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Diffstat (limited to 'libs/assimp/port/PyAssimp/scripts/3d_viewer.py')
| -rwxr-xr-x | libs/assimp/port/PyAssimp/scripts/3d_viewer.py | 1318 |
1 files changed, 1318 insertions, 0 deletions
diff --git a/libs/assimp/port/PyAssimp/scripts/3d_viewer.py b/libs/assimp/port/PyAssimp/scripts/3d_viewer.py new file mode 100755 index 0000000..08a6266 --- /dev/null +++ b/libs/assimp/port/PyAssimp/scripts/3d_viewer.py @@ -0,0 +1,1318 @@ +#!/usr/bin/env python +# -*- coding: UTF-8 -*- + +""" This program loads a model with PyASSIMP, and display it. + +Based on: +- pygame code from http://3dengine.org/Spectator_%28PyOpenGL%29 +- http://www.lighthouse3d.com/tutorials +- http://www.songho.ca/opengl/gl_transform.html +- http://code.activestate.com/recipes/325391/ +- ASSIMP's C++ SimpleOpenGL viewer + +Authors: Séverin Lemaignan, 2012-2016 +""" +import sys +import logging + +logger = logging.getLogger("pyassimp") +gllogger = logging.getLogger("OpenGL") +gllogger.setLevel(logging.WARNING) +logging.basicConfig(level=logging.INFO) + +import OpenGL + +OpenGL.ERROR_CHECKING = False +OpenGL.ERROR_LOGGING = False +# OpenGL.ERROR_ON_COPY = True +# OpenGL.FULL_LOGGING = True +from OpenGL.GL import * +from OpenGL.arrays import vbo +from OpenGL.GL import shaders + +import pygame +import pygame.font +import pygame.image + +import math, random +from numpy import linalg + +import pyassimp +from pyassimp.postprocess import * +from pyassimp.helper import * +import transformations + +ROTATION_180_X = numpy.array([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]], dtype=numpy.float32) + +# rendering mode +BASE = "BASE" +COLORS = "COLORS" +SILHOUETTE = "SILHOUETTE" +HELPERS = "HELPERS" + +# Entities type +ENTITY = "entity" +CAMERA = "camera" +MESH = "mesh" + +FLAT_VERTEX_SHADER_120 = """ +#version 120 + +uniform mat4 u_viewProjectionMatrix; +uniform mat4 u_modelMatrix; + +uniform vec4 u_materialDiffuse; + +attribute vec3 a_vertex; + +varying vec4 v_color; + +void main(void) +{ + v_color = u_materialDiffuse; + gl_Position = u_viewProjectionMatrix * u_modelMatrix * vec4(a_vertex, 1.0); +} +""" + +FLAT_VERTEX_SHADER_130 = """ +#version 130 + +uniform mat4 u_viewProjectionMatrix; +uniform mat4 u_modelMatrix; + +uniform vec4 u_materialDiffuse; + +in vec3 a_vertex; + +out vec4 v_color; + +void main(void) +{ + v_color = u_materialDiffuse; + gl_Position = u_viewProjectionMatrix * u_modelMatrix * vec4(a_vertex, 1.0); +} +""" + +BASIC_VERTEX_SHADER_120 = """ +#version 120 + +uniform mat4 u_viewProjectionMatrix; +uniform mat4 u_modelMatrix; +uniform mat3 u_normalMatrix; +uniform vec3 u_lightPos; + +uniform vec4 u_materialDiffuse; + +attribute vec3 a_vertex; +attribute vec3 a_normal; + +varying vec4 v_color; + +void main(void) +{ + // Now the normal is in world space, as we pass the light in world space. + vec3 normal = u_normalMatrix * a_normal; + + float dist = distance(a_vertex, u_lightPos); + + // go to https://www.desmos.com/calculator/nmnaud1hrw to play with the parameters + // att is not used for now + float att=1.0/(1.0+0.8*dist*dist); + + vec3 surf2light = normalize(u_lightPos - a_vertex); + vec3 norm = normalize(normal); + float dcont=max(0.0,dot(norm,surf2light)); + + float ambient = 0.3; + float intensity = dcont + 0.3 + ambient; + + v_color = u_materialDiffuse * intensity; + + gl_Position = u_viewProjectionMatrix * u_modelMatrix * vec4(a_vertex, 1.0); +} +""" + +BASIC_VERTEX_SHADER_130 = """ +#version 130 + +uniform mat4 u_viewProjectionMatrix; +uniform mat4 u_modelMatrix; +uniform mat3 u_normalMatrix; +uniform vec3 u_lightPos; + +uniform vec4 u_materialDiffuse; + +in vec3 a_vertex; +in vec3 a_normal; + +out vec4 v_color; + +void main(void) +{ + // Now the normal is in world space, as we pass the light in world space. + vec3 normal = u_normalMatrix * a_normal; + + float dist = distance(a_vertex, u_lightPos); + + // go to https://www.desmos.com/calculator/nmnaud1hrw to play with the parameters + // att is not used for now + float att=1.0/(1.0+0.8*dist*dist); + + vec3 surf2light = normalize(u_lightPos - a_vertex); + vec3 norm = normalize(normal); + float dcont=max(0.0,dot(norm,surf2light)); + + float ambient = 0.3; + float intensity = dcont + 0.3 + ambient; + + v_color = u_materialDiffuse * intensity; + + gl_Position = u_viewProjectionMatrix * u_modelMatrix * vec4(a_vertex, 1.0); +} +""" + +BASIC_FRAGMENT_SHADER_120 = """ +#version 120 + +varying vec4 v_color; + +void main() { + gl_FragColor = v_color; +} +""" + +BASIC_FRAGMENT_SHADER_130 = """ +#version 130 + +in vec4 v_color; + +void main() { + gl_FragColor = v_color; +} +""" + +GOOCH_VERTEX_SHADER_120 = """ +#version 120 + +// attributes +attribute vec3 a_vertex; // xyz - position +attribute vec3 a_normal; // xyz - normal + +// uniforms +uniform mat4 u_modelMatrix; +uniform mat4 u_viewProjectionMatrix; +uniform mat3 u_normalMatrix; +uniform vec3 u_lightPos; +uniform vec3 u_camPos; + +// output data from vertex to fragment shader +varying vec3 o_normal; +varying vec3 o_lightVector; + +/////////////////////////////////////////////////////////////////// + +void main(void) +{ + // transform position and normal to world space + vec4 positionWorld = u_modelMatrix * vec4(a_vertex, 1.0); + vec3 normalWorld = u_normalMatrix * a_normal; + + // calculate and pass vectors required for lighting + o_lightVector = u_lightPos - positionWorld.xyz; + o_normal = normalWorld; + + // project world space position to the screen and output it + gl_Position = u_viewProjectionMatrix * positionWorld; +} +""" + +GOOCH_VERTEX_SHADER_130 = """ +#version 130 + +// attributes +in vec3 a_vertex; // xyz - position +in vec3 a_normal; // xyz - normal + +// uniforms +uniform mat4 u_modelMatrix; +uniform mat4 u_viewProjectionMatrix; +uniform mat3 u_normalMatrix; +uniform vec3 u_lightPos; +uniform vec3 u_camPos; + +// output data from vertex to fragment shader +out vec3 o_normal; +out vec3 o_lightVector; + +/////////////////////////////////////////////////////////////////// + +void main(void) +{ + // transform position and normal to world space + vec4 positionWorld = u_modelMatrix * vec4(a_vertex, 1.0); + vec3 normalWorld = u_normalMatrix * a_normal; + + // calculate and pass vectors required for lighting + o_lightVector = u_lightPos - positionWorld.xyz; + o_normal = normalWorld; + + // project world space position to the screen and output it + gl_Position = u_viewProjectionMatrix * positionWorld; +} +""" + +GOOCH_FRAGMENT_SHADER_120 = """ +#version 120 + +// data from vertex shader +varying vec3 o_normal; +varying vec3 o_lightVector; + +// diffuse color of the object +uniform vec4 u_materialDiffuse; +// cool color of gooch shading +uniform vec3 u_coolColor; +// warm color of gooch shading +uniform vec3 u_warmColor; +// how much to take from object color in final cool color +uniform float u_alpha; +// how much to take from object color in final warm color +uniform float u_beta; + +/////////////////////////////////////////////////////////// + +void main(void) +{ + // normlize vectors for lighting + vec3 normalVector = normalize(o_normal); + vec3 lightVector = normalize(o_lightVector); + // intensity of diffuse lighting [-1, 1] + float diffuseLighting = dot(lightVector, normalVector); + // map intensity of lighting from range [-1; 1] to [0, 1] + float interpolationValue = (1.0 + diffuseLighting)/2; + + ////////////////////////////////////////////////////////////////// + + // cool color mixed with color of the object + vec3 coolColorMod = u_coolColor + vec3(u_materialDiffuse) * u_alpha; + // warm color mixed with color of the object + vec3 warmColorMod = u_warmColor + vec3(u_materialDiffuse) * u_beta; + // interpolation of cool and warm colors according + // to lighting intensity. The lower the light intensity, + // the larger part of the cool color is used + vec3 colorOut = mix(coolColorMod, warmColorMod, interpolationValue); + + ////////////////////////////////////////////////////////////////// + + // save color + gl_FragColor.rgb = colorOut; + gl_FragColor.a = 1; +} +""" + +GOOCH_FRAGMENT_SHADER_130 = """ +#version 130 + +// data from vertex shader +in vec3 o_normal; +in vec3 o_lightVector; + +// diffuse color of the object +uniform vec4 u_materialDiffuse; +// cool color of gooch shading +uniform vec3 u_coolColor; +// warm color of gooch shading +uniform vec3 u_warmColor; +// how much to take from object color in final cool color +uniform float u_alpha; +// how much to take from object color in final warm color +uniform float u_beta; + +// output to framebuffer +out vec4 resultingColor; + +/////////////////////////////////////////////////////////// + +void main(void) +{ + // normlize vectors for lighting + vec3 normalVector = normalize(o_normal); + vec3 lightVector = normalize(o_lightVector); + // intensity of diffuse lighting [-1, 1] + float diffuseLighting = dot(lightVector, normalVector); + // map intensity of lighting from range [-1; 1] to [0, 1] + float interpolationValue = (1.0 + diffuseLighting)/2; + + ////////////////////////////////////////////////////////////////// + + // cool color mixed with color of the object + vec3 coolColorMod = u_coolColor + vec3(u_materialDiffuse) * u_alpha; + // warm color mixed with color of the object + vec3 warmColorMod = u_warmColor + vec3(u_materialDiffuse) * u_beta; + // interpolation of cool and warm colors according + // to lighting intensity. The lower the light intensity, + // the larger part of the cool color is used + vec3 colorOut = mix(coolColorMod, warmColorMod, interpolationValue); + + ////////////////////////////////////////////////////////////////// + + // save color + resultingColor.rgb = colorOut; + resultingColor.a = 1; +} +""" + +SILHOUETTE_VERTEX_SHADER_120 = """ +#version 120 + +attribute vec3 a_vertex; // xyz - position +attribute vec3 a_normal; // xyz - normal + +uniform mat4 u_modelMatrix; +uniform mat4 u_viewProjectionMatrix; +uniform mat4 u_modelViewMatrix; +uniform vec4 u_materialDiffuse; +uniform float u_bordersize; // width of the border + +varying vec4 v_color; + +void main(void){ + v_color = u_materialDiffuse; + float distToCamera = -(u_modelViewMatrix * vec4(a_vertex, 1.0)).z; + vec4 tPos = vec4(a_vertex + a_normal * u_bordersize * distToCamera, 1.0); + gl_Position = u_viewProjectionMatrix * u_modelMatrix * tPos; +} +""" + +SILHOUETTE_VERTEX_SHADER_130 = """ +#version 130 + +in vec3 a_vertex; // xyz - position +in vec3 a_normal; // xyz - normal + +uniform mat4 u_modelMatrix; +uniform mat4 u_viewProjectionMatrix; +uniform mat4 u_modelViewMatrix; +uniform vec4 u_materialDiffuse; +uniform float u_bordersize; // width of the border + +out vec4 v_color; + +void main(void){ + v_color = u_materialDiffuse; + float distToCamera = -(u_modelViewMatrix * vec4(a_vertex, 1.0)).z; + vec4 tPos = vec4(a_vertex + a_normal * u_bordersize * distToCamera, 1.0); + gl_Position = u_viewProjectionMatrix * u_modelMatrix * tPos; +} +""" +DEFAULT_CLIP_PLANE_NEAR = 0.001 +DEFAULT_CLIP_PLANE_FAR = 1000.0 + + +def get_world_transform(scene, node): + if node == scene.rootnode: + return numpy.identity(4, dtype=numpy.float32) + + parents = reversed(_get_parent_chain(scene, node, [])) + parent_transform = reduce(numpy.dot, [p.transformation for p in parents]) + return numpy.dot(parent_transform, node.transformation) + + +def _get_parent_chain(scene, node, parents): + parent = node.parent + + parents.append(parent) + + if parent == scene.rootnode: + return parents + + return _get_parent_chain(scene, parent, parents) + + +class DefaultCamera: + def __init__(self, w, h, fov): + self.name = "default camera" + self.type = CAMERA + self.clipplanenear = DEFAULT_CLIP_PLANE_NEAR + self.clipplanefar = DEFAULT_CLIP_PLANE_FAR + self.aspect = w / h + self.horizontalfov = fov * math.pi / 180 + self.transformation = numpy.array([[0.68, -0.32, 0.65, 7.48], + [0.73, 0.31, -0.61, -6.51], + [-0.01, 0.89, 0.44, 5.34], + [0., 0., 0., 1.]], dtype=numpy.float32) + + self.transformation = numpy.dot(self.transformation, ROTATION_180_X) + + def __str__(self): + return self.name + + +class PyAssimp3DViewer: + base_name = "PyASSIMP 3D viewer" + + def __init__(self, model, w=1024, h=768): + + self.w = w + self.h = h + + pygame.init() + pygame.display.set_caption(self.base_name) + pygame.display.set_mode((w, h), pygame.OPENGL | pygame.DOUBLEBUF) + + glClearColor(0.18, 0.18, 0.18, 1.0) + + shader_compilation_succeeded = False + try: + self.set_shaders_v130() + self.prepare_shaders() + except RuntimeError, message: + sys.stderr.write("%s\n" % message) + sys.stdout.write("Could not compile shaders in version 1.30, trying version 1.20\n") + + if not shader_compilation_succeeded: + self.set_shaders_v120() + self.prepare_shaders() + + self.scene = None + self.meshes = {} # stores the OpenGL vertex/faces/normals buffers pointers + + self.node2colorid = {} # stores a color ID for each node. Useful for mouse picking and visibility checking + self.colorid2node = {} # reverse dict of node2colorid + + self.currently_selected = None + self.moving = False + self.moving_situation = None + + self.default_camera = DefaultCamera(self.w, self.h, fov=70) + self.cameras = [self.default_camera] + + self.current_cam_index = 0 + self.current_cam = self.default_camera + self.set_camera_projection() + + self.load_model(model) + + # user interactions + self.focal_point = [0, 0, 0] + self.is_rotating = False + self.is_panning = False + self.is_zooming = False + + def set_shaders_v120(self): + self.BASIC_VERTEX_SHADER = BASIC_VERTEX_SHADER_120 + self.FLAT_VERTEX_SHADER = FLAT_VERTEX_SHADER_120 + self.SILHOUETTE_VERTEX_SHADER = SILHOUETTE_VERTEX_SHADER_120 + self.GOOCH_VERTEX_SHADER = GOOCH_VERTEX_SHADER_120 + + self.BASIC_FRAGMENT_SHADER = BASIC_FRAGMENT_SHADER_120 + self.GOOCH_FRAGMENT_SHADER = GOOCH_FRAGMENT_SHADER_120 + + def set_shaders_v130(self): + self.BASIC_VERTEX_SHADER = BASIC_VERTEX_SHADER_130 + self.FLAT_VERTEX_SHADER = FLAT_VERTEX_SHADER_130 + self.SILHOUETTE_VERTEX_SHADER = SILHOUETTE_VERTEX_SHADER_130 + self.GOOCH_VERTEX_SHADER = GOOCH_VERTEX_SHADER_130 + + self.BASIC_FRAGMENT_SHADER = BASIC_FRAGMENT_SHADER_130 + self.GOOCH_FRAGMENT_SHADER = GOOCH_FRAGMENT_SHADER_130 + + def prepare_shaders(self): + + ### Base shader + vertex = shaders.compileShader(self.BASIC_VERTEX_SHADER, GL_VERTEX_SHADER) + fragment = shaders.compileShader(self.BASIC_FRAGMENT_SHADER, GL_FRAGMENT_SHADER) + + self.shader = shaders.compileProgram(vertex, fragment) + + self.set_shader_accessors(('u_modelMatrix', + 'u_viewProjectionMatrix', + 'u_normalMatrix', + 'u_lightPos', + 'u_materialDiffuse'), + ('a_vertex', + 'a_normal'), self.shader) + + ### Flat shader + flatvertex = shaders.compileShader(self.FLAT_VERTEX_SHADER, GL_VERTEX_SHADER) + self.flatshader = shaders.compileProgram(flatvertex, fragment) + + self.set_shader_accessors(('u_modelMatrix', + 'u_viewProjectionMatrix', + 'u_materialDiffuse',), + ('a_vertex',), self.flatshader) + + ### Silhouette shader + silh_vertex = shaders.compileShader(self.SILHOUETTE_VERTEX_SHADER, GL_VERTEX_SHADER) + self.silhouette_shader = shaders.compileProgram(silh_vertex, fragment) + + self.set_shader_accessors(('u_modelMatrix', + 'u_viewProjectionMatrix', + 'u_modelViewMatrix', + 'u_materialDiffuse', + 'u_bordersize' # width of the silhouette + ), + ('a_vertex', + 'a_normal'), self.silhouette_shader) + + ### Gooch shader + gooch_vertex = shaders.compileShader(self.GOOCH_VERTEX_SHADER, GL_VERTEX_SHADER) + gooch_fragment = shaders.compileShader(self.GOOCH_FRAGMENT_SHADER, GL_FRAGMENT_SHADER) + self.gooch_shader = shaders.compileProgram(gooch_vertex, gooch_fragment) + + self.set_shader_accessors(('u_modelMatrix', + 'u_viewProjectionMatrix', + 'u_normalMatrix', + 'u_lightPos', + 'u_materialDiffuse', + 'u_coolColor', + 'u_warmColor', + 'u_alpha', + 'u_beta' + ), + ('a_vertex', + 'a_normal'), self.gooch_shader) + + @staticmethod + def set_shader_accessors(uniforms, attributes, shader): + # add accessors to the shaders uniforms and attributes + for uniform in uniforms: + location = glGetUniformLocation(shader, uniform) + if location in (None, -1): + raise RuntimeError('No uniform: %s (maybe it is not used ' + 'anymore and has been optimized out by' + ' the shader compiler)' % uniform) + setattr(shader, uniform, location) + + for attribute in attributes: + location = glGetAttribLocation(shader, attribute) + if location in (None, -1): + raise RuntimeError('No attribute: %s' % attribute) + setattr(shader, attribute, location) + + @staticmethod + def prepare_gl_buffers(mesh): + + mesh.gl = {} + + # Fill the buffer for vertex and normals positions + v = numpy.array(mesh.vertices, 'f') + n = numpy.array(mesh.normals, 'f') + + mesh.gl["vbo"] = vbo.VBO(numpy.hstack((v, n))) + + # Fill the buffer for vertex positions + mesh.gl["faces"] = glGenBuffers(1) + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, mesh.gl["faces"]) + glBufferData(GL_ELEMENT_ARRAY_BUFFER, + numpy.array(mesh.faces, dtype=numpy.int32), + GL_STATIC_DRAW) + + mesh.gl["nbfaces"] = len(mesh.faces) + + # Unbind buffers + glBindBuffer(GL_ARRAY_BUFFER, 0) + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0) + + @staticmethod + def get_rgb_from_colorid(colorid): + r = (colorid >> 0) & 0xff + g = (colorid >> 8) & 0xff + b = (colorid >> 16) & 0xff + + return r, g, b + + def get_color_id(self): + id = random.randint(0, 256 * 256 * 256) + if id not in self.colorid2node: + return id + else: + return self.get_color_id() + + def glize(self, scene, node): + + logger.info("Loading node <%s>" % node) + node.selected = True if self.currently_selected and self.currently_selected == node else False + + node.transformation = node.transformation.astype(numpy.float32) + + if node.meshes: + node.type = MESH + colorid = self.get_color_id() + self.colorid2node[colorid] = node + self.node2colorid[node.name] = colorid + + elif node.name in [c.name for c in scene.cameras]: + + # retrieve the ASSIMP camera object + [cam] = [c for c in scene.cameras if c.name == node.name] + node.type = CAMERA + logger.info("Added camera <%s>" % node.name) + logger.info("Camera