class Viewer(object):
def __init__(self):
""" Initialize the viewer. """
self.init_interface()
self.init_opengl()
self.init_scene()
self.init_interaction()
init_primitives()
def init_interface(self):
""" initialize the window and register the render function """
glutInit()
glutInitWindowSize(640, 480)
glutCreateWindow("3D Modeller")
glutInitDisplayMode(GLUT_SINGLE | GLUT_RGB)
glutDisplayFunc(self.render)
def init_interaction(self):
""" init user interaction and callbacks """
self.interaction = Interaction()
self.interaction.register_callback('pick', self.pick)
self.interaction.register_callback('move', self.move)
self.interaction.register_callback('place', self.place)
self.interaction.register_callback('rotate_color', self.rotate_color)
self.interaction.register_callback('scale', self.scale)
def init_scene(self):
""" initialize the scene object and initial scene """
self.scene = Scene()
self.initial_scene()
def init_opengl(self):
""" initialize the opengl settings to render the scene """
self.inverseModelView = numpy.identity(4)
self.modelView = numpy.identity(4)
glEnable(GL_CULL_FACE)
glCullFace(GL_BACK)
glEnable(GL_DEPTH_TEST)
glDepthFunc(GL_LESS)
glEnable(GL_LIGHT0)
glLightfv(GL_LIGHT0, GL_POSITION, GLfloat_4(0, 0, 1, 0))
glLightfv(GL_LIGHT0, GL_SPOT_DIRECTION, GLfloat_3(0, 0, -1))
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
glClearColor(1.0, 1.0, 1.0, 0.0)
def main_loop(self):
glutMainLoop()
def render(self):
""" The render pass for the scene """
self.init_view()
# Enable lighting and color
glEnable(GL_LIGHTING)
glClearColor(0.4, 0.4, 0.4, 0.0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
# Load the modelview matrix from the current state of the trackball
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
loc = self.interaction.translation
glTranslated(-loc[0], -loc[1], -loc[2])
glMultMatrixf(self.interaction.trackball.matrix)
# store the inverse of the current modelview.
currentModelView = numpy.array(glGetFloatv(GL_MODELVIEW_MATRIX))
self.modelView = numpy.transpose(currentModelView)
self.inverseModelView = inv(numpy.transpose(currentModelView))
# render the scene. This will call the render function for each object in the scene
self.scene.render()
# draw the grid
glDisable(GL_LIGHTING)
glCallList(G_OBJ_PLANE)
glPopMatrix()
# flush the buffers so that the scene can be drawn
glFlush()
def init_view(self):
""" initialize the projection matrix """
xSize, ySize = glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)
aspect_ratio = float(xSize) / float(ySize)
# load the projection matrix. Always the same
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glViewport(0, 0, xSize, ySize)
gluPerspective(70, aspect_ratio, 0.1, 1000.0)
glTranslated(0, 0, -15)
def initial_scene(self):
cube_node = Cube()
cube_node.translate(2, 0, 2)
cube_node.color_index = 2
self.scene.add_node(cube_node)
sphere_node = Sphere()
sphere_node.translate(-2, 0, 2)
sphere_node.color_index = 3
self.scene.add_node(sphere_node)
sphere_node_2 = Sphere()
sphere_node_2.translate(-2, 0, -2)
sphere_node_2.color_index = 1
self.scene.add_node(sphere_node_2)
def get_ray(self, x, y):
""" Generate a ray beginning at the near plane, in the direction that the x, y coordinates are facing
Consumes: x, y coordinates of mouse on screen
Return: start, direction of the ray """
self.init_view()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# get two points on the line.
start = numpy.array(gluUnProject(x, y, 0.001))
end = numpy.array(gluUnProject(x, y, 0.999))
# convert those points into a ray
direction = end - start
direction = direction / norm(direction)
return (start, direction)
def pick(self, x, y):
""" Execute pick of an object. Selects an object in the scene. """
start, direction = self.get_ray(x, y)
self.scene.pick(start, direction, self.modelView)
def move(self, x, y):
""" Execute a move command on the scene. """
start, direction = self.get_ray(x, y)
self.scene.move(start, direction, self.inverseModelView)
def place(self, shape, x, y):
""" Execute a placement of a new primitive into the scene. """
start, direction = self.get_ray(x, y)
self.scene.place(shape, start, direction, self.inverseModelView)
def rotate_color(self, forward):
""" Rotate the color of the selected Node. Boolean 'forward' indicates direction of rotation. """
self.scene.rotate_color(forward)
def scale(self, up):
""" Scale the selected Node. Boolean up indicates scaling larger."""
