def _line(self, r1, r2):
glColor(1, 1, 1)
glLineWidth(1)
glBegin(GL_LINES)
glVertex3f(r1[0], r1[1], 0.0)
glVertex3f(r2[0], r2[1], 0.0)
glEnd()
def plano_vertical_arriba(self):
if self.programa.ajustes.ver_plano_vertical.isChecked():
glBegin(GL_QUADS)
glColor(self.programa.ajustes.color_plano_vertical)
for vertex in range(4):
glVertex(self.vertices_plano_vertical_arriba[vertex])
glEnd()
def __gen_gl_code(faces, mtls, normals, vertices, texcoords):
gl_list = glGenLists(1)
glNewList(gl_list, GL_COMPILE)
glEnable(GL_TEXTURE_2D)
glFrontFace(GL_CCW)
for face in faces:
face_vertices, face_normals, texture_coords, material = face
try:
mtl = mtls[material]
if 'texture_Kd' in mtl:
# use diffuse texmap
glBindTexture(GL_TEXTURE_2D, mtl['texture_Kd'])
else:
# just use diffuse colour
glColor(mtl['Kd'])
except KeyError:
print("Key error" + str(material))
glColor((1, 1, 1))
glBegin(GL_POLYGON)
for i in range(len(face_vertices)):
if face_normals[i] > 0:
glNormal3fv(normals[face_normals[i] - 1])
if texture_coords[i] > 0:
glTexCoord2fv(texcoords[texture_coords[i] - 1])
glVertex3fv(vertices[face_vertices[i] - 1])
glEnd()
glDisable(GL_TEXTURE_2D)
glEndList()
return gl_list
def paint(self):
glPushMatrix()
position = self.player.getPosition()
glTranslate(position.x, position.y, position.z)
glRotate(self.player.orientation.y, 0.0, 1.0, 0.0)
# Slide back because the pyramid below is centered at 0.5, 0, 0.5
# instead of at the origin. Without this it rotates around its corner
# instead of around its center.
glTranslate(-0.5, 0, -0.5)
glColor(1.0, 1.0, 1.0)
glBegin(GL_TRIANGLES)
glVertex3f(0.5, 0.0, 0.5)
glVertex3f(0.0, 1.0, 0.0)
glVertex3f(1.0, 1.0, 0.0)
glVertex3f(0.5, 0.0, 0.5)
glVertex3f(1.0, 1.0, 0.0)
glVertex3f(1.0, 1.0, 1.0)
glVertex3f(0.5, 0.0, 0.5)
glVertex3f(1.0, 1.0, 1.0)
glVertex3f(0.0, 1.0, 1.0)
glVertex3f(0.5, 0.0, 0.5)
glVertex3f(0.0, 1.0, 1.0)
glVertex3f(0.0, 1.0, 0.0)
glEnd()
glPopMatrix()
def display(self, color: List[float], draw_solid: bool):
"""Displays the cube with a specific color.
:param color: Color to display the cube.
:param draw_solid: Whether to draw solid polygons (False to draw wireframe).
