def autoscale(self):
self.cam.lookat[0] = self.model.stat.center[0]
self.cam.lookat[1] = self.model.stat.center[1]
self.cam.lookat[2] = self.model.stat.center[2]
self.cam.distance = 0.5 * self.model.stat.extent
self.cam.camid = -1
self.cam.trackbodyid = 1
width, height = self.get_dimensions()
mjlib.mjv_updateCameraPose(byref(self.cam), width*1.0/height)
def autoscale(self):
self.cam.lookat[0] = self.model.stat.center[0]
self.cam.lookat[1] = self.model.stat.center[1]
self.cam.lookat[2] = self.model.stat.center[2]
self.cam.distance = 1.0 * self.model.stat.extent
self.cam.camid = -1
self.cam.trackbodyid = -1
if self.window:
width, height = glfw.get_framebuffer_size(self.window)
mjlib.mjv_updateCameraPose(byref(self.cam), width * 1.0 / height)
def autoscale(self):
self.cam.lookat[0] = self.model.stat.center[0]
self.cam.lookat[1] = self.model.stat.center[1]
self.cam.lookat[2] = self.model.stat.center[2]
self.cam.distance = 1.0 * self.model.stat.extent
self.cam.camid = -1
self.cam.trackbodyid = -1
if self.window:
width, height = glfw.get_framebuffer_size(self.window)
mjlib.mjv_updateCameraPose(byref(self.cam), width*1.0/height)
def render(self):
if not self.data:
return
self.gui_lock.acquire()
rect = self.get_rect()
arr = (ctypes.c_double*3)(0, 0, 0)
mjlib.mjv_makeGeoms(self.model.ptr, self.data.ptr, byref(self.objects), byref(self.vopt), mjCAT_ALL, 0, None, None, ctypes.cast(arr, ctypes.POINTER(ctypes.c_double)))
mjlib.mjv_makeLights(self.model.ptr, self.data.ptr, byref(self.objects))
mjlib.mjv_setCamera(self.model.ptr, self.data.ptr, byref(self.cam))
mjlib.mjv_updateCameraPose(byref(self.cam), rect.width*1.0/rect.height)
mjlib.mjr_render(0, rect, byref(self.objects), byref(self.ropt), byref(self.cam.pose), byref(self.con))
self.gui_lock.release()
def render(self):
rect = self.get_rect()
arr = (ctypes.c_double * 3)(0, 0, 0)
mjlib.mjv_makeGeoms(self.model.ptr, self.data.ptr, byref(self.objects),
byref(self.vopt), mjCAT_ALL, 0, None, None,
ctypes.cast(arr, ctypes.POINTER(ctypes.c_double)))
mjlib.mjv_makeLights(self.model.ptr, self.data.ptr,
byref(self.objects))
mjlib.mjv_setCamera(self.model.ptr, self.data.ptr, byref(self.cam))
prev_pos = self.model.data.qpos
prev_alpha = self.model.vis.map_.alpha
self.model.vis.map_.alpha = 0.01
#tmpobjects = mjcore.MJVOBJECTS()
#mjlib.mjv_makeObjects(byref(tmpobjects), 1000)
#for idx, frame in enumerate(self.frames):
# #print 'painting fixed'
# self.model.data.qpos = frame['pos']
# self.model.forward()
# #if idx == 0:
# # mjlib.mjv_makeGeoms(self.model.ptr, self.data.ptr, byref(self.objects), byref(self.vopt), mjCAT_ALL, 0, None, None, ctypes.cast(arr, ctypes.POINTER(ctypes.c_double)))
# #else:
# mjlib.mjv_makeGeoms(self.model.ptr, self.data.ptr, byref(tmpobjects), byref(self.vopt), mjCAT_ALL, 0, None, None, ctypes.cast(arr, ctypes.POINTER(ctypes.c_double)))
# for i in range(tmpobjects.ngeom):
# alpha = frame['extra'].get('alpha', None)
# emission = frame['extra'].get('emission', None)
# #= frame['extra'].get('emission', None)
# geom = tmpobjects.geoms[i]
# if alpha is not None:
# geom.rgba[3] = alpha
# if emission is not None:
# geom.emission = emission
# mjextra.append_objects(self.objects, tmpobjects)
self.model.vis.map_.alpha = prev_alpha
