def __init__(self, title='', fps=60, fullscreen=False, size=(800, 600), offset=(0, 0)): self.title = title self.fps = fps self.fullscreen = fullscreen self.size = size self.width, self.height = offset self.delta = 0 self.currentFrame = self.get_time() self.lastFrame = self.get_time() if self.fullscreen: self.surface = pygame.display.set_mode(self.size, FULLSCREEN | HWSURFACE | DOUBLEBUF | OPENGL) else: self.surface = pygame.display.set_mode(self.size, DOUBLEBUF | OPENGL) pygame.display.set_caption(self.title) ratio = (self.width ** 2 + self.height ** 2) / 325 glClearColor(0.83137254902, 0.83137254902, 0.83137254902, 1) gluPerspective(60, (size[0] / size[1]), 0.1, 1000.0) gluLookAt(0.0, 0.0, 3.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0) gluLookAt(4 * ratio, 4 * ratio, 8 * ratio, 0, 0, 0, 0, 0, 1) glRotatef(135, 0, 0, 1) glRotatef(5, 0, 0, 1) glTranslatef(-self.width / 2, self.height / 2 + 1, 0) glEnable(GL_DEPTH_TEST) glEnable(GL_LINE_SMOOTH) glEnable(GL_POLYGON_SMOOTH) glHint(GL_LINE_SMOOTH_HINT, GL_NICEST) glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST) glEnable(GL_BLEND) glLineWidth(1) glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
def draw(self):
"""Render the link with OpenGL"""
glPushMatrix()
glTranslatef(self.pos[0], self.pos[1], self.pos[2]) # move to location
glMultMatrixf(self.q_rot.transformation_matrix.T
) # then rotate to desired orientation
glScale(self.size[0], self.size[1],
self.size[2]) # scale to the desired size
glColor3f(self.color[0], self.color[1],
self.color[2]) # set the drawing color
self.draw_cube()
glPopMatrix()
glBegin(GL_LINES)
glVertex3fv(self.pos + self.get_r())
glVertex3fv(self.pos + self.get_r() + self.display_force)
glEnd()
def run(self):
pygame.init()
display = (400, 400)
pygame.display.set_mode(display, DOUBLEBUF | OPENGL)
# view angle, aspect ratio, z_near, z_far (z's are clipping planes)
gluPerspective(90, 1, 1.0, 50.0)
glTranslatef(0.0, 0.0, -20) # move cube away from screen (zoom out)
glRotatef(0, 0, 0, 0)
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
pygame.quit()
quit()
# clear GL frame
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
# draw 3D hand
Animation.drawHand()
# refresh the frame
pygame.display.flip()
def main():
pygame.init()
display = (400, 400)
pygame.display.set_mode(display, DOUBLEBUF | OPENGL)
# view angle, aspect ratio, z_near, z_far (z's are clipping planes)
gluPerspective(90, 1, 1.0, 50.0)
glTranslatef(0.0, 0.0, -20) # move cube away from screen (zoom out)
glRotatef(0, 0, 0, 0)
# Open serial port and parse serial input inside a thread
#ser = serial.Serial('COM3', 9600) # Bhavit's PORT
ser = serial.Serial('/dev/ttyACM0', 9600) #Bhavesh's PORT
serialThread = threading.Thread(target=HandsOn.parseSerialHandData,
args=(ser, ))
serialThread.setDaemon(True)
serialThread.start()
pseudoMainThread = threading.Thread(target=HandsOn.pseudoMain)
pseudoMainThread.setDaemon(True)
pseudoMainThread.start()
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
pygame.quit()
ser.close()
quit()
# clear GL frame
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
# draw 3D hand
drawHand()
# refresh the frame
pygame.display.flip()
def main():
pygame.init()
display = (400,400)
pygame.display.set_mode(display, DOUBLEBUF|OPENGL)
# view angle, aspect ratio, z_near, z_far (z's are clipping planes)
gluPerspective(90, 1, 1.0, 50.0)
glTranslatef(0.0, 0.0, -20) # move cube away from screen (zoom out)
glRotatef(0, 0, 0, 0)
# Open serial port and parse serial input inside a thread
#ser = serial.Serial('COM3', 9600) # Bhavit's PORT
