def lookAt(pos, at):
"""
Takes 2 LVector3f vectors,
Returns the lookAt matrix Mat3d
"""
# forward
yaxis = at - pos
print("forward ", yaxis)
yaxis.normalize()
# right
xaxis = LVector3f.up().cross(yaxis)
xaxis.normalize()
print("right ", xaxis)
# up
zaxis = xaxis.cross(yaxis)
zaxis.normalize()
print("up ", zaxis)
rmat = LMatrix4f()
rmat.setRow(0, xaxis)
rmat.setRow(1, zaxis)
rmat.setRow(2, yaxis)
tmat = LMatrix4f.translateMat(pos)
print(rmat*tmat)
return rmat * tmat
def change_transform(self, transform, face, type='shape'):
""" change to transform to go on a face """
#print " change face to {}".format(face)
mat = transform.getMat()
mat = LMatrix4f.rotateMat(*self.quat_dict[face]) * mat
mat = LMatrix4f.translateMat(Vec3(1.0, 0, 0)) * mat
transform = transform.makeMat(mat)
return transform
def change_back_transform(self, transform, face, type='bloc'):
#print "back transform"
mat = transform.getMat()
mult = LMatrix4f.rotateMat(*self.quat_dict[face])
mult.invertInPlace()
mat = LMatrix4f.translateMat(Vec3(-1.0, 0, 0)) * mat
mat = mult * mat
transform = transform.makeMat(mat)
return transform
def build_link(self, node):
(id_bda, ta), (id_bdb, tb) = self.link_building_status[node]
bda = self.factory.multiboxes[id_bda]
bdb = self.factory.multiboxes[id_bdb]
pos = bda.body.getPosition()
quat = LQuaternionf(bda.body.getQuaternion())
mat = TransformState.makePosQuatScale(pos, quat, Vec3(1, 1, 1)).getMat()
mat = ta.getMat() * mat
print "ta", ta
print "absol", TransformState.makeMat(mat)
mat = LMatrix4f.translateMat(Vec3(0.5, 0, 0)) * mat
anchor = TransformState.makeMat(mat).getPos()
print "absol", TransformState.makeMat(mat)
axis = self.quat_dict[1][1]
if node.orientation == 1:
t = LMatrix4f.rotateMat(*self.quat_dict[4]) * mat
else:
t = LMatrix4f.rotateMat(*self.quat_dict[2]) * mat
row = t.getRow(0)
print "rotation", t.getRow(0), type(t.getRow(0))
#axis = t.getQuat().getAxis()
axis = Vec3(row.getX(), row.getY(), row.getZ())
print "axis",axis
print "anchor", anchor
mat = LMatrix4f.translateMat(Vec3(0.5, 0, 0)) * mat
mat = tb.getInverse().getMat() * mat
t = TransformState.makeMat(mat)
posb = t.getPos()
quatb = t.getQuat()
bdb.body.setPosition(posb)
bdb.body.setQuaternion(quatb)
cs = OdeHingeJoint(self.physics.world, self.physics.servogroup)
cs.attach(bda.body, bdb.body)
cs.setAxis(axis)
cs.setAnchor(anchor)
#add the motor
cs.setParamFMax(self.satu_cmd)
cs.setParamFudgeFactor(0.5)
cs.setParamCFM(11.1111)
cs.setParamStopCFM(11.1111)
cs.setParamStopERP(0.444444)
cs.setParamLoStop(- math.pi * 0.5)
cs.setParamHiStop(math.pi * 0.5)
pid = PID()
self.dof_motors[node] = (cs, pid)
print "add constraint"
def stop(self):
self.gameApp.taskMgr.remove("HxMouseLook::cameraTask")
mat = LMatrix4f(self.camera.getTransform(self.refNode).getMat())
mat.invertInPlace()
self.camera.setMat(LMatrix4f.identMat())
self.gameApp.mouseInterfaceNode.setMat(mat)
self.gameApp.enableMouse()
props = WindowProperties()
props.setCursorHidden(False)
self.gameApp.win.requestProperties(props)
self.forward = False
self.backward = False
self.left = False
self.right = False
self.up = False
self.down = False
self.rollLeft = False
self.ignore("w")
self.ignore("shift-w")
self.ignore("w-up")
self.ignore("s")
self.ignore("shift-s")
self.ignore("s-up")
self.ignore("a")
self.ignore("shift-a")
self.ignore("a-up")
self.ignore("d")
self.ignore("shift-d")
self.ignore("d-up")
self.ignore("r")
self.ignore("shift-r")
self.ignore("r-up")
self.ignore("f")
self.ignore("shift-f")
self.ignore("f-up")
self.ignore("q")
self.ignore("q-up")
self.ignore("e")
self.ignore("e-up")
