| [1198] | 1 | from xmlrpc.client import Boolean
|
|---|
| 2 | from gui.visual.entity import Entity
|
|---|
| 3 | import OpenGL.GL as gl
|
|---|
| 4 | from pyopengltk import OpenGLFrame
|
|---|
| 5 | from gui.visual.camera import Camera
|
|---|
| 6 | from gui.visual.player import Player
|
|---|
| 7 | from gui.visual.masterRenderer import MasterRenderer
|
|---|
| 8 | from gui.visual.loader import Loader
|
|---|
| 9 | from gui.visual.objLoader import OBJLoader
|
|---|
| 10 | from gui.visual.player import Player
|
|---|
| 11 | from gui.visual.mouse import Mouse
|
|---|
| 12 | from gui.framsutils.creature import Creature
|
|---|
| 13 | from typing import List, Callable
|
|---|
| 14 | import threading
|
|---|
| 15 | import time as timetime
|
|---|
| 16 | from gui.utils import Swap
|
|---|
| 17 | from typing import Dict
|
|---|
| 18 | from gui.visual.modelData import ModelData
|
|---|
| 19 |
|
|---|
| 20 | class AppOgl(OpenGLFrame):
|
|---|
| 21 | class GLContext(object):
|
|---|
| 22 | pass
|
|---|
| 23 |
|
|---|
| 24 | def __init__(self, *args, **kw):
|
|---|
| 25 | super().__init__(*args, **kw)
|
|---|
| 26 | self.REFRESH_RATE = 0.1
|
|---|
| 27 | self.player = Player(10, 10, 0, 0, 0, 0)
|
|---|
| 28 | self.camera = Camera(self.player)
|
|---|
| 29 | self.entities = []
|
|---|
| 30 | self.frams_readCreatures: Callable[[None], List[Creature]] = None
|
|---|
| 31 | self.frams_readCreatures_color: Boolean = False
|
|---|
| 32 | self.onDraw: Callable[[], None] = lambda: None
|
|---|
| 33 | self.commThread = threading.Thread(target=self.commThread, daemon=True)
|
|---|
| 34 | self.commThreadLock = threading.Lock()
|
|---|
| 35 | self.read_creature_semaphore = threading.Semaphore()
|
|---|
| 36 | self.creatures: List[Creature] = []
|
|---|
| 37 | self.swap_buffer = Swap(init=[])
|
|---|
| 38 | self.swap_buffer.update([])
|
|---|
| 39 | self.swap_buffer.update([])
|
|---|
| 40 | self.commThread.start()
|
|---|
| 41 |
|
|---|
| 42 | #show tri-colored axis instead of balls
|
|---|
| 43 | SHOW_AXIS = False
|
|---|
| 44 |
|
|---|
| 45 | NEURON_SCALE = 1.5
|
|---|
| 46 | OBJ_PATH = "gui/res/obj/"
|
|---|
| 47 | TEX_PATH = "gui/res/img/"
|
|---|
| 48 |
|
|---|
| 49 | NEURONS = ["|", "@", "G", "Gpart", "T", "S"]
|
|---|
| 50 |
|
|---|
| 51 | def neuronname_in_filename(self, neuronname):
|
|---|
| 52 | if neuronname == "|":
|
|---|
| 53 | return "bend"
|
|---|
| 54 | elif neuronname == "@":
|
|---|
| 55 | return "rot"
|
|---|
| 56 | return neuronname
|
|---|
| 57 |
|
|---|
| 58 | def initgl(self):
|
|---|
| 59 | gl.glClearColor(0, 0, 0.4, 0)
|
|---|
| 60 |
|
|---|
| 61 | self.loader = Loader()
|
|---|
| 62 |
|
|---|
| 63 | if self.SHOW_AXIS:
|
|---|
| 64 | self.bodyPartModel = OBJLoader.loadOBJ(self.OBJ_PATH+"axis.obj", self.TEX_PATH+"axis.png", self.loader)
|
|---|
| 65 | else:
|
|---|
| 66 | self.bodyPartModel = OBJLoader.loadOBJ(self.OBJ_PATH+"part.obj", self.TEX_PATH+"green2.png", self.loader)
|
|---|
| 67 | self.jointModel = OBJLoader.loadOBJ(self.OBJ_PATH+"stick5red3.obj", self.TEX_PATH+"green2.png", self.loader)
|
|---|
| 68 | self.neurons: Dict[str, ModelData] = dict()
|
|---|