position: %.3f, %.3f, %.3f" % tuple(node.transformation[:, 3][:3].tolist())) + self.cameras.append(node) + node.clipplanenear = cam.clipplanenear + node.clipplanefar = cam.clipplanefar + + if numpy.allclose(cam.lookat, [0, 0, -1]) and numpy.allclose(cam.up, [0, 1, 0]): # Cameras in .blend files + + # Rotate by 180deg around X to have Z pointing forward + node.transformation = numpy.dot(node.transformation, ROTATION_180_X) + else: + raise RuntimeError( + "I do not know how to normalize this camera orientation: lookat=%s, up=%s" % (cam.lookat, cam.up)) + + if cam.aspect == 0.0: + logger.warning("Camera aspect not set. Setting to default 4:3") + node.aspect = 1.333 + else: + node.aspect = cam.aspect + + node.horizontalfov = cam.horizontalfov + + else: + node.type = ENTITY + + for child in node.children: + self.glize(scene, child) + + def load_model(self, path, postprocess=aiProcessPreset_TargetRealtime_MaxQuality): + logger.info("Loading model:" + path + "...") + + if postprocess: + self.scene = pyassimp.load(path, processing=postprocess) + else: + self.scene = pyassimp.load(path) + logger.info("Done.") + + scene = self.scene + # log some statistics + logger.info(" meshes: %d" % len(scene.meshes)) + logger.info(" total faces: %d" % sum([len(mesh.faces) for mesh in scene.meshes])) + logger.info(" materials: %d" % len(scene.materials)) + self.bb_min, self.bb_max = get_bounding_box(self.scene) + logger.info(" bounding box:" + str(self.bb_min) + " - " + str(self.bb_max)) + + self.scene_center = [(a + b) / 2. for a, b in zip(self.bb_min, self.bb_max)] + + for index, mesh in enumerate(scene.meshes): + self.prepare_gl_buffers(mesh) + + self.glize(scene, scene.rootnode) + + # Finally release the model + pyassimp.release(scene) + logger.info("Ready for 3D rendering!") + + def cycle_cameras(self): + + self.current_cam_index = (self.current_cam_index + 1) % len(self.cameras) + self.current_cam = self.cameras[self.current_cam_index] + self.set_camera_projection(self.current_cam) + logger.info("Switched to camera <%s>" % self.current_cam) + + def set_overlay_projection(self): + glViewport(0, 0, self.w, self.h) + glMatrixMode(GL_PROJECTION) + glLoadIdentity() + glOrtho(0.0, self.w - 1.0, 0.0, self.h - 1.0, -1.0, 1.0) + glMatrixMode(GL_MODELVIEW) + glLoadIdentity() + + def set_camera_projection(self, camera=None): + + if not camera: + camera = self.current_cam + + znear = camera.clipplanenear or DEFAULT_CLIP_PLANE_NEAR + zfar = camera.clipplanefar or DEFAULT_CLIP_PLANE_FAR + aspect = camera.aspect + fov = camera.horizontalfov + + glMatrixMode(GL_PROJECTION) + glLoadIdentity() + + # Compute gl frustrum + tangent = math.tan(fov / 2.) + h = znear * tangent + w = h * aspect + + # params: left, right, bottom, top, near, far + glFrustum(-w, w, -h, h, znear, zfar) + # equivalent to: + # gluPerspective(fov * 180/math.pi, aspect, znear, zfar) + + self.projection_matrix = glGetFloatv(GL_PROJECTION_MATRIX).transpose() + + glMatrixMode(GL_MODELVIEW) + glLoadIdentity() + + def render_colors(self): + + glEnable(GL_DEPTH_TEST) + glDepthFunc(GL_LEQUAL) + + glPolygonMode(GL_FRONT_AND_BACK, GL_FILL) + glEnable(GL_CULL_FACE) + + glUseProgram(self.flatshader) + + glUniformMatrix4fv(self.flatshader.u_viewProjectionMatrix, 1, GL_TRUE, + numpy.dot(self.projection_matrix, self.view_matrix)) + + self.recursive_render(self.scene.rootnode, self.flatshader, mode=COLORS) + + glUseProgram(0) + + def get_hovered_node(self, mousex, mousey): + """ + Attention: The performances of this method relies heavily on the size of the display! + """ + + # mouse out of the window? + if mousex < 0 or mousex >= self.w or mousey < 0 or mousey >= self.h: + return None + + self.render_colors() + # Capture image from the OpenGL buffer + buf = (GLubyte * (3 * self.w * self.h))(0) + glReadPixels(0, 0, self.w, self.h, GL_RGB, GL_UNSIGNED_BYTE, buf) + + # Reinterpret the RGB pixel buffer as a 1-D array of 24bits colors + a = numpy.ndarray(len(buf), numpy.dtype('>u1'), buf) + colors = numpy.zeros(len(buf) / 3, numpy.dtype('<u4')) + for i in range(3): + colors.view(dtype='>u1')[i::4] = a.view(dtype='>u1')[i::3] + + colorid = colors[mousex + mousey * self.w] + + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) + + if colorid in self.colorid2node: + return self.colorid2node[colorid] + + def render(self, wireframe=False, twosided=False): + + glEnable(GL_DEPTH_TEST) + glDepthFunc(GL_LEQUAL) + + glPolygonMode(GL_FRONT_AND_BACK, GL_LINE if wireframe else GL_FILL) + glDisable(GL_CULL_FACE) if twosided else