self.ignore("shift")
self.ignore("shift-up")
# un-setup collisions
if self.collisionHandler != None:
# remove camera from the collision system
self.gameApp.cTrav.removeCollider(self.collisionNP)
# remove from collisionHandler (Pusher)
self.collisionHandler.removeCollider(self.collisionNP)
# remove the collision node
self.collisionNP.removeNode()
def spinCameraTask(self, task):
self.t += self.physics.DT
ph = self.t*np.float32(2*np.pi/2.5)
#sensors = self.physics.get_sensor_values("spine").flatten()
#print sensors.shape
import math
self.state = self.physics.do_time_step(self.state, motor_signals=[math.sin(ph),math.sin(ph),2,2])
positions, velocity, rotations = self.state
for obj_name, obj in self.objects.iteritems():
obj_id = self.physics.get_object_index(obj_name)
if (abs(positions[obj_id,:]) > 10**5).any():
print "problem with", obj_name
sc = obj.getScale()
#print obj_name, self.physics.getRotationMatrix(obj_name).flatten()
obj.setMat(self.render, LMatrix4f(LMatrix3f(*rotations[obj_id,:,:].flatten())))
obj.setPos(*positions[obj_id,:])
obj.setScale(sc)
# change camera movement
self.camera.setPos(-10,0,1.5)
self.camera.lookAt(0,0,0)
# self.camera.lookAt(*self.physics.getPosition(self.physics.camera_focus)[:3])
#print self.t, self.physics.getPosition(self.physics.camera_focus)
real_time = time.time() - self.starttime
self.textObject.setText('Time: %3.3f s\n%3.3fx real time\n%s' % ( self.t, self.t/real_time , ""))
time.sleep(0.0001)
if self.t>80:
self.userExit()
return Task.cont
def testStep(self):
scene = SunCgSceneLoader.loadHouseFromJson("0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
modelLightsInfo = SunCgModelLights(os.path.join(TEST_SUNCG_DATA_DIR, 'metadata', 'suncgModelLights.json'))
renderer = Panda3dRenderer(scene, shadowing=True, mode='offscreen', modelLightsInfo=modelLightsInfo)
renderer.showRoomLayout(showCeilings=False)
mat = np.array([0.999992, 0.00394238, 0, 0,
-0.00295702, 0.750104, -0.661314, 0,
-0.00260737, 0.661308, 0.75011, 0,
43.621, -55.7499, 12.9722, 1])
scene.agents[0].setMat(LMatrix4f(*mat.ravel()))
renderer.step(dt=0.1)
image = renderer.getRgbImages()['agent-0']
depth = renderer.getDepthImages(mode='distance')['agent-0']
self.assertTrue(np.min(depth) >= renderer.zNear)
self.assertTrue(np.max(depth) <= renderer.zFar)
fig = plt.figure(figsize=(16, 8))
plt.axis("off")
ax = plt.subplot(121)
ax.imshow(image)
ax = plt.subplot(122)
ax.imshow(depth / np.max(depth), cmap='binary')
plt.show(block=False)
time.sleep(1.0)
plt.close(fig)
renderer.destroy()
def testAgent(self):
physics = None
viewer = None
try:
scene = Scene()
physics = Panda3dBulletPhysics(scene, debug=True)
agent = scene.agents[0].find('**/+BulletRigidBodyNode')
agent.setPos(LVector3f(0, 0, 1.0))
agent.node().setLinearVelocity(LVector3f(1, 0, 0))
agent.node().setAngularVelocity(LVector3f(0, 0, 1))
agent.node().setActive(True)
viewer = Viewer(scene, interactive=False)
viewer.disableMouse()
mat = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, -10, 0, 1])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
for _ in range(50):
viewer.step()
time.sleep(1.0)
finally:
self.hulkSmash(None, physics, viewer)
def testStep(self):
try:
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
#NOTE: show initial models loaded into the scene
for model in scene.scene.findAllMatches('**/+ModelNode'):
model.show()
viewer = Viewer(scene, shadowing=True)
# Configure the camera
#NOTE: in Panda3D, the X axis points to the right, the Y axis is forward, and Z is up
mat = np.array([
0.999992, 0.00394238, 0, 0, -0.00295702, 0.750104, -0.661314,