self.scene.scale(up)
class Viewer(object):
def __init__(self):
""" Initialize the viewer. """
self.init_interface()
self.init_opengl()
self.init_scene()
self.init_interaction()
init_primitives()
def init_interface(self):
""" initialize the window and register the render function """
glutInit()
glutInitWindowSize(640, 480)
glutCreateWindow("3D Modeller")
glutInitDisplayMode(GLUT_SINGLE | GLUT_RGB)
glutDisplayFunc(self.render)
def init_interaction(self):
""" init user interaction and callbacks """
self.interaction = Interaction()
self.interaction.register_callback('pick', self.pick)
self.interaction.register_callback('move', self.move)
self.interaction.register_callback('place', self.place)
self.interaction.register_callback('rotate_color', self.rotate_color)
self.interaction.register_callback('scale', self.scale)
def init_scene(self):
""" initialize the scene object and initial scene """
self.scene = Scene()
self.initial_scene()
def init_opengl(self):
""" initialize the opengl settings to render the scene """
self.inverseModelView = numpy.identity(4)
self.modelView = numpy.identity(4)
glEnable(GL_CULL_FACE)
glCullFace(GL_BACK)
glEnable(GL_DEPTH_TEST)
glDepthFunc(GL_LESS)
glEnable(GL_LIGHT0)
glLightfv(GL_LIGHT0, GL_POSITION, GLfloat_4(0, 0, 1, 0))
glLightfv(GL_LIGHT0, GL_SPOT_DIRECTION, GLfloat_3(0, 0, -1))
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
glClearColor(1.0, 1.0, 1.0, 0.0)
def main_loop(self):
glutMainLoop()
def render(self):
""" The render pass for the scene """
self.init_view()
# Enable lighting and color
glEnable(GL_LIGHTING)
glClearColor(0.4, 0.4, 0.4, 0.0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
# Load the modelview matrix from the current state of the trackball
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
loc = self.interaction.translation
glTranslated(-loc[0], -loc[1], -loc[2])
glMultMatrixf(self.interaction.trackball.matrix)
# store the inverse of the current modelview.
currentModelView = numpy.array(glGetFloatv(GL_MODELVIEW_MATRIX))
self.modelView = numpy.transpose(currentModelView)
self.inverseModelView = inv(numpy.transpose(currentModelView))
# render the scene. This will call the render function for each object in the scene
self.scene.render()
# draw the grid
glDisable(GL_LIGHTING)
glCallList(G_OBJ_PLANE)
glPopMatrix()
# flush the buffers so that the scene can be drawn
glFlush()
def init_view(self):
""" initialize the projection matrix """
xSize, ySize = glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)
aspect_ratio = float(xSize) / float(ySize)
# load the projection matrix. Always the same
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glViewport(0, 0, xSize, ySize)
gluPerspective(70, aspect_ratio, 0.1, 1000.0)
glTranslated(0, 0, -15)
def initial_scene(self):
cube_node = Cube()
cube_node.translate(2, 0, 2)
cube_node.color_index = 2
self.scene.add_node(cube_node)
sphere_node = Sphere()
sphere_node.translate(-2, 0, 2)
sphere_node.color_index = 3
self.scene.add_node(sphere_node)
sphere_node_2 = Sphere()
sphere_node_2.translate(-2, 0, -2)
sphere_node_2.color_index = 1
self.scene.add_node(sphere_node_2)
def get_ray(self, x, y):
""" Generate a ray beginning at the near plane, in the direction that the x, y coordinates are facing
Consumes: x, y coordinates of mouse on screen
Return: start, direction of the ray """
self.init_view()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# get two points on the line.
