def OnDraw(self):
if not self.init:
self.InitGL()
self.init = True
#self.InitGL()
# clear color and depth buffers
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
# use a fresh transformation matrix
gl.glPushMatrix()
# # position object
# #gl.glTranslate(0.0, 0.0, -2.0)
# gl.glRotate(30.0, 1.0, 0.0, 0.0)
# gl.glRotate(30.0, 0.0, 1.0, 0.0)
# gl.glTranslate(0, -1, 0)
# gl.glRotate(250, 1, 0, 0)
glut.glutSolidCone(0.5, 1, 30, 5)
gl.glPopMatrix()
for s in _spheres:
# use a fresh transformation matrix
gl.glPushMatrix()
# position object
gl.glTranslate(s.x, s.y, s.z)
glut.glutSolidSphere(s.radius, 60, 60)
gl.glPopMatrix()
# rotate the camera
gl.glRotate((self.y - self.lasty), 0.0, 0.0, 1.0);
gl.glRotate((self.x - self.lastx), 1.0, 0.0, 0.0);
# push into visible buffer
self.SwapBuffers()
def DrawGL(self): glColor3f(1.0,0.3,0.3) GLUT.glutSolidCone(1.0,2,20,16) glRotatef(180.0,0.0,1.0,0.0) glColor3f(0.3,1.0,0.3) GLUT.glutSolidCone(1.0,1,20,16) glLoadIdentity()
def DrawGL(self):
glColor3f(1.0, 0.3, 0.3)
GLUT.glutSolidCone(1.0, 2, 20, 16)
glRotatef(180.0, 0.0, 1.0, 0.0)
glColor3f(0.3, 1.0, 0.3)
GLUT.glutSolidCone(1.0, 1, 20, 16)
glLoadIdentity()
def draw_scene(self): gl.glEnable( gl.GL_BLEND ) # gl.glBlendFunc( gl.GL_SRC_ALPHA, gl.GL_SRC_ALPHA) gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA) gl.glPushMatrix() gl.glTranslatef(*self.point_manager.avg) gl.glPointSize(self.point_manager._get_scale()) if self.points_show: self.verts.draw( gl.GL_POINTS, 'pnc' ) for c in self.camera_manager.get_cams(): gl.glPushMatrix() gl.glMultMatrixf(c.R_gl) gl.glTranslatef(*c.t) if c.cone_show: gl.glPushMatrix() # cone is constructed on z axis toward image center # rotate so that it goes through pupil position point gl.glMultMatrixf(c.R_cone_gl) gl.glPointSize(4.0) c.inside_cone_vbo.draw(gl.GL_POINTS, 'pnc') gl.glTranslatef(0,0,-c.cone_len) gl.glColor4f(1.0,1.0,1.0,0.25) glut.glutSolidCone(c.cone_r, c.cone_len , 32 , 1 ) gl.glPopMatrix() if c.pyramid_show: gl.glEnable(gl.GL_TEXTURE_2D) gl.glBlendFunc( gl.GL_SRC_ALPHA, gl.GL_SRC_ALPHA) c.img.draw(-c.img_W, -c.img_H, -c.img_Z, c.img_W*2, c.img_H*2) gl.glDisable(gl.GL_TEXTURE_2D) gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA) gl.glPopMatrix() if c.pyramid_show: gl.glPolygonMode( gl.GL_FRONT_AND_BACK, gl.GL_LINE ) #wireframe display mode c.pyramid.draw(gl.GL_QUADS, 'pnc') if c.eye_point is not None: # gl.glEnable(gl.GL_POINT_SMOOTH) gl.glPointSize(10.0) c.eye_point.draw(gl.GL_POINTS, 'pnc') gl.glPolygonMode( gl.GL_FRONT_AND_BACK, gl.GL_FILL ) gl.glDepthMask (gl.GL_TRUE) gl.glPopMatrix()
def draw_direction_cone(p1, p2, position=0.5, precision=12, size=0.1):
# convert p1 and p2 from list/tuple to Point
if not hasattr(p1, "sub"):
p1 = Point(*p1)
if not hasattr(p2, "sub"):
p2 = Point(*p2)
distance = p2.sub(p1)
length = distance.norm
direction = distance.normalized()
if direction is None:
# zero-length line
return
cone_length = length * size
cone_radius = cone_length / 3.0
# move the cone to the middle of the line
GL.glTranslatef((p1.x + p2.x) * position,
(p1.y + p2.y) * position, (p1.z + p2.z) * position)