"""
glColor(color)
if draw_solid:
ambient_color = [
color[0] * 0.1, color[1] * 0.1, color[2] * 0.1, 1.0
]
else:
ambient_color = color
glMaterialfv(GL_FRONT, GL_AMBIENT, ambient_color)
glMaterialfv(GL_FRONT, GL_DIFFUSE, color)
glMaterialfv(GL_FRONT, GL_SPECULAR, color)
glMaterialfv(GL_FRONT, GL_SHININESS, 10.0)
if draw_solid:
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
else:
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
self.display_by_key(self._display_list_name)
def _line(self, r1, r2):
glColor(1, 1, 1)
glLineWidth(1)
glBegin(GL_LINES)
glVertex3f(r1[0], r1[1], 0.0)
glVertex3f(r2[0], r2[1], 0.0)
glEnd()
def plano_horizontal_detras(self):
if self.programa.ajustes.ver_plano_horizontal.isChecked():
glBegin(GL_QUADS)
glColor(self.programa.ajustes.color_plano_horizontal)
for vertex in range(4):
glVertex(self.vertices_plano_horizontal_detras[vertex])
glEnd()
def bordes_plano_horizontal(self):
if self.programa.ajustes.ver_plano_horizontal.isChecked():
glLineWidth(1)
glColor(self.programa.ajustes.color_plano_horizontal)
glBegin(GL_LINE_LOOP)
for vertex in range(4):
glVertex(self.vertices_borde_plano_horizontal[vertex])
glEnd()
def _rectangle(self, r1, r2):
glColor(1, 1, 1)
glLineWidth(1)
glBegin(GL_LINE_LOOP)
glVertex3f(r1[0], r1[1], 0.0)
glVertex3f(r2[0], r1[1], 0.0)
glVertex3f(r2[0], r2[1], 0.0)
glVertex3f(r1[0], r2[1], 0.0)
glEnd()
def paint(self):
if self.quad is None:
self.quad = gluNewQuadric()
glPushMatrix()
glColor(self.color.red, self.color.green, self.color.blue)
glTranslate(self.center.x, self.center.y, self.center.z)
gluSphere(self.quad, self.radius, 25, 25)
glPopMatrix()
def _rectangle(self, r1, r2):
glColor(1, 1, 1)
glLineWidth(1)
glBegin(GL_LINE_LOOP)
glVertex3f(r1[0], r1[1], 0.0)
glVertex3f(r2[0], r1[1], 0.0)
glVertex3f(r2[0], r2[1], 0.0)
glVertex3f(r1[0], r2[1], 0.0)
glEnd()
def traza_v_recta(self, recta):
if self.programa.ajustes.rectas_trazas_v.isChecked():
if recta.traza_v != "Contenida en PV" and recta.ver_traza_vertical.isChecked(
):
if recta.traza_v[0] < 500 and recta.traza_v[1] < 500:
glColor(0, 1, 0, 1)
glBegin(GL_POINTS)
glVertex(recta.traza_v)
glEnd()
glColor(recta.color)
def dibujar_circunferencias(self):
for i in range(self.programa.lista_circunferencias.count()):
circ = self.programa.lista_circunferencias.itemWidget(
self.programa.lista_circunferencias.item(i))
if circ.render.isChecked():
glColor(circ.color)
glBegin(GL_LINE_LOOP)
for punto in circ.puntos:
glVertex(*punto)
glEnd()
def traza_h_recta(self, recta):
if self.programa.ajustes.rectas_trazas_h.isChecked():
if recta.traza_h != "Contenida en PH" and recta.ver_traza_horizontal.isChecked(
):
if recta.traza_h[0] < 500 and recta.traza_h[2] < 500:
glColor(1, 0, 0, 1)
glBegin(GL_POINTS)
glVertex(recta.traza_h)
glEnd()
glColor(recta.color)
def render(self):
x, y, z = (self.boxHalfExtents.x, self.boxHalfExtents.y, self.boxHalfExtents.z)
o = self.motion.getWorldTransform().getOrigin()
glColor(0, 0, 255)
glTranslate(o.x, o.y, o.z)
glBegin(GL_TRIANGLE_STRIP)
glVertex(-x, y, -z)
glVertex(x, y, -z)
glVertex(-x, y, z)
glVertex(x, y, z)
glEnd()
def render(self):
glColor(0, 1, 1)
glPushMatrix()
glTranslate(*self.p)
if self.skel.m < 10.0:
glutSolidSphere(0.02, 4, 2)
else:
glutSolidSphere(0.06, 4, 2)
