tree_3devolver.py

try:
    import psyco
    psyco.full()
except:
    print 'no psyco'



import random
import sys
sys.path.insert(0,'..')
import PythonOgreConfig

import ogre.renderer.OGRE as ogre
import ogre.gui.CEGUI as CEGUI
import ogre.io.OIS as OIS
import SampleFramework as sf

import evolve

SPACE = 1000
VSPACE = 1400
MOVE = 2100


NEXTID = 1

NEXTNUM = 1


#-------------------------------------------#
def tempName():
    global NEXTID
    id = NEXTID
    NEXTID += 1
    return 't%d'%id

def nextNum():
    global NEXTNUM
    NEXTNUM += 13
    return NEXTNUM

#-------------------------------------------#
def drawTree(tree, parent_node, sceneManager, node_id):
    '''
    Decode bit string.
    '''

#all_shapes = [sceneManager.PT_SPHERE, sceneManager.PT_CUBE, 'Barrel.mesh','column.mesh','facial.mesh','fish.mesh','jaiqua.mesh','knot.mesh','ogrehead.mesh','razor.mesh']

#all_shapes = [sceneManager.PT_SPHERE, sceneManager.PT_CUBE, 'athene.mesh','Barrel.mesh','column.mesh','cube.mesh','facial.mesh','fish.mesh','geosphere4500.mesh','geosphere8000.mesh','jaiqua.mesh','knot.mesh','ninja.mesh','ogrehead.mesh','razor.mesh','robot.mesh','RZR-002.mesh','sphere.mesh','tudorhouse.mesh','WoodPallet.mesh']
    all_shapes = [sceneManager.PT_SPHERE, sceneManager.PT_CUBE, 'ogrehead.mesh', 'knot.mesh']
    if tree is None:
        return
    else:
        genes = tree.decoded_chrom 
        #ent_type = sceneManager.PT_SPHERE if genes['shape'] else sceneManager.PT_CUBE
        ent_type = all_shapes[int(genes['shape'])]
        #name = 'Node%d_%d' % (node_id, (tree.id+random.randrange(0,100)))
        name = 'Node%d_%d' % (node_id, (tree.id+nextNum()))
        child_node = parent_node.createChildSceneNode(name)
        ent = sceneManager.createEntity(name, ent_type)
        ent_helper(child_node, ent)
        _inc_parent = False if tree.isRoot() else True
        w, h = node_helper(child_node, genes, inc_parent = _inc_parent)

        drawTree(tree.left, child_node, sceneManager, node_id)
        drawTree(tree.right, child_node, sceneManager, node_id)

#-------------------------------------------#
class OgreText(object):
    """Class for displaying text in Ogre above a Movable."""
    def __init__(self, movable, camera, text=''):
        self.movable = movable
        self.camera = camera
        self.text = ''
        self.enabled = True

        ovm = ogre.OverlayManager.getSingleton()
        self.overlay = ov = ovm.create(tempName())
        self.container = c = ovm.createOverlayElement('Panel', tempName())
        ov.add2D(c)
        self.textArea = t = ovm.createOverlayElement('TextArea', tempName())
        t.setDimensions(1.0, 1.0)
        t.setMetricsMode(ogre.GMM_PIXELS)
        t.setPosition(0, 0)
        t.setParameter('font_name', 'BlueHighway')
        t.setParameter('char_height', '16')
        t.setParameter('horz_align', 'center')
        t.setColour(ogre.ColourValue(1.0, 0.0, 0.0))
        c.addChild(t)
        ov.show()

        self.setText(text)

    def __del__(self):
        self.destroy()

    def destroy(self):
        if hasattr(self, 'dead'): return
        self.dead = True
        self.overlay.hide()
        ovm = ogre.OverlayManager.getSingleton()
        self.container.removeChild(self.textArea.name)
        self.overlay.remove2D(self.container)
        ovm.destroyOverlayElement(self.textArea.name)
        ovm.destroyOverlayElement(self.container.name)
        ovm.destroy(self.overlay.name)

    def enable(self, f):
        self.enabled = f
        if f:
            self.overlay.show()
        else:
            self.overlay.hide()

    def setText(self, text):
        self.text = text
        self.textArea.setCaption(ogre.UTFString(text))

    def update(self):
        if not self.enabled : return

        # get the projection of the object's AABB into screen space
        bbox = self.movable.getWorldBoundingBox(True);
        mat = self.camera.getViewMatrix();
        corners = bbox.getAllCorners();

        min_x, max_x, min_y, max_y = 1.0, 0.0, 1.0, 0.0
        # expand the screen-space bounding-box so that it completely encloses 
        # the object's AABB
        for corner in corners:
            # multiply the AABB corner vertex by the view matrix to 
            # get a camera-space vertex
            corner = mat * corner;
            # make 2D relative/normalized coords from the view-space vertex
            # by dividing out the Z (depth) factor -- this is an approximation
            x = corner.x / corner.z + 0.5
            y = corner.y / corner.z + 0.5

            if x < min_x: min_x = x
            if x > max_x: max_x = x
            if y < min_y: min_y = y
            if y > max_y: max_y = y
            
