def __init__(self, servIP="127.0.0.1", ownIP="127.0.0.1", port="21560"):
self.oldScreenValues = None
self.view = 0
self.worldRadius = 400
# Start of mousepointer
self.lastx = 0
self.lasty = 15
self.lastz = 300
self.zDis = 1
# Start of cube
self.cube = [0.0, 0.0, 0.0]
self.bmpCount = 0
self.actCount = 0
self.calcPhysics = 0
self.newPic = 1
self.picCount = 0
self.target = array([80.0, 0.0, 0.0])
self.centerOfGrav = array([0.0, -2.0, 0.0])
self.points = ones((8, 3), float)
self.savePics = False
self.drawCounter = 0
self.fps = 25
self.dt = 1.0 / float(self.fps)
self.client = UDPClient(servIP, ownIP, port)
def __init__(self,
servIP="127.0.0.1",
ownIP="127.0.0.1",
port="21590",
buf="16384"):
# initialize the viewport size
self.width = 800
self.height = 600
# initialize object which the camera follows
self.centerObj = None
self.mouseView = True
self.viewDistance = 30
self.lastx = -0.5
self.lasty = 1
self.lastz = -1
self.dt = 1
self.fps = 50
self.lasttime = time.time()
self.starttime = time.time()
self.captureScreen = False
self.isCapturing = False
self.isFloorGreen = True
self.message = None
self.keyboardCallback = None
# capture only every frameT. frame
self.counter = 0
self.frameT = 1
self.init_GL()
# set own callback functions
glutMotionFunc(self._motionfunc)
glutPassiveMotionFunc(self._passivemotionfunc)
glutDisplayFunc(self._drawfunc)
glutIdleFunc(self._idlefunc)
glutKeyboardFunc(self._keyfunc)
self.dt = 1.0 / self.fps
self.lasttime = time.time()
self.starttime = self.lasttime
# initialize udp client
self.client = UDPClient(servIP, ownIP, port, buf)
def __init__(self, servIP="127.0.0.1", ownIP="127.0.0.1", port="21560"):
self.oldScreenValues = None
self.view = 0
self.worldRadius = 400
# Start of mousepointer
self.lastx = 0
self.lasty = 15
self.lastz = 300
self.zDis = 1
# Start of cube
self.cube = [0.0, 0.0, 0.0]
self.bmpCount = 0
self.actCount = 0
self.calcPhysics = 0
self.newPic = 1
self.picCount = 0
self.target = array([80.0, 0.0, 0.0])
self.centerOfGrav = array([0.0, -2.0, 0.0])
self.points = ones((8, 3), float)
self.savePics = False
self.drawCounter = 0
self.fps = 25
self.dt = 1.0 / float(self.fps)
self.client = UDPClient(servIP, ownIP, port)
def __init__(self, servIP="127.0.0.1", ownIP="127.0.0.1", port="21590", buf="16384"):
# initialize the viewport size
self.width = 800
self.height = 600
# initialize object which the camera follows
self.centerObj = None
self.mouseView = True
self.viewDistance = 30
self.lastx = -0.5
self.lasty = 1
self.lastz = -1
self.dt = 1
self.fps = 50
self.lasttime = time.time()
self.starttime = time.time()
self.captureScreen = False
self.isCapturing = False
self.isFloorGreen = True
self.message = None
self.keyboardCallback = None
# capture only every frameT. frame
self.counter = 0
self.frameT = 1
self.init_GL()
# set own callback functions
glutMotionFunc (self._motionfunc)
glutPassiveMotionFunc(self._passivemotionfunc)
glutDisplayFunc (self._drawfunc)
glutIdleFunc (self._idlefunc)
glutKeyboardFunc (self._keyfunc)
self.dt = 1.0 / self.fps
self.lasttime = time.time()
self.starttime = self.lasttime
# initialize udp client
self.client = UDPClient(servIP, ownIP, port, buf)
class FlexCubeRenderer(object):
#Options: ServerIP(default:localhost), OwnIP(default:localhost), Port(default:21560)
def __init__(self, servIP="127.0.0.1", ownIP="127.0.0.1", port="21560"):
self.oldScreenValues = None
self.view = 0
self.worldRadius = 400
# Start of mousepointer
self.lastx = 0
self.lasty = 15
self.lastz = 300
self.zDis = 1
# Start of cube
self.cube = [0.0, 0.0, 0.0]
self.bmpCount = 0
self.actCount = 0
self.calcPhysics = 0
self.newPic = 1
self.picCount = 0
self.target = array([80.0, 0.0, 0.0])
self.centerOfGrav = array([0.0, -2.0, 0.0])
self.points = ones((8, 3), float)
self.savePics = False
self.drawCounter = 0
self.fps = 25
self.dt = 1.0 / float(self.fps)
self.client = UDPClient(servIP, ownIP, port)
# If self.savePics=True this method saves the produced images
def saveTo(self, filename, format="JPEG"):
import Image # get PIL's functionality... @UnresolvedImport
width, height = 800, 600
glPixelStorei(GL_PACK_ALIGNMENT, 1)
data = glReadPixels(0, 0, width, height, GL_RGB, GL_UNSIGNED_BYTE)
image = Image.fromstring("RGB", (width, height), data)
image = image.transpose(Image.FLIP_TOP_BOTTOM)
image.save(filename, format)
print('Saved image to ', filename)
return image
# the render method containing the Glut mainloop
def _render(self):
# Call init: Parameter(Window Position -> x, y, height, width)
self.init_GL(self, 300, 300, 800, 600)
self.object = objects3d.Objects3D()
self.quad = gluNewQuadric()
glutMainLoop()
# The Glut idle function
def drawIdleScene(self):
#recive data from server and update the points of the cube
try:
self.points, self.centerOfGrav = eval(
self.client.listen([self.points, self.centerOfGrav]))
except:
pass
if self.points == "r":
self.target = array([80.0, 0.0, 0.0])
self.centerOfGrav = array([0.0, -2.0, 0.0])
self.points = ones((8, 3), float)
self.drawScene()
if self.savePics:
self.saveTo("./screenshots/image_jump" +
repr(10000 + self.picCount) + ".jpg")
self.picCount += 1
else:
sleep(self.dt)
def drawScene(self):
''' This methode describes the complete scene.'''
# clear the buffer
if self.zDis < 10: self.zDis += 0.25
if self.lastz > 200: self.lastz -= self.zDis
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
# Point of view
glRotatef(self.lastx, 0.0, 1.0, 0.0)
glRotatef(self.lasty, 1.0, 0.0, 0.0)
#glRotatef(15, 0.0, 0.0, 1.0)
# direction of view is aimed to the center of gravity of the cube
glTranslatef(-self.centerOfGrav[0], -self.centerOfGrav[1] - 50.0,
-self.centerOfGrav[2] - self.lastz)
#Objects
#Target Ball
glColor3f(1, 0.25, 0.25)
glPushMatrix()
glTranslate(self.target[0], 0.0, self.target[2])
glutSolidSphere(1.5, 8, 8)
glPopMatrix()
#Massstab
for lk in range(41):
if float(lk - 20) / 10.0 == (lk - 20) / 10:
glColor3f(0.75, 0.75, 0.75)
glPushMatrix()
glRotatef(90, 1, 0, 0)
glTranslate(
self.worldRadius / 40.0 * float(lk) -
self.worldRadius / 2.0, -40.0, -30)
quad = gluNewQuadric()
gluCylinder(quad, 2, 2, 60, 4, 1)
glPopMatrix()
else:
if float(lk - 20) / 5.0 == (lk - 20) / 5:
glColor3f(0.75, 0.75, 0.75)
glPushMatrix()
glRotatef(90, 1, 0, 0)
glTranslate(
self.worldRadius / 40.0 * float(lk) -
self.worldRadius / 2.0, -40.0, -15.0)
quad = gluNewQuadric()
gluCylinder(quad, 1, 1, 30, 4, 1)
glPopMatrix()
else:
glColor3f(0.75, 0.75, 0.75)
glPushMatrix()
glRotatef(90, 1, 0, 0)
glTranslate(
self.worldRadius / 40.0 * float(lk) -
self.worldRadius / 2.0, -40.0, -7.5)
quad = gluNewQuadric()
gluCylinder(quad, 0.5, 0.5, 15, 4, 1)
glPopMatrix()
#Mirror Center Ball
glColor3f(1, 1, 1)
glPushMatrix()
glTranslate(self.centerOfGrav[0], -self.centerOfGrav[1],
self.centerOfGrav[2])
glutSolidSphere(1.5, 8, 8)
glPopMatrix()
#Mirror Cube
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glColor4f(0.5, 0.75, 0.5, 0.75)
glPushMatrix()
glTranslatef(0, -0.05, 0)
self.object.drawMirCreat(self.points, self.centerOfGrav)
glPopMatrix()
# Floor
tile = self.worldRadius / 40.0
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
for xF in range(40):
for yF in range(40):
if float(xF + yF) / 2.0 == (xF + yF) / 2:
glColor3f(0.8, 0.8, 0.7)
else:
glColor4f(0.8, 0.8, 0.8, 0.7)
glPushMatrix()
glTranslatef(0.0, -0.03, 0.0)
glBegin(GL_QUADS)
glNormal(0.0, 1.0, 0.0)
for i in range(2):
for k in range(2):
glVertex3f((i + xF - 20) * tile, 0.0,
((k ^ i) + yF - 20) * tile)
glEnd()
glPopMatrix()
#Center Ball
glColor3f(1, 1, 1)
glPushMatrix()
glTranslate(self.centerOfGrav[0], self.centerOfGrav[1],
self.centerOfGrav[2])
glutSolidSphere(1.5, 8, 8)
glPopMatrix()
# Cube
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glColor4f(0.5, 0.75, 0.5, 0.75)
glPushMatrix()
self.object.drawCreature(self.points, self.centerOfGrav)
glPopMatrix()
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
# Cubes shadow
glColor4f(0, 0, 0, 0.5)
glPushMatrix()
self.object.drawShadow(self.points, self.centerOfGrav)
glPopMatrix()
# swap the buffer
glutSwapBuffers()
def resizeScene(self, width, height):
'''Needed if window size changes.'''
if height == 0: # Prevent A Divide By Zero If The Window Is Too Small
height = 1
glViewport(
0, 0, width, height
) # Reset The Current Viewport And Perspective Transformation
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(45.0, float(width) / float(height), 0.1, 700.0)
glMatrixMode(GL_MODELVIEW)
def activeMouse(self, x, y):
#Returns mouse coordinates while any mouse button is pressed.
