def lisenToKeyboard(self):
for ls in self.dict.itervalues():
for jEObj in ls:
if jEObj.key:
vizactEObj = vizact.whilekeydown(jEObj.key,self.sendJEvent,self.jEHandler.getEventID("JASON_KEYDOWN_EVENT")
,jEObj)
self.listForVizact.append(vizactEObj)
#if we hit spacebar the programm stops reakting to keyboadevents
unLisen = vizact.onkeydown(" ", self.unLisenToKeyboard)
self.listForVizact.append(unLisen)
cam.setInheritView(False)
cam.setPosition([-10.94835, 11.09378, 13.61334])
cam.setRenderTexture(video)
cam.setMultiSample(viz.AUTO_COMPUTE)
cam.setRenderLimit(viz.RENDER_LIMIT_FRAME)
# Get handle to screen object and apply video feed to it
screen = model.getChild('screen')
screen.texture(video)
cam.renderOnlyIfNodeVisible([screen])
# Use up/down keys to zoom camera in/out
def CameraZoom(inc):
cam.fov = viz.clamp(cam.fov+inc,5.0,70.0)
cam.setFov(cam.fov,1.77,0.1,1000)
vizact.whilekeydown(viz.KEY_UP,CameraZoom,vizact.elapsed(-20.0))
vizact.whilekeydown(viz.KEY_DOWN,CameraZoom,vizact.elapsed(20.0))
CameraZoom(0.0)
# Have camera always point towards view position
def UpdateCamera():
cam.lookAt(viz.MainView.getPosition())
vizact.ontimer(0,UpdateCamera)
# Add avatar to represent viewpoint
avatar = steve.Steve()
avatar.setTracker(viz.MainView)
avatar.disable(viz.INTERSECTION)
# Only render avatar for camera
avatar.renderOnlyToRenderNodes([cam],excludeMainPass=True)
if gear > -1:
gear -= 1
def SwapAuto():
global auto
global gear
global speed
global steer
if auto == 1:
auto = 0
else:
auto = 1
gear = 0
speed = 0
steer = 0
#vizact.onkeydown('[', ChangeCar, 1)
#vizact.onkeydown(']', ChangeCar, 2)
vizact.ontimer(0.1, CarUpdate)
vizact.whilekeydown(viz.KEY_UP, Accelerate)
vizact.whilekeydown(' ', Brake)
vizact.whilekeydown(viz.KEY_LEFT, SteerLeft)
vizact.whilekeydown(viz.KEY_RIGHT, SteerRight)
vizact.whilekeydown(viz.KEY_DOWN, Reverse)
vizact.onkeydown('z', GearDown)
vizact.onkeydown('x', GearUp)
vizact.onkeydown('g', SwapAuto)
def initCamera(self): self.pointer.setParent(self.camcenter) #Default camera keys vizact.whilekeydown(viz.KEY_RIGHT,self.camlink.setEuler,[vizact.elapsed(-90),0,0],viz.REL_GLOBAL) vizact.whilekeydown(viz.KEY_LEFT,self.camlink.setEuler,[vizact.elapsed(90),0,0],viz.REL_GLOBAL) vizact.whilekeydown(viz.KEY_UP,self.camlink.setEuler,[0,vizact.elapsed(90),0],viz.REL_LOCAL) vizact.whilekeydown(viz.KEY_DOWN,self.camlink.setEuler,[0,vizact.elapsed(-90),0],viz.REL_LOCAL) vizact.whilekeydown(viz.KEY_KP_0, camlink.preTrans,[0,0,vizact.elapsed(-4)]) vizact.whilekeydown(viz.KEY_CONTROL_R, camlink.preTrans,[0,0,vizact.elapsed(4)])
def pointerInput(mode, pointer, arena):
viz.phys.enable()
"""
Initialize the pointer tool
Mode selection:
0 - Keyboard driven
1 - Spacemouse (WARNING: potential conflict with camera mode 1)
"""
proxy = vizproximity.Manager()
proxy.setDebug(viz.TOGGLE)
# theSensor = vizproximity.addBoundingBoxSensor(arena, scale = [0.95, 0.95, 0.95])
theTarget = vizproximity.Target(pointer)
# proxy.addSensor(theSensor)
proxy.addTarget(theTarget)
vizact.onkeydown('l',pointer.setPosition,[0,1,0])
vizact.onkeydown('l',pointer.setVelocity,[0,0,0])
vizact.onkeydown('l',pointer.setAngularVelocity,[0,0,0])
if mode == 0:
# Keyboard driven pointer, in case you don't have a space mouse
# wx/da/ez control
#For keyboard controls the glove is only linked via orientation
#linking via position was causing issues with the camera focusing feature
