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visEnv.py
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visEnv.py
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from __future__ import print_function
import viz
import vizshape
import vizmat
import math
import vizact
import Shadow
import physEnv
ft = .3048
inch = 0.0254
m = 1
eps = .01
yard = 1.09361
nan = float('NaN')
class room():
def __init__(self,config=None):
self.roomnode3D = viz.addGroup()
self.walls = viz.addGroup()
self.objects = viz.addGroup()
self.passingPlane = None
##################################
## Physical environment
self.physEnv = physEnv.physEnv()
##################################
if config==None:
print('No config')
self.texPath = 'Resources/'
self.roomWidth = 50.0; #self.wallPos_PosX-self.wallPos_NegX
self.roomLength = 50.0; #self.wallPos_PosZ-self.wallPos_NegZ
self.translateOnZ = 8.0
self.translateOnX = 0.0
self.wallPos_PosZ = self.roomLength/2 + self.translateOnZ
self.wallPos_NegZ = -self.roomLength/2 + self.translateOnZ
self.wallPos_PosX = self.roomWidth/2 + self.translateOnX
self.wallPos_NegX = -self.roomWidth/2 + self.translateOnX
self.ceilingHeight = 25.0
self.drawStandingBox = False
else:
self.texPath = config.expCfg['experiment']['texturePath'] #'Resources/'
roomSize_WHL = map(float, config.expCfg['room']['roomSize_WHL'])
self.roomWidth = roomSize_WHL[0]
self.ceilingHeight = roomSize_WHL[1]
self.roomLength = roomSize_WHL[2]
self.translateOnX = float(config.expCfg['room']['translateRoom_X'])
self.translateOnZ = float(config.expCfg['room']['translateRoom_Z'])
self.wallPos_PosZ = self.roomLength/2 + self.translateOnZ
self.wallPos_NegZ = -self.roomLength/2 + self.translateOnZ
self.wallPos_PosX = self.roomWidth/2 + self.translateOnX
self.wallPos_NegX = -self.roomWidth/2 + self.translateOnX
self.drawStandingBox = config.expCfg['experiment']['drawStandingBox']
self.isLeftHanded = float(config.expCfg['experiment']['isLeftHanded'])
if self.drawStandingBox:
self.standingBoxOffset_X = config.expCfg['room']['standingBoxOffset_X']
self.standingBoxSize_WHL = map(float, config.expCfg['room']['standingBoxSize_WHL'])
self.shiftWorldRelToUser_XYZ = [0, 0, 0]
####################################################################
## Fill room with objects
self.visObjNames_idx = config.expCfg['visObj']['visObjVarNames']
self.visObjShapes_idx = config.expCfg['visObj']['visObjShapes']
self.visObjSizes_idx = eval(config.expCfg['visObj']['visObjSizesString'])
self.fillWithVisObj()
self.shadowSource = []
self.lightSource = []
self.setLighting()
####################################################################
texScale = 1
wallTexPath = self.texPath + 'Texture_Seamless.jpg'
floorTexPath = self.texPath + 'tile_wood.jpg'
planeABCD = [0, -1, 0, -self.ceilingHeight]
self.ceiling = wall(self.physEnv,[self.roomWidth,self.roomLength],[1,0,0,-90],
[self.translateOnX,self.ceilingHeight,self.translateOnZ],
wallTexPath,texScale,planeABCD)
planeABCD = [0,0,-1,-self.wallPos_PosZ]
self.wall_PosZ = wall(self.physEnv,[self.ceilingHeight,self.roomWidth],[0,0,1,90],
[self.translateOnX,self.ceilingHeight/2, self.wallPos_PosZ],
wallTexPath,texScale,planeABCD)
planeABCD = [0,0,1,self.wallPos_NegZ]
self.wall_NegZ = wall(self.physEnv,[self.roomWidth,self.ceilingHeight],[0,1,0,180],
[self.translateOnX,self.ceilingHeight/2, self.wallPos_NegZ],
wallTexPath,texScale,planeABCD)
planeABCD = [-1,0,0,-self.wallPos_PosX]
self.wall_PosX = wall(self.physEnv,[self.roomLength,self.ceilingHeight],[0,1,0,90],
[self.wallPos_PosX,self.ceilingHeight/2,self.translateOnZ ],
wallTexPath,texScale,planeABCD)
planeABCD = [1,0,0,self.wallPos_NegX]
self.wall_NegX = wall(self.physEnv,[self.roomLength,self.ceilingHeight],[0,-1,0,90],
[self.wallPos_NegX,self.ceilingHeight/2,self.translateOnZ ],
wallTexPath,texScale,planeABCD)
planeABCD = [0,1,0,0]
self.floor = wall(self.physEnv,[self.roomWidth,self.roomLength],[1,0,0,90],
[self.translateOnX,0, self.translateOnZ],
floorTexPath,texScale,planeABCD)
