def draw_background(imname):
''' Draw background image using a quad. '''
# load background image (should be .bmp) to OpenGL texture
bg_image = pygame.image.load(imname).convert()
bg_data = pygame.image.tostring(bg_image, "RGBA", 1)
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glLoadIdentity()
GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
# bind the texture
GL.glEnable(GL.GL_TEXTURE_2D)
GL.glBindTexture(GL.GL_TEXTURE_2D, GL.glGenTextures(1))
GL.glTexImage2D(GL.GL_TEXTURE_2D, 0, GL.GL_RGBA, width, height, 0, GL.GL_RGBA, GL.GL_UNSIGNED_BYTE, bg_data)
GL.glTexParameterf(GL.GL_TEXTURE_2D, GL.GL_TEXTURE_MAG_FILTER, GL.GL_NEAREST)
GL.glTexParameterf(GL.GL_TEXTURE_2D, GL.GL_TEXTURE_MIN_FILTER, GL.GL_NEAREST)
# create quad to fill the whole window
GL.glBegin(GL.GL_QUADS)
GL.glTexCoord2f(0.0, 0.0); GL.glVertex3f(-1.0, -1.0, -1.0)
GL.glTexCoord2f(1.0, 0.0); GL.glVertex3f(1.0, -1.0, -1.0)
GL.glTexCoord2f(1.0, 1.0); GL.glVertex3f(1.0, 1.0, -1.0)
GL.glTexCoord2f(0.0, 1.0); GL.glVertex3f(-1.0, 1.0, -1.0)
GL.glEnd()
# clear the texture
GL.glDeleteTextures(1)
def paintGL(self,pick=0):
GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
GL.glLoadIdentity()
GL.glTranslatef(self.posx,self.posy,self.posz)
GL.glRotatef(self.rotx,1.0,0.0,0.0)
GL.glRotatef(self.roty,0.0,1.0,0.0)
GL.glRotatef(self.rotz,0.0,0.0,1.0)
GL.glBegin(GL.GL_LINES)
GL.glColor3f(0.0,0.0,0.0)
GL.glColor3f(1, 0, 0)
GL.glVertex3f(0, 0, 0)
GL.glVertex3f(10000, 0, 0)
GL.glColor3f(0, 1, 0)
GL.glVertex3f(0, 0, 0)
GL.glVertex3f(0, 10000, 0)
GL.glColor3f(0, 0, 1)
GL.glVertex3f(0, 0, 0)
GL.glVertex3f(0, 0, 10000)
GL.glEnd()
for obj in self.objects:
if obj == self.picked:
GL.glColor3f(1.0,0.0,0.0)
else:
GL.glColor3f(1.0,1.0,1.0)
obj.draw(pick)
def display(self):
"""Draw surface to a quad. Call as part of OpenGL rendering code."""
ogl.glEnable(ogl.GL_BLEND)
ogl.glBlendFunc(ogl.GL_SRC_ALPHA, ogl.GL_ONE_MINUS_SRC_ALPHA)
ogl.glEnable(ogl.GL_TEXTURE_2D)
ogl.glBindTexture(ogl.GL_TEXTURE_2D, self._txtr)
ogl.glTexEnvf(ogl.GL_TEXTURE_ENV, ogl.GL_TEXTURE_ENV_MODE, ogl.GL_REPLACE)
#ogl.glColor4d( 1.0, 1.0, 1.0, alpha )
#ogl.glTexEnvf(ogl.GL_TEXTURE_ENV, ogl.GL_TEXTURE_ENV_MODE, ogl.GL_MODULATE)
#glTexEnvf( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE );
#ogl.glTexEnvfv(ogl.GL_TEXTURE_ENV, ogl.GL_TEXTURE_ENV_COLOR, (0, 0, 0, alpha))
#ogl.glNormal3f(0.0, 0.0, -1.0)
ogl.glBegin(ogl.GL_QUADS)
ogl.glTexCoord2f(0.0, 1-self._usable[1])
# bottom left corner
ogl.glVertex3f(*self.dims[0])
ogl.glTexCoord2f(self._usable[0], 1-self._usable[1])
# bottom right corner
ogl.glVertex3f(self.dims[1][0],self.dims[1][1],0.0)
ogl.glTexCoord2f(self._usable[0], 1.0)
# top right corner
ogl.glVertex3f(*self.dims[2])
ogl.glTexCoord2f(0.0, 1.0)
# top left corner
ogl.glVertex3f(*self.dims[3])
ogl.glEnd()
ogl.glDisable(ogl.GL_BLEND)
ogl.glDisable(ogl.GL_TEXTURE_2D)
def DrawViolin(self, x_offset):
# Get stats
stats = self._stats
# Smooth lines
gl.glEnable(gl.GL_LINE_SMOOTH)
# Translate points
points = self._points.copy()
points[:,0] += x_offset
# Draw outer lines
gl.glEnableClientState(gl.GL_VERTEX_ARRAY)
gl.glVertexPointerf(points)
gl.glDrawArrays(gl.GL_LINE_STRIP, 0, points.shape[0])
gl.glFlush()
gl.glDisableClientState(gl.GL_VERTEX_ARRAY)
# Draw mean p25, p50 and p75
w2 = self._width * 0.25
gl.glBegin(gl.GL_LINES)
gl.glVertex2f(x_offset-w2, stats.Q2)
gl.glVertex2f(x_offset+w2, stats.Q2)
gl.glVertex2f(x_offset, stats.Q1)
gl.glVertex2f(x_offset, stats.Q3)
gl.glEnd()
def generateList(self,model):
displayList = GL.glGenLists(1)
GL.glNewList(displayList,GL.GL_COMPILE)
for polygon in model.shapes:
rotation = polygon.rotation
triangles = polygon.indices
vertices = polygon.vertices
GL.glPushMatrix()
GL.glRotatef(rotation[0],1.0,0.0,0.0)
GL.glRotatef(rotation[1],0.0,1.0,0.0)
GL.glRotatef(rotation[2],0.0,0.0,1.0)
GL.glBegin(GL.GL_TRIANGLES)
for vertex in triangles:
GL.glVertex3f(*[vertices[vertex][i]/100 for i in range(3)])
GL.glEnd()
GL.glPushAttrib(GL.GL_CURRENT_BIT)
GL.glColor3f(0.0,0.0,0.0)
for triangle in [triangles[i*3:i*3+3] for i in range(len(triangles)//3)]:
GL.glBegin(GL.GL_LINES)
for vertex in triangle:
GL.glVertex3f(*[vertices[vertex][i]/100 for i in range(3)])
GL.glEnd()
GL.glPopAttrib()
GL.glPopMatrix()
GL.glEndList()
return displayList
def drawGL(self,**kargs):
"""Draw the triade."""
# When entering here, the modelview matrix has been set
# We should make sure it is unchanged on exit
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glPushMatrix()
GL.glTranslatef (*self.pos)
GL.glScalef (self.size,self.size,self.size)
# Coord axes of size 1.0
GL.glBegin(GL.GL_LINES)
pts = Formex(pattern('1')).coords.reshape(-1,3)
GL.glColor3f(*black)
for i in range(3):
if colored_axes:
GL.glColor(*self.color[i])
for x in pts:
GL.glVertex3f(*x)
pts = pts.rollAxes(1)
GL.glEnd()
if draw_planes:
# Coord plane triangles of size 0.5
GL.glBegin(GL.GL_TRIANGLES)
pts = Formex(mpattern('16')).scale(0.5).coords.reshape(-1,3)
for i in range(3):
pts = pts.rollAxes(1)
GL.glColor(*self.color[i])
for x in pts:
GL.glVertex3f(*x)
GL.glEnd()
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glPopMatrix()
def _draw_me(self):
"""Draw the triade components."""
GL.glBegin(GL.GL_LINES)
pts = Formex('1').coords.reshape(-1,3)
GL.glColor3f(*black)
for i in range(3):
#GL.glColor(*self.color[i])
for x in pts:
GL.glVertex3f(*x)
pts = pts.rollAxes(1)
GL.glEnd()
# Coord planes
if self.pat:
GL.glBegin(GL.GL_TRIANGLES)
pts = Formex(self.pat)
#pts += pts.reverse()
pts = pts.scale(0.5).coords.reshape(-1,3)
for i in range(3):
pts = pts.rollAxes(1)
GL.glColor3f(*self.color[i])
for x in pts:
GL.glVertex3f(*x)
GL.glEnd()
# Coord axes denomination
for i,x in enumerate(self.legend):
p = unitVector(i)*1.1
t = TextMark(p,x)
t.drawGL()
def load_object(self, model, color):
"""Loads the object from an stl."""
self.bottom = None
self.top = None
obj_genlist = GL.glGenLists(1)
GL.glNewList(obj_genlist, GL.GL_COMPILE)
GL.glBegin(GL.GL_TRIANGLES)
self.qglColor(color)
for triangle in model.mesh:
GL.glNormal3d(*triangle[1])
for point in triangle[0]:
#self.log.debug('Adding point %s', point)
if point[2] < self.bottom or self.bottom is None:
self.bottom = point[2]
if point[2] > self.top or self.bottom is None:
self.top = point[2]
GL.glVertex3d(*point)
self.log.info("This model has %d facets", model.poly.size_of_facets())
GL.glEnd()
GL.glEndList()
if self.slice_slider is not None:
self.slice_slider.setMinimum(math.floor(self.bottom))
self.slice_slider.setMaximum(math.ceil(self.top))
return obj_genlist
def drawGrid(x1,y1,x2,y2,nx,ny):
"""Draw a rectangular grid of lines
The rectangle has (x1,y1) and and (x2,y2) as opposite corners.
There are (nx,ny) subdivisions along the (x,y)-axis. So the grid
has (nx+1) * (ny+1) lines. nx=ny=1 draws a rectangle.
nx=0 draws 1 vertical line (at x1). nx=-1 draws no vertical lines.
ny=0 draws 1 horizontal line (at y1). ny=-1 draws no horizontal lines.
"""
GL.glBegin(GL.GL_LINES)
ix = range(nx+1)
if nx==0:
jx = [1]
nx = 1
else:
jx = ix[::-1]
for i,j in zip(ix,jx):
x = (i*x2+j*x1)/nx
GL.glVertex2f(x, y1)
GL.glVertex2f(x, y2)
iy = range(ny+1)
if ny==0:
jy = [1]
ny = 1
else:
jy = iy[::-1]
for i,j in zip(iy,jy):
y = (i*y2+j*y1)/ny
GL.glVertex2f(x1, y)
GL.glVertex2f(x2, y)
GL.glEnd()
def __init__( self, sides, size, color, position = (0.0, 0.0, 0.0) ):
self.sides = sides
self.color = color
self.size = size
self.position = np.array(position)
height = LEGO_BIG_HEIGHT if self.size else LEGO_SMALL_HEIGHT
length = self.bottom - self.top
combine = lambda _points, _vertices, _weights: _points
self.__tess = GLU.gluNewTess()
GLU.gluTessCallback(self.__tess, GLU.GLU_TESS_BEGIN, GL.glBegin)
GLU.gluTessCallback(self.__tess,GLU.GLU_TESS_VERTEX,GL.glVertex3fv)
GLU.gluTessCallback(self.__tess,GLU.GLU_TESS_COMBINE,combine)
GLU.gluTessCallback(self.__tess, GLU.GLU_TESS_END, GL.glEnd)
GLU.gluTessProperty(self.__tess, GLU.GLU_TESS_WINDING_RULE, GLU.GLU_TESS_WINDING_ODD)
self.__gllist = GL.glGenLists(1)
GL.glNewList(self.__gllist,GL.GL_COMPILE)
GL.glColor3fv(self.color)
GL.glBindTexture(GL.GL_TEXTURE_2D,0)
GLU.gluTessNormal(self.__tess, 0.0, 1.0, 0.0)
GL.glNormal3f(0.0, 1.0, 0.0)
GLU.gluTessBeginPolygon(self.__tess,None)
GLU.gluTessBeginContour(self.__tess)
for i in range(0,len(self.coords)):
vertex = (self.coords[i][0]*LEGO_GRID, height, self.coords[i-1][1]*LEGO_GRID)
GLU.gluTessVertex(self.__tess, vertex, vertex)
vertex = (self.coords[i][0]*LEGO_GRID, height, self.coords[i][1]*LEGO_GRID)
GLU.gluTessVertex(self.__tess, vertex, vertex)
GLU.gluTessEndContour(self.__tess)
GLU.gluTessEndPolygon(self.__tess)
for i in range(0,len(self.coords)):
GL.glBegin(GL.GL_QUADS)
sign = float(np.sign(self.sides[2*i-1]))
GL.glNormal3f( sign, 0.0, 0.0 )
GL.glVertex3f( self.coords[i][0] * LEGO_GRID, height, self.coords[i-1][1] * LEGO_GRID)
GL.glVertex3f( self.coords[i][0] * LEGO_GRID, height, self.coords[i] [1] * LEGO_GRID)
GL.glVertex3f( self.coords[i][0] * LEGO_GRID, 0.0, self.coords[i] [1] * LEGO_GRID)
GL.glVertex3f( self.coords[i][0] * LEGO_GRID, 0.0, self.coords[i-1][1] * LEGO_GRID)
sign = float(np.sign(self.sides[2*i-2]))
GL.glNormal3f( 0.0, 0.0, -sign )
GL.glVertex3f( self.coords[i-1][0] * LEGO_GRID, height, self.coords[i-1][1] * LEGO_GRID )
GL.glVertex3f( self.coords[i] [0] * LEGO_GRID, height, self.coords[i-1][1] * LEGO_GRID )
GL.glVertex3f( self.coords[i] [0] * LEGO_GRID, 0.0, self.coords[i-1][1] * LEGO_GRID )
GL.glVertex3f( self.coords[i-1][0] * LEGO_GRID, 0.0, self.coords[i-1][1] * LEGO_GRID )
GL.glEnd()
GL.glTranslatef( self.left*LEGO_GRID + LEGO_GRID/2.0, (LEGO_BUMP_HEIGHT+height)/2.0 , self.bottom*LEGO_GRID - LEGO_GRID/2.0 )
for i in range( self.left, self.right ):
for j in range( self.bottom, self.top ):
GL.glTranslatef( 0.0, 0.0, LEGO_GRID )
if self.is_hit( (i+0.5,j+0.5) ):
_caped_cylinder( LEGO_BUMP_RADIUS, height+LEGO_BUMP_HEIGHT, 32 )
GL.glTranslatef( 0.0, 0.0, length*LEGO_GRID )
GL.glTranslatef( LEGO_GRID, 0.0, 0.0 )
GL.glEndList()
def buildQuad(self):
if self.drawList > 0:
GL.glDeleteLists(self.drawList, 1)
xmin, ymin, zmin = self._limits[0]
xmax, ymax, zmax = self._limits[1]
tx0 = 0.0
tx1 = (1.0 * self.__width)/self.__tWidth
ty0 = 0.0
ty1 = (1.0 * self.__height)/self.__tHeight
self.drawList = GL.glGenLists(1)
GL.glNewList(self.drawList, GL.GL_COMPILE)
#The texture gets multiplied by this color!!
