango.gua.make_trans_mat(.0, arm2.length, .0)
hook.my_constructor(hinge2.matrix, .02, TARGET_LIST)
hinge0.hook = hook
hinge1.hook = hook
hinge2.hook = hook
def __init__(
self,
SCENEGRAPH=None,
START_MATRIX=avango.gua.make_identity_mat(),
):
self.translation_factor = 0.01
### resources ###
_loader = avango.gua.nodes.TriMeshLoader(
) # init trimesh loader to load external meshes
## init avatar nodes
self.avatar_geometry = _loader.create_geometry_from_file(
"avatar_geometry", "data/objects/monkey.obj",
avango.gua.LoaderFlags.DEFAULTS)
self.avatar_geometry.Transform.value = avango.gua.make_scale_mat(0.03)
self.avatar_geometry.Material.value.set_uniform(
"Color", avango.gua.Vec4(1.0, 0.2, 0.2, 1.0))
self.avatar_transform = avango.gua.nodes.TransformNode(
Name="avatar_node")
self.avatar_transform.Children.value = [self.avatar_geometry]
SCENEGRAPH.Root.value.Children.value.append(self.avatar_transform)
## init internal sub-classes
self.input = KeyboardInput()
self.accumulator = Accumulator()
self.accumulator.my_constructor(START_MATRIX=START_MATRIX)
self.groundFollowing = GroundFollowing()
self.groundFollowing.my_constructor(SCENEGRAPH=SCENEGRAPH,
START_MATRIX=START_MATRIX)
## init field connections (dependency graph)
self.accumulator.sf_move_vec.connect_from(
self.input.sf_move_vec
) # propagate movement vector into movement accumulator
self.avatar_transform.Transform.connect_from(
self.accumulator.sf_mat
) # connect final movement matrix to avatar node matrix
def __init__(self,
PARENT_NODE = None,
TARGET_LIST = [],
):
self.rotation = 0.0
self.world_pos = (0,0,0)
### resources ###
## init base node for whole crane
self.base_node = avango.gua.nodes.TransformNode(Name = "base_node")
self.base_node.Transform.value = avango.gua.make_trans_mat(0.0,-0.1,0.0)
PARENT_NODE.Children.value.append(self.base_node)
self.targets = TARGET_LIST
## init internal sub-classes
self.input = KeyboardInput()
## ToDo: init first hinge && connect rotation input
# ...
#self.sf_rotation.connect_from(self.input.sf_rot_value1)
self.firsthinge = Hinge()
self.firsthinge.my_constructor(
PARENT_NODE = self.base_node,
DIAMETER = 0.05, # in meter
HEIGHT = 0.01, # in meter
ROT_OFFSET_MAT = avango.gua.make_identity_mat(), # the rotation offset relative to the parent coordinate system
ROT_AXIS = avango.gua.Vec3(0,1,0), # the axis to rotate arround with the rotation input (default is head axis)
ROT_CONSTRAINT = [-180.0, 180.0], # intervall with min and max rotation of this hinge
BASE = True
)
self.firsthhinge_node = self.firsthinge.get_hinge_node()
## ToDo: init first arm-segment
# ...
self.firstarm = Arm(
PARENT_NODE = self.firsthhinge_node,
DIAMETER = 0.005, # in meter
LENGTH = 0.075, # in meter
ROT_OFFSET_MAT = avango.gua.make_identity_mat(), # the rotation offset relative to the parent coordinate system
)
self.firstarm_node = self.firstarm.get_arm_node()
self.firstarm_node.Transform.value = avango.gua.make_trans_mat(0,0.04,0)
## ToDo: init second hinge && connect rotation input
# ...
self.secondhinge = Hinge()
self.secondhinge.my_constructor(
PARENT_NODE = self.firstarm_node,
DIAMETER = 0.02, # in meter
HEIGHT = 0.02, # in meter
ROT_OFFSET_MAT = avango.gua.make_identity_mat(), # the rotation offset relative to the parent coordinate system
ROT_AXIS = avango.gua.Vec3(0,0,1), # the axis to rotate arround with the rotation input (default is head axis)
ROT_CONSTRAINT = [-0.0, 90.0], # intervall with min and max rotation of this hinge
)
self.secondhinge_node = self.secondhinge.get_hinge_node()
self.secondhinge_node.Transform.value = avango.gua.make_trans_mat(0,0.04,0)