#fixedRotation = viz.link(viz.MainView,pointer)
#fixedRotation.setMask(viz.LINK_ORI)
speed = 3.0
vizact.whilekeydown('w',pointer.setPosition,[0,vizact.elapsed(speed),0],viz.REL_LOCAL)
vizact.whilekeydown('x',pointer.setPosition,[0,vizact.elapsed(-speed),0],viz.REL_LOCAL)
vizact.whilekeydown('d',pointer.setPosition,[vizact.elapsed(speed),0,0],viz.REL_LOCAL)
vizact.whilekeydown('a',pointer.setPosition,[vizact.elapsed(-speed),0,0],viz.REL_LOCAL)
vizact.whilekeydown('e',pointer.setPosition,[0,0,vizact.elapsed(speed)],viz.REL_LOCAL)
vizact.whilekeydown('z',pointer.setPosition,[0,0,vizact.elapsed(-speed)],viz.REL_LOCAL)
elif mode == 1:
# Set up pointer control with the Spacemouse
connexion = viz.add('3dconnexion.dle')
device = connexion.addDevice()
def buttonPress(e):
pointer.setPosition([0,1,0])
pointer.setVelocity([0,0,0])
pointer.setAngularVelocity([0,0,0])
viz.callback(viz.SENSOR_DOWN_EVENT,buttonPress)
#call this every loop
#all of this should likely go in controls, we need to fix controls!! -ADE
def getCoords(source, destination, log = False):
"""
source should be a 3D connection device, and
the destination should be a 3d node type
"""
while True:
yield viztask.waitTime( .01 )
position = source.getRawTranslation()
orientation = source.getRawRotation()
#sets the velocity of the glove (destination) to zero
destination.setVelocity([0,0,0], viz.ABS_GLOBAL)
destination.setAngularVelocity([0,0,0] ,viz.ABS_GLOBAL)
#if selected do log scale on orientation
if log:
config.SMEulerScale= [0.5, 0.5 , 0.5]
orientation = logScale(orientation)
#rescale position
position = list(numpy.multiply(position,config.SMPositionScale))
orientation = list(numpy.multiply(orientation,config.SMEulerScale))
#invert signs of x and z
x,y,z = position
#invert signs of x and z rotations, and exchange b and a
a,b,g = orientation
orientation = [b,a,g]
destination.setPosition(position, viz.REL_PARENT)
destination.setEuler(orientation, viz.REL_PARENT)
#schedule controller loop with viztask scheduler
viztask.schedule(getCoords(device, pointer))
return device
else:
raise ValueError('Invaid control mode selection')
def initPointer(self):
if self.controlScheme == "default":
vizact.whilekeydown('w',self.pointer.setPosition,[0,vizact.elapsed(1),0],viz.REL_PARENT)
vizact.whilekeydown('x',self.pointer.setPosition,[0,vizact.elapsed(-1),0],viz.REL_PARENT)
vizact.whilekeydown('d',self.pointer.setPosition,[vizact.elapsed(1),0,0],viz.REL_PARENT)
vizact.whilekeydown('a',self.pointer.setPosition,[vizact.elapsed(-1),0,0],viz.REL_PARENT)
vizact.whilekeydown('e',self.pointer.setPosition,[0,0,vizact.elapsed(1)],viz.REL_PARENT)
vizact.whilekeydown('z',self.pointer.setPosition,[0,0,vizact.elapsed(-1)],viz.REL_PARENT)
elif self.controlScheme == "3dMouse":
self.init3dMouse()
def initCamera(self):
self.pointer.setParent(self.camcenter)
#Default camera keys
vizact.whilekeydown(viz.KEY_RIGHT, self.camlink.setEuler,
[vizact.elapsed(-90), 0, 0], viz.REL_GLOBAL)
vizact.whilekeydown(viz.KEY_LEFT, self.camlink.setEuler,
[vizact.elapsed(90), 0, 0], viz.REL_GLOBAL)
vizact.whilekeydown(viz.KEY_UP, self.camlink.setEuler,
[0, vizact.elapsed(90), 0], viz.REL_LOCAL)
vizact.whilekeydown(viz.KEY_DOWN, self.camlink.setEuler,
[0, vizact.elapsed(-90), 0], viz.REL_LOCAL)
vizact.whilekeydown(viz.KEY_KP_0, camlink.preTrans,
[0, 0, vizact.elapsed(-4)])