GL.glColor4f(1.0, 1.0, 1.0, self.__alpha)
GL.glBindTexture(GL.GL_TEXTURE_2D, self.__textureId)
GL.glEnable(GL.GL_TEXTURE_2D)
GL.glBegin(GL.GL_QUADS)
GL.glTexCoord2d(tx0, ty0)
GL.glVertex3f(xmin, ymin, zmin)
GL.glTexCoord2d(tx0, ty1)
GL.glVertex3f(xmin, ymax, zmin)
GL.glTexCoord2d(tx1, ty1)
GL.glVertex3f(xmax, ymax, zmin)
GL.glTexCoord2d(tx1, ty0)
GL.glVertex3f(xmax, ymin, zmin)
GL.glEnd()
GL.glDisable(GL.GL_TEXTURE_2D)
GL.glEndList()
self._forceListCalculation = False
def _build_plane(self, color):
"""Build the platform plane."""
plane_genlist = GL.glGenLists(1)
GL.glNewList(plane_genlist, GL.GL_COMPILE)
GL.glBegin(GL.GL_TRIANGLES)
self.qglColor(color)
GL.glNormal3d(0.0, 0.0, 1.0)
GL.glVertex3d(-100.0, 100, -0.01)
GL.glVertex3d(100.0, 100, -0.01)
GL.glVertex3d(100.0, -100.0, -0.01)
GL.glNormal3d(0.0, 0.0, 1.0)
GL.glVertex3d(-100.0, 100, -0.01)
GL.glVertex3d(100.0, -100, -0.01)
GL.glVertex3d(-100.0, -100.0, -0.01)
#GL.glNormal3d(0.0, 0.0, -1.0)
#GL.glVertex3d(-101.0, 100, 0.0001)
#GL.glVertex3d(101.0, 100, 0.0001)
#GL.glVertex3d(101.0, -101.0, 0.0001)
#GL.glNormal3d(0.0, 0.0, -1.0)
#GL.glVertex3d(-101.0, 100, 0.0001)
#GL.glVertex3d(101.0, -100, 0.0001)
#GL.glVertex3d(-101.0, -101.0, 0.0001)
GL.glEnd()
GL.glEndList()
return plane_genlist
def drawInterceptor(agent):
width = agent.width
length = agent.length
color = agent.color
threeFifthsLength = (3.0 * length) / 5.0
twoFifthsLength = (2.0 * length) / 5.0
halfWidth = width / 2.0
GL.glPushMatrix()
x, y = agent.position
direction = agent.getDirectionDegrees()
GL.glTranslate(x, y, 0)
GL.glRotatef(direction, 0, 0, 1)
GL.glColor3f(*color)
GL.glBegin(GL.GL_LINES)
GL.glVertex2f(0, 0)
GL.glVertex2f(threeFifthsLength, 0)
GL.glVertex2f(-twoFifthsLength, halfWidth)
GL.glVertex2f(twoFifthsLength, halfWidth)
GL.glVertex2f(-twoFifthsLength, -halfWidth)
GL.glVertex2f(twoFifthsLength, -halfWidth)
GL.glVertex2f(0, halfWidth)
GL.glVertex2f(0, -halfWidth)
GL.glEnd()
GL.glPopMatrix()
def blit(self, x, y, w, h, z=0, s=(0,1), t=(0,1)):
''' Draw texture to active framebuffer. '''
if self.target == gl.GL_TEXTURE_1D:
gl.glDisable (gl.GL_TEXTURE_2D)
gl.glEnable (gl.GL_TEXTURE_1D)
gl.glBindTexture(self.target, self.id)
gl.glBegin(gl.GL_QUADS)
gl.glTexCoord1f(s[0]), gl.glVertex2f(x, y)
gl.glTexCoord1f(s[0]), gl.glVertex2f(x, y+h)
gl.glTexCoord1f(s[1]), gl.glVertex2f(x+w, y+h)
gl.glTexCoord1f(s[1]), gl.glVertex2f(x+w, y)
gl.glEnd()
else:
gl.glEnable (gl.GL_TEXTURE_2D)
gl.glDisable (gl.GL_TEXTURE_1D)
gl.glBindTexture(self.target, self.id)
gl.glBegin(gl.GL_QUADS)
gl.glTexCoord2f(s[0], 1), gl.glVertex2f(x, y)
gl.glTexCoord2f(s[0], 0), gl.glVertex2f(x, y+h)
gl.glTexCoord2f(s[1], 0), gl.glVertex2f(x+w, y+h)
gl.glTexCoord2f(s[1], 1), gl.glVertex2f(x+w, y)
gl.glEnd()
gl.glDisable (gl.GL_TEXTURE_1D)
gl.glDisable (gl.GL_TEXTURE_2D)
def drawMotherShip(agent):
width = agent.width
length = agent.length
color = agent.color
GL.glPushMatrix()
x, y = agent.position
direction = agent.getDirectionDegrees()
GL.glTranslate(x, y, 0)
GL.glRotatef(direction, 0, 0, 1)
GL.glColor3f(*color)
GL.glBegin(GL.GL_LINE_LOOP)
halfWidth = width / 2.0
halfLength = length / 2.0
sixthWidth = width / 6.0
# Core of the ship
GL.glVertex2f(0, halfWidth)
GL.glVertex2f(-halfLength, sixthWidth)
GL.glVertex2f(-halfLength, -sixthWidth)
GL.glVertex2f(0, -halfWidth)
GL.glVertex2f(halfLength, -sixthWidth)
GL.glVertex2f(halfLength, sixthWidth)
GL.glEnd()
GL.glPopMatrix()
def drawBomber(agent):
width = agent.width
length = agent.length
color = agent.color
halfWidth = width / 2.0
halfLength = length / 2.0
quarterLength = length / 4.0
GL.glPushMatrix()
x, y = agent.position
direction = agent.getDirectionDegrees()
GL.glTranslate(x, y, 0)
GL.glRotatef(direction, 0, 0, 1)
GL.glColor3f(*color)
GL.glBegin(GL.GL_LINES)
GL.glVertex2f(halfLength, halfWidth)
GL.glVertex2f(-halfLength, halfWidth)
GL.glVertex2f(halfLength, -halfWidth)
GL.glVertex2f(-halfLength, -halfWidth)
GL.glVertex2f(quarterLength, halfWidth)
GL.glVertex2f(quarterLength, -halfWidth)
GL.glVertex2f(-quarterLength, halfWidth)
GL.glVertex2f(-quarterLength, -halfWidth)
GL.glVertex2f(quarterLength, 0)
GL.glVertex2f(halfLength, 0)
GL.glEnd()
GL.glPopMatrix()
def drawGridPlanes(x0,x1,nx):
"""Draw a 3D rectangular grid of planes.
A grid of planes parallel to the axes is drawn in the domain bounded
by the rectangular box [x0,x1]. The grid has nx divisions in the axis
directions, thus planes will be drawn at nx[i]+1 positions in direction i.
If nx[i] == 0, planes are only drawn for the initial coordinate x0.
Thus nx=(0,2,3) results in a grid of 3x4 planes // x and
one plane // (y,z) at coordinate x=x0[0].
"""
x0 = asarray(x0)
x1 = asarray(x1)
nx = asarray(nx)
for i in range(3):
axes = (asarray([1,2]) + i) % 3
if all(nx[axes] > 0):
j,k = axes
base = simple.regularGrid(x0[i],x1[i],nx[i]).ravel()
x = zeros((base.shape[0],4,3))
corners = array([x0[axes],[x1[j],x0[k]],x1[axes],[x0[j],x1[k]]])
for j in range(4):
x[:,j,i] = base
x[:,:,axes] = corners
GL.glBegin(GL.GL_QUADS)
for p in x.reshape((-1,3)):
GL.glVertex3fv(p)
GL.glEnd()
def DrawScreen(self):
OGL.glClear(OGL.GL_COLOR_BUFFER_BIT | OGL.GL_DEPTH_BUFFER_BIT) # Clear The Screen And The Depth Buffer
OGL.glLoadIdentity() # Reset The matrix
# To calculate our collision detection with the camera, it just takes one function
# call from the client side. We just pass in the vertices in the world that we
# want to check, and then the vertex count.
objCamera.CheckCameraCollision(g_vWorld, g_NumberOfVerts)
# Assign Values to Local Variables to Prevent Long Lines Of Code
pos.x, pos.y, pos.z = objCamera.mPos.x, objCamera.mPos.y, objCamera.mPos.z
view.x, view.y, view.z = objCamera.mView.x, objCamera.mView.y, objCamera.mView.z
up.x, up.y, up.z = objCamera.mUp.x, objCamera.mUp.y, objCamera.mUp.z
# use this function for opengl target camera
OGLU.gluLookAt(pos.x, pos.y, pos.z, view.x, view.y, view.z, up.x, up.y, up.z)
# Since we have the vertices for the world in the correct order, let's create
# a loop that goes through all of the vertices and passes them in to be rendered.
OGL.glBegin(OGL.GL_TRIANGLES)
# Go through all the vertices and draw them
for i in range(0,g_NumberOfVerts,3):
OGL.glColor3ub(i, 2*i, 3*i) # All different colors to see the structure while playing
OGL.glVertex3f(g_vWorld[i].x, g_vWorld[i].y, g_vWorld[i].z)
OGL.glVertex3f(g_vWorld[i+1].x, g_vWorld[i+1].y, g_vWorld[i+1].z)
OGL.glVertex3f(g_vWorld[i+2].x, g_vWorld[i+2].y, g_vWorld[i+2].z)
OGL.glEnd()
def draw(self):
ohs = self.owner.healthscale
ohs = 1
flippy = 1
if self.owner.x > self.owner.gmx:
flippy = -1
#if self.on:
GL.glPushMatrix()
GL.glTranslatef(self.owner.cx, self.owner.cy, 0.0)
GL.glRotatef(self.owner.aimgle,0,0,1)
GL.glTranslatef(0.0, 12, 0.0)
#print flippy
GL.glTranslatef(self.owner.mx*self.posmult*ohs, self.owner.my*self.posmult*ohs, 0.0)
GL.glScalef(flippy*self.scale,self.scale,1)
GL.glScalef(8*ohs,8*ohs,12)
GL.glBindTexture(GL.GL_TEXTURE_2D, self.image)
if self.timetofire > 3:
GL.glBindTexture(GL.GL_TEXTURE_2D, self.loadimage)
GL.glColor3f(1.0, 1.0, 1.0)
GL.glBegin(GL.GL_QUADS)
GL.glTexCoord2f(0.0, 1.0)
GL.glVertex3f(1.0, 1.0, 0.0)
GL.glTexCoord2f(1.0, 1.0)
GL.glVertex3f(-1.0, 1.0, 0.0)
GL.glTexCoord2f(1.0, 0.0)
GL.glVertex3f(-1.0, -1.0, 0.0)
GL.glTexCoord2f(0.0, 0.0)
GL.glVertex3f(1.0, -1.0, 0.0)
GL.glEnd()
GL.glPopMatrix()
def drawGridLines(x0,x1,nx):
"""Draw a 3D rectangular grid of lines.
A grid of lines parallel to the axes is drawn in the domain bounded
by the rectangular box [x0,x1]. The grid has nx divisions in the axis
directions, thus lines will be drawn at nx[i]+1 positions in direction i.
If nx[i] == 0, lines are only drawn for the initial coordinate x0.
Thus nx=(0,2,3) results in a grid of 3x4 lines in the plane // (y,z) at
coordinate x=x0[0].
"""
x0 = asarray(x0)
x1 = asarray(x1)
nx = asarray(nx)
for i in range(3):
if nx[i] > 0:
axes = (asarray([1,2]) + i) % 3
base = simple.regularGrid(x0[axes],x1[axes],nx[axes]).reshape((-1,2))
x = zeros((base.shape[0],2,3))
x[:,0,axes] = base
x[:,1,axes] = base
x[:,0,i] = x0[i]
x[:,1,i] = x1[i]
GL.glBegin(GL.GL_LINES)
for p in x.reshape((-1,3)):
GL.glVertex3fv(p)
GL.glEnd()
def _on_paint(self, event): """ Respond to paint events. Initialize GL if this is the first paint event. Resize the view port if the width or height changed. Redraw the screen, calling the draw functions. """ if not self.IsShownOnScreen(): # Cannot realise a GL context on OS X if window is not yet shown return # create device context (needed on Windows, noop on X) dc = None if event.GetEventObject(): # Only create DC if paint triggered by WM message (for OS X) dc = wx.PaintDC(self) self.lock() self.SetCurrent(self._gl_ctx) # Real the explicit GL context # check if gl was initialized if not self._gl_init_flag: GL.glClearColor(*BACKGROUND_COLOR_SPEC) for fcn in self._init_fcns: fcn() self._gl_init_flag = True # check for a change in window size if self._resized_flag: self.width, self.height = self.GetSize() GL.glMatrixMode(GL.GL_PROJECTION) GL.glLoadIdentity() GL.glOrtho(0, self.width, self.height, 0, 1, 0) GL.glMatrixMode(GL.GL_MODELVIEW) GL.glLoadIdentity() GL.glViewport(0, 0, self.width, self.height) for cache in self._gl_caches: cache.changed(True) self._resized_flag = False # clear buffer if needed if self.clear_accum or not self.use_persistence: GL.glClear(GL.GL_COLOR_BUFFER_BIT) self.clear_accum=False # apply fading if self.use_persistence: GL.glEnable(GL.GL_BLEND) GL.glBlendFunc(GL.GL_SRC_ALPHA, GL.GL_ONE_MINUS_SRC_ALPHA) GL.glBegin(GL.GL_QUADS) GL.glColor4f(1,1,1,self.persist_alpha) GL.glVertex2f(0, self.height) GL.glVertex2f(self.width, self.height) GL.glVertex2f(self.width, 0) GL.glVertex2f(0, 0) GL.glEnd() GL.glDisable(GL.GL_BLEND) # draw functions for fcn in self._draw_fcns: fcn[1]() # show result self.SwapBuffers() self.unlock()
def DrawGrid():
global GRID_SIZE, DIST_BALL
row = col = 0
rowTotal = 8 # must be divisible by 2
colTotal = rowTotal # must be same as rowTotal
widthLine = 2.0 # should be divisible by 2
sizeCell = GRID_SIZE / rowTotal
z_offset = -40.0
xl = xr = 0.0
yt = yb = 0.0
gl.glPushMatrix()
gl.glDisable(gl.GL_CULL_FACE)
# Another relative Z translation to separate objects.
gl.glTranslatef(0.0, 0.0, DIST_BALL)
# Draw vertical lines (as skinny 3D rectangles).
for col in my_range(0, colTotal):
# Compute co-ords of line.
xl = -GRID_SIZE / 2 + col * sizeCell
xr = xl + widthLine
yt = GRID_SIZE / 2
yb = -GRID_SIZE / 2 - widthLine
gl.glBegin(gl.GL_POLYGON)
gl.glColor3f(0.60, 0.10, 0.60) # purple
gl.glVertex3f(xr, yt, z_offset) # NE
gl.glVertex3f(xl, yt, z_offset) # NW
gl.glVertex3f(xl, yb, z_offset) # SW
gl.glVertex3f(xr, yb, z_offset) # SE
gl.glEnd()
# Draw horizontal lines (as skinny 3D rectangles).
for row in my_range(0, rowTotal):
# Compute co-ords of line.
yt = GRID_SIZE / 2 - row * sizeCell
yb = yt - widthLine
xl = -GRID_SIZE / 2
xr = GRID_SIZE / 2 + widthLine
gl.glBegin(gl.GL_POLYGON)
gl.glColor3f(0.60, 0.10, 0.60) # purple
gl.glVertex3f(xr, yt, z_offset) # NE
gl.glVertex3f(xl, yt, z_offset) # NW
gl.glVertex3f(xl, yb, z_offset) # SW
gl.glVertex3f(xr, yb, z_offset) # SE
gl.glEnd()
gl.glPopMatrix()
def draw_bounding_box(minx, miny, minz, maxx, maxy, maxz, color):
p1 = [minx, miny, minz]
p2 = [minx, maxy, minz]
p3 = [maxx, maxy, minz]
p4 = [maxx, miny, minz]
p5 = [minx, miny, maxz]
p6 = [minx, maxy, maxz]
p7 = [maxx, maxy, maxz]
p8 = [maxx, miny, maxz]
# lower rectangle
GL.glBegin(GL.GL_LINES)
GL.glColor4f(*color)
# all combinations of neighbouring corners
for corner_pair in [
(p1, p2),
(p1, p5),
(p1, p4),
(p2, p3),
(p2, p6),
(p3, p4),
(p3, p7),
(p4, p8),
(p5, p6),
(p6, p7),
(p7, p8),
(p8, p5),
]:
GL.glVertex3f(*(corner_pair[0]))
GL.glVertex3f(*(corner_pair[1]))
GL.glEnd()
def draw_toolpath(moves, color_cut, color_rapid, show_directions=False):
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glLoadIdentity()
last_position = None
last_rapid = None
GL.glBegin(GL.GL_LINE_STRIP)
for position, rapid in moves:
if last_rapid != rapid:
GL.glEnd()
if rapid:
GL.glColor4f(*color_rapid)
else:
GL.glColor4f(*color_cut)
GL.glBegin(GL.GL_LINE_STRIP)
if not last_position is None:
GL.glVertex3f(last_position.x, last_position.y, last_position.z)
last_rapid = rapid
GL.glVertex3f(position.x, position.y, position.z)
last_position = position
GL.glEnd()
if show_directions:
for index in range(len(moves) - 1):
p1 = moves[index][0]
p2 = moves[index + 1][0]
draw_direction_cone(p1, p2)
def draw_line(self, start_x, start_y, end_x, end_y,
color=(1.0, 1.0, 1.0, 1.0),
width=None):
"""Draw a line on canvas."""
