def __call__(self, mesh):
vertex_writer = GeomVertexRewriter(mesh.data, "vertex")
while not vertex_writer.isAtEnd():
vertex = vertex_writer.getData4()
vertex_writer.setData4(self.m.xform(vertex))
return mesh
def __call__(self, mesh):
vertex_writer = GeomVertexRewriter(mesh.data, "vertex")
while not vertex_writer.isAtEnd():
vertex = vertex_writer.getData4()
vertex_writer.setData4((
vertex.x * self.v.x,
vertex.y * self.v.y,
vertex.z * self.v.z,
vertex.w * self.v.w,
))
return mesh
def Car(carAppearance):
newVisualCar = loader.loadModel("models/f1car")
geomNodeCollection = newVisualCar.findAllMatches('**/+GeomNode')
for nodePath in geomNodeCollection:
geomNode = nodePath.node()
for i in range(geomNode.getNumGeoms()):
geom = geomNode.modifyGeom(i)
state = geomNode.getGeomState(i)
vdata = geom.modifyVertexData()
color = GeomVertexRewriter(vdata, 'color')
while not color.isAtEnd():
c = color.getData4f()
r, g, b, a = c
#f r==1.0 and g==0.0 and b==0.0:
# g=1.0
# b=1.0
if r == 0.0 and g == 1.0 and b == 0.0:
r = carAppearance[0]
g = carAppearance[1]
b = carAppearance[2]
elif r == 1.0 and g == 0.0 and b == 0.0:
r = carAppearance[3]
g = carAppearance[4]
b = carAppearance[5]
elif r == 1.0 and g == 1.0 and b == 1.0:
r = carAppearance[6]
g = carAppearance[7]
b = carAppearance[8]
elif r == 1.0 and g == 1.0 and b == 0:
r = carAppearance[9]
g = carAppearance[10]
b = carAppearance[11]
#print "c = %s" % (repr(c))
#print('r='+str(r)+' g='+str(g)+' b='+str(b))
color.setData4f(r, g, b, 1.0)
return newVisualCar
def __init__(self, objinit, cdtype="triangle", mass=.3, restitution=0, allowdeactivation=False, allowccd=True,
friction=.2, dynamic=True, name="rbd"):
"""
:param objinit: could be itself (copy), or an instance of collision model
:param type: triangle or convex
:param mass:
:param restitution: bounce parameter
:param friction:
:param dynamic: only applicable to triangle type, if an object does not move with force, it is not dynamic
:param name:
author: weiwei
date: 20190626, 20201119
"""
super().__init__(name)
if isinstance(objinit, gm.GeometricModel):
if objinit._objtrm is None:
raise ValueError("Only applicable to models with a trimesh!")
self.com = objinit.objtrm.center_mass
self.setMass(mass)
self.setRestitution(restitution)
self.setFriction(friction)
self.setLinearDamping(.3)
self.setAngularDamping(.3)
if allowdeactivation:
self.setDeactivationEnabled(True)
self.setLinearSleepThreshold(0.001)
self.setAngularSleepThreshold(0.001)
else:
self.setDeactivationEnabled(False)
if allowccd: # continuous collision detection
self.setCcdMotionThreshold(1e-6)
self.setCcdSweptSphereRadius(0.0005)
gnd = objinit.objpdnp.getChild(0).find("+GeomNode")
geom = copy.deepcopy(gnd.node().getGeom(0))
vdata = geom.modifyVertexData()
vertrewritter = GeomVertexRewriter(vdata, 'vertex')
while not vertrewritter.isAtEnd(): # shift local coordinate to geom to correctly update dynamic changes
v = vertrewritter.getData3f()
vertrewritter.setData3f(v[0] - self.com[0], v[1] - self.com[1], v[2] - self.com[2])
geomtf = gnd.getTransform()
if cdtype is "triangle":
geombmesh = BulletTriangleMesh()
geombmesh.addGeom(geom)
bulletshape = BulletTriangleMeshShape(geombmesh, dynamic=dynamic)
bulletshape.setMargin(1e-6)
self.addShape(bulletshape, geomtf)
elif cdtype is "convex":
bulletshape = BulletConvexHullShape() # TODO: compute a convex hull?
