def __init__(self,world,name="My GL Widget Program"):
GLRealtimeProgram.__init__(self,name)
self.world = world
self.widgetMaster = WidgetSet()
self.widgetButton = 2 #right-clicks are sent to widget
self.draggingWidget = False
self.verbose = 0
def __init__(self, name, value, description, world):
self.name = name
self.value = value
self.description = description
self.world = world
self.qtwidget = None
self.width = 100
self.height = 100
self.klamptwidgetbutton = 2
self.klamptwidgetmaster = WidgetSet()
self.klamptwidgetdragging = False
def __init__(self, world, name="My GL Widget Program"):
GLRealtimeProgram.__init__(self, name)
self.world = world
self.widgetMaster = WidgetSet()
self.widgetButton = 2 # right-clicks are sent to widget
self.draggingWidget = False
self.verbose = 0
def __init__(self,name,value,description,world):
self.name = name
self.value = value
self.description = description
self.world = world
self.qtwidget = None
self.width = 100
self.height = 100
self.klamptwidgetbutton = 2
self.klamptwidgetmaster = WidgetSet()
self.klamptwidgetdragging = False
class _VisualEditorBase:
#A base class for editing resources.
def __init__(self, name, value, description, world):
self.name = name
self.value = value
self.description = description
self.world = world
self.qtwidget = None
self.width = 100
self.height = 100
self.klamptwidgetbutton = 2
self.klamptwidgetmaster = WidgetSet()
self.klamptwidgetdragging = False
#refresh appearances for new OpenGL context
#for i in range(world.numIDs()):
# world.appearance(i).refresh()
def addWidget(self, widget):
self.klamptwidgetmaster.add(widget)
def instructions(self):
return None
def display(self):
if self.world: self.world.drawGL()
self.klamptwidgetmaster.drawGL(self.viewport())
def display_screen(self):
glDisable(GL_LIGHTING)
glColor3f(0, 0, 0)
h = 30
"""
if self.instructions() != None:
glRasterPos(20,h)
gldraw.glutBitmapString(GLUT_BITMAP_HELVETICA_12,"Instructions: "+self.instructions())
h += 20
if self.description != None:
glRasterPos(20,h)
gldraw.glutBitmapString(GLUT_BITMAP_HELVETICA_12,"Description: "+self.description)
h += 20
glRasterPos(20,h)
gldraw.glutBitmapString(GLUT_BITMAP_HELVETICA_12,"Press 'x' to exit without saving, 'q' to save+exit")
"""
def viewport(self):
return self.qtwidget.viewport()
def idlesleep(self, seconds):
self.qtwidget.idlesleep(seconds)
def refresh(self):
self.qtwidget.refresh()
def click_ray(self, x, y):
return self.qtwidget.click_ray(x, y)
def initialize(self):
return False
def reshapefunc(self, w, h):
self.width, self.height = w, h
return False
def keyboardfunc(self, c, x, y):
self.klamptwidgetmaster.keypress(c)
return False
def keyboardupfunc(self, c, x, y):
return False
def specialfunc(self, c, x, y):
self.klamptwidgetmaster.keypress(c)
return False
def specialupfunc(self, c, x, y):
return False
def mousefunc(self, button, state, x, y):
if button == self.klamptwidgetbutton:
if state == 0: #down
if self.klamptwidgetmaster.beginDrag(x, self.height - y,
self.viewport()):
self.klamptwidgetdragging = True
else:
if self.klamptwidgetdragging:
self.klamptwidgetmaster.endDrag()
self.klamptwidgetdragging = False
if self.klamptwidgetmaster.wantsRedraw():
self.refresh()
return True
return False
def motionfunc(self, x, y, dx, dy):
if self.klamptwidgetdragging:
self.klamptwidgetmaster.drag(dx, -dy, self.viewport())
if self.klamptwidgetmaster.wantsRedraw():
self.refresh()
return True
else:
self.klamptwidgetmaster.hover(x, self.height - y, self.viewport())
if self.klamptwidgetmaster.wantsRedraw():
self.refresh()
return False
def idlefunc(self):
self.klamptwidgetmaster.idle()
return True
class GLWidgetProgram(GLRealtimeProgram):
"""A base class for using widgets. Right-clicks are passed onto widgets.
