def drawFunc():
# Gets called in a loop
glClearColor(1.0, 1.0, 1.0, 0.0)
# Set clear color to white
glClearDepth(1.0)
glPointSize(5)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
# FOV, AspectRatio, near, far
projection = glm.perspective(glm.radians(camera.zoom),
SCR_WIDTH * 1.0 / SCR_HEIGHT, 0.1, 200)
view = camera.get_view_matrix()
robot_program.use()
# Load matrices in shader through set_matrix function
robot_program.set_matrix("projection", glm.value_ptr(projection))
robot_program.set_matrix("view", glm.value_ptr(view))
m = glm.mat4(1.0)
m = glm.rotate(m, glm.radians(-90), glm.vec3(1, 0, 0))
m = glm.rotate(m, glm.radians(30), glm.vec3(0, 0, 1))
robot_program.set_matrix("model", glm.value_ptr(m))
robot_program.un_use()
time0 = glfw.get_time()
human_model.animation(robot_program, speed)
time1 = glfw.get_time()
delta_time = (time1 - time0)
if delta_time < 16:
time.sleep((16 - delta_time) / 1000)
def updateUniformBuffers(self):
# see https://matthewwellings.com/blog/the-new-vulkan-coordinate-system/
#vulk=glm.mat4((1,0,0,0),(0,-1,0,0),(0,0,0.5,0),(0,0,0.5,1))
#self.uboVS['projectionMatrix'] = vulk*glm.perspective(glm.radians(60.0), self.width / self.height, 0.1, 256.0)
#self.uboVS['projectionMatrix'] = glm.perspectiveRH_ZO(glm.radians(60.0), self.width / self.height, 0.1, 256.0)
self.uboVS['projectionMatrix'] = glm.transpose(
glm.perspectiveRH_ZO(glm.radians(60.0), self.width / self.height,
0.1, 256.0))
self.uboVS['viewMatrix'] = glm.transpose(
glm.translate(glm.mat4(1.0), glm.vec3(0.0, 0.0, self.zoom)))
self.uboVS['modelMatrix'] = glm.mat4(1.0)
self.uboVS['modelMatrix'] = glm.rotate(self.uboVS['modelMatrix'],
glm.radians(self.rotation.x),
glm.vec3(1.0, 0.0, 0.0))
self.uboVS['modelMatrix'] = glm.rotate(self.uboVS['modelMatrix'],
glm.radians(self.rotation.y),
glm.vec3(0.0, 1.0, 0.0))
self.uboVS['modelMatrix'] = glm.rotate(self.uboVS['modelMatrix'],
glm.radians(self.rotation.z),
glm.vec3(0.0, 0.0, 1.0))
uboVSSize = sum([glm.sizeof(ubo) for ubo in self.uboVS.values()])
uboVSBuffer = np.concatenate(
(np.array(self.uboVS['projectionMatrix']).flatten(order='C'),
np.array(self.uboVS['modelMatrix']).flatten(order='C'),
np.array(self.uboVS['viewMatrix']).flatten(order='C')))
data = vk.vkMapMemory(self.device, self.uniformBufferVS['memory'], 0,
uboVSSize, 0)
datawrapper = np.array(data, copy=False)
np.copyto(datawrapper, uboVSBuffer.view(dtype=np.uint8), casting='no')
vk.vkUnmapMemory(self.device, self.uniformBufferVS['memory'])
def getViewMat(self) -> glm.mat4:
mat = glm.mat4(1)
mat = glm.rotate(mat, glm.radians(self.__degrees.x), glm.vec3(1, 0, 0))
mat = glm.rotate(mat, glm.radians(self.__degrees.y), glm.vec3(0, 1, 0))
mat = glm.translate(mat, -self.pos.getVec())
return mat
def mouse_event(window, xpos, ypos):
global firstMouse, cameraFront, yaw, pitch, lastX, lastY
if firstMouse:
lastX = xpos
lastY = ypos
firstMouse = False
xoffset = xpos - lastX
yoffset = lastY - ypos
lastX = xpos
lastY = ypos
sensitivity = 0.3
xoffset *= sensitivity
yoffset *= sensitivity
yaw += xoffset
pitch += yoffset
if pitch >= 90.0: pitch = 90.0
if pitch <= -90.0: pitch = -90.0
front = glm.vec3()
front.x = math.cos(glm.radians(yaw)) * math.cos(glm.radians(pitch))