| 69 | for n in self.NEURONS:
|
|---|
| 70 | self.neurons[n] = OBJLoader.loadOBJ(self.OBJ_PATH+"neuro-"+self.neuronname_in_filename(n)+".obj", self.TEX_PATH+"amber.jpg", self.loader)
|
|---|
| 71 |
|
|---|
| 72 | self.renderer = MasterRenderer(self.loader)
|
|---|
| 73 |
|
|---|
| 74 | gl.glEnable(gl.GL_DEPTH_TEST)
|
|---|
| 75 | gl.glClearDepth(1.0)
|
|---|
| 76 | gl.glEnable(gl.GL_TEXTURE_2D)
|
|---|
| 77 |
|
|---|
| 78 | self.initalized = True
|
|---|
| 79 | self._resize(self.width, self.height)
|
|---|
| 80 |
|
|---|
| 81 | def init_context(self):
|
|---|
| 82 | self.context = self.GLContext()
|
|---|
| 83 |
|
|---|
| 84 | def redraw(self):
|
|---|
| 85 | #call onDraw callback only for frams library
|
|---|
| 86 | self.onDraw()
|
|---|
| 87 | self.entities.clear()
|
|---|
| 88 | self.creatures: List[Creature] = self.swap_buffer.get()
|
|---|
| 89 | #for every creature, prepare entities for every parts, joints and neurons
|
|---|
| 90 | for creature in self.creatures:
|
|---|
| 91 | parts = creature.mechParts
|
|---|
| 92 | joints = creature.joints
|
|---|
| 93 | neurons = creature.neurons
|
|---|
| 94 |
|
|---|
| 95 | '''
|
|---|
| 96 | TODO: solid shapes should be handled here
|
|---|
| 97 | obj models should be loaded in initgl method and used depending on the shape type (probably need to add new lists to Creature class).
|
|---|
| 98 | Position should already be loaded in the part object, as well as rotation matrix, you need to add scale in FramsSocket and FramsLib.
|
|---|
| 99 | You can add scale in each axis in the Entity constructor or as independent properties of the Entity class.
|
|---|
| 100 | scaleX, scaleY, scaleZ have higher priority than scale only if all three (x, y, z) are set.
|
|---|
| 101 | '''
|
|---|
| 102 | for i, part in enumerate(parts):
|
|---|
| 103 | rotMatrix = creature.partRotationMatrix(i)
|
|---|
| 104 | partEntity = Entity(part[0], part[1], part[2], self.bodyPartModel, scale=0.7, rotMatrix=rotMatrix)
|
|---|
| 105 | if i < len(creature.colorsPart):
|
|---|
| 106 | partEntity.color = creature.colorsPart[i]
|
|---|
| 107 | self.entities.append(partEntity)
|
|---|
| 108 |
|
|---|
| 109 | for i in range(len(joints)):
|
|---|
| 110 | translation = creature.jointTranslation(i)
|
|---|
| 111 | rotMatrix = creature.jointRotation(i)
|
|---|
| 112 | jointEntity = Entity(translation[0], translation[1], translation[2], self.jointModel, rotMatrix=rotMatrix)
|
|---|
| 113 | jointEntity.scaleX = creature.jointLength(i)
|
|---|
| 114 | jointEntity.scaleY = 1
|
|---|
| 115 | jointEntity.scaleZ = 1
|
|---|
| 116 | if i < len(creature.colorsJoint):
|
|---|
| 117 | partEntity.color = creature.colorsJoint[i]
|
|---|
| 118 | self.entities.append(jointEntity)
|
|---|
| 119 |
|
|---|
| 120 | for i, neuron in enumerate(neurons):
|
|---|
| 121 | if creature.styleNeuron[i] in self.neurons:
|
|---|
| 122 | style = creature.styleNeuron[i]
|
|---|
| 123 | if neuron[0] >= 0:
|
|---|
| 124 | translation = creature.partTranslation(neuron[0])
|
|---|
| 125 | rotMatrix = creature.partRotationMatrix(neuron[0])
|
|---|
| 126 | rotMatrix = rotMatrix * creature.neuronRelativeOrient[i]