Subclasses should call self.widgetMaster.add() upon initializiation to
add widgets to the program.
"""
def __init__(self,world,name="My GL Widget Program"):
GLRealtimeProgram.__init__(self,name)
self.world = world
self.widgetMaster = WidgetSet()
self.widgetButton = 2 #right-clicks are sent to widget
self.draggingWidget = False
self.verbose = 0
def display(self):
#Put your display handler here
"""
#the next few lines draw everything but the robot
for i in xrange(self.world.numTerrains()):
self.world.terrain(i).drawGL()
for i in xrange(self.world.numRigidObjects()):
self.world.rigidObject(i).drawGL()
for i in xrange(1,self.world.numRobots()):
self.world.robot(i).drawGL()
#TEMP: the widget master will draw the robot if a RobotPoseWidget
#is added... but what if there is no such widget?
"""
self.world.drawGL()
self.widgetMaster.drawGL(self.viewport())
def idle(self):
self.widgetMaster.idle()
if self.widgetMaster.wantsRedraw():
self.refresh()
def mousefunc(self,button,state,x,y):
if self.verbose: print "mouse",button,state,x,y
if button==self.widgetButton:
if state==0:
if self.widgetMaster.beginDrag(x,self.height-y,self.viewport()):
self.draggingWidget = True
else:
if self.draggingWidget:
self.widgetMaster.endDrag()
self.draggingWidget = False
if self.widgetMaster.wantsRedraw():
self.refresh()
self.lastx,self.lasty = x,y
return
GLRealtimeProgram.mousefunc(self,button,state,x,y)
def motionfunc(self,x,y,dx,dy):
if self.draggingWidget:
self.widgetMaster.drag(dx,-dy,self.viewport())
if self.widgetMaster.wantsRedraw():
self.refresh()
else:
res = self.widgetMaster.hover(x,self.height-y,self.viewport())
if self.widgetMaster.wantsRedraw():
self.refresh()
GLRealtimeProgram.motionfunc(self,x,y,dx,dy)
def specialfunc(self,c,x,y):
#Put your keyboard special character handler here
if self.verbose: print c,"pressed"
self.widgetMaster.keypress(c)
self.refresh()
def keyboardfunc(self,c,x,y):
#Put your keyboard handler here
#the current example toggles simulation / movie mode
if self.verbose: print c,"pressed"
self.widgetMaster.keypress(c)
self.refresh()
def __init__(self):
GLPluginBase.__init__(self)
self.klamptwidgetbutton = 2
self.klamptwidgetmaster = WidgetSet()
self.klamptwidgetdragging = False
class GLWidgetPlugin(GLPluginBase):
"""A GL plugin that sends user events to one or more Klamp't widgets"""
def __init__(self):
GLPluginBase.__init__(self)
self.klamptwidgetbutton = 2
self.klamptwidgetmaster = WidgetSet()
self.klamptwidgetdragging = False
def addWidget(self, widget):
self.klamptwidgetmaster.add(widget)
def display(self):
self.klamptwidgetmaster.drawGL(self.viewport())
return False
def keyboardfunc(self, c, x, y):
self.klamptwidgetmaster.keypress(c)
return False
def keyboardupfunc(self, c, x, y):
return False
def specialfunc(self, c, x, y):
self.klamptwidgetmaster.keypress(c)
return False
def specialupfunc(self, c, x, y):
return False
def mousefunc(self, button, state, x, y):
if button == self.klamptwidgetbutton:
if state == 0: #down
if self.klamptwidgetmaster.beginDrag(x, self.height - y,
self.viewport()):
self.klamptwidgetdragging = True
else:
if self.klamptwidgetdragging:
self.klamptwidgetmaster.endDrag()
self.klamptwidgetdragging = False
if self.klamptwidgetmaster.wantsRedraw():
self.refresh()
return True
return False
def motionfunc(self, x, y, dx, dy):