start = numpy.array(gluUnProject(x, y, 0.001))
end = numpy.array(gluUnProject(x, y, 0.999))
# convert those points into a ray
direction = end - start
direction = direction / norm(direction)
return (start, direction)
def pick(self, x, y):
""" Execute pick of an object. Selects an object in the scene. """
start, direction = self.get_ray(x, y)
self.scene.pick(start, direction, self.modelView)
def move(self, x, y):
""" Execute a move command on the scene. """
start, direction = self.get_ray(x, y)
self.scene.move(start, direction, self.inverseModelView)
def place(self, shape, x, y):
""" Execute a placement of a new primitive into the scene. """
start, direction = self.get_ray(x, y)
self.scene.place(shape, start, direction, self.inverseModelView)
def rotate_color(self, forward):
""" Rotate the color of the selected Node. Boolean 'forward' indicates direction of rotation. """
self.scene.rotate_color(forward)
def scale(self, up):
""" Scale the selected Node. Boolean up indicates scaling larger."""
self.scene.scale(up)
class Viewer(object):
def __init__(self):
""" Initialize the viewer. """
#初始化接口，创建窗口并注册渲染函数
self.init_interface()
#初始化opengl的配置
self.init_opengl()
#初始化3d场景
self.init_scene()
#初始化交互操作相关的代码
self.init_interaction()
init_primitives()
def init_interface(self):
""" 初始化窗口并注册渲染函数 """
glutInit()
glutInitWindowSize(640, 480)
glutCreateWindow(b"3D Modeller")
glutInitDisplayMode(GLUT_SINGLE | GLUT_RGB)
#注册窗口渲染函数
glutDisplayFunc(self.render)
def init_opengl(self):
""" 初始化opengl的配置 """
#模型视图矩阵
self.inverseModelView = numpy.identity(4)
#模型视图矩阵的逆矩阵
self.modelView = numpy.identity(4)
#开启剔除操作效果
glEnable(GL_CULL_FACE)
#取消对多边形背面进行渲染的计算（看不到的部分不渲染）
glCullFace(GL_BACK)
#开启深度测试
glEnable(GL_DEPTH_TEST)
#测试是否被遮挡，被遮挡的物体不予渲染
glDepthFunc(GL_LESS)
#启用0号光源
glEnable(GL_LIGHT0)
#设置光源的位置
glLightfv(GL_LIGHT0, GL_POSITION, GLfloat_4(0, 0, 1, 0))
#设置光源的照射方向
glLightfv(GL_LIGHT0, GL_SPOT_DIRECTION, GLfloat_3(0, 0, -1))
#设置材质颜色
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
#设置清屏的颜色
glClearColor(0.4, 0.4, 0.4, 0.0)
def init_scene(self):
#创建一个场景实例
self.scene = Scene()
#初始化场景内的对象
self.create_sample_scene()
def create_sample_scene(self):
'''
cube_node = Cube()
cube_node.translate(2, 2, 2)
cube_node.color_index = 1
self.scene.add_node(cube_node)
sphere_node = Sphere()
sphere_node.translate(2, 0, 2)
sphere_node.color_index = 3
self.scene.add_node(sphere_node)
hierarchical_node = SnowFigure()
hierarchical_node.translate(-2, 0, -2)
self.scene.add_node(hierarchical_node)
three_pyramid = ThreePyramid()
three_pyramid.translate(0,10,0)
three_pyramid.scale(4)
three_pyramid.color_index=5
self.scene.add_node(three_pyramid)
'''
man = Man()
man.translate(0, 0, 0)
man.scale(8)
man.color_index = 1
self.scene.add_node(man)
def init_interaction(self):
self.interaction = Interaction()
self.interaction.register_callback('pick', self.pick)
self.interaction.register_callback('move', self.move)
self.interaction.register_callback('place', self.place)
self.interaction.register_callback('rotate_color', self.rotate_color)
self.interaction.register_callback('scale', self.scale)
def pick(self, x, y):
""" 是否被选中以及哪一个被选中交由Scene下的pick处理 """
start, direction = self.get_ray(x, y)
self.scene.pick(start, direction, self.modelView)
def move(self, x, y):
start, direction = self.get_ray(x, y)
self.scene.move_selected(start, direction, self.inverseModelView)
def place(self, shape, x, y):
start, direction = self.get_ray(x, y)
self.scene.place(shape, start, direction, self.inverseModelView)
def rotate_color(self, forward):
""" 更改选中节点的颜色 """
pass
def scale(self, up):
""" 改变选中节点的大小 """
pass
def main_loop(self):
#程序主循环开始
glutMainLoop()
def render(self):
#初始化投影矩阵
self.init_view()
#启动光照
glEnable(GL_LIGHTING)
#清空颜色缓存与深度缓存
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
#设置模型视图矩阵，这节课先用单位矩阵就行了。
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
glMultMatrixf(self.interaction.trackball.matrix)