# store the mouse coordinate
if self.mouseButton == GLUT_LEFT_BUTTON:
self.lastx = x - self.xOffset
self.lasty = y - self.yOffset
if self.mouseButton == GLUT_RIGHT_BUTTON:
self.lastz = y - self.zOffset
# redisplay
glutPostRedisplay()
def passiveMouse(self, x, y):
'''Returns mouse coordinates while no mouse button is pressed.'''
pass
def completeMouse(self, button, state, x, y):
#Returns mouse coordinates and which button was pressed resp. released.
self.mouseButton = button
if state == GLUT_DOWN:
self.xOffset = x - self.lastx
self.yOffset = y - self.lasty
self.zOffset = y - self.lastz
# redisplay
glutPostRedisplay()
#Initialise an OpenGL windows with the origin at x, y and size of height, width.
def init_GL(self, pyWorld, x, y, height, width):
# initialize GLUT
glutInit([])
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH)
glutInitWindowSize(height, width)
glutInitWindowPosition(x, y)
glutCreateWindow("The Curious Cube")
glClearDepth(1.0)
glEnable(GL_DEPTH_TEST)
glClearColor(0.0, 0.0, 0.0, 0.0)
glShadeModel(GL_SMOOTH)
glMatrixMode(GL_MODELVIEW)
# initialize lighting */
glLightfv(GL_LIGHT0, GL_DIFFUSE, [1, 1, 1, 1.0])
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, [1.0, 1.0, 1.0, 1.0])
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
#
glColorMaterial(GL_FRONT, GL_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
# Automatic vector normalise
glEnable(GL_NORMALIZE)
### Instantiate the virtual world ###
glutDisplayFunc(pyWorld.drawScene)
glutMotionFunc(pyWorld.activeMouse)
glutMouseFunc(pyWorld.completeMouse)
glutReshapeFunc(pyWorld.resizeScene)
glutIdleFunc(pyWorld.drawIdleScene)
def __init__(self, servIP='127.0.0.1', ownIP='127.0.0.1', port='21590',
buf='16384', verbose=False, window_name='ODE Viewer'):
"""Initialize
Initializes all viewer attributes and starts the OpenGL engine.
The UDP server is also started.
"""
self.verbose = verbose
self.window_name = window_name
# Determine if the viewport will display in stereoscopic mode
self.is_stereoscopic = True
# Figure out the spacing between cameras for stereoscopic projection
# NOTE: Pupillary distance for 95% of men in the USA is 7cm
# Source: (Wikipedia: Pupillary Distance)
self.stereoscopic_offset = 0.07 / 2.0 # [m]
# initialize viewport starting size
self.width = 800
self.height = 600
# Determine if fullscreen is active or not
self.is_fullscreen = False
# Calculate the initial aspect ratio of the window
self.aspect_ratio = float(self.width) / float(self.height)
self.aspect_ratio_changed = False
# initialize object which the camera follows
self.mouseView = True
# Toggles to determine if the view should zoom or rotate
self.motion_rotate_mode = False
self.motion_zoom_mode = False
# Stores the location of the mouse the last time it was clicked
self.motion_last_mouse_down_pos = [0.0, 0.0]
self.centerObj = None
# Define the initial spherical camera positions
self.cam_r_init = 1.0
self.cam_theta_init = pi / 4.0
self.cam_phi_init = 0.0
# Define the camera spherical coodrinate attributes
self.cam_r = self.cam_r_init
self.cam_theta = self.cam_theta_init
self.cam_phi = self.cam_phi_init
# Define attributes to maintain frame rate
self.fps = 60
self.dt = 1.0 / self.fps
self.last_time = time.time()
self.capture_screen = False
# Define attributes to store geometries to display
self.message = None
self.prev_message = None
# Capture screen only every 'frameT'-th frame
self.counter = 0
self.frameT = 2
# Initialize the OpenGL viewer window
self.init_gl()
# Set OpenGL callback functions
glutKeyboardFunc(self._keyboard_callback)
glutMouseFunc(self._mouse_callback)
glutMotionFunc(self._motion_callback)
glutPassiveMotionFunc(self._passive_motion_callback)
glutDisplayFunc(self._display_callback)
glutIdleFunc(self._idle_callback)
# Initialize UDP client connection to the ODE simulation
self.client = UDPClient(servIP, ownIP, port, buf, verbose=self.verbose)
return
class ODEViewer(object):
def __init__(self, servIP='127.0.0.1', ownIP='127.0.0.1', port='21590',
buf='16384', verbose=False, window_name='ODE Viewer'):
"""Initialize
Initializes all viewer attributes and starts the OpenGL engine.
The UDP server is also started.
"""
self.verbose = verbose
self.window_name = window_name
# Determine if the viewport will display in stereoscopic mode
self.is_stereoscopic = True
# Figure out the spacing between cameras for stereoscopic projection
# NOTE: Pupillary distance for 95% of men in the USA is 7cm
# Source: (Wikipedia: Pupillary Distance)
self.stereoscopic_offset = 0.07 / 2.0 # [m]
# initialize viewport starting size
self.width = 800
self.height = 600
# Determine if fullscreen is active or not
self.is_fullscreen = False
# Calculate the initial aspect ratio of the window
self.aspect_ratio = float(self.width) / float(self.height)
self.aspect_ratio_changed = False
# initialize object which the camera follows
self.mouseView = True
# Toggles to determine if the view should zoom or rotate
self.motion_rotate_mode = False
self.motion_zoom_mode = False
# Stores the location of the mouse the last time it was clicked
self.motion_last_mouse_down_pos = [0.0, 0.0]
self.centerObj = None
# Define the initial spherical camera positions
self.cam_r_init = 1.0
self.cam_theta_init = pi / 4.0
self.cam_phi_init = 0.0
# Define the camera spherical coodrinate attributes
self.cam_r = self.cam_r_init
self.cam_theta = self.cam_theta_init
self.cam_phi = self.cam_phi_init
# Define attributes to maintain frame rate
self.fps = 60
self.dt = 1.0 / self.fps
self.last_time = time.time()
self.capture_screen = False
# Define attributes to store geometries to display
self.message = None
self.prev_message = None
# Capture screen only every 'frameT'-th frame
self.counter = 0
self.frameT = 2
# Initialize the OpenGL viewer window
self.init_gl()
# Set OpenGL callback functions
glutKeyboardFunc(self._keyboard_callback)
glutMouseFunc(self._mouse_callback)
glutMotionFunc(self._motion_callback)
glutPassiveMotionFunc(self._passive_motion_callback)
glutDisplayFunc(self._display_callback)
glutIdleFunc(self._idle_callback)
# Initialize UDP client connection to the ODE simulation
self.client = UDPClient(servIP, ownIP, port, buf, verbose=self.verbose)
return
def start(self):
# start the OpenGL main loop
glutMainLoop()
return
def set_dt(self, dt):
self.dt = dt
self.fps = 1.0 / self.dt
return
def set_fps(self, fps):
self.fps = fps
self.dt = 1.0 / self.fps
return
def init_gl(self):
""" initialize OpenGL. This function has to be called only once before drawing. """
glutInit([])
# Set up the new window
glutInitWindowPosition(0, 0)
glutInitWindowSize(self.width, self.height)
glutCreateWindow(self.window_name)
# Determine if stereoscopic is supported if it is desired
if self.is_stereoscopic and not glGetBooleanv(GL_STEREO):
print '>>> OpenGL stereoscopic is not supported'
print '>>> Reverting to monoscopic viewer'
self.is_stereoscopic = False
# Initialize the display for either stereo or monoscopic
if self.is_stereoscopic:
glutInitDisplayMode(GLUT_STEREO | GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH)
else:
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH)
# Initialize Viewport and Shading
glViewport(0, 0, self.width, self.height)
glShadeModel(GL_SMOOTH)
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST)
#glClearColor(1.0, 1.0, 1.0, 0.0)
glClearColor(0.52, 0.80, 0.98, 1.0)
# Initialize Depth Buffer
glClearDepth(1.0)
glEnable(GL_DEPTH_TEST)
glDepthFunc(GL_LESS)
# Initialize Lighting
glEnable(GL_LIGHTING)
glLightfv(GL_LIGHT1, GL_AMBIENT, [0.7, 0.7, 0.7, 1.0])
glLightfv(GL_LIGHT1, GL_DIFFUSE, [1.0, 1.0, 1.0, 1.0])
glLightfv(GL_LIGHT1, GL_POSITION, [0.0, 5.0, 5.0, 1.0])
glEnable(GL_LIGHT1)
# enable material coloring
glEnable(GL_COLOR_MATERIAL)
glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE)
glEnable(GL_NORMALIZE)
return
def calc_aspect_ratio(self):
"""Calculate Aspect Ratio
Recalculates the value of the aspect ratio of the viewport using the
width and height of the viewport.
Returns:
The current aspect ratio as a floating point value.
"""
# Calculate the current aspect ratio so we have an accurate model
(_, _, x, y) = glGetIntegerv(GL_VIEWPORT)
# Protect against divide by zero exceptions
if y == 0:
y = 1
# Aspect Ratio = Width / Height
ratio = float(x) / float(y)
return ratio
def prepare_gl(self):
"""Prepare drawing. This function is called in every step. It clears the screen and sets the new camera position"""
# Do prep to determine the center of focus and general camera position
# Center the camera on a given object or (0, 0, 0) if not specified
center = [0.0, 0.0, 0.0]
if self.centerObj is not None:
center[0], center[1], center[2] = self.centerObj.getPosition()
# Convert spherical to cartesian coordinates
cam = [0.0, 0.0, 0.0]
cam[0] = self.cam_r * sin(self.cam_theta) * sin(self.cam_phi)
cam[1] = self.cam_r * cos(self.cam_theta)
cam[2] = self.cam_r * sin(self.cam_theta) * cos(self.cam_phi)
# If the aspect ratio changed due to fullscreen, recalculate the value
if self.aspect_ratio_changed:
self.aspect_ratio = self.calc_aspect_ratio()
# Begin drawing into OpenGL buffers depending on mono or stereoscopic
if self.is_stereoscopic:
self.prepare_stereoscopic(cam, center, self.stereoscopic_offset)
else:
self.prepare_monoscopic(cam, center)
return
def prepare_stereoscopic(self, cam, center, eye_offset):
"""Prepare Stereoscopic View
Draws the buffers required for stereoscopic support. Note that
if this function is called without verifying that stereoscopic
support exists, OpenGL exceptions will be thrown.
NOTE: The stereoscopic support code was modified from the tutorial for
Stereo Geometry in OpenGL. The website can be found here:
http://www.orthostereo.com/geometryopengl.html
Arguments:
cam: A 3-element list of [x, y, z] float positions of the camera.
center: A 3-element list of [x, y, z] float positions of the
object to center the camera on.
eye_offset: The distance of each eye to the left and right of the
given cam position.
"""
# Calculate the distance of each eye from the center perspective
# Draw into both back color buffers
glDrawBuffer(GL_BACK)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
# Draw the left eye perspective
glDrawBuffer(GL_BACK_LEFT)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
# Define the perspective based on current aspect ratio
gluPerspective(45, self.aspect_ratio, 0.1, 50.0)
# Draw the world as seen through the left eye
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# TODO: At the moment, the eye_offset is just given to the x offset.
