def testAgent(self): physics = None viewer = None try: scene = Scene() physics = Panda3dBulletPhysics(scene, debug=True) agent = scene.agents[0].find('**/+BulletRigidBodyNode') agent.setPos(LVector3f(0, 0, 1.0)) agent.node().setLinearVelocity(LVector3f(1, 0, 0)) agent.node().setAngularVelocity(LVector3f(0, 0, 1)) agent.node().setActive(True) viewer = Viewer(scene, interactive=False) viewer.disableMouse() mat = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, -10, 0, 1]) mat = LMatrix4f(*mat.ravel()) viewer.cam.setMat(mat) for _ in range(50): viewer.step() time.sleep(1.0) finally: self.hulkSmash(None, physics, viewer)
def testDebugHouseWithViewer(self): try: scene = SunCgSceneLoader.loadHouseFromJson( "0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR) physics = Panda3dBulletPhysics( scene, suncgDatasetRoot=TEST_SUNCG_DATA_DIR, debug=True) viewer = Viewer(scene, interactive=False) viewer.disableMouse() mat = np.array([ 0.999992, 0.00394238, 0, 0, -0.00295702, 0.750104, -0.661314, 0, -0.00260737, 0.661308, 0.75011, 0, 43.621, -55.7499, 12.9722, 1 ]) mat = LMatrix4f(*mat.ravel()) viewer.cam.setMat(mat) for _ in range(20): viewer.step() time.sleep(1.0) finally: physics.destroy() viewer.destroy() viewer.graphicsEngine.removeAllWindows()
def testDebugHouseWithRender(self): renderer = None physics = None viewer = None try: scene = SunCgSceneLoader.loadHouseFromJson( "0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR) renderer = Panda3dRenderer(scene, shadowing=False, mode='offscreen') renderer.showRoomLayout(showCeilings=False) physics = Panda3dBulletPhysics( scene, suncgDatasetRoot=TEST_SUNCG_DATA_DIR, debug=True) viewer = Viewer(scene, interactive=False) viewer.disableMouse() mat = np.array([ 0.999992, 0.00394238, 0, 0, -0.00295702, 0.750104, -0.661314, 0, -0.00260737, 0.661308, 0.75011, 0, 43.621, -55.7499, 12.9722, 1 ]) mat = LMatrix4f(*mat.ravel()) viewer.cam.setMat(mat) for _ in range(20): viewer.step() time.sleep(1.0) finally: self.hulkSmash(renderer, physics, viewer)
def testObjectWithViewer(self): scene = Scene() modelId = '83' modelFilename = os.path.join(TEST_SUNCG_DATA_DIR, "object", str(modelId), str(modelId) + ".egg") assert os.path.exists(modelFilename) model = loadModel(modelFilename) model.setName('model-' + str(modelId)) model.show(BitMask32.allOn()) objectsNp = scene.scene.attachNewNode('objects') objNp = objectsNp.attachNewNode('object-' + str(modelId)) model.reparentTo(objNp) # Calculate the center of this object minBounds, maxBounds = model.getTightBounds() centerPos = minBounds + (maxBounds - minBounds) / 2.0 # Add offset transform to make position relative to the center model.setTransform(TransformState.makePos(-centerPos)) renderer = None viewer = None try: renderer = Panda3dRenderer(scene, shadowing=False) viewer = Viewer(scene, interactive=False) viewer.disableMouse() viewer.cam.setTransform( TransformState.makePos(LVecBase3(5.0, 0.0, 0.0))) viewer.cam.lookAt(model) for _ in range(20): viewer.step() time.sleep(1.0) finally: if renderer is not None: renderer.destroy() if viewer is not None: viewer.destroy() viewer.graphicsEngine.removeAllWindows()
def testDebugObjectWithRender(self): scene = Scene() modelId = '83' modelFilename = os.path.join(TEST_SUNCG_DATA_DIR, "object", str(modelId), str(modelId) + ".egg") assert os.path.exists(modelFilename) model = loadModel(modelFilename) model.setName('model-' + str(modelId)) model.hide() objectsNp = scene.scene.attachNewNode('objects') objNp = objectsNp.attachNewNode('object-' + str(modelId)) model.reparentTo(objNp) # Calculate the center of this object minBounds, maxBounds = model.getTightBounds() centerPos = minBounds + (maxBounds - minBounds) / 2.0 # Add offset transform to make position relative to the center model.setTransform(TransformState.makePos(-centerPos)) renderer = None physics = None viewer = None try: renderer = Panda3dRenderer(scene, shadowing=False) physics = Panda3dBulletPhysics(scene, debug=True) viewer = Viewer(scene, interactive=False) viewer.disableMouse() viewer.cam.setTransform( TransformState.makePos(LVecBase3(5.0, 0.0, 0.0))) viewer.cam.lookAt(model) for _ in range(20): viewer.step() time.sleep(1.0) finally: self.hulkSmash(renderer, physics, viewer)
def testRenderHouse(self): scene = SunCgSceneLoader.loadHouseFromJson( "0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR) samplingRate = 16000.0 hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'), samplingRate) acoustics = EvertAcoustics(scene, hrtf, samplingRate, maximumOrder=3, debug=True) # Hide ceilings for nodePath in scene.scene.findAllMatches( '**/layouts/*/acoustics/*c'): nodePath.hide() viewer = Viewer(scene) viewer.disableMouse() # Configure the camera # NOTE: in Panda3D, the X axis points to the right, the Y axis is forward, and Z is up mat = np.array([ 0.999992, 0.00394238, 0, 0, -0.00295702, 0.750104, -0.661314, 0, -0.00260737, 0.661308, 0.75011, 0, 43.621, -55.7499, 12.9722, 1 ]) mat = LMatrix4f(*mat.ravel()) viewer.cam.setMat(mat) for _ in range(20): acoustics.step(dt=0.1) viewer.step() time.sleep(1.0) acoustics.destroy() viewer.destroy() viewer.graphicsEngine.removeAllWindows()