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.glColor4f(*color)
prev_width = None
if width is not None:
prev_width = gl.glGetFloat(gl.GL_LINE_WIDTH)
gl.glLineWidth(width)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glHint(gl.GL_LINE_SMOOTH_HINT, gl.GL_DONT_CARE)
gl.glBegin(gl.GL_LINES)
gl.glVertex2f(start_x, start_y)
gl.glVertex2f(end_x, end_y)
gl.glEnd()
gl.glDisable(gl.GL_BLEND)
if prev_width is not None:
gl.glLineWidth(prev_width)
def draw(self):
gl.glPushMatrix()
gl.glTranslatef(self.origin_x, self.origin_y, 0)
gl.glColor4f(1.0, 1.0, 1.0, 1.0)
render_text(self.text)
# gl.glPushMatrix()
# gl.glTranslatef(self.pos - 100, 0, 0)
# gl.glBegin(GL_LINES)
# gl.glVertex2i(95, 14)
# gl.glVertex2i(85, 10)
# gl.glVertex2i(95, 6)
# gl.glVertex2i(85, 10)
#
# gl.glVertex2i(125, 14)
# gl.glVertex2i(135, 10)
# gl.glVertex2i(125, 6)
# gl.glVertex2i(135, 10)
# gl.glEnd()
# gl.glPopMatrix()
gl.glColor4f(0.7, 0.7, 0.7, 0.4)
gl.glBegin(GL_QUADS)
gl.glVertex2i(self.pos, 0)
gl.glVertex2i(self.pos, 20)
gl.glVertex2i(self.pos + 20, 20)
gl.glVertex2i(self.pos + 20, 0)
gl.glEnd()
gl.glPopMatrix()
def DebugDraw(self,scale): p0=self.ma.pos*scale p1=self.mb.pos*scale GL.glBegin(GL.GL_LINES) GL.glVertex2d(p0.x(),p0.y()) GL.glVertex2d(p1.x(),p1.y()) GL.glEnd()
def flip():
global frameTexture
if useFBO:
FB.glBindFramebufferEXT(FB.GL_FRAMEBUFFER_EXT, 0)
GL.glDisable(GL.GL_BLEND)
#GL.glBlendEquation(GL.GL_FUNC_ADD)
#GL.glBlendFunc(GL.GL_SRC_ALPHA, GL.GL_ONE_MINUS_SRC_ALPHA)
#GL.glBlendFunc(GL.GL_SRC_ALPHA, GL.GL_DST_ALPHA)
#before flipping need to copy the renderBuffer to the frameBuffer
GL.glColor4f(1,1,1,1)
GL.glActiveTexture(GL.GL_TEXTURE0)
GL.glBindTexture(GL.GL_TEXTURE_2D, frameTexture)
GL.glBegin( GL.GL_QUADS )
GL.glMultiTexCoord2f(GL.GL_TEXTURE0, 0.0, 0.0 )
GL.glVertex2f( -1.0,-1.0 )
GL.glMultiTexCoord2f(GL.GL_TEXTURE0, 0.0, 1.0 )
GL.glVertex2f( -1.0, 1.0 )
GL.glMultiTexCoord2f(GL.GL_TEXTURE0,1.0, 1.0 )
GL.glVertex2f( 1.0, 1.0 )
GL.glMultiTexCoord2f(GL.GL_TEXTURE0, 1.0, 0.0 )
GL.glVertex2f( 1.0, -1.0 )
GL.glEnd()
pygame.display.flip()
if useFBO:
GL.glBindTexture(GL.GL_TEXTURE_2D, 0)
GL.glDisable(GL.GL_TEXTURE_2D)
GL.glEnable(GL.GL_BLEND)
FB.glBindFramebufferEXT(FB.GL_FRAMEBUFFER_EXT, frameBuffer)
def drawLine(self, parent, child, color, linewidth):
GL.glLineWidth(linewidth)
GL.glColor3f(color[0], color[1], color[2])
GL.glBegin(GL.GL_LINES)
GL.glVertex3f(parent[0], parent[1], parent[2])
GL.glVertex3f(child[0], child[1], child[2])
GL.glEnd()
def drawBezier(x,color=None,objtype=GL.GL_LINE_STRIP,granularity=100):
"""Draw a collection of Bezier curves.
x: (4,3,3) : control points
color: (4,) or (4,4): colors
"""
GL.glMap1f(GL.GL_MAP1_VERTEX_3,0.0,1.0,x)
GL.glEnable(GL.GL_MAP1_VERTEX_3)
if color is not None and color.shape == (4,4):
GL.glMap1f(GL.GL_MAP1_COLOR_4,0.0,1.0,color)
GL.glEnable(GL.GL_MAP1_COLOR_4)
u = arange(granularity+1) / float(granularity)
if color is not None and color.shape == (4,):
GL.glColor4fv(color)
color = None
GL.glBegin(objtype)
for ui in u:
# For multicolors, this will generate both a color and a vertex
GL.glEvalCoord1f(ui)
GL.glEnd()
GL.glDisable(GL.GL_MAP1_VERTEX_3)
if color is not None:
GL.glDisable(GL.GL_MAP1_COLOR_4)
def _OnDrawContent(self, mode, bgcolor, pos, pickerHelper=None):
# Draw background
if bgcolor:
# Set view
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
ortho(0, 1, 0, 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
# Overwrite all
gl.glDisable(gl.GL_DEPTH_TEST)
# Define colors, use gradient?
bgcolor1 = bgcolor2 = bgcolor3 = bgcolor4 = bgcolor
if mode != DRAW_SHAPE and self.bgcolors:
gl.glShadeModel(gl.GL_SMOOTH)
if len(self.bgcolors) == 2:
bgcolor1 = bgcolor2 = self.bgcolors[0]
bgcolor3 = bgcolor4 = self.bgcolors[1]
elif len(self.bgcolors) == 4:
bgcolor1, bgcolor2, bgcolor3, bgcolor4 = self.bgcolors
# Draw
gl.glBegin(gl.GL_POLYGON)
gl.glColor3f(bgcolor3[0], bgcolor3[1], bgcolor3[2])
gl.glVertex2f(0, 0)
gl.glColor3f(bgcolor1[0], bgcolor1[1], bgcolor1[2])
gl.glVertex2f(0, 1)
gl.glColor3f(bgcolor2[0], bgcolor2[1], bgcolor2[2])
gl.glVertex2f(1, 1)
gl.glColor3f(bgcolor4[0], bgcolor4[1], bgcolor4[2])
gl.glVertex2f(1, 0)
gl.glEnd()
# Reset
gl.glEnable(gl.GL_DEPTH_TEST)
# Draw items in world coordinates
if True:
# Setup the camera
self.camera.SetView()
# Draw stuff, but wait with lines
lines2draw = []
for item in self._wobjects:
if isinstance(item, (Line, BaseAxis)):
lines2draw.append(item)
else:
item._DrawTree(mode, pickerHelper)
# Lines (and the axis) are a special case. In order to blend
# them well, we should draw textures, meshes etc, first.
# Note that this does not work if lines textures are children
# of each-other. in that case they should be added to the scene
# in the correct order.
for item in lines2draw:
item._DrawTree(mode, pickerHelper)
# Draw items in screen coordinates
if mode != DRAW_SHAPE:
# Set camera to screen coordinates.
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
h = pos.h_fig
ortho(pos.absLeft, pos.absRight, h - pos.absBottom, h - pos.absTop)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
# Allow wobjects to draw in screen coordinates
# Note that the axis for the 2d camera needs to draw beyond
# the viewport of the axes, and is therefore drawn later.
gl.glEnable(gl.GL_DEPTH_TEST)
is2dcam = isinstance(self.camera, cameras.TwoDCamera)
for item in self._wobjects:
if is2dcam and isinstance(item, BaseAxis):
continue
item._DrawTree(DRAW_SCREEN)
def makeObject(self):
genList = GL.glGenLists(1)
GL.glNewList(genList, GL.GL_COMPILE)
GL.glBegin(GL.GL_QUADS)
x1 = +0.06
y1 = -0.14
x2 = +0.14
y2 = -0.06
x3 = +0.08
y3 = +0.00
x4 = +0.30
y4 = +0.22
self.quad(x1, y1, x2, y2, y2, x2, y1, x1)
self.quad(x3, y3, x4, y4, y4, x4, y3, x3)
self.extrude(x1, y1, x2, y2)
self.extrude(x2, y2, y2, x2)
self.extrude(y2, x2, y1, x1)
self.extrude(y1, x1, x1, y1)
self.extrude(x3, y3, x4, y4)
self.extrude(x4, y4, y4, x4)
self.extrude(y4, x4, y3, x3)
Pi = 3.14159265358979323846
NumSectors = 200
for i in range(NumSectors):
angle1 = (i * 2 * Pi) / NumSectors
x5 = 0.30 * math.sin(angle1)
y5 = 0.30 * math.cos(angle1)
x6 = 0.20 * math.sin(angle1)
y6 = 0.20 * math.cos(angle1)
angle2 = ((i + 1) * 2 * Pi) / NumSectors
x7 = 0.20 * math.sin(angle2)
y7 = 0.20 * math.cos(angle2)
x8 = 0.30 * math.sin(angle2)
y8 = 0.30 * math.cos(angle2)
self.quad(x5, y5, x6, y6, x7, y7, x8, y8)
self.extrude(x6, y6, x7, y7)
self.extrude(x8, y8, x5, y5)
GL.glEnd()
GL.glEndList()
return genList
def paintGL(self, p, opt, widget):
p.beginNativePainting()
import OpenGL.GL as gl
## set clipping viewport
view = self.getViewBox()
if view is not None:
rect = view.mapRectToItem(self, view.boundingRect())
#gl.glViewport(int(rect.x()), int(rect.y()), int(rect.width()), int(rect.height()))
#gl.glTranslate(-rect.x(), -rect.y(), 0)
gl.glEnable(gl.GL_STENCIL_TEST)
gl.glColorMask(gl.GL_FALSE, gl.GL_FALSE, gl.GL_FALSE,
gl.GL_FALSE) # disable drawing to frame buffer
gl.glDepthMask(gl.GL_FALSE) # disable drawing to depth buffer
gl.glStencilFunc(gl.GL_NEVER, 1, 0xFF)
gl.glStencilOp(gl.GL_REPLACE, gl.GL_KEEP, gl.GL_KEEP)
## draw stencil pattern
gl.glStencilMask(0xFF)
gl.glClear(gl.GL_STENCIL_BUFFER_BIT)
gl.glBegin(gl.GL_TRIANGLES)
gl.glVertex2f(rect.x(), rect.y())
gl.glVertex2f(rect.x() + rect.width(), rect.y())
gl.glVertex2f(rect.x(), rect.y() + rect.height())
gl.glVertex2f(rect.x() + rect.width(), rect.y() + rect.height())
gl.glVertex2f(rect.x() + rect.width(), rect.y())
gl.glVertex2f(rect.x(), rect.y() + rect.height())
gl.glEnd()
gl.glColorMask(gl.GL_TRUE, gl.GL_TRUE, gl.GL_TRUE, gl.GL_TRUE)
gl.glDepthMask(gl.GL_TRUE)
gl.glStencilMask(0x00)
gl.glStencilFunc(gl.GL_EQUAL, 1, 0xFF)
try:
x, y = self.getData()
pos = np.empty((len(x), 2))
pos[:, 0] = x
pos[:, 1] = y
gl.glEnableClientState(gl.GL_VERTEX_ARRAY)
try:
gl.glVertexPointerf(pos)
pen = fn.mkPen(self.opts['pen'])
color = pen.color()
gl.glColor4f(color.red() / 255.,
color.green() / 255.,
color.blue() / 255.,
color.alpha() / 255.)
width = pen.width()
if pen.isCosmetic() and width < 1:
width = 1
gl.glPointSize(width)
gl.glLineWidth(width)
gl.glEnable(gl.GL_LINE_SMOOTH)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glHint(gl.GL_LINE_SMOOTH_HINT, gl.GL_NICEST)
gl.glDrawArrays(gl.GL_LINE_STRIP, 0,
int(pos.size / pos.shape[-1]))
finally:
gl.glDisableClientState(gl.GL_VERTEX_ARRAY)
finally:
p.endNativePainting()
def draw_polygons(x,n,c,t,alpha,objtype):
"""Draw a collection of polygons.
x : float (nel,nplex,3) : coordinates.
n : float (nel,3) or (nel,nplex,3) : normals.
c : float (nel,3) or (nel,nplex,3) : color(s)
t : float (nplex,2) or (nel,nplex,2) : texture coords
alpha : float
objtype : GL Object type (-1 = auto)
If nplex colors per element are given, and shading mode is flat,
the last color will be used.
