def set_world(self):
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
position = self.camera.position
look_at = self.camera.look_at
glu.gluLookAt(position.x, position.y, position.z, look_at.x, look_at.y,
look_at.z, 0, 1, -1)
def on_draw(self):
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
glTranslatef(-self.camera_rect.x, -self.camera_rect.y, 0)
self.clear()
self.map.draw()
self.prisioner.draw()
def init_view(self):
# set the model view to initial setting
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
glu.gluLookAt(self.init_camera_param.eye[0],self.init_camera_param.eye[1],self.init_camera_param.eye[2],\
self.init_camera_param.eye[0]+self.init_camera_param.direction[0],self.init_camera_param.eye[1]+self.init_camera_param.direction[1],self.init_camera_param.eye[2]+self.init_camera_param.direction[2],\
self.init_camera_param.up[0],self.init_camera_param.up[1],self.init_camera_param.up[2])
def view(self):
# update the model view
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
glu.gluLookAt(self.camera_param.eye[0],self.camera_param.eye[1],self.camera_param.eye[2],\
self.camera_param.eye[0]+self.camera_param.direction[0],self.camera_param.eye[1]+self.camera_param.direction[1],self.camera_param.eye[2]+self.camera_param.direction[2],\
self.camera_param.up[0],self.camera_param.up[1],self.camera_param.up[2])
def set_screen(self):
'''
Set ortho projection, showing world space coords 0 <= x < WIDTH,
and 0 <= y < HEIGHT.
'''
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
glu.gluOrtho2D(0, self.width - 1, 0, self.height - 1)
def on_draw():
window.clear()
gl.glLoadIdentity()
gl.glTranslated(self.x, self.y, self.z)
gl.glRotatef(self.rx, 1, 0, 0)
gl.glRotatef(self.ry, 0, 1, 0)
gl.glRotatef(self.rz, 0, 0, 1)
visualization.draw(self.mesh)
def set_world(self):
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
position = self.camera.position
look_at = self.camera.look_at
glu.gluLookAt(
position.x, position.y, position.z,
look_at.x, look_at.y, look_at.z,
0, 1, -1)
def set_projection(self):
w = (self.win.width / 2) / self.zoom
h = (self.win.height / 2) / self.zoom
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glOrtho(-w, w, -h, h, -1, 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.glTranslatef(-self.look_at.x, -self.look_at.y, 0)
def clear_and_setup_window(self):
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glMatrixMode(gl.GL_PROJECTION) # Select The Projection Matrix
gl.glLoadIdentity() # Reset The Projection Matrix
field_of_view_y = 100
aspect_ratio = self.window.width if self.window.height == 0 else self.window.width / self.window.height
z_clip_near = 0.1
z_clip_far = 1000.0
glu.gluPerspective(field_of_view_y, aspect_ratio, z_clip_near,
z_clip_far)
def set_perspective(self, fovy):
'''
Set perspective projection
'''
aspect = self.width / self.height
zNear = 0.1
zFar = 1000.0
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
glu.gluPerspective(fovy, aspect, zNear, zFar);
def draw(self):
gl.glLoadIdentity()
gl.glTranslatef(self.x, self.y, self.z)
gl.glRotatef(self.rx, 1, 0, 0)
gl.glRotatef(self.ry, 0, 1, 0)
gl.glRotatef(self.rz, 0, 0, 1)
# sets the color
gl.glColor4f(*self.color)
for facet in self.facets:
facet.draw()
def on_resize(width, height):
# sets the viewport
gl.glViewport(0, 0, width, height)
# sets the projection
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
glu.gluPerspective(60.0, width / float(height), 0.1, 100.0)
# sets the model view
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
return pyglet.event.EVENT_HANDLED
def render(self, rotate_x, rotate_y, rotate_z):
self.clear_and_setup_window()