front.y = math.sin(glm.radians(pitch))
front.z = math.sin(glm.radians(yaw)) * math.cos(glm.radians(pitch))
cameraFront = glm.normalize(front)
def __init__(self, screen):
self.screen = screen
_, _, self.width, self.height = screen.get_rect()
#Gl Enable as Depth and Create our Viewport
glEnable(GL_DEPTH_TEST)
glViewport(0, 0, self.width, self.height)
self.modelShow = 0
self.modelList = []
# Perspective Projection Matrix
self.projection = glm.perspective(glm.radians(60),
self.width / self.height, 0.1, 1000)
#Cam pos, cube pos and cam rotation
self.camPos = glm.vec3(0, 0, 3)
self.cubePos = glm.vec3(0, 0, 0)
self.yawCam = 0
self.pitchCam = 0
self.rollCam = 0
# Light
self.pointLight = glm.vec4(0, 0, 0, 0)
# Perspective Projection Matrix
self.projection = glm.perspective(glm.radians(60),
self.width / self.height, 0.1, 1000)
def display():
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
elapsed_ms = glutGet(GLUT_ELAPSED_TIME)
projection = glm.perspective(glm.radians(60), aspect, 0.1, 20.0)
view = glm.lookAt(glm.vec3(-1, -8, 4), glm.vec3(-1, 0, -1), glm.vec3(0, 0, 1))
angle = 0#elapsed_ms * math.pi * 2 / 10000.0
model = glm.rotate(glm.mat4(1), glm.radians(-30), glm.vec3(0, 0, 1))
model = glm.rotate(model, angle, glm.vec3(0, 1, 0))
model = glm.scale(model, glm.vec3(1, 5, 0.2))
glUniformMatrix4fv(0, 1, GL_FALSE, glm.value_ptr(projection))
glUniformMatrix4fv(1, 1, GL_FALSE, glm.value_ptr(view))
glUniformMatrix4fv(2, 1, GL_FALSE, glm.value_ptr(model))
glUniform3f(10, 50/255, 40/255, 30/255)
glUniform3f(11, 200/255, 150/255, 100/255)
glUniform1f(12, 1.0) # frequency
glUniform1f(13, 10.0) # noiseScale
glUniform1f(14, 0.1) # ringScale
glUniform1f(15, 1.0) # contrast
glDrawElements(GL_TRIANGLES, 36, GL_UNSIGNED_INT, None)
glutSwapBuffers()
glutPostRedisplay()
def update_camera_vectors(self):
front = glm.vec3(x=np.cos(glm.radians(self.yaw)) * np.cos(glm.radians(self.pitch)),
y=np.sin(glm.radians(self.pitch)),
z=np.sin(glm.radians(self.yaw)) * np.cos(glm.radians(self.pitch)))
self.front = glm.normalize(front)
self.right = glm.normalize(np.cross(self.front, self.world_up))
self.up = glm.normalize(np.cross(self.right, self.front))
def on_mouse_move(self, event):
x_pos = event.pos[0]
y_pos = event.pos[1]
if self.first_mouse:
self.first_mouse = False
self.last_x = x_pos
self.last_y = y_pos
x_offset = x_pos - self.last_x
y_offset = y_pos - self.last_y
self.last_x = x_pos
self.last_y = y_pos
sensitivity = 0.05
x_offset *= sensitivity
y_offset *= sensitivity
self.yaw += x_offset
self.pitch += y_offset
if self.pitch > 89:
self.pitch = 89
if self.pitch < -89:
self.pitch = -89
direction = glm.vec3(1)
direction.x = cos(glm.radians(self.yaw) * cos(glm.radians(self.pitch)))
direction.y = sin(-glm.radians(self.pitch))
direction.z = sin(glm.radians(self.yaw)) * cos(glm.radians(self.pitch))
self.cameraFront = glm.normalize(direction)
self.update()
def on_draw(self, event):
self.model = glm.mat4(1.0)
self.model = glm.rotate(self.model, glm.radians(-55.0), glm.vec3(1, 0, 0))
self.view = glm.mat4(1.0)
self.view = glm.translate(self.view, glm.vec3(0.0, 0.0, -3.0))
self.projection = glm.mat4(1.0)
self.projection = glm.perspective(glm.radians(45.0), builtins.width/builtins.height, 0.1, 100.0)