"""
pf.debug("draw_tex_polygons",pf.DEBUG.DRAW)
x = x.astype(float32)
nelems,nplex = x.shape[:2]
ndn = ndc = ndt = 0
if n is not None:
n = n.astype(float32)
ndn = n.ndim
if c is not None:
c = c.astype(float32)
ndc = c.ndim
if t is not None:
t = t.astype(float32)
ndt = t.ndim
if objtype < 0:
objtype = glObjType(nplex)
pf.debug("nelems=%s, nplex=%s, ndn=%s, ndc=%s, ndt=%s, objtype=%s"%(nelems,nplex,ndn,ndc,ndt,objtype),pf.DEBUG.DRAW)
simple = nplex <= 4 and objtype == glObjType(nplex)
if simple:
GL.glBegin(objtype)
if ndc == 1:
glColor(c,alpha)
for i in range(nelems):
if ndc == 2:
glColor(c[i],alpha)
if ndn == 2:
GL.glNormal3fv(n[i])
for j in range(nplex):
if ndn == 3:
GL.glNormal3fv(n[i,j])
if ndc == 3:
glColor(c[i,j],alpha)
if ndt == 2:
GL.glTexCoord2fv(t[j])
elif ndt == 3:
GL.glTexCoord2fv(t[i,j])
GL.glVertex3fv(x[i,j])
GL.glEnd()
else:
if ndc == 1:
glColor(c,alpha)
for i in range(nelems):
GL.glBegin(objtype)
if ndc == 2:
glColor(c[i],alpha)
if ndn == 2:
GL.glNormal3fv(n[i])
for j in range(nplex):
if ndn == 3:
GL.glNormal3fv(n[i,j])
if ndc == 3:
glColor(c[i,j],alpha)
if ndt == 2:
GL.glTexCoord2fv(t[j])
elif ndt == 3:
GL.glTexCoord2fv(t[i,j])
GL.glVertex3fv(x[i,j])
GL.glEnd()
def paintGL(self):
myBez = Make_bez(xyzs)
us = [i / 100 for i in range(0, 101, 4)]
vs = [i / 100 for i in range(0, 101, 4)]
bezierPoints = myBez.bezierSurface(us, vs)
GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
GL.glLoadIdentity()
GLU.gluLookAt(1, 1, 3, -2.5, 0, -3, 0, 1.5, 0)
GL.glColor3f(1, 1, 1)
# Рисуем оси
GL.glBegin(GL.GL_LINES)
GL.glVertex3f(0, 0, 0)
GL.glVertex3f(0, 0, 40)
GL.glEnd()
GL.glBegin(GL.GL_LINES)
GL.glVertex3f(0, 0, 0)
GL.glVertex3f(40, 0, 0)
GL.glEnd()
GL.glBegin(GL.GL_LINES)
GL.glVertex3f(0, 0, 0)
GL.glVertex3f(0, 40, 0)
GL.glEnd()
# Рисуем горизонтальные линии многоугольника
GL.glColor(1, 0, 0)
GL.glBegin(GL.GL_LINE_STRIP)
for i in range(len(xyzs)):
for j in range(len(xyzs)):
GL.glVertex3f(xyzs[i][j][0], xyzs[i][j][1], xyzs[i][j][2])
GL.glEnd()
# Рисуем вертикальные линии многоугольника
GL.glBegin(GL.GL_LINE_STRIP)
for i in range(len(xyzs)):
for j in range(len(xyzs)):
GL.glVertex3f(xyzs[j][i][0], xyzs[j][i][1], xyzs[j][i][2])
GL.glEnd()
# Рисуем горизонтальные линии поверхности Безье
GL.glColor(0, 1, 0)
GL.glBegin(GL.GL_LINE_STRIP)
for i in range(len(bezierPoints)):
for j in range(len(bezierPoints)):
if bezierPoints[i][j] == 0:
continue
GL.glVertex3f(bezierPoints[i][j][0], bezierPoints[i][j][1],
bezierPoints[i][j][2])
GL.glEnd()
# Рисуем вертикальные линии поверхности Безье
GL.glBegin(GL.GL_LINE_STRIP)
for i in range(len(bezierPoints)):
for j in range(len(bezierPoints)):
GL.glVertex3f(bezierPoints[j][i][0], bezierPoints[j][i][1],
bezierPoints[j][i][2])
GL.glEnd()
def render(self):
super(GatherViewer, self).render()
ctx = MjRenderContext(self.env.env.sim)
scn = ctx.scn
con = ctx.con
functions.mjv_makeScene(scn, 1000)
scn.camera[0].frustum_near = 0.05
scn.camera[1].frustum_near = 0.05
for obj in self.env.objects:
x, y, typ = obj
qpos = np.zeros_like(self.green_ball_sim.data.qpos)
qpos[0] = x
qpos[1] = y
if typ == APPLE:
self.green_ball_sim.data.qpos[:] = qpos
self.green_ball_sim.forward()
self.green_ball_renderer.render()
self.green_ball_ctx = MjRenderContext(self.green_ball_sim)
functions.mjv_addGeoms(self.green_ball_sim.model,
self.green_ball_sim.data,
self.green_ball_ctx.vopt,
self.green_ball_ctx.pert, CAT_ALL, scn)
else:
self.red_ball_sim.data.qpos[:] = qpos
self.red_ball_sim.forward()
self.red_ball_renderer.render()
self.red_ball_ctx = MjRenderContext(self.red_ball_sim)
functions.mjv_addGeoms(self.red_ball_sim.model,
self.red_ball_sim.data,
self.red_ball_ctx.vopt,
self.red_ball_ctx.pert, CAT_ALL, scn)
functions.mjv_addGeoms(self.env.env.sim.model, self.env.env.sim.data,
ctx.vopt, ctx.pert, CAT_ALL, scn)
functions.mjr_render(self.green_ball_renderer.get_rect(), scn, con)
try:
import OpenGL.GL as GL
except ImportError:
return
def draw_rect(x, y, width, height):
# start drawing a rectangle
GL.glBegin(GL.GL_QUADS)
# bottom left point
GL.glVertex2f(x, y)
# bottom right point
GL.glVertex2f(x + width, y)
# top right point
GL.glVertex2f(x + width, y + height)
# top left point
GL.glVertex2f(x, y + height)
def refresh2d(width, height):
GL.glViewport(0, 0, width, height)
GL.glMatrixMode(GL.GL_PROJECTION)
GL.glLoadIdentity()
GL.glOrtho(0.0, width, 0.0, height, 0.0, 1.0)
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glLoadIdentity()
GL.glBegin(GL.GL_QUADS)
GL.glLoadIdentity()
width, height = glfw.get_framebuffer_size(self.window)
refresh2d(width, height)
GL.glDisable(GL.GL_LIGHTING)
GL.glEnable(GL.GL_BLEND)
GL.glColor4f(0.0, 0.0, 0.0, 0.8)
draw_rect(10, 10, 300, 100)
apple_readings, bomb_readings = self.env.get_readings()
for idx, reading in enumerate(apple_readings):
if reading > 0:
GL.glColor4f(0.0, 1.0, 0.0, reading)
draw_rect(20 * (idx + 1), 10, 5, 50)
for idx, reading in enumerate(bomb_readings):
if reading > 0:
GL.glColor4f(1.0, 0.0, 0.0, reading)
draw_rect(20 * (idx + 1), 60, 5, 50)
def redraw_perspective(self):
w = self.winfo_width()
h = self.winfo_height()
GL.glViewport(0, 0, w, h) # left corner in pixels
if self.use_gradient_background:
GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
###
GL.glMatrixMode(GL.GL_PROJECTION)
GL.glLoadIdentity() # switch to identity (origin) matrix
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glPushMatrix()
GL.glPushMatrix()
GL.glLoadIdentity()
GL.glDisable(GL.GL_DEPTH_TEST)
GL.glBegin(GL.GL_QUADS)
#//bottom color
color = self.gradient_color1
GL.glColor3f(color[0], color[1], color[2])
GL.glVertex2f(-1.0, -1.0)
GL.glVertex2f(1.0, -1.0)
#//top color
color = self.gradient_color2
GL.glColor3f(color[0], color[1], color[2])
GL.glVertex2f(1.0, 1.0)
GL.glVertex2f(-1.0, 1.0)
GL.glEnd()
GL.glEnable(GL.GL_DEPTH_TEST)
GL.glPopMatrix()
GL.glPopMatrix()
else:
# Clear the background and depth buffer.
GL.glClearColor(*(self.colors['back'] + (0, )))
GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
GL.glMatrixMode(GL.GL_PROJECTION)
GL.glLoadIdentity()
GLU.gluPerspective(
self.
fovy, # The vertical Field of View, in radians: the amount of "zoom".
# Think "camera lens". Usually between 90 (extra wide) and 30 (quite zoomed in)
float(w) / float(
h
), # Aspect Ratio. Notice that 4/3 == 800/600 screen resolution
self.
near, # near clipping plane. Keep as big as possible, or you'll get precision issues.
self.far +
self.distance) # Far clipping plane. Keep as little as possible.
GLU.gluLookAt(
0,
0,
self.distance, # the position of your camera, in world space
0,
0,
0, # where you want to look at, in world space
0.,
1.,
0.
) # probably glm::vec3(0,1,0), but (0,-1,0) would make you looking upside-down
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glPushMatrix()
try:
self.redraw()
finally:
GL.glFlush() # Tidy up
GL.glPopMatrix() # Restore the matrix
def draw_line(v1, v2):
gl.glBegin(gl.GL_LINES)
gl.glVertex3f(v1.x, v1.y, v1.z)
gl.glVertex3f(v2.x, v2.y, v2.z)
gl.glEnd()
def glMainLoop(self):
self.logger.info("Running gl viewer ...")
flag = False
pangolin.CreateWindowAndBind('Main', 640, 480)
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
panel = pangolin.CreatePanel('menu')
panel.SetBounds(1.0, 1.0, 0.0, 100 / 640.)
# Does not work with initialization of window
# self.Init()
camera_pose = pangolin.OpenGlMatrix()
# create scene graph
# scene = pangolin.Renderable()
# # x : R
# # y : G
# # z : B
# scene.Add(pangolin.Axis())
#
rendered_cam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.01,
2000),
pangolin.ModelViewLookAt(1, 0, 1, 0, 0, 0, 0, 0, 1))
handler = pangolin.Handler3D(rendered_cam)
# handler = pangolin.SceneHandler(scene, rendered_cam)
# add drawing callback
#
viewport = pangolin.CreateDisplay()
viewport.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0)
viewport.SetHandler(handler)
image_viewport = pangolin.Display('image')
w = 160
h = 120
image_viewport.SetBounds(0, h / 480., 0.0, w / 640., 640. / 480.)
image_viewport.SetLock(pangolin.Lock.LockLeft, pangolin.Lock.LockTop)
texture = pangolin.GlTexture(w, h, gl.GL_RGB, False, 0, gl.GL_RGB,
gl.GL_UNSIGNED_BYTE)
# geometries
self.lines = []
self.points = {}
self.colors = {}
self.poses = []
self.redundant_points = []
self.redundant_colors = []
self.landmarks = {}
#
img = np.ones((h, w, 3), 'uint8')
while not pangolin.ShouldQuit():
datum = None
if not self.attributes.empty():
self.logger.info(
"[GL Process] attributes is not empty, fetching datum ...")
datum = self.attributes.get()
self.logger.info(
"[GL Process] get a datum from the main thread of the parent process"
)
if datum is not None:
# dispatch instructions
if datum.attrs.get('pose', None) is not None:
pose = datum.attrs['pose']
# self.camera.pose.m = pose
# set Twc
camera_pose.m = pose # np.linalg.inv(pose)
# camera_pose.m = pose
rendered_cam.Follow(camera_pose, True)
self.logger.info(
"[GL Process] update camera pose matrix got from datum: \n%s"
% pose)
pass
pass
# self.Clear()
# self.control.Update(self.camera.pose)
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(1.0, 1.0, 1.0, 1.0)
viewport.Activate(rendered_cam)
# scene.Render()
# Just for test
# pangolin.glDrawColouredCube(0.1)
# render graph
if datum is not None:
# dispatch data
# update graph
if datum.attrs.get('lines', None) is not None:
lines = datum.attrs['lines']
self.lines.extend(lines)
self.logger.info("[GL Process] drawing %d lines ..." %
len(lines))
if datum.attrs.get('pose', None) is not None:
pose = datum.attrs['pose']
self.poses.append(pose)
self.logger.info(
"[GL Process] drawing a camera with new pose matrix ..."
)
pass
# update image
if datum.attrs.get('img', None) is not None:
img = datum.attrs['img']
# see pangolin issue #180
# change cv BGR channels to norm one
# img = img[::-1, : ,::-1].astype(np.uint8)
img = img.astype(np.uint8)
img = cv2.resize(img, (w, h))
self.logger.info(
"[GL Process] drawing image to image viewport ...")
# show mappoints
if datum.attrs.get('points', None) is not None:
points = datum.attrs['points']
if len(points) > 0:
# self.points.extend(points)
for point in points:
self.points[point.seq] = point
# colors = np.array([p.color if p.color is not None else np.array([1.0, 0.0, 0.0]) for p in points]).astype(np.float64)
colors = [
p.color / 255. if p.color is not None else
np.array([1.0, 1.0, 0.0]) for p in points
]
# print("colors: \n%s" % np.array(colors))
# colors = [ [1., 1., 0.] for p in points]
# self.colors.extend(colors)
for i, color in enumerate(colors):
point = points[i]
self.colors[point.seq] = color
self.logger.info("[GL Process] drawing %d points" %
len(points))
# print("new mappoints: \n%s" % np.array([ p.data for p in points]).astype(np.float64))
# print("new colors (default): \n%s" % np.array(colors))
else:
self.logger.info("[GL Process] no points to be drawn.")
# redundant points
if datum.attrs.get('points-redundant', None) is not None:
points = datum.attrs['points-redundant']
colors = datum.attrs['colors-redundant']
for i, p in enumerate(points):
self.redundant_points.append(p)
self.redundant_colors.append(colors[i] / 255.)
# show landmarks
if datum.attrs.get('landmarks', None) is not None:
landmarks = datum.attrs['landmarks']
for landmark in landmarks:
self.landmarks[landmark.seq] = landmark
self.logger.info("[GL Process] drawing %d landmarks" %
len(landmarks))
self.attributes.task_done()
self.logger.info("[GL Process] datum has been processed.")
############
# draw graph
############
line_geometries = np.array([[*line[0], *line[1]]
for line in self.lines])
if len(line_geometries) > 0:
gl.glLineWidth(1)
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawLines(line_geometries, 3)
# pose = self.camera.pose
pose = camera_pose
# GL 2.0 API
gl.glPointSize(4)
gl.glColor3f(1.0, 0.0, 0.0)
gl.glBegin(gl.GL_POINTS)
gl.glVertex3d(pose[0, 1], pose[1, 3], pose[2, 3])
gl.glEnd()
############
# draw poses
############
if len(self.poses) > 0:
gl.glLineWidth(1)
gl.glColor3f(0.0, 0.0, 1.0)
# poses: numpy.ndarray[float64], w: float=1.0, h_ratio: float=0.75, z_ratio: float=0.6
pangolin.DrawCameras(np.array(self.poses))
gl.glPointSize(4)
gl.glColor3f(0.0, 0.0, 1.0)
gl.glBegin(gl.GL_POINTS)
for pose in self.poses:
gl.glVertex3d(pose[0, 1], pose[1, 3], pose[2, 3])
gl.glEnd()
################
# draw mappoints
################
if len(self.points) > 0:
# points_geometries = np.array([p.data for p in self.points]).astype(np.float64)
points_geometries = []
colors = []
for point_key, p in self.points.items():
points_geometries.append(p.data)
colors.append(self.colors[point_key])
points_geometries = np.array(points_geometries).astype(
np.float64)
colors = np.array(colors).astype(np.float64)
gl.glPointSize(6)
# pangolin.DrawPoints(points_geometries, np.array(self.colors).astype(np.float64) )
pangolin.DrawPoints(points_geometries, colors)
# gl.glPointSize(4)
# gl.glColor3f(1.0, 0.0, 0.0)
#
# gl.glBegin(gl.GL_POINTS)
# for point in points_geometries:
# gl.glVertex3d(point[0], point[1], point[2])
# gl.glEnd()
####################
# redundant points #
####################
if len(self.redundant_points) > 0:
points_geometries = []
colors = []
for i, p in enumerate(self.redundant_points):
points_geometries.append(p.data)
colors.append(self.redundant_colors[i])
points_geometries = np.array(points_geometries).astype(
np.float64)
colors = np.array(colors).astype(np.float64)
gl.glPointSize(3)
pangolin.DrawPoints(points_geometries, colors)
################
# draw landmarks
################
for key, landmarkDatum in self.landmarks.items():
# abox = landmark.computeAABB()
# drawABox(abox.toArray())
drawABox(landmarkDatum.abox.toArray(),
color=landmarkDatum.color)
pass
#############
# draw images
#############
# self.camera.RenderImg(img)
texture.Upload(img, gl.GL_RGB, gl.GL_UNSIGNED_BYTE)
image_viewport.Activate()
gl.glColor3f(1.0, 1.0, 1.0)
texture.RenderToViewport()
pangolin.FinishFrame()
print("gl program loop stopped")
with self._state_locker:
self._stopped = True
import glcontext
import OpenGL.GL as gl
import glrenderer
import matplotlib.pyplot as plt
import time
glcontext.create_opengl_context((WIDTH, HEIGHT))
print(gl.glGetString(gl.GL_VERSION))
start = time.time()
for i in range(10000):
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
gl.glBegin(gl.GL_TRIANGLES)
gl.glColor3f(1, 0, 0)
gl.glVertex2f(0, 1)
gl.glColor3f(0, 1, 0)
gl.glVertex2f(-1, -1)
gl.glColor3f(0, 0, 1)
gl.glVertex2f(1, -1)
gl.glEnd()
dt = time.time() - start
print("{} trangles per sec".format(10000 / dt))
# Read result
img_buf = gl.glReadPixels(0, 0, WIDTH, HEIGHT, gl.GL_RGB, gl.GL_UNSIGNED_BYTE)
img = np.frombuffer(img_buf, np.uint8).reshape(HEIGHT, WIDTH, 3)[::-1]
def Cube():
GL.glBegin(GL.GL_LINES)
for edge in edges:
for vertex in edge:
GL.glVertex3fv(verticies[vertex])
GL.glEnd()
def draw_triangles(vertices: PointList, color: Color4f = (0, 1, 1, 1)) -> None:
GL.glColor4d(*color)
GL.glBegin(GL.GL_TRIANGLES)
for vertex in vertices:
GL.glVertex3d(*vertex)
GL.glEnd()
def get_2D_signal_traces(self):
"""Get the signal traces from the monitors object and display in 2D."""