vizact.whilekeydown(viz.KEY_CONTROL_R, camlink.preTrans,
[0, 0, vizact.elapsed(4)])
def cameraInput(self):
"""
Initialize the camera movement controls
Mode selection:
0 - Arrow keys circular movement
1 - Spacemouse (WARNING: potential conflict with pointer mode 1)
2 - Wiimote (Not implemented)
"""
if self.camMode == 0:
# Use the arrow keys to move
self.camcenter = viz.addChild('ball.wrl')
self.camcenter.setPosition(0,1.4,0)
self.pointer.setParent(self.camcenter)
self.camcenter.disable(viz.RENDERING)
# #occulus Rift enabled
if(self.displayMode == 2):
self.hmd = oculus.Rift()
navigationNode = viz.addGroup()
viewlink = viz.link(navigationNode, viz.MainView)
viewlink.preMultLinkable(self.hmd.getSensor())
camlink = viz.link(self.camcenter,navigationNode)
#set initial positions
camlink.preEuler([0,0,0])
camlink.preTrans([0,0,-3.25])
#2D display
else:
camlink = viz.link(self.camcenter,viz.MainView)
# #set initial positions
camlink.preEuler([0,30,0])
# camlink.preTrans([0,0,0])
self.camcenter.setPosition(0,3.2,-3.5)
#instantiate control class
controlScheme = CameraKeyboardControl()
#schedule the control loop to be called
# viztask.schedule(controlScheme.performKeyMovements(self.camcenter, camlink))
# viztask.schedule(controlScheme.cameraFocus(self.camcenter, camlink))
#backup control functions:
vizact.whilekeydown(viz.KEY_RIGHT,self.camcenter.setEuler,[vizact.elapsed(90),0,0],viz.REL_GLOBAL)
vizact.whilekeydown(viz.KEY_LEFT,self.camcenter.setEuler,[vizact.elapsed(-90),0,0],viz.REL_GLOBAL)
vizact.whilekeydown(viz.KEY_UP,self.camcenter.setEuler,[0,vizact.elapsed(-90),0],viz.REL_LOCAL)
vizact.whilekeydown(viz.KEY_DOWN,self.camcenter.setEuler,[0,vizact.elapsed(90),0],viz.REL_LOCAL)
vizact.whilekeydown( 't' , self.camcenter.setPosition,[0,0,vizact.elapsed(4)],viz.REL_LOCAL)
vizact.whilekeydown( 'g' , self.camcenter.setPosition,[0,0,vizact.elapsed(-4)],viz.REL_LOCAL)
default = self.camcenter.getPosition()
elif self.camMode == 1:
# Use the SpaceMouse to move camera
MOVE_SCALE = 0.5
ROTATE_SCALE = 5.0
def UpdateMovement():
elapsed = viz.getFrameElapsed()
trans = device.getRawTranslation()
rx,ry,rz = device.getRawRotation()
viz.MainView.setAxisAngle([0,1,0,ry*elapsed*ROTATE_SCALE], viz.HEAD_ORI, viz.REL_LOCAL)
viz.MainView.move(viz.Vector(trans)*elapsed*MOVE_SCALE)
vizact.onupdate(0, UpdateMovement)
# elif mode == 2:
# # wiimote
# pass
else:
raise ValueError('Invaid control mode selection')
ballDropper.setPosition( [0, 1.9, .2] )
ballDropper.setScale( [.2, .2, .2] )
ballDropper.setEuler( [180, 0, 0] )
ballDropper.state( 1 )
#Drop ball when spacebar is pressed
def dropBall():
ball = nextBall.next() #get the next ball to drop
ball.reset() #zero out physics forces
ball.setPosition( ballDropper.getPosition() ) #drop ball at ballDropper's position
ballDropper.execute( 2 )
vizact.onkeydown(' ',dropBall)
#Move ballDropper
vizact.whilekeydown(viz.KEY_UP,ballDropper.setPosition,[0,vizact.elapsed(1),0],viz.REL_PARENT)
vizact.whilekeydown(viz.KEY_DOWN,ballDropper.setPosition,[0,vizact.elapsed(-1),0],viz.REL_PARENT)
vizact.whilekeydown(viz.KEY_RIGHT,ballDropper.setPosition,[vizact.elapsed(1),0,0],viz.REL_PARENT)
vizact.whilekeydown(viz.KEY_LEFT,ballDropper.setPosition,[vizact.elapsed(-1),0,0],viz.REL_PARENT)
#Called when two objects collide in the physics simulator
def onCollide(e):
#Did ball collide with a bumper?