# rotate the cone according to the line direction
# The cross product is a good rotation axis.
cross = direction.cross(Point(0, 0, -1))
if cross.norm != 0:
# The line direction is not in line with the z axis.
try:
angle = math.asin(sqrt(direction.x ** 2 + direction.y ** 2))
except ValueError:
# invalid angle - just ignore this cone
return
# convert from radians to degree
angle = angle / math.pi * 180
if direction.z < 0:
angle = 180 - angle
GL.glRotatef(angle, cross.x, cross.y, cross.z)
elif direction.z == -1:
# The line goes down the z axis - turn it around.
GL.glRotatef(180, 1, 0, 0)
else:
# The line goes up the z axis - nothing to be done.
pass
# center the cone
GL.glTranslatef(0, 0, -cone_length * position)
# draw the cone
GLUT.glutSolidCone(cone_radius, cone_length, precision, 1)
def draw_direction_cone(p1, p2, position=0.5, precision=12, size=0.1):
# convert p1 and p2 from list/tuple to Point
if not hasattr(p1, "sub"):
p1 = Point(*p1)
if not hasattr(p2, "sub"):
p2 = Point(*p2)
distance = p2.sub(p1)
length = distance.norm
direction = distance.normalized()
if direction is None:
# zero-length line
return
cone_length = length * size
cone_radius = cone_length / 3.0
# move the cone to the middle of the line
GL.glTranslatef((p1.x + p2.x) * position, (p1.y + p2.y) * position,
(p1.z + p2.z) * position)
# rotate the cone according to the line direction
# The cross product is a good rotation axis.
cross = direction.cross(Point(0, 0, -1))
if cross.norm != 0:
# The line direction is not in line with the z axis.
try:
angle = math.asin(sqrt(direction.x**2 + direction.y**2))
except ValueError:
# invalid angle - just ignore this cone
return
# convert from radians to degree
angle = angle / math.pi * 180
if direction.z < 0:
angle = 180 - angle
GL.glRotatef(angle, cross.x, cross.y, cross.z)
elif direction.z == -1:
# The line goes down the z axis - turn it around.
GL.glRotatef(180, 1, 0, 0)
else:
# The line goes up the z axis - nothing to be done.
pass
# center the cone
GL.glTranslatef(0, 0, -cone_length * position)
# draw the cone
GLUT.glutSolidCone(cone_radius, cone_length, precision, 1)
def draw(self, coordslinear, index):
from OpenGL import GL,GLUT
xyzlinear = self.mysys.getxyz(coordslinear)
xyz = xyzlinear.reshape(xyzlinear.size/3, 3)
com=np.mean(xyz, axis=0)
if index == 1:
color1 = [0.65, 0.0, 0.0, 1.]
color2 = [0.35, 0.0, 0.0, 1.]
else:
color1 = [0.00, 0.65, 0., 1.]
color2 = [0.00, 0.35, 0., 1.]
