def render(self):
rect = self.get_rect()
width = rect.width
height = rect.height
functions.mjv_addGeoms(self.model, self.data, self.vopt, None, CAT_ALL,
self.scn)
functions.mjv_updateCamera(self.model, self.data, self.cam, self.scn)
functions.mjv_moveCamera(self.model, 5, width / height,
height / height, self.scn, self.cam)
functions.mjr_render(rect, self.scn, self.con)
def autoscale(self):
self.cam.lookat[0] = self.model.stat.center[0]
self.cam.lookat[1] = self.model.stat.center[1]
self.cam.lookat[2] = self.model.stat.center[2]
self.cam.distance = 1.0 * self.model.stat.extent
self.cam.fixedcamid = -1
self.cam.trackbodyid = -1
if self.window:
width, height = glfw.get_framebuffer_size(self.window)
functions.mjv_moveCamera(self.model, MjMOUSE_ZOOM, width, height,
self.scn, self.cam)
def handle_scroll(self, window, x_offset, y_offset):
# require model
if not self.model:
return
# get current window size
width, height = glfw.get_framebuffer_size(window)
# scroll
self.gui_lock.acquire()
functions.mjv_moveCamera(mjconstants.MOUSE_ZOOM, 0, (-20 * y_offset),
byref(self.cam), width, height)
self.gui_lock.release()
def handle_mouse_move(self, window, xpos, ypos):
# no buttons down: nothing to do
if not self._button_left_pressed \
and not self._button_middle_pressed \
and not self._button_right_pressed:
return
# compute mouse displacement, save
dx = int(self._scale * xpos) - self._last_mouse_x
dy = int(self._scale * ypos) - self._last_mouse_y
self._last_mouse_x = int(self._scale * xpos)
self._last_mouse_y = int(self._scale * ypos)
# require model
if not self.model:
return
# get current window size
width, height = glfw.get_framebuffer_size(self.window)
# get shift key state
mod_shift = glfw.get_key(window, glfw.KEY_LEFT_SHIFT) == glfw.PRESS \
or glfw.get_key(window, glfw.KEY_RIGHT_SHIFT) == glfw.PRESS
# determine action based on mouse button
action = None
if self._button_right_pressed:
action = mjconstants.MOUSE_MOVE_H if mod_shift else mjconstants.MOUSE_MOVE_V
elif self._button_left_pressed:
action = mjconstants.MOUSE_ROTATE_H if mod_shift else mjconstants.MOUSE_ROTATE_V
else:
action = mjconstants.MOUSE_ZOOM
self.gui_lock.acquire()
functions.mjv_moveCamera(action, dx, dy, byref(self.cam), width,
height)
self.gui_lock.release()