if e.obj2 in balls:
#Change color of bumper
e.obj1.color( random.choice( [viz.RED,viz.GREEN,viz.SKYBLUE,viz.YELLOW,viz.ORANGE,viz.PURPLE] ) )
#Play sound at a volume appropriate for ball speed
speed = viz.Vector( e.obj2.getVelocity() ).length()
if speed > .7:
viz.playSound( 'crashNew.wav' )
elif speed > .4:
def initPointer(self):
if self.controlScheme == "default":
vizact.whilekeydown('w', self.pointer.setPosition,
[0, vizact.elapsed(1), 0], viz.REL_PARENT)
vizact.whilekeydown('x', self.pointer.setPosition,
[0, vizact.elapsed(-1), 0], viz.REL_PARENT)
vizact.whilekeydown('d', self.pointer.setPosition,
[vizact.elapsed(1), 0, 0], viz.REL_PARENT)
vizact.whilekeydown('a', self.pointer.setPosition,
[vizact.elapsed(-1), 0, 0], viz.REL_PARENT)
vizact.whilekeydown('e', self.pointer.setPosition,
[0, 0, vizact.elapsed(1)], viz.REL_PARENT)
vizact.whilekeydown('z', self.pointer.setPosition,
[0, 0, vizact.elapsed(-1)], viz.REL_PARENT)
elif self.controlScheme == "3dMouse":
self.init3dMouse()
def pointerInput(mode, pointer, arena):
viz.phys.enable()
"""
Initialize the pointer tool
Mode selection:
0 - Keyboard driven
1 - Spacemouse (WARNING: potential conflict with camera mode 1)
"""
proxy = vizproximity.Manager()
proxy.setDebug(viz.TOGGLE)
theSensor = vizproximity.addBoundingBoxSensor(arena, scale=[.95, .95, .95])
theTarget = vizproximity.Target(pointer)
proxy.addSensor(theSensor)
proxy.addTarget(theTarget)
def EnterProximity(e):
#print('Hit the wall')
pointer.setVelocity([0, 0, 0])
pointer.setAngularVelocity([0, 0, 0])
print(e.target.getPosition())
temp = e.target.getPosition()
#pointer.setPosition([1,1,1])
def ExitProximity(e):
#print('Hit the wall')
x, y, z = pointer.getPosition()
if (y < .4):
y = .5
elif (y > 4.5):
y = 4.4
if (abs(x) > abs(z) and abs(x) > 5):
if (x < 0):
x = -4.9
else:
x = 4.9
elif (abs(z) > 4):
if (z < 0):
z = -3.9
elif (z > 0):
z = 3.9
pointer.setPosition(x, y, z)
pointer.setVelocity([0, 0, 0])
pointer.setAngularVelocity([0, 0, 0])
proxy.onEnter(None, EnterProximity)
proxy.onExit(None, ExitProximity)
vizact.onkeydown('l', pointer.setPosition, [0, 1, 0])
vizact.onkeydown('l', pointer.setVelocity, [0, 0, 0])
vizact.onkeydown('l', pointer.setAngularVelocity, [0, 0, 0])
if mode == 0:
# Keyboard driven pointer, in case you don't have a space mouse
# wx/da/ez control
#For keyboard controls the glove is only linked via orientation
#linking via position was causing issues with the camera focusing feature
#fixedRotation = viz.link(viz.MainView,pointer)
#fixedRotation.setMask(viz.LINK_ORI)
speed = 3.0
vizact.whilekeydown('w', pointer.setPosition,
[0, vizact.elapsed(speed), 0], viz.REL_LOCAL)
vizact.whilekeydown('x', pointer.setPosition,
[0, vizact.elapsed(-speed), 0], viz.REL_LOCAL)
vizact.whilekeydown('d', pointer.setPosition,
[vizact.elapsed(speed), 0, 0], viz.REL_LOCAL)
vizact.whilekeydown('a', pointer.setPosition,
[vizact.elapsed(-speed), 0, 0], viz.REL_LOCAL)
vizact.whilekeydown('e', pointer.setPosition,
[0, 0, vizact.elapsed(speed)], viz.REL_LOCAL)
vizact.whilekeydown('z', pointer.setPosition,
[0, 0, vizact.elapsed(-speed)], viz.REL_LOCAL)
elif mode == 1:
# Set up pointer control with the Spacemouse
connexion = viz.add('3dconnexion.dle')
device = connexion.addDevice()
def buttonPress(e):
pointer.setPosition([0, 1, 0])
pointer.setVelocity([0, 0, 0])
pointer.setAngularVelocity([0, 0, 0])
viz.callback(viz.SENSOR_DOWN_EVENT, buttonPress)
#device.setTranslateScale([1,1,1])
#device.setRotateScale([0,0,0]) # i don't think we need this
#add 3Dnode object that follows mainview exactly, called MainViewShadow
