872 lines
29 KiB
Python
872 lines
29 KiB
Python
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"""
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windowed.py
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---------------
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Provides a pyglet- based windowed viewer to preview
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Trimesh, Scene, PointCloud, and Path objects.
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Works on all major platforms: Windows, Linux, and OSX.
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"""
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import platform
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import collections
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import numpy as np
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import pyglet
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import pyglet.gl as gl
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from .trackball import Trackball
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from .. import util
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from .. import rendering
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from ..visual import to_rgba
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from ..transformations import translation_matrix
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pyglet.options['shadow_window'] = False
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# smooth only when fewer faces than this
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_SMOOTH_MAX_FACES = 100000
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class SceneViewer(pyglet.window.Window):
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def __init__(self,
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scene,
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smooth=True,
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flags=None,
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visible=True,
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resolution=None,
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start_loop=True,
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callback=None,
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callback_period=None,
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caption=None,
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fixed=None,
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offset_lines=True,
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background=None,
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window_conf=None,
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profile=False,
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** kwargs):
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"""
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Create a window that will display a trimesh.Scene object
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in an OpenGL context via pyglet.
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Parameters
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---------------
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scene : trimesh.scene.Scene
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Scene with geometry and transforms
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smooth : bool
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If True try to smooth shade things
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flags : dict
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If passed apply keys to self.view:
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['cull', 'wireframe', etc]
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visible : bool
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Display window or not
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resolution : (2,) int
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Initial resolution of window
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start_loop : bool
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Call pyglet.app.run() at the end of init
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callback : function
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A function which can be called periodically to
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update things in the scene
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callback_period : float
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How often to call the callback, in seconds
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fixed : None or iterable
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List of keys in scene.geometry to skip view
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transform on to keep fixed relative to camera
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offset_lines : bool
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If True, will offset lines slightly so if drawn
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coplanar with mesh geometry they will be visible
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background : None or (4,) uint8
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Color for background
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window_conf : None, or gl.Config
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Passed to window init
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kwargs : dict
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Additional arguments to pass, including
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'background' for to set background color
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"""
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self.scene = self._scene = scene
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self.callback = callback
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self.callback_period = callback_period
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self.scene._redraw = self._redraw
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self.offset_lines = bool(offset_lines)
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self.background = background
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# save initial camera transform
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self._initial_camera_transform = scene.camera_transform.copy()
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# a transform to offset lines slightly to avoid Z-fighting
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if self.offset_lines:
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self._line_offset = translation_matrix(
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[0, 0, scene.scale / 1000])
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self.reset_view(flags=flags)
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self.batch = pyglet.graphics.Batch()
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self._smooth = smooth
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self._profile = bool(profile)
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if self._profile:
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from pyinstrument import Profiler
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self.Profiler = Profiler
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# store kwargs
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self.kwargs = kwargs
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# store a vertexlist for an axis marker
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self._axis = None
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# store a vertexlist for a grid display
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self._grid = None
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# store scene geometry as vertex lists
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self.vertex_list = {}
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# store geometry hashes
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self.vertex_list_hash = {}
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# store geometry rendering mode
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self.vertex_list_mode = {}
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# store meshes that don't rotate relative to viewer
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self.fixed = fixed
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# store a hidden (don't not display) node.