# this is not correct as the z position should also change with
# the sperical rotation. y position is not affected.
# Place the left eye and set the camera's target object
gluLookAt(cam[0]-eye_offset, cam[1], cam[2],
center[0]-eye_offset, center[1], center[2], 0, 1, 0)
# Draw the right eye perspective
glDrawBuffer(GL_BACK_RIGHT)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
# Define the perspective based on current aspect ratio
gluPerspective(45, self.aspect_ratio, 0.1, 50.0)
# Draw the world as seen through the right eye
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# Place the left eye and set the camera's target object
gluLookAt(cam[0]+eye_offset, cam[1], cam[2],
center[0]+eye_offset, center[1], center[2], 0, 1, 0)
return
def prepare_monoscopic(self, cam, center):
"""Prepare Monoscopic View
Draws the buffer required for single-camera (monoscopic) viewer.
Arguments:
cam: A 3-element list of [x, y, z] float positions of the camera.
center: A 3-element list of [x, y, z] float positions of the
object to center the camera on.
"""
# Clear the screen
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
# Load the Projection matrix
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
# Define the perspective based on current aspect ratio
gluPerspective(45, self.aspect_ratio, 0.1, 50.0)
# Initialize ModelView matrix
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# Place the camera and set the camera's target object
gluLookAt(cam[0], cam[1], cam[2], center[0], center[1], center[2], 0, 1, 0)
return
def draw_item(self, item):
"""Draw Item
Draws an object from the ODE specifications.
Arguments:
item: A dictionary containing keys relating to an ODE geometry.
"""
glDisable(GL_TEXTURE_2D)
# Create a matrix for the new geometry calculations
glPushMatrix()
# Determine which geometric object we are dealing with. Draw it
if item['type'] in ['box', 'sphere', 'cylinder', 'ccylinder']:
# set color of object (currently dark gray)
if item.has_key('color'):
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glColor4f(*(item['color']))
else: glColor3f(0.1, 0.1, 0.1)
# transform (rotate, translate) body accordingly
(x, y, z) = item['position']
R = item['rotation']
# Create rotation matrix
rot = [R[0], R[3], R[6], 0.0,
R[1], R[4], R[7], 0.0,
R[2], R[5], R[8], 0.0,
x, y, z, 1.0]
# Apply rotation matrix to any shape created
glMultMatrixd(rot)
if item['type'] == 'box':
# Draw a cube scaled to size
(sx, sy, sz) = item['scale']
glScaled(float(sx), float(sy), float(sz))
glutSolidCube(1.0)
elif item['type'] == 'sphere':
# sphere
glutSolidSphere(item['radius'], 20, 20)
elif item['type'] == 'ccylinder':
quad = gluNewQuadric()
# draw cylinder and two spheres, one at each end
glTranslate(0.0, 0.0, -item['length']/2.0)
# Draw the cylinder object
gluCylinder(quad, item['radius'], item['radius'], item['length'], 32, 32)
# Draw the first cylinder end sphere
glutSolidSphere(item['radius'], 20, 20)
# Draw the second cylinder end sphere
glTranslate(0.0, 0.0, item['length'])
glutSolidSphere(item['radius'], 20, 20)
elif item['type'] == 'cylinder':
glTranslate(0.0, 0.0, -item['length']/2.0)
# Draw the first cylinder end disk
quad = gluNewQuadric()
# Modify the orientation. This quad normal is inward
gluQuadricOrientation(quad, GLU_INSIDE)
gluDisk(quad, 0, item['radius'], 32, 1)
# Draw the cylinder
quad = gluNewQuadric()
gluCylinder(quad, item['radius'], item['radius'], item['length'], 32, 32)
# Draw the second cylinder end disk
glTranslate(0.0, 0.0, item['length'])
quad = gluNewQuadric()
gluDisk(quad, 0.0, item['radius'], 32, 1)
elif item['type'] == 'plane':
# set color of plane (currently green)
glColor3f(0.0, 0.2, 0.0)
# for planes, we need a Quadric object
quad = gluNewQuadric()
gluQuadricTexture(quad, GL_TRUE)
p = item['normal'] # the normal vector to the plane
d = item['distance'] # the distance to the origin
q = (0.0, 0.0, 1.0) # the normal vector of default gluDisks (z=0 plane)
# calculate the cross product to get the rotation axis
c = crossproduct(p, q)
# calculate the angle between default normal q and plane normal p
theta = acos(dotproduct(p, q) / (norm(p) * norm(q))) / pi * 180
# rotate the plane
glTranslate(d * p[0], d * p[1], d * p[2])
glRotate(-theta, c[0], c[1], c[2])
# Create the disk with "infinite" (very large) radius
gluDisk(quad, 0, 200, 20, 1)
glPopMatrix()
return
@staticmethod
def _loadTexture(textureFile):
image = open(textureFile)
ix = image.size[0]
iy = image.size[1]
image = image.tostring("raw", "RGBX", 0, -1)
# Create Texture
textures = glGenTextures(3)
glBindTexture(GL_TEXTURE_2D, textures[0]) # 2d texture (x and y size)
glPixelStorei(GL_UNPACK_ALIGNMENT, 1)
glTexImage2D(GL_TEXTURE_2D, 0, 3, ix, iy, 0, GL_RGBA, GL_BYTE, image)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL)
# Create Linear Filtered Texture
glBindTexture(GL_TEXTURE_2D, textures[1])
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
glTexImage2D(GL_TEXTURE_2D, 0, 3, ix, iy, 0, GL_RGBA, GL_UNSIGNED_BYTE, image)
# Create MipMapped Texture
glBindTexture(GL_TEXTURE_2D, textures[2])
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_NEAREST)
gluBuild2DMipmaps(GL_TEXTURE_2D, 3, ix, iy, GL_RGBA, GL_UNSIGNED_BYTE, image)
return textures
def _display_callback (self):
""" draw callback function """
# Draw the scene
self.prepare_gl()
if self.message is not None:
for item_name, item in self.message.iteritems():
try:
# Attempt to draw in item from the message
self.draw_item(item)
except:
# If something goes wrong in draw_item, we need to
# pop the matrix to prevent stack overflow
glPopMatrix()
glutSwapBuffers()
if self.capture_screen:
self._screenshot()
return
def _idle_callback(self):
# Listen for the latest data
try:
self.message = self.client.listen()
except:
pass
if self.message is None:
# If the message wasn't properly received, use the old message
self.message = self.prev_message
else:
# Message received in full. Fill in any unsent items from the
# previous message. These have not been modified
if self.prev_message is not None:
for item_name, item in self.prev_message.iteritems():
if item_name not in self.message:
self.message[item_name] = item
#Store it for future use
self.prev_message = self.message
# Display the latest data directly after receiving
glutPostRedisplay()
# Maintain the frame rate at the desired fps
t = self.dt - (time.time() - self.last_time)
if (t > 0.0):
time.sleep(t)
self.last_time = time.time()
return
def _keyboard_callback(self, key, x, y):
""" keyboard call-back function. """
if key == 's':
self.capture_screen = not self.capture_screen
print "Screen Capture: " + (self.capture_screen and "on" or "off")
elif key == 'f':
self.aspect_ratio_changed = True
if self.is_fullscreen:
# Toggle out of fullscreen mode
glutReshapeWindow(self.width, self.height)
glutPositionWindow(0, 0)
glutSetCursor(GLUT_CURSOR_INHERIT)
self.is_fullscreen = False
else:
# Toggle into fullscreen mode
glutFullScreen()
glutSetCursor(GLUT_CURSOR_NONE)
self.is_fullscreen = True
elif key in ['x', 'q']:
sys.exit()
elif key == 'c':
print 'Reset Camera'
self.cam_r = self.cam_r_init
self.cam_theta = self.cam_theta_init
self.cam_phi = self.cam_phi_init
return
def _mouse_callback(self, button, state, x, y):
if state == GLUT_DOWN:
self.motion_last_mouse_down_pos = (x, y)
if button == GLUT_LEFT_BUTTON:
# If the left button is down, activate rotation mode
if state == GLUT_DOWN:
self.motion_rotate_mode = True
elif state == GLUT_UP:
self.motion_rotate_mode = False
elif button == GLUT_RIGHT_BUTTON:
# If the right button is down, activate zoom mode
if state == GLUT_DOWN:
self.motion_zoom_mode = True
elif state == GLUT_UP:
self.motion_zoom_mode = False
return
def _motion_callback(self, x, y):
x_down, y_down = self.motion_last_mouse_down_pos
# Note that if a mouse has two buttons (left/right) pressed at the
# same time, rotate mode will always override zoom mode
if self.motion_rotate_mode:
# Modify the polar and azimuthal angles via y, x mouse direction
d_phi = 0.2 * (float(x) - float(x_down)) / self.height
d_theta = 0.2 * (float(y) - float(y_down)) / self.width
# Set camera angle constraints
if 0.0 <= self.cam_theta + d_theta <= pi / 2.0:
self.cam_theta += d_theta
if -pi / 2.0 <= self.cam_phi + d_phi <= pi / 2.0:
self.cam_phi += d_phi
elif self.motion_zoom_mode:
# Change radius from target based on the relative 'y' position of
# the mouse from the last click
dr = 0.2 * (float(y) - float(y_down)) / self.height
# Limit the zoom range between 0.2 and 10 meters
if 0.2 < self.cam_r + dr < 10:
self.cam_r += dr
return
def _passive_motion_callback(self, x, z):
pass
def _screenshot(self, path_prefix='.', format='PNG'):
"""Saves a screenshot of the current frame buffer.
The save path is <path_prefix>/.screenshots/shot<num>.png
The path is automatically created if it does not exist.