# 存储ModelView矩阵与其逆矩阵之后做坐标系转换用
currentModelView = numpy.array(glGetFloatv(GL_MODELVIEW_MATRIX))
self.modelView = numpy.transpose(currentModelView)
self.inverseModelView = inv(numpy.transpose(currentModelView))
#渲染场景
self.scene.render()
#每次渲染后复位光照状态
glDisable(GL_LIGHTING)
glCallList(G_OBJ_PLANE)
glPopMatrix()
#把数据刷新到显存上
glFlush()
def init_view(self):
""" 初始化投影矩阵 """
xSize, ySize = glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)
#得到屏幕宽高比
aspect_ratio = float(xSize) / float(ySize)
#设置投影矩阵
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
#设置视口，应与窗口重合
glViewport(0, 0, xSize, ySize)
#设置透视，摄像机上下视野幅度70度
#视野范围到距离摄像机1000个单位为止。
gluPerspective(70, aspect_ratio, 0.1, 1000.0)
#摄像机镜头从原点后退15个单位
glTranslated(0, 0, -15)
def get_ray(self, x, y):
"""
返回光源和激光方向
"""
self.init_view()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# 得到激光的起始点
start = numpy.array(gluUnProject(x, y, 0.001))
end = numpy.array(gluUnProject(x, y, 0.999))
# 得到激光的方向
direction = end - start
direction = direction / norm(direction)
return (start, direction)
class Viewer(object):
def __init__(self):
self.init_interface()
self.init_opengl()
self.init_scene()
self.init_interaction()
init_primitives()
def init_nogrid(self):
self.init_interface()
self.init_opengl()
self.init_scene()
self.init_interaction()
init_primitives_nogrid()
def init_interface(self):
global winid
glutInit()
glutInitWindowSize(640, 480)
glutInitWindowPosition(100,100)
winid = glutCreateWindow("3D Modeller")
glutInitDisplayMode(GLUT_SINGLE|GLUT_RGBA)
glutDisplayFunc(self.render)
def init_opengl(self):
self.inverseModelView = numpy.identity(4)
self.modelView = numpy.identity(4)
glEnable(GL_CULL_FACE)
glCullFace(GL_BACK)
glEnable(GL_DEPTH_TEST)
glDepthFunc(GL_LESS)
glEnable(GL_LIGHT0)
glLightfv(GL_LIGHT0, GL_POSITION, GLfloat_4(0,0,1,0))
glLightfv(GL_LIGHT0, GL_SPOT_DIRECTION, GLfloat_3(0,0,-1))
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
glClearColor(0.5, 0.5, 0.5, 0.0)
def init_scene(self):
self.scene = Scene()
self.create_sample_scene()
def create_sample_scene(self):
cube_node = Cube()
cube_node.translate(2, 0, 2)
cube_node.color_index = 1
self.scene.add_node(cube_node)
sphere_node = Sphere()
sphere_node.color_index = 2
sphere_node.translate(2,2,0)
#sphere_node.scale(4)
self.scene.add_node(sphere_node)
cylinder_node = Cylinder()
cylinder_node.color_index = 3
cylinder_node.translate(0,-2,2)
self.scene.add_node(cylinder_node)
tetrahedron_node = Tetrahedron()
tetrahedron_node.color_index = 4
tetrahedron_node.translate(2,-2,-2)
self.scene.add_node(tetrahedron_node)
hierarchical_node = SnowFigure()
hierarchical_node.translate(-2, 0, -2)
#hierarchical_node.scale(2)
self.scene.add_node(hierarchical_node)
def init_interaction(self):
self.interaction = Interaction()
self.interaction.register_callback('pick', self.pick)
self.interaction.register_callback('move', self.move)
self.interaction.register_callback('place', self.place)
self.interaction.register_callback('rotate_color', self.rotate_color)
self.interaction.register_callback('scale', self.scale)
self.interaction.register_callback('close', self.close)
self.interaction.register_callback('reset', self.reset)
self.interaction.register_callback('nogrid', self.nogrid)
def pick(self, x, y):
start, direction = self.get_ray(x, y)
self.scene.pick(start, direction, self.modelView)
def move(self, x, y):
start, direction = self.get_ray(x, y)
self.scene.move_selected(start, direction, self.inverseModelView)
def place(self, shape, x, y):
start, direction = self.get_ray(x, y)
self.scene.place(shape, start, direction, self.inverseModelView)
def rotate_color(self, forward):
self.scene.rotate_selected_color(forward)
def scale(self, up):
self.scene.scale_selected(up)
def main_loop(self):
glutMainLoop()
def render(self):
self.init_view()
glEnable(GL_LIGHTING)
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT)