self.floor.node3D.setParent(self.walls)
self.ceiling.node3D.setParent(self.walls)
self.wall_PosZ.node3D.setParent(self.walls)
self.wall_NegZ.node3D.setParent(self.walls)
self.wall_PosX.node3D.setParent(self.walls)
self.wall_NegX.node3D.setParent(self.walls)
self.walls.setParent( self.roomnode3D )
self.objects.setParent( self.roomnode3D )
if self.drawStandingBox:
self.createStandingBox()
def fillWithVisObj(self):
"""
This little bit of code fills the room with objects specified in the config file
"""
for idx in range(len(self.visObjNames_idx)):
if( len(self.visObjNames_idx[idx])>0 ):
execString = 'self.' + self.visObjNames_idx[idx] + ' = visObj(self,self.visObjShapes_idx[idx],self.visObjSizes_idx[idx])'
print('VisEnv:Room: Added ' + self.visObjNames_idx[idx])
exec(execString)
def createStandingBox(self):
"""
Draw the standing box
"""
boxSizeInfo = [ self.standingBoxSize_WHL[0], self.standingBoxSize_WHL[1], self.standingBoxSize_WHL[2]]
self.standingBox = vizshape.addBox( boxSizeInfo,color=viz.GREEN,splitFaces = True,back=True)
self.standingBox.emissive([0,1,0])
self.standingBox.alpha(0.5)
if( self.isLeftHanded ): self.standingBoxOffset_X *= -1
self.standingBox.setPosition(float(-self.standingBoxOffset_X), self.standingBoxSize_WHL[1]/2, .01)
self.standingBox.color(1, 0, 0, node='back')
self.standingBox.emissive(1, 0, 0, node='back')
self.standingBox.alpha(0.7, node='back')
self.standingBox.setParent(self.objects)
#self.standingBox.disable(viz.CULLING)
self.standingBox.disable(viz.CULL_FACE)
def setLighting(self):
viz.MainView.getHeadLight().disable()
# #viz.MainView.get
# self.lightSource = viz.addLight()
# self.lightSource.enable()
# #self.lightSource.position(0, self.ceilingHeight, 0)
# self.lightSource.spread(180)
# self.lightSource.intensity(1)
#
# viz.MainView.getHeadLight().disable()
self.lightSource = viz.addLight()
self.lightSource.enable()
#self.lightSource.position(0, self.ceilingHeight, 0)
self.lightSource.spread(180)
self.lightSource.intensity(1)
### ADD A SHADOW
#SHADOW_RES = 256*10
SHADOW_RES = 100*10
SHADOW_PROJ_POS = (0, self.ceilingHeight, 0)
SHADOW_AREA = (self.roomWidth,self.roomLength)
#Create shadow projector
self.shadowSource = Shadow.ShadowProjector(size=SHADOW_RES,pos=SHADOW_PROJ_POS,area=SHADOW_AREA)
class wall():
"""
Why isn't this a subclass of Node3D or whatever object viz.addTexQuad() returns?
"""
def __init__(self,physEnv,dimensions,axisAngle,position,texPath,texScale,planeABCD):
# A wall object invludes a specialized node3D
# This node3D is actually a texQuad
################################################################################################
################################################################################################
## Set variables
self.dimensions = dimensions
self.axisAngle = axisAngle
self.position = position
self.texPath = texPath
self.texScale = texScale
################################################################################################
################################################################################################
## Create node3D: a texture quad
self.node3D = viz.addTexQuad()
self.node3D.setScale(dimensions[0],dimensions[1])
self.node3D.setPosition(position)
self.node3D.setAxisAngle(axisAngle)
self.node3D.disable(viz.DYNAMICS)
self.node3D.enable([viz.LIGHTING,viz.CULL_FACE])
# Put texture on the quad
matrix = vizmat.Transform()
matrix.setScale([dimensions[0]/texScale,dimensions[1]/texScale,texScale])
self.node3D.texmat(matrix)
self.texObj = viz.addTexture(texPath)
self.texObj.wrap(viz.WRAP_T, viz.REPEAT)
self.texObj.wrap(viz.WRAP_S, viz.REPEAT)
self.node3D.texture(self.texObj)
################################################################################################
################################################################################################
## Create physNode plane
self.physNode = physEnv.makePhysNode('plane',planeABCD)
class visObj(viz.EventClass):
"""
Subclass of Vizard's EventClass.