bulletshape.addGeom(geom, geomtf)
bulletshape.setMargin(1e-6)
self.addShape(bulletshape, geomtf)
else:
raise NotImplementedError
pdmat4 = geomtf.getMat()
pdv3 = pdmat4.xformPoint(Vec3(self.com[0], self.com[1], self.com[2]))
homomat = dh.pdmat4_to_npmat4(pdmat4)
pos = dh.pdv3_to_npv3(pdv3)
homomat[:3, 3] = pos # update center to com
self.setTransform(TransformState.makeMat(dh.npmat4_to_pdmat4(homomat)))
elif isinstance(objinit, BDBody):
self.com = objinit.com.copy()
self.setMass(objinit.getMass())
self.setRestitution(objinit.restitution)
self.setFriction(objinit.friction)
self.setLinearDamping(.3)
self.setAngularDamping(.3)
if allowdeactivation:
self.setDeactivationEnabled(True)
self.setLinearSleepThreshold(0.001)
self.setAngularSleepThreshold(0.001)
else:
self.setDeactivationEnabled(False)
if allowccd:
self.setCcdMotionThreshold(1e-6)
self.setCcdSweptSphereRadius(0.0005)
self.setTransform(TransformState.makeMat(dh.npmat4_to_pdmat4(objinit.gethomomat())))
self.addShape(objinit.getShape(0), objinit.getShapeTransform(0))
class ConstrainedDelaunayTriangulator(object):
"""Creates a Constrained Delaunay Triangulation"""
@staticmethod
def drawTriangleIndices(adjLst, name='indsgroup'):
from direct.gui.OnscreenText import OnscreenText
indNP = render.attachNewNode(name)
for i in range(0, len(adjLst)):
center = getCenterOfPoints3D(adjLst[i].getPoints())
dummy = indNP.attachNewNode(str(i))
txt = OnscreenText(text=str(i), pos=center, scale=1)
txt.reparentTo(dummy)
dummy.setP(dummy.getP() - 90)
return indNP
@staticmethod
def findContainingTriangle(point, startTriangle, fullList):
triangles = collections.deque([])
triangles.append(startTriangle)
while triangles:
tri = triangles.popleft()
if tri.containsPoint(point):
return tri
triangles.extend([fullList[i] for i in tri.getNeighbors(includeEmpties=False)])
raise ValueError("Point added that's outside of the bounded space {0}".format(point))
def __init__(self, vertexName='ConstrainedDelaunayTriangles', vertexFormat=GeomVertexFormat.getV3(),
usage = Geom.UHDynamic, onVertexCreationCallback = None, universalZ = 0.0):
self._vertexData = GeomVertexData(vertexName, vertexFormat, Geom.UHDynamic)
self._geomTriangles = GeomTriangles(usage)
self._geomTrianglesHoles = GeomTriangles(usage)
self._vertexRewriter = GeomVertexRewriter(self._vertexData, 'vertex') # user cannot have control of a writer
if onVertexCreationCallback is None:
onVertexCreationCallback = lambda x, y, z: None # something to call without checking existence later
self._vertexCallback = onVertexCreationCallback
self._universalZ = universalZ
self.__holes = [[]]
self.__polygon = []
inf = float('inf')
negInf = float('-inf')
self.bounds = {
'minX': inf,
'maxX': negInf,
'minY': inf,
'maxY': negInf,
}
self.lastStaticVertexIndex = -1
def addHoleVertex(self, index):
"""Adds the next consecutive vertex of the current hole."""