glPopMatrix()
def gl_draw(self):
# if hasattr(self, 'highlight_bg_color') and self in self.get_root().find_widget(mouse.get_pos()).all_parents():
# color = self.highlight_bg_color
# else:
color = tuple(self.bg_color) + (1.0,)
glEnable(GL_BLEND)
glColor(color[0], color[1], color[2], color[3])
glVertexPointer(2, GL_FLOAT, 0, array([-1, -1, -1, 1, 1, 1, 1, -1], dtype='float32'))
glDrawArrays(GL_QUADS, 0, 4)
glDisable(GL_BLEND)
def dibujar_puntos(self, cuadrante: str):
for i in range(self.programa.lista_puntos.count()):
punto = self.programa.lista_puntos.itemWidget(
self.programa.lista_puntos.item(i))
if punto.render.isChecked() and punto.cuadrante == cuadrante:
glColor(punto.color)
glPointSize(punto.grosor)
glEnable(GL_POINT_SMOOTH)
glBegin(GL_POINTS)
glVertex(punto.x, punto.y, punto.z)
glEnd()
def gl_draw(self):
#if hasattr(self, 'highlight_bg_color') and self in self.get_root().find_widget(mouse.get_pos()).all_parents():
# color = self.highlight_bg_color
#else:
color = tuple(self.bg_color) + (1.0,)
glEnable(GL_BLEND)
glColor(color[0], color[1], color[2], color[3])
glVertexPointer(2, GL_FLOAT, 0, array([-1, -1, -1, 1, 1, 1, 1, -1], dtype='float32'))
glDrawArrays(GL_QUADS, 0, 4)
glDisable(GL_BLEND)
def render(self):
o = self.motion.getWorldTransform().getOrigin()
glColor(0, 0, 255)
glTranslate(o.x, o.y, o.z)
glBegin(GL_TRIANGLES)
for i in range(len(self.groundIndices)):
base = self.groundIndices[i] * 3
x = self.groundVertices[base]
y = self.groundVertices[base + 1]
z = self.groundVertices[base + 2]
glVertex(x, y, z)
glEnd()
def render(self):
x, y, z = (self.boxHalfExtents.x, self.boxHalfExtents.y,
self.boxHalfExtents.z)
o = self.motion.getWorldTransform().getOrigin()
glColor(0, 0, 255)
glTranslate(o.x, o.y, o.z)
glBegin(GL_TRIANGLE_STRIP)
glVertex(-x, y, -z)
glVertex(x, y, -z)
glVertex(-x, y, z)
glVertex(x, y, z)
glEnd()
def render(self):
o = self.motion.getWorldTransform().getOrigin()
glColor(0, 0, 255)
glTranslate(o.x, o.y, o.z)
glBegin(GL_TRIANGLES)
for i in range(len(self.groundIndices)):
base = self.groundIndices[i] * 3
x = self.groundVertices[base]
y = self.groundVertices[base + 1]
z = self.groundVertices[base + 2]
glVertex(x, y, z)
glEnd()
def draw_faces(position: Tuple[int, int], size: Tuple[float, float, float],
face_color: Tuple[float, float, float]):
pos_x, pos_y = position
size_x, size_y, size_z = size
glColor(face_color)
for face in Draw.faces:
glBegin(GL_POLYGON)
for vertex in face:
glVertex3f(Draw.vertices[vertex, 0] * size_x + pos_x,
-(Draw.vertices[vertex, 1] * size_y + pos_y),
Draw.vertices[vertex, 2] * size_z)
glEnd()
def draw_border(position: Tuple[int, int], size: Tuple[float, float,
float],
border_color: Tuple[float, float, float]):
pos_x, pos_y = position
size_x, size_y, size_z = size
glBegin(GL_LINES)
glColor(border_color)
for edge in Draw.edges:
for vertex in edge:
glVertex3f(Draw.vertices[vertex, 0] * size_x + pos_x,
-(Draw.vertices[vertex, 1] * size_y + pos_y),
Draw.vertices[vertex, 2] * size_z)
glEnd()
def _set_color(color: List[float]):
"""Modifies the OpenGL state's active material with a specific color
used on the specular & diffuse channels, with limited ambient.
This function must be invoked inside the OpenGL render loop.