## ToDo: init second arm-segment
# ...
self.secondarm = Arm(
PARENT_NODE = self.secondhinge_node,
DIAMETER = 0.005, # in meter
LENGTH = 0.075, # in meter
ROT_OFFSET_MAT = avango.gua.make_identity_mat(), # the rotation offset relative to the parent coordinate system
)
self.secondarm_node = self.secondarm.get_arm_node()
self.secondarm_node.Transform.value = avango.gua.make_trans_mat(0,0.04,0)
## ToDo: init third hinge && connect rotation input
# ...
self.thirdhinge = Hinge()
self.thirdhinge.my_constructor(
PARENT_NODE = self.secondarm_node,
DIAMETER = 0.02, # in meter
HEIGHT = 0.02, # in meter
ROT_OFFSET_MAT = avango.gua.make_identity_mat(), # the rotation offset relative to the parent coordinate system
ROT_AXIS = avango.gua.Vec3(0,0,1), # the axis to rotate arround with the rotation input (default is head axis)
ROT_CONSTRAINT = [-90.0, 90.0], # intervall with min and max rotation of this hinge
)
self.thirdhinge_node = self.thirdhinge.get_hinge_node()
self.thirdhinge_node.Transform.value = avango.gua.make_trans_mat(0,0.04,0)
## ToDo: init third arm-segment
# ...
self.thirdarm = Arm(
PARENT_NODE = self.thirdhinge_node,
DIAMETER = 0.005, # in meter
LENGTH = 0.075, # in meter
ROT_OFFSET_MAT = avango.gua.make_identity_mat(), # the rotation offset relative to the parent coordinate system
)
self.thirdarm_node = self.thirdarm.get_arm_node()
self.thirdarm_node.Transform.value = avango.gua.make_trans_mat(0,0.04,0)
## ToDo: init hook
self.firsthook = Hook()
self.firsthook.my_constructor(
PARENT_NODE = self.thirdarm_node,
SIZE = 0.03,
TARGET_LIST = self.targets,
#TARGET_LIST = []
)
self.firsthook_node = self.firsthook.get_hook_node()
self.firsthook_node.Transform.value = avango.gua.make_trans_mat(0,0.045,0)
def __init__(self,
PARENT_NODE = None,
TARGET_LIST = [],
):
### resources ###
## init base node for whole crane
self.base_node = avango.gua.nodes.TransformNode(Name = "base_node")
self.base_node.Transform.value = avango.gua.make_trans_mat(0.0,-0.1,0.0)
PARENT_NODE.Children.value.append(self.base_node)
## init internal sub-classes
self.input = KeyboardInput()
## ToDo: init first hinge && connect rotation input
self.hinge1 = Hinge()
self.hinge1.my_constructor(PARENT_NODE = self.base_node, DIAMETER = 0.1, HEIGHT = 0.01, \
ROT_OFFSET_MAT = avango.gua.make_identity_mat(), ROT_AXIS = avango.gua.Vec3(0,1,0), \
ROT_CONSTRAINT = [-180.0, 180.0])
self.hinge1.sf_rot_value.connect_from(self.input.sf_rot_value0)
#self.hinge1.connect_from(self.KeyboardInput.Button1)
## ToDo: init first arm-segment
# ...
self.arm1 = Arm(PARENT_NODE = self.hinge1.get_hinge_transform_node(), DIAMETER = 0.01, LENGTH = 0.1, ROT_OFFSET_MAT = avango.gua.make_identity_mat())
## ToDo: init second hinge && connect rotation input
# ...
self.hinge2 = Hinge()
self.hinge2.my_constructor(PARENT_NODE = self.hinge1.get_hinge_transform_node(), DIAMETER = 0.02, HEIGHT = 0.01, \
ROT_OFFSET_MAT = avango.gua.make_rot_mat(90, 1, 0, 0), ROT_AXIS = avango.gua.Vec3(0,0,1), \
ROT_CONSTRAINT = [0.0, 90.0], TRANS_OFFSET = self.arm1.length)
self.hinge2.sf_rot_value.connect_from(self.input.sf_rot_value1)