# we might not have holes but we should always have triangles after triangulation
self.__holes[-1].append(index)
def addPolygonVertex(self, index):
"""Adds the next consecutive vertex of the polygon."""
self.__polygon.append(index)
def _addVertex(self, x, y, z, bounded=True):
# BLOG track bounds to create the encapsulating triangle rather than lexicographic ordering
# BLOG could have used a heap while adding verts, then popped as we processed each vertex
if x < self.bounds['minX'] and bounded:
self.bounds['minX'] = x
if x > self.bounds['maxX'] and bounded:
self.bounds['maxX'] = x
if y < self.bounds['minY'] and bounded:
self.bounds['minY'] = y
if y > self.bounds['maxY'] and bounded:
self.bounds['maxY'] = y
if not self._vertexRewriter.isAtEnd():
self._vertexRewriter.setRow(self._vertexData.getNumRows())
n = self._vertexRewriter.getWriteRow()
self._vertexRewriter.addData3f(x, y, self._universalZ)
self._vertexCallback(x, y, self._universalZ)
return n
def addVertex(self, pointOrX, y=None, z=None, bounded=True):
"""Adds a new vertex to the vertex pool."""
if hasattr(pointOrX, 'y'): # if the first argument is a point expand and call the backing function
return self._addVertex(pointOrX.x, pointOrX.y, pointOrX.z, bounded=bounded)
return self._addVertex(pointOrX, y, z, bounded=bounded)
def addVertexToPolygon(self, pointOrX, y, z, bounded=True):
"""Adds a vertex to the pool and then adds its index to the polygon vertex index list."""
n = self.addVertex(pointOrX, y, z, bounded=bounded)
self.addPolygonVertex(n)
return n
def addVertexToHole(self, pointOrX, y, z):
"""Adds a vertex to the pool and then adds its index to the polygon vertex index list."""
n = self.addVertex(pointOrX, y, z)
self.addHoleVertex(n)
return n
def beginHole(self):
"""Finishes the previous hole, if any, and prepares to add a new hole."""
if self.__holes[-1]: # if the last hole (list of vertices) is empty use it as the next hole
self.__holes.append([]) # if it's not empty append a new hole
def clear(self):
"""Removes all vertices and polygon specifications from the Triangulator, and prepares it to start over."""
raise NotImplementedError("""ConstrainedDelaunayTriangulator.clear() is not implemented.""")
def clearPolygon(self):
"""Removes the current polygon definition (and its set of holes), but does not clear the vertex pool."""
raise NotImplementedError("""ConstrainedDelaunayTriangulator.clearPolygon() is not implemented.""")
def getAdjacencyList(self):
"""Returns a list of triangles, each referencing its own neighbors by their list index."""
return self.__polygon
def getGeomNode(self, name='ConstrainedDelaunayTriangles'):
"""returns a GeomNode, with the provided name, sufficient to put in the scene and draw."""
# BLOG My TODO legend
# DOC 1) (adding to scene) create a Geom and add primitives of like base-type i.e. triangles and triangle strips
geom = Geom(self._vertexData)
geom.addPrimitive(self._geomTriangles)
# DOC 2) create a GeomNode to hold the Geom(s) and add the Geom(s)
gn = GeomNode(name)
gn.addGeom(geom)
# DOC 3) attach the node to the scene (in the calling code)
# gnNodePath = render.attachNewNode(gn)
return gn
def getNumTriangles(self):
"""Returns the number of triangles generated by the previous call to triangulate()."""
if not self.isTriangulated():
raise ValueError("Vertices must be added and triangulate() must be called before calling getNumTriangles()")
return len(self.__polygon)
def getNumVertices(self):
"""Returns the number of vertices in the pool."""
return self._vertexData.getNumRows()
def getVertexReader(self):
"""Returns a reader for the vertex column."""
return GeomVertexReader(self._vertexData, 'vertex')
def getTriangleV0(self, n):
"""Returns vertex 0 of the nth triangle generated by the previous call to triangulate()."""
try:
return self.__polygon[n].pointIndex0()
except AttributeError: # BLOG switching errors to clarify the cause
raise LookupError("Must call triangulate() before querying for a triangle's vertices.")
def getTriangleV1(self, n):
"""Returns vertex 1 of the nth triangle generated by the previous call to triangulate()."""
try:
return self.__polygon[n].pointIndex1()
except AttributeError: # BLOG switching errors to clarify the cause
raise LookupError("Must call triangulate() before querying for a triangle's vertices.")
def getTriangleV2(self, n):
"""Returns vertex 2 of the nth triangle generated by the previous call to triangulate()."""