GL.glMaterialfv(GL.GL_FRONT_AND_BACK, GL.GL_DIFFUSE, color2)
for i, xx in enumerate(xyz):
if i % 3 == 0:
GL.glMaterialfv(GL.GL_FRONT_AND_BACK, GL.GL_DIFFUSE, color1)
else:
GL.glMaterialfv(GL.GL_FRONT_AND_BACK, GL.GL_DIFFUSE, color2)
x=xx-com
GL.glPushMatrix()
GL.glTranslate(x[0],x[1],x[2])
GLUT.glutSolidSphere(0.4,30,30)
GL.glPopMatrix()
#now try to draw cylinders connecting atoms in a molecule
nsites = len(xyz[:,0])
z = np.array([0.,0.,1.]) #default cylinder orientation
for j1 in range(0,nsites,3):
X1 = xyz[j1,:] - com
for j2 in range(j1+1,j1+3,1):
#draw a cylinder from xyz[j1] to xyz[j2]
X2 = xyz[j2,:] - com
p = X2-X1 #desired cylinder orientation
r = np.linalg.norm(p)
t = np.cross(z,p) #angle about which to rotate
a = np.arccos( np.dot( z,p) / r ) #rotation angle
a *= (180. / np.pi) #change units to angles
GL.glPushMatrix()
GL.glTranslate( X1[0], X1[1], X1[2] )
GL.glRotate( a, t[0], t[1], t[2] )
GLUT.glutSolidCone(.2,r,30,30) #I can't seem to draw a cylinder
GL.glPopMatrix()
def render_arrow(self, p, q, r_base=0.01, head_width=0.015, head_len=0.01):
# glDisable(GL_LIGHTING)
m_quadric = self.quadric
GLU.gluQuadricNormals(m_quadric, GLU.GLU_SMOOTH)
p = np.array(p)
q = np.array(q)
u = (q - p)
u /= norm(u)
P = q - head_len * u
z = np.array([0, 0.0, 1.0])
z /= norm(z)
if norm(z - u) < 1e-8:
axis = np.array([0, 0, 1])
angle = 0.0
else:
axis = np.cross(z, u)
axis /= norm(axis)
angle = math.acos(u.dot(z))
M = R_axis_angle(axis, angle)
m = [
M[0, 0], M[1, 0], M[2, 0], 0.0, M[0, 1], M[1, 1], M[2, 1], 0.0,
M[0, 2], M[1, 2], M[2, 2], 0.0, P[0], P[1], P[2], 1.0
]
m2 = [
M[0, 0], M[1, 0], M[2, 0], 0.0, M[0, 1], M[1, 1], M[2, 1], 0.0,
M[0, 2], M[1, 2], M[2, 2], 0.0, p[0], p[1], p[2], 1.0
]
GL.glPushMatrix()
GL.glMultMatrixd(m2)
arrow_len = norm(q - p) - head_len
# glColor(0.9, 0.2, 0.2)
GLU.gluCylinder(m_quadric, r_base, r_base, arrow_len, 10, 10)
GL.glPopMatrix()
if head_width > 1e-6 and head_len > 1e-6:
# glColor(1.0, 0.0, 0.0)
GL.glPushMatrix()
GL.glMultMatrixd(m)
GLUT.glutSolidCone(head_width, head_len, 10, 3)
GL.glPopMatrix()
def create_cone(base=1.0, height=1.0, lat=20, lng=20, color=None):
"""
Creates an cone with base and height, radius 1.