# Exit function if no signals are being monitored
if not self.monitors.monitors_dictionary:
return
y_pos = 20
# Plot each signal in monitors_dictionary (holds all monitored signals)
for device_id, output_id in self.monitors.monitors_dictionary:
signal_list = self.monitors.monitors_dictionary[(device_id,
output_id)]
text = self.names.get_name_string(device_id)
# If device has more than one output ...
if output_id:
text += ("." + self.names.get_name_string(output_id))
self.render_text_2D(text, 5, y_pos + 10) # Display signal name.
# Draw grey axis
if len(signal_list) > 0:
grey = [0.8, 0.8, 0.8]
GL.glColor3fv(grey)
x_next = 0
y = 0
y_up = 0
y_down = 0
i = 0
for signal in signal_list:
GL.glBegin(GL.GL_LINES)
x = (i * 20) + 30
x_next = (i * 20) + 50
y = y_pos
y_up = y + 5
y_down = y - 5
GL.glVertex2f(x, y_up)
GL.glVertex2f(x, y_down)
GL.glVertex2f(x, y)
GL.glVertex2f(x_next, y)
GL.glEnd()
self.render_text_2D(str(i), x - 2, y_down - 10, grey)
i += 1
GL.glBegin(GL.GL_LINES)
GL.glVertex2f(x_next, y_up)
GL.glVertex2f(x_next, y_down)
GL.glEnd()
self.render_text_2D(str(i), x_next - 2, y_down - 10, grey)
# Draw signal
GL.glColor3f(0.0, 0.0, 1.0)
GL.glBegin(GL.GL_LINE_STRIP)
drawing = True
i = 0
for signal in signal_list:
if signal != self.devices.BLANK:
if not drawing:
GL.glBegin(GL.GL_LINE_STRIP)
drawing = True
if signal == self.devices.HIGH:
x = (i * 20) + 30
x_next = (i * 20) + 50
y = y_pos + 20
y_next = y
elif signal == self.devices.LOW:
x = (i * 20) + 30
x_next = (i * 20) + 50
y = y_pos
y_next = y
elif signal == self.devices.RISING:
x = (i * 20) + 30
x_next = x
y = y_pos
y_next = y_pos + 20
elif signal == self.devices.FALLING:
x = (i * 20) + 30
x_next = x
y = y_pos + 20
y_next = y_pos
GL.glVertex2f(x, y)
GL.glVertex2f(x_next, y_next)
else:
if drawing:
GL.glEnd()
drawing = False
i += 1
GL.glEnd()
y_pos += 60
def to_OpenGL(self):
if not GL_enabled:
return
height_field = self.get_height_field()
def get_box_height_points(x, y):
""" Get the positions and heights of the the four top corners of a
height box.
The result is a tuple of four Points (pycam.Geometry.Point) in the
following order:
- left below
- right below
- right above
- left above
("above": greater x value; "right": greater y value)
The height of each corner point is calculated as the average of the
four neighbouring boxes. Thus a set of 3x3 adjacent boxes is used
for calculating the heights of the four corners.
"""
points = []
# Go through a set of box index combinations (sharing a common
# corner). The "offsets" tuple is used for indicating the relative
# position of each corner.
for offsets, index_list in (
((-1, -1), ((x - 1, y - 1), (x, y - 1), (x, y), (x - 1, y))),
((+1, -1), ((x, y - 1), (x, y), (x + 1, y), (x + 1, y - 1))),
((+1, +1), ((x, y), (x + 1, y), (x + 1, y + 1), (x, y + 1))),
((-1, +1), ((x - 1, y), (x, y), (x, y + 1), (x - 1, y + 1)))):
divisor = 0
height_sum = 0
x_positions = []
y_positions = []
for ix, iy in index_list:
if (0 <= ix < len(height_field)) \
and (0 <= iy < len(height_field[ix])):
point = height_field[ix][iy]
height_sum += point.z
x_positions.append(point.x)
y_positions.append(point.y)
divisor += 1
# Use the middle between the x positions of two adjacent boxes,
# _if_ there is a neighbour attached to that corner.
if (min(x_positions) < height_field[x][y].x) \
or (max(x_positions) > height_field[x][y].x):
x_value = (min(x_positions) + max(x_positions)) / 2.0
else:
# There is no adjacent box in x direction. Use the step size
# to calculate the x value of this edge.
x_value = height_field[x][y].x \
+ offsets[0] * self.x_step_width / 2.0
# same as above for y instead of x
if (min(y_positions) < height_field[x][y].y) \
or (max(y_positions) > height_field[x][y].y):
y_value = (min(y_positions) + max(y_positions)) / 2.0
else:
y_value = height_field[x][y].y \
+ offsets[1] * self.y_step_width / 2.0
# Create a Point instance describing the position and the
# average height.
points.append(Point(x_value, y_value, height_sum / divisor))
return points
# draw the surface
GL.glBegin(GL.GL_QUADS)
for x in xrange(self.x_steps):
for y in xrange(self.y_steps):
# Get the positions and heights of the four corners surrounding
# the current box.
points_around = get_box_height_points(x, y)
# Calculate the "normal" of polygon. We picked up three random
# points of this quadrilateral.
n = self._normal(points_around[1].z, points_around[2].z,
points_around[3].z)
GL.glNormal3f(n[0], n[1], n[2])
for point in points_around:
GL.glVertex3f(point.x, point.y, point.z)
# go through the conditions for an edge box and use the
# appropriate corners for the side faces of the material
for condition, i1, i2 in ((x == 0, 3, 0), (y == 0, 0, 1),
(x == self.x_steps - 1, 1, 2),
(y == self.y_steps - 1, 2, 3)):
# check if this point belongs to an edge of the material
if condition:
n = self._normal(points_around[1].z, points_around[2].z,
points_around[3].z)
GL.glNormal3f(n[0], n[1], n[2])
GL.glVertex3f(points_around[i1].x, points_around[i1].y,
self.z_offset)
GL.glVertex3f(points_around[i1].x, points_around[i1].y,
points_around[i1].z)
GL.glVertex3f(points_around[i2].x, points_around[i2].y,
points_around[i2].z)
GL.glVertex3f(points_around[i2].x, points_around[i2].y,
self.z_offset)
GL.glEnd()
def paintGL(self):
# The last transformation you specify takes place first.
GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
GL.glLoadIdentity()
GL.glRotatef(self.rotX, 1.0, 0.0, 0.0)
GL.glRotatef(self.rotY, 0.0, 1.0, 0.0)
GL.glRotatef(self.rotZ, 0.0, 0.0, 1.0)
GL.glTranslatef(self.posX, self.posY, self.posZ)
GL.glScalef(self.scale, self.scale, self.scale)
for shape in self.shapes.selected_iter():
if not shape.disabled:
self.setColor(GLWidget.COLOR_STMOVE)
GL.glCallList(shape.drawStMove)
self.setColor(GLWidget.COLOR_SELECT)
GL.glCallList(shape.drawObject)
elif self.showDisabledPaths:
self.setColor(GLWidget.COLOR_SELECT_DISABLED)
GL.glCallList(shape.drawObject)
for shape in self.shapes.not_selected_iter():
if not shape.disabled:
if shape.parentLayer.isBreakLayer():
self.setColor(GLWidget.COLOR_BREAK)
elif shape.cut_cor == 41:
self.setColor(GLWidget.COLOR_LEFT)
elif shape.cut_cor == 42:
self.setColor(GLWidget.COLOR_RIGHT)
else:
self.setColor(GLWidget.COLOR_NORMAL)
GL.glCallList(shape.drawObject)
if self.showPathDirections:
self.setColor(GLWidget.COLOR_STMOVE)
GL.glCallList(shape.drawStMove)
elif self.showDisabledPaths:
self.setColor(GLWidget.COLOR_NORMAL_DISABLED)
GL.glCallList(shape.drawObject)
# optimization route arrows
self.setColor(GLWidget.COLOR_ROUTE)
GL.glBegin(GL.GL_LINES)
for route in self.routearrows:
start = route[0]
end = route[1]
GL.glVertex3f(start.x, -start.y, start.z)
GL.glVertex3f(end.x, -end.y, end.z)
GL.glEnd()
GL.glScalef(self.scaleCorr / self.scale, self.scaleCorr / self.scale,
self.scaleCorr / self.scale)
scaleArrow = self.scale / self.scaleCorr
for route in self.routearrows:
# ignore uninitialized arrows
if route[2] < 0:
continue
end = scaleArrow * route[1]
GL.glTranslatef(end.x, -end.y, end.z)
GL.glCallList(route[2])
GL.glTranslatef(-end.x, end.y, -end.z)
# direction arrows
for shape in self.shapes:
if shape.selected and (not shape.disabled or self.showDisabledPaths) or\
self.showPathDirections and not shape.disabled:
start, end = shape.get_start_end_points_physical()
start = scaleArrow * start.to3D(shape.axis3_start_mill_depth)
end = scaleArrow * end.to3D(shape.axis3_mill_depth)
GL.glTranslatef(start.x, -start.y, start.z)
GL.glCallList(shape.drawArrowsDirection[0])
GL.glTranslatef(-start.x, start.y, -start.z)
GL.glTranslatef(end.x, -end.y, end.z)
GL.glCallList(shape.drawArrowsDirection[1])
GL.glTranslatef(-end.x, end.y, -end.z)
if self.wpZero > 0:
GL.glCallList(self.wpZero)
GL.glTranslatef(-self.posX / self.scaleCorr,
-self.posY / self.scaleCorr,
-self.posZ / self.scaleCorr)
GL.glCallList(self.orientation)
def __drawLegend(self):
"""Draws a legend in the bottom left corner of the screen, showing
anatomical orientation.
"""
copts = self.opts
b = self.__displayCtx.bounds
w, h = self.GetSize()
xlen, ylen = glroutines.adjust(b.xlen, b.ylen, w, h)
# A line for each axis
vertices = np.zeros((6, 3), dtype=np.float32)
vertices[0, :] = [-1, 0, 0]
vertices[1, :] = [1, 0, 0]
vertices[2, :] = [0, -1, 0]
vertices[3, :] = [0, 1, 0]
vertices[4, :] = [0, 0, -1]
vertices[5, :] = [0, 0, 1]
# Each axis line is scaled to
# 60 pixels, and the legend is
# offset from the bottom-left
# corner by twice this amount.
scale = [xlen * 30.0 / w] * 3
offset = [
-0.5 * xlen + 2.0 * scale[0], -0.5 * ylen + 2.0 * scale[1], 0
]
# Apply the current camera
# angle and rotation settings
# to the legend vertices. Offset
# anatomical labels off each
# axis line by a small amount.
rotation = transform.decompose(self.__viewMat)[2]
xform = transform.compose(scale, offset, rotation)
labelPoses = transform.transform(vertices * 1.2, xform)
vertices = transform.transform(vertices, xform)
# Draw the legend lines
gl.glDisable(gl.GL_DEPTH_TEST)
gl.glColor3f(*copts.cursorColour[:3])
gl.glLineWidth(2)
gl.glBegin(gl.GL_LINES)
gl.glVertex3f(*vertices[0])
gl.glVertex3f(*vertices[1])
gl.glVertex3f(*vertices[2])
gl.glVertex3f(*vertices[3])
gl.glVertex3f(*vertices[4])
gl.glVertex3f(*vertices[5])
gl.glEnd()