try:
return self.__polygon[n].pointIndex2()
except AttributeError: # BLOG switching errors to clarify the cause
raise LookupError("Must call triangulate() before querying for a triangle's vertices.")
def getTriangleList(self):
import copy
return copy.copy(self.__polygon)
def getVertex(self, n):
"""Returns the nth vertex."""
self._vertexRewriter.setRow(n)
return self._vertexRewriter.getData3f()
def getGeomVertexData(self):
return self._vertexData
def getGeomTriangles(self):
assert self.isTriangulated()
return self._geomTriangles
def getVertices(self):
"""Returns a list of vertices."""
verts = []
for i in range(0, self._vertexData.getNumRows()):
self._vertexRewriter.setRow(i)
verts.append(self._vertexRewriter.getData3f())
return verts
def isLeftWinding(self):
"""Returns true if the polygon vertices are listed in counterclockwise order,
or false if they appear to be listed in clockwise order."""
assert self.isTriangulated()
return self.__polygon[0].isLeftWinding()
def isTriangulated(self):
"""Guesses whether the polygon has been triangulated."""
return len(self.__polygon) > 0 and isinstance(self.__polygon[0], ConstrainedDelaunayAdjacencyTriangle)
def triangulate(self, makeDelaunay=True):
"""Does the work of triangulating the specified polygon."""
global notify
if self.isTriangulated():
raise ValueError("triangulate() must only be called once.")
notify.warning("bounds: minX, minY, maxX, maxY {0} {1} {2} {3}".format(self.bounds['minX'], self.bounds['minY'],
self.bounds['maxX'], self.bounds['maxY']))
h = abs(self.bounds['maxY'] - self.bounds['minY'])
w = abs(self.bounds['maxX'] - self.bounds['minX'])
topLeft = Point3(self.bounds['minX'] - 10*w,
self.bounds['maxY'] + 10*h,
self._universalZ)
bottomRight = Point3(self.bounds['minX'] - 10*w,
self.bounds['minY'] - 10*h,
self._universalZ)
farRight = Point3(self.bounds['maxX'] + 10*w, (self.bounds['maxY'] + self.bounds['minY'])/2, self._universalZ)
# Other than the tree below, any vertices added after this are CDT as opposed to DT
self.lastStaticVertexIndex = self.getNumVertices() - 1
# these three will be removed later, thus will not be artificial restraints
v0 = self.addVertex(topLeft, bounded=False)
v1 = self.addVertex(bottomRight, bounded=False)
v2 = self.addVertex(farRight, bounded=False)
bounds = ConstrainedDelaunayAdjacencyTriangle(v0, v1, v2,
self._vertexData, self._geomTriangles, self._vertexRewriter)
triangulated = [bounds]
while True:
try:
pt = self.__polygon.pop()
except IndexError:
break
self._vertexRewriter.setRow(pt)
point = self._vertexRewriter.getData3f()
notify.warning("\n######################## len {} TRIANGULATE {} ###########################\n".format(len(triangulated), point))
notify.warning("\n########################## SO FAR\n{}\n############################\n".format([tr.index for tr in triangulated]))
# find the triangle the point lays within
found = ConstrainedDelaunayTriangulator.findContainingTriangle(point, bounds, triangulated)
if found is not None:
# BLOG heapq.merge() is useless as it returns an iterable which can't be indexed, but heaps require lists
# BLOG Hence, it's probably faster to heap.push than to iterate (in C) a merge then iterate to recreate a list
# BLOG if I use a heap
# triangulate the point into the triangle, collecting any new triangles
newTriangles = found.triangulatePoint(pt, triangulated)
triangulated.extend(newTriangles)
if makeDelaunay:
for tri in newTriangles:
tri.legalize(tri.point0, triangulated) # point, triangulated)
tri.legalize(tri.point1, triangulated)
tri.legalize(tri.point2, triangulated)
else:
raise ValueError("Point given that's outside of original space.")
notify.warning("triangulated: length: {} type: {}".format(len(triangulated), type(triangulated)))
self.__polygon = triangulated
