def update(self):
# clamp
while (self.m_azi < -180.0):
self.m_azi+= 360.0
while (self.m_azi > 180.0):
self.m_azi-= 360.0
if (self.m_ele < -89.0):
self.m_ele = -89.0
if (self.m_ele > 89.0):
self.m_ele = 89.0
if (self.m_cameraDistance < 0.1):
self.m_cameraDistance = 0.1
# calc camera position
razi = self.m_azi * 0.01745329251994329547 # rads per deg
head=bullet.btQuaternion(self.m_view.up, razi)
eyePos=Vector3(0.0, 0.0, -self.m_cameraDistance)
forward=Vector3(*eyePos[:])
if (forward.length2() < bullet.SIMD_EPSILON):
forward=Vector3(1.0, 0.0, 0.0)
right=self.m_view.up.cross(forward)
rele = self.m_ele * 0.01745329251994329547 # rads per deg
pitch=bullet.btQuaternion(right, -rele)
self.m_view.position=self.m_view.target+(
bullet.btMatrix3x3(head)*bullet.btMatrix3x3(pitch)).apply(eyePos);
def updateCamera(self):
rele = self.m_ele * 0.01745329251994329547;# rads per deg
razi = self.m_azi * 0.01745329251994329547;# rads per deg
rot=bullet.btQuaternion(self.m_cameraUp, razi);
eyePos=[0, 0, 0];
eyePos[self.m_forwardAxis] = -self.m_cameraDistance;
eyePos=tuple(eyePos)
forward=(eyePos[0], eyePos[1], eyePos[2]);
if (vector3.length2(forward) < bullet.SIMD_EPSILON):
forward=(1.0, 0.0, 0.0);
right = vector3.cross(self.m_cameraUp, forward);
roll=bullet.btQuaternion(right,-rele);
m=bullet.btMatrix3x3(rot) * bullet.btMatrix3x3(roll)
eyePos =m.apply(eyePos);
self.m_cameraPosition=vector3.add(eyePos, self.m_cameraTargetPosition);
if (self.m_glutScreenWidth == 0 and self.m_glutScreenHeight == 0):
return;
aspect = float(self.m_glutScreenWidth) / float(self.m_glutScreenHeight);
assert(aspect!=0.0)
extents=(aspect * 1.0, 1.0, 0.0);
if (self.m_ortho):
# reset matrix
extents *= self.m_cameraDistance;
lower = self.m_cameraTargetPosition - extents;
upper = self.m_cameraTargetPosition + extents;
else:
pass
def updateCamera(self):
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
rele = self.m_ele * 0.01745329251994329547;# rads per deg
razi = self.m_azi * 0.01745329251994329547;# rads per deg
rot=bullet.btQuaternion(self.m_cameraUp, razi);
eyePos=[0, 0, 0];
eyePos[self.m_forwardAxis] = -self.m_cameraDistance;
eyePos=tuple(eyePos)
forward=(eyePos[0], eyePos[1], eyePos[2]);
if (vector3.length2(forward) < bullet.SIMD_EPSILON):
forward=(1.0, 0.0, 0.0);
right = vector3.cross(self.m_cameraUp, forward);
roll=bullet.btQuaternion(right,-rele);
m=bullet.btMatrix3x3(rot) * bullet.btMatrix3x3(roll)
eyePos =m.apply(eyePos);
self.m_cameraPosition=vector3.add(eyePos, self.m_cameraTargetPosition);
if (self.m_glutScreenWidth == 0 and self.m_glutScreenHeight == 0):
return;
aspect = float(self.m_glutScreenWidth) / float(self.m_glutScreenHeight);
assert(aspect!=0.0)
extents=(aspect * 1.0, 1.0, 0.0);
if (self.m_ortho):
# reset matrix
glLoadIdentity();
extents *= self.m_cameraDistance;
lower = self.m_cameraTargetPosition - extents;
upper = self.m_cameraTargetPosition + extents;
# gluOrtho2D(lower.x, upper.x, lower.y, upper.y);
glOrtho(lower.getX(), upper.getX(),
lower.getY(), upper.getY(),
-1000, 1000);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
# glTranslatef(100, 210, 0);
else:
# glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0);
glFrustum (-aspect * self.m_frustumZNear, aspect * self.m_frustumZNear,
-self.m_frustumZNear, self.m_frustumZNear,
self.m_frustumZNear, self.m_frustumZFar);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(
self.m_cameraPosition[0], self.m_cameraPosition[1], self.m_cameraPosition[2],
self.m_cameraTargetPosition[0],
self.m_cameraTargetPosition[1],
self.m_cameraTargetPosition[2],
self.m_cameraUp[0],self.m_cameraUp[1],self.m_cameraUp[2]);
def renderscene(self, renderpass):
rot=bullet.btMatrix3x3();
rot.setIdentity();
m=numpy.array([
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0
], 'f')
for i, colObj in enumerate(self.m_dynamicsWorld.getCollisionObjectArray()):
body=bullet.btRigidBody.upcast(colObj);
if(body and body.getMotionState()):
myMotionState = bullet.btDefaultMotionState.downcast(body.getMotionState());
_m=myMotionState.m_graphicsWorldTrans.getOpenGLMatrix();
rot=myMotionState.m_graphicsWorldTrans.getBasis();
else:
_m=colObj.getWorldTransform().getOpenGLMatrix();
rot=colObj.getWorldTransform().getBasis();
for j, v in enumerate(_m):
m[j]=v
state=colObj.getActivationState()
if(i&1): # odd
if state==1: # active
wireColor=(1.0, 0.0, 1.0);
elif state==2: # ISLAND_SLEEPING
wireColor=(0.0, 1.0, 1.0);
else:
wireColor=(0.0, 0.0, 1.0);
else: # even
# color differently for active, sleeping, wantsdeactivation states
if state==1: # active
wireColor=(1.5, 1.0, 0.5);
elif state==2: # ISLAND_SLEEPING
wireColor=(1.0, 1.5, 0.5);
else:
wireColor=(1.0, 1.0, 0.5); # wants deactivation
aabbMin, aabbMax=self.m_dynamicsWorld.getBroadphase().getBroadphaseAabb();
vector3.sub(aabbMin, (
bullet.BT_LARGE_FLOAT,
bullet.BT_LARGE_FLOAT,
bullet.BT_LARGE_FLOAT));
vector3.sub(aabbMax, (
bullet.BT_LARGE_FLOAT,
bullet.BT_LARGE_FLOAT,
bullet.BT_LARGE_FLOAT));
if (not (self.getDebugMode() & bullet.btIDebugDraw.DBG_DrawWireframe)):
if renderpass==0:
self.m_shapeDrawer.drawOpenGL(m,
colObj.getCollisionShape(),
wireColor, self.getDebugMode(),
aabbMin, aabbMax);
elif renderpass==1:
self.m_shapeDrawer.drawShadow(m,
rot.apply(self.m_sundirection), colObj.getCollisionShape(),
aabbMin,aabbMax);
elif renderpass==2:
self.m_shapeDrawer.drawOpenGL(m,
colObj.getCollisionShape(),
vector3.mul(wireColor, 0.3), 0,
aabbMin, aabbMax);