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self._nodes_hidden = set()
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# name : texture
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self.textures = {}
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# if resolution isn't defined set a default value
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if resolution is None:
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resolution = scene.camera.resolution
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else:
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scene.camera.resolution = resolution
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# no window conf was passed so try to get the best looking one
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if window_conf is None:
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try:
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# try enabling antialiasing
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# if you have a graphics card this will probably work
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conf = gl.Config(sample_buffers=1,
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samples=4,
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depth_size=24,
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double_buffer=True)
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super(SceneViewer, self).__init__(config=conf,
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visible=visible,
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resizable=True,
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width=resolution[0],
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height=resolution[1],
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caption=caption)
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except pyglet.window.NoSuchConfigException:
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conf = gl.Config(double_buffer=True)
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super(SceneViewer, self).__init__(config=conf,
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resizable=True,
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visible=visible,
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width=resolution[0],
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height=resolution[1],
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caption=caption)
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else:
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# window config was manually passed
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super(SceneViewer, self).__init__(config=window_conf,
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resizable=True,
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visible=visible,
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width=resolution[0],
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height=resolution[1],
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caption=caption)
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# add scene geometry to viewer geometry
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self._update_vertex_list()
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# call after geometry is added
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self.init_gl()
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self.set_size(*resolution)
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self.update_flags()
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# someone has passed a callback to be called periodically
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if self.callback is not None:
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# if no callback period is specified set it to default
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if callback_period is None:
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# 30 times per second
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callback_period = 1.0 / 30.0
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# set up a do-nothing periodic task which will
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# trigger `self.on_draw` every `callback_period`
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# seconds if someone has passed a callback
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pyglet.clock.schedule_interval(lambda x: x,
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callback_period)
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if start_loop:
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pyglet.app.run()
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def _redraw(self):
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self.on_draw()
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def _update_vertex_list(self):
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# update vertex_list if needed
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for name, geom in self.scene.geometry.items():
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if geom.is_empty:
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continue
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if geometry_hash(geom) == self.vertex_list_hash.get(name):
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continue
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self.add_geometry(name=name,
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geometry=geom,
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smooth=bool(self._smooth))
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def _update_meshes(self):
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# call the callback if specified
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if self.callback is not None:
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self.callback(self.scene)
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self._update_vertex_list()
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self._update_perspective(self.width, self.height)
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def add_geometry(self, name, geometry, **kwargs):
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"""
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Add a geometry to the viewer.
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Parameters
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--------------
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name : hashable
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Name that references geometry
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geometry : Trimesh, Path2D, Path3D, PointCloud
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Geometry to display in the viewer window
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kwargs **
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Passed to rendering.convert_to_vertexlist
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"""
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# convert geometry to constructor args
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args = rendering.convert_to_vertexlist(geometry, **kwargs)
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# create the indexed vertex list
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self.vertex_list[name] = self.batch.add_indexed(*args)
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# save the MD5 of the geometry
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self.vertex_list_hash[name] = geometry_hash(geometry)
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# save the rendering mode from the constructor args
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self.vertex_list_mode[name] = args[1]
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try:
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# if a geometry has UV coordinates that match vertices
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assert len(geometry.visual.uv) == len(geometry.vertices)
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has_tex = True
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except BaseException:
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has_tex = False
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if has_tex:
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tex = rendering.material_to_texture(
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geometry.visual.material)
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if tex is not None:
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self.textures[name] = tex
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def cleanup_geometries(self):
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"""
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Remove any stored vertex lists that no longer
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exist in the scene.
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"""
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# shorthand to scene graph
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graph = self.scene.graph
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# which parts of the graph still have geometry
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geom_keep = set([graph[node][1] for
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node in graph.nodes_geometry])
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# which geometries no longer need to be kept
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geom_delete = [geom for geom in self.vertex_list
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if geom not in geom_keep]
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for geom in geom_delete:
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# remove stored vertex references
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self.vertex_list.pop(geom, None)
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self.vertex_list_hash.pop(geom, None)
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self.vertex_list_mode.pop(geom, None)
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self.textures.pop(geom, None)
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def unhide_geometry(self, node):
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"""
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If a node is hidden remove the flag and show the
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geometry on the next draw.
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Parameters
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-------------
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node : str
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Node to display
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"""
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self._nodes_hidden.discard(node)
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def hide_geometry(self, node):
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"""
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Don't display the geometry contained at a node on
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the next draw.
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Parameters
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-------------
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node : str
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Node to not display
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"""
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self._nodes_hidden.add(node)
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def reset_view(self, flags=None):
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"""
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Set view to the default view.
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Parameters
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--------------
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flags : None or dict
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If any view key passed override the default
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e.g. {'cull': False}
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"""
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self.view = {
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'cull': True,
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'axis': False,
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'grid': False,
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'fullscreen': False,
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'wireframe': False,
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'ball': Trackball(
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pose=self._initial_camera_transform,
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size=self.scene.camera.resolution,
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scale=self.scene.scale,
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target=self.scene.centroid)}
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try:
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# if any flags are passed override defaults
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if isinstance(flags, dict):
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for k, v in flags.items():
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if k in self.view:
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self.view[k] = v
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self.update_flags()
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except BaseException:
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pass
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def init_gl(self):
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"""
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Perform the magic incantations to create an
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OpenGL scene using pyglet.