# Figure out the anatomical
# labels for each axis.
overlay = self.__displayCtx.getSelectedOverlay()
dopts = self.__displayCtx.getOpts(overlay)
labels = dopts.getLabels()[0]
# getLabels returns (xlo, ylo, zlo, xhi, yhi, zhi) -
# - rearrange them to (xlo, xhi, ylo, yhi, zlo, zhi)
labels = [
labels[0], labels[3], labels[1], labels[4], labels[2], labels[5]
]
canvas = np.array([w, h])
view = np.array([xlen, ylen])
# Draw each label
for i in range(6):
# Calculate pixel x/y
# location for this label
xx, xy = canvas * (labelPoses[i, :2] + 0.5 * view) / view
# Calculate the size of the label
# in pixels, so we can centre the
# label
tw, th = glroutines.text2D(labels[i], (xx, xy),
10, (w, h),
calcSize=True)
# Draw the text
xx -= 0.5 * tw
xy -= 0.5 * th
gl.glColor3f(*copts.legendColour[:3])
glroutines.text2D(labels[i], (xx, xy), 10, (w, h))
def curve_thicken(points, thickness=1.0, support=0.75):
"""
"""
alpha = min(thickness, 1.0)
thickness = max(thickness, 1.0)
w = math.ceil(2.5 * support + thickness)
# Points
P = np.array(points).reshape(len(points), 2)
# Tangent vectors
T = np.zeros_like(P)
T[:-1] = P[1:] - P[:-1]
T[-1] = T[-2] # repeating last tangent for last point
# Normalization and scaling
L = np.sqrt(T[:, 0]**2 + T[:, 1]**2)
T *= (w / 2) / L.reshape(len(P), 1)
# Total length of curve
L = np.cumsum(L)
# Last cumulative sum is wrong because of the repeat of the last point
L[1:] = L[:-1]
L[0] = 0
length = L[-1]
X, Y = P[:, 0], P[:, 1]
dX, dY = T[:, 0], T[:, 1]
n = (len(P)) * 2 + 4
V = np.zeros(n, [('vertex', [('x', 'f4'), ('y', 'f4'), ('z', 'f4')]),
('texture', [('x', 'f4'), ('y', 'f4'), ('z', 'f4')]),
('color', [('r', 'f4'), ('g', 'f4'), ('b', 'f4'),
('a', 'f4')])])
V['color'] = 0, 0, 0, alpha
# Main body
V['vertex']['x'][2:-3:2] = X - dY
V['vertex']['y'][2:-3:2] = Y + dX
V['texture']['x'][2:-3:2] = L
V['texture']['y'][2:-3:2] = -w / 2
V['vertex']['x'][3:-2:2] = X + dY
V['vertex']['y'][3:-2:2] = Y - dX
V['texture']['x'][3:-2:2] = L
V['texture']['y'][3:-2:2] = +w / 2
# Cap at start
V['vertex']['x'][0] = X[0] - dX[0] - dY[0]
V['vertex']['y'][0] = Y[0] - dY[0] + dX[0]
V['texture']['x'][0] = -w / 2
V['texture']['y'][0] = -w / 2
V['vertex']['x'][1] = X[0] - dX[0] + dY[0]
V['vertex']['y'][1] = Y[0] - dY[0] - dX[0]
V['texture']['x'][1] = -w / 2
V['texture']['y'][1] = +w / 2
# Cap at end
V['vertex']['x'][-2] = X[-1] + dX[-1] - dY[-1]
V['vertex']['y'][-2] = Y[-1] + dY[-1] + dX[-1]
V['texture']['x'][-2] = length + w / 2
V['texture']['y'][-2] = -w / 2
V['vertex']['x'][-1] = X[-1] + dX[-1] + dY[-1]
V['vertex']['y'][-1] = Y[-1] + dY[-1] - dX[-1]
V['texture']['x'][-1] = length + w / 2
V['texture']['y'][-1] = +w / 2
shader.bind()
shader.uniformf('support', support)
shader.uniformf('length', length)
shader.uniformf('thickness', thickness)
gl.glColor(0, 0, 0, alpha)
gl.glBegin(gl.GL_TRIANGLES)
for i in range(0, len(V) - 3, 2):
gl.glTexCoord2f(V['texture']['x'][i + 0], V['texture']['y'][i + 0])
gl.glVertex(V['vertex'][i + 0])
gl.glTexCoord2f(V['texture']['x'][i + 1], V['texture']['y'][i + 1])
gl.glVertex(V['vertex'][i + 1])
gl.glTexCoord2f(V['texture']['x'][i + 2], V['texture']['y'][i + 2])
gl.glVertex(V['vertex'][i + 2])
gl.glTexCoord2f(V['texture']['x'][i + 1], V['texture']['y'][i + 1])
gl.glVertex(V['vertex'][i + 1])
gl.glTexCoord2f(V['texture']['x'][i + 2], V['texture']['y'][i + 2])
gl.glVertex(V['vertex'][i + 2])
gl.glTexCoord2f(V['texture']['x'][i + 3], V['texture']['y'][i + 3])
gl.glVertex(V['vertex'][i + 3])
gl.glEnd()
shader.unbind()
def cylinder(self, center_x, center_y, center_z, x_axis, y_axis, size_z,
color, wireframe):
Pi = 3.14159265358979323846
if wireframe:
nbr_sides = 18
else:
nbr_sides = 100
pz = center_z + size_z / 2
mz = center_z - size_z / 2
#top
if wireframe:
GL.glPolygonMode(GL.GL_FRONT_AND_BACK, GL.GL_LINE)
GL.glBegin(GL.GL_POLYGON)
self.qglColor(color)
for i in range(nbr_sides):
angle1 = (i * 2 * Pi) / nbr_sides
x1 = center_x + x_axis / 2 * math.sin(angle1)
y1 = center_y + y_axis / 2 * math.cos(angle1)
GL.glVertex3d(x1, y1, pz)
GL.glEnd()
#bottom
GL.glBegin(GL.GL_POLYGON)
self.qglColor(color)
for i in range(nbr_sides):
angle1 = (i * 2 * Pi) / nbr_sides
x1 = center_x + x_axis / 2 * math.sin(angle1)
y1 = center_y + y_axis / 2 * math.cos(angle1)
GL.glVertex3d(x1, y1, mz)
GL.glEnd()
#Sides
GL.glBegin(GL.GL_QUADS)
self.qglColor(color.darker(250))
for i in range(nbr_sides):
angle1 = (i * 2 * Pi) / nbr_sides
angle2 = ((i + 1) * 2 * Pi) / nbr_sides
x1 = center_x + x_axis / 2 * math.sin(angle1)
y1 = center_y + y_axis / 2 * math.cos(angle1)
x2 = center_x + x_axis / 2 * math.sin(angle2)
y2 = center_y + y_axis / 2 * math.cos(angle2)
GL.glVertex3d(x1, y1, pz)
GL.glVertex3d(x1, y1, mz)
GL.glVertex3d(x2, y2, mz)
GL.glVertex3d(x2, y2, pz)
GL.glEnd()
#if wireframe: lines in top and bottom
if wireframe:
GL.glBegin(GL.GL_LINES)
self.qglColor(color)
for i in range(nbr_sides // 2):
angle1 = (i * 2 * Pi) / nbr_sides
angle2 = (i * 2 * Pi) / nbr_sides + Pi
x1 = center_x + x_axis / 2 * math.sin(angle1)
y1 = center_y + y_axis / 2 * math.cos(angle1)
x2 = center_x + x_axis / 2 * math.sin(angle2)
y2 = center_y + y_axis / 2 * math.cos(angle2)
GL.glVertex3d(x1, y1, pz)
GL.glVertex3d(x2, y2, pz)
GL.glVertex3d(x1, y1, mz)
GL.glVertex3d(x2, y2, mz)
GL.glEnd()
if wireframe:
GL.glPolygonMode(GL.GL_FRONT_AND_BACK, GL.GL_FILL)
def draw(self):
GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
GL.glPushMatrix()
GLU.gluLookAt(self.EYE[0], self.EYE[1], self.EYE[2], \
self.LOOK_AT[0], self.LOOK_AT[1], self.LOOK_AT[2],\
self.EYE_UP[0], self.EYE_UP[1], self.EYE_UP[2])
# print (self.f_rotate_x,self.f_rotate_y,self.f_rotate_z)
# ---------------------------------------------------------------
'''
Draw the coordinate axis
'''
GL.glBegin(GL.GL_LINES)
# x axis
GL.glColor4f(1.0, 0.0, 0.0, 1.0)
GL.glVertex3f(0, 0.0, 0.0)
GL.glVertex3f(-0.8, 0.0, 0.0)
# y axis
GL.glColor4f(0.0, 1.0, 0.0, 1.0)
GL.glVertex3f(0.0, 0, 0.0)
GL.glVertex3f(0.0, -0.8, 0.0)
# z axis
GL.glColor4f(0.0, 0.0, 1.0, 1.0)
GL.glVertex3f(0.0, 0.0, 0)
GL.glVertex3f(0.0, 0.0, 0.8)
GL.glEnd()
# ---------------------------------------------------------------
GL.glPushMatrix()
GL.glScale(self.SCALE_K[0], self.SCALE_K[1], self.SCALE_K[2])
GL.glTranslatef(self.f_position_x_gt, self.f_position_y_gt,
self.f_position_z_gt)
GL.glRotatef(self.f_rotate_x_gt, 1, 0, 0)
GL.glRotatef(self.f_rotate_y_gt, 0, 1, 0)
GL.glRotatef(self.f_rotate_z_gt, 0, 0, 1)
GL.glBegin(GL.GL_QUADS)
self.up_part_gate_gt(0.6, 0.6, 0.2)
GL.glEnd()
GL.glPopMatrix()
GL.glPushMatrix()
GL.glScale(self.SCALE_K[0], self.SCALE_K[1], self.SCALE_K[2])
GL.glTranslatef(self.f_position_x, self.f_position_y,
self.f_position_z)
GL.glRotatef(self.f_rotate_x, 1, 0, 0)
GL.glRotatef(self.f_rotate_y, 0, 1, 0)
GL.glRotatef(self.f_rotate_z, 0, 0, 1)
GL.glBegin(GL.GL_QUADS)
self.up_part_gate_pred(0.6, 0.6, 0.2)
GL.glEnd()
GL.glPopMatrix()
GL.glPopMatrix()
GLUT.glutSwapBuffers()
def figure():
polygon_points = []
faces_angle = (2 * pi) / vertices
GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
GL.glLoadIdentity()
GL.glPushMatrix()
GL.glTranslatef(0.0, 1.5, -10)
GL.glRotatef(90, 1.0, 0.0, 0.0)
# Rotation
# X axis
GL.glRotatef(alpha, 0.0, 0.0, 1.0)
# Y axis
GL.glRotatef(beta, 0.0, 1.0, 0.0)
# Figure
GL.glBindTexture(GL.GL_TEXTURE_2D, texture[0])
# Bottom
GL.glBegin(GL.GL_POLYGON)
for i in range(vertices):
x = raios * cos(i * faces_angle)
y = raios * sin(i * faces_angle)
polygon_points += [(x, y)]
GL.glTexCoord2f(x, y)
GL.glVertex3f(x, y, 0.0)
GL.glEnd()
# Top
GL.glBegin(GL.GL_POLYGON)
for x, y in polygon_points:
GL.glTexCoord2f(x, y)
GL.glVertex3f(modificador_piramide * x, modificador_piramide * y,
prisma_altura)
GL.glEnd()
# Sides
GL.glBegin(GL.GL_QUADS)
for i in range(vertices):
GL.glTexCoord2f(0.0, 0.0)
GL.glVertex3f(polygon_points[i][0], polygon_points[i][1], 0)
GL.glTexCoord2f(0.0, 1.0)
GL.glVertex3f(modificador_piramide * polygon_points[i][0],
modificador_piramide * polygon_points[i][1],
prisma_altura)
GL.glTexCoord2f(1.0, 1.0)
GL.glVertex3f(
modificador_piramide * polygon_points[(i + 1) % vertices][0],
modificador_piramide * polygon_points[(i + 1) % vertices][1],
prisma_altura)
GL.glTexCoord2f(1.0, 0.0)
GL.glVertex3f(polygon_points[(i + 1) % vertices][0],
polygon_points[(i + 1) % vertices][1], 0)
GL.glEnd()
GL.glPopMatrix()
GLUT.glutSwapBuffers()
def glBegin(cls, type):
try:
GL.glBegin(type)
yield
finally:
GL.glEnd()
def render_strip_in_3d_window(vertices, color):
gl.glColor4f(*color)
gl.glBegin(gl.GL_LINE_STRIP)
for vertex in vertices:
gl.glVertex3f(*vertex)
gl.glEnd()
def paintAxes(self):
gl.glDisable(gl.GL_CULL_FACE)
gl.glColor4f(1, 1, 1, 1)
for start, end in [self.x_axis, self.y_axis, self.z_axis]:
gl.glBegin(gl.GL_LINES)
gl.glVertex3f(*start)
gl.glVertex3f(*end)
gl.glEnd()
def paintGrid(planeQuad, sub=7):
P11, P12, P22, P21 = numpy.asarray(planeQuad)
Dx = numpy.linspace(0.0, 1.0, num=sub)
P1vecH = P12 - P11
P2vecH = P22 - P21
P1vecV = P21 - P11
P2vecV = P22 - P12
gl.glBegin(gl.GL_LINES)
for i, dx in enumerate(Dx):
start = P11 + P1vecH * dx
end = P21 + P2vecH * dx
gl.glVertex3f(*start)
gl.glVertex3f(*end)
start = P11 + P1vecV * dx
end = P12 + P2vecV * dx
gl.glVertex3f(*start)
gl.glVertex3f(*end)
gl.glEnd()
def paintQuad(planeQuad):
P11, P12, P21, P22 = numpy.asarray(planeQuad)
gl.glBegin(gl.GL_QUADS)
gl.glVertex3f(*P11)
gl.glVertex3f(*P12)
gl.glVertex3f(*P21)
gl.glVertex3f(*P22)
gl.glEnd()
colorPlane = [0.5, 0.5, 0.5, 0.5]
colorGrid = [0.0, 0.0, 0.0, 1.0]
def paintPlain(planeQuad):
gl.glColor4f(*colorPlane)
paintQuad(planeQuad)
gl.glColor4f(*colorGrid)
paintGrid(planeQuad)
def normalize(Vec):
return Vec / numpy.sqrt(numpy.sum(Vec**2))
def normalFromPoints(P1, P2, P3):
V1 = P2 - P1
V2 = P3 - P1
return normalize(numpy.cross(V1, V2))
cameraVector = normalize(self.center - self.camera)
def paintPlainIf(planeQuad, ccw=False):
normal = normalFromPoints(*planeQuad[:3])
cameraVector = planeQuad[0] - self.camera
cos = numpy.dot(normal, cameraVector) * (-1 if ccw else 1)
if cos > 0:
paintPlain(planeQuad)
paintPlainIf(self.axisPlaneXY)
paintPlainIf(self.axisPlaneYZ)
paintPlainIf(self.axisPlaneXZ)
paintPlainIf(self.axisPlaneXYBack)
paintPlainIf(self.axisPlaneYZRight)
paintPlainIf(self.axisPLaneXZTop)
gl.glEnable(gl.GL_CULL_FACE)
def paintCircle(self, x, y, radius, red = 0, green = 0, blue = 0): gl.glColor3f(red, green, blue) gl.glBegin(gl.GL_POLYGON) for i in range(360): gl.glVertex2f(x + (radius * math.sin(math.radians(i))), y + (radius * math.cos(math.radians(i)))) gl.glEnd()
def drawTarget(self,t,r):
rc = r
p1 = Point3f(rc,rc,rc)
p2 = Point3f(rc,rc,-rc)
p3 = Point3f(rc,-rc,-rc)
p4 = Point3f(rc,-rc,rc)
p5 = Point3f(-rc,rc,rc)
p6 = Point3f(-rc,rc,-rc)
p7 = Point3f(-rc,-rc,-rc)
p8 = Point3f(-rc,-rc,rc)
gl.glBegin(gl.GL_LINE_LOOP)
gl.glVertex3f(p1.x,p1.y,p1.z)
gl.glVertex3f(p2.x,p2.y,p2.z)
gl.glVertex3f(p3.x,p3.y,p3.z)
gl.glVertex3f(p4.x,p4.y,p4.z)
gl.glEnd()
gl.glBegin(gl.GL_LINE_LOOP)
gl.glVertex3f(p5.x,p5.y,p5.z)
gl.glVertex3f(p6.x,p6.y,p6.z)
gl.glVertex3f(p7.x,p7.y,p7.z)
gl.glVertex3f(p8.x,p8.y,p8.z)
gl.glEnd()
gl.glBegin(gl.GL_LINES)
gl.glVertex3f(p1.x,p1.y,p1.z)
gl.glVertex3f(p5.x,p5.y,p5.z)
gl.glVertex3f(p2.x,p2.y,p2.z)
gl.glVertex3f(p6.x,p6.y,p6.z)
gl.glVertex3f(p3.x,p3.y,p3.z)
gl.glVertex3f(p7.x,p7.y,p7.z)
gl.glVertex3f(p4.x,p4.y,p4.z)
gl.glVertex3f(p8.x,p8.y,p8.z)
gl.glEnd()
circle = np.linspace(0, ma.pi*2, 50)
R = r * ma.sqrt(2)
gl.glBegin(gl.GL_LINE_LOOP)
for i in range(1,50):
gl.glVertex3f(R*ma.cos(circle[i]), 0.0, R*ma.sin(circle[i]))
gl.glEnd()
gl.glBegin(gl.GL_LINE_LOOP)
for i in range(1,50):
gl.glVertex3f(0.0, R*ma.cos(circle[i]), R*ma.sin(circle[i]))
gl.glEnd()
gl.glBegin(gl.GL_LINE_LOOP)
for i in range(1,50):
gl.glVertex3f(R*ma.cos(circle[i]), R*ma.sin(circle[i]), 0.0)
gl.glEnd()