|
|---|
| 127 | neuronEntity = Entity(translation[0], translation[1], translation[2], self.neurons[style], scale=self.NEURON_SCALE, rotMatrix=rotMatrix)
|
|---|
| 128 | else:
|
|---|
| 129 | translation = creature.jointTranslation(neuron[1])
|
|---|
| 130 | if style == 'G':
|
|---|
| 131 | rotMatrix = creature.jointRotation(neuron[1])
|
|---|
| 132 | else:
|
|---|
| 133 | rotMatrix = creature.partRotationMatrix(joints[neuron[1]][0])
|
|---|
| 134 | rotMatrix = rotMatrix * creature.neuronRelativeOrient[i]
|
|---|
| 135 | neuronEntity = Entity(translation[0], translation[1], translation[2], self.neurons[style], scale=self.NEURON_SCALE, rotMatrix=rotMatrix)
|
|---|
| 136 | self.entities.append(neuronEntity)
|
|---|
| 137 |
|
|---|
| 138 | self.camera.move()
|
|---|
| 139 | self.renderer._isTexturesOn = not self.frams_readCreatures_color
|
|---|
| 140 | self.renderer.renderScene(self.player, self.entities, self.camera)
|
|---|
| 141 |
|
|---|
| 142 | #reload all creatures from frams with self.REFRESH_RATE interval
|
|---|
| 143 | def commThread(self):
|
|---|
| 144 | while True:
|
|---|
| 145 | if self.frams_readCreatures:
|
|---|
| 146 | with self.read_creature_semaphore:
|
|---|
| 147 | c = self.frams_readCreatures(self.frams_readCreatures_color)
|
|---|
| 148 | self.swap_buffer.update(c)
|
|---|
| 149 | timetime.sleep(self.REFRESH_RATE)
|
|---|
| 150 |
|
|---|
| 151 | def onResize(self, event):
|
|---|
| 152 | width, height = event.width, event.height
|
|---|
| 153 | self._resize(width, height)
|
|---|
| 154 |
|
|---|
| 155 | def _resize(self, width, height):
|
|---|
| 156 | self.width = width
|
|---|
| 157 | self.height = height
|
|---|
| 158 | try:
|
|---|
| 159 | self.initalized
|
|---|
| 160 | gl.glViewport(0, 0, width, height)
|
|---|
| 161 | self.renderer.resize(width, height)
|
|---|
| 162 | except AttributeError:
|
|---|
| 163 | pass
|
|---|
| 164 |
|
|---|
| 165 | def onMouseMotion(self, event):
|
|---|
| 166 | Mouse.setXY(event.x, event.y)
|
|---|
| 167 |
|
|---|
| 168 | def onScroll(self, event):
|
|---|
| 169 | if event.delta > 0:
|
|---|
| 170 | Mouse.incrementDWheel(1)
|
|---|
| 171 | else:
|
|---|
| 172 | Mouse.incrementDWheel(-1)
|
|---|
| 173 |
|
|---|
| 174 | def onMouseClick(self, event):
|
|---|
| 175 | if event.num == 1:
|
|---|
| 176 | Mouse.setButton(Mouse.MOUSE_LEFT)
|
|---|
| 177 | elif event.num == 3:
|
|---|
| 178 | Mouse.setButton(Mouse.MOUSE_RIGHT)
|
|---|
| 179 |
|
|---|
| 180 | def onMouseRelease(self, event):
|
|---|
| 181 | Mouse.setButton(Mouse.MOUSE_NONE)
|
|---|
| 182 |
|
|---|
| 183 | def onMouseEnter(self, event):
|
|---|
| 184 | Mouse.setXY(event.x, event.y)
|
|---|
| 185 |
|
|---|
| 186 | def reloadWorld(self, worldType: int, simType: int, worldSize: float, worldMap: str, worldBoundaries: int, worldWaterLevel: float) -> None:
|
|---|
| 187 | self.renderer.reloadWorld(self.loader, worldType, simType, worldSize, worldMap, worldBoundaries, worldWaterLevel)
|
|---|
| 188 | self.camera.setPosition(worldSize / 2.0, worldSize / 2.0)
|
|---|
| 189 | self.camera.setZoomScale(worldSize / 20)
|
|---|
| 190 | self.camera.setZoom(worldSize) |
|---|