# vispy takes numpy array in m * n matrix form
self.model = (np.array(self.model.to_list()).astype(np.float32))
self.view = (np.array(self.view.to_list()).astype(np.float32))
self.projection = (np.array(self.projection.to_list()).astype(np.float32))
# reshaping to (m, n) to (1, m*n) to support data input in vispy
self.model = self.model.reshape((1, self.model.shape[0] * self.model.shape[1]))
self.view = self.view.reshape((1, self.view.shape[0] * self.view.shape[1]))
self.projection = self.projection.reshape((1, self.projection.shape[0] * self.projection.shape[1]))
gloo.clear([0.2, 0.3, 0.3, 1.0])
self.program['model'] = self.model
self.program['view'] = self.view
self.program['projection'] = self.projection
self.program.draw('triangles', self.indices)
self.update()
def make_env_with_best_settings(envName): env = gym.make(envName) env.env.advancedLevel = True env.env.advancedLevelRandom = False env.env.randomInitDir = True env.env.addObstacles = False env.env.ActionIsAngles = True env.env.ActionIsAnglesType = 2 env.env.ActionsIsAdditive = False env.env.inputsSpace = 0 env.env.actionsSpace = 0 env.env.simRewardOnly = False env.env.maxAnglesPerSec = 90.0 env.env.maxDesiredTargetSpeed = 0.25 env.env.speedInTargetDir = True env.env.targetDesired_episode_from = 0 env.env.targetDesired_episode_to = 10000 env.env.targetDesired_angleFrom = np.pi/2.0 env.env.targetDesired_angleTo = np.pi/2.0 env.env.spawnYawMultiplier = 0.0 env.env.targetDesiredYawMultiplier = 0.0 env.env.analyticReward = False env.env.analyticRewardType = 1 env.env.anglesRewardMultiplier = 0.0 env.env.check90Angles = False env.env.goalRandomTargetDirClamp = glm.radians(40.0) env.env.goalRandomChassisDirClamp = glm.radians(40.0) env.env.progressDirChassisMultiplier = 0.6 env.env.progressDirTargetMultiplier = 0.6 env.env.progressMultiplier = 1.0 env.env.aliveMultiplier = 1.0 env.env.aliveMultiplierClampMax = 0.0 env.env.yawRewardMultiplier = 0.0 env.env.holdingTorqueMultiplier=0.0 env.env.energyCostMultiplier = 0.0 env.env.useLegsHeightReward = True env.env.angleLimitszFromMp2ToP2 = False env.env.ground_pos_random_x = 0.5 env.env.ground_pos_random_y = 0.5 env = MaxAndSkipEnv(env,max_and_skip,False) env = FrameStack(env,frames_stack,True) return env
def updateUniformBuffers(self):
self.uboVS['projection'] = glm.transpose(
glm.perspectiveRH_ZO(glm.radians(60.0), self.width / self.height,
0.001, 256.0))
view = glm.transpose(
glm.translate(glm.mat4(1.0), glm.vec3(0.0, 0.0, self.zoom)))
self.uboVS['model'] = view * glm.translate(glm.mat4(1.0),
self.cameraPos)
self.uboVS['model'] = glm.rotate(self.uboVS['model'],
glm.radians(self.rotation.x),
glm.vec3(1.0, 0.0, 0.0))
self.uboVS['model'] = glm.rotate(self.uboVS['model'],
glm.radians(self.rotation.y),
glm.vec3(0.0, 1.0, 0.0))
self.uboVS['model'] = glm.rotate(self.uboVS['model'],
glm.radians(self.rotation.z),
glm.vec3(0.0, 0.0, 1.0))
self.uboVS['viewPos'] = glm.vec4(0.0, 0.0, -self.zoom, 0.0)
uboVSSize = sum([glm.sizeof(ubo) for ubo in self.uboVS.values()])
uboVSBuffer = np.concatenate(
(np.array(self.uboVS['projection']).flatten(order='C'),
np.array(self.uboVS['model']).flatten(order='C'),
np.array(self.uboVS['viewPos']).flatten(order='C'),