def paintEvent(self, event): gl.glClear(gl.GL_COLOR_BUFFER_BIT) gl.glLoadIdentity(); # Initialize the painter painter = QtGui.QPainter() painter.begin(self) ''' *********************************************************** Changed the if statement Bind the texture to nothing *********************************************************** ''' gl.glBindTexture(gl.GL_TEXTURE_2D, 0) if self.showing == self.GRAPH_ONE: # Get the bounding rectangles tripEndBR = self.printer.getTextBox(painter, "Trip End", self.printer.fontNormal) # Draw OpenGL stuff self.paintGrid() self.paintDSM() self.paintRect(self.highRiskX, self.highRiskY, 0.851, 0.3255, 0.3099) self.paintRect(self.mediumRiskX, self.mediumRiskY, 0.9412, 0.6784, 0.3059) self.paintRect(self.lowRiskX, self.lowRiskY, 0.7, 0.7, 0.7) self.btnGraph1.drawBackground() self.btnGraph3.drawBackground() # Draw painter stuff self.printer.printCentered(painter, "Trip Summary", self.printer.fontXLarge, 0, 0, self.width, self.titleHeight, 50, 50, 50) self.printer.printCentered(painter, "Glance Patterns to the Display", self.printer.fontLarge, self.graphX, self.graphY - 60, self.graphWidth, self.heightFivePercent, 50, 50, 50) self.printer.printText(painter, "Trip Start", self.printer.fontNormal, self.graphX, self.graphY + self.graphHeight, self.width, self.height, 50, 50, 50) self.printer.printText(painter, "Trip End", self.printer.fontNormal, self.graphX + self.graphWidth - tripEndBR.right(), self.graphY + self.graphHeight, self.width, self.height, 50, 50, 50) self.printer.printCentered(painter, "Driving Safety Metrics", self.printer.fontLarge, self.dsmX, self.dsmY, self.dsmWidth, self.heightFivePercent, 50, 50, 50) # self.printer.printTextWrap(painter, u"\u2022", self.printer.fontSmall, self.dsmX + 10, self.dsmY + 70, self.dsmWidth - 60, self.dsmHeight, 50, 50, 50) self.printer.printTextWrap(painter, " %i"%(8-self.ube), self.printer.fontNormal, self.dsmX + 50, self.dsmY + 70, self.dsmWidth - 30, self.dsmHeight, 40, 193, 34) self.printer.printTextWrap(painter, " out of 8 safe responses to lead vehicle braking", self.printer.fontNormal, self.dsmX + 50, self.dsmY + 70, self.dsmWidth - 30, self.dsmHeight, 50, 50, 50) # self.printer.printTextWrap(painter, u"\u2022", self.printer.fontSmall, self.dsmX + 10, self.dsmY + 200, self.dsmWidth - 30, self.dsmHeight, 50, 50, 50) self.printer.printTextWrap(painter, " %i"%self.ube, self.printer.fontNormal, self.dsmX + 50, self.dsmY + 200, self.dsmWidth - 30, self.dsmHeight, 255, 0, 0) self.printer.printTextWrap(painter, " out of 8 unsafe responses to lead vehicle braking", self.printer.fontNormal, self.dsmX + 50, self.dsmY + 200, self.dsmWidth - 30, self.dsmHeight, 50, 50, 50) # self.printer.printTextWrap(painter, u"\u2022", self.printer.fontSmall, self.dsmX + 10, self.dsmY + 330, self.dsmWidth - 30, self.dsmHeight, 50, 50, 50) self.printer.printTextWrap(painter, " %i"%self.ld, self.printer.fontNormal, self.dsmX + 50, self.dsmY + 330, self.dsmWidth - 30, self.dsmHeight, 255, 0, 0)#255, 153, 255) self.printer.printTextWrap(painter, " lane departures", self.printer.fontNormal, self.dsmX + 50, self.dsmY + 330, self.dsmWidth - 30, self.dsmHeight, 50, 50, 50) self.printer.printText(painter, str(int(self.low)), self.printer.fontNormal, self.lowRiskX + self.rectSize + 16, self.lowRiskY, self.width, self.height) self.printer.printText(painter, str(int(self.medium)), self.printer.fontNormal, self.mediumRiskX + self.rectSize + 16, self.mediumRiskY, self.width, self.height) self.printer.printText(painter, str(int(self.high)), self.printer.fontNormal, self.highRiskX + self.rectSize + 16, self.highRiskY, self.width, self.height) self.printer.printText(painter, "Low Risk Glances", self.printer.fontNormal, self.lowRiskX + self.rectSize + 150, self.lowRiskY, self.width, self.height) self.printer.printText(painter, "Medium Risk Glances", self.printer.fontNormal, self.mediumRiskX + self.rectSize + 150, self.mediumRiskY, self.width, self.height) self.printer.printText(painter, "High Risk Glances", self.printer.fontNormal, self.highRiskX + self.rectSize + 150, self.highRiskY, self.width, self.height) self.btnGraph1.drawText(painter, self.printer, self.printer.fontLarge) self.btnGraph3.drawText(painter, self.printer, self.printer.fontLarge) elif self.showing == self.GRAPH_TWO: self.paintCircle(self.lowIconX, self.lowIconY, self.glanceNumRadius, 0.851, 0.325, 0.31) self.paintCircle(self.mediumIconX, self.mediumIconY, self.glanceNumRadius, 0.941, 0.678, 0.305) self.paintCircle(self.highIconX, self.highIconY, self.glanceNumRadius, 0.5, 0.5, 0.5) self.btnGraph4.drawBackground() ''' *********************************************************** Removed the gl.GL_LINES block Added the paintLineHorizontal functions *********************************************************** ''' self.paintLineHorizontal(self.glancesGridX, self.glancesGridY + self.glancesGridBarPaddingTop, self.glancesGridX + self.glancesGridWidth, self.glancesGridY + self.glancesGridBarPaddingTop, 2, 0.3, 0.3, 0.3) self.paintLineHorizontal(self.glancesGridX, self.glancesGridY + self.glancesGridBarPaddingTop + (self.glancesGridBarHeight/2.0), self.glancesGridX + self.glancesGridWidth, self.glancesGridY + self.glancesGridBarPaddingTop + (self.glancesGridBarHeight/2.0), 2, 0.3, 0.3, 0.3) self.paintLineHorizontal(self.glancesGridX, self.glancesGridY + self.glancesGridHeight, self.glancesGridX + self.glancesGridWidth, self.glancesGridY + self.glancesGridHeight, 2, 0.3, 0.3, 0.3) gl.glBegin(gl.GL_QUADS) gl.glColor3f(0.5, 0.5, 0.5) gl.glVertex2f(self.glancesGridX, self.glancesGridTitleY) gl.glVertex2f(self.glancesGridX + self.glancesGridWidth, self.glancesGridTitleY) gl.glVertex2f(self.glancesGridX + self.glancesGridWidth, self.glancesGridTitleY + self.glancesGridTitleHeight) gl.glVertex2f(self.glancesGridX, self.glancesGridTitleY + self.glancesGridTitleHeight) gl.glVertex2f(self.tripsTitleX, self.tripsTitleY) gl.glVertex2f(self.tripsTitleX + self.tripsTitleWidth, self.tripsTitleY) gl.glVertex2f(self.tripsTitleX + self.tripsTitleWidth, self.tripsTitleY + self.tripsTitleHeight) gl.glVertex2f(self.tripsTitleX, self.tripsTitleY + self.tripsTitleHeight) # Safety metric text block gl.glVertex2f(self.safetyMetricsTitleX, self.safetyMetricsTitleY-60) gl.glVertex2f(self.safetyMetricsTitleX + self.safetyMetricsTitleWidth, self.safetyMetricsTitleY-60) gl.glVertex2f(self.safetyMetricsTitleX + self.safetyMetricsTitleWidth, self.safetyMetricsTitleY + self.safetyMetricsTitleHeight-60) gl.glVertex2f(self.safetyMetricsTitleX, self.safetyMetricsTitleY + self.safetyMetricsTitleHeight-60) # Comparison Bars -- COLOR # gl.glColor3f(0.67, 0.78, 0.82) gl.glColor3f(0.576, 0.72, 0.85) barOffset = self.glancesGridBarHeight - ((float(self.pastNumbersSum) / float(self.glancesGridMaxNum)) * self.glancesGridBarHeight) gl.glVertex2f(self.glancesGridX + self.glancesGridPadding, self.glancesGridY + barOffset + self.glancesGridBarPaddingTop) gl.glVertex2f(self.glancesGridX + self.glancesGridPadding + self.glancesGridBarWidth, self.glancesGridY + barOffset + self.glancesGridBarPaddingTop) gl.glVertex2f(self.glancesGridX + self.glancesGridPadding + self.glancesGridBarWidth, self.glancesGridY + self.glancesGridHeight) gl.glVertex2f(self.glancesGridX + self.glancesGridPadding, self.glancesGridY + self.glancesGridHeight) # gl.glColor3f(0.576, 0.65, 0.9) barOffset = self.glancesGridBarHeight - ((float(self.currentNumbersSum) / float(self.glancesGridMaxNum)) * self.glancesGridBarHeight) gl.glVertex2f(self.glancesGridX + (self.glancesGridPadding*2) + self.glancesGridBarWidth, self.glancesGridY + barOffset + self.glancesGridBarPaddingTop) gl.glVertex2f(self.glancesGridX + (self.glancesGridPadding*2) + (self.glancesGridBarWidth*2), self.glancesGridY + barOffset + self.glancesGridBarPaddingTop) gl.glVertex2f(self.glancesGridX + (self.glancesGridPadding*2) + (self.glancesGridBarWidth*2), self.glancesGridY + self.glancesGridHeight) gl.glVertex2f(self.glancesGridX + (self.glancesGridPadding*2) + self.glancesGridBarWidth, self.glancesGridY + self.glancesGridHeight) gl.glColor3f(0.7, 0.7, 0.7) gl.glVertex2f(self.glanceNumTitleX, self.glanceNumTitleY) gl.glVertex2f(self.glanceNumTitleX + self.glanceNumTitleWidth, self.glanceNumTitleY) gl.glVertex2f(self.glanceNumTitleX + self.glanceNumTitleWidth, self.glanceNumTitleY + self.glanceNumTitleHeight) gl.glVertex2f(self.glanceNumTitleX, self.glanceNumTitleY + self.glanceNumTitleHeight) gl.glVertex2f(self.safetyMetricsTitleX, self.safetyMetricsTitleY+20) gl.glVertex2f(self.safetyMetricsTitleX + self.safetyMetricsTitleWidth, self.safetyMetricsTitleY+20) gl.glVertex2f(self.safetyMetricsTitleX + self.safetyMetricsTitleWidth, self.safetyMetricsTitleY + self.safetyMetricsTitleHeight+20) gl.glVertex2f(self.safetyMetricsTitleX, self.safetyMetricsTitleY + self.safetyMetricsTitleHeight+20) gl.glEnd() bottomBar = self.glancesGridY + self.glancesGridHeight self.paintCircle(self.glancesGridX + self.glancesGridPadding + (self.glancesGridBarWidth/2.0), bottomBar - ((self.pastNumbers[2]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), 18, 0.5, 0.5, 0.5) self.paintCircle(self.glancesGridX + self.glancesGridPadding + (self.glancesGridBarWidth/2.0), bottomBar - ((self.pastNumbers[1]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), 18, 0.941, 0.678, 0.305) self.paintCircle(self.glancesGridX + self.glancesGridPadding + (self.glancesGridBarWidth/2.0), bottomBar - ((self.pastNumbers[0]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), 18, 0.851, 0.325, 0.31) self.paintCircle(self.glancesGridX + self.glancesGridBarWidth + (self.glancesGridPadding*2) + (self.glancesGridBarWidth/2.0), bottomBar - ((self.currentNumbers[2]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), 18, 0.5, 0.5, 0.5) self.paintCircle(self.glancesGridX + self.glancesGridBarWidth + (self.glancesGridPadding*2) + (self.glancesGridBarWidth/2.0), bottomBar - ((self.currentNumbers[1]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), 18, 0.941, 0.678, 0.305) self.paintCircle(self.glancesGridX + self.glancesGridBarWidth + (self.glancesGridPadding*2) + (self.glancesGridBarWidth/2.0), bottomBar - ((self.currentNumbers[0]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), 18, 0.851, 0.325, 0.31) self.paintLineHorizontal(self.glancesGridX + self.glancesGridPadding + (self.glancesGridBarWidth/2.0), bottomBar - ((self.pastNumbers[2]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), self.glancesGridX + self.glancesGridBarWidth + (self.glancesGridPadding*2) + (self.glancesGridBarWidth/2.0), bottomBar - ((self.currentNumbers[2]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), 10, 0.5, 0.5, 0.5) self.paintLineHorizontal(self.glancesGridX + self.glancesGridPadding + (self.glancesGridBarWidth/2.0), bottomBar - ((self.pastNumbers[1]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), self.glancesGridX + self.glancesGridBarWidth + (self.glancesGridPadding*2) + (self.glancesGridBarWidth/2.0), bottomBar - ((self.currentNumbers[1]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), 10, 0.941, 0.678, 0.305) self.paintLineHorizontal(self.glancesGridX + self.glancesGridPadding + (self.glancesGridBarWidth/2.0), bottomBar - ((self.pastNumbers[0]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), self.glancesGridX + self.glancesGridBarWidth + (self.glancesGridPadding*2) + (self.glancesGridBarWidth/2.0), bottomBar - ((self.currentNumbers[0]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), 10, 0.851, 0.325, 0.31) self.paintCircle(self.glancesGridX + self.glancesGridPadding + (self.glancesGridBarWidth/2.0), bottomBar - ((self.pastNumbers[2]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), 8, 1.0, 1.0, 1.0) self.paintCircle(self.glancesGridX + self.glancesGridPadding + (self.glancesGridBarWidth/2.0), bottomBar - ((self.pastNumbers[1]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), 8, 1.0, 1.0, 1.0) self.paintCircle(self.glancesGridX + self.glancesGridPadding + (self.glancesGridBarWidth/2.0), bottomBar - ((self.pastNumbers[0]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), 8, 1.0, 1.0, 1.0) self.paintCircle(self.glancesGridX + self.glancesGridBarWidth + (self.glancesGridPadding*2) + (self.glancesGridBarWidth/2.0), bottomBar - ((self.currentNumbers[2]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), 8, 1.0, 1.0, 1.0) self.paintCircle(self.glancesGridX + self.glancesGridBarWidth + (self.glancesGridPadding*2) + (self.glancesGridBarWidth/2.0), bottomBar - ((self.currentNumbers[1]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), 8, 1.0, 1.0, 1.0) self.paintCircle(self.glancesGridX + self.glancesGridBarWidth + (self.glancesGridPadding*2) + (self.glancesGridBarWidth/2.0), bottomBar - ((self.currentNumbers[0]/float(self.glancesGridMaxNum))*self.glancesGridBarHeight), 8, 1.0, 1.0, 1.0) self.printer.printCentered(painter, "Compare Recent Trips", self.printer.fontXLarge, 0, 0, self.width, self.titleHeight, 50, 50, 50) self.printer.printCentered(painter, "Glances to Display", self.printer.fontLarge, self.glancesGridTitleX, self.glancesGridTitleY, self.glancesGridTitleWidth, self.glancesGridTitleHeight, 240, 240, 240) self.printer.printCentered(painter, "Number of