:param base: Cone base
:param height: Cone height
:param lat: Cone latitude
:param lng: Cone longitude
:param color: Cone color
:type base: float, int
:type height: float, int
:type lat: int
:type lng: int
:type color: list
:return: OpenGL list
"""
if lat >= 3 and lng >= 10:
# noinspection PyArgumentEqualDefault
circlebase = create_circle(base - 0.05, 0.1, [0.0, 0.0, -1.0], color)
obj = _gl.glGenLists(1)
_gl.glNewList(obj, _gl.GL_COMPILE)
_gl.glPushMatrix()
if color is not None:
_gl.glColor4fv(color)
# noinspection PyBroadException
try:
_glut.glutSolidCone(base, height, lat, lng)
except:
if not _FIGURES_ERRS[3]:
_print_gl_error(
'OpenGL actual version does not support glutSolidCone function'
)
_FIGURES_ERRS[3] = True
_gl.glCallList(circlebase)
_gl.glPopMatrix()
_gl.glEndList()
return obj
else:
raise Exception(
'Latitude and longitude of the figure must be greater than 3')
def plotArrow(self, pt1, pt2, **params):
super(PlotGL, self).plotArrow(pt1, pt2, **params)
params = self.setDefaultParamsArrow(**params)
headSize = params.get('head_size')
lineVec = pt2 - pt1
lenVec = np.linalg.norm(lineVec)
gl.glPushMatrix()
try:
self.plotLine(pt1, pt2, **params)
phi, theta = self.geo.vec2Angs(pt2 - pt1)
gl.glTranslatef(pt2[0, 0], pt2[1, 0], pt2[2, 0])
gl.glRotatef(np.rad2deg(phi) + 90, 0, 0, 1)
gl.glRotatef(np.rad2deg(theta), 1, 0, 0)
glut.glutSolidCone(0.5 * headSize * lenVec, headSize * lenVec, 50, 10)
finally:
gl.glPopMatrix()
if params.get('text') is not None:
p2 = (pt1 + pt2) / 2
self.plotPoint(p2, **params)
self.plotText(p2, params.get('text'))
def draw_direction_cone(p1, p2, position=0.5, precision=12, size=0.1):
distance = psub(p2, p1)
length = pnorm(distance)
direction = pnormalized(distance)
if direction is None:
# zero-length line
return
cone_length = length * size
cone_radius = cone_length / 3.0
# move the cone to the middle of the line
GL.glTranslatef((p1[0] + p2[0]) * position,
(p1[1] + p2[1]) * position, (p1[2] + p2[2]) * position)
# rotate the cone according to the line direction
# The cross product is a good rotation axis.
cross = pcross(direction, (0, 0, -1))
if pnorm(cross) != 0:
# The line direction is not in line with the z axis.
try:
angle = math.asin(sqrt(direction[0] ** 2 + direction[1] ** 2))
except ValueError:
# invalid angle - just ignore this cone
return
# convert from radians to degree
angle = angle / math.pi * 180
if direction[2] < 0:
angle = 180 - angle
GL.glRotatef(angle, cross[0], cross[1], cross[2])
elif direction[2] == -1:
# The line goes down the z axis - turn it around.
GL.glRotatef(180, 1, 0, 0)
else:
# The line goes up the z axis - nothing to be done.
pass
# center the cone
GL.glTranslatef(0, 0, -cone_length * position)
# draw the cone
GLUT.glutSolidCone(cone_radius, cone_length, precision, 1)
def render_arrow(self, p, q, r_base=0.01, head_width=0.015, head_len=0.01):
# glDisable(GL_LIGHTING)
m_quadric = self.quadric
GLU.gluQuadricNormals(m_quadric, GLU.GLU_SMOOTH)
p = np.array(p)
q = np.array(q)
u = (q - p)
u /= norm(u)
P = q - head_len * u
z = np.array([0, 0.0, 1.0])
z /= norm(z)
if norm(z - u) < 1e-8:
axis = np.array([0, 0, 1])
angle = 0.0
else:
axis = np.cross(z, u)
axis /= norm(axis)
angle = math.acos(u.dot(z))
M = R_axis_angle(axis, angle)
m = [M[0, 0], M[1, 0], M[2, 0], 0.0, M[0, 1], M[1, 1], M[2, 1], 0.0,
M[0, 2], M[1, 2], M[2, 2], 0.0, P[0], P[1], P[2], 1.0]
m2 = [M[0, 0], M[1, 0], M[2, 0], 0.0, M[0, 1], M[1, 1], M[2, 1], 0.0,
M[0, 2], M[1, 2], M[2, 2], 0.0, p[0], p[1], p[2], 1.0]
GL.glPushMatrix()
GL.glMultMatrixd(m2)
arrow_len = norm(q - p) - head_len
# glColor(0.9, 0.2, 0.2)
GLU.gluCylinder(m_quadric, r_base, r_base, arrow_len, 10, 10)
GL.glPopMatrix()
if head_width > 1e-6 and head_len > 1e-6:
# glColor(1.0, 0.0, 0.0)
GL.glPushMatrix()
GL.glMultMatrixd(m)
GLUT.glutSolidCone(head_width, head_len, 10, 3)
GL.glPopMatrix()
def draw_direction_cone(p1, p2, position=0.5, precision=12, size=0.1):
distance = psub(p2, p1)
length = pnorm(distance)
direction = pnormalized(distance)
if direction is None:
# zero-length line
return
cone_length = length * size
cone_radius = cone_length / 3.0
# move the cone to the middle of the line
GL.glTranslatef((p1[0] + p2[0]) * position, (p1[1] + p2[1]) * position,
(p1[2] + p2[2]) * position)