        # we now have relative screen-space coords for the
        # object's bounding box; here we need to center the
        # text above the BB on the top edge. The line that defines
        # this top edge is (min_x, min_y) to (max_x, min_y)

        # self.container.setPosition(min_x, min_y);
        # Edited by alberts: This code works for me
        self.container.setPosition(1-max_x, min_y);
        # 0.1, just "because"
        self.container.setDimensions(max_x - min_x, 0.1);



def get_width_height(cur_node):
    aab = cur_node.getAttachedObject(0).getBoundingBox();
    min = aab.getMinimum() * cur_node.getScale();
    max = aab.getMaximum() * cur_node.getScale();
    center = aab.getCenter() * cur_node.getScale();
    size = ogre.Vector3(abs(max.x - min.x), abs(max.y - min.y), abs(max.z - min.z))
    rad = size.z / 2. if size.x > size.z else size.x / 2.0
    width = size.z if size.x > size.z else size.x
    height = size.y
    return width, height


def node_helper(cur_node, _genes, inc_parent = True):
    cur_node.yaw(ogre.Degree(_genes['yaw']))
    cur_node.pitch(ogre.Degree(_genes['pitch']))
    cur_node.roll(ogre.Degree(_genes['roll']))
    cur_node.setScale(_genes['sx'], _genes['sy'], _genes['sz'])
    #cur_node.showBoundingBox(True)

    w1, h1 = get_width_height(cur_node)
    w2, h2 = get_width_height(cur_node.getParentSceneNode()) if inc_parent else (0,0)
    #w2, h2 = get_width_height(p)
    #p = cur_node.getParentSceneNode()

    #print _genes
    width, height = (w1+w2)/2., (h1+h2)/2.
    cur_node.translate(width*_genes['tx'], height*_genes['ty'], 0)
    return width, height
    #float radius = (size.x > size.z) ? size.z/2.0f : size.x/2.0f;
    #mPlayerWidth = (size.x > size.z) ? size.z : size.x;
    #mPlayerHeight = size.y;


def ent_helper(cur_node, _ent, n = 0):
    #_ent.setMaterialName('Examples/TextureEffect%d' % (node_id % 3 + 1))
    #_ent.setMaterialName('Examples/OgreLogo')
    m = 'Examples/Rockwall'
    #m = 'NormalMap'
    #m = 'OceanCg'
    #m = 'RomanBath/OgreStone'
    #m = 'InflateBody'
    _ent.setMaterialName(m)
    cur_node.attachObject(_ent)


class GAListener(sf.FrameListener, OIS.MouseListener, OIS.KeyListener):

    def __init__(self, renderWindow, camera, sceneManager, cegui):#, ind_nodes):
        sf.FrameListener.__init__(self, renderWindow, camera, True, True)
        OIS.MouseListener.__init__(self)
        OIS.KeyListener.__init__(self)

        self.text_overlays = []
        self.toggle = 0
        self.mouse_down = False

        self.cam_node = camera.parentSceneNode.parentSceneNode
        self.sceneManager = sceneManager
        self.cegui = cegui

        #curstudy = 'delta_tree_character3d.yml'
        curstudy = 'tree_character3d.yml'
        l = 7
        ga = evolve.init_iga({'app_name': curstudy, 'geomNodes': l})
        self.genomes = ga.draw()
        self.ga = ga


        ind_nodes = []
        for i in range(len(self.genomes)):
            ind_node = sceneManager.getRootSceneNode().createChildSceneNode('Individual%d' % i)
            ind_node.position = (0, 0, 0)

            sep_node = sceneManager.getRootSceneNode().createChildSceneNode('Separator%d' % i)
            sep_node.position = (i*SPACE, 400, i*SPACE)
            sep_node.setScale(0.5, 0.5, 0.5)

            ind_nodes.append(ind_node)

        self.ind_nodes = ind_nodes


        # Register as MouseListener (Basic tutorial 5)
        self.Mouse.setEventCallback(self)
        self.Keyboard.setEventCallback(self)

        self.rotate = 0.20
        self.move = MOVE

        self.currentObject = None
        self.raySceneQuery = None
        self.raySceneQuery = self.sceneManager.createRayQuery(ogre.Ray())


        self.num_keys = ['%d' % i for i in range(10)]

