# Copyright 2007 John Kasunich and Jeff Epler # # This program is free software; you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by # the Free Software Foundation; either version 2 of the License, or # (at your option) any later version. # # This program is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # GNU General Public License for more details. # # You should have received a copy of the GNU General Public License # along with this program; if not, write to the Free Software # Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. import copy import sys, rs274.OpenGLTk, signal, hal import tkinter from OpenGL.GL import * from OpenGL.GLU import * from math import * import glnav import hal class Collection(object): def __init__(self, parts): self.parts = parts self.vol = 0 def traverse(self): for p in self.parts: if hasattr(p, "apply"): p.apply() if hasattr(p, "capture"): p.capture() if hasattr(p, "draw"): p.draw() if hasattr(p, "traverse"): p.traverse() if hasattr(p, "unapply"): p.unapply() def volume(self): if hasattr(self, "vol") and self.vol != 0: vol = self.vol else: vol = sum(part.volume() for part in self.parts) #print "Collection.volume", vol return vol # a collection consisting of overlapping parts will have an incorrect # volume, because overlapping volumes will be counted twice. If the # correct volume is known, it can be set using this method def set_volume(self,vol): self.vol = vol; class Translate(Collection): def __init__(self, parts, x, y, z): self.parts = parts self.where = x, y, z def apply(self): glPushMatrix() glTranslatef(*self.where) def unapply(self): glPopMatrix() class Scale(Collection): def __init__(self, parts, x, y, z): self.parts = parts self.scaleby = x, y, z def apply(self): glPushMatrix() glScalef(*self.scaleby) def unapply(self): glPopMatrix() class HalTranslate(Collection): def __init__(self, parts, comp, var, x, y, z): self.parts = parts self.where = x, y, z self.comp = comp self.var = var def apply(self): x, y, z = self.where v = self.comp[self.var] glPushMatrix() glTranslatef(x*v, y*v, z*v) def unapply(self): glPopMatrix() class HalRotate(Collection): def __init__(self, parts, comp, var, th, x, y, z): self.parts = parts self.where = th, x, y, z self.comp = comp self.var = var def apply(self): th, x, y, z = self.where glPushMatrix() glRotatef(th * self.comp[self.var], x, y, z) def unapply(self): glPopMatrix() class Rotate(Collection): def __init__(self, parts, th, x, y, z): self.parts = parts self.where = th, x, y, z def apply(self): th, x, y, z = self.where glPushMatrix() glRotatef(th, x, y, z) def unapply(self): glPopMatrix() class Track(Collection): '''move and rotate an object to point from one capture()'d coordinate system to another. we need "world" to convert coordinates from GL_MODELVIEW coordinates to our coordinate system''' def __init__(self, parts, position, target, world): self.parts = parts self.target = target self.position = position self.world2view = world def angle_to(self,x,y,z): '''returns polar coordinates in degrees to a point from the origin a rotates around the x-axis; b rotates around the y axis; r is the distance''' azimuth = atan2(y, x)*180/pi #longitude elevation = atan2(z, sqrt(x**2 + y**2))*180/pi radius = sqrt(x**2+y**2+z**2) return((azimuth, elevation, radius)) def map_coords(self,tx,ty,tz,transform): # now we have to transform them to the world frame wx = tx*transform[0][0]+ty*transform[1][0]+tz*transform[2][0]+transform[3][0] wy = tx*transform[0][1]+ty*transform[1][1]+tz*transform[2][1]+transform[3][1] wz = tx*transform[0][2]+ty*transform[1][2]+tz*transform[2][2]+transform[3][2] return([wx,wy,wz]) def apply(self): #make sure we have something to work with first if (self.world2view.t == []): #something's borkled - give up print("vismach.py: Track: why am i here? world is not in the scene yet") glPushMatrix() return view2world = invert(self.world2view.t) px, py, pz = self.position.t[3][:3] px, py, pz = self.map_coords(px,py,pz,view2world) tx, ty, tz = self.target.t[3][:3] tx, ty, tz = self.map_coords(tx,ty,tz,view2world) dx = tx - px; dy = ty - py; dz = tz - pz; (az,el,r) = self.angle_to(dx,dy,dz) if(hasattr(HUD, "debug_track") and HUD.debug_track == 1): HUD.strs = [] HUD.strs += ["current coords: %3.4f %3.4f %3.4f " % (px, py, pz)] HUD.strs += ["target coords: %3.4f %3.4f %3.4f" % (tx, ty, tz)] HUD.strs += ["az,el,r: %3.4f %3.4f %3.4f" % (az,el,r)] glPushMatrix() glTranslatef(px,py,pz) glRotatef(az-90,0,0,1) glRotatef(el-90,1,0,0) def unapply(self): glPopMatrix() class CoordsBase(object): def __init__(self, *args): if args and isinstance(args[0], hal.component): self.comp = args[0] args = args[1:] else: self.comp = None self._coords = args self.q = gluNewQuadric() def coords(self): return list(map(self._coord, self._coords)) def _coord(self, v): if isinstance(v, str): return self.comp[v] return v # give endpoint X values and radii # resulting cylinder is on the X axis class CylinderX(CoordsBase): def draw(self): x1, r1, x2, r2 = self.coords() if x1 > x2: tmp = x1 x1 = x2 x2 = tmp tmp = r1 r1 = r2 r2 = tmp glPushMatrix() # GL creates cylinders along Z, so need to rotate z1 = x1 z2 = x2 glRotatef(90,0,1,0) # need to translate the whole thing to z1 glTranslatef(0,0,z1) # the cylinder starts out at Z=0 gluCylinder(self.q, r1, r2, z2-z1, 32, 1) # bottom cap glRotatef(180,1,0,0) gluDisk(self.q, 0, r1, 32, 1) glRotatef(180,1,0,0) # the top cap needs flipped and translated glPushMatrix() glTranslatef(0,0,z2-z1) gluDisk(self.q, 0, r2, 32, 1) glPopMatrix() glPopMatrix() def volume(self): x1, r1, x2, r2 = self.coords() # actually a frustum of a cone vol = 3.1415927/3.0 * abs(x1-x2)*(r1*r1+r1*r2+r2*r2) #print "CylinderX.volume", vol return vol # give endpoint Y values and radii # resulting cylinder is on the Y axis class CylinderY(CoordsBase): def __init__(self, y1, r1, y2, r2): self._coords = y1, r1, y2, r2 self.q = gluNewQuadric() def draw(self): y1, r1, y2, r2 = self.coords() if y1 > y2: tmp = y1 y1 = y2 y2 = tmp tmp = r1 r1 = r2 r2 = tmp glPushMatrix() # GL creates cylinders along Z, so need to rotate z1 = y1 z2 = y2 glRotatef(-90,1,0,0) # need to translate the whole thing to z1 glTranslatef(0,0,z1) # the cylinder starts out at Z=0 gluCylinder(self.q, r1, r2, z2-z1, 32, 1) # bottom cap glRotatef(180,1,0,0) gluDisk(self.q, 0, r1, 32, 1) glRotatef(180,1,0,0) # the top cap needs flipped and translated glPushMatrix() glTranslatef(0,0,z2-z1) gluDisk(self.q, 0, r2, 32, 1) glPopMatrix() glPopMatrix() def volume(self): y1, r1, y2, r2 = self.coords() # actually a frustum of a cone vol = 3.1415927/3.0 * abs(y1-y2)*(r1*r1+r1*r2+r2*r2) #print "CylinderY.volume", vol return vol class CylinderZ(CoordsBase): def draw(self): z1, r1, z2, r2 = self.coords() if z1 > z2: tmp = z1 z1 = z2 z2 = tmp tmp = r1 r1 = r2 r2 = tmp # need to translate the whole thing to z1 glPushMatrix() glTranslatef(0,0,z1) # the cylinder starts out at Z=0 gluCylinder(self.q, r1, r2, z2-z1, 32, 1) # bottom cap glRotatef(180,1,0,0) gluDisk(self.q, 