Shots are automatically numerated based on how many files
are already in the directory."""
if self.counter == self.frameT:
self.counter = 1
dir = os.path.join(path_prefix, 'screenshots')
if not os.path.exists(dir):
os.makedirs(dir)
num_present = len(os.listdir(dir))
num_digits = len(str(num_present))
index = '0' * (5 - num_digits) + str(num_present)
path = os.path.join(dir, 'shot' + index + '.' + format.lower())
glPixelStorei(GL_PACK_ALIGNMENT, 1)
data = glReadPixels(0, 0, self.width, self.height, GL_RGB, GL_UNSIGNED_BYTE)
image = Image.fromstring("RGB", (self.width, self.height), data)
image = image.transpose(Image.FLIP_TOP_BOTTOM)
image.save(path, format)
print 'Image saved to %s' % (os.path.basename(path))
else:
self.counter += 1
return
class FlexCubeRenderer(object):
#Options: ServerIP(default:localhost), OwnIP(default:localhost), Port(default:21560)
def __init__(self, servIP="127.0.0.1", ownIP="127.0.0.1", port="21560"):
self.oldScreenValues = None
self.view = 0
self.worldRadius = 400
# Start of mousepointer
self.lastx = 0
self.lasty = 15
self.lastz = 300
self.zDis = 1
# Start of cube
self.cube = [0.0, 0.0, 0.0]
self.bmpCount = 0
self.actCount = 0
self.calcPhysics = 0
self.newPic = 1
self.picCount = 0
self.target = array([80.0, 0.0, 0.0])
self.centerOfGrav = array([0.0, -2.0, 0.0])
self.points = ones((8, 3), float)
self.savePics = False
self.drawCounter = 0
self.fps = 25
self.dt = 1.0 / float(self.fps)
self.client = UDPClient(servIP, ownIP, port)
# If self.savePics=True this method saves the produced images
def saveTo(self, filename, format="JPEG"):
import Image # get PIL's functionality... @UnresolvedImport
width, height = 800, 600
glPixelStorei(GL_PACK_ALIGNMENT, 1)
data = glReadPixels(0, 0, width, height, GL_RGB, GL_UNSIGNED_BYTE)
image = Image.fromstring("RGB", (width, height), data)
image = image.transpose(Image.FLIP_TOP_BOTTOM)
image.save(filename, format)
print('Saved image to ', filename)
return image
# the render method containing the Glut mainloop
def _render(self):
# Call init: Parameter(Window Position -> x, y, height, width)
self.init_GL(self, 300, 300, 800, 600)
self.object = objects3d.Objects3D()
self.quad = gluNewQuadric()
glutMainLoop()
# The Glut idle function
def drawIdleScene(self):
#recive data from server and update the points of the cube
try:
self.points, self.centerOfGrav = eval(self.client.listen([self.points, self.centerOfGrav]))
except: pass
if self.points == "r":
self.target = array([80.0, 0.0, 0.0])
self.centerOfGrav = array([0.0, -2.0, 0.0])
self.points = ones((8, 3), float)
self.drawScene()
if self.savePics:
self.saveTo("./screenshots/image_jump" + repr(10000 + self.picCount) + ".jpg")
self.picCount += 1
else: sleep(self.dt)
def drawScene(self):
''' This methode describes the complete scene.'''
# clear the buffer
if self.zDis < 10: self.zDis += 0.25
if self.lastz > 200: self.lastz -= self.zDis
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
# Point of view
glRotatef(self.lastx, 0.0, 1.0, 0.0)
glRotatef(self.lasty, 1.0, 0.0, 0.0)
#glRotatef(15, 0.0, 0.0, 1.0)
# direction of view is aimed to the center of gravity of the cube
glTranslatef(-self.centerOfGrav[0], -self.centerOfGrav[1] - 50.0, -self.centerOfGrav[2] - self.lastz)
#Objects
#Target Ball
glColor3f(1, 0.25, 0.25)
glPushMatrix()
glTranslate(self.target[0], 0.0, self.target[2])
glutSolidSphere(1.5, 8, 8)
glPopMatrix()
#Massstab
for lk in range(41):
if float(lk - 20) / 10.0 == (lk - 20) / 10:
glColor3f(0.75, 0.75, 0.75)
glPushMatrix()
glRotatef(90, 1, 0, 0)
glTranslate(self.worldRadius / 40.0 * float(lk) - self.worldRadius / 2.0, -40.0, -30)
quad = gluNewQuadric()
gluCylinder(quad, 2, 2, 60, 4, 1);
glPopMatrix()
else:
if float(lk - 20) / 5.0 == (lk - 20) / 5:
glColor3f(0.75, 0.75, 0.75)
glPushMatrix()
glRotatef(90, 1, 0, 0)
glTranslate(self.worldRadius / 40.0 * float(lk) - self.worldRadius / 2.0, -40.0, -15.0)
quad = gluNewQuadric()
gluCylinder(quad, 1, 1, 30, 4, 1);
glPopMatrix()
else:
glColor3f(0.75, 0.75, 0.75)
glPushMatrix()
glRotatef(90, 1, 0, 0)
glTranslate(self.worldRadius / 40.0 * float(lk) - self.worldRadius / 2.0, -40.0, -7.5)
quad = gluNewQuadric()
gluCylinder(quad, 0.5, 0.5, 15, 4, 1);
glPopMatrix()
#Mirror Center Ball
glColor3f(1, 1, 1)
glPushMatrix()
glTranslate(self.centerOfGrav[0], -self.centerOfGrav[1], self.centerOfGrav[2])
glutSolidSphere(1.5, 8, 8)
glPopMatrix()
#Mirror Cube
glEnable (GL_BLEND)
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glColor4f(0.5, 0.75, 0.5, 0.75)
glPushMatrix()
glTranslatef(0, -0.05, 0)
self.object.drawMirCreat(self.points, self.centerOfGrav)
glPopMatrix()
# Floor
tile = self.worldRadius / 40.0
glEnable (GL_BLEND)
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
for xF in range(40):
for yF in range(40):
if float(xF + yF) / 2.0 == (xF + yF) / 2: glColor3f(0.8, 0.8, 0.7)
else: glColor4f(0.8, 0.8, 0.8, 0.7)
glPushMatrix()
glTranslatef(0.0, -0.03, 0.0)
glBegin(GL_QUADS)
glNormal(0.0, 1.0, 0.0)
for i in range(2):
for k in range(2):
glVertex3f((i + xF - 20) * tile, 0.0, ((k ^ i) + yF - 20) * tile);
glEnd()
glPopMatrix()
#Center Ball
glColor3f(1, 1, 1)
glPushMatrix()
glTranslate(self.centerOfGrav[0], self.centerOfGrav[1], self.centerOfGrav[2])
glutSolidSphere(1.5, 8, 8)
glPopMatrix()
# Cube
glEnable (GL_BLEND)
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glColor4f(0.5, 0.75, 0.5, 0.75)
glPushMatrix()
self.object.drawCreature(self.points, self.centerOfGrav)
glPopMatrix()
glEnable (GL_BLEND)
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
# Cubes shadow
glColor4f(0, 0, 0, 0.5)
glPushMatrix()
self.object.drawShadow(self.points, self.centerOfGrav)
glPopMatrix()
# swap the buffer
glutSwapBuffers()
def resizeScene(self, width, height):
'''Needed if window size changes.'''
if height == 0: # Prevent A Divide By Zero If The Window Is Too Small
height = 1
glViewport(0, 0, width, height) # Reset The Current Viewport And Perspective Transformation
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(45.0, float(width) / float(height), 0.1, 700.0)
glMatrixMode(GL_MODELVIEW)
def activeMouse(self, x, y):
#Returns mouse coordinates while any mouse button is pressed.
# store the mouse coordinate
if self.mouseButton == GLUT_LEFT_BUTTON:
self.lastx = x - self.xOffset
self.lasty = y - self.yOffset
if self.mouseButton == GLUT_RIGHT_BUTTON:
self.lastz = y - self.zOffset
# redisplay
glutPostRedisplay()
def passiveMouse(self, x, y):
'''Returns mouse coordinates while no mouse button is pressed.'''
pass
def completeMouse(self, button, state, x, y):
#Returns mouse coordinates and which button was pressed resp. released.
self.mouseButton = button
if state == GLUT_DOWN:
self.xOffset = x - self.lastx
self.yOffset = y - self.lasty
self.zOffset = y - self.lastz
# redisplay
glutPostRedisplay()
#Initialise an OpenGL windows with the origin at x, y and size of height, width.
def init_GL(self, pyWorld, x, y, height, width):
# initialize GLUT
glutInit([])
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH)
glutInitWindowSize(height, width)
glutInitWindowPosition(x, y)
glutCreateWindow("The Curious Cube")
glClearDepth(1.0)
glEnable(GL_DEPTH_TEST)
glClearColor(0.0, 0.0, 0.0, 0.0)
glShadeModel(GL_SMOOTH)
glMatrixMode(GL_MODELVIEW)
# initialize lighting */
glLightfv(GL_LIGHT0, GL_DIFFUSE, [1, 1, 1, 1.0])
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, [1.0, 1.0, 1.0, 1.0])
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
#
glColorMaterial(GL_FRONT, GL_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
# Automatic vector normalise
glEnable(GL_NORMALIZE)
### Instantiate the virtual world ###
glutDisplayFunc(pyWorld.drawScene)
glutMotionFunc(pyWorld.activeMouse)
glutMouseFunc(pyWorld.completeMouse)
glutReshapeFunc(pyWorld.resizeScene)
glutIdleFunc(pyWorld.drawIdleScene)
class ODEViewer(object):
def __init__(self,
servIP="127.0.0.1",
ownIP="127.0.0.1",
port="21590",
buf="16384"):
# initialize the viewport size
self.width = 800
self.height = 600
# initialize object which the camera follows
self.centerObj = None
self.mouseView = True
self.viewDistance = 30
self.lastx = -0.5
self.lasty = 1
self.lastz = -1
self.dt = 1
self.fps = 50
self.lasttime = time.time()
self.starttime = time.time()
self.captureScreen = False
self.isCapturing = False
self.isFloorGreen = True
self.message = None
self.keyboardCallback = None
# capture only every frameT. frame
self.counter = 0
self.frameT = 1
self.init_GL()
# set own callback functions
glutMotionFunc(self._motionfunc)
glutPassiveMotionFunc(self._passivemotionfunc)
glutDisplayFunc(self._drawfunc)
glutIdleFunc(self._idlefunc)
glutKeyboardFunc(self._keyfunc)
self.dt = 1.0 / self.fps
self.lasttime = time.time()
self.starttime = self.lasttime
# initialize udp client
self.client = UDPClient(servIP, ownIP, port, buf)
def start(self):
# start the OpenGL main loop
while True:
glutMainLoop()
def setFrameRate(self, fps):
self.fps = fps
self.dt = 1.0 / self.fps
def setCaptureScreen(self, capture):
self.captureScreen = capture
def getCaptureScreen(self):
return self.captureScreen
def waitScreenCapturing(self):
self.isCapturing = True
def isScreenCapturing(self):
return self.isCapturing
def setCenterObj(self, obj):
self.centerObj = obj
def updateData(self):
try:
self.message = self.client.listen()
except:
pass
def init_GL(self, width=800, height=600):
""" initialize OpenGL. This function has to be called only once before drawing. """
glutInit([])
# Open a window
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH)