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"""
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# if user passed a background color use it
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if self.background is None:
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# default background color is white
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background = np.ones(4)
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else:
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# convert to (4,) uint8 RGBA
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background = to_rgba(self.background)
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# convert to 0.0-1.0 float
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background = background.astype(np.float64) / 255.0
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self._gl_set_background(background)
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# use camera setting for depth
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self._gl_enable_depth(self.scene.camera)
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self._gl_enable_color_material()
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self._gl_enable_blending()
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self._gl_enable_smooth_lines()
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self._gl_enable_lighting(self.scene)
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@staticmethod
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def _gl_set_background(background):
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gl.glClearColor(*background)
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@staticmethod
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def _gl_unset_background():
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gl.glClearColor(*[0, 0, 0, 0])
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@staticmethod
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def _gl_enable_depth(camera):
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"""
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Enable depth test in OpenGL using distances
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from `scene.camera`.
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"""
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# set the culling depth from our camera object
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gl.glDepthRange(camera.z_near, camera.z_far)
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gl.glClearDepth(1.0)
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gl.glEnable(gl.GL_DEPTH_TEST)
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gl.glDepthFunc(gl.GL_LEQUAL)
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gl.glEnable(gl.GL_DEPTH_TEST)
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gl.glEnable(gl.GL_CULL_FACE)
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@staticmethod
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def _gl_enable_color_material():
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# do some openGL things
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gl.glColorMaterial(gl.GL_FRONT_AND_BACK,
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gl.GL_AMBIENT_AND_DIFFUSE)
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gl.glEnable(gl.GL_COLOR_MATERIAL)
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gl.glShadeModel(gl.GL_SMOOTH)
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gl.glMaterialfv(gl.GL_FRONT,
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gl.GL_AMBIENT,
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rendering.vector_to_gl(
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0.192250, 0.192250, 0.192250))
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gl.glMaterialfv(gl.GL_FRONT,
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gl.GL_DIFFUSE,
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rendering.vector_to_gl(
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0.507540, 0.507540, 0.507540))
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gl.glMaterialfv(gl.GL_FRONT,
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gl.GL_SPECULAR,
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rendering.vector_to_gl(
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.5082730, .5082730, .5082730))
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gl.glMaterialf(gl.GL_FRONT,
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gl.GL_SHININESS,
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.4 * 128.0)
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@staticmethod
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def _gl_enable_blending():
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# enable blending for transparency
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gl.glEnable(gl.GL_BLEND)
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gl.glBlendFunc(gl.GL_SRC_ALPHA,
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gl.GL_ONE_MINUS_SRC_ALPHA)
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@staticmethod
|
||
|
|
def _gl_enable_smooth_lines():
|
||
|
|
# make the lines from Path3D objects less ugly
|
||
|
|
gl.glEnable(gl.GL_LINE_SMOOTH)
|
||
|
|
gl.glHint(gl.GL_LINE_SMOOTH_HINT, gl.GL_NICEST)
|
||
|
|
# set the width of lines to 4 pixels
|
||
|
|
gl.glLineWidth(4)
|
||
|
|
# set PointCloud markers to 4 pixels in size
|
||
|
|
gl.glPointSize(4)
|
||
|
|
|
||
|
|
@staticmethod
|
||
|
|
def _gl_enable_lighting(scene):
|
||
|
|
"""
|
||
|
|
Take the lights defined in scene.lights and
|
||
|
|
apply them as openGL lights.
|
||
|
|
"""
|
||
|
|
gl.glEnable(gl.GL_LIGHTING)
|
||
|
|
# opengl only supports 7 lights?
|
||
|
|
for i, light in enumerate(scene.lights[:7]):
|
||
|
|
# the index of which light we have
|
||
|
|
lightN = eval('gl.GL_LIGHT{}'.format(i))
|
||
|
|
|
||
|
|
# get the transform for the light by name
|
||
|
|
matrix = scene.graph.get(light.name)[0]
|
||
|
|
|
||
|
|
# convert light object to glLightfv calls
|
||
|
|
multiargs = rendering.light_to_gl(
|
||
|
|
light=light,
|
||
|
|
transform=matrix,
|
||
|
|
lightN=lightN)
|
||
|
|
|
||
|
|
# enable the light in question
|
||
|
|
gl.glEnable(lightN)
|
||
|
|
# run the glLightfv calls
|
||
|
|
for args in multiargs:
|
||
|
|
gl.glLightfv(*args)
|
||
|
|
|
||
|
|
def toggle_culling(self):
|
||
|
|
"""
|
||
|
|
Toggle back face culling.
