def setFromDict(self, designObject, myShipDict):
"""setup this ship according to the design object and ship dictionary info given"""
self.myDesign = designObject
self.designID = designObject.id
self.componentdata = designObject.componentdata
self.weapondata = designObject.weapondata
self.myShipHull = designObject.myShipHull
designAttrDict = designObject.getMyInfoAsDict()
self.currentISP = myShipDict['currentISP']
for position, dQuad in myShipDict['quads'].iteritems():
newQuad = quad.Quad(dQuad)
newQuad.setMyParent(self)
# weapons have to be created first
for id, dWeap in dQuad['weapons'].iteritems():
newWeap = weapon.Weapon(dWeap)
newWeap.setMyQuad(newQuad)
for id, dComp in dQuad['components'].iteritems():
newComp = component.Component(dComp)
newComp.setMyQuad(newQuad)
newQuad.setMyStatus()
self.quads[newQuad.position] = newQuad
newQuad.resetDefences()
newQuad.reloadAmmo()
self.setMyStatus()
self.name = designObject.name + '-' + self.id
self.randomizeJunkTrail()
def __init__(self):
glutInit(len(sys.argv), sys.argv)
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE)
glutInitWindowSize(800, 600)
glutCreateWindow('Dynamic FBM Warping')
#glutFullScreen()
glutDisplayFunc(self.draw)
glutMotionFunc(self.mouse_drag)
glutKeyboardFunc(self.keyboard)
glutMouseFunc(self.mouse_press)
glutReshapeFunc(self.reshape)
glutIdleFunc(self.idle)
print glGetString(GL_VERSION)
glClearColor(0.0, 0.0, 0.0, 1.0)
self.time = time.clock()
self.aspect_ratio = 1.0
self.width = 800
self.height = 600
self.fps = 120
self.idle_tick = 1.0 / self.fps
self.paused = False
self.quad = quad.Quad()
self.high_quality = True
self.frames_drawn = 0
self.second_timer = 0
self.fullscreen = False
self.scr_width = 800
self.scr_height = 600
self.current_shader_index = 3
self.shaders = []
self.offset = [0, 0]
self.last_pos = [0, 0]
self.mouse_pressed = False
self.fragfiles = [
item for item in os.listdir("./shaders") if item.endswith("frag")
]
for shaderfile in self.fragfiles:
print "Loading shader:", shaderfile
self.shaders.append(
shader.Shader("./shaders/warping.vert",
"./shaders/" + shaderfile))
def setMyDesign(self, designObject):
"""Copy the Ship Design Attributes, Quads to ship"""
self.myDesign = designObject
self.designID = designObject.id
self.componentdata = designObject.componentdata
self.weapondata = designObject.weapondata
self.myShipHull = designObject.myShipHull
designAttrDict = designObject.getMyInfoAsDict()
self.currentISP = self.myShipHull.maxISP
self.currentPower = designAttrDict['maxPower']
self.maxBattery = designAttrDict['maxBattery']
self.thrust = designAttrDict['thrust']
self.rotation = designAttrDict['rotation']
self.radar = designAttrDict['radar']
self.jamming = designAttrDict['jamming']
self.repair = designAttrDict['repair']
self.maxAssault = designAttrDict['maxAssault']
self.mass = self.myShipHull.mass
for position, dQuad in designObject.quads.iteritems():
newQuad = quad.Quad(dQuad.getMyInfoAsDict())
newQuad.setMyParent(self)
# weapons have to be created first
for id, weap in dQuad.weapons.iteritems():
newWeap = weapon.Weapon(weap.getMyInfoAsDict())
newWeap.setMyQuad(newQuad)
for id, comp in dQuad.components.iteritems():
newComp = component.Component(comp.getMyInfoAsDict())
newComp.setMyQuad(newQuad)
newQuad.setMyStatus()
self.quads[newQuad.position] = newQuad
newQuad.resetDefences()
newQuad.reloadAmmo()
self.name = designObject.name + '-' + self.id
self.setMyStrength()
if 'AS' in self.myShipHull.abr:
self.isAssault = 1
else:
self.isAssault = 0
[8.360311073266353254e-01, 0.000000000000000000e+00],
[9.061798459386638527e-01, -7.745966692414832933e-01],
[9.061798459386638527e-01, 0.000000000000000000e+00],
[9.061798459386638527e-01, 7.745966692414834043e-01],
[9.681602395076263079e-01, 0.000000000000000000e+00]])
# initiate uqtk arrays for quad points and weights
x = uqtkarray.dblArray2D()
w = uqtkarray.dblArray1D()
# create instance of quad class and output
# points and weights
print('Create an instance of Quad class')
ndim = 2
level = 3
q = uqtkquad.Quad('LU','sparse',ndim,level,0,1)
print('Now set and get the quadrature rule...')
q.SetRule()
q.GetRule(x,w)
# print out x and w
print('Displaying the quadrature points and weights:\n')
x_np = uqtk2numpy(x)
print(x_np)
n = len(x)
print('Number of quad points is ', n, '\n')
# plot the quadrature points
print('Plotting the points (get points in column major order as a flattened vector)')
print('need to use reshape with fortran ordering')
xpnts = zeros((n,ndim))
# loop over our contours
for c in cnts:
# approximate the contour
peri = cv2.arcLength(c, True)
area = cv2.contourArea(c)
approx = cv2.approxPolyDP(c, 0.01 * peri, True)
# found paper
if len(approx) == 4 and peri > 1500 and area > 50000:
counter += 1
gap_counter = 0
if counter >= counter_thresh:
counter = 0
screenCnt = approx
bg_thresh = np.zeros(thresh.shape, dtype=np.uint8)
ppr_quad = quad.Quad(map(lambda x: x[0], screenCnt))
ref_white = get_white()
cv2.fillConvexPoly(bg_thresh, ppr_quad.points, 255)
cv2.polylines(bg_thresh, [ppr_quad.points], True, 0, 5)
break
# allow for brief losses in tracking the paper
gap_counter += 1
if gap_counter >= gap_thresh:
counter = 0
# if paper is detected
if bg_thresh is not None:
ppr_img = ppr_quad.transform(img)
h, w = ppr_img.shape[:2]
ppr_img_copy = ppr_img.copy()
[0., 0., 1.]
])
# Initial state
r = np.array([0, 0, 0, 7.0]) # Position
r_dot = np.array([0, 0, 0, 1.0]) # Velocity
omega = (np.random.random(3) - 0.5) * 0.1 # Angular velocity
q = np.array([1.0, 0.0, 0.0, 0.0]) # Attitude quaternion
target_altitude = r[3]
target_yaw = 0.0
target_q = np.array([1.0, 0.0, 0.0, 0.0])
pitching = 0
yawing = 0
ascending = 0
copter = quad.Quad(r, r_dot, omega, q, c, d, g, m, I)
import pyglet
from pyglet.gl import *
from pyglet.window import key
width = 800
height = 800
window = pyglet.window.Window(width, height)
glClearColor(1, 1, 1, 1)
# A glVertex transformed by the inertial-to-body-frame quaternion
def glVertex3fq(x, y, z, q):
v = quaternion.rotateVector(np.array([0, x, y, z]), q)
glVertex3f(v[1], v[2], v[3])
