def display_callback():
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
glEnable(GL_TEXTURE_2D)
if cam.asteroid is True:
cam.forward = Vertex4(asteroid.ellipse.lastCoords[0], 0,
asteroid.ellipse.lastCoords[1], 0.0)
cam.up = Vertex4(0.0, 1.0, 0.0, 0.0)
cam.setSide()
cam.yaw(35)
cam.look()
glLightfv(GL_LIGHT0, GL_POSITION, light_pos_0)
for i in planets:
i.draw()
sun.render()
asteroid.draw()
obj.render()
# SPACESHIP
glPushMatrix()
glTranslatef(25.0, 10.0, 12.5)
glRotatef(55, 0.0, 1.0, 0.0)
visualization.draw(ship)
glPopMatrix()
# SATURN RINGS
glTranslatef(saturn.lastCoords[0], 0.0, saturn.lastCoords[1])
glRotatef(90, 1.0, 0.0, 0.0)
glRotatef(25, 1.0, 1.0, 0.0)
glColor4f(1.0, 1.0, 1.0, 0.5)
glScalef(0.2, 0.2, 0.2)
glEnable(GL_TEXTURE_2D)
glDisable(GL_LIGHTING)
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE)
glBindTexture(GL_TEXTURE_2D, t.textureId)
gluDisk(quad, 9, 14, 64, 1)
glDisable(GL_BLEND)
glEnable(GL_LIGHTING)
glDisable(GL_TEXTURE_2D)
# CONTROL KEYS LINES
draw_text("CONTROL KEYS", 5, 190)
draw_text("(a)->left, (s)->down, (d)->up, (w)->right", 5, 150)
draw_text("(z)->zoom +, (x)->zoom -", 5, 110)
draw_text(
"(1)->yaw left, (2)->yaw right, (3)->roll left, (4)->roll right, (5)->pitch down, (6)->pitch up",
5, 70)
draw_text("(7)->top-bottom view, (8)->spaceship view, (9)->asteroid view",
5, 30)
glutSwapBuffers()
def on_draw(self):
self.clear()
pyglet.gl.glLoadIdentity()
pyglet.gl.glLightfv(pyglet.gl.GL_LIGHT0, pyglet.gl.GL_POSITION,
self.lightfv(-40.0, 200.0, 100.0, 0.0))
pyglet.gl.glLightfv(pyglet.gl.GL_LIGHT0, pyglet.gl.GL_AMBIENT,
self.lightfv(0.2, 0.2, 0.2, 1.0))
pyglet.gl.glLightfv(pyglet.gl.GL_LIGHT0, pyglet.gl.GL_DIFFUSE,
self.lightfv(0.5, 0.5, 0.5, 1.0))
pyglet.gl.glEnable(pyglet.gl.GL_LIGHT0)
pyglet.gl.glEnable(pyglet.gl.GL_LIGHTING)
pyglet.gl.glEnable(pyglet.gl.GL_COLOR_MATERIAL)
pyglet.gl.glEnable(pyglet.gl.GL_DEPTH_TEST)
pyglet.gl.glShadeModel(pyglet.gl.GL_SMOOTH)
pyglet.gl.glMatrixMode(pyglet.gl.GL_MODELVIEW)
# pyglet.gl.glTranslated(0, .8, -20)
pyglet.gl.glRotatef(-90, 0, 0, 1)
pyglet.gl.glRotatef(self.rotation, 1, 0, 0)
pyglet.gl.glRotatef(90, 0, 0, 1)
pyglet.gl.glRotatef(0, 0, 1, 0)
visualization.draw(self.meshes)
def on_draw():
window.clear()
glLoadIdentity()
glLightfv(GL_LIGHT0, GL_POSITION, lightfv(-40.0, 200.0, 100.0, 0.0))
glLightfv(GL_LIGHT0, GL_AMBIENT, lightfv(0.2, 0.2, 0.2, 1.0))
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightfv(0.5, 0.5, 0.5, 1.0))
glEnable(GL_LIGHT0)
glEnable(GL_LIGHTING)
glEnable(GL_COLOR_MATERIAL)
glEnable(GL_DEPTH_TEST)
glShadeModel(GL_SMOOTH)
glMatrixMode(GL_MODELVIEW)
# glTranslated(0, 4, -8)
# glRotatef(90, 0, 1, 0)
# glRotatef(-60, 0, 0, 1)
# Rotations for sphere on axis - useful
glTranslated(0, .8, -20)
glRotatef(-66.5, 0, 0, 1)
glRotatef(rotation, 1, 0, 0)
glRotatef(90, 0, 0, 1)
glRotatef(0, 0, 1, 0)
visualization.draw(meshes)
def draw_link0(link, x, y, z, link0Rot):
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glRotatef(link0Rot, 0.0, 1.0, 0.0)
glTranslatef(x, y, z)