:param color: the color to use for the material
"""
glColor(color)
glMaterialfv(GL_FRONT, GL_AMBIENT, [color[0] * 0.1, color[1] * 0.1, color[2] * 0.1, 1.0])
glMaterialfv(GL_FRONT, GL_DIFFUSE, color)
glMaterialfv(GL_FRONT, GL_SPECULAR, color)
glMaterialfv(GL_FRONT, GL_SHININESS, 10.0)
def draw(self):
glDisable(GL_LIGHTING)
glLineWidth(self._width)
glColor(*self._color)
glEnableClientState(GL_VERTEX_ARRAY)
if self._vbo:
with self._vbo:
glVertexPointerf(self._vbo)
glDrawArrays(GL_LINE_STRIP, 0, len(self._vbo))
glDisableClientState(GL_VERTEX_ARRAY)
glEnable(GL_LIGHTING)
def display(self):
self.world.drawGL()
glDisable(GL_LIGHTING)
glLineWidth(2.0)
glEnableClientState(GL_VERTEX_ARRAY)
for (color, vbo) in self.trace_vbos:
glColor(*color)
with vbo:
glVertexPointerf(vbo)
glDrawArrays(GL_LINE_STRIP, 0, len(vbo))
glDisableClientState(GL_VERTEX_ARRAY)
glEnable(GL_LIGHTING)
def paintGL(self):
"""
Drawing routing
"""
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
#Draw spiral in 'immediate mode'
#WARNING: You should not be doing the spiral calculation inside the loop
#even if you are using glBegin/glEnd, sin/cos are fairly expensive functions
#For now left here to make code simpler
radius = 1.0
x = radius * math.sin(0)
y = radius * math.cos(0)
glColor(0.0, 1.0, 0.0)
glBegin(GL_LINE_STRIP)
for deg in range(1000):
glVertex(x, y, 0.0)
rad = math.radians(deg)
radius -= 0.001
x = radius * math.sin(rad)
y = radius * math.cos(rad)
glEnd()
glEnableClientState(GL_VERTEX_ARRAY)
#TODO: Use list comprehension
spiral_array = []
#Second spiral using "array immediate mode" (i.e vertex arrays)
radius = 0.8
x = radius * math.sin(0)
y = radius * math.cos(0)
glColor(1.0, 0.0, 0.0)
for deg in range(820):
spiral_array.append([x, y])
rad = math.radians(deg)
radius -= 0.001
x = radius * math.sin(rad)
y = radius * math.cos(rad)
glVertexPointerf(spiral_array)
glDrawArrays(GL_LINE_STRIP, 0, len(spiral_array))
glFlush()
def draw(self):
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glMultMatrixf(self._pose.T)
glDisable(GL_LIGHTING)
if self._bounds:
glColor(*self._color)
glLineWidth(self._width)
gldraw.box(self._bounds[0],
self._bounds[1],
lighting=False,
filled=False)
glEnable(GL_LIGHTING)
glPopMatrix()
def draw_x_switch(position: Tuple[int, int], color: Tuple[float, float,
float]):
glPushMatrix()
glTranslate(0.5 + position[0], -0.5 - position[1], 0)
height = 0.15
# glColor(Cube.colors['light_blue'])
if len(Draw.x_switch_pt) == 0:
width = 0.15
size = 0.25
Draw.x_switch_pt = [(-width, 0), (-(width + size), -size),
(-(width + size), -(width + size)),
(-size, -(width + size)), (0, -width),
(size, -(width + size)),
(width + size, -(width + size)),
(width + size, -size), (width, 0),
(width + size, size),
(width + size, width + size),
(size, width + size), (0, width),
(-size, width + size),
(-(width + size), width + size),
(-(width + size), size)]
glColor(color)
glBegin(GL_QUAD_STRIP)
for x, y in Draw.x_switch_pt:
glVertex3f(x, y, height)
glVertex3f(x, y, 0)
glVertex3f(Draw.x_switch_pt[0][0], Draw.x_switch_pt[0][1], height)
glVertex3f(Draw.x_switch_pt[0][0], Draw.x_switch_pt[0][1], 0)
glEnd()
glLineWidth(3)
glColor(Draw.colors['gray'])
# -0.2, 0 -> -0.8, 0.6
glBegin(GL_POLYGON)
for x, y in Draw.x_switch_pt:
glVertex3f(x, y, height)
glEnd()
glLineWidth(1)
glPopMatrix()
def render(self):
# Set the cube color, applies to all vertices till next call
glColor(self.color)
# Adjust all the vertices so that the cube is at self.position
vertices = []
for v in self.vertices:
vertices.append( tuple(Vector3(v) + self.position))
# Draw all 6 faces of the cube
glBegin(GL_QUADS)
for face_no in range(self.num_faces):
glNormal3dv(self.normals[face_no])
v1, v2, v3, v4 = self.vertex_indices[face_no]
glVertex(vertices[v1])
glVertex(vertices[v2])
glVertex(vertices[v3])
glVertex(vertices[v4])
glEnd()
