def draw_scene(self, shader):
# ----------------------------------------------------------------------
# 1. Setup shader uniforms
# ----------------------------------------------------------------------
shader.use()
# model view projection
model = glm.mat4(1.0)
shader.set_mat4('model', np.asarray(model))
view = self.camera.get_view()
shader.set_mat4('view', np.asarray(view))
ortho = self.camera.get_projection()
shader.set_mat4('projection', np.asarray(ortho))
# lighting
lightPos = np.array(self.light_pos)
shader.set_vec3('lightPos', lightPos)
shader.set_vec3('lightColor', np.array([1.0, 1.0, 1.0], 'f'))
cameraPos = glm.vec3(glm.column(glm.inverse(view), 3))
shader.set_vec3('viewPos', np.asarray(cameraPos))
# ----------------------------------------------------------------------
# 2. Draw scene
# ----------------------------------------------------------------------
glLineWidth(2)
self.system.draw(shader)
self.system.collider.draw(shader)
self.draw_grid(shader)
def move(self):
# x_increase = math.cos(math.radians(self.camera.x_angle + 90)) * self.speed
# z_increase = math.sin(math.radians(self.camera.x_angle + 90)) * self.speed
pre_pos = glm.vec3(glm.column(glm.translate(glm.mat4(self.model.matrix4), glm.vec3(0, 0, 5)), 3))
if pre_pos[0] <= 0.49 and pre_pos[0] >= -0.49 \
and pre_pos[1] <= 0.49 and pre_pos[1] >= 0 \
and pre_pos[2] <= 0.49 and pre_pos[2] >= -0.49:
self.model.translate(0, 0, 5)
def getLocalXYZFromAngles(self, angles, len1, len2, joint2Offs):
#state_start = time.time()
resultTm = glm.mat4x4()
resultTm = glm.rotate(resultTm, angles[0], glm.vec3([1.0, 0.0, 0.0]))
resultTm = glm.translate(resultTm, joint2Offs)
resultTm = glm.rotate(resultTm, angles[1], glm.vec3([0.0, 1.0, 0.0]))
resultTm = glm.translate(resultTm, len1)
resultTm = glm.rotate(resultTm, angles[2], glm.vec3([0.0, 1.0, 0.0]))
resultTm = glm.translate(resultTm, len2)
point = glm.vec3(glm.column(resultTm, 3))
#print("tm",(time.time()-state_start)*1000.0)
return point
'''
def draw_scene(self, shader):
# ----------------------------------------------------------------------
# 1. Setup shader uniforms
# ----------------------------------------------------------------------
shader.use()
# model view projection
model = glm.mat4(1.0)
shader.set_mat4('model', np.asarray(model))
view = self.camera.get_view()
shader.set_mat4('view', np.asarray(view))
width = self.window.width
height = self.window.height
projection = glm.perspective(glm.radians(50.0), width/height, 0.1, 100.0)
shader.set_mat4('projection', np.asarray(projection))
# lighting
lightPos = np.array(self.light_pos)
shader.set_vec3('lightPos', lightPos)
shader.set_vec3('lightColor', np.array([1.0, 1.0, 1.0], 'f'))
cameraPos = glm.vec3(glm.column(glm.inverse(view), 3))
shader.set_vec3('viewPos', np.asarray(cameraPos))
# ----------------------------------------------------------------------
# 2. Draw scene
# ----------------------------------------------------------------------
self.system.draw(shader)
# self.hand.draw(shader)
# self.baton.draw(shader)
if self.show_grid:
self.grid.draw(shader)
if self.show_contact_frames or self.show_contacts or self.show_velocities:
self.draw_contact_frames(shader)
def pos(self, new_pos):
self.__matrix = glm.column(self.__matrix, 3, glm.vec4(*new_pos, 1.0))
def pos(self):
return glm.vec3(glm.column(self.__matrix, 3))
def render(self):
glClearColor(0.2, 0.3, 0.3, 1.0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glEnable(GL_DEPTH_TEST)
glEnable(GL_MULTISAMPLE)
glEnable(GL_BLEND)
# glEnable(GL_CULL_FACE)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
self.basic_lighting_shader.use()
print_opengl_error()
model = glm.mat4(1.0)
self.basic_lighting_shader.set_mat4('model', np.asarray(model))
view = self.camera.get_view()
self.basic_lighting_shader.set_mat4('view', np.asarray(view))
projection = glm.perspective(glm.radians(45.0), 1200. / 900, 0.1, 100.0)
self.basic_lighting_shader.set_mat4('projection', np.asarray(projection))
# colors
# self.basic_lighting_shader.set_vec3('objectColor', np.array([1.0, 0.5, 0.31], 'f'))
self.basic_lighting_shader.set_vec3('lightColor', np.array([1.0, 1.0, 1.0], 'f'))
# light
lightPos = glm.vec3([1.00, 1.75, 10.0])
self.basic_lighting_shader.set_vec3('lightPos', np.asarray(lightPos))
# camera
cameraPos = glm.vec3(glm.column(glm.inverse(view), 3))
self.basic_lighting_shader.set_vec3('viewPos', np.asarray(cameraPos))
# Draw object.
if self.draw_mesh:
# Draw obstacles.
self.basic_lighting_shader.set_vec3('objectColor', get_color('gray'))
self.collision_manager.draw(self.basic_lighting_shader.id, True, True)
# Draw object.
self.basic_lighting_shader.set_vec3('objectColor', get_color('clay'))
self.target.draw3d(self.basic_lighting_shader.id)
# Draw normals.
self.normal_shader.use()
self.normal_shader.set_mat4('model', np.asarray(model))
self.normal_shader.set_mat4('view', np.asarray(view))
self.normal_shader.set_mat4('projection', np.asarray(projection))
if self.draw_normals:
self.mesh.draw(self.normal_shader)
# Draw edges and light.
self.lamp_shader.use()
self.lamp_shader.set_mat4('model', np.asarray(model))
self.lamp_shader.set_mat4('view', np.asarray(view))
self.lamp_shader.set_mat4('projection', np.asarray(projection))
self.lamp_shader.set_vec3('objectColor', np.ones((3, 1), 'float32'))
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
if self.draw_wireframe:
# Draw object.
self.target.draw3d(self.lamp_shader.id)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
light_model = glm.mat4(1.0)
light_model = glm.translate(light_model, lightPos)
self.lamp_shader.set_mat4('model', np.asarray(light_model))
# self.light_box.draw(self.lamp_shader)
self.lamp_shader.set_mat4('model', np.asarray(model))
self.lamp_shader.set_vec3('objectColor', get_color('teal'))
model = glm.mat4(1.0)
self.lamp_shader.set_vec3('objectColor', np.ones((3, 1), 'float32'))
self.lamp_shader.set_mat4('model', np.asarray(model))