#---------------------------------#
    def mouseMoved(self, evt):
        CEGUI.System.getSingleton().injectMouseMove(evt.get_state().X.rel, evt.get_state().Y.rel)
        #x = evt.get_state().X.rel
        #y = evt.get_state().Y.rel
        #self.cam_node.yaw(ogre.Degree(-self.rotate * x).valueRadians())
        #self.cam_node.getChild(0).pitch(ogre.Degree(-self.rotate * y).valueRadians())
        return True

#---------------------------------#
    def mousePressed(self, evt, id):
        if id == OIS.MB_Left:
            self.onLeftPressed(evt)
        return True
 
#---------------------------------#
    def mouseReleased(self, evt, id):
        return True

#---------------------------------#
    def keyPressed(self, evt):

        if evt.key is OIS.KC_N:
            self.newPop()

        elif evt.key is not OIS.KC_ESCAPE:
            best_selected = self.Keyboard.getAsString(evt.key)
            if self.ga and best_selected in self.num_keys:
                print 'pressed', self.Keyboard.getAsString(evt.key)
                best_selected = int(best_selected)
                best_selected -= 1
                if best_selected >= 0 and best_selected < 9:
                    self.genomes = self.ga.web_step({'feedback': [best_selected]})
                    self.newPop()
        return True

#---------------------------------#
    def keyReleased(self, evt):
        return True

#---------------------------------#
    def frameStarted(self, frameEvent):
        if self.renderWindow.isClosed():
            return False

        for ind in self.text_overlays: ind.update()

        self.Keyboard.capture()
        self.Mouse.capture()

        #curr_mouse = self.Mouse.getMouseState()

        #if curr_mouse.buttonDown(OIS.MB_Left) and not self.mouse_down:
        #    light = self.sceneManager.getLight('Light1')
        #    light.visible = not light.visible

        #self.mouse_down = curr_mouse.buttonDown(OIS.MB_Left)

        if self.toggle >= 0:
            self.toggle -= frameEvent.timeSinceLastFrame

        #if self.toggle < 0 and self.Keyboard.isKeyDown(OIS.KC_1):
        #    self.toggle = 0.1
        #    self.camera.parentSceneNode.detachObject(self.camera)
        #    self.cam_node = self.sceneManager.getSceneNode('CamNode1')
        #    self.sceneManager.getSceneNode('PitchNode1').attachObject(self.camera)

        #elif self.toggle < 0 and self.Keyboard.isKeyDown(OIS.KC_2):
        #    self.toggle = 0.1
        #    self.camera.parentSceneNode.detachObject(self.camera)
        #    self.cam_node = self.sceneManager.getSceneNode('CamNode2')
        #    self.sceneManager.getSceneNode('PitchNode2').attachObject(self.camera)


        transVector = ogre.Vector3(0, 0, 0)
        
        if self.Keyboard.isKeyDown(OIS.KC_UP) or self.Keyboard.isKeyDown(OIS.KC_W):
            transVector.z -= self.move
        if self.Keyboard.isKeyDown(OIS.KC_DOWN) or self.Keyboard.isKeyDown(OIS.KC_S):
            transVector.z += self.move

        if self.Keyboard.isKeyDown(OIS.KC_LEFT) or self.Keyboard.isKeyDown(OIS.KC_A):
            transVector.x -= self.move
        if self.Keyboard.isKeyDown(OIS.KC_RIGHT) or self.Keyboard.isKeyDown(OIS.KC_D):
            transVector.x += self.move

        if self.Keyboard.isKeyDown(OIS.KC_PGUP) or self.Keyboard.isKeyDown(OIS.KC_Z):
            transVector.y -= self.move
        if self.Keyboard.isKeyDown(OIS.KC_PGDOWN) or self.Keyboard.isKeyDown(OIS.KC_C):
            transVector.y += self.move


        ms = self.Mouse.getMouseState()
        if ms.buttonDown( OIS.MB_Right ):
            rotationX = ogre.Degree(- ms.X.rel )
            rotationY = ogre.Degree(- ms.Y.rel )
            self.camera.yaw(rotationX)
            self.camera.pitch(rotationY)

        #self.cam_node.translate(self.cam_node.orientation * transVector * frameEvent.timeSinceLastFrame)
        self.camera.moveRelative(transVector * frameEvent.timeSinceLastFrame)