np.array(self.uboVS['lodBias']).flatten(order='C')))
self.uniformBufferVS.map()
self.uniformBufferVS.copyTo(uboVSBuffer, uboVSSize)
self.uniformBufferVS.unmap()
def draw(self, view, projection, light, view_position):
this_mesh_renderer: Optional[MeshRenderer] = self.get_component(
MeshRenderer)
this_mesh_filter: Optional[MeshFilter] = self.get_component(MeshFilter)
if this_mesh_renderer is not None:
this_mesh_renderer.use()
m = glm.translate(glm.mat4(1), self.transform.position)
for c in self.draw_rotate:
if c == 'x':
m = glm.rotate(m, glm.radians(self.transform.rotation.x),
glm.vec3(1, 0, 0))
elif c == 'y':
m = glm.rotate(m, glm.radians(self.transform.rotation.y),
glm.vec3(0, 1, 0))
elif c == 'z':
m = glm.rotate(m, glm.radians(self.transform.rotation.z),
glm.vec3(0, 0, 1))
m = glm.scale(m, self.transform.scale)
model, view, projection = self.renderer(model=m,
view=view,
projection=projection)
this_mesh_renderer.set_matrix('model', glm.value_ptr(model))
this_mesh_renderer.set_matrix('view', glm.value_ptr(view))
this_mesh_renderer.set_matrix('projection',
glm.value_ptr(projection))
this_mesh_renderer.draw(light_tuple=light,
view_position=view_position)
# this_mesh_renderer.un_use()
if this_mesh_filter is not None:
this_mesh_filter.draw()
def mouse_callback2(win, mouse_x, mouse_y):
global last_mouse_x, last_mouse_y
global yaw, pitch
global camera_front
global first_mouse
if first_mouse:
first_mouse = False
last_mouse_x = mouse_x
last_mouse_y = mouse_y
offset_x = mouse_x - last_mouse_x
offset_y = last_mouse_y - mouse_y # invert y
last_mouse_x = mouse_x
last_mouse_y = mouse_y
sensitivity = 0.2
offset_x *= sensitivity
offset_y *= sensitivity
yaw += offset_x
pitch += offset_y
# print(yaw, pitch)
if pitch > 89.0:
pitch = 89.0
if pitch < -89.0:
pitch = -89.0
front = glm.vec3(x=np.cos(glm.radians(yaw)) * np.cos(glm.radians(pitch)),
y=np.sin(glm.radians(pitch)),
z=np.sin(glm.radians(yaw)) * np.cos(glm.radians(pitch)))
camera_front = glm.normalize(front)
def render(self, shadersDict):
for entity in shadersDict:
shadersDict[entity][0].use()
e = entity
model = entity.model
glBindVertexArray(model.vao)
transform = glm.identity(glm.mat4x4)
transform = glm.translate(transform,
glm.vec3(e.pos.x, e.pos.y, e.pos.z))
transform = glm.rotate(transform, glm.radians(e.angle_x),
glm.vec3(1, 0, 0)) # x-axis
transform = glm.rotate(transform, glm.radians(e.angle_y),
glm.vec3(0, 1, 0)) # y-axis
transform = glm.rotate(transform, glm.radians(e.angle_z),
glm.vec3(0, 0, 1)) # z-axis
transform = glm.scale(transform,
glm.vec3(e.scale.x, e.scale.y, e.scale.z))
shadersDict[entity][0].setMatrix4f("mat_transform", transform)
if shadersDict[entity][1]:
glDrawElements(GL_TRIANGLES, model.indices_len,
GL_UNSIGNED_INT, None)
else:
glDrawArrays(GL_TRIANGLES, 0, model.vertex_count)
def init_test_object():
global _test_object, _child1, _child2, _child3, _child4
color = np.array(
[[1.0, 0.0, 0.0, 1.0], [0.5, 0.0, 0.0, 1.0], [0.0, 1.0, 0.0, 1.0],
[0.0, 0.5, 0.0, 1.0], [0.0, 0.0, 1.0, 1.0], [0.0, 0.0, 0.5, 1.0]],
c_float)
long_rect = RectPrismMesh(0.5, 0.1, 0.1, face_colors=color)
_child1 = WorldObject(long_rect)
_child2 = WorldObject(long_rect)
_child3 = WorldObject(long_rect)
_child4 = WorldObject(long_rect)