self.width = width
self.height = height
glutInitWindowPosition(500, 0)
glutInitWindowSize(self.width, self.height)
self._myWindow = glutCreateWindow("ODE Viewer")
# Initialize Viewport and Shading
glViewport(0, 0, self.width, self.height)
glShadeModel(GL_SMOOTH)
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST)
glClearColor(1.0, 1.0, 1.0, 0.0)
# Initialize Depth Buffer
glClearDepth(1.0)
glEnable(GL_DEPTH_TEST)
glDepthFunc(GL_LESS)
# Initialize Lighting
glEnable(GL_LIGHTING)
glLightfv(GL_LIGHT1, GL_AMBIENT, [0.5, 0.5, 0.5, 1.0])
glLightfv(GL_LIGHT1, GL_DIFFUSE, [1.0, 1.0, 1.0, 1.0])
glLightfv(GL_LIGHT1, GL_POSITION, [0.0, 5.0, 5.0, 1.0])
glEnable(GL_LIGHT1)
# enable material coloring
glEnable(GL_COLOR_MATERIAL)
glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE)
glEnable(GL_NORMALIZE)
def prepare_GL(self):
"""Prepare drawing. This function is called in every step. It clears the screen and sets the new camera position"""
# Clear the screen
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
# Projection mode
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(45, 1.3333, 0.2, 500)
# Initialize ModelView matrix
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# View transformation (if "centerOn(...)" is set, keep camera to specific object)
if self.centerObj is not None:
(centerX, centerY, centerZ) = self.centerObj.getPosition()
else:
centerX = centerY = centerZ = 0
# use the mouse to shift eye sensor on a hemisphere
eyeX = self.viewDistance * self.lastx
eyeY = self.viewDistance * self.lasty + centerY
eyeZ = self.viewDistance * self.lastz
gluLookAt(eyeX, eyeY, eyeZ, centerX, centerY, centerZ, 0, 1, 0)
def draw_item(self, item):
""" draws an object (spere, cube, plane, ...) """
glDisable(GL_TEXTURE_2D)
glPushMatrix()
if item['type'] in [
'GeomBox', 'GeomSphere', 'GeomCylinder', 'GeomCCylinder'
]:
# set color of object (currently dark gray)
if item.has_key('color'):
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glColor4f(*(item['color']))
else:
glColor3f(0.1, 0.1, 0.1)
# transform (rotate, translate) body accordingly
(x, y, z) = item['position']
R = item['rotation']
rot = [
R[0], R[3], R[6], 0.0, R[1], R[4], R[7], 0.0, R[2], R[5], R[8],
0.0, x, y, z, 1.0
]
glMultMatrixd(rot)
# switch different geom objects
if item['type'] == 'GeomBox':
# cube
(sx, sy, sz) = item['scale']
glScaled(sx, sy, sz)
glutSolidCube(1)
elif item['type'] == 'GeomSphere':
# sphere
glutSolidSphere(item['radius'], 20, 20)
elif item['type'] == 'GeomCCylinder':
quad = gluNewQuadric()
# draw cylinder and two spheres, one at each end
glTranslate(0.0, 0.0, -item['length'] / 2)
gluCylinder(quad, item['radius'], item['radius'],
item['length'], 32, 32)
glutSolidSphere(item['radius'], 20, 20)
glTranslate(0.0, 0.0, item['length'])
glutSolidSphere(item['radius'], 20, 20)
elif item['type'] == 'GeomCylinder':
glTranslate(0.0, 0.0, -item['length'] / 2)
quad = gluNewQuadric()
gluDisk(quad, 0, item['radius'], 32, 1)
quad = gluNewQuadric()
gluCylinder(quad, item['radius'], item['radius'],
item['length'], 32, 32)
glTranslate(0.0, 0.0, item['length'])
quad = gluNewQuadric()
gluDisk(quad, 0, item['radius'], 32, 1)
else:
# TODO: add other geoms here
pass
elif item['type'] == 'GeomPlane':
# set color of plane (currently green)
if self.isFloorGreen:
glColor3f(0.2, 0.6, 0.3)
else:
glColor3f(0.2, 0.3, 0.8)
# for planes, we need a Quadric object
quad = gluNewQuadric()
gluQuadricTexture(quad, GL_TRUE)
p = item['normal'] # the normal vector to the plane
d = item['distance'] # the distance to the origin
q = (0.0, 0.0, 1.0
) # the normal vector of default gluDisks (z=0 plane)
# calculate the cross product to get the rotation axis
c = crossproduct(p, q)
# calculate the angle between default normal q and plane normal p
theta = acos(dotproduct(p, q) / (norm(p) * norm(q))) / pi * 180
# rotate the plane
glPushMatrix()
glTranslate(d * p[0], d * p[1], d * p[2])
glRotate(-theta, c[0], c[1], c[2])
gluDisk(quad, 0, 20, 20, 1)
glPopMatrix()
glPopMatrix()
@staticmethod
def _loadTexture(textureFile):
image = open(textureFile)
ix = image.size[0]
iy = image.size[1]
image = image.tostring("raw", "RGBX", 0, -1)
# Create Texture
textures = glGenTextures(3)
glBindTexture(GL_TEXTURE_2D, textures[0]) # 2d texture (x and y size)
glPixelStorei(GL_UNPACK_ALIGNMENT, 1)
glTexImage2D(GL_TEXTURE_2D, 0, 3, ix, iy, 0, GL_RGBA, GL_BYTE, image)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL)
# Create Linear Filtered Texture
glBindTexture(GL_TEXTURE_2D, textures[1])
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
glTexImage2D(GL_TEXTURE_2D, 0, 3, ix, iy, 0, GL_RGBA, GL_UNSIGNED_BYTE,
image)
# Create MipMapped Texture
glBindTexture(GL_TEXTURE_2D, textures[2])
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,
GL_LINEAR_MIPMAP_NEAREST)
gluBuild2DMipmaps(GL_TEXTURE_2D, 3, ix, iy, GL_RGBA, GL_UNSIGNED_BYTE,
image)
return textures
def _drawfunc(self):
""" draw callback function """
# Draw the scene
self.prepare_GL()
if self.message:
for item in self.message:
self.draw_item(item)
glutSwapBuffers()
if self.captureScreen:
self._screenshot()
def _idlefunc(self):
self.updateData()
t = self.dt - (time.time() - self.lasttime)
if (t > 0):
time.sleep(t)
self.lasttime = time.time()
glutPostRedisplay()
def _keyfunc(self, c, x, y):
""" keyboard call-back function. """
if c == 's':
self.setCaptureScreen(not self.getCaptureScreen())
print("Screen Capture: " +
(self.getCaptureScreen() and "on" or "off"))
if c in ['x', 'q']:
sys.exit()
if c == 'v':
self.mouseView = not self.mouseView
def _motionfunc(self, x, z):
"""Control the zoom factor"""
if not self.mouseView: return
zn = 2.75 * float(z) / self.height + 0.25 # [0.25,3]
self.viewDistance = 3.0 * zn * zn
self._passivemotionfunc(x, z)
def _passivemotionfunc(self, x, z):
""" Store the mouse coordinates (relative to center and normalized)
the eye does not exactly move on a unit hemisphere; we fudge the projection
a little by shifting the hemisphere into the ground by 0.1 units,
such that approaching the perimeter dows not cause a huge change in the
viewing direction. The limit for l is thus cos(arcsin(0.1))."""
if not self.mouseView: return
x1 = 3 * float(x) / self.width - 1.5
z1 = -3 * float(z) / self.height + 1.5
lsq = x1 * x1 + z1 * z1
l = sqrt(lsq)
if l > 0.994987:
# for mouse outside window, project onto the unit circle
x1 = x1 / l
z1 = z1 / l
y1 = 0
else:
y1 = max(0.0, sqrt(1.0 - x1 * x1 - z1 * z1) - 0.1)
self.lasty = y1
self.lastx = x1
self.lastz = z1
def _screenshot(self, path_prefix='.', format='PNG'):
"""Saves a screenshot of the current frame buffer.
The save path is <path_prefix>/.screenshots/shot<num>.png
The path is automatically created if it does not exist.
Shots are automatically numerated based on how many files
are already in the directory."""
if self.counter == self.frameT:
self.counter = 1
dir = os.path.join(path_prefix, 'screenshots')
if not os.path.exists(dir):
os.makedirs(dir)
num_present = len(os.listdir(dir))
num_digits = len(str(num_present))
index = '0' * (5 - num_digits) + str(num_present)
path = os.path.join(dir, 'shot' + index + '.' + format.lower())
glPixelStorei(GL_PACK_ALIGNMENT, 1)
data = glReadPixels(0, 0, self.width, self.height, GL_RGB,
GL_UNSIGNED_BYTE)
image = Image.fromstring("RGB", (self.width, self.height), data)
image = image.transpose(Image.FLIP_TOP_BOTTOM)
image.save(path, format)
print('Image saved to %s' % (os.path.basename(path)))
else:
self.counter += 1
self.isCapturing = False
class FlexCubeRenderer(object):
#Options: ServerIP(default:localhost), OwnIP(default:localhost), Port(default:21560)
def __init__(self, servIP="127.0.0.1", ownIP="127.0.0.1", port="21580"):
self.oldScreenValues = None
self.view = 0
self.worldRadius = 400
# Start of mousepointer
self.lastx = 0
self.lasty = 15
self.lastz = 300
self.zDis = 1
# Start of cube
self.cube = [0.0, 0.0, 0.0]
self.bmpCount = 0
self.actCount = 0
self.calcPhysics = 0
self.newPic = 1
self.picCount = 0
self.sensors = [0.0, 0.0, 0.0]
self.centerOfGrav = array([0.0, 5.0, 0.0])
self.savePics = False
self.drawCounter = 0
self.fps = 50
self.dt = 1.0 / float(self.fps)
self.step = 0
self.client = UDPClient(servIP, ownIP, port)
# If self.savePics=True this method saves the produced images
def saveTo(self, filename, format="JPEG"):
import Image # get PIL's functionality...
width, height = 800, 600
glPixelStorei(GL_PACK_ALIGNMENT, 1)
data = glReadPixels(0, 0, width, height, GL_RGB, GL_UNSIGNED_BYTE)
image = Image.fromstring("RGB", (width, height), data)
image = image.transpose(Image.FLIP_TOP_BOTTOM)
image.save(filename, format)
print('Saved image to ', filename)
return image
# the render method containing the Glut mainloop
def _render(self):
# Call init: Parameter(Window Position -> x, y, height, width)
self.init_GL(self, 300, 300, 800, 600)
self.quad = gluNewQuadric()
glutMainLoop()
# The Glut idle function
def drawIdleScene(self):
#recive data from server and update the points of the cube
try:
self.sensors = self.client.listen(self.sensors)
except:
pass
if self.sensors == ["r", "r", "r"]:
self.centerOfGrav = array([0.0, 5.0, 0.0])
else:
self.step += 1
a = self.sensors[0] / 360.0 * 3.1428
dir = array([cos(a), 0.0, -sin(a)])
self.centerOfGrav += self.sensors[2] * dir * 0.02
self.drawScene()
if self.savePics:
self.saveTo("./screenshots/image_jump" +
repr(10000 + self.picCount) + ".jpg")
self.picCount += 1
else:
sleep(self.dt)
def drawScene(self):
''' This methode describes the complete scene.'''