"""
def __init__(self, room, shape, size, position=[0,.25,-3], color=[.5,0,0], alpha=1):
################################################################################################
################################################################################################
## Set variables
self.elasticity = 1
self.color_3f = color
self.position = position
self.shape = shape
self.alpha = alpha
self.isDynamic = 0
self.isVisible = 1
self.inFloorCollision = 0
self.physNode = False
# Note that size info is particular to the shape
# For ball, just a radius
# for box, lenght width and height
# etc.
self.size = size
self.parentRoom = room
self.node3D = 0
self.obj = []
################################################################################################
################################################################################################
## Variables related to automated updating with physics or motion capture
self.updateAction = 0
################################################################################################
################################################################################################
## Create visual object
self.makeBasicVizShape()
#self.node3D.color(self.color_3f)
self.setColor(self.color_3f)
self.node3D.visible(True)
## Create physical object
self.node3D.dynamic() # This command speeds up rendering, supposedly
#self.enablePhysNode()
def __del__(self):
# TODO: Rename this method "remove"; remove method only serves to call this - nothing more.
#print viz.getFrameNumber()
# Stop updating node3D
if( self.updateAction ):
self.updateAction.remove()
# Remove physical component
if self.physNode:
self.physNode.remove()
self.physNode = False
# Remove visual component
self.node3D.remove()
def remove(self):
self.__del__()
def makeBasicVizShape(self):
# TODO: Move this functionality to a shape subclass.
# There is already mocapMarkerSphere subclass. It is confusing to have functionality split
# between a subclass and class method.
# Returns a pointer to a vizshape object
# This is added to the room.objects parent
newnode3D = []
if(self.shape == 'box' ):
#print 'Making box node3D'
if( type(self.size) == float or len(self.size) !=3):
print('**********Invalid size for box')
print('Check rigidBodySizesString. Expected 3 val for box: height,width,length.')
print('Got: ' + str(self.size))
import winsound
winsound.Beep(1000,250)
lwh = [self.size[1],self.size[2],self.size[0]]
newnode3D = vizshape.addBox(lwh ,alpha = self.alpha,color=viz.RED)
elif self.shape == 'sphere':
if type(self.size) == list and len(self.size) == 1:
self.size = float(self.size[0])
if type(self.size) != float: # accept a float
print('**********Invalid size for sphere')
print('Check rigidBodySizesString. Expected 1 val for sphere: radius')
print('Got: ' + str(self.size))
import winsound
winsound.Beep(1000,250)
#print 'Making sphere node3D'
newnode3D = vizshape.addSphere(radius = float(self.size), alpha = self.alpha,color=viz.BLUE,slices=20, stacks=20)
elif('cylinder' in self.shape):
if( type(self.size) == float or len(self.size) !=2):
print('**********Invalid size for cylinder')
print('Check rigidBodySizesString. Expected 2 val for cylinder: height,radius')
print('Got: ' + str(self.size))
import winsound
winsound.Beep(1000,250)
#print 'Making cylinder node3D'
if( self.shape[-2:] == '_X' or self.shape[-2:] == '_Y' or self.shape[-2:] == '_Z' ):
axisString = 'vizshape.AXIS' + self.shape[-2:]
print(axisString + axisString + axisString + axisString)
evalString = 'vizshape.addCylinder(height=self.size[0],radius=self.size[1], alpha = self.alpha,color=viz.BLUE,axis=' + axisString + ')'
newnode3D = eval(evalString)
else:
newnode3D = vizshape.addCylinder(height=self.size[0],radius=self.size[1], alpha = self.alpha,color=viz.BLUE, axis = vizshape.AXIS_Y )
