def add_color(geomerty):
waterNode = agxOSG.createVisual(geomerty, demoutils.root())
color = agxRender.Color.DeepSkyBlue()
alpha = 0.4
agxOSG.setDiffuseColor(waterNode, color)
agxOSG.setAmbientColor(waterNode, agx.Vec4f(1))
agxOSG.setShininess(waterNode, 120)
agxOSG.setAlpha(waterNode, alpha)
def create_water_visual(geo, root):
node = agxOSG.createVisual(geo, root)
diffuse_color = agxRender.Color(0.0, 0.75, 1.0, 1)
ambient_color = agxRender.Color(1, 1, 1, 1)
specular_color = agxRender.Color(1, 1, 1, 1)
agxOSG.setDiffuseColor(node, diffuse_color)
agxOSG.setAmbientColor(node, ambient_color)
agxOSG.setSpecularColor(node, specular_color)
agxOSG.setShininess(node, 120)
agxOSG.setAlpha(node, 0.5)
return node
def create_visual(obj, diffuse_color: Color = None, ambient_color: Color = None,
shininess=None, alpha: float = None):
node = agxOSG.createVisual(obj, root())
if diffuse_color is not None:
agxOSG.setDiffuseColor(node, diffuse_color)
if ambient_color is not None:
agxOSG.setAmbientColor(node, ambient_color)
if shininess is not None:
agxOSG.setShininess(node, shininess)
if alpha is not None:
agxOSG.setAlpha(node, alpha)
return node
def _add_rendering(self, mode='osg'):
# Set renderer
self.app.setAutoStepping(True)
self.app.setEnableDebugRenderer(False)
self.app.setEnableOSGRenderer(True)
# Create scene graph for rendering
root = self.app.getSceneRoot()
rbs = self.sim.getRigidBodies()
for rb in rbs:
node = agxOSG.createVisual(rb, root)
if rb.getName() == "ground":
agxOSG.setDiffuseColor(node,
agxRender.Color(0.8, 0.8, 0.8, 1.0))
elif rb.getName() == "walls":
agxOSG.setDiffuseColor(node, agxRender.Color.Burlywood())
elif rb.getName() == "cylinder":
agxOSG.setDiffuseColor(node, agxRender.Color.DarkGray())
elif rb.getName() == "cylinder_inner":
agxOSG.setDiffuseColor(node, agxRender.Color.LightSteelBlue())
elif rb.getName() == "gripper_0" or rb.getName() == "gripper_1":
agxOSG.setDiffuseColor(node,
agxRender.Color(0.1, 0.1, 0.1, 1.0))
elif "dlo" in rb.getName(): # Cable segments
agxOSG.setDiffuseColor(node,
agxRender.Color(0.1, 0.5, 0.0, 1.0))
agxOSG.setAmbientColor(node,
agxRender.Color(0.2, 0.5, 0.0, 1.0))
elif rb.getName() == "obstacle":
agxOSG.setDiffuseColor(node,
agxRender.Color(0.5, 0.5, 0.5, 1.0))
elif rb.getName() == "obstacle_goal":
agxOSG.setDiffuseColor(node,
agxRender.Color(0.0, 0.0, 1.0, 1.0))
else:
agxOSG.setDiffuseColor(node, agxRender.Color.Beige())
agxOSG.setAlpha(node, 0.0)
# Set rendering options
scene_decorator = self.app.getSceneDecorator()
scene_decorator.setEnableLogo(False)
scene_decorator.setBackgroundColor(agxRender.Color(1.0, 1.0, 1.0, 1.0))
def __init__(self, ground: agxCollide.Geometry, rov, depth):
"""
Args:
ground:
rov:
depth:
"""
super().__init__()
self.setMask(ContactEventListener.CONTACT)
b = agxCollide.Box(.1, .1, depth)
self.beam = Geometry(b)
# print(self.beam.getShapes(),self.beam)
self.beam.setPosition(0, 0, -depth)
self.beam.setSensor(True)
self.setFilter(GeometryFilter(self.beam, ground))
color = agxRender.Color.IndianRed()
node = agxOSG.createVisual(self.beam, demoutils.root())
agxOSG.setDiffuseColor(node, color)
agxOSG.setAmbientColor(node, agx.Vec4f(1))
agxOSG.setShininess(node, 120)
agxOSG.setAlpha(node, 0.6)
self.ground = ground.getShape().asHeightField()