# clear the buffer
if self.zDis < 10: self.zDis += 0.25
if self.lastz > 100: self.lastz -= self.zDis
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
# Point of view
glRotatef(self.lastx, 0.0, 1.0, 0.0)
glRotatef(self.lasty, 1.0, 0.0, 0.0)
#glRotatef(15, 0.0, 0.0, 1.0)
# direction of view is aimed to the center of gravity of the cube
glTranslatef(-self.centerOfGrav[0], -self.centerOfGrav[1] - 50.0,
-self.centerOfGrav[2] - self.lastz)
#Objects
#Massstab
for lk in range(41):
if float(lk - 20) / 10.0 == (lk - 20) / 10:
glColor3f(0.75, 0.75, 0.75)
glPushMatrix()
glRotatef(90, 1, 0, 0)
glTranslate(
self.worldRadius / 40.0 * float(lk) -
self.worldRadius / 2.0, -40.0, -30)
quad = gluNewQuadric()
gluCylinder(quad, 2, 2, 60, 4, 1)
glPopMatrix()
else:
if float(lk - 20) / 5.0 == (lk - 20) / 5:
glColor3f(0.75, 0.75, 0.75)
glPushMatrix()
glRotatef(90, 1, 0, 0)
glTranslate(
self.worldRadius / 40.0 * float(lk) -
self.worldRadius / 2.0, -40.0, -15.0)
quad = gluNewQuadric()
gluCylinder(quad, 1, 1, 30, 4, 1)
glPopMatrix()
else:
glColor3f(0.75, 0.75, 0.75)
glPushMatrix()
glRotatef(90, 1, 0, 0)
glTranslate(
self.worldRadius / 40.0 * float(lk) -
self.worldRadius / 2.0, -40.0, -7.5)
quad = gluNewQuadric()
gluCylinder(quad, 0.5, 0.5, 15, 4, 1)
glPopMatrix()
# Floor
tile = self.worldRadius / 40.0
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glColor3f(0.8, 0.8, 0.5)
glPushMatrix()
glTranslatef(0.0, -3.0, 0.0)
glBegin(GL_QUADS)
glNormal(0.0, 1.0, 0.0)
glVertex3f(-self.worldRadius, 0.0, -self.worldRadius)
glVertex3f(-self.worldRadius, 0.0, self.worldRadius)
glVertex3f(self.worldRadius, 0.0, self.worldRadius)
glVertex3f(self.worldRadius, 0.0, -self.worldRadius)
glEnd()
glPopMatrix()
#Water
for xF in range(40):
for yF in range(40):
if float(xF + yF) / 2.0 == (xF + yF) / 2:
glColor4f(0.7, 0.7, 1.0, 0.5)
else:
glColor4f(0.9, 0.9, 1.0, 0.5)
glPushMatrix()
glTranslatef(0.0, -0.03, 0.0)
glBegin(GL_QUADS)
glNormal(0.5 + sin(float(xF) + float(self.step) / 4.0) * 0.5,
0.5 + cos(float(xF) + float(self.step) / 4.0) * 0.5,
0.0)
for i in range(2):
for k in range(2):
glVertex3f(
(i + xF - 20) * tile,
sin(float(xF + i) + float(self.step) / 4.0) * 3.0,
((k ^ i) + yF - 20) * tile)
glEnd()
glPopMatrix()
self.ship()
# swap the buffer
glutSwapBuffers()
def ship(self):
glColor3f(0.4, 0.1, 0.2)
glPushMatrix()
glTranslate(self.centerOfGrav[0] + 14, self.centerOfGrav[1],
self.centerOfGrav[2])
glRotatef(180 - self.sensors[0], 0.0, 1.0, 0.0)
self.cuboid(0, 0, 0, 20, 5, 5)
#bow of ship
glBegin(GL_TRIANGLES)
glNormal3fv(
self.calcNormal(self.points2Vector([-5, 6, 2.5], [0, 5, 5]),
self.points2Vector([-5, 6, 2.5], [0, 5, 0])))
glVertex3f(-5, 6, 2.5), glVertex3f(0, 5, 0), glVertex3f(0, 5, 5)
glNormal3fv(
self.calcNormal(self.points2Vector([-5, 6, 2.5], [0, 0, 5]),
self.points2Vector([-5, 6, 2.5], [0, 5, 5])))
glVertex3f(-5, 6, 2.5), glVertex3f(0, 0, 5), glVertex3f(0, 5, 5)
glNormal3fv(
self.calcNormal(self.points2Vector([-5, 6, 2.5], [0, 0, 0]),
self.points2Vector([-5, 6, 2.5], [0, 0, 5])))
glVertex3f(-5, 6, 2.5), glVertex3f(0, 0, 5), glVertex3f(0, 0, 0)
glNormal3fv(
self.calcNormal(self.points2Vector([-5, 6, 2.5], [0, 5, 0]),
self.points2Vector([-5, 6, 2.5], [0, 0, 0])))
glVertex3f(-5, 6, 2.5), glVertex3f(0, 0, 0), glVertex3f(0, 5, 0)
glEnd()
# stern
glPushMatrix()
glRotatef(-90, 1.0, 0.0, 0.0)
glTranslatef(15, -2.5, 0)
gluCylinder(self.quad, 2.5, 2.5, 5, 10, 1)
glTranslatef(0, 0, 5)
gluDisk(self.quad, 0, 2.5, 10, 1)
glPopMatrix()
# deck
if abs(self.sensors[0]) < 5.0: reward = (self.sensors[2] + 10.0) / 50.0
else: reward = 0.2
glColor3f(1.0 - reward, reward, 0)
self.cuboid(5, 5, 1, 10, 8, 4)
glPushMatrix()
glRotatef(-90, 1.0, 0.0, 0.0)
glTranslatef(13, -2.5, 5)
glColor3f(1, 1, 1)
gluCylinder(self.quad, 1, 0.8, 5, 20, 1)
glPopMatrix()
glPopMatrix()
def cuboid(self, x0, y0, z0, x1, y1, z1):
glBegin(GL_QUADS)
glNormal(0, 0, 1)
glVertex3f(x0, y0, z1)
glVertex3f(x0, y1, z1)
glVertex3f(x1, y1, z1)
glVertex3f(x1, y0, z1) #front
glNormal(-1, 0, 0)
glVertex3f(x0, y0, z0)
glVertex3f(x0, y0, z1)
glVertex3f(x0, y1, z1)
glVertex3f(x0, y1, z0) # left
glNormal(0, -1, 0)
glVertex3f(x0, y0, z0)
glVertex3f(x0, y0, z1)
glVertex3f(x1, y0, z1)
glVertex3f(x1, y0, z0) # bottom
glNormal(0, 0, -1)
glVertex3f(x0, y0, z0)
glVertex3f(x1, y0, z0)
glVertex3f(x1, y1, z0)
glVertex3f(x0, y1, z0) # back
glNormal(0, 1, 0)
glVertex3f(x0, y1, z0)
glVertex3f(x1, y1, z0)
glVertex3f(x1, y1, z1)
glVertex3f(x0, y1, z1) # top
glNormal(1, 0, 0)
glVertex3f(x1, y0, z0)
glVertex3f(x1, y0, z1)
glVertex3f(x1, y1, z1)
glVertex3f(x1, y1, z0) # right
glEnd()
def calcNormal(self, xVector, yVector):
result = [0, 0, 0]
result[0] = xVector[1] * yVector[2] - yVector[1] * xVector[2]
result[1] = -xVector[0] * yVector[2] + yVector[0] * xVector[2]
result[2] = xVector[0] * yVector[1] - yVector[0] * xVector[1]
return [result[0], result[1], result[2]]
def points2Vector(self, startPoint, endPoint):
result = [0, 0, 0]
result[0] = endPoint[0] - startPoint[0]
result[1] = endPoint[1] - startPoint[1]
result[2] = endPoint[2] - startPoint[2]
return [result[0], result[1], result[2]]
def resizeScene(self, width, height):
'''Needed if window size changes.'''
if height == 0: # Prevent A Divide By Zero If The Window Is Too Small
height = 1
glViewport(
0, 0, width, height
) # Reset The Current Viewport And Perspective Transformation
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(45.0, float(width) / float(height), 0.1, 700.0)
glMatrixMode(GL_MODELVIEW)
def activeMouse(self, x, y):
#Returns mouse coordinates while any mouse button is pressed.
# store the mouse coordinate
if self.mouseButton == GLUT_LEFT_BUTTON:
self.lastx = x - self.xOffset
self.lasty = y - self.yOffset
if self.mouseButton == GLUT_RIGHT_BUTTON:
self.lastz = y - self.zOffset
# redisplay
glutPostRedisplay()
def passiveMouse(self, x, y):
'''Returns mouse coordinates while no mouse button is pressed.'''
pass
def completeMouse(self, button, state, x, y):
#Returns mouse coordinates and which button was pressed resp. released.
self.mouseButton = button
if state == GLUT_DOWN:
self.xOffset = x - self.lastx
self.yOffset = y - self.lasty
self.zOffset = y - self.lastz
# redisplay
glutPostRedisplay()
#Initialise an OpenGL windows with the origin at x, y and size of height, width.