|
||
|
|
|
||
|
|
It is on by default but if you are dealing with
|
||
|
|
non- watertight meshes you probably want to be able
|
||
|
|
to see the back sides.
|
||
|
|
"""
|
||
|
|
self.view['cull'] = not self.view['cull']
|
||
|
|
self.update_flags()
|
||
|
|
|
||
|
|
def toggle_wireframe(self):
|
||
|
|
"""
|
||
|
|
Toggle wireframe mode
|
||
|
|
|
||
|
|
Good for looking inside meshes, off by default.
|
||
|
|
"""
|
||
|
|
self.view['wireframe'] = not self.view['wireframe']
|
||
|
|
self.update_flags()
|
||
|
|
|
||
|
|
def toggle_fullscreen(self):
|
||
|
|
"""
|
||
|
|
Toggle between fullscreen and windowed mode.
|
||
|
|
"""
|
||
|
|
self.view['fullscreen'] = not self.view['fullscreen']
|
||
|
|
self.update_flags()
|
||
|
|
|
||
|
|
def toggle_axis(self):
|
||
|
|
"""
|
||
|
|
Toggle a rendered XYZ/RGB axis marker:
|
||
|
|
off, world frame, every frame
|
||
|
|
"""
|
||
|
|
# cycle through three axis states
|
||
|
|
states = [False, 'world', 'all', 'without_world']
|
||
|
|
# the state after toggling
|
||
|
|
index = (states.index(self.view['axis']) + 1) % len(states)
|
||
|
|
# update state to next index
|
||
|
|
self.view['axis'] = states[index]
|
||
|
|
# perform gl actions
|
||
|
|
self.update_flags()
|
||
|
|
|
||
|
|
def toggle_grid(self):
|
||
|
|
"""
|
||
|
|
Toggle a rendered grid.
|
||
|
|
"""
|
||
|
|
# update state to next index
|
||
|
|
self.view['grid'] = not self.view['grid']
|
||
|
|
# perform gl actions
|
||
|
|
self.update_flags()
|
||
|
|
|
||
|
|
def update_flags(self):
|
||
|
|
"""
|
||
|
|
Check the view flags, and call required GL functions.
|
||
|
|
"""
|
||
|
|
# view mode, filled vs wirefrom
|
||
|
|
if self.view['wireframe']:
|
||
|
|
gl.glPolygonMode(gl.GL_FRONT_AND_BACK, gl.GL_LINE)
|
||
|
|
else:
|
||
|
|
gl.glPolygonMode(gl.GL_FRONT_AND_BACK, gl.GL_FILL)
|
||
|
|
|
||
|
|
# set fullscreen or windowed
|
||
|
|
self.set_fullscreen(fullscreen=self.view['fullscreen'])
|
||
|
|
|
||
|
|
# backface culling on or off
|
||
|
|
if self.view['cull']:
|
||
|
|
gl.glEnable(gl.GL_CULL_FACE)
|
||
|
|
else:
|
||
|
|
gl.glDisable(gl.GL_CULL_FACE)
|
||
|
|
|
||
|
|
# case where we WANT an axis and NO vertexlist
|
||
|
|
# is stored internally
|
||
|
|
if self.view['axis'] and self._axis is None:
|
||
|
|
from .. import creation
|
||
|
|
# create an axis marker sized relative to the scene
|
||
|
|
axis = creation.axis(origin_size=self.scene.scale / 100)
|
||
|
|
# create ordered args for a vertex list
|
||
|
|
args = rendering.mesh_to_vertexlist(axis)
|
||
|
|
# store the axis as a reference
|
||
|
|
self._axis = self.batch.add_indexed(*args)
|
||
|
|
# case where we DON'T want an axis but a vertexlist
|