def display(self,factor) : ''' Function to display the localview axes. ''' right_arrow = self.right.add_vertex(self.pos,self.right.mult_vector(factor,self.right)) up_arrow = self.up.add_vertex(self.pos,self.up.mult_vector(factor,self.up)) sight_arrow = self.sight.add_vertex(self.pos,self.sight.mult_vector(factor,self.sight)) glLineWidth(4) glColor(255,0,0) glBegin(GL_LINES) glVertex(self.pos.get_vertex()) glVertex(right_arrow.get_vertex()) glEnd() glColor(0,255,0) glBegin(GL_LINES) glVertex(self.pos.get_vertex()) glVertex(up_arrow.get_vertex()) glEnd() glColor(0,0,255) glBegin(GL_LINES) glVertex(self.pos.get_vertex()) glVertex(sight_arrow.get_vertex()) glEnd()
def main():
pygame.init()
pygame.display.set_mode((1024, 768),
pygame.locals.OPENGL | pygame.locals.DOUBLEBUF)
glEnable(GL_DEPTH_TEST)
gluPerspective(60.0, 640.0 / 480.0, 0.5, 1000.0)
glTranslate(0, -15, -60)
objects = []
dynamicsWorld = DiscreteDynamicsWorld()
debug = DebugDraw()
dynamicsWorld.setDebugDrawer(debug)
b1 = Ball(Vector3(-30, 0, 0), (255, 0, 0))
b1.body.applyCentralImpulse(Vector3(30, 40, 0))
objects.append(b1)
b2 = Ball(Vector3(+30, 0, 0), (0, 255, 0))
b2.body.applyCentralImpulse(Vector3(-30, 40, 0))
objects.append(b2)
for o in objects:
dynamicsWorld.addRigidBody(o.body)
while True:
step(dynamicsWorld)
debug.reset()
dynamicsWorld.debugDrawWorld()
glBegin(GL_LINES)
for line in debug.lines:
glColor(*line[6:])
glVertex(*line[:3])
glVertex(*line[3:6])
if debug.contacts:
print 'Contact!', debug.contacts
glEnd()
render(objects)
def main():
pygame.init()
pygame.display.set_mode(
(1024, 768), pygame.locals.OPENGL | pygame.locals.DOUBLEBUF)
glEnable(GL_DEPTH_TEST)
gluPerspective(60.0, 640.0 / 480.0, 0.5, 1000.0)
glTranslate(0, -15, -60)
objects = []
dynamicsWorld = DiscreteDynamicsWorld()
debug = DebugDraw()
dynamicsWorld.setDebugDrawer(debug)
b1 = Ball(Vector3(-30, 0, 0), (255, 0, 0))
b1.body.applyCentralImpulse(Vector3(30, 40, 0))
objects.append(b1)
b2 = Ball(Vector3(+30, 0, 0), (0, 255, 0))
b2.body.applyCentralImpulse(Vector3(-30, 40, 0))
objects.append(b2)
for o in objects:
dynamicsWorld.addRigidBody(o.body)
while True:
step(dynamicsWorld)
debug.reset()
dynamicsWorld.debugDrawWorld()
glBegin(GL_LINES)
for line in debug.lines:
glColor(*line[6:])
glVertex(*line[:3])
glVertex(*line[3:6])
if debug.contacts:
print 'Contact!', debug.contacts
glEnd()
render(objects)
def dibujar_planos(self, cuadrante: str):
for i in range(self.programa.lista_planos.count()):
plano = self.programa.lista_planos.itemWidget(
self.programa.lista_planos.item(i))
if plano.render.isChecked():
glBegin(GL_TRIANGLE_FAN)
glColor(plano.color)
if plano.infinito.isChecked():
puntos = plano.partes[cuadrante]
for j in puntos:
glVertex(j)
glEnd()
glLineWidth(2)
glBegin(GL_LINE_LOOP)
for j in plano.limites:
glVertex(j)
glEnd()
else:
glVertex(plano.puntos[0])
glVertex(plano.puntos[1])
glVertex(plano.puntos[2])
glEnd()
def draw_round_switch(position: Tuple[int, int], color: Tuple[float, float,
float]):
glPushMatrix()
glTranslate(0.5 + position[0], -0.5 - position[1], 0)
glColor(color)
radius = 0.4
height = 0.15
angle = 0.0
angle_stepsize = 0.1
# glColor(Cube.colors['light_blue'])
glBegin(GL_QUAD_STRIP)
while angle < 2 * pi:
x = radius * cos(angle)
y = radius * sin(angle)
glVertex3f(x, y, height - 0.01)
glVertex3f(x, y, 0.0)
angle += angle_stepsize
glVertex3f(radius, 0.0, height - 0.01)
glVertex3f(radius, 0.0, 0.0)
glEnd()
# glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
glLineWidth(3)
glColor(Draw.colors['gray'])
glBegin(GL_POLYGON)
angle = 0.0
while angle < 2 * pi:
x = radius * cos(angle)
y = radius * sin(angle)
glVertex3f(x, y, height)
angle += angle_stepsize
glVertex3f(radius, 0.0, height)
glEnd()
glLineWidth(1)
glPopMatrix()
def _apply_material(material: dict):
"""Utility function to apply a specific MTL material to the current
OpenGL rendering state.