visualization.draw(link)
def mirroir2(a, c):
glRotate(-a, 0, 1, 0)
glTranslatef(0, 0, 3)
glTranslatef(0, -3 * (1 - cos(3.14 * c / 180)),
-3 * (1 - sin(3.14 * c / 180)))
visualization.draw(obj)
def on_draw():
window.clear()
glLoadIdentity()
glLightfv(GL_LIGHT0, GL_POSITION, lightfv(-40.0, 200.0, 100.0, 0.0))
glLightfv(GL_LIGHT0, GL_AMBIENT, lightfv(0.2, 0.2, 0.2, 1.0))
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightfv(0.5, 0.5, 0.5, 1.0))
glEnable(GL_LIGHT0)
glEnable(GL_LIGHTING)
glEnable(GL_COLOR_MATERIAL)
glEnable(GL_DEPTH_TEST)
glShadeModel(GL_SMOOTH)
glMatrixMode(GL_MODELVIEW)
# glTranslated(0, 4, -8)
# glRotatef(90, 0, 1, 0)
# glRotatef(-60, 0, 0, 1)
# Rotations for sphere on axis - useful
glTranslated(0, .8, -20)
glRotatef(-66.5, 0, 0, 1)
glRotatef(rotation, 1, 0, 0)
glRotatef(90, 0, 0, 1)
glRotatef(0, 0, 1, 0)
visualization.draw(meshes)
def draw_link1(link, x, y, z, link0Rot, link1Rot):
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
#glRotatef(180,0,1,0) #flips l1 around so it isnt bending backwards
glRotatef(link0Rot, 0.0, 1.0, 0.0)
glRotatef(link1Rot, 1.0, 0.0, 0.0)
visualization.draw(link)
def update(self):
# Draw OBJ
self.apply_transformation()
visualization.draw(self.meshes)
# # Draw UxV
for i, sphere in enumerate(self.spheres):
sphere.draw()
def draw_box(box, x, y):
glLoadIdentity()
glTranslated(x, y, -10.0)
glRotatef(rotation, 0.0, 1.0, 0.0)
glRotatef(-25.0, 1.0, 0.0, 0.0)
glRotatef(45.0, 0.0, 0.0, 1.0)
visualization.draw(box)
def display():
movimentOfCamera()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glPushMatrix()
color = [1.0, 0., 0., 1.]
visualization.draw(home)
glPopMatrix()
glutSwapBuffers()
def on_draw():
window.clear()
gl.glLoadIdentity()
gl.glTranslated(self.x, self.y, self.z)
gl.glRotatef(self.rx, 1, 0, 0)
gl.glRotatef(self.ry, 0, 1, 0)
gl.glRotatef(self.rz, 0, 0, 1)
visualization.draw(self.mesh)
def draw_head(link, x, y, z, thetaHead, phiHead):
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glScalef(0.8, 0.8, 0.8)
glTranslatef(x, y, z)
glRotatef(thetaHead, 0, 1, 0)
glRotatef(phiHead, 1, 0, 0)
visualization.draw(link)
def draw_torso(link, x, y, z, bodyRot, bodyTilt):
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glScalef(0.8, 0.8, 0.8)
glTranslatef(x, y, z)
glRotatef(bodyRot + 180, 0, 1, 0)
glRotatef(bodyTilt, 1, 0, 0)
visualization.draw(link)
def display():
glFlush()
if demonstrateMode:
demonstrate()
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT)
visualization.draw(objeto)
glutSwapBuffers()
glFlush()
def draw_upperArm(link, x, y, z, thetaArm0, thetaArm1):
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glScalef(0.8, 0.8, 0.8)
glTranslatef(x, y, z)
glRotatef(180, 0, 1, 0)
glRotatef(thetaArm0, 0, 1, 0)
glRotatef(thetaArm1, -1, 0, 0)
visualization.draw(link)
def on_draw():
window.clear()
glLoadIdentity()
glLightfv(GL_LIGHT0, GL_POSITION, lightfv(-1.0, 1.0, 1.0, 0.0))
glEnable(GL_LIGHT0)
glTranslated(0.0, 0.0, -3.0)
glRotatef(rotation, x, y, x)
glEnable(GL_LIGHTING)
