def draw_all(screen, polylines, holes, triangles, emsize = 1024, zoom = 1.0, polylinecolor = green, holecolor = blue, trianglecolor = red):
"""This function takes the list of polylines and holes and the triangulation, and draws it in pygame.
This function is pending deprecation."""
global args
if trianglecolor is not None:
for t in triangles:
a = get_triangle_point(t, 0)
b = get_triangle_point(t, 1)
c = get_triangle_point(t, 2)
x1 = int(ux(a) * zoom)
y1 = int((emsize-uy(a)) * zoom)
x2 = int(ux(b) * zoom)
y2 = int((emsize-uy(b)) * zoom)
x3 = int(ux(c) * zoom)
y3 = int((emsize-uy(c)) * zoom)
trigon(screen, x1, y1, x2, y2, x3, y3, trianglecolor)
# Close the polylines loop again prior to drawing
if polylinecolor is not None:
for polyline in polylines:
if hasattr(polyline, 'coords'):
polyline = list(polyline.coords)
polyline.append(polyline[0])
flipped = flip_polyline(polyline, emsize)
for a, b in pairwise(flipped):
x1 = int(a[0] * zoom)
y1 = int(a[1] * zoom)
x2 = int(b[0] * zoom)
y2 = int(b[1] * zoom)
line(screen, x1, y1, x2, y2, polylinecolor)
# Same for holes
if holecolor is not None:
for hole in holes:
if hasattr(hole, 'coords'):
hole = list(hole.coords)
hole.append(hole[0])
flipped = flip_polyline(hole, emsize)
for a, b in pairwise(flipped):
x1 = int(a[0] * zoom)
y1 = int(a[1] * zoom)
x2 = int(b[0] * zoom)
y2 = int(b[1] * zoom)
line(screen, x1, y1, x2, y2, holecolor)
# Show result
pygame.display.update()
def draw_mesh(self, params, mesh, fill=True):
vert, tria = mesh.vertices, mesh.triangles
vert_p = self.project_array(vert)
surf = params['draw_surf']
dist = lambda x: np.linalg.norm(self.camera_position - vert[x[0]])
if fill:
for i, t in enumerate(sorted(tria, key=dist, reverse=True)):
# d = dist(t)
c = (255, 255, 255)
try:
pgfx.trigon(surf, *vert_p[t[0]], *vert_p[t[1]],
*vert_p[t[2]], c)
except:
pass
def draw_mesh(self, params, mesh, fill=True):
# start = pc()
vert, tria = mesh.vertices, mesh.triangles
vert_p = [tuple(self.project(x)) for x in vert]
# print('Project time (s):', pc()-start)
# start = pc()
surf = params['draw_surf']
dist = lambda x: np.linalg.norm(self.camera_position - vert[x[0]])
if fill:
for i, t in enumerate(sorted(tria, key=dist, reverse=True)):
d = dist(t)
# c = (min(255,255//math.sqrt(d/3)),min(120,120//math.sqrt(d/3)),min(255,255//math.sqrt(d/3)))
c = (255, 255, 255)
pgfx.trigon(surf, *vert_p[t[0]], *vert_p[t[1]], *vert_p[t[2]],
c)
def trigon(self, x1, y1, x2, y2, x3, y3, color):
"""三角形を描画します.
Parameters
----------
x1 : int
三角形の1つめの頂点のx座標.
y1 : int
三角形の1つめの頂点のy座標.
x2 : int
三角形の2つめの頂点のx座標.
y2 : int
三角形の2つめの頂点のy座標.
x3 : int
三角形の3つめの頂点のx座標.
y3 : int
三角形の3つめの頂点のy座標.
color : tuple of int
描画に使用される色を指定します.