def init_GL(self, pyWorld, x, y, height, width):
# initialize GLUT
glutInit([])
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH)
glutInitWindowSize(height, width)
glutInitWindowPosition(x, y)
glutCreateWindow("The Curious Cube")
glClearDepth(1.0)
glEnable(GL_DEPTH_TEST)
glClearColor(0.0, 0.0, 0.0, 0.0)
glShadeModel(GL_SMOOTH)
glMatrixMode(GL_MODELVIEW)
# initialize lighting */
glLightfv(GL_LIGHT0, GL_DIFFUSE, [1, 1, 1, 1.0])
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, [1.0, 1.0, 1.0, 1.0])
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
#
glColorMaterial(GL_FRONT, GL_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
# Automatic vector normalise
glEnable(GL_NORMALIZE)
### Instantiate the virtual world ###
glutDisplayFunc(pyWorld.drawScene)
glutMotionFunc(pyWorld.activeMouse)
glutMouseFunc(pyWorld.completeMouse)
glutReshapeFunc(pyWorld.resizeScene)
glutIdleFunc(pyWorld.drawIdleScene)
class ODEViewer(object):
def __init__(self, servIP="127.0.0.1", ownIP="127.0.0.1", port="21590", buf="16384"):
# initialize the viewport size
self.width = 800
self.height = 600
# initialize object which the camera follows
self.centerObj = None
self.mouseView = True
self.viewDistance = 30
self.lastx = -0.5
self.lasty = 1
self.lastz = -1
self.dt = 1
self.fps = 50
self.lasttime = time.time()
self.starttime = time.time()
self.captureScreen = False
self.isCapturing = False
self.isFloorGreen = True
self.message = None
self.keyboardCallback = None
# capture only every frameT. frame
self.counter = 0
self.frameT = 1
self.init_GL()
# set own callback functions
glutMotionFunc (self._motionfunc)
glutPassiveMotionFunc(self._passivemotionfunc)
glutDisplayFunc (self._drawfunc)
glutIdleFunc (self._idlefunc)
glutKeyboardFunc (self._keyfunc)
self.dt = 1.0 / self.fps
self.lasttime = time.time()
self.starttime = self.lasttime
# initialize udp client
self.client = UDPClient(servIP, ownIP, port, buf)
def start(self):
# start the OpenGL main loop
while True:
glutMainLoop()
def setFrameRate(self, fps):
self.fps = fps
self.dt = 1.0 / self.fps
def setCaptureScreen(self, capture):
self.captureScreen = capture
def getCaptureScreen(self):
return self.captureScreen
def waitScreenCapturing(self):
self.isCapturing = True
def isScreenCapturing(self):
return self.isCapturing
def setCenterObj(self, obj):
self.centerObj = obj
def updateData(self):
try:
self.message = self.client.listen()
except:
pass
def init_GL(self, width=800, height=600):
""" initialize OpenGL. This function has to be called only once before drawing. """
glutInit([])
# Open a window
glutInitDisplayMode (GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH)
self.width = width
self.height = height
glutInitWindowPosition (500, 0)
glutInitWindowSize (self.width, self.height)
self._myWindow = glutCreateWindow ("ODE Viewer")
# Initialize Viewport and Shading
glViewport(0, 0, self.width, self.height)
glShadeModel(GL_SMOOTH)
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST)
glClearColor(1.0, 1.0, 1.0, 0.0)
# Initialize Depth Buffer
glClearDepth(1.0)
glEnable(GL_DEPTH_TEST)
glDepthFunc(GL_LESS)
# Initialize Lighting
glEnable(GL_LIGHTING)
glLightfv(GL_LIGHT1, GL_AMBIENT, [0.5, 0.5, 0.5, 1.0])
glLightfv(GL_LIGHT1, GL_DIFFUSE, [1.0, 1.0, 1.0, 1.0])
glLightfv(GL_LIGHT1, GL_POSITION, [0.0, 5.0, 5.0, 1.0])
glEnable(GL_LIGHT1)
# enable material coloring
glEnable(GL_COLOR_MATERIAL)
glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE)
glEnable(GL_NORMALIZE)
def prepare_GL(self):
"""Prepare drawing. This function is called in every step. It clears the screen and sets the new camera position"""
# Clear the screen
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
# Projection mode
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective (45, 1.3333, 0.2, 500)
# Initialize ModelView matrix
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# View transformation (if "centerOn(...)" is set, keep camera to specific object)
if self.centerObj is not None:
(centerX, centerY, centerZ) = self.centerObj.getPosition()
else:
centerX = centerY = centerZ = 0
# use the mouse to shift eye sensor on a hemisphere
eyeX = self.viewDistance * self.lastx
eyeY = self.viewDistance * self.lasty + centerY
eyeZ = self.viewDistance * self.lastz
gluLookAt (eyeX, eyeY, eyeZ, centerX, centerY, centerZ, 0, 1, 0)
def draw_item(self, item):
""" draws an object (spere, cube, plane, ...) """
glDisable(GL_TEXTURE_2D)
glPushMatrix()
if item['type'] in ['GeomBox', 'GeomSphere', 'GeomCylinder', 'GeomCCylinder']:
# set color of object (currently dark gray)
if item.has_key('color'):
glEnable (GL_BLEND)
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glColor4f(*(item['color']))
else: glColor3f(0.1, 0.1, 0.1)
# transform (rotate, translate) body accordingly
(x, y, z) = item['position']
R = item['rotation']
rot = [R[0], R[3], R[6], 0.0,
R[1], R[4], R[7], 0.0,
R[2], R[5], R[8], 0.0,
x, y, z, 1.0]
glMultMatrixd(rot)
# switch different geom objects
if item['type'] == 'GeomBox':
# cube
(sx, sy, sz) = item['scale']
glScaled(sx, sy, sz)
glutSolidCube(1)
elif item['type'] == 'GeomSphere':
# sphere
glutSolidSphere(item['radius'], 20, 20)
elif item['type'] == 'GeomCCylinder':
quad = gluNewQuadric()
# draw cylinder and two spheres, one at each end
glTranslate(0.0, 0.0, -item['length'] / 2)
gluCylinder(quad, item['radius'], item['radius'], item['length'], 32, 32)
glutSolidSphere(item['radius'], 20, 20)
glTranslate(0.0, 0.0, item['length'])
glutSolidSphere(item['radius'], 20, 20)
elif item['type'] == 'GeomCylinder':
glTranslate(0.0, 0.0, -item['length'] / 2)
quad = gluNewQuadric()
gluDisk(quad, 0, item['radius'], 32, 1)
quad = gluNewQuadric()
gluCylinder(quad, item['radius'], item['radius'], item['length'], 32, 32)
glTranslate(0.0, 0.0, item['length'])
quad = gluNewQuadric()
gluDisk(quad, 0, item['radius'], 32, 1)
else:
# TODO: add other geoms here
pass
elif item['type'] == 'GeomPlane':
# set color of plane (currently green)
if self.isFloorGreen:
glColor3f(0.2, 0.6, 0.3)
else:
glColor3f(0.2, 0.3, 0.8)
# for planes, we need a Quadric object
quad = gluNewQuadric()
gluQuadricTexture(quad, GL_TRUE)
p = item['normal'] # the normal vector to the plane
d = item['distance'] # the distance to the origin
q = (0.0, 0.0, 1.0) # the normal vector of default gluDisks (z=0 plane)
# calculate the cross product to get the rotation axis
c = crossproduct(p, q)
# calculate the angle between default normal q and plane normal p
theta = acos(dotproduct(p, q) / (norm(p) * norm(q))) / pi * 180
# rotate the plane
glPushMatrix()
glTranslate(d * p[0], d * p[1], d * p[2])
glRotate(-theta, c[0], c[1], c[2])
gluDisk(quad, 0, 20, 20, 1)
glPopMatrix()
glPopMatrix()
@staticmethod
def _loadTexture(textureFile):
image = open(textureFile)
ix = image.size[0]
iy = image.size[1]
image = image.tostring("raw", "RGBX", 0, -1)
# Create Texture
textures = glGenTextures(3)
glBindTexture(GL_TEXTURE_2D, textures[0]) # 2d texture (x and y size)
glPixelStorei(GL_UNPACK_ALIGNMENT, 1)
glTexImage2D(GL_TEXTURE_2D, 0, 3, ix, iy, 0, GL_RGBA, GL_BYTE, image)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL)
# Create Linear Filtered Texture
glBindTexture(GL_TEXTURE_2D, textures[1])
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
glTexImage2D(GL_TEXTURE_2D, 0, 3, ix, iy, 0, GL_RGBA, GL_UNSIGNED_BYTE, image)
# Create MipMapped Texture
glBindTexture(GL_TEXTURE_2D, textures[2])
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_NEAREST)
gluBuild2DMipmaps(GL_TEXTURE_2D, 3, ix, iy, GL_RGBA, GL_UNSIGNED_BYTE, image)
return textures
def _drawfunc (self):
""" draw callback function """
# Draw the scene
self.prepare_GL()
if self.message:
for item in self.message:
self.draw_item(item)
glutSwapBuffers()
if self.captureScreen:
self._screenshot()
def _idlefunc(self):
self.updateData()
t = self.dt - (time.time() - self.lasttime)
if (t > 0):
time.sleep(t)
self.lasttime = time.time()
glutPostRedisplay ()
def _keyfunc (self, c, x, y):
""" keyboard call-back function. """
if c == 's':
self.setCaptureScreen(not self.getCaptureScreen())
print "Screen Capture: " + (self.getCaptureScreen() and "on" or "off")
if c in ['x', 'q']:
sys.exit()
if c == 'v':
self.mouseView = not self.mouseView
def _motionfunc(self, x, z):
"""Control the zoom factor"""
if not self.mouseView: return
zn = 2.75 * float(z) / self.height + 0.25 # [0.25,3]
self.viewDistance = 3.0 * zn * zn
self._passivemotionfunc(x, z)
def _passivemotionfunc(self, x, z):
""" Store the mouse coordinates (relative to center and normalized)
the eye does not exactly move on a unit hemisphere; we fudge the projection
a little by shifting the hemisphere into the ground by 0.1 units,
such that approaching the perimeter dows not cause a huge change in the
viewing direction. The limit for l is thus cos(arcsin(0.1))."""
if not self.mouseView: return
x1 = 3 * float(x) / self.width - 1.5
z1 = -3 * float(z) / self.height + 1.5
lsq = x1 * x1 + z1 * z1
l = sqrt(lsq)
if l > 0.994987:
# for mouse outside window, project onto the unit circle
x1 = x1 / l
z1 = z1 / l
y1 = 0
else:
y1 = max(0.0, sqrt(1.0 - x1 * x1 - z1 * z1) - 0.1)
self.lasty = y1
self.lastx = x1
self.lastz = z1
def _screenshot(self, path_prefix='.', format='PNG'):
"""Saves a screenshot of the current frame buffer.
The save path is <path_prefix>/.screenshots/shot<num>.png
The path is automatically created if it does not exist.
Shots are automatically numerated based on how many files
are already in the directory."""
if self.counter == self.frameT:
self.counter = 1
dir = os.path.join(path_prefix, 'screenshots')
if not os.path.exists(dir):
os.makedirs(dir)
num_present = len(os.listdir(dir))
num_digits = len(str(num_present))
index = '0' * (5 - num_digits) + str(num_present)
path = os.path.join(dir, 'shot' + index + '.' + format.lower())
glPixelStorei(GL_PACK_ALIGNMENT, 1)
data = glReadPixels(0, 0, self.width, self.height, GL_RGB, GL_UNSIGNED_BYTE)
image = Image.fromstring("RGB", (self.width, self.height), data)
image = image.transpose(Image.FLIP_TOP_BOTTOM)
image.save(path, format)
print 'Image saved to %s' % (os.path.basename(path))
else:
self.counter += 1
self.isCapturing = False
class FlexCubeRenderer(object):
#Options: ServerIP(default:localhost), OwnIP(default:localhost), Port(default:21560)
def __init__(self, servIP="127.0.0.1", ownIP="127.0.0.1", port="21580"):
self.oldScreenValues = None
self.view = 0
self.worldRadius = 400
# Start of mousepointer
self.lastx = 0
self.lasty = 15
self.lastz = 300
self.zDis = 1
# Start of cube
self.cube = [0.0, 0.0, 0.0]
self.bmpCount = 0
self.actCount = 0
self.calcPhysics = 0
self.newPic = 1
self.picCount = 0
self.sensors = [0.0, 0.0, 0.0]
self.centerOfGrav = array([0.0, 5.0, 0.0])
self.savePics = False
self.drawCounter = 0
self.fps = 50
self.dt = 1.0 / float(self.fps)
self.step = 0
self.client = UDPClient(servIP, ownIP, port)
# If self.savePics=True this method saves the produced images
def saveTo(self, filename, format="JPEG"):
import Image # get PIL's functionality...
width, height = 800, 600
glPixelStorei(GL_PACK_ALIGNMENT, 1)
data = glReadPixels(0, 0, width, height, GL_RGB, GL_UNSIGNED_BYTE)
image = Image.fromstring("RGB", (width, height), data)
image = image.transpose(Image.FLIP_TOP_BOTTOM)
image.save(filename, format)
print 'Saved image to ', filename
return image
# the render method containing the Glut mainloop
def _render(self):
# Call init: Parameter(Window Position -> x, y, height, width)
self.init_GL(self, 300, 300, 800, 600)
self.quad = gluNewQuadric()
glutMainLoop()
# The Glut idle function
def drawIdleScene(self):
#recive data from server and update the points of the cube
try: self.sensors = self.client.listen(self.sensors)
except: pass
if self.sensors == ["r", "r", "r"]: self.centerOfGrav = array([0.0, 5.0, 0.0])
else:
self.step += 1
a = self.sensors[0] / 360.0 * 3.1428
dir = array([cos(a), 0.0, -sin(a)])
self.centerOfGrav += self.sensors[2] * dir * 0.02
self.drawScene()
if self.savePics:
self.saveTo("./screenshots/image_jump" + repr(10000 + self.picCount) + ".jpg")
self.picCount += 1
else: sleep(self.dt)
def drawScene(self):
''' This methode describes the complete scene.'''