visualization.draw(meshes)
def do_draw(self):
# Draw OBJ
self.apply_transformation()
visualization.draw(self.meshes)
if self.active:
self.prepare_projection()
if self.vertex_list is not None:
self.vertex_list.draw(gl.GL_LINE_LOOP)
def display():
global obj, holder
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
visualization.draw(obj)
glutSwapBuffers()
return
def display():
global obj
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE)
visualization.draw(obj)
glutSwapBuffers()
return
def display(self, fusionQPose):
glClearColor(0, .2, .7, 0)
glClearDepth(100)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glPushMatrix()
def glRotateQ(q):
try:
glRotatef(quaternion.angle(q)*180/math.pi, q[1], q[2], q[3])
except:
pass
dist = 12
glTranslatef(0, 0, -dist)
glScalef(self.Scale, self.Scale, self.Scale)
glRotateQ(self.Q)
if self.obj:
glPushMatrix()
#q = quaternion.multiply(fusionQPose, quaternion.angvec2quat(-math.pi/2, [1, 0, 0]))
q = fusionQPose
glRotateQ(q)
#OAglTranslatef(0, 0, -.7)
s = .2
glScalef(s,s,s)
# glTranslated(0, 0, -3)
glRotatef(90, 0, 0, -1)
glRotatef(90, -1, 0, 0)
glEnable(GL_LIGHTING)
lightfv = ctypes.c_float * 4
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightfv(1.0, 1.0, 1.0, 1.0))
glEnable(GL_LIGHT0)
visualization.draw(self.obj)
glDisable(GL_LIGHTING)
glPopMatrix()
elif pywavefront:
self.chdir()
try:
self.obj = pywavefront.Wavefront('Vagabond.obj')
except Exception as e:
print('Vagabond.obj failed to load', e)
print('Did you add the pypilot_data repository?')
glEnable(GL_DEPTH_TEST)
if self.texture_compass:
self.draw_texture_compass()
else:
self.draw_vector_compass()
glPopMatrix()
def draw_hand(link, x, y, z, thetaHand, phiHand):
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glScalef(0.8, 0.8, 0.8)
glTranslatef(x, y, z)
glRotatef(270 + 0.25 * phiHand, 1, 0, 0)
glRotatef(180, 0, 0, 1)
glRotatef(thetaHand, 0, 1, 0)
visualization.draw(link)
def draw_box(box, cx, cy, cz, x, y, z):
glLoadIdentity()
glTranslated(cx, cy, -10)
glRotatef(rotation, 0.0, 1.0, 0.0)
glTranslated(x, y, 00)
#glTranslated(x, y, 1.0)
#glRotatef(-25.0, 1.0, 0.0, 0.0)
#glRotatef(45.0, 0.0, 0.0, 1.0)
visualization.draw(box)
def display():
global incx1
global mesh
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
visualization.draw(mesh)
glutSwapBuffers()
return
def display():
global obj
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
gluLookAt(CameraPosition[0],CameraPosition[1],CameraPosition[2],
CameraPosition[0]+CameraTarget[0],CameraPosition[1]+CameraTarget[1],CameraPosition[2]+CameraTarget[2],
up_axis[0],up_axis[1],up_axis[2])
visualization.draw(obj)
glutSwapBuffers()
return
def draw_link1(link, x, y, z, link0Rot, link1Rot):
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glRotatef(180, 0, 1, 0) #flips l1 around so it isnt bending backwards
glRotatef(link0Rot, 0.0, 1.0, 0.0)
glRotatef(link1Rot, 1.0, 0.0, 0.0)
#glTranslated(x, y, z) # link 1 does not translate about workspace, only pivots on shoulder base
