def render(self):
s = self.scale
l = self.length
startL = -(l / s) / 2
endL = (l / s) / 2
startW = -(self.width / s) / 2
endW = (self.width / s) / 2
if (self.outLined):
glBegin(GL_LINES)
for j in range(startW, endW + 1):
glVertex3f(startL * s, j * s, 0)
glVertex3f(endL * s, j * s, 0)
for i in range(startL, endL + 1):
glVertex3f(i * s, startW * s, 0)
glVertex3f(i * s, endW * s, 0)
else:
glBegin(GL_QUADS)
for i in range(startW, endW):
for j in range(startL, endL):
if ((i + j) % 2 == 0):
if config.enable_lighting:
material.grey()
else:
glColor3f(0.3, 0.3, 0.3)
else:
if config.enable_lighting:
material.darkgrey()
else:
glColor3f(0.6, 0.6, 0.6)
x0 = i * s
y0 = j * s
x1 = (i + 1) * s
y1 = (j + 1) * s
glVertex3f(x0, y0, 0)
glVertex3f(x1, y0, 0)
glVertex3f(x1, y1, 0)
glVertex3f(x0, y1, 0)
# todo: draw other walls to make a room
glEnd()
def render(self):
s = self.scale
l = self.length
startL =- (l/s)/2
endL = (l/s)/2
startW =- (self.width/s)/2
endW = (self.width/s)/2
if (self.outLined):
glBegin(GL_LINES)
for j in range(startW, endW + 1):
glVertex3f(startL*s, j*s, 0)
glVertex3f(endL*s, j*s, 0)
for i in range (startL, endL + 1):
glVertex3f(i*s, startW*s, 0)
glVertex3f(i*s, endW*s, 0)
else:
glBegin(GL_QUADS)
for i in range(startW, endW):
for j in range(startL, endL):
if ((i + j) % 2 == 0):
if config.enable_lighting:
material.grey()
else:
glColor3f(0.3, 0.3, 0.3)
else:
if config.enable_lighting:
material.darkgrey()
else:
glColor3f(0.6, 0.6, 0.6)
x0 = i*s
y0 = j*s
x1 = (i + 1)*s
y1 = (j + 1)*s
glVertex3f(x0, y0, 0)
glVertex3f(x1, y0, 0)
glVertex3f(x1, y1, 0)
glVertex3f(x0, y1, 0)
# todo: draw other walls to make a room
glEnd()
def render(self):
for link in self.links:
R = link.R
P = link.P
h = link.h
if config.enable_lighting:
material.black()
else:
glColor3f(0, 0, 0)
glPushMatrix()
glLineWidth(15)
glBegin(GL_LINES)
if not link.is_prismatic():
glVertex3f(0, 0, 0)
glVertex3f(P[0], P[1], P[2])
else:
glVertex3f(0, 0, 0)
glVertex3f(P[0] - link.q * link.h[0],
P[1] - link.q * link.h[1],
P[2] - link.q * link.h[2])
glEnd()
glTranslate(P[0], P[1], P[2])
if config.enable_axis:
if link.index != self.N:
display.draw_axes(20, str(link.index))
else:
display.draw_axes(20, 'T')
# draw joint
if link.is_prismatic(): # prismatic joint
display.draw_prismatic_joint([[0], [0], [0]], link.q * link.h,
10)
elif link.is_rotational():
if config.enable_lighting:
material.green()
else:
glColor3f(0, 0.6, 0)
display.draw_rotational_joint(h * 10, h * -10, 8,
link.q * 180 / PI)
if config.enable_lighting:
material.grey()
else:
glColor3f(0.3, 0.3, 0.3)
glRotate(link.q * 180 / PI, link.h[0], link.h[1], link.h[2])
elif (R == eye(3)).all(): # link - no joint
pass
# pop all joints off
for matPop in self.links:
glPopMatrix()
glLineWidth(5)
glPointSize(10)
# only save the last whatever points
self.trace = self.trace[-config.max_trace:]
if config.enable_ghost:
if config.enable_lighting:
material.grey()
else:
glColor3f(0.4, 0.4, 0.4)
glPointSize(8)
for verts, i in zip(self.trace, range(len(self.trace))):
if i % config.ghost_interval == 1:
glBegin(GL_POINTS)
for vert in verts:
glVertex3f(vert[0], vert[1], vert[2])
glEnd()
if config.enable_lighting:
material.grey()
else:
glColor3f(0.7, 0.7, 0.7)
for verts, i in zip(self.trace, range(len(self.trace))):
if i % config.ghost_interval == 1:
glBegin(GL_LINE_STRIP)
for vert in verts:
glVertex3f(vert[0], vert[1], vert[2])
glEnd()
if config.enable_trace:
# saved tool positions
if config.enable_lighting:
material.red()
else:
glColor3f(1.0, 0.0, 0)
glBegin(GL_LINE_STRIP)
for verts in self.trace:
vert = verts[-1]
glVertex3f(vert[0], vert[1], vert[2])
glEnd()
def render(self):
for link in self.links:
R = link.R
P = link.P
h = link.h
if config.enable_lighting:
material.black()
else:
glColor3f(0, 0, 0)
glPushMatrix()
glLineWidth(15)
glBegin(GL_LINES)
if not link.is_prismatic():
glVertex3f(0, 0, 0)
glVertex3f(P[0], P[1], P[2])
else:
glVertex3f(0, 0, 0)
glVertex3f(P[0]-link.q*link.h[0], P[1] - link.q*link.h[1], P[2] - link.q*link.h[2])
glEnd()
glTranslate(P[0], P[1], P[2])
if config.enable_axis:
if link.index != self.N:
display.draw_axes(20, str(link.index))
else:
display.draw_axes(20, 'T')
# draw joint
if link.is_prismatic(): # prismatic joint
display.draw_prismatic_joint([[0], [0], [0]], link.q*link.h, 10)
elif link.is_rotational():
if config.enable_lighting:
material.green()
else:
glColor3f(0, 0.6, 0)
display.draw_rotational_joint(h*10, h*-10, 8, link.q*180/PI)
if config.enable_lighting:
material.grey()
else:
glColor3f(0.3, 0.3, 0.3)
glRotate(link.q * 180 / PI, link.h[0], link.h[1], link.h[2])
elif (R == eye(3)).all(): # link - no joint
pass
# pop all joints off
for matPop in self.links:
glPopMatrix()
glLineWidth(5)
glPointSize(10)
# only save the last whatever points
self.trace = self.trace[-config.max_trace:]
if config.enable_ghost:
if config.enable_lighting:
material.grey()
else:
glColor3f(0.4, 0.4, 0.4)
glPointSize(8)
for verts, i in zip(self.trace, range(len(self.trace))):
if i % config.ghost_interval == 1:
glBegin(GL_POINTS)
for vert in verts:
glVertex3f(vert[0], vert[1], vert[2])
glEnd()
if config.enable_lighting:
material.grey()
else:
glColor3f(0.7, 0.7, 0.7)
for verts, i in zip(self.trace, range(len(self.trace))):
if i % config.ghost_interval == 1:
glBegin(GL_LINE_STRIP)
for vert in verts:
glVertex3f(vert[0], vert[1], vert[2])
glEnd()
if config.enable_trace:
# saved tool positions
if config.enable_lighting:
material.red()
else:
glColor3f(1.0, 0.0, 0)
glBegin(GL_LINE_STRIP)
for verts in self.trace:
vert = verts[-1]
glVertex3f(vert[0], vert[1], vert[2])
glEnd()