0, r1, 32, 1) glRotatef(180,1,0,0) # the top cap needs flipped and translated glPushMatrix() glTranslatef(0,0,z2-z1) gluDisk(self.q, 0, r2, 32, 1) glPopMatrix() glPopMatrix() def volume(self): z1, r1, z2, r2 = self.coords() # actually a frustum of a cone vol = 3.1415927/3.0 * abs(z1-z2)*(r1*r1+r1*r2+r2*r2) #print "CylinderZ.volume", vol return vol # give center and radius class Sphere(CoordsBase): def draw(self): x, y, z, r = self.coords() # need to translate the whole thing to x,y,z glPushMatrix() glTranslatef(x,y,z) # the sphere starts out at the origin gluSphere(self.q, r, 32, 16) glPopMatrix() def volume(self): x, y, z, r = self.coords() vol = 1.3333333*3.1415927*r*r*r #print "Sphere.volume", vol return vol # triangular plate in XY plane # specify the corners Z values for each side class TriangleXY(CoordsBase): def draw(self): x1, y1, x2, y2, x3, y3, z1, z2 = self.coords() x12 = x1-x2 y12 = y1-y2 x13 = x1-x3 y13 = y1-y3 cross = x12*y13 - x13*y12 if cross < 0: tmp = x2 x2 = x3 x3 = tmp tmp = y2 y2 = y3 y3 = tmp if z1 > z2: tmp = z1 z1 = z2 z2 = tmp x12 = x1-x2 y12 = y1-y2 x23 = x2-x3 y23 = y2-y3 x31 = x3-x1 y31 = y3-y1 glBegin(GL_QUADS) # side 1-2 h = hypot(x12,y12) glNormal3f(-y12/h,x12/h,0) glVertex3f(x1, y1, z1) glVertex3f(x2, y2, z1) glVertex3f(x2, y2, z2) glVertex3f(x1, y1, z2) # side 2-3 h = hypot(x23,y23) glNormal3f(-y23/h,x23/h,0) glVertex3f(x2, y2, z1) glVertex3f(x3, y3, z1) glVertex3f(x3, y3, z2) glVertex3f(x2, y2, z2) # side 3-1 h = hypot(x31,y31) glNormal3f(-y31/h,x31/h,0) glVertex3f(x3, y3, z1) glVertex3f(x1, y1, z1) glVertex3f(x1, y1, z2) glVertex3f(x3, y3, z2) glEnd() glBegin(GL_TRIANGLES) # upper face glNormal3f(0,0,1) glVertex3f(x1, y1, z2) glVertex3f(x2, y2, z2) glVertex3f(x3, y3, z2) # lower face glNormal3f(0,0,-1) glVertex3f(x1, y1, z1) glVertex3f(x3, y3, z1) glVertex3f(x2, y2, z1) glEnd() def volume(self): x1, y1, x2, y2, x3, y3, z1, z2 = self.coords() # compute pts 2 and 3 relative to 1 (puts pt1 at origin) x2 = x2-x1 x3 = x3-x1 y2 = y2-y1 y3 = y3-y1 # compute area of triangle area = 0.5*abs(x2*y3 - x3*y2) thk = abs(z1-z2) vol = area*thk #print "TriangleXY.volume = area * thickness)",vol, area, thk return vol # triangular plate in XZ plane class TriangleXZ(TriangleXY): def coords(self): x1, z1, x2, z2, x3, z3, y1, y2 = TriangleXY.coords(self) return x1, z1, x2, z2, x3, z3, -y1, -y2 def draw(self): glPushMatrix() glRotatef(90,1,0,0) # create the triangle in XY plane TriangleXY.draw(self) # bottom cap glPopMatrix() def volume(self): vol = TriangleXY.volume(self) #print " TriangleXZ.volume",vol return vol # triangular plate in YZ plane class TriangleYZ(TriangleXY): def coords(self): y1, z1, y2, z2, y3, z3, x1, x2 = TriangleXY.coords(self) return z1, y1, z2, y2, z3, y3, -x1, -x2 def draw(self): glPushMatrix() glRotatef(90,0,-1,0) # create the triangle in XY plane TriangleXY.draw(self) # bottom cap glPopMatrix() def volume(self): vol = TriangleXY.volume(self) #print " TriangleYZ.volume",vol return vol class ArcX(CoordsBase): def draw(self): x1, x2, r1, r2, a1, a2, steps = self.coords() if x1 > x2: tmp = x1 x1 = x2 x2 = tmp if r1 > r2: tmp = r1 r1 = r2 r2 = tmp while a1 > a2: a2 = a2 + 360 astep = ((a2-a1)/steps)*(pi/180) a1rads = a1 * (pi/180) # positive X end face glBegin(GL_QUAD_STRIP) glNormal3f(1,0,0) n = 0 while n <= steps: angle = a1rads+n*astep s = sin(angle) c = cos(angle) glVertex3f(x2, r1*s, r1*c) glVertex3f(x2, r2*s, r2*c) n = n + 1 glEnd() # negative X end face glBegin(GL_QUAD_STRIP) glNormal3f(-1,0,0) n = 0 while n <= steps: angle = a1rads+n*astep s = sin(angle) c = cos(angle) glVertex3f(x1, r1*s, r1*c) glVertex3f(x1, r2*s, r2*c) n = n + 1 glEnd() # inner diameter glBegin(GL_QUAD_STRIP) n = 0 while n <= steps: angle = a1rads+n*astep s = sin(angle) c = cos(angle) glNormal3f(0,-s, -c) glVertex3f(x1, r1*s, r1*c) glVertex3f(x2, r1*s, r1*c) n = n + 1 glEnd() # outer diameter glBegin(GL_QUAD_STRIP) n = 0 while n <= steps: angle = a1rads+n*astep s = sin(angle) c = cos(angle) glNormal3f(0, s, c) glVertex3f(x1, r2*s, r2*c) glVertex3f(x2, r2*s, r2*c) n = n + 1 glEnd() # end plates glBegin(GL_QUADS) # first end plate angle = a1 * (pi/180) s = sin(angle) c = cos(angle) glNormal3f(0, -c, s) glVertex3f(x1, r2*s, r2*c) glVertex3f(x2, r2*s, r2*c) glVertex3f(x2, r1*s, r1*c) glVertex3f(x1, r1*s, r1*c) # other end angle = a2 * (pi/180) s = sin(angle) c = cos(angle) glNormal3f(0, c, -s) glVertex3f(x1, r2*s, r2*c) glVertex3f(x2, r2*s, r2*c) glVertex3f(x2, r1*s, r1*c) glVertex3f(x1, r1*s, r1*c) glEnd() def volume(self): x1, x2, r1, r2, a1, a2, steps = self.coords() if x1 > x2: tmp = x1 x1 = x2 x2 = tmp if r1 > r2: tmp = r1 r1 = r2 r2 = tmp while a1 > a2: a2 = a2 + 360 height = x2 - x1 angle = a2 - a1 area = (angle/360.0)*pi*(r2*r2-r1*r1) vol = area * height #print "Arc.volume = angle * area * height",vol, angle, area, height return vol # six coordinate version - specify each side of the box class Box(CoordsBase): def draw(self): x1, y1, z1, x2, y2, z2 = self.coords() if x1 > x2: tmp = x1 x1 = x2 x2 = tmp if y1 > y2: tmp = y1 y1 = y2 y2 = tmp if z1 > z2: tmp = z1 z1 = z2 z2 = tmp glBegin(GL_QUADS) # bottom face glNormal3f(0,0,-1) glVertex3f(x2, y1, z1) glVertex3f(x1, y1, z1) glVertex3f(x1, y2, z1) glVertex3f(x2, y2, z1) # positive X face glNormal3f(1,0,0) glVertex3f(x2, y1, z1) glVertex3f(x2, y2, z1) glVertex3f(x2, y2, z2) glVertex3f(x2, y1, z2) # positive Y face glNormal3f(0,1,0) glVertex3f(x1, y2, z1) glVertex3f(x1, y2, z2) glVertex3f(x2, y2, z2) glVertex3f(x2, y2, z1) # negative Y face glNormal3f(0,-1,0) glVertex3f(x2, y1, z2) glVertex3f(x1, y1, z2) glVertex3f(x1, y1, z1) glVertex3f(x2, y1, z1) # negative X face glNormal3f(-1,0,0) glVertex3f(x1, y1, z1) glVertex3f(x1, y1, z2) glVertex3f(x1, y2, z2) glVertex3f(x1, y2, z1) # top face glNormal3f(0,0,1) glVertex3f(x1, y2, z2) glVertex3f(x1, y1, z2) glVertex3f(x2, y1, z2) glVertex3f(x2, y2, z2) glEnd() def volume(self): x1, y1, z1, x2, y2, z2 = self.coords() vol = abs((x1-x2)*(y1-y2)*(z1-z2)) #print "Box.volume", vol return vol # specify the width in X and Y, and the height in Z # the box is centered on the origin class BoxCentered(Box): def __init__(self, xw, yw, zw): Box.__init__(self, -xw/2.0, -yw/2.0, -zw/2.0, xw/2.0, yw/2.0, zw/2.0) # specify the width in X and Y, and the height in Z # the box is centered in X and Y, and runs from Z=0 up # (or down) to the specified Z value class BoxCenteredXY(Box): def __init__(self, xw, yw, zw): Box.__init__(self, -xw/2.0, -yw/2.0, 0, xw/2.0, yw/2.0, zw) # capture current transformation matrix # note that this transforms from the current coordinate system # to the viewport system, NOT to the world system class Capture(object): def __init__(self): self.t = [] def capture(self): self.t = glGetDoublev(GL_MODELVIEW_MATRIX) def volume(self): return 0.0 # function to invert a transform matrix # based on http://steve.hollasch.net/cgindex/math/matrix/afforthinv.c # with simplifications since we don't do scaling # This function inverts a 4x4 matrix that is