if self.klamptwidgetdragging:
self.klamptwidgetmaster.drag(dx, -dy, self.viewport())
if self.klamptwidgetmaster.wantsRedraw():
self.refresh()
return True
else:
self.klamptwidgetmaster.hover(x, self.height - y, self.viewport())
if self.klamptwidgetmaster.wantsRedraw():
self.refresh()
return False
def idlefunc(self):
self.klamptwidgetmaster.idle()
return True
def __init__(self):
GLPluginBase.__init__(self)
self.klamptwidgetbutton = 2
self.klamptwidgetmaster = WidgetSet()
self.klamptwidgetdragging = False
class GLWidgetPlugin(GLPluginBase):
"""A GL plugin that sends user events to one or more Klamp't widgets"""
def __init__(self):
GLPluginBase.__init__(self)
self.klamptwidgetbutton = 2
self.klamptwidgetmaster = WidgetSet()
self.klamptwidgetdragging = False
def addWidget(self,widget):
self.klamptwidgetmaster.add(widget)
def display(self):
self.klamptwidgetmaster.drawGL(self.viewport())
def keyboardfunc(self,c,x,y):
self.klamptwidgetmaster.keypress(c)
return False
def keyboardupfunc(self,c,x,y):
return False
def specialfunc(self,c,x,y):
self.klamptwidgetmaster.keypress(c)
return False
def specialupfunc(self,c,x,y):
return False
def mousefunc(self,button,state,x,y):
if button == self.klamptwidgetbutton:
if state == 0: #down
if self.klamptwidgetmaster.beginDrag(x,self.height-y,self.viewport()):
self.klamptwidgetdragging = True
else:
if self.klamptwidgetdragging:
self.klamptwidgetmaster.endDrag()
self.klamptwidgetdragging = False
if self.klamptwidgetmaster.wantsRedraw():
self.refresh()
return True
return False
def motionfunc(self,x,y,dx,dy):
if self.klamptwidgetdragging:
self.klamptwidgetmaster.drag(dx,-dy,self.viewport())
if self.klamptwidgetmaster.wantsRedraw():
self.refresh()
return True
else:
self.klamptwidgetmaster.hover(x,self.height-y,self.viewport())
if self.klamptwidgetmaster.wantsRedraw():
self.refresh()
return False
def idlefunc(self):
self.klamptwidgetmaster.idle()
return True
class _VisualEditorBase:
#A base class for editing resources.
def __init__(self,name,value,description,world):
self.name = name
self.value = value
self.description = description
self.world = world
self.qtwidget = None
self.width = 100
self.height = 100
self.klamptwidgetbutton = 2
self.klamptwidgetmaster = WidgetSet()
self.klamptwidgetdragging = False
#refresh appearances for new OpenGL context
#for i in xrange(world.numIDs()):
# world.appearance(i).refresh()
def addWidget(self,widget):
self.klamptwidgetmaster.add(widget)
def instructions(self):
return None
def display(self):
if self.world: self.world.drawGL()
self.klamptwidgetmaster.drawGL(self.viewport())
def display_screen(self):
glDisable(GL_LIGHTING)
glColor3f(0,0,0)
h = 30
"""
if self.instructions() != None:
glRasterPos(20,h)
gldraw.glutBitmapString(GLUT_BITMAP_HELVETICA_12,"Instructions: "+self.instructions())
h += 20
if self.description != None:
glRasterPos(20,h)
gldraw.glutBitmapString(GLUT_BITMAP_HELVETICA_12,"Description: "+self.description)
h += 20
glRasterPos(20,h)
gldraw.glutBitmapString(GLUT_BITMAP_HELVETICA_12,"Press 'x' to exit without saving, 'q' to save+exit")
"""
def viewport(self):
return self.qtwidget.viewport()
def idlesleep(self,seconds):
self.qtwidget.idlesleep(seconds)
def refresh(self):
self.qtwidget.refresh()
def click_ray(self,x,y):
return self.qtwidget.click_ray(x,y)
def initialize(self):
return False
