def get_bone_transform_mat(self, bone_transform_array, bone_index):
"""
Returns the transform related to the given bone. The transform is returned as a 4-dimensions transform matrix.
bone_transform_array : Array containing all the bones transformations
bone_index : Index of the bone transformation to retrieve.
"""
if bone_index < len(bone_transform_array):
bone_transform = bone_transform_array[bone_index]
if bone_transform is not None:
position = bone_transform.position
orientation = bone_transform.orientation
transform_mat = LMatrix4()
compose_matrix(transform_mat, LVector3(1), LVector3(0),
self.convert_quaternion(orientation).get_hpr(),
self.convert_vector(position).get_xyz())
return self.coord_mat_inv * transform_mat * self.coord_mat
else:
print(
"ERROR: No transform data for bone {}".format(bone_index))
else:
print("ERROR: Invalid bone index {}".format(bone_index))
return LMatrix4.ident_mat()
def drawLeaf(
nodePath,
vdata,
pos=LVector3(0, 0, 0),
vecList=[LVector3(0, 0, 1),
LVector3(1, 0, 0),
LVector3(0, -1, 0)],
scale=0.125):
# use the vectors that describe the direction the branch grows to make the right
# rotation matrix
newCs = LMatrix4(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
newCs.setRow(0, vecList[2]) # right
newCs.setRow(1, vecList[1]) # up
newCs.setRow(2, vecList[0]) # forward
newCs.setRow(3, (0, 0, 0))
newCs.setCol(3, (0, 0, 0, 1))
axisAdj = LMatrix4.scaleMat(scale) * newCs * LMatrix4.translateMat(pos)
# orginlly made the leaf out of geometry but that didnt look good
# I also think there should be a better way to handle the leaf texture other than
# hardcoding the filename
leafModel = loader.loadModel('models/shrubbery')
leafTexture = loader.loadTexture('models/material-10-cl.png')
leafModel.reparentTo(nodePath)
leafModel.setTexture(leafTexture, 1)
leafModel.setTransform(TransformState.makeMat(axisAdj))
def __init__(self, verbose=True):
"""
Wrapper around pyopenvr to allow it to work with Panda3D.
See the init() method below for the actual initialization.
* verbose specifies if the library prints status information when running.
"""
self.vr_system = None
self.verbose = verbose
self.vr_input = None
self.compositor = None
self.poses = None
self.action_url = None
self.action_path = None
self.action_set_handle = None
self.buffers = []
self.nextsort = base.win.getSort() - 1000
self.tracking_space = None
self.hmd_anchor = None
self.left_eye_anchor = None
self.right_eye_anchor = None
self.left_cam = None
self.right_cam = None
self.tracked_devices_anchors = {}
self.empty_world = None
self.coord_mat = LMatrix4.convert_mat(CS_yup_right, CS_default)
self.coord_mat_inv = LMatrix4.convert_mat(CS_default, CS_yup_right)
self.submit_together = True
def update_shader_shape(self, shape, appearance):
planet = self.parameters.planet
factor = 1.0 / shape.owner.scene_scale_factor
inner_radius = self.parameters.planet_radius
#TODO: We should get the oblateness correctly
planet_scale = self.parameters.planet.surface.get_scale()
descale = LMatrix4.scale_mat(inner_radius / planet_scale[0], inner_radius / planet_scale[1], inner_radius / planet_scale[2])
rotation_mat = LMatrix4()
orientation = LQuaternion(*shape.owner.scene_orientation)
orientation.extract_to_matrix(rotation_mat)
rotation_mat_inv = LMatrix4()
rotation_mat_inv.invert_from(rotation_mat)
descale_mat = rotation_mat_inv * descale * rotation_mat
pos = planet.rel_position
scaled_pos = descale_mat.xform_point(LPoint3(*pos))
star_pos = planet.star._local_position - planet._local_position
scaled_star_pos = descale_mat.xform_point(LPoint3(*star_pos))
scaled_star_pos.normalize()
camera_height = scaled_pos.length()
shape.instance.setShaderInput("v3OriginPos", pos)