||
|
|
# IS stored internally
|
||
|
|
elif not self.view['axis'] and self._axis is not None:
|
||
|
|
# remove the axis from the rendering batch
|
||
|
|
self._axis.delete()
|
||
|
|
# set the reference to None
|
||
|
|
self._axis = None
|
||
|
|
|
||
|
|
if self.view['grid'] and self._grid is None:
|
||
|
|
try:
|
||
|
|
# create a grid marker
|
||
|
|
from ..path.creation import grid
|
||
|
|
bounds = self.scene.bounds
|
||
|
|
center = bounds.mean(axis=0)
|
||
|
|
# set the grid to the lowest Z position
|
||
|
|
# also offset by the scale to avoid interference
|
||
|
|
center[2] = bounds[0][2] - (bounds[:, 2].ptp() / 100)
|
||
|
|
# choose the side length by maximum XY length
|
||
|
|
side = bounds.ptp(axis=0)[:2].max()
|
||
|
|
# create an axis marker sized relative to the scene
|
||
|
|
grid_mesh = grid(
|
||
|
|
side=side,
|
||
|
|
count=4,
|
||
|
|
transform=translation_matrix(center))
|
||
|
|
# convert the path to vertexlist args
|
||
|
|
args = rendering.convert_to_vertexlist(grid_mesh)
|
||
|
|
# create ordered args for a vertex list
|
||
|
|
self._grid = self.batch.add_indexed(*args)
|
||
|
|
except BaseException:
|
||
|
|
util.log.warning(
|
||
|
|
'failed to create grid!', exc_info=True)
|
||
|
|
elif not self.view['grid'] and self._grid is not None:
|
||
|
|
self._grid.delete()
|
||
|
|
self._grid = None
|
||
|
|
|
||
|
|
def _update_perspective(self, width, height):
|
||
|
|
try:
|
||
|
|
# for high DPI screens viewport size
|
||
|
|
# will be different then the passed size
|
||
|
|
width, height = self.get_viewport_size()
|
||
|
|
except BaseException:
|
||
|
|
# older versions of pyglet may not have this
|
||
|
|
pass
|
||
|
|
|
||
|
|
# set the new viewport size
|
||
|
|
gl.glViewport(0, 0, width, height)
|
||
|
|
gl.glMatrixMode(gl.GL_PROJECTION)
|
||
|
|
gl.glLoadIdentity()
|
||
|
|
|
||
|
|
# get field of view and Z range from camera
|
||
|
|
camera = self.scene.camera
|
||
|
|
|
||
|
|
# set perspective from camera data
|
||
|
|
gl.gluPerspective(camera.fov[1],
|
||
|
|
width / float(height),
|
||
|
|
camera.z_near,
|
||
|
|
camera.z_far)
|
||
|
|
gl.glMatrixMode(gl.GL_MODELVIEW)
|
||
|
|
|
||
|
|
return width, height
|
||
|
|
|
||
|
|
def on_resize(self, width, height):
|
||
|
|
"""
|
||
|
|
Handle resized windows.
|
||
|
|
"""
|
||
|
|
width, height = self._update_perspective(width, height)
|
||
|
|
self.scene.camera.resolution = (width, height)
|
||
|
|
self.view['ball'].resize(self.scene.camera.resolution)
|
||
|
|
self.scene.camera_transform[...] = self.view['ball'].pose
|
||
|
|
|
||
|
|
def on_mouse_press(self, x, y, buttons, modifiers):
|
||
|
|
"""
|
||
|
|
Set the start point of the drag.