"""
return gfx.trigon(self.pg.screen, x1, y1, x2, y2, x3, y3, color)
def main(file_name_map, file_name_obs, translate, zoom, num_tasks):
SCREEN_SIZE = 360,240
pygame.init()
screen = pygame.display.set_mode(SCREEN_SIZE,0,8)
pygame.display.set_caption('poly2tri demo')
pygame.mouse.set_visible(True)
black = Color(0,0,0)
red = Color(0, 0, 0)
green = Color(255, 255, 255)
yellow = Color(255, 255, 0)
screen.fill(black)
points = load_points(file_name_map)
(holes,bbpath) = load_holes(file_name_obs)
polyline = []
for p in points:
p[0] = p[0]*zoom + translate[0]
p[1] = p[1]*zoom + translate[1]
polyline.append(Point(p[0],p[1]))
# initialize clock
t0 = clock()
##
## Step 1: Initialize
## NOTE: polyline must be a simple polygon. The polyline's points
## constitute constrained edges. No repeat points!!!
##
cdt = CDT(polyline)
##
## Step 2: Add holes and interior Steiner points if necessary
##
# xarr = [229, 236, 214, 285, 256, 265]
# yarr = [193, 224, 246, 190, 260, 214]
hole_arr = []
# obstacles = holes
for h in holes:
hole = []
for p in h:
p[0] = p[0]*zoom + translate[0]
p[1] = p[1]*zoom + translate[1]
hole.append(Point(p[0], p[1]))
cdt.add_hole(hole)
hole_arr.extend(hole)
i = 0
xarr = []
yarr = []
while i<num_tasks:
x = random.randint(1,119)
y = random.randint(1, 79)
if checkinPoly((x,y), bbpath):
px = x*zoom + translate[0]
py = y * zoom + translate[1]
if(px in xarr and py in yarr):
continue
xarr.append(x*zoom +translate[0])
yarr.append(y*zoom +translate[1])
cdt.add_point(Point(x*zoom +translate[0],y*zoom +translate[1]))
i = i + 1
## Step 3: Triangulate
##
triangles = cdt.triangulate()
print "Elapsed time (ms) = " + str(clock()*1000.0)
# The Main Event Loop
done = False
vertexArr = []
g = Graph(len(points) + len(hole_arr) + len(xarr))
for t in triangles:
x1 = int(t.a.x)
y1 = int(t.a.y)
x2 = int(t.b.x)
y2 = int(t.b.y)
x3 = int(t.c.x)
y3 = int(t.c.y)
i1 = -1;
i2 = -1;
i3 = -1;
for i in range(len(vertexArr)):
if(vertexArr[i].x == x1 and vertexArr[i].y == y1):
i1 = i
elif(vertexArr[i].x == x2 and vertexArr[i].y == y2):
i2 = i
elif(vertexArr[i].x == x3 and vertexArr[i].y == y3):
i3 = i
if(i1 == -1):
vertexArr.append(Point(x1, y1))
i1 = len(vertexArr) - 1
if(i2 == -1):
vertexArr.append(Point(x2, y2))
i2 = len(vertexArr) - 1
if(i3 == -1):
vertexArr.append(Point(x3, y3))
i3 = len(vertexArr) - 1
trigon(screen, x1, y1, x2, y2, x3, y3, red)
g.addEdge(i1, i2, int(dist(Point(x1, y1), Point(x2, y2))))
g.addEdge(i3, i2, int(dist(Point(x2, y2), Point(x3, y3))))
g.addEdge(i1, i3, int(dist(Point(x3, y3), Point(x1, y1))))
g.FloydWarshall()
guard = []
print "look " + str(len(xarr)) + str(len(vertexArr))
for i in range(g.sz):
for j in range(len(xarr)):
if(xarr[j] == int(vertexArr[i].x) and yarr[j] == int(vertexArr[i].y)):
guard.append(i)
g.guard = guard
(rcdtgrid, parts, mapping) = g.GraphReduction()
colors = []
for i in range(len(parts)):
r = random.randint(0, 255)
g = random.randint(0, 255)
b = random.randint(0, 255)
colors.append(Color(r, g, b))
flag = 0
while not done:
# Draw outline
for i in range(len(points)):
j = i+1 if i < len(points) - 1 else 0
x1 = int(points[i][0])
y1 = int(points[i][1])
x2 = int(points[j][0])
y2 = int(points[j][1])
line(screen, x1, y1, x2, y2, green)
# Draw holes if necessary
for obs in holes:
for i in range(len(obs)):
j = i+1 if i < len(obs) - 1 else 0
x1 = int(obs[i][0])
y1 = int(obs[i][1])
x2 = int(obs[j][0])
y2 = int(obs[j][1])
line(screen, x1, y1, x2, y2, green)
for i in range(len(vertexArr)):
for j in range(len(vertexArr)):
if(i not in mapping):
continue
if(j not in mapping):
continue
if parts[mapping.index(i)] == 1:
pygame.draw.circle(screen, (255, 0, 0), (int(vertexArr[i].x), int(vertexArr[i].y)), 3, 0)
elif parts[mapping.index(i)] == 0:
pygame.draw.circle(screen, (0, 255, 0), (int(vertexArr[i].x), int(vertexArr[i].y)), 3, 0)
elif parts[mapping.index(i)] == 2:
pygame.draw.circle(screen, (0, 0, 255), (int(vertexArr[i].x), int(vertexArr[i].y)), 3, 0)
else:
pygame.draw.circle(screen, (255, 255, 255), (int(vertexArr[i].x), int(vertexArr[i].y)), 3, 0)
if(rcdtgrid[i][j] == 1000000007 or parts[mapping.index(i)] != parts[mapping.index(j)]):
continue
if not flag:
print mapping.index(i)
line(screen, int(vertexArr[i].x), int(vertexArr[i].y), int(vertexArr[j].x), int(vertexArr[j].y), colors[parts[mapping.index(i)]])
flag = 1
# Update the screen
pygame.display.update()
# Event Handling:
events = pygame.event.get( )
for e in events:
if( e.type == QUIT ):
done = True
break
elif (e.type == KEYDOWN):
if( e.key == K_ESCAPE ):
done = True
break
if( e.key == K_f ):
pygame.display.toggle_fullscreen()
return
def main(file_name, translate, zoom):
SCREEN_SIZE = 800, 600
pygame.init()
screen = pygame.display.set_mode(SCREEN_SIZE, 0, 8)
pygame.display.set_caption('poly2tri demo')
pygame.mouse.set_visible(True)
black = Color(0, 0, 0)
red = Color(255, 0, 0)
green = Color(0, 255, 0)
screen.fill(black)
points = load_points(file_name)
polyline = []
for p in points:
p[0] = p[0] * zoom + translate[0]
p[1] = p[1] * zoom + translate[1]
polyline.append(Point(p[0], p[1]))
# initialize clock
t0 = clock()
##
## Step 1: Initialize
## NOTE: polyline must be a simple polygon. The polyline's points
## constitute constrained edges. No repeat points!!!
##
cdt = CDT(polyline)
##
## Step 2: Add holes and interior Steiner points if necessary
##
if file_name == "data/dude.dat":
hole = []
for p in head_hole:
p[0] = p[0] * zoom + translate[0]
p[1] = p[1] * zoom + translate[1]
hole.append(Point(p[0], p[1]))
# Add a hole
cdt.add_hole(hole)
hole = []
for p in chest_hole:
p[0] = p[0] * zoom + translate[0]
p[1] = p[1] * zoom + translate[1]
hole.append(Point(p[0], p[1]))
# Add a hole
cdt.add_hole(hole)
# Add an interior Steiner point
x = 361 * zoom + translate[0]
y = 381 * zoom + translate[1]
cdt.add_point(Point(x, y))
##
## Step 3: Triangulate
##
triangles = cdt.triangulate()
print("Elapsed time (ms) = " + str(clock() * 1000.0))
# The Main Event Loop
done = False
while not done:
# Draw triangles
for t in triangles:
x1 = int(t.a.x)