        #if curr_mouse.buttonDown(OIS.MB_Right):
        #    self.cam_node.yaw(ogre.Degree(-self.rotate * curr_mouse.X.rel).valueRadians())
        #    self.cam_node.getChild(0).pitch(ogre.Degree(-self.rotate * curr_mouse.Y.rel).valueRadians())

        if not sf.FrameListener.frameStarted(self, frameEvent):
            return False

        return not self.Keyboard.isKeyDown(OIS.KC_ESCAPE)

#---------------------------------#
    def onLeftPressed(self, evt):
        #if self.currentObject:
        #    self.currentObject.showBoundingBox(False)
 
        # Setup the ray scene query, use CEGUI's mouse position
        mousePos = CEGUI.MouseCursor.getSingleton().getPosition()
        mouseRay = self.camera.getCameraToViewportRay(mousePos.d_x / float(evt.get_state().width),
                                                      mousePos.d_y / float(evt.get_state().height))
        self.raySceneQuery.setRay(mouseRay)
        self.raySceneQuery.setSortByDistance(True)
        #self.raySceneQuery.setQueryMask(self.sceneManager.ENTITY_TYPE_MASK)
 
        # Execute query
        result = self.raySceneQuery.execute()
        if len(result) > 0:
            for item in result:
                if item.movable:
                    self.currentObject = item.movable.getParentSceneNode()
                    item.movable.getParentSceneNode().showBoundingBox(True)
                    #print item.movable.getParentSceneNode().getName()
                    break # We found an existing object
 
        if self.currentObject:
            self.currentObject.showBoundingBox(True)

#----------------------------------------#
    def newPop(self):
        '''
        Create and display a new pop.
        '''
        text_overlays = []
        sceneManager = self.sceneManager
        sceneManager.destroyAllEntities()
        root_node = sceneManager.getRootSceneNode()

        #[root_node.getChild('Individual%d' % i).removeAllChildren() for i in range(9)]

        print self.genomes

        j = 0
        vj = 0
        vi = 0

        for i, node in enumerate(self.ind_nodes):
            node.removeAndDestroyAllChildren()
            node_genes = self.genomes[i]
            node.position = (0, 0, 0)
            self.makeCharacter(i, node, node_genes)
            node.position = (vi*SPACE, vj*VSPACE, vi*SPACE)

            sep_node = sceneManager.getSceneNode('Separator%d' % i)
            sep_node.removeAllChildren()
            ent = sceneManager.createEntity('Separator%d' %i, 'knot.mesh')
            ent.setMaterialName('Examples/OgreLogo')

            sep_node.attachObject(ent)
            t = OgreText(ent, self.camera, '%d' % i)
            t.enable(True)
            text_overlays.append(t)

            vi += 1
            j += 1
            if j % 3 == 0:
                vj -= 1
                vi = 0

        self.text_overlays = text_overlays


#---------------------------------#
    def makeCharacter(self, node_id, parent_node, genome = None):
        '''
        Create a 3d character with 6 parts: head, torso, 2 arms, 2 legs.
        '''
        sceneManager = self.sceneManager
        i = node_id
        tree = genome
        drawTree(tree, parent_node, sceneManager, i)

        ## head
        #ent_type = pt_sphere if genes['shape'] else pt_cube
        #node = head_node = parent_node.createChildSceneNode('Head%d' % i)
        #ent = sceneManager.createEntity('Head%d' %i, ent_type)
        #ent_helper(node, ent, c % 3 + 1)
        #w, h = node_helper(node, genes, inc_parent = False)

        #c += 1
        #genes = genome[c]
        ## torso
        #node = torso_node = head_node.createChildSceneNode('Torso%d' % i)
        #ent = sceneManager.createEntity('Torso%d' %i, sceneManager.PT_CUBE)
        #ent_helper(node, ent, c % 3 + 1)
        #w, h = node_helper(node, genes)
        #dist = node.getParentSceneNode().getAttachedObject(0).getBoundingRadius() + node.getAttachedObject(0).getBoundingRadius()
        #node.position = (0, -h, 0)

        #c += 1
        #genes = genome[c]
        ## left arm
        #node = leftarm_node = torso_node.createChildSceneNode('LeftArm%d' % i)
        #ent = sceneManager.createEntity('LeftArm%d' %i, sceneManager.PT_SPHERE)
        #ent_helper(node, ent, c % 3 + 1)
        #w, h = node_helper(node, genes)
        #dist = node.getParentSceneNode().getAttachedObject(0).getBoundingRadius() + node.getAttachedObject(0).getBoundingRadius()
        #node.position = (-w, 0, 0)