:param material: A dictionary of MTL attributes defining a material.
"""
def _as_rgba(color):
if len(color) >= 4:
return color
# RGB - add alpha defaulted to 1
return color + [1.0]
if 'texture_Kd' in material:
# use diffuse texture map
glBindTexture(GL_TEXTURE_2D, material['texture_Kd'])
else:
# No texture map
glBindTexture(GL_TEXTURE_2D, 0)
# Diffuse light
mtl_kd_rgba = _as_rgba(material['Kd'])
glColor(mtl_kd_rgba)
# Ambient light
if 'Ka' in material:
mtl_ka_rgba = _as_rgba(material['Ka'])
glMaterialfv(GL_FRONT, GL_AMBIENT, mtl_ka_rgba)
glMaterialfv(GL_FRONT, GL_DIFFUSE, mtl_kd_rgba)
else:
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, mtl_kd_rgba)
# Specular light
if 'Ks' in material:
mtl_ks_rgba = _as_rgba(material['Ks'])
glMaterialfv(GL_FRONT, GL_SPECULAR, mtl_ks_rgba)
if 'Ns' in material:
specular_exponent = material['Ns']
glMaterialfv(GL_FRONT, GL_SHININESS, specular_exponent)
def drawCross(self, point, size, color, gap=7, angled=False):
""" Draw colored cross to mark tracked features """
x = point[0] * 1.0 / self.width
y = point[1] * 1.0 / self.height
dx = size * .5 / self.width
dy = size * .5 / self.height
glColor(*color)
if angled:
# diagonal line 1
GL.glBegin(GL.GL_LINES)
GL.glVertex(x - dx, y - dy, 0.0)
GL.glVertex(x + dx, y + dy, 0.0)
GL.glEnd()
# diagonal line 2
GL.glBegin(GL.GL_LINES)
GL.glVertex(x - dx, y + dy, 0.0)
GL.glVertex(x + dx, y - dy, 0.0)
GL.glEnd()
else:
# vertical line
GL.glBegin(GL.GL_LINES)
GL.glVertex(x - dx, y, 0.0)
GL.glVertex(x + dx, y, 0.0)
GL.glEnd()
# horizontal line
GL.glBegin(GL.GL_LINES)
GL.glVertex(x, y + dy, 0.0)
GL.glVertex(x, y - dy, 0.0)
GL.glEnd()
GL.glFlush()
def drawCross(self, point, size, color, gap=7, angled=False):
""" Draw colored cross to mark tracked features """
x = point[0]*1.0/self.width
y = point[1]*1.0/self.height
dx = size*.5/self.width
dy = size*.5/self.height
glColor(*color)
if angled:
# diagonal line 1
GL.glBegin(GL.GL_LINES)
GL.glVertex(x-dx, y-dy, 0.0)
GL.glVertex(x+dx, y+dy, 0.0)
GL.glEnd()
# diagonal line 2
GL.glBegin(GL.GL_LINES)
GL.glVertex(x-dx, y+dy, 0.0)
GL.glVertex(x+dx, y-dy, 0.0)
GL.glEnd()
else:
# vertical line
GL.glBegin(GL.GL_LINES)
GL.glVertex(x-dx, y, 0.0)
GL.glVertex(x+dx, y, 0.0)
GL.glEnd()
# horizontal line
GL.glBegin(GL.GL_LINES)
GL.glVertex(x, y+dy, 0.0)
GL.glVertex(x, y-dy, 0.0)
GL.glEnd()
GL.glFlush()
def render(self):
glLineWidth(3.0)
glColor(0.7, 0.0, 0.0, 1.0)