_child1.set_local_position((1.25, 0.0, 0.0))
_child2.set_local_position((0.0, 1.25, 0.0))
_child3.set_local_position((-1.25, 0.0, 0.0))
_child4.set_local_position((0.0, -1.25, 0.0))
_child1.set_local_rotation((0.0, 0.0, 0.0))
_child2.set_local_rotation((0.0, 0.0, glm.radians(90.0)))
_child3.set_local_rotation((0.0, 0.0, glm.radians(180.0)))
_child4.set_local_rotation((0.0, 0.0, glm.radians(270.0)))
cube = RectPrismMesh(0.5, 0.5, 0.5, face_colors=color)
_test_object = WorldObject(cube)
_test_object.set_render_mode(gl.GL_LINE_LOOP)
_test_object.add_child(_child1)
_test_object.add_child(_child2)
_test_object.add_child(_child3)
_test_object.add_child(_child4)
def getModelMat(self):
mat = glm.mat4(1.0)
mat = glm.rotate(mat, glm.radians(self.__z), (0.0, 0.0, 1.0))
mat = glm.rotate(mat, glm.radians(self.__y), (0.0, 1.0, 0.0))
mat = glm.rotate(mat, glm.radians(self.__x), (1.0, 0.0, 0.0))
return mat
def updateCameraVectors(self):
front_x = np.cos(glm.radians(self.yaw) * np.cos(glm.radians(self.pitch)))
front_y = np.sin(glm.radians(self.pitch))
front_z = np.sin(glm.radians(self.yaw) * np.cos(glm.radians(self.pitch)))
self.front = glm.normalize(glm.vec3(front_x, front_y, front_z))
self.right = glm.normalize(glm.cross(self.front, self.world_up))
self.up = glm.normalize(glm.cross(self.right, self.front))
def UpdateCameraVectors(self):
front = glm.vec3(1)
front.x = cos(glm.radians(self.Yaw)) * cos(glm.radians(self.Pitch))
front.y = sin(-glm.radians(self.Pitch))
front.z = sin(glm.radians(self.Yaw)) * cos(glm.radians(self.Pitch))
self.Front = glm.normalize(front)
self.Right = glm.normalize(glm.cross(self.Front, self.WorldUp))
self.Up = glm.normalize(glm.cross(self.Right, self.Front))
def getView(self):
m = glm.mat4(1.0)
m = glm.translate(m, self.offset)
m = glm.rotate(m, glm.radians(self.pitch), (1, 0, 0))
m = glm.rotate(m, glm.radians(self.yaw), (0, 1, 0))
m = glm.translate(m, self.pos)
return m
def getView(self):
self.viewMatrix = glm.identity(glm.mat4x4)
self.viewMatrix = glm.rotate(self.viewMatrix, glm.radians(self.pitch), glm.vec3(1, 0, 0)) # x-axis
self.viewMatrix = glm.rotate(self.viewMatrix, glm.radians(self.yaw), glm.vec3(0, 1, 0)) # y-axis
self.viewMatrix = glm.rotate(self.viewMatrix, glm.radians(self.roll), glm.vec3(0, 0, 1)) # z-axis
self.offsetCamera = glm.vec3(-self.x, -self.y, -self.z)
self.viewMatrix = glm.translate(self.viewMatrix, self.offsetCamera)
return self.viewMatrix
def __update_camera_vectors(self):
front = glm.vec3(0)
front.x = np.cos(glm.radians(self.yaw)) * np.cos(glm.radians(self.pitch))
front.y = np.sin(glm.radians(self.pitch))
front.z = np.sin(glm.radians(self.yaw)) * np.cos(glm.radians(self.pitch))
self.front = glm.normalize(front)
self.right = glm.normalize(glm.cross(self.front, self.world_up))
def getViewMatrix(self):
i = glm.mat4(1)
camTranslate = glm.translate(i, self.camPosition)
camPitch = glm.rotate(i, glm.radians( self.camRotation.x ), glm.vec3(1,0,0))
camYaw = glm.rotate(i, glm.radians( self.camRotation.y ), glm.vec3(0,1,0))
camRoll = glm.rotate(i, glm.radians( self.camRotation.z ), glm.vec3(0,0,1))
camRotate = camPitch * camYaw * camRoll
return glm.inverse( camTranslate * camRotate )
def getDirVec(self):