# glRotatef(-25.0, 1.0, 0.0, 0.0)
# glRotatef(45.0, 0.0, 0.0, 1.0)
visualization.draw(link)
def draw_lowerArm(link,elbowX,elbowY,elbowZ,thetaArm0,thetaArm1,thetaArm2):
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glScalef(0.8,0.8,0.8)
glScalef(1.0,0.96,1.0) #make arm segments same length for simplicity
glTranslatef(elbowX,elbowY,elbowZ)
# glTranslatef(1,0,0.5) #sets offset from slanted upper arm
glRotatef(180,0,1,0)
glRotatef(thetaArm0,0,1,0)
glRotatef(thetaArm1,-1,0,0)
glRotatef(thetaArm2,-1,0,0)
visualization.draw(link)
def draw_link3(link, x, y, z, link0Rot, link1Rot, link2Rot, rotation):
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glTranslatef(x, y, z)
glRotatef(link0Rot, 0.0, 1.0, 0.0)
glRotatef(link1Rot, -1.0, 0.0, 0.0)
glRotatef(link2Rot + 90, 1.0, 0.0, 0.0)
glRotatef(rotation, 0.0, 0.0, 1.0)
# glRotatef(45.0, 0.0, 0.0, 1.0)
visualization.draw(link)
def display():
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glMatrixMode(GL_MODELVIEW)
#criaçao dos inimigos
glPushMatrix()
glTranslatef(move_inimigo, 4.0, -4.0)
glColor3f(0.0, 0.0, 1.0)
visualization.draw(inimigo)
glPopMatrix()
glPushMatrix()
glTranslatef((move_inimigo + 4), 4.0, -4.0) #(x, y z)
glColor3f(0.0, 0.0, 1.0)
visualization.draw(inimigo)
glPopMatrix()
glPushMatrix()
glTranslatef((move_inimigo - 4), 4.0, -4.0)
glColor3f(0.0, 0.0, 1.0)
visualization.draw(inimigo)
glPopMatrix()
#fim criaçao dos inimigos
#inicio da criação da nave
glPushMatrix()
glTranslatef(Move_nave, 0.0, 0.0)
glTranslatef(0.0, 0.0, 5.0) #(x, y, z)
visualization.draw(aviao_corpo)
glPopMatrix()
##fim da criação da nave
glutSwapBuffers()
def on_draw():
window.clear()
glLoadIdentity()
glLightfv(GL_LIGHT0, GL_POSITION, lightfv(-1.0, 1.0, 1.0, 0.0))
glEnable(GL_LIGHT0)
glTranslated(0.0, 0.0, -3.0)
glRotatef(rotation, 0.0, 1.0, 0.0)
glRotatef(-25.0, 1.0, 0.0, 0.0)
glRotatef(45.0, 0.0, 0.0, 1.0)
glEnable(GL_LIGHTING)
visualization.draw(meshes)
def on_draw():
window.clear()
glLoadIdentity()
glLightfv(GL_LIGHT0, GL_POSITION, lightfv(-1.0, 1.0, 1.0, 0.0))
glEnable(GL_LIGHT0)
glTranslated(0, 150, -500)
glRotatef(float(yaw), 0, 1, 0)
glRotatef(float(pitch), 1, 0, 0)
glRotatef(float(roll), 0, 0, 1)
glEnable(GL_LIGHTING)
visualization.draw(rov)
def on_draw():
window.clear()
glLoadIdentity()
glLightfv(GL_LIGHT0, GL_POSITION, lightfv(-1.0, 1.0, 1.0, 0.0))
glEnable(GL_LIGHT0)
glTranslated(tvec[0][0][0] * 6, -tvec[0][0][1] * 6, -tvec[0][0][2] * 4)
glRotatef(rotation1, 1, 0, 0)
glRotatef(rotation2, 0, 1, 0)
glRotatef(rotation3, 0, 0, 1)
glEnable(GL_LIGHTING)
visualization.draw(meshes)
def draw_link2(link, x, y, z, link0Rot, link1Rot, link2Rot):
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glTranslatef(x, y, z)
#print("link0Rot: ", link0Rot, " Link1Rot: ", link1Rot, " Link2Rot: ", link2Rot)
glRotatef(link0Rot, 0.0, 1.0, 0.0)
glRotatef(link1Rot, -1.0, 0.0, 0.0)
glRotatef(link2Rot, 1.0, 0.0, 0.0)
glRotatef(180, 0, 1, 0) #flipped around to match l1
#glTranslatef(-x, -y, -z)
# glRotatef(45.0, 0.0, 0.0, 1.0)
visualization.draw(link)