shape.instance.setShaderInput("v3CameraPos", -scaled_pos)
shape.instance.setShaderInput("fCameraHeight", camera_height)
shape.instance.setShaderInput("fCameraHeight2", camera_height * camera_height)
shape.instance.setShaderInput("v3LightPos", scaled_star_pos)
shape.instance.setShaderInput("model_scale", factor)
shape.instance.setShaderInput("atm_descale", descale_mat)
def convert_mat(self, mat):
if len(mat.m) == 4:
result = LMatrix4(mat.m[0][0], mat.m[1][0], mat.m[2][0],
mat.m[3][0], mat.m[0][1], mat.m[1][1],
mat.m[2][1], mat.m[3][1], mat.m[0][2],
mat.m[1][2], mat.m[2][2], mat.m[3][2],
mat.m[0][3], mat.m[1][3], mat.m[2][3],
mat.m[3][3])
elif len(mat.m) == 3:
result = LMatrix4(mat.m[0][0], mat.m[1][0], mat.m[2][0], 0.0,
mat.m[0][1], mat.m[1][1], mat.m[2][1], 0.0,
mat.m[0][2], mat.m[1][2], mat.m[2][2], 0.0,
mat.m[0][3], mat.m[1][3], mat.m[2][3], 1.0)
return result
def rotationMagic(self, timestamp, angular_velocity, acceleration,
magnetic_field):
dt = timestamp - self.last_t
self.last_t = timestamp
angular_velocity = Vec3(*angular_velocity)
acceleration = Vec3(*acceleration)
magnetic_field = Vec3(*magnetic_field)
correction = (0, 0, 0)
if abs(acceleration.length() - 1) <= 0.3:
correction_strength = 1
rotationCompass = self.rotationFromCompass(acceleration,
magnetic_field)
rotationMatrix = LMatrix4()
self.rotation.extractToMatrix(rotationMatrix)
correction = rotationCompass.getRow3(0).cross(
rotationMatrix.getRow3(0))
correction += rotationCompass.getRow3(1).cross(
rotationMatrix.getRow3(1))
correction += rotationCompass.getRow3(2).cross(
rotationMatrix.getRow3(2))
correction *= correction_strength
self.rotate(self.rotation, angular_velocity + correction, dt)
def ledgeCollisionCallback(self,action):
ledge = action.game_obj2
ghost_body = self.character_obj_.getActionGhostBody()
self.character_obj_.getStatus().ledge = ledge
self.character_obj_.setStatic(True)
# detemining position of ghost action body relative to character
pos = ghost_body.node().getShapePos(0)
if not self.character_obj_.isFacingRight(): # rotate about z by 180 if looking left
pos.setX(-pos.getX())
# creating transform for placement of character relative to ledge
ref_np = self.character_obj_.getReferenceNodePath()
tf_obj_to_ghost = LMatrix4.translateMat(pos)
tf_ghost_to_object = LMatrix4(tf_obj_to_ghost)
tf_ghost_to_object.invertInPlace()
tf_ref_to_ledge = ledge.getMat(ref_np)
tf_ref_to_obj = TransformState.makeMat(tf_ref_to_ledge * tf_ghost_to_object)
pos = tf_ref_to_obj.getPos()
# placing character on ledge
self.character_obj_.setX(ref_np,pos.getX())
self.character_obj_.setZ(ref_np,pos.getZ())
self.character_obj_.setLinearVelocity(Vec3(0,0,0))
# turning off collision
ghost_body.node().setIntoCollideMask(CollisionMasks.NO_COLLISION)
logging.debug(inspect.stack()[0][3] + ' invoked')
def convert_mat(self, mat):
"""
Convert a OpenVR Matrix into a Panda3D Matrix. No coordinate system conversion is performed.
Note that 3x4 matrices are converted into 4x4 matrices.
"""
if len(mat.m) == 4:
result = LMatrix4(mat.m[0][0], mat.m[1][0], mat.m[2][0],
mat.m[3][0], mat.m[0][1], mat.m[1][1],
mat.m[2][1], mat.m[3][1], mat.m[0][2],
mat.m[1][2], mat.m[2][2], mat.m[3][2],
mat.m[0][3], mat.m[1][3], mat.m[2][3],
mat.m[3][3])
elif len(mat.m) == 3:
result = LMatrix4(mat.m[0][0], mat.m[1][0], mat.m[2][0], 0.0,
mat.m[0][1], mat.m[1][1], mat.m[2][1], 0.0,
mat.m[0][2], mat.m[1][2], mat.m[2][2], 0.0,
mat.m[0][3], mat.m[1][3], mat.m[2][3], 1.0)
return result
def __init__(self, base=None, verbose=True):
"""
Wrapper around pyopenvr to allow it to work with Panda3D.
See the init() method below for the actual initialization.
* verbose specifies if the library prints status information when running.