Glances", self.printer.fontLarge, self.tripsTitleX, self.tripsTitleY, self.tripsTitleWidth, self.tripsTitleHeight, 240, 240, 240) self.printer.printCentered(painter, "Trips:\t\t\t\tPrevious\t\t\t\tCurrent", self.printer.fontLarge, self.glanceNumTitleX, self.glanceNumTitleY, self.glanceNumTitleWidth, self.glanceNumTitleHeight, 240, 240, 240) self.printer.printCentered(painter, "Safety Metrics", self.printer.fontLarge, self.safetyMetricsTitleX, self.safetyMetricsTitleY-60, self.glanceNumTitleWidth, self.glanceNumTitleHeight, 240, 240, 240) self.printer.printCentered(painter, "Trips:\t\t\t\tPrevious\t\t\t\tCurrent", self.printer.fontLarge, self.safetyMetricsTitleX, self.safetyMetricsTitleY+20, self.glanceNumTitleWidth, self.glanceNumTitleHeight, 240, 240, 240) self.printer.printCenteredHor(painter, str(self.glancesGridMaxNum), self.printer.fontNormal, 0, self.glancesGridY + 3, self.glancesGridX, 100, 40, 40, 40) self.printer.printCenteredHor(painter, str(int(self.glancesGridMaxNum/2.0)), self.printer.fontNormal, 0, self.glancesGridY + 3 + (self.glancesGridBarHeight/2.0), self.glancesGridX, 100, 40, 40, 40) self.printer.printCenteredHor(painter, "0", self.printer.fontNormal, 0, self.glancesGridY + self.glancesGridHeight - 20, self.glancesGridX, 100, 40, 40, 40) self.printer.printCenteredHor(painter, "Previous", self.printer.fontNormal, self.glancesGridX + self.glancesGridPadding, self.glancesGridY + self.glancesGridHeight, self.glancesGridBarWidth, 100, 40, 40, 40) self.printer.printCenteredHor(painter, "Current", self.printer.fontNormal, self.glancesGridX + (self.glancesGridPadding*2) + self.glancesGridBarWidth, self.glancesGridY + self.glancesGridHeight, self.glancesGridBarWidth, 100, 40, 40, 40) self.printer.printText(painter, str(self.pastNumbers[2]), self.printer.fontNormal, self.highPastTitleX+40, self.highPastTitleY, self.width, self.height) self.printer.printText(painter, str(self.currentNumbers[2]), self.printer.fontNormal, self.highCurrentTitleX+45, self.highCurrentTitleY, self.width, self.height) self.printer.printText(painter, str(self.pastNumbers[1]), self.printer.fontNormal, self.mediumPastTitleX+40, self.mediumPastTitleY, self.width, self.height) self.printer.printText(painter, str(self.currentNumbers[1]), self.printer.fontNormal, self.mediumCurrentTitleX+45, self.mediumCurrentTitleY, self.width, self.height) self.printer.printText(painter, str(self.pastNumbers[0]), self.printer.fontNormal, self.lowPastTitleX+40, self.lowPastTitleY, self.width, self.height) self.printer.printText(painter, str(self.currentNumbers[0]), self.printer.fontNormal, self.lowCurrentTitleX+45, self.lowCurrentTitleY, self.width, self.height) self.printer.printText(painter, "Total", self.printer.fontNormal, self.totalTitleX, self.totalTitleY+20, self.width, self.height) self.printer.printText(painter, str(self.pastNumbersSum), self.printer.fontNormal, self.totalPastTitleX+40, self.totalPastTitleY+20, self.width, self.height) self.printer.printText(painter, str(self.currentNumbersSum), self.printer.fontNormal, self.totalCurrentTitleX+45, self.totalCurrentTitleY+20, self.width, self.height) self.printer.printText(painter, "Safe Braking", self.printer.fontNormal, self.safeEventTitleX, self.safeEventTitleY+40, self.width, self.height, 40, 193, 34) self.printer.printText(painter, "%s"%str(self.compSafe[0]), self.printer.fontNormal, self.safeEventPastNumTitleX+40, self.safeEventPastNumTitleY+40, self.width, self.height) self.printer.printText(painter, "%s"%str(self.compSafe[1]), self.printer.fontNormal, self.safeEventCurrentNumTitleX+45, self.safeEventCurrentNumTitleY+40, self.width, self.height) self.printer.printText(painter, "Unsafe Braking", self.printer.fontNormal, self.unsafeEventTitleX, self.unsafeEventTitleY+55, self.width, self.height, 217, 83, 79) self.printer.printText(painter, "%s"%str(self.compUnsafe[0]), self.printer.fontNormal, self.unsafeEventPastNumTitleX+40, self.unsafeEventPastNumTitleY+55, self.width, self.height) self.printer.printText(painter, "%s"%str(self.compUnsafe[1]), self.printer.fontNormal, self.unsafeEventCurrentNumTitleX+45, self.unsafeEventCurrentNumTitleY+55, self.width, self.height) self.printer.printText(painter, "Lane Departures", self.printer.fontNormal, self.deviationsEventTitleX, self.deviationsEventTitleY+70, self.width, self.height, 217, 83, 79) self.printer.printText(painter, "%s"%str(self.compLane[0]), self.printer.fontNormal, self.deviationsEventPastNumTitleX+40, self.deviationsEventPastNumTitleY+70, self.width, self.height) self.printer.printText(painter, "%s"%str(self.compLane[1]), self.printer.fontNormal, self.deviationsEventCurrentNumTitleX+45, self.deviationsEventCurrentNumTitleY+70, self.width, self.height) self.btnGraph4.drawText(painter, self.printer, self.printer.fontLarge) elif self.showing == self.BADGE_SCREEN: self.btnGraph2.drawBackground() self.badgeScreen.draw(painter) self.btnGraph2.drawText(painter, self.printer, self.printer.fontLarge) # End the painter painter.end()
renderer.cam.update(pygame.key.get_pressed())
renderer.clear()
weapon.animator()
renderer.ortho()
hud.render()
weapon.render()
renderer.perspective()
# draw terrain
tileset.bind()
gl.glBegin(gl.GL_QUADS)
for v, t, c in vb.data:
for i in range(4):
gl.glColor3fv(c[i])
gl.glTexCoord2fv(t[i])
gl.glVertex3fv(v[i])
gl.glEnd()
sprite1.rotate = renderer.cam.angle
sprite2.rotate = renderer.cam.angle
sprite3.rotate = renderer.cam.angle
sprite1.animator()
sprite3.animator()
sprite1.render()
def paintGL(self, p, opt, widget):
p.beginNativePainting()
import OpenGL.GL as gl
if sys.platform == 'win32':
# If Qt is built to dynamically load OpenGL, then the projection and
# modelview matrices are not setup.
# https://doc.qt.io/qt-6/windows-graphics.html
# https://code.woboq.org/qt6/qtbase/src/opengl/qopenglpaintengine.cpp.html
# Technically, we could enable it for all platforms, but for now, just
# enable it where it is required, i.e. Windows
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glOrtho(0, widget.width(), widget.height(), 0, -999999, 999999)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadMatrixf(QtGui.QMatrix4x4(self.sceneTransform()).data())
## set clipping viewport
view = self.getViewBox()
if view is not None:
rect = view.mapRectToItem(self, view.boundingRect())
#gl.glViewport(int(rect.x()), int(rect.y()), int(rect.width()), int(rect.height()))
#gl.glTranslate(-rect.x(), -rect.y(), 0)
gl.glEnable(gl.GL_STENCIL_TEST)
gl.glColorMask(gl.GL_FALSE, gl.GL_FALSE, gl.GL_FALSE,
gl.GL_FALSE) # disable drawing to frame buffer
gl.glDepthMask(gl.GL_FALSE) # disable drawing to depth buffer
gl.glStencilFunc(gl.GL_NEVER, 1, 0xFF)
gl.glStencilOp(gl.GL_REPLACE, gl.GL_KEEP, gl.GL_KEEP)
## draw stencil pattern
gl.glStencilMask(0xFF)
gl.glClear(gl.GL_STENCIL_BUFFER_BIT)
gl.glBegin(gl.GL_TRIANGLES)
gl.glVertex2f(rect.x(), rect.y())
gl.glVertex2f(rect.x() + rect.width(), rect.y())
gl.glVertex2f(rect.x(), rect.y() + rect.height())
gl.glVertex2f(rect.x() + rect.width(), rect.y() + rect.height())
gl.glVertex2f(rect.x() + rect.width(), rect.y())
gl.glVertex2f(rect.x(), rect.y() + rect.height())
gl.glEnd()
gl.glColorMask(gl.GL_TRUE, gl.GL_TRUE, gl.GL_TRUE, gl.GL_TRUE)
gl.glDepthMask(gl.GL_TRUE)
gl.glStencilMask(0x00)
gl.glStencilFunc(gl.GL_EQUAL, 1, 0xFF)
try:
x, y = self.getData()
pos = np.empty((len(x), 2))
pos[:, 0] = x
pos[:, 1] = y
gl.glEnableClientState(gl.GL_VERTEX_ARRAY)
try:
gl.glVertexPointerf(pos)
pen = fn.mkPen(self.opts['pen'])
gl.glColor4f(*pen.color().getRgbF())
width = pen.width()
if pen.isCosmetic() and width < 1:
width = 1
gl.glPointSize(width)
gl.glLineWidth(width)
# enable antialiasing if requested
if self._exportOpts is not False:
aa = self._exportOpts.get('antialias', True)
else:
aa = self.opts['antialias']
if aa:
gl.glEnable(gl.GL_LINE_SMOOTH)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glHint(gl.GL_LINE_SMOOTH_HINT, gl.GL_NICEST)
else:
gl.glDisable(gl.GL_LINE_SMOOTH)
gl.glDrawArrays(gl.GL_LINE_STRIP, 0,
int(pos.size / pos.shape[-1]))
finally:
gl.glDisableClientState(gl.GL_VERTEX_ARRAY)
finally:
p.endNativePainting()
def paint(self):
self.setupGLState()
if self.antialias:
ogl.glEnable(ogl.GL_LINE_SMOOTH)
ogl.glHint(ogl.GL_LINE_SMOOTH_HINT, ogl.GL_NICEST)
ogl.glBegin(ogl.GL_LINES)
x, y, z = self.size()
# vertices
v = [(-x, -y, 0), (x, -y, 0), (x, y, 0), (-x, y, 0), (-x, -y, z),
(x, -y, z), (x, y, z), (-x, y, z), (-x, -y, -z), (x, -y, -z),
(x, y, -z), (-x, y, -z)]
# HORIZONTAL AXIS AT Z = 0
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[0][0], v[0][1], v[0][2])
ogl.glVertex3f(v[1][0], v[1][1], v[1][2])
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[1][0], v[1][1], v[1][2])
ogl.glVertex3f(v[2][0], v[2][1], v[2][2])
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[2][0], v[2][1], v[2][2])
ogl.glVertex3f(v[3][0], v[3][1], v[3][2])
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[3][0], v[3][1], v[3][2])
ogl.glVertex3f(v[0][0], v[0][1], v[0][2])
# HORIZONTAL AXIS AT Z = z
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[4][0], v[4][1], v[4][2])
ogl.glVertex3f(v[5][0], v[5][1], v[5][2])
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[5][0], v[5][1], v[5][2])
ogl.glVertex3f(v[6][0], v[6][1], v[6][2])
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[6][0], v[6][1], v[6][2])
ogl.glVertex3f(v[7][0], v[7][1], v[7][2])
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[7][0], v[7][1], v[7][2])
ogl.glVertex3f(v[4][0], v[4][1], v[4][2])
# HORIZONTAL AXIS AT Z = -z
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[8][0], v[8][1], v[8][2])
ogl.glVertex3f(v[9][0], v[9][1], v[9][2])
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[9][0], v[9][1], v[9][2])
ogl.glVertex3f(v[10][0], v[10][1], v[10][2])
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[10][0], v[10][1], v[10][2])
ogl.glVertex3f(v[11][0], v[11][1], v[11][2])
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[11][0], v[11][1], v[11][2])
ogl.glVertex3f(v[8][0], v[8][1], v[8][2])
# UPPER Z-AXES
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[0][0], v[0][1], v[0][2])
ogl.glVertex3f(v[4][0], v[4][1], v[4][2])
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[1][0], v[1][1], v[1][2])
ogl.glVertex3f(v[5][0], v[5][1], v[5][2])
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[2][0], v[2][1], v[2][2])
ogl.glVertex3f(v[6][0], v[6][1], v[6][2])
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[3][0], v[3][1], v[3][2])
ogl.glVertex3f(v[7][0], v[7][1], v[7][2])
# LOWER Z-AXES
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[0][0], v[0][1], v[0][2])
ogl.glVertex3f(v[8][0], v[8][1], v[8][2])
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[1][0], v[1][1], v[1][2])
ogl.glVertex3f(v[9][0], v[9][1], v[9][2])
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[2][0], v[2][1], v[2][2])
ogl.glVertex3f(v[10][0], v[10][1], v[10][2])
ogl.glColor4f(self.c[0], self.c[1], self.c[2], self.c[3])
ogl.glVertex3f(v[3][0], v[3][1], v[3][2])
ogl.glVertex3f(v[11][0], v[11][1], v[11][2])
ogl.glEnd()
def drawCone(self,c,v,r,n):
c0 = np.array([c.x,c.y,c.z])
v0 = np.array([v.x,v.y,v.z])
# calculate the distance for the height
h = ma.sqrt(np.sum((c0-v0) * (c0-v0)))
alpha = ma.acos(np.dot(np.array([0.0,0.0,1.0]),v0-c0) / (h+0.00001))
if v0[0]-c0[0] == 0 and v0[1]-c0[1] == 0:
dx = 0
dy = 0
elif v0[0]-c0[0] == 0:
dx = -(v0[1]-c0[1])
dy = 0
elif v0[1]-c0[1] == 0:
dx = 0
dy = v0[0]-c0[0]
else:
k = (v0[1]-c0[1]) / (v0[0]-c0[0])
l = -1.0/k
if l > 0.0:
dx = v0[0] - c0[0]
else:
dx = -(v0[0] - c0[0])
dy = dx * l
zdir = np.array([dx+c0[0], dy+c0[1], c0[2]])
t = np.linspace(0, ma.pi*2, n)
tx = t.copy()
ty = t.copy()
for i in range(0,n):
tx[i] = r * ma.cos(t[i]) + c0[0]
ty[i] = r * ma.sin(t[i]) + c0[1]
#print(tx)
vert = np.array([tx-c0[0],ty-c0[1],c0[2]*np.linspace(1.0,1.0,n)-c0[2]]).T
if zdir[0] != c0[0] and zdir[1] != c0[1]:
vert = self.rot3d(vert, np.array([0.0,0.0,0.0]), zdir-c0, alpha)
vert = vert + c0
#print(vert)
# reference points
gl.glBegin(gl.GL_LINES)
#gl.glVertex3f(c0[0],c0[1],c0[2])
#gl.glVertex3f(v0[0],v0[1],v0[2])
#gl.glVertex3f(c0[0],c0[1],c0[2])
#gl.glVertex3f(zdir[0],zdir[1],zdir[2])
#gl.glVertex3f(v0[0],v0[1],v0[2])
#gl.glVertex3f(self.Trx[1],self.Try[1],self.Trz[1])
for i in range(0,n):
gl.glVertex3f(v0[0],v0[1],v0[2])
gl.glVertex3f(vert[i][0], vert[i][1], vert[i][2])
gl.glEnd()
gl.glBegin(gl.GL_LINE_LOOP)
for i in range(0,n):
gl.glVertex3f(vert[i][0], vert[i][1], vert[i][2])
gl.glEnd()