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
loc = self.interaction.translation
glTranslated(loc[0], loc[1], loc[2])
glMultMatrixf(self.interaction.trackball.matrix)
currentModelView = numpy.array(glGetFloatv(GL_MODELVIEW_MATRIX))
self.modelView = numpy.transpose(currentModelView)
self.inverseModelView = inv(numpy.transpose(currentModelView))
self.scene.render()
glDisable(GL_LIGHTING)
glCallList(G_OBJ_PLANE)
glPopMatrix()
glFlush()
def init_view(self):
xSize, ySize = glutGet(GLUT_WINDOW_WIDTH),glutGet(GLUT_WINDOW_HEIGHT)
aspect_ratio = float(xSize) / float(ySize)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glViewport(0, 0, xSize, ySize)
gluPerspective(70, aspect_ratio, 0.1, 1000.0)
glTranslate(0, 0, -15)
def get_ray(self, x, y):
self.init_view()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
start = numpy.array(gluUnProject(x, y, 0.001))
end = numpy.array(gluUnProject(x, y, 0.999))
direction = end - start
direction = direction / norm(direction)
return (start, direction)
def close(self):
global winid
glutDestroyWindow(winid)
sys.exit()
def reset(self):
self.init_scene()
def nogrid(self, grid):
global winid
glutDestroyWindow(winid)
if grid:
self.__init__()
else:
self.init_nogrid()
class Viewer(object):
def __init__(self):
""" Initialize the viewer. """
self.init_interface()
self.init_opengl()
self.init_scene()
self.init_interaction()
init_primitives()
make_plane()
def init_interface(self):
glutInit()
glutInitWindowSize(640, 480)
glutCreateWindow("3D Modeller")
glutInitDisplayMode(GLUT_SINGLE | GLUT_RGB)
#register render function
glutDisplayFunc(self.render)
def init_opengl(self):
#model view matrix
self.inverseModelView = numpy.identity(4)
#its anti-matrix
self.modelView = numpy.identity(4)
#open tichu effect
glEnable(GL_CULL_FACE)
#to not rend invisible part
glCullFace(GL_BACK)
#open depth test
glEnable(GL_DEPTH_TEST)
#objects being covered ot to rend
glDepthFunc(GL_LESS)
#open light 0
glEnable(GL_LIGHT0)
#to set the position of light
glLightfv(GL_LIGHT0, GL_POSITION, GLfloat_4(0, 0, 1, 0))
#to set the direction that light sheds at
glLightfv(GL_LIGHT0, GL_SPOT_DIRECTION, GLfloat_3(0, 0, -1))
#to set material color
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
#set the color of a clear-screen
glClearColor(0.4, 0.4, 0.4, 0.0)
def init_interaction(self):
self.interaction = Interaction()
self.interaction.register_callback('pick', self.pick)
self.interaction.register_callback('move', self.move)
self.interaction.register_callback('place', self.place)
self.interaction.register_callback('rotate_color', self.rotate_color)
self.interaction.register_callback('scale', self.scale)
def move(self, x, y):
#move the chosen point
start, direction = self.get_ray(x, y)
self.scene.move_selected(start, direction, self.inverseModelView)
def place(self, shape, x, y):
""" put a new node at the mouse's location"""
start, direction = self.get_ray(x, y)
self.scene.place(shape, start, direction, self.inverseModelView)
def rotate_color(self, forward):
"""change the color of chosen node"""
pass
def scale(self, up):
"""change the size of the chosen node"""
pass
def main_loop(self):
glutMainLoop()
def render(self):
#init shadow matrix
self.init_view()
#open light
glEnable(GL_LIGHTING)
#clear color and depth caches
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
#set model view matrix(danwei matrix is ok)
#set trackball's rotate matrix as Modelview
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
#replace now-matrix with hengdeng matrix
glLoadIdentity()
glMultMatrixf(self.interaction.trackball.matrix)
#save Modelview matrix, later change system with anti-matrix
currentModelView = numpy.array(glGetFloatv(GL_MODELVIEW_MATRIX))
self.modelView = numpy.transpose(currentModelView)
self.inverseModelView = inv(numpy.transpose(currentModelView))
#rend the scene
self.scene.render()
#after each shadow , huifu light state