# MainViewShadow = vizshape.addSphere(radius = .5)
# MainViewShadow.disable(viz.RENDERING)
# viz.link(viz.MainView, MainViewShadow)
#make glove () child of MainViewShadow
#fixedRotation = viz.link(MainViewShadow,pointer)
#fixedRotation.setMask(viz.LINK_ORI)
#pointer.setParent(MainViewShadow)
#call this every loop
#all of this should likely go in controls, we need to fix controls!! -ADE
def getCoords(source, destination):
"""
source should be a 3D connection device, and
the destination should be a 3d node type
"""
def logScale(orientation):
"""
list or len() = 3 -> list of len 3
takes the orintation list and returns the log of
the magnitude of each element , and then keeps the
original sign
ex) [ 10 , -10 ,1000] -> [1 , -1, 3]
"""
import math
base = 2
mag_orientation = []
sign = [] #list of signs
#make all elements positive, store original signs
for element in orientation:
if math.fabs(element) == element:
#element is positive
mag_orientation.append(element)
sign.append(1)
else:
#element is negative
mag_orientation.append(-1 * element)
sign.append(-1)
#handle case where number is zero, and set to 1
n = 0
for element in mag_orientation:
if element == 0:
mag_orientation[n] = 1
n += 1
#take log of each element
log_orientation = []
for element in mag_orientation:
log = math.log(element, base)
log_orientation.append(log)
#restablish original signs
orientation = scalarMult(sign, log_orientation)
return orientation
#set source scale
# scale1 = [.0001,.0001,.0001]
# scale2 =[.01,.01,.01]
#log
log = False
while True:
yield viztask.waitTime(.01)
position = source.getRawTranslation()
orientation = source.getRawRotation()
#sets the velocity of the glove (destination) to zero
destination.setVelocity([0, 0, 0], viz.ABS_GLOBAL)
destination.setAngularVelocity([0, 0, 0], viz.ABS_GLOBAL)
#if selected do log scale on orientation
if log == True:
config.orientationVector = [.5, .5, .5]
orientation = logScale(orientation)
#rescale position
position = scalarMult(position, config.positionVector)
orientation = scalarMult(orientation, config.orientationVector)
#invert signs of x and z
x, y, z = position
#invert signs of x and z rotations, and exchange b and a
a, b, g = orientation
orientation = [b, a, g]
#print(orientation)
destination.setPosition(position, viz.REL_PARENT)
destination.setEuler(orientation, viz.REL_PARENT)
def scalarMult(lst1, lst2):
"""
takes 2 lists, and returns the scalar
multiplication of the lists
*lists must be the same length
"""
new_lst = []
for i in range(len(lst1)):
n_val = lst1[i] * lst2[i]
new_lst.append(n_val)
return new_lst
#schedule controller loop with viztask scheduler
viztask.schedule(getCoords(device, pointer))
#vizact.ontimer2(.01,1, delayedSet )
#viz.link(device, pointer, viz.REL_PARENT)
#link.preEuler([0,90,0])
return device
else:
raise ValueError('Invaid control mode selection')
#question guys. if keyboard is selected, should the init script call code
#in the control module to set the functions? - Alex
def pointerInput(mode, pointer,arena):
viz.phys.enable()
"""
Initialize the pointer tool
Mode selection:
0 - Keyboard driven
1 - Spacemouse (WARNING: potential conflict with camera mode 1)
"""
proxy = vizproximity.Manager()
proxy.setDebug(viz.TOGGLE)
theSensor = vizproximity.addBoundingBoxSensor(arena,scale=[.95,.95,.95])
theTarget = vizproximity.Target(pointer)
proxy.addSensor(theSensor)
proxy.addTarget(theTarget)
def EnterProximity(e):
#print('Hit the wall')
pointer.setVelocity([0,0,0])
pointer.setAngularVelocity([0,0,0])
print(e.target.getPosition())
temp = e.target.getPosition()
#pointer.setPosition([1,1,1])
def ExitProximity(e):
#print('Hit the wall')
x,y,z = pointer.getPosition()
if(y < .4):
y = .5
elif(y > 4.5 ):