vec = glm.vec4(0, 0, -1, 0)
vec = glm.rotate(glm.mat4(1), glm.radians(-self.__degrees.x),
(1, 0, 0)) * vec
vec = glm.rotate(glm.mat4(1), glm.radians(-self.__degrees.y),
(0, 1, 0)) * vec
return glm.normalize(vec)
def render():
glClearColor(0, 0, 0, 0.0)
glClearDepth(1.0)
glPointSize(5)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
projection = glm.perspective(
glm.radians(camera.zoom),
window.window_width * 1.0 / window.window_height, 0.1, 1000)
view = camera.get_view_matrix()
#
# draw grid
shader_program.use()
shader_program.set_matrix("projection", glm.value_ptr(projection))
shader_program.set_matrix("view", glm.value_ptr(view))
m = glm.mat4(1.0)
m = glm.translate(m, grid_position[2])
m = glm.rotate(m, glm.radians(90), grid_position[1][1])
m = glm.scale(m, glm.vec3(5))
shader_program.set_matrix("model", glm.value_ptr(m))
shader_program.un_use()
grid_model.draw(shader_program, draw_type=GL_LINES)
#
# draw hand
hand_shader_program.use()
hand_shader_program.set_matrix("projection", glm.value_ptr(projection))
hand_shader_program.set_matrix("view", glm.value_ptr(view))
m = glm.mat4(1.0)
m = glm.translate(m, glm.vec3(0, 6, 0))
m = glm.rotate(m, glm.radians(-90), glm.vec3(1, 0, 0))
# m = glm.rotate(m, glm.radians(model_position[1][1][0]), model_position[1][1][1])
# m = glm.rotate(m, glm.radians(model_position[1][2][0]), model_position[1][2][1])
m = glm.scale(m, glm.vec3(0.02, 0.02, 0.02))
hand_shader_program.set_matrix("model", glm.value_ptr(m))
hand_shader_program.set_uniform_3f("lightColor", light_color)
hand_shader_program.set_uniform_3f("lightPos", light_position)
hand_shader_program.set_uniform_3f("handColor", hand_color)
hand_shader_program.un_use()
hand_model.draw(hand_shader_program, draw_type=GL_TRIANGLES)
#
# draw light cube
light_shader_program.use()
light_shader_program.set_matrix("projection", glm.value_ptr(projection))
light_shader_program.set_matrix("view", glm.value_ptr(view))
m = glm.mat4(1.0)
m = glm.translate(
m, glm.vec3(light_position[0], light_position[1], light_position[2]))
m = glm.scale(m, glm.vec3(1, 1, 1))
light_shader_program.set_matrix("model", glm.value_ptr(m))
light_shader_program.set_uniform_3f("lightColor", light_color)
light_shader_program.un_use()
light_cube.draw(light_shader_program, draw_type=GL_TRIANGLES)
def getMatrix(self):
i = glm.mat4(1)
translate = glm.translate(i, self.position)
pitch = glm.rotate(i, glm.radians(self.rotation.x), glm.vec3(1, 0, 0))
yaw = glm.rotate(i, glm.radians(self.rotation.y), glm.vec3(0, 1, 0))
roll = glm.rotate(i, glm.radians(self.rotation.z), glm.vec3(0, 0, 1))
rotate = pitch * yaw * roll
scale = glm.scale(i, self.scale)
return translate * rotate * scale
def get_mvp():
fov = glm.radians(45.0)
aspect = self.u_width / self.u_height
near, far = 0.2, 20.0
p = glm.perspective(fov, aspect, near, far)
v = glm.rotate(glm.mat4(1.0), glm.radians(-180.0), glm.vec3(0.0, 1.0, 0.0))
m = glm.translate(glm.mat4(1.0), glm.vec3(0.0, 0.0, 2.0))
return m, v, p, p * v * m
def _update_cam_unit_pos(self):
self._pitch = max(-89., min(89., self._pitch))
pitch = glm.radians(self._pitch)
yaw = glm.radians(self._yaw)
self._cam_unit_pos = glm.normalize(glm.vec3(glm.cos(yaw) * glm.cos(pitch),
glm.sin(pitch),