if newnode3D:
self.node3D = newnode3D
else:
print('vizEnv.room.makeBasicVizShape(): Unable to create node3D')
import winsound
winsound.Beep(1000,250)
#if(self.parentRoom):
newnode3D.setParent(self.parentRoom.objects)
def setVelocity(self,velocity):
#self.node3D.setVelocity(velocity)
if( self.physNode.body ):
self.physNode.body.setLinearVel(velocity)
def getVelocity(self):
#self.node3D.setVelocity(velocity)
if( self.physNode.body ):
return self.physNode.body.getLinearVel()
def getAngularVelocity(self):
#self.node3D.setVelocity(velocity)
if( self.physNode.body ):
return self.physNode.body.getAngularVel()
def setPosition(self,position):
self.node3D.setPosition(position)
if self.physNode:
self.physNode.setPosition(position)
def setColor(self,color3f):
self.node3D.color(color3f)
#self.node3D.ambient(color3f)
#self.node3D.specular(color3f)
def projectShadows(self,targetnode3D):
#add avatar as shadow caster
self.parentRoom.shadowSource.addCaster(self.node3D)
#Add ground as shadow receiver
self.parentRoom.shadowSource.addReceiver(targetnode3D)
# def setMocapMarker(self,mocap,markerIndex):
#
# self.markerObject = mocap.returnPointerToMarker(markerIndex)
#
# def setMocapRigidBody(self,mocap,rigidBodyFileString):
#
# self.rigidBodyFile = mocap.returnPointerToRigid(rigidBodyFileString)
def enablePhysNode(self):
## Create physical object
self.physNode = self.parentRoom.physEnv.makePhysNode(self.shape,self.position,self.size)
self.setVelocity([0,0,0])
self.physNode.disableMovement()
def linkToPhysNode(self):
#print'linkToPhysNode ==>' self.physNode.node3D.getPosition()
self.updateAction = viz.link( self.physNode.node3D, self.node3D )
#if( self.physNode ):
#return vizact.onupdate(viz.PRIORITY_LINKS,self.physNode.linkPose,self.node3D )
def setBounciness(self,bounciness):
self.physNode.setBounciness(bounciness)
def linkPhysToVis(self):
self.physNode.isLinked = 1
self.updateAction = viz.link( self.node3D, self.physNode.node3D)
self.updateAction.setDstFlag(viz.ABS_GLOBAL)
self.updateAction.setSrcFlag(viz.ABS_GLOBAL)
class mocapMarkerSphere(visObj):
def __init__(self, mocap, room, markerNum):
position = [0,0,0]
shape = 'sphere'
color=[.5,0,0]
size = [.015]
visObj.__init__(self, room, shape, size, position, color)
#self.physNode.enableMovement()
self.markerNumber = markerNum
self.mocapDevice = mocap
self.toggleUpdateWithMarker()
if __name__ == "__main__":
import vizact
useConfig = True
if useConfig:
#########################################################
#########################################################
# Configure the simulation using VRLABConfig
# This also enables mocap tracking of markers and
# rigid bodies specified in config expConfigName
expConfigName = 'badmintonTest.cfg'
import vrlabConfig
config = vrlabConfig.VRLabConfig(expConfigName)
room = room(config )
#########################################################
# Link mainview to hmd rigid body
# note that 'hmd' is used to search rigid body files for the partial string
# in my current setup, it will find hmd-oculus.rb and link to that
if( config.use_phasespace and config.use_HMD and config.mocap.returnPointerToRigid('hmd') ):
config.mocap.enableHMDTracking()
vizact.onkeydown('-',config.mocap.disableHMDTracking)
vizact.onkeydown('=',config.mocap.enableHMDTracking)
vizact.onkeydown( 'h', config.mocap.resetRigid, 'hmd' )
vizact.onkeydown( 'H', config.mocap.saveRigid, 'hmd' )
else:
viz.MainView.setPosition([room.wallPos_NegX +.1, 2, room.wallPos_NegZ +.1])
viz.MainView.lookAt([0,2,0])
else:
#########################################################
## Just create the basic visual environment
viz.window.setFullscreenMonitor([1])
viz.setMultiSample(4)
viz.MainWindow.clip(0.01 ,200)
viz.go(viz.FULLSCREEN)
viz.MainView.setPosition([-5,2,10.75])
viz.MainView.lookAt([0,2,0])
viz.vsync(1)
room = room()