0, -0.00260737, 0.661308, 0.75011, 0, 43.621, -55.7499,
12.9722, 1
])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
for _ in range(20):
viewer.step()
time.sleep(1.0)
finally:
viewer.destroy()
def spinCameraTask(self, task):
if self.starttime is None:
self.starttime = time.time()
DT = 0.01
self.t += DT
self.positions, self.velocities, self.rotations = self.timestep(
self.positions, self.velocities, self.rotations)
#print positions, rotations, velocity
for obj_name, obj in self.objects.iteritems():
sc = obj.getScale()
idx = self.physics.get_object_index(obj_name)
obj.setMat(
self.render,
LMatrix4f(LMatrix3f(*self.rotations[idx, :, :].flatten())))
obj.setPos(*self.positions[idx, :])
obj.setScale(sc)
# change camera movement
self.camera.setPos(0, 2, 0.3)
#self.camera.lookAt(0,0,3)
self.camera.lookAt(
*self.positions[self.physics.get_object_index("spine"), :])
real_time = time.time() - self.starttime
self.textObject.setText('Time: %3.3f s\n%3.3fx real time\n%s' %
(self.t, self.t / real_time, ""))
#time.sleep(0.001)
if real_time > 100:
self.userExit()
return Task.cont
def testDebugHouseWithViewer(self):
try:
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
physics = Panda3dBulletPhysics(
scene, suncgDatasetRoot=TEST_SUNCG_DATA_DIR, debug=True)
viewer = Viewer(scene, interactive=False)
viewer.disableMouse()
mat = np.array([
0.999992, 0.00394238, 0, 0, -0.00295702, 0.750104, -0.661314,
0, -0.00260737, 0.661308, 0.75011, 0, 43.621, -55.7499,
12.9722, 1
])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
for _ in range(20):
viewer.step()
time.sleep(1.0)
finally:
physics.destroy()
viewer.destroy()
viewer.graphicsEngine.removeAllWindows()
def testStep(self):
scene = SunCgSceneLoader.loadHouseFromJson("0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
renderer = Panda3dSemanticsRenderer(scene, TEST_SUNCG_DATA_DIR, mode='offscreen')
renderer.showRoomLayout(showCeilings=False)
mat = np.array([0.999992, 0.00394238, 0, 0,
-0.00295702, 0.750104, -0.661314, 0,
-0.00260737, 0.661308, 0.75011, 0,
43.621, -55.7499, 12.9722, 1])
scene.agents[0].setMat(LMatrix4f(*mat.ravel()))
renderer.step(dt=0.1)
image = renderer.getRgbaImages()['agent-0']
# Validate that all rendered colors maps to original values, up to some tolerance
eps = 1e-2
colors = np.stack(MODEL_CATEGORY_COLOR_MAPPING.values())
for color in image.reshape((-1, image.shape[-1])):
alpha = color[-1]
if alpha == 1.0:
self.assertTrue(np.min(np.sum(np.abs(colors - color[:3]), axis=1)) < eps)
fig = plt.figure(figsize=(8, 8))
plt.axis("off")
ax = plt.subplot(111)
ax.imshow(image)
plt.show(block=False)
time.sleep(1.0)
plt.close(fig)
renderer.destroy()
def testDebugHouseWithRender(self):
renderer = None
physics = None
viewer = None
try:
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
renderer = Panda3dRenderer(scene,
shadowing=False,
mode='offscreen')
renderer.showRoomLayout(showCeilings=False)
physics = Panda3dBulletPhysics(
scene, suncgDatasetRoot=TEST_SUNCG_DATA_DIR, debug=True)
viewer = Viewer(scene, interactive=False)
viewer.disableMouse()
mat = np.array([
0.999992, 0.00394238, 0, 0, -0.00295702, 0.750104, -0.661314,
0, -0.00260737, 0.661308, 0.75011, 0, 43.621, -55.7499,
12.9722, 1
])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
for _ in range(20):
viewer.step()
time.sleep(1.0)
finally:
self.hulkSmash(renderer, physics, viewer)
def load_shader(self):
"""
The function loads the vertex and fragment shader.
It provides an example of sending the model-view-projection matrix
to the shader program when it's calculated.