glEnable(GL_CULL_FACE) + + self.render_grid() + + self.recursive_render(self.scene.rootnode, None, mode=HELPERS) + + ### First, the silhouette + + if False: + shader = self.silhouette_shader + + # glDepthMask(GL_FALSE) + glCullFace(GL_FRONT) # cull front faces + + glUseProgram(shader) + glUniform1f(shader.u_bordersize, 0.01) + + glUniformMatrix4fv(shader.u_viewProjectionMatrix, 1, GL_TRUE, + numpy.dot(self.projection_matrix, self.view_matrix)) + + self.recursive_render(self.scene.rootnode, shader, mode=SILHOUETTE) + + glUseProgram(0) + + ### Then, inner shading + # glDepthMask(GL_TRUE) + glCullFace(GL_BACK) + + use_gooch = False + if use_gooch: + shader = self.gooch_shader + + glUseProgram(shader) + glUniform3f(shader.u_lightPos, -.5, -.5, .5) + + ##### GOOCH specific + glUniform3f(shader.u_coolColor, 159.0 / 255, 148.0 / 255, 255.0 / 255) + glUniform3f(shader.u_warmColor, 255.0 / 255, 75.0 / 255, 75.0 / 255) + glUniform1f(shader.u_alpha, .25) + glUniform1f(shader.u_beta, .25) + ######### + else: + shader = self.shader + glUseProgram(shader) + glUniform3f(shader.u_lightPos, -.5, -.5, .5) + + glUniformMatrix4fv(shader.u_viewProjectionMatrix, 1, GL_TRUE, + numpy.dot(self.projection_matrix, self.view_matrix)) + + self.recursive_render(self.scene.rootnode, shader) + + glUseProgram(0) + + def render_axis(self, + transformation=numpy.identity(4, dtype=numpy.float32), + label=None, + size=0.2, + selected=False): + m = transformation.transpose() # OpenGL row major + + glPushMatrix() + glMultMatrixf(m) + + glLineWidth(3 if selected else 1) + + size = 2 * size if selected else size + + glBegin(GL_LINES) + + # draw line for x axis + glColor3f(1.0, 0.0, 0.0) + glVertex3f(0.0, 0.0, 0.0) + glVertex3f(size, 0.0, 0.0) + + # draw line for y axis + glColor3f(0.0, 1.0, 0.0) + glVertex3f(0.0, 0.0, 0.0) + glVertex3f(0.0, size, 0.0) + + # draw line for Z axis + glColor3f(0.0, 0.0, 1.0) + glVertex3f(0.0, 0.0, 0.0) + glVertex3f(0.0, 0.0, size) + + glEnd() + + if label: + self.showtext(label) + + glPopMatrix() + + @staticmethod + def render_camera(camera, transformation): + + m = transformation.transpose() # OpenGL row major + + aspect = camera.aspect + + u = 0.1 # unit size (in m) + l = 3 * u # length of the camera cone + f = 3 * u # aperture of the camera cone + + glPushMatrix() + glMultMatrixf(m) + + glLineWidth(2) + glBegin(GL_LINE_STRIP) + + glColor3f(.2, .2, .2) + + glVertex3f(u, u, -u) + glVertex3f(u, -u, -u) + glVertex3f(-u, -u, -u) + glVertex3f(-u, u, -u) + glVertex3f(u, u, -u) + + glVertex3f(u, u, 0.0) + glVertex3f(u, -u, 0.0) + glVertex3f(-u, -u, 0.0) + glVertex3f(-u, u, 0.0) + glVertex3f(u, u, 0.0) + + glVertex3f(f * aspect, f, l) + glVertex3f(f * aspect, -f, l) + glVertex3f(-f * aspect, -f, l) + glVertex3f(-f * aspect, f, l) + glVertex3f(f * aspect, f, l) + + glEnd() + + glBegin(GL_LINE_STRIP) + glVertex3f(u, -u, -u) + glVertex3f(u, -u, 0.0) + glVertex3f(f * aspect, -f, l) + glEnd() + + glBegin(GL_LINE_STRIP) + glVertex3f(-u, -u, -u) + glVertex3f(-u, -u, 0.0) + glVertex3f(-f * aspect, -f, l) + glEnd() + + glBegin(GL_LINE_STRIP) + glVertex3f(-u, u, -u) + glVertex3f(-u, u, 0.0) + glVertex3f(-f * aspect, f, l) + glEnd() + + glPopMatrix() + + @staticmethod + def render_grid(): + + glLineWidth(1) + glColor3f(0.5, 0.5, 0.5) + glBegin(GL_LINES) + for i in range(-10, 11): + glVertex3f(i, -10.0, 0.0) + glVertex3f(i, 10.0, 0.0) + + for i in range(-10, 11): + glVertex3f(-10.0, i, 0.0) + glVertex3f(10.0, i, 0.0) + glEnd() + + def recursive_render(self, node, shader, mode=BASE, with_normals=True): + """ Main recursive rendering method. + """ + + normals = with_normals + + if mode == COLORS: + normals = False + + + if not hasattr(node, "selected"): + node.selected = False + + m = get_world_transform(self.scene, node) + + # HELPERS mode + ### + if mode == HELPERS: + # if node.type == ENTITY: + self.render_axis(m, + label=node.name if node != self.scene.rootnode else None, + selected=node.selected if hasattr(node, "selected") else False) + + if node.type == CAMERA: + self.render_camera(node, m) + + for child in node.children: + self.recursive_render(child, shader, mode) + + return + + # Mesh rendering modes + ### + if node.type == MESH: + + for mesh in node.meshes: + + stride = 24 # 6 * 4 bytes + + if node.selected and mode == SILHOUETTE: + glUniform4f(shader.u_materialDiffuse, 1.0, 0.0, 0.0, 1.0) + glUniformMatrix4fv(shader.u_modelViewMatrix, 1, GL_TRUE, + numpy.dot(self.view_matrix, m)) + + else: + if mode == COLORS: + colorid = self.node2colorid[node.name] + r, g, b = self.get_rgb_from_colorid(colorid) + glUniform4f(shader.u_materialDiffuse, r / 255.0, g / 255.0, b / 255.0, 1.0) + elif mode == SILHOUETTE: + glUniform4f(shader.u_materialDiffuse, .0, .0, .0, 1.0) + else: + if node.selected: + diffuse = (1.0, 0.0, 0.0, 1.0) # selected nodes in red + else: + diffuse = mesh.material.properties["diffuse"] + if len(diffuse) == 3: # RGB instead of expected RGBA + diffuse.append(1.0) + glUniform4f(shader.u_materialDiffuse, *diffuse) + # if ambient: + # glUniform4f( shader.Material_ambient, *mat["ambient"] ) + + if mode == BASE: # not in COLORS or SILHOUETTE + normal_matrix = linalg.inv(numpy.dot(self.view_matrix, m)[0:3, 0:3]).transpose() + glUniformMatrix3fv(shader.u_normalMatrix, 1, GL_TRUE, normal_matrix) + + glUniformMatrix4fv(shader.u_modelMatrix, 1, GL_TRUE, m) + + vbo = mesh.gl["vbo"] + vbo.bind() + + glEnableVertexAttribArray(shader.a_vertex) + if normals: + glEnableVertexAttribArray(shader.a_normal) + + glVertexAttribPointer( + shader.a_vertex, + 3, GL_FLOAT, False, stride, vbo + ) + + if normals: + glVertexAttribPointer( + shader.a_normal, + 3, GL_FLOAT, False, stride, vbo + 12 + ) + + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, mesh.gl["faces"]) + glDrawElements(GL_TRIANGLES, mesh.gl["nbfaces"] * 3, GL_UNSIGNED_INT, None) + + vbo.unbind() + glDisableVertexAttribArray(shader.a_vertex) + + if normals: + glDisableVertexAttribArray(shader.a_normal) + + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0) + + for child in node.children: + self.recursive_render(child, shader, mode) + + + def switch_to_overlay(self): + glPushMatrix() + self.set_overlay_projection() + + def switch_from_overlay(self): + self.set_camera_projection() + glPopMatrix() + + def select_node(self, node): + self.currently_selected = node + self.update_node_select(self.scene.rootnode) + + def update_node_select(self, node): + if node is self.currently_selected: + node.selected = True + else: + node.selected = False + + for child in node.children: + self.update_node_select(child) + + def loop(self): + + pygame.display.flip() + + if not self.process_events(): + return False # ESC has been pressed + + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) + + return True + + def process_events(self): + + LEFT_BUTTON = 1 + MIDDLE_BUTTON = 2 + RIGHT_BUTTON = 3 + WHEEL_UP = 4 + WHEEL_DOWN = 5 + + dx, dy = pygame.mouse.get_rel() + mousex, mousey = pygame.mouse.get_pos() + + zooming_one_shot = False + + ok = True + + for evt in pygame.event.get(): + if evt.type == pygame.MOUSEBUTTONDOWN and evt.button == LEFT_BUTTON: + hovered = self.get_hovered_node(mousex, self.h - mousey) + if hovered: + if self.currently_selected and self.currently_selected == hovered: + self.select_node(None) + else: + logger.info("Node %s selected" % hovered) + self.select_node(hovered) + else: + self.is_rotating = True + if evt.type == pygame.MOUSEBUTTONUP and evt.button == LEFT_BUTTON: + self.is_rotating = False + + if evt.type == pygame.MOUSEBUTTONDOWN and evt.button == MIDDLE_BUTTON: + self.is_panning = True + if evt.type == pygame.MOUSEBUTTONUP and evt.button == MIDDLE_BUTTON: + self.is_panning = False + + if evt.type == pygame.MOUSEBUTTONDOWN and evt.button == RIGHT_BUTTON: + self.is_zooming = True + if evt.type == pygame.MOUSEBUTTONUP and evt.button == RIGHT_BUTTON: + self.is_zooming = False + + if evt.type == pygame.MOUSEBUTTONDOWN and evt.button in [WHEEL_UP, WHEEL_DOWN]: + zooming_one_shot = True + self.is_zooming = True + dy = -10 if evt.button == WHEEL_UP else 10 + + if evt.type == pygame.KEYDOWN: + ok = (ok and self.process_keystroke(evt.key, evt.mod)) + + self.controls_3d(dx, dy, zooming_one_shot) + + return ok + + def process_keystroke(self, key, mod): + + # process arrow keys if an object is selected + if self.currently_selected: + up = 0 + strafe = 0 + + if key == pygame.K_UP: + up = 1 + if key == pygame.K_DOWN: + up = -1 + if key == pygame.K_LEFT: + strafe = -1 + if key == pygame.K_RIGHT: + strafe = 1 + + self.move_selected_node(up, strafe) + + if key == pygame.K_f: + pygame.display.toggle_fullscreen() + + if key == pygame.K_TAB: + self.cycle_cameras() + + if key in [pygame.K_ESCAPE, pygame.K_q]: + return False + + return True + + def controls_3d(self, dx, dy, zooming_one_shot=False): + + CAMERA_TRANSLATION_FACTOR = 0.01 + CAMERA_ROTATION_FACTOR = 0.01 + + if not (self.is_rotating or self.is_panning or self.is_zooming): + return + + current_pos = self.current_cam.transformation[:3, 3].copy() + distance = numpy.linalg.norm(self.focal_point - current_pos) + + if self.is_rotating: + """ Orbiting the camera is implemented the following way: + + - the rotation is split into a rotation around the *world* Z axis + (controlled by the horizontal mouse motion along X) and a + rotation around the *X* axis of the camera (pitch) *shifted to + the focal origin* (the world origin for now). This is controlled + by the vertical motion of the mouse (Y axis). + + - as a result, the resulting transformation of the camera in the + world frame C' is: + C' = (T · Rx · T⁻¹ · (Rz · C)⁻¹)⁻¹ + + where: + - C is the original camera transformation in the world frame, + - Rz is the rotation along the Z axis (in the world frame) + - T is the translation camera -> world (ie, the inverse of the + translation part of C + - Rx is the rotation around X in the (translated) camera frame + """ + + rotation_camera_x = dy * CAMERA_ROTATION_FACTOR + rotation_world_z = dx * CAMERA_ROTATION_FACTOR + world_z_rotation = transformations.euler_matrix(0, 0, rotation_world_z) + cam_x_rotation = transformations.euler_matrix(rotation_camera_x, 0, 0) + + after_world_z_rotation = numpy.dot(world_z_rotation, self.current_cam.transformation) + + inverse_transformation = transformations.inverse_matrix(after_world_z_rotation) + + translation = transformations.translation_matrix( + transformations.decompose_matrix(inverse_transformation)[3]) + inverse_translation = transformations.inverse_matrix(translation) + + new_inverse = numpy.dot(inverse_translation, inverse_transformation) + new_inverse = numpy.dot(cam_x_rotation, new_inverse) + new_inverse = numpy.dot(translation, new_inverse) + + self.current_cam.transformation = transformations.inverse_matrix(new_inverse).astype(numpy.float32) + + if self.is_panning: + tx = -dx * CAMERA_TRANSLATION_FACTOR * distance + ty = dy * CAMERA_TRANSLATION_FACTOR * distance + cam_transform = transformations.translation_matrix((tx, ty, 0)).astype(numpy.float32) + self.current_cam.transformation = numpy.dot(self.current_cam.transformation, cam_transform) + + if self.is_zooming: + tz = dy * CAMERA_TRANSLATION_FACTOR * distance + cam_transform = transformations.translation_matrix((0, 0, tz)).astype(numpy.float32) + self.current_cam.transformation = numpy.dot(self.current_cam.transformation, cam_transform) + + if zooming_one_shot: + self.is_zooming = False + + self.update_view_camera() + + def update_view_camera(self): + + self.view_matrix = linalg.inv(self.current_cam.transformation) + + # Rotate by 180deg around X to have Z pointing backward (OpenGL convention) + self.view_matrix = numpy.dot(ROTATION_180_X, self.view_matrix) + + glMatrixMode(GL_MODELVIEW) + glLoadIdentity() + glMultMatrixf(self.view_matrix.transpose()) + + def move_selected_node(self, up, strafe): + self.currently_selected.transformation[0][3] += strafe + self.currently_selected.transformation[2][3] += up + + @staticmethod + def showtext(text, x=0, y=0, z=0, size=20): + + # TODO: alpha blending does not work... + # glEnable(GL_BLEND) + # glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA) + + font = pygame.font.Font(None, size) + text_surface = font.render(text, True, (10, 10, 10, 255), + (255 * 0.18, 255 * 0.18, 255 * 0.18, 0)) + text_data = pygame.image.tostring(text_surface, "RGBA", True) + glRasterPos3d(x, y, z) + glDrawPixels(text_surface.get_width(), + text_surface.get_height(), + GL_RGBA, GL_UNSIGNED_BYTE, + text_data) + + # glDisable(GL_BLEND) + + +def main(model, width, height): + app = PyAssimp3DViewer(model, w=width, h=height) + + clock = pygame.time.Clock() + + while app.loop(): + + app.update_view_camera() + + ## Main rendering + app.render() + + ## GUI text display + app.switch_to_overlay() + app.showtext("Active camera: %s" % str(app.current_cam), 10, app.h - 30) + if app.currently_selected: + app.showtext("Selected node: %s" % app.currently_selected, 10, app.h - 50) + pos = app.h - 70 + + app.showtext("(%sm, %sm, %sm)" % (app.currently_selected.transformation[0, 3], + app.currently_selected.transformation[1, 3], + app.currently_selected.transformation[2, 3]), 30, pos) + + app.switch_from_overlay() + + # Make sure we do not go over 30fps + clock.tick(30) + + logger.info("Quitting! Bye bye!") + + +######################################################################### +######################################################################### + +if __name__ == '__main__': + if not len(sys.argv) > 1: + print("Usage: " + __file__ + " <model>") + sys.exit(2) + + main(model=sys.argv[1], width=1024, height=768) |