source: src/models/Shape.pym @ 1232:b81162dc2d12

# PySoy's models.Shape class
#
# Copyright (C) 2006,2007,2008 PySoy Group
#
#  This program is free software; you can redistribute it and/or modify
#  it under the terms of the GNU Affero General Public License as published
#  by the Free Software Foundation, either version 3 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 Affero General Public License for more details.
#
#  You should have received a copy of the GNU Affero General Public License
#  along with this program; if not, see http://www.gnu.org/licenses
#
# $Id: Shape.pym 1278 2008-05-19 22:57:46Z ArcRiley $

cdef class Shape (Model) :
  '''soy.models.Shape

    This mesh renders the shape of the body it belongs to.
  '''

  ############################################################################
  #
  # Python functions
  #
  
  def __cinit__(self, material=None, 
                *args, **keywords) :
    self.material = material


  ############################################################################
  #
  # Properties
  #

  property material :
    def __get__(self) :
      return self._material

    def __set__(self, value) :
      if value is None :
        self._material = soy.materials.StainlessSteel()
      elif isinstance(value, soy.materials.Material) :
        self._material = value
      else :
        raise TypeError('Must provide an instance of soy.materials.Material')


  ############################################################################
  #
  # WindowLoop Functions
  #

  cdef void _render(self, soy.bodies.Body _body) :
    cdef int              _shapeclass
    #
    # Don't attempt to render a non-existant shape
    if _body._shape is None :
      return
    #
    # Grab the shape's class
    _shapeclass = ode.dGeomGetClass(_body._shape._geomID)
    #
    # Render the specific shape
    if _shapeclass == ode.dSphereClass :
      self._renderSphere(_body._shape)
    elif _shapeclass == ode.dCapsuleClass :
      self._renderCapsule(_body._shape)
    elif _shapeclass == ode.dBoxClass :
      self._renderBox(_body._shape)
    elif _shapeclass == ode.dRayClass :
      self._renderRay(_body._shape)


  cdef void _renderSphere(self, soy.shapes.Shape _shape) :
    cdef int _pass
    cdef gl.GLUquadricObj* _quadric
    _pass = 0
    while self._material._render(_pass, <float*> 24, <float*> 24) :    
      _pass += 1
      _quadric = gl.gluNewQuadric()
      gl.gluQuadricNormals(_quadric, gl.GLU_SMOOTH)
      gl.gluQuadricTexture(_quadric, gl.GL_FALSE)
      gl.gluSphere(_quadric, _shape._radius(), 32, 32)
      gl.gluDeleteQuadric(_quadric)


  cdef void _renderCapsule(self, soy.shapes.Shape _shape) :
    cdef int _pass
    cdef ode.dReal r, l
    cdef gl.GLUquadricObj* _quadric
    _pass = 0
    while self._material._render(_pass, <float*> 24, <float*> 24) :    
      _pass += 1
      ode.dGeomCapsuleGetParams(_shape._geomID, &r, &l)
      _quadric = gl.gluNewQuadric()
      gl.gluQuadricNormals(_quadric, gl.GLU_SMOOTH)
      gl.gluQuadricTexture(_quadric, gl.GL_FALSE)
      gl.glPushMatrix()
      gl.glTranslatef(0.0, 0.0, -l * 0.5)
      gl.gluCylinder(_quadric, r, r, l, 32, 32)
      gl.gluSphere(_quadric, r, 32, 32)
      gl.glPushMatrix()
      gl.glTranslatef(0.0, 0.0, l)
      gl.gluSphere(_quadric, r, 32, 32)
      gl.glPopMatrix()
      gl.glPopMatrix()
      gl.gluDeleteQuadric(_quadric)


  cdef void _renderBox(self, soy.shapes.Shape _shape) :
    cdef int _pass
    cdef ode.dVector3 _xyz
    _pass = 0
    while self._material._render(_pass, <float*> 24, <float*> 24) :    
      _pass += 1
      ode.dGeomBoxGetLengths(_shape._geomID, _xyz)
      gl.glPushMatrix()
      gl.glScalef(_xyz[0], _xyz[1], _xyz[2])
      gl.glBegin(gl.GL_QUADS)
      gl.glNormal3f( 0.0, 0.0, 1.0)
      gl.glVertex3f(-0.5, -0.5,  0.5)
      gl.glVertex3f( 0.5, -0.5,  0.5)
      gl.glVertex3f( 0.5,  0.5,  0.5)
      gl.glVertex3f(-0.5,  0.5,  0.5)
      gl.glNormal3f( 0.0, 0.0,-1.0)
      gl.glVertex3f(-0.5, -0.5, -0.5)
      gl.glVertex3f(-0.5,  0.5, -0.5)
      gl.glVertex3f( 0.5,  0.5, -0.5)
      gl.glVertex3f( 0.5, -0.5, -0.5)
      gl.glNormal3f( 0.0, 1.0, 0.0)
      gl.glVertex3f(-0.5,  0.5, -0.5)
      gl.glVertex3f(-0.5,  0.5,  0.5)
      gl.glVertex3f( 0.5,  0.5,  0.5)
      gl.glVertex3f( 0.5,  0.5, -0.5)
      gl.glNormal3f( 0.0,-1.0, 0.0)
      gl.glVertex3f(-0.5, -0.5, -0.5)
      gl.glVertex3f( 0.5, -0.5, -0.5)
      gl.glVertex3f( 0.5, -0.5,  0.5)
      gl.glVertex3f(-0.5, -0.5,  0.5)
      gl.glNormal3f( 1.0, 0.0, 0.0)
      gl.glVertex3f( 0.5, -0.5, -0.5)
      gl.glVertex3f( 0.5,  0.5, -0.5)
      gl.glVertex3f( 0.5,  0.5,  0.5)
      gl.glVertex3f( 0.5, -0.5,  0.5)
      gl.glNormal3f(-1.0, 0.0, 0.0)
      gl.glVertex3f(-0.5, -0.5, -0.5)
      gl.glVertex3f(-0.5, -0.5,  0.5)
      gl.glVertex3f(-0.5,  0.5,  0.5)
      gl.glVertex3f(-0.5,  0.5, -0.5)
      gl.glEnd()
      gl.glPopMatrix()


  cdef void _renderRay(self, soy.shapes.Shape _shape) :
    cdef int _pass
    cdef float _l
    cdef ode.dVector3 _s, _d
    _pass = 0
    while self._material._render(_pass, <float*> 24, <float*> 24) :    
      _pass += 1
      ode.dGeomRayGet(_shape._geomID, _s, _d)
      _l = ode.dGeomRayGetLength(_shape._geomID)
      gl.glPushAttrib(gl.GL_LIGHTING_BIT)
      gl.glDisable(gl.GL_LIGHTING)
      gl.glBegin(gl.GL_LINES)
      gl.glVertex3f(_s[0], _s[1], _s[2])
      gl.glVertex3f(_s[0] + _d[0] * _l, _s[1] + _d[0] * _l, _s[2] + _d[0] * _l)
      gl.glEnd()
      gl.glPopAttrib()