"""
self.shader = Shader.load(Shader.SL_GLSL, "vertex.glsl", "fragment.glsl");
self.model.set_shader(self.shader)
self.model.set_shader_input("my_ModelViewProjectionMatrix", LMatrix4f())
def set_world_matrix(self, matrix):
self.matrix = matrix
panda_mat = LMatrix4f(matrix[0][0], matrix[1][0], matrix[2][0],
matrix[3][0], matrix[0][1], matrix[1][1],
matrix[2][1], matrix[3][1], matrix[0][2],
matrix[1][2], matrix[2][2], matrix[3][2],
matrix[0][3], matrix[1][3], matrix[2][3],
matrix[3][3])
self.geom_path.setTransform(TransformState.makeMat(panda_mat))
def stop(self):
self.gameApp.taskMgr.remove("HxMouseLook::cameraTask")
mat = LMatrix4f(self.camera.getTransform(self.refNode).getMat())
mat.invertInPlace()
self.camera.setMat(LMatrix4f.identMat())
self.gameApp.mouseInterfaceNode.setMat(mat)
self.gameApp.enableMouse()
props = WindowProperties()
props.setCursorHidden(False)
self.gameApp.win.requestProperties(props)
self.forward = False
self.backward = False
self.left = False
self.right = False
self.up = False
self.down = False
self.rollLeft = False
self.ignore("w")
self.ignore("shift-w")
self.ignore("w-up")
self.ignore("s")
self.ignore("shift-s")
self.ignore("s-up")
self.ignore("a")
self.ignore("shift-a")
self.ignore("a-up")
self.ignore("d")
self.ignore("shift-d")
self.ignore("d-up")
self.ignore("r")
self.ignore("shift-r")
self.ignore("r-up")
self.ignore("f")
self.ignore("shift-f")
self.ignore("f-up")
self.ignore("q")
self.ignore("q-up")
self.ignore("e")
self.ignore("e-up")
self.ignore("shift")
self.ignore("shift-up")
# un-setup collisions
if self.collisionHandler != None:
# remove camera from the collision system
self.gameApp.cTrav.removeCollider(self.collisionNP)
# remove from collisionHandler (Pusher)
self.collisionHandler.removeCollider(self.collisionNP)
# remove the collision node
self.collisionNP.removeNode()
def spinCameraTask(self, task):
self.t += self.physics.DT
ph = self.t * np.float32(2 * np.pi * 1.5) / 15
#sensors = self.physics.get_sensor_values("spine").flatten()
#print sensors.shape
#self.physics.do_time_step(motor_signals=[-sin(ph),sin(ph),-1,1,0,0,0,0,0,0,0,0,0,0,0,0])
ALPHA = 1.00
self.step = (1 - ALPHA) * self.step + ALPHA * np.random.randn(16) * 30
A1, A2, A3, A4, B1, B2, B3, B4 = 0.8, 0.8, 0.5, 0.5, 0.5, 0.5, 0, 0
#self.physics.do_time_step(motor_signals=[-A1*sin(ph)+B1,-A1*sin(ph)+B1,-A2*sin(ph)-B2,-A2*sin(-ph)-B2,-A3*cos(ph)+B3,A3*cos(ph)+B3,A4*cos(ph)+B4,-A4*cos(ph)+B4])
#self.physics.do_time_step(motor_signals=[A1*sin(ph)+B1,-A1*sin(ph)+B1,-A2*sin(ph)+B2,A2*sin(ph)+B2,A3*cos(ph)+B3,-A3*cos(ph)+B3,-A4*cos(ph)+B4,A4*cos(ph)+B4])
p4 = np.pi / 4
p3 = 3. * np.pi / 4.
p2 = np.pi / 2
p1 = np.pi
self.physics.do_time_step(motor_signals=np.array([
A1 * sin(ph) + B1, A1 * sin(ph) + B1, -A2 * sin(ph) -
B2, -A2 * sin(-ph) - B2
],
dtype='float32'))
#self.physics.do_time_step(motor_signals=[-p2,-p4,0,0])
for obj_name, obj in self.objects.iteritems():
if (abs(self.physics.getPosition(obj_name)) > 10**5).any():
print "problem with", obj_name
sc = obj.getScale()
#print obj_name, self.physics.getRotationMatrix(obj_name).flatten()
obj.setMat(
self.render,
LMatrix4f(
LMatrix3f(
*self.physics.getRotationMatrix(obj_name).flatten())))
obj.setPos(*self.physics.getPosition(obj_name)[:3])
obj.setScale(sc)
# change camera movement
self.camera.setPos(1.5, 3.5, 1.5)
#self.camera.lookAt(0,0,3)
self.camera.lookAt(
*self.physics.getPosition(self.physics.camera_focus)[:3])
#print self.t, self.physics.getPosition(self.physics.camera_focus)
real_time = time.time() - self.starttime
if self.textObject:
self.textObject.setText('Time: %3.3f s\n%3.3fx real time\n%s' %
(self.t, self.t / real_time, ""))
time.sleep(0.0001)
if self.t > 80:
self.userExit()
return Task.cont
def rotateSO(self, x, y, z):
if self.nodePath != None:
self.eAng = [x, y, z]
a0v = LVecBase3f(self.a0[0], self.a0[1], self.a0[2])
a1v = LVecBase3f(self.a1[0], self.a1[1], self.a1[2])
a2v = LVecBase3f(self.a2[0], self.a2[1], self.a2[2])
mat3 = LMatrix3f(a0v, a1v, a2v)
mato = LMatrix4f(mat3)
self.nodePath.setMat(mato)
self.nodePath.setPos(self.pos[0], self.pos[1], self.pos[2])
#Why would the center of rotation be the first corner ?
