| 1 | import glm
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| 2 | from typing import List, Tuple
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| 3 |
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| 4 | class Creature:
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| 5 | def __init__(self, group: int, index: int) -> None:
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| 6 | self.mechParts = []
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| 7 | self.joints = []
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| 8 | self.neurons: List[Tuple(int, int)] = []
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| 9 | self.colorsJoint: List[glm.vec3] = []
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| 10 | self.colorsPart: List[glm.vec3] = []
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| 11 | self.stylePart: List[str] = []
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| 12 | self.styleJoint: List[str] = []
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| 13 | self.styleNeuron: List[str] = []
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| 14 | self.partOrient: List[glm.mat4] = []
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| 15 | self.neuronRelativeOrient: List[glm.mat3] = []
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| 16 | self.group: int = group
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| 17 | self.index: int = index
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| 18 |
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| 19 | def jointTranslation(self, index: int):
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| 20 | p1 = glm.vec3(self.mechParts[self.joints[index][0]])
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| 21 | return p1
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| 22 |
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| 23 | def jointLength(self, index: int):
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| 24 | p1 = glm.vec3(self.mechParts[self.joints[index][0]])
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| 25 | p2 = glm.vec3(self.mechParts[self.joints[index][1]])
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| 26 | return glm.length(p2 - p1)
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| 27 |
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| 28 | def jointRotation(self, index: int) -> glm.mat4:
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| 29 | p1 = glm.vec3(self.mechParts[self.joints[index][0]])
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| 30 | p2 = glm.vec3(self.mechParts[self.joints[index][1]])
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| 31 |
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| 32 | z_axis = None
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| 33 | along_d = p2 - p1
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| 34 | along_o = self._lookAt(along_d)
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| 35 | along_z = self._revTransform(*along_o, self.partOrient[self.joints[index][1]][2])
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| 36 |
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| 37 | if along_z.y * along_z.y + along_z.z * along_z.z > 0.5*0.5:
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| 38 | z_axis = glm.vec3(self.partOrient[self.joints[index][1]][2])
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| 39 | else:
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| 40 | z_axis = glm.vec3(self.partOrient[self.joints[index][1]][1])
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| 41 | orient = self._lookAt2(along_d, z_axis)
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| 42 | return glm.mat4(glm.mat3(*orient))
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| 43 |
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| 44 | def partTranslation(self, index: int):
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| 45 | return glm.vec3(self.mechParts[index])
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| 46 |
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| 47 | def partRotationMatrix(self, index: int):
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| 48 | return self.partOrient[index]
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| 49 |
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| 50 | def _lookAt(self, X: glm.vec3) -> Tuple[glm.vec3, glm.vec3, glm.vec3]:
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| 51 | x = glm.normalize(X)
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| 52 |
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| 53 | ax = abs(x.x)
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| 54 | ay = abs(x.y)
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| 55 | az = abs(x.z)
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| 56 | if (ax <= ay) and (ax <= az):
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| 57 | y = glm.vec3(0, -x.z, x.y)
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| 58 | elif (ay <= ax) and (ay <= az):
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| 59 | y = glm.vec3(-x.z, 0, x.x)
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| 60 | else:
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| 61 | y = glm.vec3(-x.y, x.x, 0)
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| 62 | y = glm.normalize(y)
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| 63 | z = glm.cross(x, y)
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| 64 | return x, y, z
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| 65 |
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| 66 | def _lookAt2(self, X: glm.vec3, d: glm.vec3) -> Tuple[glm.vec3, glm.vec3, glm.vec3]:
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| 67 | x = glm.normalize(X)
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| 68 | y = glm.cross(d, x)
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| 69 | z = glm.cross(x, y)
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| 70 | if glm.length(y) < 1e-50 or glm.length(z) < 1e-50:
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| 71 | return self._lookAt(X)
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| 72 |
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| 73 | y = glm.normalize(y)
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| 74 | z = glm.normalize(z)
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| 75 | return x, y, z
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| 76 |
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| 77 | def _revTransform(self, x: glm.vec3, y: glm.vec3, z: glm.vec3, s: glm.vec3) -> glm.vec3:
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| 78 | return glm.vec3(
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| 79 | s.x * x.x + s.y * x.y + s.z * x.z,
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| 80 | s.x * y.x + s.y * y.y + s.z * y.z,
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| 81 | s.x * z.x + s.y * z.y + s.z * z.z
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| 82 | ) |
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