# # ## ToDo: init second arm-segment
# # # ...
self.arm2 = Arm(PARENT_NODE = self.hinge2.get_hinge_transform_node(), DIAMETER = 0.01, LENGTH = 0.1, ROT_OFFSET_MAT = avango.gua.make_identity_mat())
# # ## ToDo: init third hinge && connect rotation input
# # # ...
self.hinge3 = Hinge()
self.hinge3.my_constructor(PARENT_NODE = self.hinge2.get_hinge_transform_node(), DIAMETER = 0.02, HEIGHT = 0.01, \
ROT_OFFSET_MAT = avango.gua.make_rot_mat(90, 1, 0, 0), ROT_AXIS = avango.gua.Vec3(0,0,1), \
ROT_CONSTRAINT = [-90.0, 90.0], TRANS_OFFSET = self.arm2.length)
self.hinge3.sf_rot_value.connect_from(self.input.sf_rot_value2)
# # ## ToDo: init third arm-segment
# # # ...
self.arm3 = Arm(PARENT_NODE = self.hinge3.get_hinge_transform_node(), DIAMETER = 0.01, LENGTH = 0.1, ROT_OFFSET_MAT = avango.gua.make_identity_mat())
# # ## ToDo: init hook
# # # ...
self.hook = Hook()
self.hook.my_constructor(PARENT_NODE = self.hinge3.get_hinge_transform_node(), SIZE = 0.025, TARGET_LIST = TARGET_LIST, OFFSET = self.arm3.length)
self.hook.sf_mat.connect_from(self.hook.hook_geometry.WorldTransform)
def __init__(
self,
PARENT_NODE=None,
TARGET_LIST=[], # required for bounding box intersection in Hook class
):
## init base node for whole crane
self.base_node = avango.gua.nodes.TransformNode(Name="base_node")
self.base_node.Transform.value = avango.gua.make_trans_mat(
0.0, -0.1, 0.0)
PARENT_NODE.Children.value.append(self.base_node)
## init internal sub-classes
self.input = KeyboardInput()
## first hinge
self.hinge0 = Hinge(
PARENT_NODE=self.base_node,
DIAMETER=0.1,
HEIGHT=0.01,
ROT_OFFSET_MAT=avango.gua.make_identity_mat(),
SF_ROT_INPUT=self.input.sf_rot_input0,
)
## first arm segment
self.arm0 = Arm(
PARENT_NODE=self.hinge0.hinge_node,
LENGTH=0.12,
DIAMETER=0.01,
ROT_OFFSET_MAT=avango.gua.make_identity_mat(),
)
## second hinge
self.hinge1 = Hinge(
PARENT_NODE=self.arm0.arm_end_node,
DIAMETER=0.04,
HEIGHT=0.01,
ROT_OFFSET_MAT=avango.gua.make_rot_mat(90.0, 1, 0, 0),
SF_ROT_INPUT=self.input.sf_rot_input1,
MIN_ANGLE=-45,
MAX_ANGLE=45,
)
## second arm segment
self.arm1 = Arm(
PARENT_NODE=self.hinge1.hinge_node,
LENGTH=0.09,
DIAMETER=0.007,
ROT_OFFSET_MAT=avango.gua.make_rot_mat(45.0, 0, 1, 0) *
avango.gua.make_rot_mat(-90.0, 1, 0, 0),
)
## third hinge
self.hinge2 = Hinge(
PARENT_NODE=self.arm1.arm_end_node,
DIAMETER=0.03,
HEIGHT=0.01,
ROT_OFFSET_MAT=avango.gua.make_rot_mat(90.0, 1, 0, 0),
SF_ROT_INPUT=self.input.sf_rot_input2,
MIN_ANGLE=-135,
MAX_ANGLE=45,
)
## third arm segment
self.arm3 = Arm(
PARENT_NODE=self.hinge2.hinge_node,
LENGTH=0.07,
DIAMETER=0.007,
ROT_OFFSET_MAT=avango.gua.make_rot_mat(45.0, 0, 1, 0) *
avango.gua.make_rot_mat(-90.0, 1, 0, 0),
)
## Hook
self.hook = Hook()
self.hook.my_constructor(
PARENT_NODE=self.arm3.arm_end_node,
SIZE=0.02,
TARGET_LIST=TARGET_LIST,
)