y = 4.4
if(abs(x) > abs(z) and abs(x) > 5):
if(x<0):
x = -4.9
else:
x = 4.9
elif(abs(z) > 4):
if(z<0):
z = -3.9
elif(z>0):
z = 3.9
pointer.setPosition(x,y,z)
pointer.setVelocity([0,0,0])
pointer.setAngularVelocity([0,0,0])
proxy.onEnter(None,EnterProximity)
proxy.onExit(None,ExitProximity)
vizact.onkeydown('l',pointer.setPosition,[0,1,0])
vizact.onkeydown('l',pointer.setVelocity,[0,0,0])
vizact.onkeydown('l',pointer.setAngularVelocity,[0,0,0])
if mode == 0:
# Keyboard driven pointer, in case you don't have a space mouse
# wx/da/ez control
#For keyboard controls the glove is only linked via orientation
#linking via position was causing issues with the camera focusing feature
#fixedRotation = viz.link(viz.MainView,pointer)
#fixedRotation.setMask(viz.LINK_ORI)
speed = 3.0
vizact.whilekeydown('w',pointer.setPosition,[0,vizact.elapsed(speed),0],viz.REL_LOCAL)
vizact.whilekeydown('x',pointer.setPosition,[0,vizact.elapsed(-speed),0],viz.REL_LOCAL)
vizact.whilekeydown('d',pointer.setPosition,[vizact.elapsed(speed),0,0],viz.REL_LOCAL)
vizact.whilekeydown('a',pointer.setPosition,[vizact.elapsed(-speed),0,0],viz.REL_LOCAL)
vizact.whilekeydown('e',pointer.setPosition,[0,0,vizact.elapsed(speed)],viz.REL_LOCAL)
vizact.whilekeydown('z',pointer.setPosition,[0,0,vizact.elapsed(-speed)],viz.REL_LOCAL)
elif mode == 1:
# Set up pointer control with the Spacemouse
connexion = viz.add('3dconnexion.dle')
device = connexion.addDevice()
def buttonPress(e):
pointer.setPosition([0,1,0])
pointer.setVelocity([0,0,0])
pointer.setAngularVelocity([0,0,0])
viz.callback(viz.SENSOR_DOWN_EVENT,buttonPress)
#device.setTranslateScale([1,1,1])
#device.setRotateScale([0,0,0]) # i don't think we need this
#add 3Dnode object that follows mainview exactly, called MainViewShadow
# MainViewShadow = vizshape.addSphere(radius = .5)
# MainViewShadow.disable(viz.RENDERING)
# viz.link(viz.MainView, MainViewShadow)
#make glove () child of MainViewShadow
#fixedRotation = viz.link(MainViewShadow,pointer)
#fixedRotation.setMask(viz.LINK_ORI)
#pointer.setParent(MainViewShadow)
#call this every loop
#all of this should likely go in controls, we need to fix controls!! -ADE
def getCoords(source, destination):
"""
source should be a 3D connection device, and
the destination should be a 3d node type
"""
def logScale(orientation):
"""
list or len() = 3 -> list of len 3
takes the orintation list and returns the log of
the magnitude of each element , and then keeps the
original sign
ex) [ 10 , -10 ,1000] -> [1 , -1, 3]
"""
import math
base = 2
mag_orientation = []
sign = [] #list of signs
#make all elements positive, store original signs
for element in orientation:
if math.fabs(element) == element:
#element is positive
mag_orientation.append(element)
sign.append(1)
else:
#element is negative
mag_orientation.append(-1*element)
sign.append(-1)
#handle case where number is zero, and set to 1
n = 0
for element in mag_orientation:
if element == 0:
mag_orientation[n] = 1
n+=1
#take log of each element
log_orientation=[]
for element in mag_orientation:
log = math.log(element, base)
log_orientation.append(log)
#restablish original signs
orientation = scalarMult(sign, log_orientation)
return orientation
#set source scale
# scale1 = [.0001,.0001,.0001]
# scale2 =[.01,.01,.01]
#log
log = False
while True:
yield viztask.waitTime( .01 )
position = source.getRawTranslation()
orientation = source.getRawRotation()
#sets the velocity of the glove (destination) to zero
destination.setVelocity([0,0,0], viz.ABS_GLOBAL)
destination.setAngularVelocity([0,0,0] ,viz.ABS_GLOBAL)
#if selected do log scale on orientation
if log == True:
config.orientationVector= [.5, .5 , .5]
orientation = logScale(orientation)
#rescale position
position = scalarMult(position,config.positionVector)
orientation = scalarMult(orientation,config.orientationVector)
#invert signs of x and z
x,y,z = position
#invert signs of x and z rotations, and exchange b and a
a,b,g = orientation
orientation = [b,a,g]
#print(orientation)
destination.setPosition(position, viz.REL_PARENT)
destination.setEuler(orientation, viz.REL_PARENT)
def scalarMult(lst1,lst2):
"""
takes 2 lists, and returns the scalar
multiplication of the lists
*lists must be the same length
"""
new_lst = []
for i in range(len(lst1)):
n_val = lst1[i]*lst2[i]
new_lst.append(n_val)
return new_lst
#schedule controller loop with viztask scheduler
viztask.schedule( getCoords(device,pointer))
#vizact.ontimer2(.01,1, delayedSet )
#viz.link(device, pointer, viz.REL_PARENT)
#link.preEuler([0,90,0])
return device
else:
raise ValueError('Invaid control mode selection')
#question guys. if keyboard is selected, should the init script call code
#in the control module to set the functions? - Alex
def cameraInput(self):
"""
Initialize the camera movement controls
Mode selection:
0 - Arrow keys circular movement
1 - Spacemouse (WARNING: potential conflict with pointer mode 1)
2 - Wiimote (Not implemented)
"""
if self.camMode == 0:
# Use the arrow keys to move
self.camcenter = viz.addChild('ball.wrl')
self.camcenter.setPosition(0,1.4,0)
self.pointer.setParent(self.camcenter)
self.camcenter.disable(viz.RENDERING)
# #occulus Rift enabled
if(self.displayMode == 2):
self.hmd = oculus.Rift()
navigationNode = viz.addGroup()
viewlink = viz.link(navigationNode, viz.MainView)
viewlink.preMultLinkable(self.hmd.getSensor())
camlink = viz.link(self.camcenter,navigationNode)
#set initial positions
camlink.preEuler([0,0,0])
camlink.preTrans([0,0,-3.25])
#2D display
else:
camlink = viz.link(self.camcenter,viz.MainView)
#set initial positions
camlink.preEuler([0,30,0])
camlink.preTrans([0,0,-5])
#instantiate control class
controlScheme = CameraKeyboardControl()
#schedule the control loop to be called
viztask.schedule(controlScheme.performKeyMovements(self.camcenter, camlink))
viztask.schedule(controlScheme.cameraFocus(self.camcenter, camlink))
#backup control functions:
vizact.whilekeydown(viz.KEY_RIGHT,self.camcenter.setEuler,[vizact.elapsed(-90),0,0],viz.REL_GLOBAL)
vizact.whilekeydown(viz.KEY_LEFT,self.camcenter.setEuler,[vizact.elapsed(90),0,0],viz.REL_GLOBAL)
vizact.whilekeydown(viz.KEY_UP,self.camcenter.setEuler,[0,vizact.elapsed(90),0],viz.REL_LOCAL)
vizact.whilekeydown(viz.KEY_DOWN,self.camcenter.setEuler,[0,vizact.elapsed(-90),0],viz.REL_LOCAL)
vizact.whilekeydown( 't' , camlink.preTrans,[0,0,vizact.elapsed(-4)])
vizact.whilekeydown( 'g' , camlink.preTrans,[0,0,vizact.elapsed(4)])
default = self.camcenter.getPosition()
elif self.camMode == 1:
# Use the SpaceMouse to move camera
MOVE_SCALE = 0.5
ROTATE_SCALE = 5.0
def UpdateMovement():
elapsed = viz.getFrameElapsed()
trans = device.getRawTranslation()
rx,ry,rz = device.getRawRotation()
viz.MainView.setAxisAngle([0,1,0,ry*elapsed*ROTATE_SCALE], viz.HEAD_ORI, viz.REL_LOCAL)
viz.MainView.move(viz.Vector(trans)*elapsed*MOVE_SCALE)
vizact.onupdate(0, UpdateMovement)
# elif mode == 2:
# # wiimote
# pass
else:
raise ValueError('Invaid control mode selection')
def pointerInput(mode, pointer, arena):
viz.phys.enable()
"""
Initialize the pointer tool
Mode selection:
0 - Keyboard driven
1 - Spacemouse (WARNING: potential conflict with camera mode 1)
"""
proxy = vizproximity.Manager()
proxy.setDebug(viz.TOGGLE)