#self.nodePath.setHpr(0,0,90)
else:
print('Non-existing Node Path to rotate')
def testRenderHouse(self):
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
samplingRate = 16000.0
hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'),
samplingRate)
acoustics = EvertAcoustics(scene,
hrtf,
samplingRate,
maximumOrder=2,
debug=True)
acoustics.step(0.0)
# Hide ceilings
for nodePath in scene.scene.findAllMatches(
'**/layouts/*/acoustics/*c'):
nodePath.hide(BitMask32.allOn())
viewer = Viewer(scene, interactive=False)
# Configure the camera
# NOTE: in Panda3D, the X axis points to the right, the Y axis is
# forward, and Z is up
mat = np.array([
0.999992, 0.00394238, 0, 0, -0.00295702, 0.750104, -0.661314, 0,
-0.00260737, 0.661308, 0.75011, 0, 43.621, -55.7499, 12.9722, 1
])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
for _ in range(20):
acoustics.step(dt=0.1)
viewer.step()
time.sleep(1.0)
acoustics.destroy()
viewer.destroy()
viewer.graphicsEngine.removeAllWindows()
def spinCameraTask(self, task):
frame_step = 0.01
self.t += frame_step
positions, velocities, rotations = self.states[0], self.states[1], self.states[2]
step = int(self.t / self.dt)
step = step % positions.shape[0]
self.t = self.t % (self.dt*positions.shape[0])
robot_id = self.robot_id % positions.shape[1]
print np.linalg.norm(velocities[step,robot_id,0,:3])
for idx, name in enumerate(self.names):
if name in self.objects:
obj = self.objects[name]
sc = obj.getScale()
#print obj_name, self.physics.getRotationMatrix(obj_name).flatten()
if np.isfinite(positions[step,robot_id,idx]).all() and np.isfinite(rotations[step,robot_id,idx]).all():
obj.setMat(self.render, LMatrix4f(LMatrix3f(*rotations[step,robot_id,idx].flatten())))
obj.setPos(*positions[step,robot_id,idx])
obj.setScale(sc)
#print np.sqrt(np.sum((positions[step,robot_id,self.names.index("sphere2"),:]-np.array([0.5,0.5,0.5]))**2))
#if np.isfinite(positions[step,robot_id,self.names.index(self.camera_focus),:]).all():
# self.parentnode.setX(positions[step,robot_id,self.names.index(self.camera_focus),0])
# self.parentnode.setY(positions[step,robot_id,self.names.index(self.camera_focus),1])
#print self.names
# change camera movement
#self.camera.setPos(1.5,3.5,1.5)
#if np.isfinite(positions[step,robot_id,self.names.index(self.camera_focus)]).all():
# self.camera.lookAt(*positions[step,robot_id,self.names.index(self.camera_focus)])
#self.objects["target"].setPos(*self.target[robot_id,:])
#print self.t, self.physics.getPosition("ball")
#real_time = time.time() - self.starttime
#self.textObject.setText('Time: %3.3f s\nVx: %3.3f\nrobot #%d' % ( self.t, velocities[step,robot_id,self.names.index(self.camera_focus),0], robot_id))
time.sleep(frame_step)
return Task.cont
def np_mat4_to_panda(np_mat):
return LMatrix4f(np_mat[0][0], np_mat[1][0], np_mat[2][0], np_mat[3][0],
np_mat[0][1], np_mat[1][1], np_mat[2][1], np_mat[3][1],
np_mat[0][2], np_mat[1][2], np_mat[2][2], np_mat[3][2],
np_mat[0][3], np_mat[1][3], np_mat[2][3], np_mat[3][3])
def loadHouseFromJson(houseId, datasetRoot):
filename = SunCgSceneLoader.getHouseJsonPath(datasetRoot, houseId)
with open(filename) as f:
data = json.load(f)
assert houseId == data['id']
houseId = str(data['id'])
# Create new node for house instance
houseNp = NodePath('house-' + str(houseId))
objectIds = {}
for levelId, level in enumerate(data['levels']):
logger.debug('Loading Level %s to scene' % (str(levelId)))
# Create new node for level instance
levelNp = houseNp.attachNewNode('level-' + str(levelId))
roomNpByNodeIndex = {}
for nodeIndex, node in enumerate(level['nodes']):
if not node['valid'] == 1: continue
modelId = str(node['modelId'])
if node['type'] == 'Room':
logger.debug('Loading Room %s to scene' % (modelId))
# Create new nodes for room instance
roomNp = levelNp.attachNewNode('room-' + str(modelId))
roomLayoutsNp = roomNp.attachNewNode('layouts')
roomObjectsNp = roomNp.attachNewNode('objects')
# Load models defined for this room
for roomObjFilename in reglob(
os.path.join(datasetRoot, 'room', houseId),
modelId + '[a-z].obj'):
# Convert extension from OBJ + MTL to EGG format
f, _ = os.path.splitext(roomObjFilename)
modelFilename = f + ".egg"
if not os.path.exists(modelFilename):
raise Exception(
'The SUNCG dataset object models need to be convert to Panda3D EGG format!'