self.model.data.qpos = prev_pos
self.model.forward()
mjlib.mjv_updateCameraPose(byref(self.cam),
rect.width * 1.0 / rect.height)
mjlib.mjr_render(0, rect, byref(self.objects), byref(self.ropt),
byref(self.cam.pose), byref(self.con))
def render(self):
rect = self.get_rect()
arr = (ctypes.c_double*3)(0, 0, 0)
mjlib.mjv_makeGeoms(self.model.ptr, self.data.ptr, byref(self.objects), byref(self.vopt), mjCAT_ALL, 0, None, None, ctypes.cast(arr, ctypes.POINTER(ctypes.c_double)))
mjlib.mjv_makeLights(self.model.ptr, self.data.ptr, byref(self.objects))
mjlib.mjv_setCamera(self.model.ptr, self.data.ptr, byref(self.cam))
prev_pos = self.model.data.qpos
prev_alpha = self.model.vis.map_.alpha
self.model.vis.map_.alpha = 0.01
#tmpobjects = mjcore.MJVOBJECTS()
#mjlib.mjv_makeObjects(byref(tmpobjects), 1000)
#for idx, frame in enumerate(self.frames):
# #print 'painting fixed'
# self.model.data.qpos = frame['pos']
# self.model.forward()
# #if idx == 0:
# # mjlib.mjv_makeGeoms(self.model.ptr, self.data.ptr, byref(self.objects), byref(self.vopt), mjCAT_ALL, 0, None, None, ctypes.cast(arr, ctypes.POINTER(ctypes.c_double)))
# #else:
# mjlib.mjv_makeGeoms(self.model.ptr, self.data.ptr, byref(tmpobjects), byref(self.vopt), mjCAT_ALL, 0, None, None, ctypes.cast(arr, ctypes.POINTER(ctypes.c_double)))
# for i in range(tmpobjects.ngeom):
# alpha = frame['extra'].get('alpha', None)
# emission = frame['extra'].get('emission', None)
# #= frame['extra'].get('emission', None)
# geom = tmpobjects.geoms[i]
# if alpha is not None:
# geom.rgba[3] = alpha
# if emission is not None:
# geom.emission = emission
# mjextra.append_objects(self.objects, tmpobjects)
self.model.vis.map_.alpha = prev_alpha
self.model.data.qpos = prev_pos
self.model.forward()
mjlib.mjv_updateCameraPose(byref(self.cam), rect.width*1.0/rect.height)
mjlib.mjr_render(0, rect, byref(self.objects), byref(self.ropt), byref(self.cam.pose), byref(self.con))
def render(self):
if not self.data:
return
self.gui_lock.acquire()
rect = self.get_rect()
arr = (ctypes.c_double * 3)(0, 0, 0)
mjlib.mjv_makeGeoms(self.model.ptr, self.data.ptr, byref(self.objects),
byref(self.vopt), mjCAT_ALL, 0, None, None,
ctypes.cast(arr, ctypes.POINTER(ctypes.c_double)))
mjlib.mjv_makeLights(self.model.ptr, self.data.ptr,
byref(self.objects))
mjlib.mjv_setCamera(self.model.ptr, self.data.ptr, byref(self.cam))
mjlib.mjv_updateCameraPose(byref(self.cam),
rect.width * 1.0 / rect.height)
mjlib.mjr_render(0, rect, byref(self.objects), byref(self.ropt),
byref(self.cam.pose), byref(self.con))
self.gui_lock.release()