y1 = int(t.a.y)
x2 = int(t.b.x)
y2 = int(t.b.y)
x3 = int(t.c.x)
y3 = int(t.c.y)
trigon(screen, x1, y1, x2, y2, x3, y3, red)
# Draw outline
for i in range(len(points)):
j = i + 1 if i < len(points) - 1 else 0
x1 = int(points[i][0])
y1 = int(points[i][1])
x2 = int(points[j][0])
y2 = int(points[j][1])
line(screen, x1, y1, x2, y2, green)
# Draw holes if necessary
if file_name == "data/dude.dat":
for i in range(len(head_hole)):
j = i + 1 if i < len(head_hole) - 1 else 0
x1 = int(head_hole[i][0])
y1 = int(head_hole[i][1])
x2 = int(head_hole[j][0])
y2 = int(head_hole[j][1])
line(screen, x1, y1, x2, y2, green)
for i in range(len(chest_hole)):
j = i + 1 if i < len(chest_hole) - 1 else 0
x1 = int(chest_hole[i][0])
y1 = int(chest_hole[i][1])
x2 = int(chest_hole[j][0])
y2 = int(chest_hole[j][1])
line(screen, x1, y1, x2, y2, green)
# Update the screen
pygame.display.update()
# Event Handling:
events = pygame.event.get()
for e in events:
if (e.type == QUIT):
done = True
break
elif (e.type == KEYDOWN):
if (e.key == K_ESCAPE):
done = True
break
if (e.key == K_f):
pygame.display.toggle_fullscreen()
return
def main(file_name, translate, zoom):
SCREEN_SIZE = 800,600
pygame.init()
screen = pygame.display.set_mode(SCREEN_SIZE,0,8)
pygame.display.set_caption('poly2tri demo')
pygame.mouse.set_visible(True)
black = Color(0,0,0)
red = Color(255, 0, 0)
green = Color(0, 255, 0)
screen.fill(black)
points = load_points(file_name)
polyline = []
for p in points:
p[0] = p[0]*zoom + translate[0]
p[1] = p[1]*zoom + translate[1]
polyline.append(Point(p[0],p[1]))
# initialize clock
t0 = clock()
##
## Step 1: Initialize
## NOTE: polyline must be a simple polygon. The polyline's points
## constitute constrained edges. No repeat points!!!
##
cdt = CDT(polyline)
##
## Step 2: Add holes and interior Steiner points if necessary
##
if file_name == "data/dude.dat":
hole = []
for p in head_hole:
p[0] = p[0]*zoom + translate[0]
p[1] = p[1]*zoom + translate[1]
hole.append(Point(p[0],p[1]))
# Add a hole
cdt.add_hole(hole)
hole = []
for p in chest_hole:
p[0] = p[0]*zoom + translate[0]
p[1] = p[1]*zoom + translate[1]
hole.append(Point(p[0],p[1]))
# Add a hole
cdt.add_hole(hole)
# Add an interior Steiner point
x = 361*zoom + translate[0]
y = 381*zoom + translate[1]
cdt.add_point(Point(x, y))
##
## Step 3: Triangulate
##
triangles = cdt.triangulate()
print "Elapsed time (ms) = " + str(clock()*1000.0)
# The Main Event Loop
done = False
while not done:
# Draw triangles
for t in triangles:
x1 = int(t.a.x)
y1 = int(t.a.y)
x2 = int(t.b.x)
y2 = int(t.b.y)
x3 = int(t.c.x)
y3 = int(t.c.y)
trigon(screen, x1, y1, x2, y2, x3, y3, red)
# Draw outline
for i in range(len(points)):
j = i+1 if i < len(points) - 1 else 0
x1 = int(points[i][0])
y1 = int(points[i][1])
x2 = int(points[j][0])
y2 = int(points[j][1])
line(screen, x1, y1, x2, y2, green)
# Draw holes if necessary
if file_name == "data/dude.dat":
for i in range(len(head_hole)):
j = i+1 if i < len(head_hole) - 1 else 0
x1 = int(head_hole[i][0])
