def drawGL(self):
if self.shader is not None:
import numpy as np
self.shader.bind()
current_time = time.time()
angle_x = self.rotation[0] * current_time
angle_y = self.rotation[1] * current_time
angle_z = self.rotation[2] * current_time
mvp_rotX = np.matrix(
[[1, 0, 0, 0], [0, np.cos(angle_x), -np.sin(angle_x), 0],
[0, np.sin(angle_x), np.cos(angle_x), 0], [0, 0, 0, 1]],
dtype=np.float32)
mvp_rotY = np.matrix(
[[np.cos(angle_y), 0, np.sin(angle_y), 0], [0, 1, 0, 0],
[-np.sin(angle_y), 0, np.cos(angle_y), 0], [0, 0, 0, 1]],
dtype=np.float32)
mvp_rotZ = np.matrix(
[[np.cos(angle_z), -np.sin(angle_z), 0, 0],
[np.sin(angle_z), np.cos(angle_z), 0, 0], [0, 0, 1, 0],
[0, 0, 0, 1]],
dtype=np.float32)
mvp = mvp_rotX * mvp_rotY * mvp_rotZ
mvp[0:3, 0:3] *= 0.25
self.shader.setUniform("modelViewProj", mvp)
gl.Enable(gl.DEPTH_TEST)
self.shader.drawIndexed(gl.TRIANGLES, 0, 12)
gl.Disable(gl.DEPTH_TEST)
def drawContents(self):
super(VoxelGridViewer, self).drawContents()
self.render_context.shader.bind()
gl.Enable(gl.DEPTH_TEST)
draw_box(self.render_context.shader,
self.voxel_grids[self.disp_idx][1].vxbb_min,
self.voxel_grids[self.disp_idx][1].vxbb_max,
self.camera.viewproj, np.array([1, 1, 0], dtype=np.float32))
if self.mesh is not None:
self.mesh.draw_contents(self.camera, self.render_context,
self.voxel_grids[self.disp_idx][1])
self.voxel_grids[self.disp_idx][1].draw_contents(
self.camera, self.render_context)
if self.normals is not None:
self.normals.draw_contents(self.camera, self.render_context)
if self.selected_voxel is not None:
vxgrid = self.voxel_grids[0][1]
voxel_diag_ws = (vxgrid.vxbb_max -
vxgrid.vxbb_min) / vxgrid.voxel_grid_res
# Round position to index
minvox = (self.selected_voxel / vxgrid.voxel_grid_res) * \
(vxgrid.vxbb_max - vxgrid.vxbb_min) + vxgrid.vxbb_min
maxvox = minvox + voxel_diag_ws
draw_box(self.render_context.shader, minvox, maxvox,
self.camera.viewproj, np.array([1, 0, 0],
dtype=np.float32))
def draw_grid(shader, vp_mat):
"""Draws a simple grid plane in the viewport."""
grid_extent = 5
grid_step = 0.5
r = np.arange(-grid_extent,
grid_extent + 1e-2,
grid_step,
dtype=np.float32)
pos0 = np.zeros([3, r.shape[0] * 2], dtype=np.float32)
pos0[:, 0::2] = np.stack(
[r, np.zeros_like(r), -grid_extent * np.ones_like(r)])
pos0[:,
1::2] = np.stack([r,
np.zeros_like(r), grid_extent * np.ones_like(r)])
pos1 = np.zeros([3, r.shape[0] * 2], dtype=np.float32)
pos1[:, 0::2] = np.stack(
[-grid_extent * np.ones_like(r),
np.zeros_like(r), r])
pos1[:,
1::2] = np.stack([grid_extent * np.ones_like(r),
np.zeros_like(r), r])
colors = 0.5 * np.ones(pos0.shape, dtype=np.float32)
colors[:, colors.shape[1] // 2] *= 0
colors[:, colors.shape[1] // 2 - 1] *= 0
shader.setUniform("modelViewProj", vp_mat)
shader.uploadAttrib("position", pos0)
shader.uploadAttrib("color", colors)
shader.drawArray(gl.LINES, 0, pos0.shape[1])
shader.setUniform("modelViewProj", vp_mat)
shader.uploadAttrib("position", pos1)
shader.uploadAttrib("color", colors)
shader.drawArray(gl.LINES, 0, pos1.shape[1])
# Draw axis on top
gl.Disable(gl.DEPTH_TEST)
pos0 = np.zeros([3, 6], dtype=np.float32)
pos0[0, 1] = grid_extent
pos0[1, 3] = grid_extent
pos0[2, 5] = grid_extent
colors = np.ones(pos0.shape, dtype=np.float32)
colors[1:, 0:2] *= 0
colors[2, 2:4] *= 0
colors[0, 2:4] *= 0
colors[0:2, 4:6] *= 0
shader.setUniform("modelViewProj", vp_mat)
shader.uploadAttrib("position", pos0)
shader.uploadAttrib("color", colors)
shader.drawArray(gl.LINES, 0, pos0.shape[1])
gl.Enable(gl.DEPTH_TEST)
def drawContents(self):
super(ViewerApp, self).drawContents()
self.handleEvents()
self.fb.bind()
color = self.background()
glClearColor(color.r, color.g, color.b, 1.0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glEnable(GL_BLEND)
self.render_context.shader.bind()
gl.Enable(gl.DEPTH_TEST)
if self.show_grid:
draw_grid(self.render_context.shader, self.camera.viewproj)
def draw_full_screen_quad(shader, vp_mat, depth_map):
"""Draws a simple grid plane in the viewport."""
tex = depth_map
glBindTexture(GL_TEXTURE_2D, tex)
glUniform1i(shader.uniform("renderedTexture"), 0)
glActiveTexture(GL_TEXTURE0)
glBindTexture(GL_TEXTURE_2D, tex)
gl.Disable(gl.DEPTH_TEST)
pos0 = np.array([[-1.0, -1.0, 0.0], [1.0, -1.0, 0.0], [-1.0, 1.0, 0.0],
[-1.0, 1.0, 0.0], [1.0, -1.0, 0.0], [1.0, 1.0, 0.0]],
dtype=np.float32).T
uv = pos0[:2, :] * 0.5 + 0.5
pos0 *= 0.5
shader.uploadAttrib("position", pos0)
shader.uploadAttrib("uv", uv)
shader.drawArray(gl.TRIANGLES, 0, pos0.shape[1])
gl.Enable(gl.DEPTH_TEST)
def drawGL(self):
gl.Enable(gl.DEPTH_TEST)
self.view.draw()
gl.Disable(gl.DEPTH_TEST)