def make_visual(self, physical, position, thrust_indicators=False):
visual = self.rendering_world.add_mesh(Sub8Visual, position,
orientation=None, color=(20, 20, 20, 1), shininess=20)
self.rendering_world.add_entity(rendering.Indicator, physical, radius=0.05)
self.rendering_world.add_entity(rendering.Indicator, physical, get_param=lambda o: np.array(o.last_force),
radius=0.025, color=(200, 10, 0), scaling_factor=0.01)
class ThrustGetter(object):
'''This is a pretty garbage thing, and will be replaced by the scenegraph system
'''
def __init__(self, thruster_name, rdir):
self.thruster_name = thruster_name
self.rdir = rdir
def __call__(self, entity):
return entity.thrust_dict.get(self.thruster_name, 0.0) * np.array([0.0, 0.0, 1.0])
if thrust_indicators:
# add the thrust indicators
for name, rel_direction, rel_position in self.thruster_list:
R = make_rotation(np.array([0.0, 0.0, 1.0]), rel_direction)
transformation = compose_transformation(np.transpose(R), rel_position)
t = ThrustGetter(name, rel_direction)
self.rendering_world.add_entity(
rendering.Indicator, physical,
get_param=t, rigid=True,
offset=transformation, radius=0.01, scaling_factor=0.01,
color=(0, 40, 200)
)
return visual
def draw(self):
# pose = self.physics_entity.pose
pos = self.physics_entity.pos
directed_quantity = self.get_param_func(self.physics_entity)
norm = np.linalg.norm(directed_quantity)
if np.isclose(norm, 0.0, atol=1e-3):
return
R = make_rotation(np.array([0.0, 0.0, 1.0]), directed_quantity)
if not self.rigid:
model = compose_transformation(np.transpose(R), pos)
else:
model = compose_transformation(R, (0, 0, 0)).dot(self.physics_entity.pose)
self.program['u_model'] = self.offset.dot(model)
self.program['u_length_scale'] = norm * self.scaling_factor
# Draw
self.program.draw('triangles', self.faces)
def draw(self):
# pose = self.physics_entity.pose
pos = self.physics_entity.pos
directed_quantity = self.get_param_func(self.physics_entity)
norm = np.linalg.norm(directed_quantity)
if np.isclose(norm, 0.0, atol=1e-3):
return
R = make_rotation(np.array([0.0, 0.0, 1.0]), directed_quantity)
if not self.rigid:
model = compose_transformation(np.transpose(R), pos)
else:
model = compose_transformation(R, (0, 0, 0)).dot(
self.physics_entity.pose)
self.program['u_model'] = self.offset.dot(model)
self.program['u_length_scale'] = norm * self.scaling_factor
# Draw
self.program.draw('triangles', self.faces)
def make_visual(self, physical, position, thrust_indicators=False):
visual = self.rendering_world.add_mesh(Sub8Visual,
position,
orientation=None,
color=(20, 20, 20, 1),
shininess=20)
self.rendering_world.add_entity(rendering.Indicator,
physical,
radius=0.05)
self.rendering_world.add_entity(
rendering.Indicator,
physical,
get_param=lambda o: np.array(o.last_force),
radius=0.025,
color=(200, 10, 0),
scaling_factor=0.01)
class ThrustGetter(object):
'''This is a pretty garbage thing, and will be replaced by the scenegraph system
'''
def __init__(self, thruster_name, rdir):
self.thruster_name = thruster_name
self.rdir = rdir
def __call__(self, entity):
return entity.thrust_dict.get(self.thruster_name,
0.0) * np.array([0.0, 0.0, 1.0])
if thrust_indicators:
# add the thrust indicators
for name, rel_direction, rel_position in self.thruster_list:
R = make_rotation(np.array([0.0, 0.0, 1.0]), rel_direction)
transformation = compose_transformation(
np.transpose(R), rel_position)
t = ThrustGetter(name, rel_direction)
self.rendering_world.add_entity(rendering.Indicator,
physical,
get_param=t,
rigid=True,
offset=transformation,
radius=0.01,
scaling_factor=0.01,
color=(0, 40, 200))
return visual
def add_sub(self, position):
'''
TODO:
This should be some kind of seperate widget, but alas, it is currently just jammed in here
'''
visual = self.rendering_world.add_mesh(Sub8Visual,
position,
orientation=None,
color=(20, 20, 20, 1),
shininess=20)
physical = self.physics_world.add_entity(Sub8, position)
self.rendering_world.add_entity(rendering.Indicator,
physical,
radius=0.05)
self.rendering_world.add_entity(
rendering.Indicator,
physical,
get_param=lambda o: np.array(o.last_force),
radius=0.025,
color=(200, 10, 0),
scaling_factor=0.01)
thruster_list = [
("FLV", np.array([0.000, 0.0,
-1]), np.array([0.1583, 0.16900,
0.0142])), # flake8: noqa
("FLL", np.array([-0.866, 0.5,
0]), np.array([0.2678, 0.27950,
0.0000])), # flake8: noqa
("FRV", np.array([0.000, 0.0,
-1]), np.array([0.1583, -0.1690,
0.0142])), # flake8: noqa
("FRL", np.array([-0.866, -0.5,
0]), np.array([0.2678, -0.2795,
0.0000])), # flake8: noqa
("BLV", np.array([0.000, 0.0,
1]), np.array([-0.1583, 0.16900,
0.0142])), # flake8: noqa
("BLL", np.array([0.866, 0.5,
0]), np.array([-0.2678, 0.27950,
0.0000])), # flake8: noqa
("BRV", np.array([0.000, 0.0,
1]), np.array([-0.1583, -0.1690,
0.0142])), # flake8: noqa
("BRL", np.array([0.866, -0.5,
0]), np.array([-0.2678, -0.2795,
0.0000])), # flake8: noqa
]
# add the thrust indicators
for name, rel_direction, rel_position in thruster_list:
R = make_rotation(np.array([0.0, 0.0, 1.0]), rel_direction)
transformation = compose_transformation(np.transpose(R),
rel_position)
class ThrustGetter(object):
def __init__(self, thruster_name, rdir):
self.thruster_name = thruster_name
self.rdir = rdir
def __call__(self, entity):
return entity.thrust_dict.get(
self.thruster_name, 0.0) * np.array([0.0, 0.0, 1.0])
t = ThrustGetter(name, rel_direction)
self.rendering_world.add_entity(rendering.Indicator,
physical,
get_param=t,
rigid=True,
offset=transformation,
radius=0.01,
scaling_factor=0.01,
color=(0, 40, 200))
self.entity_pairs.append((visual, physical))