# Create the "camera location" to start drawing from.
gl.glMatrixMode(gl.GL_MODELVIEW) # Select The Model View Matrix
gl.glLoadIdentity()
z_radius = 3.0 * np.max(np.abs([self.z_min, self.z_max]))
angle = np.deg2rad(rotate_y)
origin = z_radius * np.array([np.sin(angle), 0.0, np.cos(angle)])
self.set_light_position([0, 0, 0])
camera = Camera(origin=origin, up_vector=[0, 1, 0])
camera.load_view()
# draw the display list
gl.glCallList(self.displist)
def on_resize(width, height):
# sets the viewport
gl.glViewport(0, 0, width, height)
# sets the projection
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
# gluPerspective(vfov, aspect, near_clipping, far_clipping)
glu.gluPerspective(90.0, width / height, 0.1, 10000.0)
# sets the model view
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glLoadIdentity()
return pyglet.event.EVENT_HANDLED
def draw(self):
# clears the screen with the background color
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
gl.glClear(gl.GL_DEPTH_BUFFER_BIT)
gl.glLoadIdentity()
# # sets the position for the camera
gl.glTranslatef(self.x, self.y, self.z)
# sets the rotation for the camera
gl.glRotatef(self.rx, 1, 0, 0)
gl.glRotatef(self.ry, 0, 1, 0)
gl.glRotatef(self.rz, 0, 0, 1)
# self.draw_axes()
for box in self.boxes:
self.render_model(box, fill=False)
# TODO Note: won't account for changing number of boids if that is ever implemented
for i, (boids_m, atts) in enumerate(self.swarm_models):
swarm = self.swarms[i]
for j, boid_m in enumerate(boids_m):
# experimental: invert colour if feeding
# if swarm.boids[j].feeding:
# boid_m.color = invert_colour(boid_m.color)
new_loc = list(swarm.boids[j].location)[:3]
boid_m.x, boid_m.y, boid_m.z = new_loc
# boid direction based on velocity
new_vel = list(normalise(swarm.boids[j].velocity[:3]))
# TODO completely wrong and also stupid but seems to be good enough if you don't look too hard
# boid_m.rx = -90-math.degrees(math.asin(new_vel[2]/math.sqrt(new_vel[1]**2 + new_vel[2]**2)))
boid_m.ry = (90-math.degrees(math.asin(new_vel[0]/math.sqrt(new_vel[2]**2 + new_vel[0]**2))))
boid_m.rz = -(90-math.degrees(math.asin(new_vel[1]/math.sqrt(new_vel[0]**2 + new_vel[1]**2))))
self.render_model(boid_m)
for j, att in enumerate(atts):
new_att = list(swarm.attractors[j].location)[:3]
att.x, att.y, att.z = new_att
if swarm.attractors[j].is_active:
self.render_model(att, frame=True)
def draw(self):
# clears the screen with the background color
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
gl.glClear(gl.GL_DEPTH_BUFFER_BIT)
gl.glLoadIdentity()
# # sets the position
gl.glTranslatef(self.x, self.y, self.z)
# sets the rotation
gl.glRotatef(self.rx, 1, 0, 0)
gl.glRotatef(self.ry, 0, 1, 0)
gl.glRotatef(self.rz, 0, 0, 1)
self.draw_ground_plane()
for model in self.models:
self._model_render(model)
def draw(self):
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPushMatrix()
gl.glLoadIdentity()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glPushMatrix()
gl.glLoadIdentity()
gl.glOrtho(0, self.window.width, 0, self.window.height, -1, 1)
self.batch.draw()
for label_id, label in self.labels.items():
if label['visible']:
label['label'].raw_draw()
gl.glPopMatrix()
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPopMatrix()
def setupGl(self):
gl.glViewport(0, 0, self.width, self.height)
# sets the projection
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glOrtho(-2, 2, -2, 2, -2, 2)
# sets the model view
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gluLookAt(
0,
0,
1, #eye
0,
0,
0, #lookAt
0,
1,
0) #up axis
def draw(self):
"""Draw the label.
The OpenGL state is assumed to be at default values, except
that the MODELVIEW and PROJECTION matrices are ignored. At
the return of this method the matrix mode will be MODELVIEW.
"""
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPushMatrix()
gl.glLoadIdentity()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glPushMatrix()
gl.glLoadIdentity()
gl.glOrtho(0, self.window.width, 0, self.window.height, -1, 1)
self.label.draw()
gl.glPopMatrix()
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPopMatrix()
def draw(self):
# clears the screen with the background color
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
gl.glClear(gl.GL_DEPTH_BUFFER_BIT)
gl.glLoadIdentity()
# # sets the position for the camera
gl.glTranslatef(self.x, self.y, self.z)
# sets the rotation for the camera
gl.glRotatef(self.rx, 1, 0, 0)
gl.glRotatef(self.ry, 0, 1, 0)
gl.glRotatef(self.rz, 0, 0, 1)
self.render_model(self.box_model, fill=False)
for colour_model in self.colour_models:
self.render_model(colour_model, frame=False)
for rc_model in self.rand_col_models:
self.render_model(rc_model, frame=False)
def draw(self):
gl.glLoadIdentity()
# sets the position
gl.glTranslatef(self.x, self.y, self.z)
# sets the rotation
gl.glRotatef(self.rx, 1, 0, 0)
gl.glRotatef(self.ry, 0, 1, 0)
gl.glRotatef(self.rz, 0, 0, 1)
# sets the color
gl.glColor4f(*self.color)
# draws the quads
pyglet.graphics.draw_indexed(
len(self.vertices) / 3, gl.GL_QUADS, self.quad_indices,
('v3f', self.vertices))
# draws the triangles
pyglet.graphics.draw_indexed(
len(self.vertices) / 3, gl.GL_TRIANGLES, self.triangle_indices,
('v3f', self.vertices))
def set_ortho(self, zoom):
'''
Screen's shortest dimension (usually height) will show exactly
self.zoom of the world from the center of the screen to each edge,
regardless of screen resolution, window size.
'''
def ortho_bounds(self, zoom, aspect):
left = bottom = -zoom
right = top = zoom
if self.width > self.height:
# landscape mode window
bottom /= aspect
top /= aspect
elif self.width < self.height:
# portrait mode window
left *= aspect
right *= aspect
return left, right, bottom, top
aspect = self.width / self.height
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
glu.gluOrtho2D(*ortho_bounds(zoom, aspect))
def set_matrix(self):
gl.glLoadIdentity()
gl.glTranslatef(self.viewport_offset.x, self.viewport_offset.y, 0)
x, y = self.center
gl.glScalef(self.scale, self.scale, 1)
gl.glTranslatef(int(-x + 0.5), int(-y + 0.5), 0)
def set_identity(self):
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
def set_identity(self):
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