gltools.glMove([0.0, 0.0, 0.0])
glBegin(GL_LINE_STRIP)
for p in [self.p1, self.C, self.p2]:
glVertex(p)
glEnd()
glColor(0.545, 0.000, 0.000, 1.0)
gltools.glMove(self.p1)
glutSolidSphere(0.03, 4, 2)
glColor(1.000, 0.843, 0.000, 1.0)
gltools.glMove(self.C)
glutSolidSphere(0.03, 4, 2)
glColor(0.294, 0.000, 0.510, 1.0)
gltools.glMove(self.p2)
glutSolidSphere(0.03, 4, 2)
glLineWidth(1.0)
def draw_tool_chain(self):
font_scale = 0.00015
glMatrixMode(GL_MODELVIEW)
glColor(0, 0, 0)
glLineWidth(5)
glBegin(GL_LINE_STRIP)
for point in self.points:
glVertex3f(point[0], point[1], 0.0)
glEnd()
glColor(1, 1, 1)
glLineWidth(1)
glBegin(GL_LINE_STRIP)
for point in self.points:
glVertex3f(point[0], point[1], 0.0)
glEnd()
if len(self.model_objects) == 4 and \
self.model_objects[0] == self.model_objects[3]:
num = 3
else:
num = 4
glColor(0, 0, 0)
glLineWidth(9)
for index, point in enumerate(self.points[:num]):
glPushMatrix()
glTranslate(point[0], point[1], 0.0)
glScaled(font_scale, font_scale, 1)
glRectf(-10, -20, 114, 130)
glPopMatrix()
glColor(1, 1, 1)
glLineWidth(1)
for index, point in enumerate(self.points[:num]):
glPushMatrix()
glTranslate(point[0], point[1], 0.0)
glScaled(font_scale, font_scale, 1)
glutStrokeCharacter(GLUT_STROKE_MONO_ROMAN, ord(str(index+1)))
glPopMatrix()
def draw_tool_chain(self):
font_scale = 0.00015
glMatrixMode(GL_MODELVIEW)
glColor(0, 0, 0)
glLineWidth(5)
glBegin(GL_LINE_STRIP)
for point in self.points:
glVertex3f(point[0], point[1], 0.0)
glEnd()
glColor(1, 1, 1)
glLineWidth(1)
glBegin(GL_LINE_STRIP)
for point in self.points:
glVertex3f(point[0], point[1], 0.0)
glEnd()
if len(self.model_objects) == 4 and \
self.model_objects[0] == self.model_objects[3]:
num = 3
else:
num = 4
glColor(0, 0, 0)
glLineWidth(9)
for index, point in enumerate(self.points[:num]):
glPushMatrix()
glTranslate(point[0], point[1], 0.0)
glScaled(font_scale, font_scale, 1)
glRectf(-10, -20, 114, 130)
glPopMatrix()
glColor(1, 1, 1)
glLineWidth(1)
for index, point in enumerate(self.points[:num]):
glPushMatrix()
glTranslate(point[0], point[1], 0.0)
glScaled(font_scale, font_scale, 1)
glutStrokeCharacter(GLUT_STROKE_MONO_ROMAN, ord(str(index + 1)))
glPopMatrix()
def on_draw(self):
glBlendFunc(GL_SRC_ALPHA, GL_DST_ALPHA)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
glTranslate(self.translatex, self.translatey, self.depth)
if self.autoRun:
glRotate(self.rotx, 0, 1, 0)
else:
# Perform arcball rotation.
glScale(1,-1,1)
glMultMatrixf(self.arcball.transform)
glScale(1,-1,1)
with displayListify("cubeTranslate") as shouldLeave:
if shouldLeave: raise LeaveWith
# Scale the co-ordinates so that they are correct
glScale(2/128, 2/128, 2/128)
glColor(0.25, 0.25, 0.25, 1)
glutWireCube(255)
glTranslate(-128, -128, -128)
with displayListify("allPoints") as shouldLeave:
if shouldLeave: raise LeaveWith
with SaveMatrix():
# Flip the co-ordinates and translate upwards
glScale(1,-1,1)
glColor(0.25, 0.25, 0.25, 0.5)
glTranslate(0,-255,0)
glPointSize(pointSize)
for dat in reversed(vLists):
glTranslate(0., 0., 1./nChunks*255)
dat.draw(GL_POINTS)
with displayListify("axisLabels") as shouldLeave:
if shouldLeave: raise LeaveWith
#if True:
with SaveMatrix():
glTranslate(128,0,0)
self.makeLabel("End").draw()
glTranslate(0,0,255)
self.makeLabel("Beginning").draw()
with SaveMatrix():
glTranslate(-128,128,0)
glRotate(90,0,0,1)
self.makeLabel("Byte 1").draw()
glTranslate(0,255,0)
self.makeLabel("Byte 2").draw()
with displayListify("fileName") as shouldLeave:
if shouldLeave: raise LeaveWith
glLoadIdentity()
with SaveMatrix():
glColor(1,0,0)
glTranslate(0,-2.2,-4)
glScale(1/64, 1/64, 1/64)
l = self.makeLabel(basename(currentInputFile))
l.color = (0, 128, 230, 255)
l.draw()
glTranslate(0,0,-1)
if self.autoRun:
if self.rotx > 360 - 45:
vlist = vertex_list(4, ('v2i', (-1, -1, 1, -1, 1, 1, -1, 1)))
glColor(0,0,0,(self.rotx-(360-45))/45)
vlist.draw(GL_QUADS)
if self.rotx < 45:
vlist = vertex_list(4, ('v2i', (-1, -1, 1, -1, 1, 1, -1, 1)))
glColor(0,0,0,1-(self.rotx/45))
vlist.draw(GL_QUADS)
def render(self):
o = self.motion.getWorldTransform().getOrigin()
glColor(*self.color)
glTranslate(o.x, o.y, o.z)
gluSphere(self.quad, self.radius, 25, 25)
def render(self):
glPushMatrix()
# gltools.render_axis(10)
# Draw chess board
gltools.glMove([0.0, -0.01, 0.0])
# gltools.render_chessboard(10, 20.0)
gltools.render_floor(20, 40.0)
# Draw skeleton
gltools.glMove([0, 0, 0])
glPushMatrix()
M_s = [1.0, 0.0, 0.0, 0.0,
1.0, 0.0, -1.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, -0.001, 0.0, 1.0]
glMultMatrixf(M_s)
glColor(0.0, 0.0, 0.0, 1.0)
gl.glEnable(gl.GL_LIGHTING)
self.skel.render_with_color(0.0, 0.0, 0.0)
gl.glEnable(gl.GL_LIGHTING)
glPopMatrix()
gltools.glMove([0, 0, 0])
self.skel.render()
gltools.glMove([0, 0, 0])
glColor(1, 0, 0)
# gltools.render_arrow(self.skel.C,
# self.skel.C + 0.2 * self.tip.projected_Cdot())
# # Draw TIP
# tip_index = self.history.get_frame()['tip_index']
# tips = self.tip_controller.tips
# for i in range(tip_index, len(tips)):
# tips[i].render()
# for c in self.prob.contacts:
# c.render()
# Draw contacts
gltools.glMove([0, 0, 0])
# glColor(0.7, 0.0, 0.3)
# for c in self.history.get_frame()['contacts']:
# gltools.render_arrow(c[0:3], c[0:3] - 0.001 * c[3:6])
if self.history.get_frame()['t'] < 10.0:
gltools.glMove([0, 0, 0])
q = self.cfg.saved_target_point
d = self.cfg.force()
d[0] = 0.0
len_d = np.linalg.norm(d)
d /= len_d
l = len_d * 0.025 + 0.020
# d[0] = 0.0
# len_d = np.linalg.norm(d)
# d /= len_d
# len_d /= 60.0
# l = len_d * 0.025
p = q - l * d
# p[0] = q[0]
# gltools.render_arrow2([0, 0.4, 0], [0, 0.4, 0.4])
rb = 0.01 * (len_d * 0.025 + 1.0)
hw = 0.015 * (len_d * 0.05 + 1.0)
hl = 0.015 * (len_d * 0.05 + 1.0)
rb *= 0.5
hw *= 0.5
# rb *= 2.0
# hw *= 2.0
gltools.render_arrow2(p, q, rb, hw, hl)
glPopMatrix()