affine and orthogonal. In # other words, the perspective components are [0 0 0 1], and the basis # vectors are orthogonal to each other. In addition, the matrix must # not do scaling def invert(src): # make a copy inv=copy.deepcopy(src) # The inverse of the upper 3x3 is the transpose (since the basis # vectors are orthogonal to each other. inv[0][1],inv[1][0] = inv[1][0],inv[0][1] inv[0][2],inv[2][0] = inv[2][0],inv[0][2] inv[1][2],inv[2][1] = inv[2][1],inv[1][2] # The inverse of the translation component is just the negation # of the translation after dotting with the new upper3x3 rows. */ inv[3][0] = -(src[3][0]*inv[0][0] + src[3][1]*inv[1][0] + src[3][2]*inv[2][0]) inv[3][1] = -(src[3][0]*inv[0][1] + src[3][1]*inv[1][1] + src[3][2]*inv[2][1]) inv[3][2] = -(src[3][0]*inv[0][2] + src[3][1]*inv[1][2] + src[3][2]*inv[2][2]) return inv class Hud(object): '''head up display - draws a semi-transparent text box. use HUD.strs for things that must be updated constantly, and HUD.show("stuff") for one-shot things like error messages''' def __init__(self, showme=1): self.app = [] self.strs = [] self.messages = [] self.showme = 0 self.fontbase = [] def show(self, string="xyzzy"): self.showme = 1 if string != "xyzzy": self.messages += [str(string)] def hide(self): self.showme = 0 def clear(self): self.messages = [] def draw(self): drawtext = self.strs + self.messages self.lines = len(drawtext) #draw head-up-display #see axis.py for more font/color configurability if ((self.showme == 0) or (self.lines == 0)): return glMatrixMode(GL_PROJECTION) glPushMatrix() glLoadIdentity() if not self.fontbase: self.fontbase = int(self.app.loadbitmapfont("9x15")) char_width, char_height = 9, 15 xmargin,ymargin = 5,5 ypos = float(self.app.winfo_height()) glOrtho(0.0, self.app.winfo_width(), 0.0, ypos, -1.0, 1.0) glMatrixMode(GL_MODELVIEW) glPushMatrix() glLoadIdentity() #draw the text box maxlen = max([len(p) for p in drawtext]) box_width = maxlen * char_width glDepthFunc(GL_ALWAYS) glDepthMask(GL_FALSE) glDisable(GL_LIGHTING) glEnable(GL_BLEND) glEnable(GL_NORMALIZE) glBlendFunc(GL_ONE, GL_CONSTANT_ALPHA) glColor3f(0.2,0,0) glBlendColor(0,0,0,0.5) #rgba glBegin(GL_QUADS) glVertex3f(0, ypos, 1) #upper left glVertex3f(0, ypos - 2*ymargin - char_height*len(drawtext), 1) #lower left glVertex3f(box_width+2*xmargin, ypos - 2*ymargin - char_height*len(drawtext), 1) #lower right glVertex3f(box_width+2*xmargin, ypos , 1) #upper right glEnd() glDisable(GL_BLEND) glEnable(GL_LIGHTING) #fill the box with text maxlen = 0 ypos -= char_height+ymargin i=0 glDisable(GL_LIGHTING) glColor3f(0.9,0.9,0.9) for string in drawtext: maxlen = max(maxlen, len(string)) # if i < len(homed) and homed[i]: # glRasterPos2i(6, ypos) # glBitmap(13, 16, 0, 3, 17, 0, homeicon) glRasterPos2i(xmargin, int(ypos)) for char in string: glCallList(self.fontbase + ord(char)) # if i < len(homed) and limit[i]: # glBitmap(13, 16, -5, 3, 17, 0, limiticon) ypos -= char_height i = i + 1 glDepthFunc(GL_LESS) glDepthMask(GL_TRUE) glEnable(GL_LIGHTING) glPopMatrix() glMatrixMode(GL_PROJECTION) glPopMatrix() glMatrixMode(GL_MODELVIEW) class O(rs274.OpenGLTk.Opengl): def __init__(self, *args, **kw): rs274.OpenGLTk.Opengl.