)
# Create new node for object instance
objectNp = NodePath('object-' + str(modelId) + '-0')
objectNp.reparentTo(roomLayoutsNp)
model = loadModel(modelFilename)
model.setName('model-' + os.path.basename(f))
model.reparentTo(objectNp)
model.hide()
if 'nodeIndices' in node:
for childNodeIndex in node['nodeIndices']:
roomNpByNodeIndex[childNodeIndex] = roomObjectsNp
elif node['type'] == 'Object':
logger.debug('Loading Object %s to scene' % (modelId))
# Instance identification
if modelId in objectIds:
objectIds[modelId] = objectIds[modelId] + 1
else:
objectIds[modelId] = 0
# Create new node for object instance
objectNp = NodePath('object-' + str(modelId) + '-' +
str(objectIds[modelId]))
#TODO: loading the BAM format would be much more efficient
# Convert extension from OBJ + MTL to EGG format
objFilename = os.path.join(datasetRoot, 'object',
node['modelId'],
node['modelId'] + '.obj')
assert os.path.exists(objFilename)
f, _ = os.path.splitext(objFilename)
modelFilename = f + ".egg"
if not os.path.exists(modelFilename):
raise Exception(
'The SUNCG dataset object models need to be convert to Panda3D EGG format!'
)
model = loadModel(modelFilename)
model.setName('model-' + os.path.basename(f))
model.reparentTo(objectNp)
model.hide()
# 4x4 column-major transformation matrix from object coordinates to scene coordinates
transform = np.array(node['transform']).reshape((4, 4))
# Transform from Y-UP to Z-UP coordinate systems
#TODO: use Mat4.convertMat(CS_zup_right, CS_yup_right)
yupTransform = np.array([[1, 0, 0, 0], [0, 0, -1, 0],
[0, 1, 0, 0], [0, 0, 0, 1]])
zupTransform = np.array([[1, 0, 0, 0], [0, 0, 1, 0],
[0, -1, 0, 0], [0, 0, 0, 1]])
transform = np.dot(np.dot(yupTransform, transform),
zupTransform)
transform = TransformState.makeMat(
LMatrix4f(*transform.ravel()))
# Calculate the center of this object
minBounds, maxBounds = model.getTightBounds()
centerPos = minBounds + (maxBounds - minBounds) / 2.0
# Add offset transform to make position relative to the center
objectNp.setTransform(
transform.compose(TransformState.makePos(centerPos)))
model.setTransform(TransformState.makePos(-centerPos))
# Get the parent nodepath for the object (room or level)
if nodeIndex in roomNpByNodeIndex:
objectNp.reparentTo(roomNpByNodeIndex[nodeIndex])
else:
objectNp.reparentTo(levelNp)
# Validation
assert np.allclose(mat4ToNumpyArray(
model.getNetTransform().getMat()),
mat4ToNumpyArray(transform.getMat()),
atol=1e-6)
objectNp.setTag('model-id', str(modelId))
objectNp.setTag('level-id', str(levelId))
objectNp.setTag('house-id', str(houseId))
elif node['type'] == 'Ground':
logger.debug('Loading Ground %s to scene' % (modelId))
# Create new nodes for ground instance
groundNp = levelNp.attachNewNode('ground-' + str(modelId))
groundLayoutsNp = groundNp.attachNewNode('layouts')
# Load model defined for this ground
for groundObjFilename in reglob(
os.path.join(datasetRoot, 'room', houseId),
modelId + '[a-z].obj'):
# Convert extension from OBJ + MTL to EGG format
f, _ = os.path.splitext(groundObjFilename)
modelFilename = f + ".egg"
if not os.path.exists(modelFilename):
raise Exception(
'The SUNCG dataset object models need to be convert to Panda3D EGG format!'