ser = serial.Serial('/dev/ttyACM0', 9600) #Bhavesh's PORT
serialThread = threading.Thread(target=HandsOn.parseSerialHandData, args=(ser,))
serialThread.setDaemon(True)
serialThread.start()
pseudoMainThread = threading.Thread(target=HandsOn.pseudoMain)
pseudoMainThread.setDaemon(True)
pseudoMainThread.start()
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
pygame.quit()
ser.close()
quit()
# clear GL frame
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT)
# draw 3D hand
drawHand()
# refresh the frame
pygame.display.flip()
def drawHand():
"""Draws the 3D hand using euler angles and finger joint angles"""
touchThres = 2000
# clear previous rotations and reset scene
glLoadIdentity()
gluPerspective(90, 1, 1.0, 50.0)
glTranslatef(0.0, 0.0, -20) # move cube away from screen (zoom out)
# rotate using Euler angles
glRotatef(share_var.pitch, 1, 0, 0)
glRotatef(share_var.yaw, 0, 1, 0)
glRotatef(share_var.roll, 0, 0, 1)
## draw knuckles and fingers
# pinky knuckle
glTranslatef(3.0, 0, -3.5)
glRotatef(-share_var.flexPinkyFinger, 1, 0, 0)
glTranslatef(0, 0, -2.0)
drawBox(1, 1, 4, share_var.touchPinkySide > touchThres)
# pinky finger
glTranslatef(0, 0, -2.0)
glRotatef(-share_var.flexPinkyFinger, 1, 0, 0)
glTranslatef(0, 0, -1.5)
drawBox(1, 1, 3, share_var.touchPinkyTop > touchThres)
glTranslatef(0, 0, 1.5)
glRotatef(share_var.flexPinkyFinger, 1, 0, 0)
glTranslatef(0, 0, 2.0)
# end pinky finger
glTranslatef(0, 0, 2.0)
glRotatef(share_var.flexPinkyFinger, 1, 0, 0)
glTranslatef(-3.0, 0, 3.5)
# end pinky knuckle
# ring knuckle
glTranslatef(1.6, 0, -3.0)
glRotatef(-share_var.flexRingKnuckle, 1, 0, 0)
glTranslatef(0, 0, -2.5)
drawBox(1, 1, 5, share_var.touchRing > touchThres)
# ring finger
glTranslatef(0, 0, -3.5)
glRotatef(-share_var.flexRingFinger, 1, 0, 0)
glTranslatef(0, 0, -2.0)
drawBox(1, 1, 4, False)
glTranslatef(0, 0, 2.0)
glRotatef(share_var.flexRingFinger, 1, 0, 0)
glTranslatef(0, 0, 3.5)
# end ring finger
glTranslatef(0, 0, 2.5)
glRotatef(share_var.flexRingKnuckle, 1, 0, 0)
glTranslatef(-1.6, 0, 3.0)
# end ring knuckle
# middle knuckle
glTranslatef(-0.2, 0, -3.5)
glRotatef(-share_var.flexMiddleKnuckle, 1, 0, 0)
glTranslatef(0, 0, -3.0)
drawBox(1, 1, 6.0, share_var.touchMidSide > touchThres)
# middle finger
glTranslatef(0, 0, -3.5)
glRotatef(-share_var.flexMiddleFinger, 1, 0, 0)
glTranslatef(0, 0, -2.5)
drawBox(1, 1, 5, share_var.touchMidTop > touchThres)
glTranslatef(0, 0, 2.5)
glRotatef(share_var.flexMiddleFinger, 1, 0, 0)
glTranslatef(0, 0, 3.5)
# end middle finger
glTranslatef(0, 0, 3.0)
glRotatef(share_var.flexMiddleKnuckle, 1, 0, 0)
glTranslatef(0.2, 0, 3.5)
# end middle knuckle
# index knuckle
glTranslatef(-2.0, 0, -3.0)
glRotatef(-share_var.flexIndexKnuckle, 1, 0, 0)
glTranslatef(0, 0, -2.5)
drawBox(1, 1, 5, share_var.touchIndSide > touchThres)
# index finger
glTranslatef(0, 0, -3.5)
glRotatef(-share_var.flexIndexFinger, 1, 0, 0)
glTranslatef(0, 0, -2.0)
drawBox(1, 1, 4, share_var.touchIndTop > touchThres)
glTranslatef(0, 0, 2.0)
glRotatef(share_var.flexIndexFinger, 1, 0, 0)
glTranslatef(0, 0, 3.5)
# end index finger
glTranslatef(0, 0, 2.5)
glRotatef(share_var.flexIndexKnuckle, 1, 0, 0)
glTranslatef(2.0, 0, 3.0)
# end index knuckle
# thumb knuckle
glTranslatef(-3.2, 0, -1.5)
glRotatef(40, 0, 1, 0) # rotate thumb sideways
glRotatef(-share_var.flexThumbKnuckle, 0.3, 0, -0.1)
glTranslatef(0, 0, -2.0)
drawBox(1, 1, 3.5, False)
# thumb
glTranslatef(0, 0, -2.0)
glRotatef(-share_var.flexThumb, 1, 0, 0)