glDisable(GL_LIGHTING)
glPopMatrix()
glFlush()
def init_view(self):
"""init shadow matrix"""
xSize, ySize = glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)
#get screen's kuangaobi
aspect_ratio = float(xSize) / float(ySize)
#set shadow matrix
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
#set viewport, should be chonghe with window
glViewport(0, 0, xSize, ySize)
#set toushi, eyesight width 70 degree, 1000 distance fron camare
gluPerspective(70, aspect_ratio, 0.1, 1000.0)
#jinftou back 15 distances from o
glTranslated(0, 0, -15)
def init_scene(self):
self.scene = Scene()
self.create_sample_scene()
def create_sample_scene(self):
cube_node = Cube()
cube_node.translate(2, 0, 2)
cube_node.color_index = 1
self.scene.add_node(cube_node)
# to create a ball
sphere_node = Sphere()
# to set the ball's color
sphere_node.color_index = 3
sphere_node.translate(-2, 0, 2)
#to put the ball in the scene.Default middle of view
self.scene.add_node(sphere_node)
#to add a snowman
hierarchical_node = SnowFigure()
hierarchical_node.translate(-2, 0, -2)
self.scene.add_node(hierarchical_node)
init_primitives()
def get_ray(self, x, y):
self.init_view()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
start = numpy.array(gluUnProject(x, y, 0.001))
end = numpy.array(gluUnProject(x, y, 0.999))
direction = end - start
direction = direction / norm(direction)
return (start, direction)
def pick(self, x, y):
start, direction = self.get_ray(x, y)
self.scene.pick(start, direction, self.modelView)
class Viewer(object):
def __init__(self):
""" Initialize the viewer. """
self.init_interface()
self.init_opengl()
self.init_scene()
self.init_camera()
self.init_interaction()
init_primitives() # makes lists of primitive objects defined
# self.rosnode = rospy.init_node('viewer', anonymous=False)
# self.rossub = rospy.Subscriber('/viewer/posetopic', PoseStamped, self.roscallback)
# self.rate = rospy.Rate(100.);
# def roscallback(self,data):
# node = self.scene.get_node(data.header.frame_id)
# # embed()
# if not node == None:
# node.set_pose(data.pose.position.x,data.pose.position.y,data.pose.position.z,
# data.pose.orientation.w,data.pose.orientation.x,data.pose.orientation.y,data.pose.orientation.z)
# px,py,pz = GroundtoGraphics((data.pose.position.x,data.pose.position.y,data.pose.position.z))
# self.interaction.LookAttarget = [px,py,pz];
# glutPostRedisplay()
def init_interface(self):
""" initialize the window and register the render function """
glutInit()
glutInitWindowSize(640, 480)
glutCreateWindow("3D Modeller")
glutInitDisplayMode(GLUT_SINGLE | GLUT_RGB)
glutDisplayFunc(self.render) # top level render call
glutIdleFunc(self.ROSsleep)
# def ROSsleep(self):
# self.rate.sleep()
def init_opengl(self):
""" initialize the opengl settings to render the scene """
self.inverseModelView = numpy.identity(4)
self.modelView = numpy.identity(4)
glEnable(GL_CULL_FACE)
glCullFace(GL_BACK)
glEnable(GL_DEPTH_TEST)
glDepthFunc(GL_LESS)
glEnable(GL_LIGHT0)
# put some initial lighting
glLightfv(GL_LIGHT0, GL_POSITION, GLfloat_4(0, 0, 1, 0))
glLightfv(GL_LIGHT0, GL_SPOT_DIRECTION, GLfloat_3(0, 0, -1))
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
glClearColor(0.4, 0.4, 0.4, 0.0)
def init_camera(self):
self.Camera = Camera();
self.Camera.CameraMode = 'Trackball';
def init_scene(self):
""" initialize the scene object and initial scene """
self.scene = Scene()
# self.create_sample_scene()
def create_sample_scene(self):
cube_node = Cube()
cube_node.translate(2, 0, 2)
cube_node.color_index = 1
self.scene.add_node(cube_node)
sphere_node = Sphere()
sphere_node.translate(-2, 0, 2)
sphere_node.color_index = 3
self.scene.add_node(sphere_node)
hierarchical_node = SnowFigure()
hierarchical_node.translate(-2, 0, -2)
self.scene.add_node(hierarchical_node)
def create_scene(self):
self.create_sample_scene();
def init_interaction(self):
""" init user interaction and callbacks """
