source: src/models/Shape.pym @ 1327:70ca5f3a2970

Revision 1327:70ca5f3a2970, 6.6 KB checked in by David Czech <davidczech510@…>, 5 years ago (diff)

Ticket #969 : * Convertered most documentation from epydoc format to ReST Sphinx

  • Some Axis VBO debugging
Line 
1# PySoy's models.Shape class
2#
3# Copyright (C) 2006,2007,2008 PySoy Group
4#
5#  This program is free software; you can redistribute it and/or modify
6#  it under the terms of the GNU Affero General Public License as published
7#  by the Free Software Foundation, either version 3 of the License, or
8#  (at your option) any later version.
9#
10#  This program is distributed in the hope that it will be useful,
11#  but WITHOUT ANY WARRANTY; without even the implied warranty of
12#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13#  GNU Affero General Public License for more details.
14#
15#  You should have received a copy of the GNU Affero General Public License
16#  along with this program; if not, see http://www.gnu.org/licenses
17#
18# $Id: Shape.pym 1375 2008-11-11 05:45:21Z DavidCzech $
19
20cdef class Shape (Model) :
21  '''soy.models.Shape
22
23    This :class:`~soy.models.Model` renders the shape of the body it belongs to.
24  '''
25
26  ############################################################################
27  #
28  # Python functions
29  #
30 
31  def __cinit__(self, material=None,
32                *args, **keywords) :
33    self.material = material
34
35
36  ############################################################################
37  #
38  # Properties
39  #
40
41  property material :
42    def __get__(self) :
43      return self._material
44
45    def __set__(self, value) :
46      if value is None :
47        self._material = soy.materials.StainlessSteel()
48      elif isinstance(value, soy.materials.Material) :
49        self._material = value
50      else :
51        raise TypeError('Must provide an instance of soy.materials.Material')
52
53
54  ############################################################################
55  #
56  # WindowLoop Functions
57  #
58
59  cdef void _render(self, soy.bodies.Body _body) :
60    cdef int         _shapeclass
61    cdef gl.GLfloat  _mtx[16]
62    #
63    ######################################
64    #
65    # Don't attempt to render a non-existant shape
66    #
67    if _body._shape is None :
68      return
69    #
70    ######################################
71    #
72    # save current matrix
73    #
74    gl.glPushMatrix()
75    #
76    ######################################
77    #
78    # set model's matrix
79    #
80    _mtx[0]  = _body._rotation[0]
81    _mtx[1]  = _body._rotation[4]
82    _mtx[2]  = _body._rotation[8]
83    _mtx[3]  = 0.0
84    _mtx[4]  = _body._rotation[1]
85    _mtx[5]  = _body._rotation[5]
86    _mtx[6]  = _body._rotation[9]
87    _mtx[7]  = 0.0
88    _mtx[8]  = _body._rotation[2]
89    _mtx[9]  = _body._rotation[6]
90    _mtx[10] = _body._rotation[10]
91    _mtx[11] = 0.0
92    _mtx[12] = _body._position[0]
93    _mtx[13] = _body._position[1]
94    _mtx[14] = _body._position[2]
95    _mtx[15] = 1.0
96    gl.glMultMatrixf(_mtx)
97    #
98    ######################################
99    #
100    # Grab the shape's class
101    _shapeclass = ode.dGeomGetClass(_body._shape._geomID)
102    #
103    ######################################
104    #
105    # render the specific shape
106    #
107    if _shapeclass == ode.dSphereClass :
108      self._renderSphere(_body._shape)
109    elif _shapeclass == ode.dCapsuleClass :
110      self._renderCapsule(_body._shape)
111    elif _shapeclass == ode.dBoxClass :
112      self._renderBox(_body._shape)
113    elif _shapeclass == ode.dRayClass :
114      self._renderRay(_body._shape)
115    #
116    ######################################