        #c += 1
        #genes = genome[c]
        ## right arm
        #node = rightarm_node = torso_node.createChildSceneNode('RightArm%d' % i)
        #ent = sceneManager.createEntity('RightArm%d' %i, sceneManager.PT_SPHERE)
        #ent_helper(node, ent, c % 3 + 1)
        #w, h = node_helper(node, genes)
        #dist = node.getParentSceneNode().getAttachedObject(0).getBoundingRadius() + node.getAttachedObject(0).getBoundingRadius()
        #node.position = (w, 0, 0)

        #c += 1
        #genes = genome[c]
        ## left leg
        #node = leftleg_node = torso_node.createChildSceneNode('LeftLeg%d' % i)
        #ent = sceneManager.createEntity('LeftLeg%d' %i, sceneManager.PT_CUBE)
        #ent_helper(node, ent, c % 3 + 1)
        #w, h = node_helper(node, genes)
        #dist = node.getParentSceneNode().getAttachedObject(0).getBoundingRadius() + node.getAttachedObject(0).getBoundingRadius()
        #node.position = (-w, -h, 0)

        #c += 1
        #genes = genome[c]
        ## right leg
        #node = rightleg_node = torso_node.createChildSceneNode('RightLeg%d' % i)
        #ent = sceneManager.createEntity('RightLeg%d' %i, sceneManager.PT_CUBE)
        #ent_helper(node, ent, c % 3 + 1)
        #w, h = node_helper(node, genes)
        #dist = node.getParentSceneNode().getAttachedObject(0).getBoundingRadius() + node.getAttachedObject(0).getBoundingRadius()
        #node.position = (w, -h, 0)

#----------------------------------------#



class TutorialApp(sf.Application):

    def _createScene(self):

        self.ceguiRenderer = CEGUI.OgreCEGUIRenderer(self.renderWindow, ogre.RENDER_QUEUE_OVERLAY, False, 3000, self.sceneManager)

        self.ceguiSystem = CEGUI.System(self.ceguiRenderer)
        sceneManager = self.sceneManager
        sceneManager.ambientLight = 0.75, 0.75, 0.75


        #ind_nodes = []
        #for i in range(9):
        #    node_genes = self.genomes[i]
        #    ind_node = sceneManager.getRootSceneNode().createChildSceneNode('Individual%d' % i)
        #    ind_node.position = (0, 0, 0)
        #    self.makeCharacter(i, ind_node, node_genes)
        #    ind_node.position = (i*SPACE, 0, 0)

        #    sep_node = sceneManager.getRootSceneNode().createChildSceneNode('Separator%d' % i)
        #    sep_node.position = (i*SPACE, 200, 0)
        #    sep_node.setScale(0.5, 0.5, 0.5)
        #    ent = sceneManager.createEntity('Separator%d' %i, 'knot.mesh')
        #    sep_node.attachObject(ent)

        #    ind_nodes.append(ind_node)

        #self.ind_nodes = ind_nodes


        light = sceneManager.createLight('Light1')
        light.type = ogre.Light.LT_POINT
        light.position = (0, 1000, -500)
        light.diffuseColour = (1, 1, 1)
        light.specularColour = (1, 1, 1)

        node = sceneManager.getRootSceneNode().createChildSceneNode('CamNode1', (-400, 200, 400))
        node.yaw(ogre.Degree(-45))

        node = node.createChildSceneNode('PitchNode1')
        node.attachObject(self.camera)

        node = sceneManager.getRootSceneNode().createChildSceneNode('CamNode2', (0, 200, 400))
        node.createChildSceneNode('PitchNode2')

        # Show the mouse cursor
        CEGUI.SchemeManager.getSingleton().loadScheme("TaharezLookSkin.scheme")
        CEGUI.MouseCursor.getSingleton().setImage("TaharezLook", "MouseArrow")

#---------------------------------#
    def _createCamera(self):
        self.camera = self.sceneManager.createCamera('PlayerCam')
        self.camera.nearClipDistance = 5

#---------------------------------#
    def _createFrameListener(self):
        self.frameListener = GAListener(self.renderWindow, self.camera, self.sceneManager,
                                        self.ceguiRenderer)#, self.ind_nodes)
        self.root.addFrameListener(self.frameListener)
        self.frameListener.showDebugOverlay(True)

#---------------------------------#


if __name__ == '__main__':
    try:
        ta = TutorialApp()
        ta.go()
    except ogre.OgreException, e:
        print e