__init__(self, *args, **kw) self.r_back = self.g_back = self.b_back = 0 #self.q1 = gluNewQuadric() #self.q2 = gluNewQuadric() #self.q3 = gluNewQuadric() self.plotdata = [] self.plotlen = 16000 #does not show HUD by default self.hud = Hud() def basic_lighting(self): self.activate() glLightfv(GL_LIGHT0, GL_POSITION, (1, -1, .5, 0)) glLightfv(GL_LIGHT0, GL_AMBIENT, (.2,.2,.2,0)) glLightfv(GL_LIGHT0, GL_DIFFUSE, (.6,.6,.4,0)) glLightfv(GL_LIGHT0+1, GL_POSITION, (-1, -1, .5, 0)) glLightfv(GL_LIGHT0+1, GL_AMBIENT, (.0,.0,.0,0)) glLightfv(GL_LIGHT0+1, GL_DIFFUSE, (.0,.0,.4,0)) glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, (1,1,1,0)) glDisable(GL_CULL_FACE) glEnable(GL_LIGHTING) glEnable(GL_LIGHT0) glEnable(GL_LIGHT0+1) glDepthFunc(GL_LESS) glEnable(GL_DEPTH_TEST) glMatrixMode(GL_MODELVIEW) glLoadIdentity() def redraw(self, *args): if self.winfo_width() == 1: return self.model.traverse() # current coords: world # the matrices tool2view, work2view, and world2view # transform from tool/work/world coords to viewport coords # if we want to draw in tool coords, we need to do # "tool -> view -> world" (since the current frame is world) # and if we want to draw in work coords, we need # "work -> view -> world". For both, we need to invert # the world2view matrix to do the second step view2world = invert(self.world2view.t) # likewise, for backplot, we want to transform the tooltip # position from tool coords (where it is [0,0,0]) to work # coords, so we need tool -> view -> work # so lets also invert the work2view matrix view2work = invert(self.work2view.t) # since backplot lines only need vertices, not orientation, # and the tooltip is at the origin, getting the tool coords # is easy tx, ty, tz = self.tool2view.t[3][:3] # now we have to transform them to the work frame wx = tx*view2work[0][0]+ty*view2work[1][0]+tz*view2work[2][0]+view2work[3][0] wy = tx*view2work[0][1]+ty*view2work[1][1]+tz*view2work[2][1]+view2work[3][1] wz = tx*view2work[0][2]+ty*view2work[1][2]+tz*view2work[2][2]+view2work[3][2] # wx, wy, wz are the values to use for backplot # so we save them in a buffer if len(self.plotdata) == self.plotlen: del self.plotdata[:self.plotlen / 10] point = [ wx, wy, wz ] if not self.plotdata or point != self.plotdata[-1]: self.plotdata.append(point) # now lets draw something in the tool coordinate system #glPushMatrix() # matrixes take effect in reverse order, so the next # two lines do "tool -> view -> world" #glMultMatrixd(view2world) #glMultMatrixd(self.tool2view.t) # do drawing here # cylinder normally goes to +Z, we want it down #glTranslatef(0,0,-60) #gluCylinder(self.q1, 20, 20, 60, 32, 16) # back to world coords #glPopMatrix() # we can also draw in the work coord system glPushMatrix() # "work -> view -> world" glMultMatrixd(view2world) glMultMatrixd(self.work2view.t) # now we can draw in work coords, and whatever we draw # will move with the work, (if the work is attached to # a table or indexer or something that moves with # respect to the world # just a test object, sitting on the table #gluCylinder(self.q2, 40, 20, 60, 32, 16) #draw head up display if(hasattr(self.hud, "draw")): self.hud.draw() # draw backplot glDisable(GL_LIGHTING) glLineWidth(2) glColor3f(1.0,0.5,0.5) glBegin(GL_LINE_STRIP) for p in self.plotdata: glVertex3f(*p) glEnd() glEnable(GL_LIGHTING) glColor3f(1,1,1) glLineWidth(1) glDisable(GL_BLEND) glDepthFunc(GL_LESS) # back to world again glPopMatrix() def plotclear(self): del self.plotdata[:self.plotlen] class Color(Collection): def __init__(self, color, parts): self.color = color Collection.