# clear the buffer
if self.zDis < 10: self.zDis += 0.25
if self.lastz > 100: self.lastz -= self.zDis
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
# Point of view
glRotatef(self.lastx, 0.0, 1.0, 0.0)
glRotatef(self.lasty, 1.0, 0.0, 0.0)
#glRotatef(15, 0.0, 0.0, 1.0)
# direction of view is aimed to the center of gravity of the cube
glTranslatef(-self.centerOfGrav[0], -self.centerOfGrav[1] - 50.0, -self.centerOfGrav[2] - self.lastz)
#Objects
#Massstab
for lk in range(41):
if float(lk - 20) / 10.0 == (lk - 20) / 10:
glColor3f(0.75, 0.75, 0.75)
glPushMatrix()
glRotatef(90, 1, 0, 0)
glTranslate(self.worldRadius / 40.0 * float(lk) - self.worldRadius / 2.0, -40.0, -30)
quad = gluNewQuadric()
gluCylinder(quad, 2, 2, 60, 4, 1)
glPopMatrix()
else:
if float(lk - 20) / 5.0 == (lk - 20) / 5:
glColor3f(0.75, 0.75, 0.75)
glPushMatrix()
glRotatef(90, 1, 0, 0)
glTranslate(self.worldRadius / 40.0 * float(lk) - self.worldRadius / 2.0, -40.0, -15.0)
quad = gluNewQuadric()
gluCylinder(quad, 1, 1, 30, 4, 1)
glPopMatrix()
else:
glColor3f(0.75, 0.75, 0.75)
glPushMatrix()
glRotatef(90, 1, 0, 0)
glTranslate(self.worldRadius / 40.0 * float(lk) - self.worldRadius / 2.0, -40.0, -7.5)
quad = gluNewQuadric()
gluCylinder(quad, 0.5, 0.5, 15, 4, 1)
glPopMatrix()
# Floor
tile = self.worldRadius / 40.0
glEnable (GL_BLEND)
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glColor3f(0.8, 0.8, 0.5)
glPushMatrix()
glTranslatef(0.0, -3.0, 0.0)
glBegin(GL_QUADS)
glNormal(0.0, 1.0, 0.0)
glVertex3f(-self.worldRadius, 0.0, -self.worldRadius)
glVertex3f(-self.worldRadius, 0.0, self.worldRadius)
glVertex3f(self.worldRadius, 0.0, self.worldRadius)
glVertex3f(self.worldRadius, 0.0, -self.worldRadius)
glEnd()
glPopMatrix()
#Water
for xF in range(40):
for yF in range(40):
if float(xF + yF) / 2.0 == (xF + yF) / 2: glColor4f(0.7, 0.7, 1.0, 0.5)
else: glColor4f(0.9, 0.9, 1.0, 0.5)
glPushMatrix()
glTranslatef(0.0, -0.03, 0.0)
glBegin(GL_QUADS)
glNormal(0.5 + sin(float(xF) + float(self.step) / 4.0) * 0.5, 0.5 + cos(float(xF) + float(self.step) / 4.0) * 0.5, 0.0)
for i in range(2):
for k in range(2):
glVertex3f((i + xF - 20) * tile, sin(float(xF + i) + float(self.step) / 4.0) * 3.0, ((k ^ i) + yF - 20) * tile)
glEnd()
glPopMatrix()
self.ship()
# swap the buffer
glutSwapBuffers()
def ship(self):
glColor3f(0.4, 0.1, 0.2)
glPushMatrix()
glTranslate(self.centerOfGrav[0] + 14, self.centerOfGrav[1], self.centerOfGrav[2])
glRotatef(180 - self.sensors[0], 0.0, 1.0, 0.0)
self.cuboid(0, 0, 0, 20, 5, 5)
#bow of ship
glBegin(GL_TRIANGLES)
glNormal3fv(self.calcNormal(self.points2Vector([-5, 6, 2.5], [0, 5, 5]), self.points2Vector([-5, 6, 2.5], [0, 5, 0])))
glVertex3f(-5, 6, 2.5), glVertex3f(0, 5, 0), glVertex3f(0, 5, 5)
glNormal3fv(self.calcNormal(self.points2Vector([-5, 6, 2.5], [0, 0, 5]), self.points2Vector([-5, 6, 2.5], [0, 5, 5])))
glVertex3f(-5, 6, 2.5), glVertex3f(0, 0, 5), glVertex3f(0, 5, 5)
glNormal3fv(self.calcNormal(self.points2Vector([-5, 6, 2.5], [0, 0, 0]), self.points2Vector([-5, 6, 2.5], [0, 0, 5])))
glVertex3f(-5, 6, 2.5), glVertex3f(0, 0, 5), glVertex3f(0, 0, 0)
glNormal3fv(self.calcNormal(self.points2Vector([-5, 6, 2.5], [0, 5, 0]), self.points2Vector([-5, 6, 2.5], [0, 0, 0])))
glVertex3f(-5, 6, 2.5), glVertex3f(0, 0, 0), glVertex3f(0, 5, 0)
glEnd()
# stern
glPushMatrix()
glRotatef(-90, 1.0, 0.0, 0.0)
glTranslatef(15, -2.5, 0)
gluCylinder(self.quad, 2.5, 2.5, 5, 10, 1)
glTranslatef(0, 0, 5)
gluDisk(self.quad, 0, 2.5, 10, 1)
glPopMatrix()
# deck
if abs(self.sensors[0]) < 5.0: reward = (self.sensors[2] + 10.0) / 50.0
else: reward = 0.2
glColor3f(1.0 - reward, reward, 0)
self.cuboid(5, 5, 1, 10, 8, 4)
glPushMatrix()
glRotatef(-90, 1.0, 0.0, 0.0)
glTranslatef(13, -2.5, 5)
glColor3f(1, 1, 1)
gluCylinder(self.quad, 1, 0.8, 5, 20, 1)
glPopMatrix()
glPopMatrix()
def cuboid(self, x0, y0, z0, x1, y1, z1):
glBegin(GL_QUADS)
glNormal(0, 0, 1)
glVertex3f(x0, y0, z1); glVertex3f(x0, y1, z1); glVertex3f(x1, y1, z1); glVertex3f(x1, y0, z1) #front
glNormal(-1, 0, 0)
glVertex3f(x0, y0, z0); glVertex3f(x0, y0, z1); glVertex3f(x0, y1, z1); glVertex3f(x0, y1, z0) # left
glNormal(0, -1, 0)
glVertex3f(x0, y0, z0); glVertex3f(x0, y0, z1); glVertex3f(x1, y0, z1); glVertex3f(x1, y0, z0) # bottom
glNormal(0, 0, -1)
glVertex3f(x0, y0, z0); glVertex3f(x1, y0, z0); glVertex3f(x1, y1, z0); glVertex3f(x0, y1, z0) # back
glNormal(0, 1, 0)
glVertex3f(x0, y1, z0); glVertex3f(x1, y1, z0); glVertex3f(x1, y1, z1); glVertex3f(x0, y1, z1) # top
glNormal(1, 0, 0)
glVertex3f(x1, y0, z0); glVertex3f(x1, y0, z1); glVertex3f(x1, y1, z1); glVertex3f(x1, y1, z0) # right
glEnd()
def calcNormal(self, xVector, yVector):
result = [0, 0, 0]
result[0] = xVector[1] * yVector[2] - yVector[1] * xVector[2]
result[1] = -xVector[0] * yVector[2] + yVector[0] * xVector[2]
result[2] = xVector[0] * yVector[1] - yVector[0] * xVector[1]
return [result[0], result[1], result[2]]
def points2Vector(self, startPoint, endPoint):
result = [0, 0, 0]
result[0] = endPoint[0] - startPoint[0]
result[1] = endPoint[1] - startPoint[1]
result[2] = endPoint[2] - startPoint[2]
return [result[0], result[1], result[2]]
def resizeScene(self, width, height):
'''Needed if window size changes.'''
if height == 0: # Prevent A Divide By Zero If The Window Is Too Small
height = 1
glViewport(0, 0, width, height) # Reset The Current Viewport And Perspective Transformation
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(45.0, float(width) / float(height), 0.1, 700.0)
glMatrixMode(GL_MODELVIEW)
def activeMouse(self, x, y):
#Returns mouse coordinates while any mouse button is pressed.
# store the mouse coordinate
if self.mouseButton == GLUT_LEFT_BUTTON:
self.lastx = x - self.xOffset
self.lasty = y - self.yOffset
if self.mouseButton == GLUT_RIGHT_BUTTON:
self.lastz = y - self.zOffset
# redisplay
glutPostRedisplay()
def passiveMouse(self, x, y):
'''Returns mouse coordinates while no mouse button is pressed.'''
pass
def completeMouse(self, button, state, x, y):
#Returns mouse coordinates and which button was pressed resp. released.
self.mouseButton = button
if state == GLUT_DOWN:
self.xOffset = x - self.lastx
self.yOffset = y - self.lasty
self.zOffset = y - self.lastz
# redisplay
glutPostRedisplay()
#Initialise an OpenGL windows with the origin at x, y and size of height, width.
def init_GL(self, pyWorld, x, y, height, width):
# initialize GLUT
glutInit([])
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH)
glutInitWindowSize(height, width)
glutInitWindowPosition(x, y)
glutCreateWindow("The Curious Cube")
glClearDepth(1.0)
glEnable(GL_DEPTH_TEST)
glClearColor(0.0, 0.0, 0.0, 0.0)
glShadeModel(GL_SMOOTH)
glMatrixMode(GL_MODELVIEW)
# initialize lighting */
glLightfv(GL_LIGHT0, GL_DIFFUSE, [1, 1, 1, 1.0])
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, [1.0, 1.0, 1.0, 1.0])
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
#
glColorMaterial(GL_FRONT, GL_DIFFUSE)
glEnable(GL_COLOR_MATERIAL)
# Automatic vector normalise
glEnable(GL_NORMALIZE)
### Instantiate the virtual world ###
glutDisplayFunc(pyWorld.drawScene)
glutMotionFunc(pyWorld.activeMouse)
glutMouseFunc(pyWorld.completeMouse)
glutReshapeFunc(pyWorld.resizeScene)
glutIdleFunc(pyWorld.drawIdleScene)