y1 = int(head_hole[i][1])
x2 = int(head_hole[j][0])
y2 = int(head_hole[j][1])
line(screen, x1, y1, x2, y2, green)
for i in range(len(chest_hole)):
j = i+1 if i < len(chest_hole) - 1 else 0
x1 = int(chest_hole[i][0])
y1 = int(chest_hole[i][1])
x2 = int(chest_hole[j][0])
y2 = int(chest_hole[j][1])
line(screen, x1, y1, x2, y2, green)
# Update the screen
pygame.display.update()
# Event Handling:
events = pygame.event.get( )
for e in events:
if( e.type == QUIT ):
done = True
break
elif (e.type == KEYDOWN):
if( e.key == K_ESCAPE ):
done = True
break
if( e.key == K_f ):
pygame.display.toggle_fullscreen()
return
def main(file_name, translate, zoom):
SCREEN_SIZE = 800,600
pygame.init()
screen = pygame.display.set_mode(SCREEN_SIZE,0,8)
pygame.display.set_caption('poly2tri demo')
pygame.mouse.set_visible(True)
black = Color(0,0,0)
red = Color(0, 0, 0)
green = Color(255, 255, 255)
yellow = Color(255, 255, 0)
screen.fill(black)
points = load_points(file_name)
polyline = []
for p in points:
p[0] = p[0]*zoom + translate[0]
p[1] = p[1]*zoom + translate[1]
polyline.append(Point(p[0],p[1]))
# initialize clock
t0 = clock()
##
## Step 1: Initialize
## NOTE: polyline must be a simple polygon. The polyline's points
## constitute constrained edges. No repeat points!!!
##
cdt = CDT(polyline)
##
## Step 2: Add holes and interior Steiner points if necessary
##
if file_name == "data/dude.dat":
hole = []
for p in head_hole:
p[0] = p[0]*zoom + translate[0]
p[1] = p[1]*zoom + translate[1]
hole.append(Point(p[0],p[1]))
# Add a hole
cdt.add_hole(hole)
hole = []
for p in chest_hole:
p[0] = p[0]*zoom + translate[0]
p[1] = p[1]*zoom + translate[1]
hole.append(Point(p[0],p[1]))
# Add a hole
cdt.add_hole(hole)
# Add an interior Steiner point
x = 361*zoom + translate[0]
y = 381*zoom + translate[1]
cdt.add_point(Point(x, y))
# xarr = [323, 372, 334, 424, 342, 352, 100, 567]
# yarr = [395, 410, 645, 546, 620, 534, 370, 387]
xarr = [229, 236, 214, 285, 256, 265]
yarr = [193, 224, 246, 190, 260, 214]
if file_name == "data/test.dat":
for i in range(len(xarr)):
x = xarr[i]*zoom + translate[0]
y = yarr[i]*zoom + translate[1]
xarr[i] = x
yarr[i] = y
cdt.add_point(Point(x, y))
if file_name == "data/map.dat":
for i in range(len(xarr)):
x = xarr[i]*zoom + translate[0]
y = yarr[i]*zoom + translate[1]
xarr[i] = x
yarr[i] = y
cdt.add_point(Point(x, y))
hole_arr = []
if file_name == "data/map.dat":
for obs_hole in obstacle:
hole = []
for p in obs_hole:
p[0] = p[0]*zoom + translate[0]
p[1] = p[1]*zoom + translate[1]
hole.append(Point(p[0],p[1]))
cdt.add_hole(hole)
hole_arr.extend(hole)
##
## Step 3: Triangulate
##
triangles = cdt.triangulate()
print "Elapsed time (ms) = " + str(clock()*1000.0)
# The Main Event Loop
done = False
vertexArr = []
g = Graph(len(points) + len(hole_arr) + len(xarr))
for t in triangles:
x1 = int(t.a.x)
y1 = int(t.a.y)
x2 = int(t.b.x)
y2 = int(t.b.y)
x3 = int(t.c.x)
y3 = int(t.c.y)
i1 = -1;
i2 = -1;
i3 = -1;
for i in range(len(vertexArr)):
if(vertexArr[i].x == x1 and vertexArr[i].y == y1):