# theSensor = vizproximity.addBoundingBoxSensor(arena, scale = [0.95, 0.95, 0.95])
theTarget = vizproximity.Target(pointer)
# proxy.addSensor(theSensor)
proxy.addTarget(theTarget)
vizact.onkeydown('l',pointer.setPosition,[0,1,0])
vizact.onkeydown('l',pointer.setVelocity,[0,0,0])
vizact.onkeydown('l',pointer.setAngularVelocity,[0,0,0])
if mode == 0:
# Keyboard driven pointer, in case you don't have a space mouse
# wx/da/ez control
#For keyboard controls the glove is only linked via orientation
#linking via position was causing issues with the camera focusing feature
#fixedRotation = viz.link(viz.MainView,pointer)
#fixedRotation.setMask(viz.LINK_ORI)
speed = 3.0
vizact.whilekeydown('w',pointer.setPosition,[0,vizact.elapsed(speed),0],viz.REL_LOCAL)
vizact.whilekeydown('x',pointer.setPosition,[0,vizact.elapsed(-speed),0],viz.REL_LOCAL)
vizact.whilekeydown('d',pointer.setPosition,[vizact.elapsed(speed),0,0],viz.REL_LOCAL)
vizact.whilekeydown('a',pointer.setPosition,[vizact.elapsed(-speed),0,0],viz.REL_LOCAL)
vizact.whilekeydown('e',pointer.setPosition,[0,0,vizact.elapsed(speed)],viz.REL_LOCAL)
vizact.whilekeydown('z',pointer.setPosition,[0,0,vizact.elapsed(-speed)],viz.REL_LOCAL)
elif mode == 1:
# Set up pointer control with the Spacemouse
connexion = viz.add('3dconnexion.dle')
device = connexion.addDevice()
def buttonPress(e):
pointer.setPosition([0,1,0])
pointer.setVelocity([0,0,0])
pointer.setAngularVelocity([0,0,0])
viz.callback(viz.SENSOR_DOWN_EVENT,buttonPress)
#call this every loop
#all of this should likely go in controls, we need to fix controls!! -ADE
def getCoords(source, destination, log = False):
"""
source should be a 3D connection device, and
the destination should be a 3d node type
"""
while True:
yield viztask.waitTime( .01 )
position = source.getRawTranslation()
orientation = source.getRawRotation()
#sets the velocity of the glove (destination) to zero
destination.setVelocity([0,0,0], viz.ABS_GLOBAL)
destination.setAngularVelocity([0,0,0] ,viz.ABS_GLOBAL)
#if selected do log scale on orientation
if log:
config.SMEulerScale= [0.5, 0.5 , 0.5]
orientation = logScale(orientation)
#rescale position
position = list(numpy.multiply(position,config.SMPositionScale))
orientation = list(numpy.multiply(orientation,config.SMEulerScale))
#invert signs of x and z
x,y,z = position
#invert signs of x and z rotations, and exchange b and a
a,b,g = orientation
orientation = [b,a,g]
destination.setPosition(position, viz.REL_PARENT)
destination.setEuler(orientation, viz.REL_PARENT)
#schedule controller loop with viztask scheduler
viztask.schedule(getCoords(device, pointer))
return device
else:
raise ValueError('Invaid control mode selection')
sky = viz.add('skydome.dlc')
sky.texture(env)
# add room model
SCALE = [0.03, 0.03, 0.03]
room = viz.add("../models/room3/room3.wrl")
room.setScale(SCALE)
# add ground model
ground = viz.add('tut_ground.wrl')
ground.setScale([5,1,5])
# keyboard controls -- for debugging only
TRANSLATE_INC = .2
ROTATION_INC = 2
vizact.whilekeydown(viz.KEY_UP,viz.move,0,0,TRANSLATE_INC) #Move forward while up key is pressed
vizact.whilekeydown(viz.KEY_DOWN,viz.move,0,0,-TRANSLATE_INC) #Move backward while down key is pressed
vizact.whilekeydown(viz.KEY_LEFT,viz.rotate,viz.BODY_ORI,-ROTATION_INC,0,0) #Turn left while left arrow pressed
vizact.whilekeydown(viz.KEY_RIGHT,viz.rotate,viz.BODY_ORI,ROTATION_INC,0,0) #Turn right while right arrow pressed
# HMD constants (for real world view)
HMDfov_vert = 36.
HMDwidth = 640.
HMDheight = 480.
HMDnear = 1
HMDfar = 1000
HMDaspect = HMDwidth/HMDheight
# set up real world view parameters
viz.fov( HMDfov_vert, HMDaspect )
viz.window.setSize( HMDwidth, HMDheight )
