class _Camera_:
key_map = {}
mouse_map = {}
# Public.
def set_focus(self, obj):
if self.FOCUS and obj is self.FOCUS: return
self.FOCUS = obj
self.focus_pos.set(0, obj.radius*12, 0)
obj_state = self.env.client.SIM.get_object_state(obj.name, ["sys_pos"])
obj.sys_pos = LVector3d(*obj_state['sys_pos'])
self.sys_pos = obj.sys_pos - self.focus_pos
# Setup.
def __init__(self, env):
self.env = env
self.cam_node = Camera(self.__class__.__name__.lower())
self.cam_node.setScene(env.NP)
self.NP = NodePath(self.cam_node)
self.NP.reparentTo(env.NP)
self.LENS = self.cam_node.getLens()
self.LENS.setFar(_cam.FAR)
self.LENS.setFov(base.camLens.getFov())
self.FOCUS = None
self.focus_pos = LVector3d(0,0,0)
self.sys_pos = LVector3d(0,0,0)
class _Camera_:
key_map = {}
mouse_map = {}
# Public.
def set_focus(self, obj):
if self.FOCUS and obj is self.FOCUS: return
self.FOCUS = obj
self.focus_pos.set(0, obj.radius * 12, 0)
obj_state = self.env.client.SIM.get_object_state(obj.name, ["sys_pos"])
obj.sys_pos = LVector3d(*obj_state['sys_pos'])
self.sys_pos = obj.sys_pos - self.focus_pos
# Setup.
def __init__(self, env):
self.env = env
self.cam_node = Camera(self.__class__.__name__.lower())
self.cam_node.setScene(env.NP)
self.NP = NodePath(self.cam_node)
self.NP.reparentTo(env.NP)
self.LENS = self.cam_node.getLens()
self.LENS.setFar(_cam.FAR)
self.LENS.setFov(base.camLens.getFov())
self.FOCUS = None
self.focus_pos = LVector3d(0, 0, 0)
self.sys_pos = LVector3d(0, 0, 0)
def _initDepthCapture(self):
for camera in self.cameras:
camNode = Camera('Depth camera')
camNode.setCameraMask(self.cameraMask)
lens = PerspectiveLens()
lens.setFov(self.fov)
lens.setAspectRatio(float(self.size[0]) / float(self.size[1]))
lens.setNear(self.zNear)
lens.setFar(self.zFar)
camNode.setLens(lens)
camNode.setScene(self.scene.scene)
cam = camera.attachNewNode(camNode)
winprops = WindowProperties.size(self.size[0], self.size[1])
fbprops = FrameBufferProperties.getDefault()
fbprops = FrameBufferProperties(fbprops)
fbprops.setRgbColor(False)
fbprops.setRgbaBits(0, 0, 0, 0)
fbprops.setStencilBits(0)
fbprops.setMultisamples(0)
fbprops.setBackBuffers(0)
fbprops.setDepthBits(16)
flags = GraphicsPipe.BFFbPropsOptional
if self.mode == 'onscreen':
flags = flags | GraphicsPipe.BFRequireWindow
elif self.mode == 'offscreen':
flags = flags | GraphicsPipe.BFRefuseWindow
else:
raise Exception('Unsupported rendering mode: %s' % (self.mode))
buf = self.graphicsEngine.makeOutput(self.pipe, 'Depth buffer', 0,
fbprops, winprops, flags)
if buf is None:
raise Exception('Unable to create depth buffer')
# Set to render at the end
buf.setSort(10000)
dr = buf.makeDisplayRegion()
dr.setSort(0)
dr.setCamera(cam)
dr = camNode.getDisplayRegion(0)
tex = Texture()
tex.setFormat(Texture.FDepthComponent)
tex.setComponentType(Texture.TFloat)
buf.addRenderTexture(tex, GraphicsOutput.RTMCopyRam,
GraphicsOutput.RTPDepth)