__init__(self, parts) def apply(self): glPushAttrib(GL_LIGHTING_BIT) glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, self.color) def unapply(self): glPopAttrib() class AsciiSTL: def __init__(self, filename=None, data=None): if data is None: data = open(filename, "r") elif isinstance(data, str): data = data.split("\n") self.list = None t = [] n = [0,0,0] self.d = d = [] for line in data: if line.find("normal") != -1: line = line.split() x, y, z = list(map(float, line[-3:])) n = [x,y,z] elif line.find("vertex") != -1: line = line.split() x, y, z = list(map(float, line[-3:])) t.append([x,y,z]) if len(t) == 3: if n == [0,0,0]: dx1 = t[1][0] - t[0][0] dy1 = t[1][1] - t[0][1] dz1 = t[1][2] - t[0][2] dx2 = t[2][0] - t[0][0] dy2 = t[2][1] - t[0][1] dz2 = t[2][2] - t[0][2] n = [dy1*dz2 - dy2*dz1, dz1*dx2 - dz2*dx1, dy1*dx2 - dy2*dx1] d.append((n, t)) t = [] n = [0,0,0] def draw(self): if self.list is None: # OpenGL isn't ready yet in __init__ so the display list # is created during the first draw self.list = glGenLists(1) glNewList(self.list, GL_COMPILE) glBegin(GL_TRIANGLES) for n, t in self.d: glNormal3f(*n) glVertex3f(*t[0]) glVertex3f(*t[1]) glVertex3f(*t[2]) glEnd() glEndList() del self.d glCallList(self.list) class AsciiOBJ: def __init__(self, filename=None, data=None): if data is None: data = open(filename, "r") elif isinstance(data, str): data = data.split("\n") self.v = v = [] self.vn = vn = [] self.f = f = [] for line in data: if line.startswith("#"): continue if line.startswith("vn"): vn.append([float(w) for w in line.split()[1:]]) elif line.startswith("v"): v.append([float(w) for w in line.split()[1:]]) elif line.startswith("f"): f.append(self.parse_face(line)) # print v[:5] # print vn[:5] # print f[:5] self.list = None def parse_int(self, i): if i == '': return None return int(i) def parse_slash(self, word): return [self.parse_int(i) for i in word.split("/")] def parse_face(self, line): return [self.parse_slash(w) for w in line.split()[1:]] def draw(self): if self.list is None: # OpenGL isn't ready yet in __init__ so the display list # is created during the first draw self.list = glGenLists(1) glNewList(self.list, GL_COMPILE) glDisable(GL_CULL_FACE) glBegin(GL_TRIANGLES) #print "obj", len(self.f) for f in self.f: for v, t, n in f: if n: glNormal3f(*self.vn[n-1]) glVertex3f(*self.v[v-1]) glEnd() glEndList() del self.v del self.vn del self.f glCallList(self.list) old_plotclear = False def main(model, tool, work, size=10, hud=0, rotation_vectors=None, lat=0, lon=0): app = tkinter.Tk() t = O(app, double=1, depth=1) # set which axes to rotate around if rotation_vectors: t.rotation_vectors = rotation_vectors # we want to be able to see the model from all angles t.set_latitudelimits(-180, 180) # set starting viewpoint if desired t.after(100, lambda: t.set_viewangle(lat, lon, forcerotate=1)) vcomp = hal.component("vismach") vcomp.newpin("plotclear",hal.HAL_BIT,hal.HAL_IN) vcomp.ready() #there's probably a better way of doing this global HUD HUD = 0 if(hud != 0 and hasattr(hud, "app")): HUD = hud #point our app at the global t.hud = HUD t.hud.app = t #HUD needs to know where to draw # need to capture the world coordinate system world = Capture() t.model = Collection([model, world]) t.distance = size * 3 t.near = size * 0.01 t.far = size * 10.0 t.tool2view = tool t.world2view = world t.work2view = work t.pack(fill="both", expand=1) def update(): global old_plotclear t.tkRedraw() new_plotclear = vcomp["plotclear"] if new_plotclear and not old_plotclear: t.plotclear() old_plotclear=new_plotclear t.after(100, update) update() def quit(*args): raise SystemExit signal.signal(signal.SIGTERM, quit) signal.signal(signal.SIGINT, quit) app.mainloop()