def rotation(self, angle, v):
self.translate(ut.Vect3().init_vect3(-self.look_at.x, -self.look_at.y,
-self.look_at.z))
self.position.rotate(angle, v)
self.translate(ut.Vect3().init_vect3(self.look_at.x, self.look_at.y,
self.look_at.z))
self.set_angle_x()
def motion(self, x, y):
if self.translate:
trans_x = (x - self.startx) / 30.0
trans_y = (y - self.starty) / 30.0
left = self.camera.get_left()
up = self.camera.get_up()
self.camera.translate_all(ut.Vect3().init_vect3(
left.x * trans_x, left.y * trans_x, left.z * trans_x))
self.camera.translate_all(ut.Vect3().init_vect3(
up.x * (-trans_y), up.y * (-trans_y), up.z * (-trans_y)))
self.startx = x
self.starty = y
if self.zoom:
self.camera.zoom((y - self.starty) / 10.0)
self.starty = y
if self.rotate:
sensitivity = 100.0
rot = y - self.starty
tmp = self.camera.get_position_from_look_at()
tmp.y = tmp.x
tmp.x = -tmp.z
tmp.z = tmp.y
tmp.y = 0.0
tmp.normalise()
self.camera.rotate(rot * sensitivity, tmp)
glutPostRedisplay()
def set_angle_x(self):
self.angle_x = ut.Vect3().get_angle(
ut.Vect3().init_vect3(self.position.x, self.position.y + 1,
self.position.z),
ut.Vect3().init_vect3(self.position.x, self.position.y,
self.position.z),
ut.Vect3().init_vect3(self.look_at.x, self.look_at.y,
self.look_at.z))
def zoom(self, z):
dist = ut.Vect3().init_vect3(self.position.x - self.look_at.x,
self.position.y - self.look_at.y,
self.position.z - self.look_at.z)
dist = dist.length(dist)
if dist - z > z:
self.translate(ut.Vect3().init_vect3(self.forward.x * z,
self.forward.y * z,
self.forward.z * z))
def key(self, bkey, x, y):
key = bkey.decode("utf-8")
if key == 'o':
self.camera.set_position(ut.Vect3().init_vect3(2.56, 1.2, 0.6))
self.camera.set_look_at(ut.Vect3().init_vect3(0.79, 0.02, -1.53))
elif key == 'q' or key == 'Q' or key == 27:
self.current_instance.run = False
glutLeaveMainLoop()
glutPostRedisplay()
def rotate(self, speed, v):
angle = speed / 360.0
if v.x != 0.0:
tmp_a = self.angle_x - 90.0 + angle
else:
tmp_a = self.angle_x - 90.0
if -89.5 < tmp_a < 89.5:
self.translate(ut.Vect3().init_vect3(-self.look_at.x,
-self.look_at.y,
-self.look_at.z))
self.position.rotate(angle, v)
self.translate(ut.Vect3().init_vect3(self.look_at.x,
self.look_at.y,
self.look_at.z))
self.set_angle_x()
def apply_transformations(self):
self.forward.init_vect3(self.look_at.x - self.position.x,
self.look_at.y - self.position.y,
self.look_at.z - self.position.z)
self.left = ut.Vect3().init_vect3(self.forward.z, 0, -self.forward.x)
self.up = ut.Vect3().init_vect3(
self.left.y * self.forward.z - self.left.z * self.forward.y,
self.left.z * self.forward.x - self.left.x * self.forward.z,
self.left.x * self.forward.y - self.left.y * self.forward.x)
self.forward.normalise()
self.left.normalise()
self.up.normalise()
def __init__(self):
self.is_init = False
self.run = False
self.current_instance = self
self.camera = TrackBallCamera(ut.Vect3().init_vect3(2.56, 1.2, 0.6),
ut.Vect3().init_vect3(0.79, 0.02, -1.53))
self.translate = False
self.rotate = False
self.zoom = False
self.zed_path = []
self.path_locker = threading.Lock()
self.zed3d = zm.Zed3D()
self.track_state = sl.POSITIONAL_TRACKING_STATE
self.txt_t = ""
self.txt_r = ""
self.startx = 0
self.starty = 0
def special_key(self, key, x, y):
sensitivity = 150.0
tmp = self.camera.get_position_from_look_at()
tmp.y = tmp.x
tmp.x = -tmp.z
tmp.z = tmp.y
tmp.y = 0.0
tmp.normalise()
if key == GLUT_KEY_UP:
self.camera.rotate(-sensitivity, tmp)
elif key == GLUT_KEY_DOWN:
self.camera.rotate(sensitivity, tmp)
elif key == GLUT_KEY_LEFT:
self.camera.rotate(sensitivity,
ut.Vect3().init_vect3(0.0, 1.0, 0.0))
elif key == GLUT_KEY_RIGHT:
self.camera.rotate(-sensitivity,
ut.Vect3().init_vect3(0.0, 1.0, 0.0))
def __init__(self, p=ut.Vect3(), la=ut.Vect3()):
self.position = ut.Vect3()
self.look_at = ut.Vect3()
self.forward = ut.Vect3()
self.up = ut.Vect3()
self.left = ut.Vect3()
self.position.x = p.x
self.position.y = p.y
self.position.z = p.z
self.look_at.x = la.x
self.look_at.t = la.y
self.look_at.z = la.z
self.angle_x = 0.0
self.apply_transformations()
def get_left(self):
return ut.Vect3().init_vect3(self.left.x, self.left.y, self.left.z)
def get_up(self):
return ut.Vect3().init_vect3(self.up.x, self.up.y, self.up.z)
def get_forward(self):
return ut.Vect3().init_vect3(self.forward.x, self.forward.y,
self.forward.z)
def get_look_at(self):
return ut.Vect3().init_vect3(self.look_at.x, self.look_at.y,
self.look_at.z)
def get_position_from_look_at(self):
return ut.Vect3().init_vect3(self.position.x - self.look_at.x,
self.position.y - self.look_at.y,
self.position.z - self.look_at.z)
def get_position(self):
return ut.Vect3().init_vect3(self.position.x, self.position.y,
self.position.z)