# rotate the cone according to the line direction
# The cross product is a good rotation axis.
cross = pcross(direction, (0, 0, -1))
if pnorm(cross) != 0:
# The line direction is not in line with the z axis.
try:
angle = math.asin(sqrt(direction[0]**2 + direction[1]**2))
except ValueError:
# invalid angle - just ignore this cone
return
# convert from radians to degree
angle = angle / math.pi * 180
if direction[2] < 0:
angle = 180 - angle
GL.glRotatef(angle, cross[0], cross[1], cross[2])
elif direction[2] == -1:
# The line goes down the z axis - turn it around.
GL.glRotatef(180, 1, 0, 0)
else:
# The line goes up the z axis - nothing to be done.
pass
# center the cone
GL.glTranslatef(0, 0, -cone_length * position)
# draw the cone
GLUT.glutSolidCone(cone_radius, cone_length, precision, 1)
def draw_direction_cone(p1, p2):
distance = p2.sub(p1)
length = distance.norm
direction = distance.normalized()
if direction is None:
# zero-length line
return
cone_radius = length / 30
cone_length = length / 10
# move the cone to the middle of the line
GL.glTranslatef((p1.x + p2.x) / 2, (p1.y + p2.y) / 2, (p1.z + p2.z) / 2)
# rotate the cone according to the line direction
# The cross product is a good rotation axis.
cross = direction.cross(Point(0, 0, -1))
if cross.norm != 0:
# The line direction is not in line with the z axis.
try:
angle = math.asin(sqrt(direction.x ** 2 + direction.y ** 2))
except ValueError:
# invalid angle - just ignore this cone
return
# convert from radians to degree
angle = angle / math.pi * 180
if direction.z < 0:
angle = 180 - angle
GL.glRotatef(angle, cross.x, cross.y, cross.z)
elif direction.z == -1:
# The line goes down the z axis - turn it around.
GL.glRotatef(180, 1, 0, 0)
else:
# The line goes up the z axis - nothing to be done.
pass
# center the cone
GL.glTranslatef(0, 0, -cone_length / 2)
# draw the cone
GLUT.glutSolidCone(cone_radius, cone_length, 12, 1)
def draw_direction_cone(p1, p2):
distance = p2.sub(p1)
length = distance.norm
direction = distance.normalized()
if direction is None:
# zero-length line
return
cone_radius = length / 30
cone_length = length / 10
# move the cone to the middle of the line
GL.glTranslatef((p1.x + p2.x) / 2, (p1.y + p2.y) / 2, (p1.z + p2.z) / 2)
# rotate the cone according to the line direction
# The cross product is a good rotation axis.
cross = direction.cross(Point(0, 0, -1))
if cross.norm != 0:
# The line direction is not in line with the z axis.
try:
angle = math.asin(sqrt(direction.x ** 2 + direction.y ** 2))
except ValueError:
# invalid angle - just ignore this cone
return
# convert from radians to degree
angle = angle / math.pi * 180
if direction.z < 0:
angle = 180 - angle
GL.glRotatef(angle, cross.x, cross.y, cross.z)
elif direction.z == -1:
# The line goes down the z axis - turn it around.
GL.glRotatef(180, 1, 0, 0)
else:
# The line goes up the z axis - nothing to be done.
pass
# center the cone
GL.glTranslatef(0, 0, -cone_length / 2)
# draw the cone
GLUT.glutSolidCone(cone_radius, cone_length, 12, 1)
def drawCoodinateSystem(self):
'''
绘制坐标轴
'''
length = 0.8
GL.glBegin(GL.GL_LINES)
# x
GL.glColor3f(1, 0, 0)
GL.glVertex3f(0, 0, 0)
GL.glVertex3f(length, 0, 0)
# y
GL.glColor3f(1, 0, 1)
GL.glVertex3f(0, 0, 0)
GL.glVertex3f(0, length, 0)
# z
GL.glColor3f(0, 0, 1)
GL.glVertex3f(0, 0, 0)
GL.glVertex3f(0, 0, length)
GL.glEnd()
# x-arrow
GL.glPushMatrix()
GL.glColor3f(1, 0, 0)
GL.glTranslatef(length, 0, 0)
GL.glRotatef(90, 0, 1, 0)
GLUT.glutSolidCone(length / 38, length / 18, 10, 10)
GL.glTranslatef(-length, 0, 0)
GL.glRotatef(-90, 0, 1, 0)
GL.glPopMatrix()
# y-arrow
GL.glPushMatrix()
GL.glColor3f(1, 0, 1)
GL.glTranslatef(0, length, 0)
GL.glRotatef(-90, 1, 0, 0)
GLUT.glutSolidCone(length / 38, length / 18, 10, 10)
GL.glTranslatef(0, -length, 0)
GL.glRotatef(90, 1, 0, 0)
GL.glPopMatrix()
# z-arrow
GL.glPushMatrix()
GL.glColor3f(0, 0, 1)
GL.glTranslatef(0, 0, length)
GLUT.glutSolidCone(length / 38, length / 18, 10, 10)
GL.glTranslatef(0, 0, -length)
GL.glPopMatrix()
def draw_scene(self):
gl.glEnable(gl.GL_BLEND)
# gl.glBlendFunc( gl.GL_SRC_ALPHA, gl.GL_SRC_ALPHA)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glPushMatrix()
gl.glTranslatef(*self.point_manager.avg)
gl.glPointSize(self.point_manager._get_scale())
if self.points_show:
self.verts.draw(gl.GL_POINTS, 'pnc')
for c in self.camera_manager.get_cams():
gl.glPushMatrix()
gl.glMultMatrixf(c.R_gl)
gl.glTranslatef(*c.t)
if c.cone_show:
gl.glPushMatrix()
# cone is constructed on z axis toward image center
# rotate so that it goes through pupil position point
gl.glMultMatrixf(c.R_cone_gl)
gl.glPointSize(4.0)
c.inside_cone_vbo.draw(gl.GL_POINTS, 'pnc')
gl.glTranslatef(0, 0, -c.cone_len)
gl.glColor4f(1.0, 1.0, 1.0, 0.25)
glut.glutSolidCone(c.cone_r, c.cone_len, 32, 1)
gl.glPopMatrix()
if c.pyramid_show:
gl.glEnable(gl.GL_TEXTURE_2D)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_SRC_ALPHA)
c.img.draw(-c.img_W, -c.img_H, -c.img_Z, c.img_W * 2,
c.img_H * 2)
gl.glDisable(gl.GL_TEXTURE_2D)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glPopMatrix()
if c.pyramid_show:
gl.glPolygonMode(gl.GL_FRONT_AND_BACK,
gl.GL_LINE) #wireframe display mode
c.pyramid.draw(gl.GL_QUADS, 'pnc')
if c.eye_point is not None:
# gl.glEnable(gl.GL_POINT_SMOOTH)
gl.glPointSize(10.0)
c.eye_point.draw(gl.GL_POINTS, 'pnc')
gl.glPolygonMode(gl.GL_FRONT_AND_BACK, gl.GL_FILL)
gl.glDepthMask(gl.GL_TRUE)
gl.glPopMatrix()