|
||
|
|
"""
|
||
|
|
self.view['ball'].set_state(Trackball.STATE_ROTATE)
|
||
|
|
if (buttons == pyglet.window.mouse.LEFT):
|
||
|
|
ctrl = (modifiers & pyglet.window.key.MOD_CTRL)
|
||
|
|
shift = (modifiers & pyglet.window.key.MOD_SHIFT)
|
||
|
|
if (ctrl and shift):
|
||
|
|
self.view['ball'].set_state(Trackball.STATE_ZOOM)
|
||
|
|
elif shift:
|
||
|
|
self.view['ball'].set_state(Trackball.STATE_ROLL)
|
||
|
|
elif ctrl:
|
||
|
|
self.view['ball'].set_state(Trackball.STATE_PAN)
|
||
|
|
elif (buttons == pyglet.window.mouse.MIDDLE):
|
||
|
|
self.view['ball'].set_state(Trackball.STATE_PAN)
|
||
|
|
elif (buttons == pyglet.window.mouse.RIGHT):
|
||
|
|
self.view['ball'].set_state(Trackball.STATE_ZOOM)
|
||
|
|
|
||
|
|
self.view['ball'].down(np.array([x, y]))
|
||
|
|
self.scene.camera_transform[...] = self.view['ball'].pose
|
||
|
|
|
||
|
|
def on_mouse_drag(self, x, y, dx, dy, buttons, modifiers):
|
||
|
|
"""
|
||
|
|
Pan or rotate the view.
|
||
|
|
"""
|
||
|
|
self.view['ball'].drag(np.array([x, y]))
|
||
|
|
self.scene.camera_transform[...] = self.view['ball'].pose
|
||
|
|
|
||
|
|
def on_mouse_scroll(self, x, y, dx, dy):
|
||
|
|
"""
|
||
|
|
Zoom the view.
|
||
|
|
"""
|
||
|
|
self.view['ball'].scroll(dy)
|
||
|
|
self.scene.camera_transform[...] = self.view['ball'].pose
|
||
|
|
|
||
|
|
def on_key_press(self, symbol, modifiers):
|
||
|
|
"""
|
||
|
|
Call appropriate functions given key presses.
|
||
|
|
"""
|
||
|
|
magnitude = 10
|
||
|
|
if symbol == pyglet.window.key.W:
|
||
|
|
self.toggle_wireframe()
|
||
|
|
elif symbol == pyglet.window.key.Z:
|
||
|
|
self.reset_view()
|
||
|
|
elif symbol == pyglet.window.key.C:
|
||
|
|
self.toggle_culling()
|
||
|
|
elif symbol == pyglet.window.key.A:
|
||
|
|
self.toggle_axis()
|
||
|
|
elif symbol == pyglet.window.key.G:
|
||
|
|
self.toggle_grid()
|
||
|
|
elif symbol == pyglet.window.key.Q:
|
||
|
|
self.on_close()
|
||
|
|
elif symbol == pyglet.window.key.M:
|
||
|
|
self.maximize()
|
||
|
|
elif symbol == pyglet.window.key.F:
|
||
|
|
self.toggle_fullscreen()
|
||
|
|
|
||
|
|
if symbol in [
|
||
|
|
pyglet.window.key.LEFT,
|
||
|
|
pyglet.window.key.RIGHT,
|
||
|
|
pyglet.window.key.DOWN,
|
||
|
|
pyglet.window.key.UP]:
|
||
|
|
self.view['ball'].down([0, 0])
|
||
|
|
if symbol == pyglet.window.key.LEFT:
|
||
|
|
self.view['ball'].drag([-magnitude, 0])
|
||
|
|
elif symbol == pyglet.window.key.RIGHT:
|
||
|
|
self.view['ball'].drag([magnitude, 0])
|
||
|
|
elif symbol == pyglet.window.key.DOWN:
|
||
|
|
self.view['ball'].drag([0, -magnitude])
|
||
|
|
elif symbol == pyglet.window.key.UP:
|
||
|
|
self.view['ball'].drag([0, magnitude])
|
||
|
|
self.scene.camera_transform[...] = self.view['ball'].pose
|
||
|
|
|
||
|
|
def on_draw(self):
|
||
|
|
"""
|
||
|
|
Run the actual draw calls.