117    #
118    # restore previous matrix
119    #
120    gl.glPopMatrix()
121    #
122    ######################################
123
124
125  cdef void _renderSphere(self, soy.shapes.Shape _shape) :
126    cdef int _pass
127    cdef gl.GLUquadricObj* _quadric
128    _pass = 0
129    while self._material._render(_pass, <float*> 24, <float*> 24) :   
130      _pass += 1
131      _quadric = gl.gluNewQuadric()
132      gl.gluQuadricNormals(_quadric, gl.GLU_SMOOTH)
133      gl.gluQuadricTexture(_quadric, gl.GL_FALSE)
134      gl.gluSphere(_quadric, _shape._radius(), 32, 32)
135      gl.gluDeleteQuadric(_quadric)
136
137
138  cdef void _renderCapsule(self, soy.shapes.Shape _shape) :
139    cdef int _pass
140    cdef ode.dReal r, l
141    cdef gl.GLUquadricObj* _quadric
142    _pass = 0
143    while self._material._render(_pass, <float*> 24, <float*> 24) :   
144      _pass += 1
145      ode.dGeomCapsuleGetParams(_shape._geomID, &r, &l)
146      _quadric = gl.gluNewQuadric()
147      gl.gluQuadricNormals(_quadric, gl.GLU_SMOOTH)
148      gl.gluQuadricTexture(_quadric, gl.GL_FALSE)
149      gl.glPushMatrix()
150      gl.glTranslatef(0.0, 0.0, -l * 0.5)
151      gl.gluCylinder(_quadric, r, r, l, 32, 32)
152      gl.gluSphere(_quadric, r, 32, 32)
153      gl.glPushMatrix()
154      gl.glTranslatef(0.0, 0.0, l)
155      gl.gluSphere(_quadric, r, 32, 32)
156      gl.glPopMatrix()
157      gl.glPopMatrix()
158      gl.gluDeleteQuadric(_quadric)
159
160
161  cdef void _renderBox(self, soy.shapes.Shape _shape) :
162    cdef int _pass
163    cdef ode.dVector3 _xyz
164    _pass = 0
165    while self._material._render(_pass, <float*> 24, <float*> 24) :   
166      _pass += 1
167      ode.dGeomBoxGetLengths(_shape._geomID, _xyz)
168      gl.glPushMatrix()
169      gl.glScalef(_xyz[0], _xyz[1], _xyz[2])
170      gl.glBegin(gl.GL_QUADS)
171      gl.glNormal3f( 0.0, 0.0, 1.0)
172      gl.glVertex3f(-0.5, -0.5,  0.5)
173      gl.glVertex3f( 0.5, -0.5,  0.5)
174      gl.glVertex3f( 0.5,  0.5,  0.5)
175      gl.glVertex3f(-0.5,  0.5,  0.5)
176      gl.glNormal3f( 0.0, 0.0,-1.0)
177      gl.glVertex3f(-0.5, -0.5, -0.5)
178      gl.glVertex3f(-0.5,  0.5, -0.5)
179      gl.glVertex3f( 0.5,  0.5, -0.5)
180      gl.glVertex3f( 0.5, -0.5, -0.5)
181      gl.glNormal3f( 0.0, 1.0, 0.0)
182      gl.glVertex3f(-0.5,  0.5, -0.5)
183      gl.glVertex3f(-0.5,  0.5,  0.5)
184      gl.glVertex3f( 0.5,  0.5,  0.5)
185      gl.glVertex3f( 0.5,  0.5, -0.5)
186      gl.glNormal3f( 0.0,-1.0, 0.0)
187      gl.glVertex3f(-0.5, -0.5, -0.5)
188      gl.glVertex3f( 0.5, -0.5, -0.5)
189      gl.glVertex3f( 0.5, -0.5,  0.5)
190      gl.glVertex3f(-0.5, -0.5,  0.5)
191      gl.glNormal3f( 1.0, 0.0, 0.0)
192      gl.glVertex3f( 0.5, -0.5, -0.5)
193      gl.glVertex3f( 0.5,  0.5, -0.5)
194      gl.glVertex3f( 0.5,  0.5,  0.5)
195      gl.glVertex3f( 0.5, -0.5,  0.5)
196      gl.glNormal3f(-1.0, 0.0, 0.0)
197      gl.glVertex3f(-0.5, -0.5, -0.5)
198      gl.glVertex3f(-0.5, -0.5,  0.5)
199      gl.glVertex3f(-0.5,  0.5,  0.5)
200      gl.glVertex3f(-0.5,  0.5, -0.5)
201      gl.glEnd()
202      gl.glPopMatrix()
203
204
205  cdef void _renderRay(self, soy.shapes.Shape _shape) :
206    cdef int _pass
207    cdef float _l
208    cdef ode.dVector3 _s, _d
209    _pass = 0
210    while self._material._render(_pass, <float*> 24, <float*> 24) :   
211      _pass += 1
212      ode.dGeomRayGet(_shape._geomID, _s, _d)
213      _l = ode.dGeomRayGetLength(_shape._geomID)
214      gl.glPushAttrib(gl.GL_LIGHTING_BIT)
215      gl.glDisable(gl.GL_LIGHTING)
216      gl.glBegin(gl.GL_LINES)
217      gl.glVertex3f(_s[0], _s[1], _s[2])
218      gl.glVertex3f(_s[0] + _d[0] * _l, _s[1] + _d[0] * _l, _s[2] + _d[0] * _l)
219      gl.glEnd()
220      gl.glPopAttrib()
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