# XXX: should use tex.setMatchFramebufferFormat(True)?
agent = camera.getParent()
self.depthBuffers[agent.getName()] = buf
self.depthTextures[agent.getName()] = tex
def _initRgbCapture(self):
for camera in self.cameras:
camNode = Camera('Semantic camera')
camNode.setCameraMask(self.cameraMask)
lens = PerspectiveLens()
lens.setFov(self.fov)
lens.setAspectRatio(float(self.size[0]) / float(self.size[1]))
lens.setNear(self.zNear)
lens.setFar(self.zFar)
camNode.setLens(lens)
camNode.setScene(self.scene.scene)
cam = camera.attachNewNode(camNode)
winprops = WindowProperties.size(self.size[0], self.size[1])
fbprops = FrameBufferProperties.getDefault()
fbprops = FrameBufferProperties(fbprops)
fbprops.setRgbaBits(8, 8, 8, 8)
flags = GraphicsPipe.BFFbPropsOptional
if self.mode == 'onscreen':
flags = flags | GraphicsPipe.BFRequireWindow
elif self.mode == 'offscreen':
flags = flags | GraphicsPipe.BFRefuseWindow
else:
raise Exception('Unsupported rendering mode: %s' % (self.mode))
buf = self.graphicsEngine.makeOutput(self.pipe,
'RGB-buffer-Semantics', 0,
fbprops, winprops, flags)
if buf is None:
raise Exception('Unable to create RGB buffer')
# Set to render at the end
buf.setSort(10000)
dr = buf.makeDisplayRegion()
dr.setSort(0)
dr.setCamera(cam)
dr = camNode.getDisplayRegion(0)
tex = Texture()
tex.setFormat(Texture.FRgba8)
tex.setComponentType(Texture.TUnsignedByte)
buf.addRenderTexture(tex, GraphicsOutput.RTMCopyRam,
GraphicsOutput.RTPColor)
# XXX: should use tex.setMatchFramebufferFormat(True)?
self.rgbBuffers[camera.getNetTag('agent-id')] = buf
self.rgbTextures[camera.getNetTag('agent-id')] = tex
def makeCamera(self,
win,
sort=0,
scene=None,
displayRegion=(0, 1, 0, 1),
stereo=None,
aspectRatio=None,
clearDepth=0,
clearColor=None,
lens=None,
camName='cam',
mask=None,
useCamera=None):
"""
Makes a new 3-d camera associated with the indicated window,
and creates a display region in the indicated subrectangle.
If stereo is True, then a stereo camera is created, with a
pair of DisplayRegions. If stereo is False, then a standard
camera is created. If stereo is None or omitted, a stereo
camera is created if the window says it can render in stereo.
If useCamera is not None, it is a NodePath to be used as the
camera to apply to the window, rather than creating a new
camera.
"""
# self.camera is the parent node of all cameras: a node that
# we can move around to move all cameras as a group.
if self.camera == None:
# We make it a ModelNode with the PTLocal flag, so that
# a wayward flatten operations won't attempt to mangle the
# camera.
self.camera = self.render.attachNewNode(ModelNode('camera'))
self.camera.node().setPreserveTransform(ModelNode.PTLocal)
builtins.camera = self.camera
self.mouse2cam.node().setNode(self.camera.node())
if useCamera:
# Use the existing camera node.
cam = useCamera
camNode = useCamera.node()
assert (isinstance(camNode, Camera))
lens = camNode.getLens()
cam.reparentTo(self.camera)
else:
# Make a new Camera node.
camNode = Camera(camName)
if lens == None:
lens = PerspectiveLens()
if aspectRatio == None:
aspectRatio = self.getAspectRatio(win)
lens.setAspectRatio(aspectRatio)
cam = self.camera.attachNewNode(camNode)
if lens != None:
camNode.setLens(lens)
if scene != None:
camNode.setScene(scene)
if mask != None:
if (isinstance(mask, int)):
mask = BitMask32(mask)
camNode.setCameraMask(mask)
if self.cam == None:
self.cam = cam
self.camNode = camNode
self.camLens = lens
self.camList.append(cam)
# Now, make a DisplayRegion for the camera.
if stereo is not None:
if stereo:
dr = win.makeStereoDisplayRegion(*displayRegion)
else:
dr = win.makeMonoDisplayRegion(*displayRegion)
else:
dr = win.makeDisplayRegion(*displayRegion)
dr.setSort(sort)
dr.disableClears()
# By default, we do not clear 3-d display regions (the entire
# window will be cleared, which is normally sufficient). But
# we will if clearDepth is specified.
if clearDepth:
dr.setClearDepthActive(1)
if clearColor:
dr.setClearColorActive(1)
dr.setClearColor(clearColor)
dr.setCamera(cam)
return cam