"""
if base is None:
base = __builtins__.get('base')
self.base = base
self.verbose = verbose
self.vr_system = None
self.vr_applications = None
self.vr_input = None
self.compositor = None
self.poses = None
self.action_set_handles = []
self.buffers = []
self.nextsort = self.base.win.getSort() - 1000
self.tracking_space = None
self.hmd_anchor = None
self.left_eye_anchor = None
self.right_eye_anchor = None
self.left_cam = None
self.right_cam = None
self.ham_shader = None
self.tracked_devices_anchors = {}
self.empty_world = None
self.coord_mat = LMatrix4.convert_mat(CS_yup_right, CS_default)
self.coord_mat_inv = LMatrix4.convert_mat(CS_default, CS_yup_right)
self.submit_together = True
self.event_handlers = []
self.submit_error_handler = None
self.new_tracked_device_handler = None
self.has_focus = False
#Deprecation flags to avoid spamming
self.process_vr_event_notified = False
self.new_tracked_device_notified = False
self.update_action_notified = False
self.on_texture_submit_error_notified = False
def __init__(self):
self.vr_system = None
self.vr_input = None
self.compositor = None
self.poses = None
self.action_url = None
self.action_path = None
self.action_set_handle = None
self.buffers = []
self.nextsort = base.win.getSort() - 1000
self.tracking_space = None
self.hmd_anchor = None
self.left_eye_anchor = None
self.right_eye_anchor = None
self.left_cam = None
self.right_cam = None
self.tracked_devices_anchors = {}
self.empty_world = None
self.coord_mat = LMatrix4.convert_mat(CS_yup_right, CS_default)
self.coord_mat_inv = LMatrix4.convert_mat(CS_default, CS_yup_right)
def update(self, instance, face):
instance.set_shader_input('noiseOffset', self.offset)
instance.set_shader_input('noiseScale', self.scale)
instance.set_shader_input('global_frequency', self.global_frequency)
instance.set_shader_input('global_offset', self.global_offset)
#instance.set_shader_input('permTexture', self.texture)
if self.coord == TexCoord.NormalizedCube or self.coord == TexCoord.SqrtCube:
mat = self.get_rot_for_face(face)
mat.transpose_in_place()
instance.set_shader_input('cube_rot', LMatrix4(mat))
self.noise_source.update(instance)
def create_frustum(pos=None, mat=None):
"""Return an infinite frustum centered on the origin, looking towards +Y
and with a near plane at (0, 1.0, 0)
The default FoV is 30deg"""
if pos is None:
pos = LPoint3d()
if mat is None:
mat = LMatrix4()
lens = PerspectiveLens()
bh = lens.make_bounds()
f = InfiniteFrustum(bh, mat, pos)
return f
def drawLeaf(nodePath, vdata, pos=LVector3(0, 0, 0), vecList=[LVector3(0, 0, 1), LVector3(1, 0, 0), LVector3(0, -1, 0)], scale=0.125):
# use the vectors that describe the direction the branch grows to make the right
# rotation matrix
newCs = LMatrix4(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
newCs.setRow(0, vecList[2]) # right
newCs.setRow(1, vecList[1]) # up
newCs.setRow(2, vecList[0]) # forward
newCs.setRow(3, (0, 0, 0))
newCs.setCol(3, (0, 0, 0, 1))
axisAdj = LMatrix4.scaleMat(scale) * newCs * LMatrix4.translateMat(pos)
# orginlly made the leaf out of geometry but that didnt look good
# I also think there should be a better way to handle the leaf texture other than
# hardcoding the filename
leafModel = loader.loadModel('models/shrubbery')
leafTexture = loader.loadTexture('models/material-10-cl.png')
leafModel.reparentTo(nodePath)
leafModel.setTexture(leafTexture, 1)
leafModel.setTransform(TransformState.makeMat(axisAdj))
def rotationFromCompass(acceleration, magnetic_field):
down = -acceleration
east = down.cross(magnetic_field)
north = east.cross(down)
east.normalize()
north.normalize()
down.normalize()
r = LMatrix4()
r.setRow(0, north)
r.setRow(1, east)
r.setRow(2, down)
return r
def test_frustum_intersection():
f = create_frustum()
assert not f.is_sphere_in(LPoint3d(), 0)
assert f.is_sphere_in(LPoint3d(), 1.1)
assert f.is_sphere_in(LPoint3d(0, 1.1, 0), 0)
mat = LMatrix4()
mat.set_rotate_mat(90, LVector3.up())
f = create_frustum(mat=mat)
assert not f.is_sphere_in(LPoint3d(), 0)
assert f.is_sphere_in(LPoint3d(), 1.1)
assert f.is_sphere_in(LPoint3d(-1.1, 0, 0), 0)
assert not f.is_sphere_in(LPoint3d(0, 1.1, 0), 0)
pos = LPoint3d(0, 1, 0)
f = create_frustum(pos=pos)
assert not f.is_sphere_in(LPoint3d(), 0)
assert not f.is_sphere_in(LPoint3d(), 1.1)
assert not f.is_sphere_in(LPoint3d(0, 1.1, 0), 0)
assert f.is_sphere_in(LPoint3d(), 2.1)
assert f.is_sphere_in(LPoint3d(0, 2.1, 0), 0)
def testMat4ToNumpyArray(self):
xr = np.random.random((4, 4))
mat = LMatrix4(*xr.ravel())
x = mat4ToNumpyArray(mat)
self.assertTrue(np.allclose(x, xr, atol=1e-6))
def make_rigid_transform(rotation, translation):
"""Return a TransformState comprising the given rotation followed by the given translation"""
return TransformState.makeMat(LMatrix4(rotation, translation))