|
||
|
|
"""
|
||
|
|
|
||
|
|
if self._profile:
|
||
|
|
profiler = self.Profiler()
|
||
|
|
profiler.start()
|
||
|
|
|
||
|
|
self._update_meshes()
|
||
|
|
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
|
||
|
|
gl.glLoadIdentity()
|
||
|
|
|
||
|
|
# pull the new camera transform from the scene
|
||
|
|
transform_camera = np.linalg.inv(self.scene.camera_transform)
|
||
|
|
|
||
|
|
# apply the camera transform to the matrix stack
|
||
|
|
gl.glMultMatrixf(rendering.matrix_to_gl(transform_camera))
|
||
|
|
|
||
|
|
# we want to render fully opaque objects first,
|
||
|
|
# followed by objects which have transparency
|
||
|
|
node_names = collections.deque(self.scene.graph.nodes_geometry)
|
||
|
|
# how many nodes did we start with
|
||
|
|
count_original = len(node_names)
|
||
|
|
count = -1
|
||
|
|
|
||
|
|
# if we are rendering an axis marker at the world
|
||
|
|
if self._axis and not self.view['axis'] == 'without_world':
|
||
|
|
# we stored it as a vertex list
|
||
|
|
self._axis.draw(mode=gl.GL_TRIANGLES)
|
||
|
|
if self._grid:
|
||
|
|
self._grid.draw(mode=gl.GL_LINES)
|
||
|
|
|
||
|
|
while len(node_names) > 0:
|
||
|
|
count += 1
|
||
|
|
current_node = node_names.popleft()
|
||
|
|
|
||
|
|
if current_node in self._nodes_hidden:
|
||
|
|
continue
|
||
|
|
|
||
|
|
# get the transform from world to geometry and mesh name
|
||
|
|
transform, geometry_name = self.scene.graph.get(current_node)
|
||
|
|
|
||
|
|
# if no geometry at this frame continue without rendering
|
||
|
|
if geometry_name is None:
|
||
|
|
continue
|
||
|
|
|
||
|
|
# if a geometry is marked as fixed apply the inverse view transform
|
||
|
|
if self.fixed is not None and geometry_name in self.fixed:
|
||
|
|
# remove altered camera transform from fixed geometry
|
||
|
|
transform_fix = np.linalg.inv(
|
||
|
|
np.dot(self._initial_camera_transform, transform_camera))
|
||
|
|
# apply the transform so the fixed geometry doesn't move
|
||
|
|
transform = np.dot(transform, transform_fix)
|
||
|
|
|
||
|
|
# get a reference to the mesh so we can check transparency
|
||
|
|
mesh = self.scene.geometry[geometry_name]
|
||
|
|
if mesh.is_empty:
|
||
|
|
continue
|
||
|
|
|
||
|
|
# get the GL mode of the current geometry
|
||
|
|
mode = self.vertex_list_mode[geometry_name]
|
||
|
|
|
||
|
|
# if you draw a coplanar line with a triangle it will z-fight
|
||
|
|
# the best way to do this is probably a shader but this works fine
|
||
|
|
if mode == gl.GL_LINES:
|
||
|
|
# apply the offset in camera space
|
||
|
|
transform = util.multi_dot([
|
||
|
|
transform,
|
||
|
|
np.linalg.inv(transform_camera),
|
||
|
|
self._line_offset,
|
||
|
|
transform_camera])
|
||
|
|
|
||
|
|
# add a new matrix to the model stack
|
||
|
|
gl.glPushMatrix()
|
||
|
|
# transform by the nodes transform
|
||
|
|
gl.glMultMatrixf(rendering.matrix_to_gl(transform))
|
||
|
|
|
||
|
|
# draw an axis marker for each mesh frame
|
||
|
|
if self.view['axis'] == 'all':
|
||
|
|
self._axis.draw(mode=gl.GL_TRIANGLES)
|
||
|
|
elif self.view['axis'] == 'without_world':
|
||
|
|
if count > 0:
|
||
|
|
self._axis.draw(mode=gl.GL_TRIANGLES)
|
||
|
|
|
||
|
|
# transparent things must be drawn last
|
||
|
|
if (hasattr(mesh, 'visual') and
|
||
|
|
hasattr(mesh.visual, 'transparency')
|
||
|
|
and mesh.visual.transparency):
|
||
|
|
# put the current item onto the back of the queue
|
||
|
|
if count < count_original:
|
||
|
|
# add the node to be drawn last
|
||
|
|
node_names.append(current_node)
|
||
|
|
# pop the matrix stack for now
|
||
|
|
gl.glPopMatrix()
|
||
|
|
# come back to this mesh later
|
||
|
|
continue
|
||
|
|
|
||
|
|
# if we have texture enable the target texture
|
||
|
|
texture = None
|
||
|
|
if geometry_name in self.textures:
|
||
|
|
texture = self.textures[geometry_name]
|
||
|
|
gl.glEnable(texture.target)
|
||
|
|
gl.glBindTexture(texture.target, texture.id)
|
||
|
|
|
||
|
|
# draw the mesh with its transform applied
|
||
|
|
self.vertex_list[geometry_name].draw(mode=mode)
|
||
|
|
# pop the matrix stack as we drew what we needed to draw
|
||
|
|
gl.glPopMatrix()
|
||
|
|
|
||
|
|
# disable texture after using
|
||
|
|
if texture is not None:
|
||
|
|
gl.glDisable(texture.target)
|
||
|
|
|
||
|
|
if self._profile:
|
||
|
|
profiler.stop()
|
||
|
|
print(profiler.output_text(unicode=True, color=True))
|
||
|
|
|
||
|
|
def save_image(self, file_obj):
|
||
|
|
"""
|
||
|
|
Save the current color buffer to a file object
|
||
|
|
in PNG format.