glm.sin(yaw) * glm.cos(pitch)))
def createTheMatrix(counter): translate = glm.translate(i, glm.vec3(0, 0, 0)) rotate = glm.rotate(i, glm.radians(counter), glm.vec3(0, 1, 0)) scale = glm.scale(i, glm.vec3(1, 1, 1)) model = translate * rotate * scale view = glm.lookAt(glm.vec3(0, 0, 200), glm.vec3(0, 0, 0), glm.vec3(0, 1, 0)) projection = glm.perspective(glm.radians(45), 800/600, 0.1, 1000) return projection * view * model
def updateCameraVectors(self):
self.front.x = glm.cos(glm.radians(self.yaw)) * glm.cos(
glm.radians(self.pitch))
self.front.y = glm.sin(glm.radians(self.pitch))
self.front.z = glm.sin(glm.radians(self.yaw)) * glm.cos(
glm.radians(self.pitch))
self.front = glm.normalize(self.front)
self.right = glm.normalize(glm.cross(self.front, self.worldUp))
self.up = glm.normalize(glm.cross(self.right, self.front))
def getMatrix(self, camera_pos, projection, camera_rot):
i = glm.mat4(1)
translate = glm.translate(i, glm.vec3(0, 0, 0))
pitch = glm.rotate(i, glm.radians(self.rotation.x), glm.vec3(1, 0, 0))
yaw = glm.rotate(i, glm.radians(self.rotation.y), glm.vec3(0, 1, 0))
roll = glm.rotate(i, glm.radians(self.rotation.z), glm.vec3(0, 0, 1))
rotate = pitch * yaw * roll
scale = glm.scale(i, self.scale)
view = glm.lookAt(camera_pos, self.position, glm.vec3(0, 1, 0))
return translate * rotate * scale
def update(self):
self.model_matrix = glm.mat4(1.0)
self.model_matrix = glm.translate(self.model_matrix, self.pos)
self.model_matrix = glm.scale(self.model_matrix, self.scale)
self.model_matrix = glm.rotate(self.model_matrix,\
glm.radians(self.angle.x), glm.vec3(1.0, 0.0, 0.0))
self.model_matrix = glm.rotate(self.model_matrix,\
glm.radians(self.angle.y), glm.vec3(0.0, 1.0, 0.0))
self.model_matrix = glm.rotate(self.model_matrix,\
glm.radians(self.angle.z), glm.vec3(0.0, 0.0, 1.0))
def drawFunc():
glClearColor(1.0, 1.0, 1.0, 0.0)
glClearDepth(1.0)
glPointSize(5)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
current_frame = glutGet(GLUT_ELAPSED_TIME)
projection = glm.perspective(glm.radians(camera.zoom), SCR_WIDTH * 1.0 / SCR_HEIGHT, 0.1, 200)
view = camera.get_view_matrix()
shader_program.use()
shader_program.set_matrix("projection", glm.value_ptr(projection))
shader_program.set_matrix("view", glm.value_ptr(view))
m = glm.mat4(1.0)
m = glm.translate(m, grid_position[2])
m = glm.rotate(m, glm.radians(90), grid_position[1][1])
m = glm.scale(m, glm.vec3(5))
shader_program.set_matrix("model", glm.value_ptr(m))
shader_program.un_use()
grid_model.draw(shader_program, draw_type=GL_LINES)
robot_program.use()
robot_program.set_matrix("projection", glm.value_ptr(projection))
robot_program.set_matrix("view", glm.value_ptr(view))
m = glm.mat4(1.0)
m = glm.rotate(m, glm.radians(-90), glm.vec3(1, 0, 0))
robot_program.set_matrix("model", glm.value_ptr(m))
robot_program.un_use()
human_model.animation(robot_program)
#
global last_frame
last_frame = glutGet(GLUT_ELAPSED_TIME)
global delta_time
delta_time = (last_frame - current_frame)
camera.process_keyboard(delta_time / 1000)
if delta_time < 16:
time.sleep((16 - delta_time) / 1000)
calculate_FPS()
global fps_count
if fps_count == 100:
fps_count = 0
print('fps: %.2f' % _fps)
fps_count += 1
glutSwapBuffers()
glutPostRedisplay()