i1 = i
elif(vertexArr[i].x == x2 and vertexArr[i].y == y2):
i2 = i
elif(vertexArr[i].x == x3 and vertexArr[i].y == y3):
i3 = i
if(i1 == -1):
vertexArr.append(Point(x1, y1))
i1 = len(vertexArr) - 1
if(i2 == -1):
vertexArr.append(Point(x2, y2))
i2 = len(vertexArr) - 1
if(i3 == -1):
vertexArr.append(Point(x3, y3))
i3 = len(vertexArr) - 1
trigon(screen, x1, y1, x2, y2, x3, y3, red)
g.addEdge(i1, i2, int(dist(Point(x1, y1), Point(x2, y2))))
g.addEdge(i3, i2, int(dist(Point(x2, y2), Point(x3, y3))))
g.addEdge(i1, i3, int(dist(Point(x3, y3), Point(x1, y1))))
g.FloydWarshall()
guard = []
print "look " + str(len(xarr)) + str(len(vertexArr))
for i in range(g.sz):
for j in range(len(xarr)):
if(xarr[j] == int(vertexArr[i].x) and yarr[j] == int(vertexArr[i].y)):
guard.append(i)
g.guard = guard
(rcdtgrid, parts, mapping) = g.GraphReduction()
colors = []
for i in range(len(parts)):
r = random.randint(0, 255)
g = random.randint(0, 255)
b = random.randint(0, 255)
colors.append(Color(r, g, b))
flag = 0
while not done:
# Draw outline
for i in range(len(points)):
j = i+1 if i < len(points) - 1 else 0
x1 = int(points[i][0])
y1 = int(points[i][1])
x2 = int(points[j][0])
y2 = int(points[j][1])
line(screen, x1, y1, x2, y2, green)
# Draw holes if necessary
if file_name == "data/dude.dat":
for i in range(len(head_hole)):
j = i+1 if i < len(head_hole) - 1 else 0
x1 = int(head_hole[i][0])
y1 = int(head_hole[i][1])
x2 = int(head_hole[j][0])
y2 = int(head_hole[j][1])
line(screen, x1, y1, x2, y2, green)
for i in range(len(chest_hole)):
j = i+1 if i < len(chest_hole) - 1 else 0
x1 = int(chest_hole[i][0])
y1 = int(chest_hole[i][1])
x2 = int(chest_hole[j][0])
y2 = int(chest_hole[j][1])
line(screen, x1, y1, x2, y2, green)
if file_name == "data/map.dat":
for obs in obstacle:
for i in range(len(obs)):
j = i+1 if i < len(obs) - 1 else 0
x1 = int(obs[i][0])
y1 = int(obs[i][1])
x2 = int(obs[j][0])
y2 = int(obs[j][1])
line(screen, x1, y1, x2, y2, green)
for i in range(len(vertexArr)):
for j in range(len(vertexArr)):
if(i not in mapping):
continue
if(j not in mapping):
continue
if parts[mapping.index(i)] == 1:
pygame.draw.circle(screen, (255, 0, 0), (int(vertexArr[i].x), int(vertexArr[i].y)), 3, 0)
elif parts[mapping.index(i)] == 0:
pygame.draw.circle(screen, (0, 255, 0), (int(vertexArr[i].x), int(vertexArr[i].y)), 3, 0)
else:
pygame.draw.circle(screen, (0, 0, 255), (int(vertexArr[i].x), int(vertexArr[i].y)), 3, 0)
if(rcdtgrid[i][j] == 1000000007):# or parts[mapping.index(i)] != parts[mapping.index(j)]):
continue
if not flag:
print mapping.index(i)
line(screen, int(vertexArr[i].x), int(vertexArr[i].y), int(vertexArr[j].x), int(vertexArr[j].y), colors[parts[mapping.index(i)]])
flag = 1
# Update the screen
pygame.display.update()
# Event Handling:
events = pygame.event.get( )
for e in events:
if( e.type == QUIT ):
done = True
break
elif (e.type == KEYDOWN):
if( e.key == K_ESCAPE ):
done = True
break
if( e.key == K_f ):
pygame.display.toggle_fullscreen()
return