def testRenderHouseWithAcousticsPath(self): scene = SunCgSceneLoader.loadHouseFromJson( "0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR) agentNp = scene.agents[0] agentNp.setPos(LVecBase3f(45, -42.5, 1.6)) agentNp.setHpr(45, 0, 0) # Define a sound source sourceSize = 0.25 modelId = 'source-0' modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'sphere.egg') objectsNp = scene.scene.attachNewNode('objects') objectNp = objectsNp.attachNewNode('object-' + modelId) objectNp.setTag('acoustics-mode', 'source') model = loadModel(modelFilename) model.setName('model-' + modelId) model.setTransform(TransformState.makeScale(sourceSize)) model.reparentTo(objectNp) objectNp.setPos(LVecBase3f(39, -40.5, 1.5)) samplingRate = 16000.0 hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'), samplingRate) acoustics = EvertAcoustics(scene, hrtf, samplingRate, maximumOrder=2, debug=True) # Hide ceilings for nodePath in scene.scene.findAllMatches( '**/layouts/*/acoustics/*c'): nodePath.hide() viewer = Viewer(scene) viewer.disableMouse() # Configure the camera # NOTE: in Panda3D, the X axis points to the right, the Y axis is forward, and Z is up center = agentNp.getNetTransform().getPos() mat = np.array([[1.0, 0.0, 0.0, 0.0], [0.0, 0.0, -1.0, 0.0], [0.0, 1.0, 0.0, 0.0], [center.x, center.y, 20, 1]]) mat = LMatrix4f(*mat.ravel()) viewer.cam.setMat(mat) for _ in range(10): viewer.step() time.sleep(1.0) viewer.destroy() viewer.graphicsEngine.removeAllWindows() # Calculate and show impulse responses impulse = acoustics.calculateImpulseResponses()[0] fig = plt.figure() plt.plot(impulse.impulse[0], color='b', label='Left channel') plt.plot(impulse.impulse[1], color='g', label='Right channel') plt.legend() plt.show(block=False) time.sleep(1.0) plt.close(fig) acoustics.destroy()
def testRenderSimpleCubeRoom(self): samplingRate = 16000.0 scene = Scene() hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'), samplingRate) viewer = Viewer(scene) viewer.disableMouse() # Define a simple cube (10 x 10 x 10 m) as room geometry roomSize = 10.0 modelId = 'room-0' modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'cube.egg') layoutNp = scene.scene.attachNewNode('layouts') objectNp = layoutNp.attachNewNode('object-' + modelId) objectNp.setTag('acoustics-mode', 'obstacle') model = loadModel(modelFilename) model.setName('model-' + modelId) model.setTransform(TransformState.makeScale(roomSize)) model.setRenderModeWireframe() model.reparentTo(objectNp) objectNp.setPos(LVecBase3f(0.0, 0.0, 0.0)) agentNp = scene.agents[0] # Define a sound source sourceSize = 0.25 modelId = 'source-0' modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'sphere.egg') objectsNp = scene.scene.attachNewNode('objects') objectNp = objectsNp.attachNewNode('object-' + modelId) objectNp.setTag('acoustics-mode', 'source') model = loadModel(modelFilename) model.setName('model-' + modelId) model.setTransform(TransformState.makeScale(sourceSize)) model.reparentTo(objectNp) objectNp.setPos(LVecBase3f(0.0, 0.0, 0.0)) acoustics = EvertAcoustics(scene, hrtf, samplingRate, maximumOrder=3, materialAbsorption=False, frequencyDependent=False, debug=True) acoustics.updateGeometry() center = acoustics.world.getCenter() self.assertTrue( np.allclose(acoustics.world.getMaxLength() / 1000.0, roomSize)) self.assertTrue( np.allclose([center.x, center.y, center.z], [0.0, 0.0, 0.0])) self.assertTrue(acoustics.world.numElements() == 12) self.assertTrue(acoustics.world.numConvexElements() == 12) # Configure the camera # NOTE: in Panda3D, the X axis points to the right, the Y axis is forward, and Z is up mat = np.array([ 0.999992, 0.00394238, 0, 0, -0.00295702, 0.750104, -0.661314, 0, -0.00260737, 0.661308, 0.75011, 0, 0.0, -25.0, 22, 1 ]) mat = LMatrix4f(*mat.ravel()) viewer.cam.setMat(mat) agentNp.setPos( LVecBase3f(0.25 * roomSize, -0.25 * roomSize, 0.3 * roomSize)) for _ in range(10): viewer.step() time.sleep(1.0) agentNp.setPos( LVecBase3f(0.35 * roomSize, -0.35 * roomSize, 0.4 * roomSize)) for _ in range(10): viewer.step() time.sleep(1.0) agentNp.setPos( LVecBase3f(-0.25 * roomSize, 0.25 * roomSize, -0.3 * roomSize)) for _ in range(10): viewer.step() time.sleep(1.0) # Calculate and show impulse responses impulse = acoustics.calculateImpulseResponses()[0] fig = plt.figure() plt.plot(impulse.impulse[0], color='b', label='Left channel') plt.plot(impulse.impulse[1], color='g', label='Right channel') plt.legend() plt.show(block=False) time.sleep(1.0) plt.close(fig) acoustics.destroy() viewer.destroy() viewer.graphicsEngine.removeAllWindows()