def reshapefunc(self,w,h):
self.width,self.height = w,h
return False
def keyboardfunc(self,c,x,y):
self.klamptwidgetmaster.keypress(c)
return False
def keyboardupfunc(self,c,x,y):
return False
def specialfunc(self,c,x,y):
self.klamptwidgetmaster.keypress(c)
return False
def specialupfunc(self,c,x,y):
return False
def mousefunc(self,button,state,x,y):
if button == self.klamptwidgetbutton:
if state == 0: #down
if self.klamptwidgetmaster.beginDrag(x,self.height-y,self.viewport()):
self.klamptwidgetdragging = True
else:
if self.klamptwidgetdragging:
self.klamptwidgetmaster.endDrag()
self.klamptwidgetdragging = False
if self.klamptwidgetmaster.wantsRedraw():
self.refresh()
return True
return False
def motionfunc(self,x,y,dx,dy):
if self.klamptwidgetdragging:
self.klamptwidgetmaster.drag(dx,-dy,self.viewport())
if self.klamptwidgetmaster.wantsRedraw():
self.refresh()
return True
else:
self.klamptwidgetmaster.hover(x,self.height-y,self.viewport())
if self.klamptwidgetmaster.wantsRedraw():
self.refresh()
return False
def idlefunc(self):
self.klamptwidgetmaster.idle()
return True
class GLWidgetProgram(GLRealtimeProgram):
"""A base class for using widgets. Right-clicks are passed onto widgets.
Subclasses should call self.widgetMaster.add() upon initializiation to
add widgets to the program.
"""
def __init__(self, world, name="My GL Widget Program"):
GLRealtimeProgram.__init__(self, name)
self.world = world
self.widgetMaster = WidgetSet()
self.widgetButton = 2 # right-clicks are sent to widget
self.draggingWidget = False
self.verbose = 0
def display(self):
# Put your display handler here
"""
#the next few lines draw everything but the robot
for i in xrange(self.world.numTerrains()):
self.world.terrain(i).drawGL()
for i in xrange(self.world.numRigidObjects()):
self.world.rigidObject(i).drawGL()
for i in xrange(1,self.world.numRobots()):
self.world.robot(i).drawGL()
#TEMP: the widget master will draw the robot if a RobotPoseWidget
#is added... but what if there is no such widget?
"""
self.world.drawGL()
self.widgetMaster.drawGL(self.viewport())
def idle(self):
self.widgetMaster.idle()
if self.widgetMaster.wantsRedraw():
self.refresh()
def mousefunc(self, button, state, x, y):
if self.verbose:
print "mouse", button, state, x, y
if button == self.widgetButton:
if state == 0:
if self.widgetMaster.beginDrag(x, self.height - y, self.viewport()):
self.draggingWidget = True
else:
if self.draggingWidget:
self.widgetMaster.endDrag()
self.draggingWidget = False
if self.widgetMaster.wantsRedraw():
self.refresh()
self.lastx, self.lasty = x, y
return
GLRealtimeProgram.mousefunc(self, button, state, x, y)
def motionfunc(self, x, y, dx, dy):
if self.draggingWidget:
self.widgetMaster.drag(dx, -dy, self.viewport())
if self.widgetMaster.wantsRedraw():
self.refresh()
else:
res = self.widgetMaster.hover(x, self.height - y, self.viewport())
if self.widgetMaster.wantsRedraw():
self.refresh()
GLRealtimeProgram.motionfunc(self, x, y, dx, dy)
def specialfunc(self, c, x, y):
# Put your keyboard special character handler here
if self.verbose:
print c, "pressed"
self.widgetMaster.keypress(c)
self.refresh()
def keyboardfunc(self, c, x, y):
# Put your keyboard handler here
# the current example toggles simulation / movie mode
if self.verbose:
print c, "pressed"
self.widgetMaster.keypress(c)
self.refresh()