glTranslatef(0, 0, -1.0)
drawBox(1, 1, 2, False)
glTranslatef(0, 0, 1.0)
glRotatef(share_var.flexThumb, 1, 0, 0)
glTranslatef(0, 0, 2.0)
# end thumb
glTranslatef(0, 0, 2.0)
glRotatef(share_var.flexThumbKnuckle, 0.3, 0, -0.1)
glRotatef(-40, 0, 1, 0) # become parallel to palm again
glTranslatef(3.2, 0, 1.5)
# end thumb knuckle
## draw the palm
drawBox(6, 1, 6, False)
def drawHand():
"""Draws the 3D hand using euler angles and finger joint angles"""
touchThres = 2000
# clear previous rotations and reset scene
glLoadIdentity()
gluPerspective(90, 1, 1.0, 50.0)
glTranslatef(0.0, 0.0, -20) # move cube away from screen (zoom out)
# rotate using Euler angles
glRotatef(share_var.pitch, 1, 0, 0)
glRotatef(share_var.yaw, 0, 1, 0)
glRotatef(share_var.roll, 0, 0, 1)
## draw knuckles and fingers
# pinky knuckle
glTranslatef(3.0,0,-3.5)
glRotatef(-share_var.flexPinkyFinger, 1, 0, 0)
glTranslatef(0,0,-2.0)
drawBox(1,1,4,share_var.touchPinkySide > touchThres)
# pinky finger
glTranslatef(0,0,-2.0)
glRotatef(-share_var.flexPinkyFinger,1,0,0)
glTranslatef(0,0,-1.5)
drawBox(1,1,3,share_var.touchPinkyTop > touchThres)
glTranslatef(0,0,1.5)
glRotatef(share_var.flexPinkyFinger,1,0,0)
glTranslatef(0,0,2.0)
# end pinky finger
glTranslatef(0,0,2.0)
glRotatef(share_var.flexPinkyFinger, 1, 0, 0)
glTranslatef(-3.0,0,3.5)
# end pinky knuckle
# ring knuckle
glTranslatef(1.6,0,-3.0)
glRotatef(-share_var.flexRingKnuckle, 1, 0, 0)
glTranslatef(0,0,-2.5)
drawBox(1,1,5,share_var.touchRing > touchThres)
# ring finger
glTranslatef(0,0,-3.5)
glRotatef(-share_var.flexRingFinger,1,0,0)
glTranslatef(0,0,-2.0)
drawBox(1,1,4,False)
glTranslatef(0,0,2.0)
glRotatef(share_var.flexRingFinger,1,0,0)
glTranslatef(0,0,3.5)
# end ring finger
glTranslatef(0,0,2.5)
glRotatef(share_var.flexRingKnuckle, 1, 0, 0)
glTranslatef(-1.6,0,3.0)
# end ring knuckle
# middle knuckle
glTranslatef(-0.2,0,-3.5)
glRotatef(-share_var.flexMiddleKnuckle, 1, 0, 0)
glTranslatef(0,0,-3.0)
drawBox(1,1,6.0,share_var.touchMidSide > touchThres)
# middle finger
glTranslatef(0,0,-3.5)
glRotatef(-share_var.flexMiddleFinger,1,0,0)
glTranslatef(0,0,-2.5)
drawBox(1,1,5,share_var.touchMidTop > touchThres)
glTranslatef(0,0,2.5)
glRotatef(share_var.flexMiddleFinger,1,0,0)
glTranslatef(0,0,3.5)
# end middle finger
glTranslatef(0,0,3.0)
glRotatef(share_var.flexMiddleKnuckle, 1, 0, 0)
glTranslatef(0.2,0,3.5)
# end middle knuckle
# index knuckle
glTranslatef(-2.0,0,-3.0)
glRotatef(-share_var.flexIndexKnuckle, 1, 0, 0)
glTranslatef(0,0,-2.5)
drawBox(1,1,5,share_var.touchIndSide > touchThres)
# index finger
glTranslatef(0,0,-3.5)
glRotatef(-share_var.flexIndexFinger,1,0,0)
glTranslatef(0,0,-2.0)
drawBox(1,1,4,share_var.touchIndTop > touchThres)
glTranslatef(0,0,2.0)
glRotatef(share_var.flexIndexFinger,1,0,0)
glTranslatef(0,0,3.5)
# end index finger
glTranslatef(0,0,2.5)
glRotatef(share_var.flexIndexKnuckle, 1, 0, 0)
glTranslatef(2.0,0,3.0)
# end index knuckle
# thumb knuckle
glTranslatef(-3.2,0,-1.5)
glRotatef(40,0,1,0) # rotate thumb sideways
glRotatef(-share_var.flexThumbKnuckle, 0.3, 0, -0.1)
glTranslatef(0,0,-2.0)
drawBox(1,1,3.5,False)
# thumb
glTranslatef(0,0,-2.0)
glRotatef(-share_var.flexThumb,1,0,0)
glTranslatef(0,0,-1.0)
drawBox(1,1,2,False)
glTranslatef(0,0,1.0)
glRotatef(share_var.flexThumb,1,0,0)
glTranslatef(0,0,2.0)
# end thumb
glTranslatef(0,0,2.0)
glRotatef(share_var.flexThumbKnuckle, 0.3, 0, -0.1)
glRotatef(-40,0,1,0) # become parallel to palm again
glTranslatef(3.2,0,1.5)
# end thumb knuckle
## draw the palm
drawBox(6,1,6,False)