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
-------------
|
||
|
|
file_obj: file name, or file- like object
|
||
|
|
"""
|
||
|
|
manager = pyglet.image.get_buffer_manager()
|
||
|
|
colorbuffer = manager.get_color_buffer()
|
||
|
|
|
||
|
|
# if passed a string save by name
|
||
|
|
if hasattr(file_obj, 'write'):
|
||
|
|
colorbuffer.save(file=file_obj)
|
||
|
|
else:
|
||
|
|
colorbuffer.save(filename=file_obj)
|
||
|
|
|
||
|
|
|
||
|
|
def geometry_hash(geometry):
|
||
|
|
"""
|
||
|
|
Get an MD5 for a geometry object
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
------------
|
||
|
|
geometry : object
|
||
|
|
|
||
|
|
Returns
|
||
|
|
------------
|
||
|
|
MD5 : str
|
||
|
|
"""
|
||
|
|
if hasattr(geometry, 'md5'):
|
||
|
|
# for most of our trimesh objects
|
||
|
|
md5 = geometry.md5()
|
||
|
|
elif hasattr(geometry, 'tostring'):
|
||
|
|
# for unwrapped ndarray objects
|
||
|
|
md5 = str(hash(geometry.tostring()))
|
||
|
|
|
||
|
|
if hasattr(geometry, 'visual'):
|
||
|
|
# if visual properties are defined
|
||
|
|
md5 += str(geometry.visual.crc())
|
||
|
|
return md5
|
||
|
|
|
||
|
|
|
||
|
|
def render_scene(scene,
|
||
|
|
resolution=None,
|
||
|
|
visible=True,
|
||
|
|
**kwargs):
|
||
|
|
"""
|
||
|
|
Render a preview of a scene to a PNG.
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
------------
|
||
|
|
scene : trimesh.Scene
|
||
|
|
Geometry to be rendered
|
||
|
|
resolution : (2,) int or None
|
||
|
|
Resolution in pixels, or set from scene.camera
|
||
|
|
kwargs : **
|
||
|
|
Passed to SceneViewer
|
||
|
|
|
||
|
|
Returns
|
||
|
|
---------
|
||
|
|
render : bytes
|
||
|
|
Image in PNG format
|
||
|
|
"""
|
||
|
|
window = SceneViewer(scene,
|
||
|
|
start_loop=False,
|
||
|
|
visible=visible,
|
||
|
|
resolution=resolution,
|
||
|
|
**kwargs)
|
||
|
|
|
||
|
|
if visible is None:
|
||
|
|
visible = platform.system() != 'Linux'
|
||
|
|
|
||
|
|
from ..util import BytesIO
|
||
|
|
|
||
|
|
# need to run loop twice to display anything
|
||
|
|
for save in [False, False, True]:
|
||
|
|
pyglet.clock.tick()
|
||
|
|
window.switch_to()
|
||
|
|
window.dispatch_events()
|
||
|
|
window.dispatch_event('on_draw')
|
||
|
|
window.flip()
|
||
|
|
if save:
|
||
|
|
# save the color buffer data to memory
|
||
|
|
file_obj = BytesIO()
|
||
|
|
window.save_image(file_obj)
|
||
|
|
file_obj.seek(0)
|
||
|
|
render = file_obj.read()
|
||
|
|
window.close()
|
||
|
|
|
||
|
|
return render
|