def initOgreWindow(self, renderWindowName, cameraName):
self.renderParameters = og.NameValuePairList()
if platform.system() == "Windows" or platform.system() == "MAC":
hwnd = int(self.winId())
self.renderParameters['externalWindowHandle'] = str(hwnd)
else:
win = str(int(self.winId()))
self.renderParameters['parentWindowHandle'] = win
def _get_window_params(self):
"""
Encapsulates the platform specific part of the window creation, grabing
the windows handle and transforming them for Ogre.
"""
params = Ogre.NameValuePairList()
if '__WXGTK__' == wx.Platform:
from ram.gui.util import get_window_handle_str
params['externalWindowHandle'] = get_window_handle_str(self)
elif '__WXMSW__' == wx.Platform:
params['externalWindowHandle'] = str(self.GetHandle())
else:
raise Exception('%s no yet supported' % wx.Platform)
return params
def __init__(self, config, deps):
core.Subsystem.__init__(self, config.get('name', 'Simulation'))
Simulation.SIMULATION = self
self._windowListener = WindowListener(self.windowClosed)
self._simulation = simulation.Simulation(config)
self._root = ogre.Root.getSingleton()
self._debugOutput = config.get('debugOutput', False)
# Load data file
self._guiFileName = self._getGUIFileName(config)
guiData = {}
try:
stream = file(self._guiFileName, 'r')
guiData = yaml.load(stream)
stream.close()
except (IOError, yaml.YAMLError):
# File does not exist, ignore
pass
# Load settings and create screen
simGUICfg = guiData.get('SIM', {})
width = simGUICfg.get("windowWidth", 800)
height = simGUICfg.get("windowHeight", 600)
top = simGUICfg.get("windowTop", 100)
left = simGUICfg.get("windowLeft", 100)
params = ogre.NameValuePairList()
params['top'] = str(top)
params['left'] = str(left)
self._window = self._root.createRenderWindow("Simulator", width,
height, False, params)
self._debug = config.get('debug', False)
self._backgrounded = False
# Load Scenes and grab the main one
self._simulation.create_all_scenes()
self.scene = self._simulation.get_scene('Main')
# Input System
self._inputForwarder = input.OISInputForwarder( \
{}, self._simulation.input_system, self._window)
event.register_handlers({'SCREENSHOT': self._onScreenshot})
# Determine camera settings
margin = 0.005
width = 0.5 - 1.5 * margin
height = width * 0.75
top = 1 - margin - height
mainHeight = 1 - 2 * margin - height
if not config.get('vehicleView'):
mainHeight = 1
# Setup viewport
camera = self.scene.get_camera('Main').camera
camera.setAutoAspectRatio(True)
viewport = self._window.addViewport(camera, height=mainHeight)
viewport._updateDimensions()
if config.get('vehicleView'):
robot = self.scene._robots['Tortuga']
forwardCamera = Simulation._createCamera(robot, '_forward',
(0.5, 0, 0), (1, 0, 0))
viewport = self._window.addViewport(forwardCamera,
ZOrder=1,
top=top,
left=margin,
height=height,
width=width)
viewport._updateDimensions()
downwardCamera = Simulation._createCamera(robot, '_downward',
(0.5, 0, -0.1),
(0, 0, -1))
viewport = self._window.addViewport(downwardCamera,
ZOrder=2,
top=top,
left=0.5 + margin / 2,
height=height,
width=width)
viewport._updateDimensions()
self._simulation.start()
time.sleep(1)
if self._debug:
ogrenewt.Debugger.getSingleton().init(self.scene.scene_mgr)