)
objectNp = NodePath('object-' + str(modelId) + '-0')
objectNp.reparentTo(groundLayoutsNp)
model = loadModel(modelFilename)
model.setName('model-' + os.path.basename(f))
model.reparentTo(objectNp)
model.hide()
else:
raise Exception('Unsupported node type: %s' %
(node['type']))
scene = Scene()
houseNp.reparentTo(scene.scene)
# Recenter objects in rooms
for room in scene.scene.findAllMatches('**/room*'):
# Calculate the center of this room
minBounds, maxBounds = room.getTightBounds()
centerPos = minBounds + (maxBounds - minBounds) / 2.0
# Add offset transform to room node
room.setTransform(TransformState.makePos(centerPos))
# Add recentering transform to all children nodes
for childNp in room.getChildren():
childNp.setTransform(TransformState.makePos(-centerPos))
# Recenter objects in grounds
for ground in scene.scene.findAllMatches('**/ground*'):
# Calculate the center of this ground
minBounds, maxBounds = ground.getTightBounds()
centerPos = minBounds + (maxBounds - minBounds) / 2.0
# Add offset transform to ground node
ground.setTransform(TransformState.makePos(centerPos))
# Add recentering transform to all children nodes
for childNp in ground.getChildren():
childNp.setTransform(TransformState.makePos(-centerPos))
return scene
def getLightsForModel(self, modelId):
lights = []
if modelId in self.supportedModelIds:
for n, lightData in enumerate(self.data[modelId]):
attenuation = LVector3f(*lightData['attenuation'])
#TODO: implement light power
#power = float(lightData['power'])
positionYup = LVector3f(*lightData['position'])
yupTozupMat = LMatrix4f.convertMat(CS_yup_right, CS_zup_right)
position = yupTozupMat.xformVec(positionYup)
colorHtml = lightData['color']
color = LVector3f(*[
int('0x' + colorHtml[i:i + 2], 16)
for i in range(1, len(colorHtml), 2)
]) / 255.0
direction = None
lightType = lightData['type']
lightName = modelId + '-light-' + str(n)
if lightType == 'SpotLight':
light = Spotlight(lightName)
light.setAttenuation(attenuation)
light.setColor(color)
cutoffAngle = float(lightData['cutoffAngle'])
lens = PerspectiveLens()
lens.setFov(cutoffAngle / np.pi * 180.0)
light.setLens(lens)
# NOTE: unused attributes
#dropoffRate = float(lightData['dropoffRate'])
directionYup = LVector3f(*lightData['direction'])
direction = yupTozupMat.xformVec(directionYup)
elif lightType == 'PointLight':
light = PointLight(lightName)
light.setAttenuation(attenuation)
light.setColor(color)
elif lightType == 'LineLight':
#XXX: we may wish to use RectangleLight from the devel branch of Panda3D
light = PointLight(lightName)
light.setAttenuation(attenuation)
light.setColor(color)
# NOTE: unused attributes
#dropoffRate = float(lightData['dropoffRate'])
#cutoffAngle = float(lightData['cutoffAngle'])
#position2Yup = LVector3f(*lightData['position2'])
#position2 = yupTozupMat.xformVec(position2Yup)
#directionYup = LVector3f(*lightData['direction'])
#direction = yupTozupMat.xformVec(directionYup)
else:
raise Exception('Unsupported light type: %s' % (lightType))
lightNp = NodePath(light)
# Set position and direction of light
lightNp.setPos(position)
if direction is not None:
targetPos = position + direction
lightNp.look_at(targetPos, LVector3f.up())
lights.append(lightNp)
return lights
def testRenderSimpleCubeRoom(self):
samplingRate = 16000.0
scene = Scene()
hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'),
samplingRate)
viewer = Viewer(scene, interactive=False)
# Define a simple cube (10 x 10 x 10 m) as room geometry
roomSize = 10.0
modelId = 'room-0'
modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'cube.egg')
layoutNp = scene.scene.attachNewNode('layouts')
objectNp = layoutNp.attachNewNode('object-' + modelId)
objectNp.setTag('acoustics-mode', 'obstacle')
model = loadModel(modelFilename)
model.setName('model-' + modelId)
model.setTransform(TransformState.makeScale(roomSize))
model.setRenderModeWireframe()
model.reparentTo(objectNp)
objectNp.setPos(LVecBase3f(0.0, 0.0, 0.0))
# Define a sound source
sourceSize = 0.25
modelId = 'source-0'
modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'sphere.egg')
objectsNp = scene.scene.attachNewNode('objects')
objectNp = objectsNp.attachNewNode('object-' + modelId)