self.interaction = Interaction()
self.interaction.register_callback('pick', self.pick)
self.interaction.register_callback('move', self.move)
self.interaction.register_callback('place', self.place)
self.interaction.register_callback('rotate_color', self.rotate_color)
self.interaction.register_callback('scale', self.scale)
self.interaction.register_callback('close',self.close)
self.interaction.register_callback('setCameraMode',self.setCameraMode)
def main_loop(self):
glutMainLoop()
def render(self):
""" The render pass for the scene """
self.init_view()
glEnable(GL_LIGHTING)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
# Load the modelview matrix from the current state of the trackball
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
tar = self.interaction.LookAttarget;
self.Camera.target = (tar[0],tar[1],tar[2])
if self.Camera.CameraMode == 'Trackball':
loc = self.Camera.position;
#Camera.position
glTranslated(-loc[0], -loc[1], -loc[2])
glMultMatrixf(self.interaction.trackball.matrix)
elif self.Camera.CameraMode == 'LookAt':
# embed()
self.Camera.point()
elif self.Camera.CameraMode == 'LookAtFollow':
self.Camera.follow()
self.Camera.point()
else:
glMultMatrixf(self.interaction.trackball.matrix) # by default revert to trackball if mode is set incorrectly
# store the inverse of the current modelview.
currentModelView = numpy.array(glGetFloatv(GL_MODELVIEW_MATRIX))
self.modelView = numpy.transpose(currentModelView)
self.inverseModelView = inv(numpy.transpose(currentModelView))
# render the scene. This will call the render function for each object in the scene
self.scene.render()
# draw the grid
glDisable(GL_LIGHTING)
glCallList(G_OBJ_PLANE)
glPopMatrix()
# flush the buffers so that the scene can be drawn
glFlush()
def init_view(self):
""" initialize the projection matrix """
# xSize, ySize = glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)
# aspect_ratio = float(xSize) / float(ySize)
self.Camera.ViewportSetup()
# load the projection matrix. Always the same
# glMatrixMode(GL_PROJECTION)
# glLoadIdentity()
# glViewport(0, 0, xSize, ySize)
# gluPerspective(70, aspect_ratio, 0.1, 1000.0)
# glTranslated(0, 0, -15)
def get_ray(self, x, y):
""" Generate a ray beginning at the near plane, in the direction that the x, y coordinates are facing
Consumes: x, y coordinates of mouse on screen
Return: start, direction of the ray """
self.init_view()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# get two points on the line.
start = numpy.array(gluUnProject(x, y, 0.001))
end = numpy.array(gluUnProject(x, y, 0.999))
# convert those points into a ray
direction = end - start
direction = direction / norm(direction)
return (start, direction)
def pick(self, x, y):
""" Execute pick of an object. Selects an object in the scene. """
start, direction = self.get_ray(x, y)
self.interaction.node_selected = self.scene.pick(start, direction, self.modelView)
def place(self, shape, x, y):
""" Execute a placement of a new primitive into the scene. """
start, direction = self.get_ray(x, y)
self.scene.place(shape, start, direction, self.inverseModelView)
def move(self, x, y):
""" Execute a move command on the scene. """
start, direction = self.get_ray(x, y)
self.scene.move_selected(start, direction, self.inverseModelView)
# def ROSHandler(self,ind,pose):
# self.scene.set_pose(ind,pose)
def rotate_color(self, forward):
""" Rotate the color of the selected Node. Boolean 'forward' indicates direction of rotation. """
self.scene.rotate_selected_color(forward)
def scale(self, up):
""" Scale the selected Node. Boolean up indicates scaling larger."""
self.scene.scale_selected(up)
def setCameraMode(self,mode):
self.Camera.CameraMode = mode;
def close(self):
# embed()
glutDestroyWindow(glutGetWindow())
# embed()
sys.exit() # How do I clean up memory resources before exiting? Is it needed, or handled by destroywindow