objectNp.setTag('acoustics-mode', 'source')
model = loadModel(modelFilename)
model.setName('model-' + modelId)
model.setTransform(TransformState.makeScale(sourceSize))
model.reparentTo(objectNp)
objectNp.setPos(LVecBase3f(0.0, 0.0, 0.0))
acoustics = EvertAcoustics(scene,
hrtf,
samplingRate,
maximumOrder=3,
materialAbsorption=False,
frequencyDependent=False,
debug=True)
# Attach sound to object
filename = os.path.join(TEST_DATA_DIR, 'audio', 'toilet.ogg')
sound = EvertAudioSound(filename)
acoustics.attachSoundToObject(sound, objectNp)
acoustics.step(0.1)
center = acoustics.world.getCenter()
self.assertTrue(
np.allclose(acoustics.world.getMaxLength() / 1000.0, roomSize))
self.assertTrue(
np.allclose([center.x, center.y, center.z], [0.0, 0.0, 0.0]))
self.assertTrue(acoustics.world.numElements() == 12)
self.assertTrue(acoustics.world.numConvexElements() == 12)
# Configure the camera
# NOTE: in Panda3D, the X axis points to the right, the Y axis is forward, and Z is up
mat = np.array([
0.999992, 0.00394238, 0, 0, -0.00295702, 0.750104, -0.661314, 0,
-0.00260737, 0.661308, 0.75011, 0, 0.0, -25.0, 22, 1
])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
agentNp = scene.agents[0]
agentNp.setPos(
LVecBase3f(0.25 * roomSize, -0.25 * roomSize, 0.3 * roomSize))
for _ in range(10):
viewer.step()
time.sleep(1.0)
agentNp.setPos(
LVecBase3f(0.35 * roomSize, -0.35 * roomSize, 0.4 * roomSize))
for _ in range(10):
viewer.step()
time.sleep(1.0)
agentNp.setPos(
LVecBase3f(-0.25 * roomSize, 0.25 * roomSize, -0.3 * roomSize))
for _ in range(10):
viewer.step()
time.sleep(1.0)
# Calculate and show impulse responses
impulse = acoustics.calculateImpulseResponse(objectNp.getName(),
agentNp.getName())
fig = plt.figure()
plt.plot(impulse.impulse[0], color='b', label='Left channel')
plt.plot(impulse.impulse[1], color='g', label='Right channel')
plt.legend()
plt.show(block=False)
time.sleep(1.0)
plt.close(fig)
acoustics.destroy()
viewer.destroy()
viewer.graphicsEngine.removeAllWindows()
def __init__(self, bam_file, bam_version):
MovingPartBase.__init__(self, bam_file, bam_version)
self.matrix = LMatrix4f()
self.initial_matrix = LMatrix4f()
def testRenderHouseWithAcousticsPath(self):
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
agentNp = scene.agents[0]
agentNp.setPos(LVecBase3f(45, -42.5, 1.6))
agentNp.setHpr(45, 0, 0)
# Define a sound source
sourceSize = 0.25
modelId = 'source-0'
modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'sphere.egg')
objectsNp = scene.scene.attachNewNode('objects')
objectsNp.setTag('acoustics-mode', 'source')
objectNp = objectsNp.attachNewNode('object-' + modelId)
model = loadModel(modelFilename)
model.setName('model-' + modelId)
model.setTransform(TransformState.makeScale(sourceSize))
model.reparentTo(objectNp)
objectNp.setPos(LVecBase3f(39, -40.5, 1.5))
samplingRate = 16000.0
hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'),
samplingRate)
acoustics = EvertAcoustics(scene,
hrtf,
samplingRate,
maximumOrder=2,
debug=True)
# Attach sound to object
filename = os.path.join(TEST_DATA_DIR, 'audio', 'toilet.ogg')
sound = EvertAudioSound(filename)
acoustics.attachSoundToObject(sound, objectNp)
sound.play()
acoustics.step(0.0)
# Hide ceilings
for nodePath in scene.scene.findAllMatches(
'**/layouts/*/acoustics/*c'):
nodePath.hide(BitMask32.allOn())
viewer = Viewer(scene, interactive=False)
# Configure the camera
# NOTE: in Panda3D, the X axis points to the right, the Y axis is forward, and Z is up
center = agentNp.getNetTransform().getPos()
mat = np.array([[1.0, 0.0, 0.0, 0.0], [0.0, 0.0, -1.0, 0.0],
[0.0, 1.0, 0.0, 0.0], [center.x, center.y, 20, 1]])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
for _ in range(20):
viewer.step()
time.sleep(1.0)
viewer.destroy()
viewer.graphicsEngine.removeAllWindows()
# Calculate and show impulse responses
impulse = acoustics.calculateImpulseResponse(objectNp.getName(),
agentNp.getName())
fig = plt.figure()
plt.plot(impulse.impulse[0], color='b', label='Left channel')
plt.plot(impulse.impulse[1], color='g', label='Right channel')
plt.legend()
plt.show(block=False)
time.sleep(1.0)
plt.close(fig)
acoustics.destroy()
