forked from blank63/j3dview
-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathviewer_widget.py
262 lines (209 loc) · 9.87 KB
/
viewer_widget.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
import logging
from math import cos, sin, tan, radians
from copy import copy
import numpy
from OpenGL.GL import *
from PyQt5 import QtCore, QtOpenGL, QtWidgets
import qt
from j3d.opengl import *
logger = logging.getLogger(__name__)
class Quarternion:
def __init__(self,a=0,b=0,c=0,d=0):
self.a = a
self.b = b
self.c = c
self.d = d
def __mul__(self,other):
return Quarternion(
self.a*other.a - self.b*other.b - self.c*other.c - self.d*other.d,
self.a*other.b + self.b*other.a + self.c*other.d - self.d*other.c,
self.a*other.c - self.b*other.d + self.c*other.a + self.d*other.b,
self.a*other.d + self.b*other.c - self.c*other.b + self.d*other.a)
def conjugate(self):
return Quarternion(self.a,-self.b,-self.c,-self.d)
@staticmethod
def rotation(axis_x,axis_y,axis_z,angle):
s = sin(angle/2)
return Quarternion(cos(angle/2),s*axis_x,s*axis_y,s*axis_z)
def create_rotation_matrix(rotation):
a,b,c,d = rotation.a,rotation.b,rotation.c,rotation.d
return numpy.array([
[a*a + b*b - c*c - d*d,2*(b*c - a*d),2*(b*d + a*c)],
[2*(b*c + a*d),a*a - b*b + c*c - d*d,2*(c*d - a*b)],
[2*(b*d - a*c),2*(c*d + a*b),a*a - b*b - c*c + d*d]],numpy.float32)
def create_frustum_matrix(left,right,bottom,top,near,far):
return numpy.array([
[2*near/(right - left),0,(right + left)/(right - left),0],
[0,2*near/(top - bottom),(top + bottom)/(top - bottom),0],
[0,0,-(far + near)/(far - near),-2*far*near/(far - near)],
[0,0,-1,0]],
numpy.float32)
class ViewerWidget(QtOpenGL.QGLWidget, metaclass=qt.PropertyOwnerMetaClass):
z_near = qt.Property(float)
z_far = qt.Property(float)
fov = qt.Property(float)
movement_speed = qt.Property(float)
rotation_speed = qt.Property(float)
@property
def projection_matrix(self):
return self.matrix_block['projection_matrix']
@projection_matrix.setter
def projection_matrix(self,matrix):
self.matrix_block['projection_matrix'] = matrix
@property
def view_matrix(self):
return self.matrix_block['view_matrix']
@view_matrix.setter
def view_matrix(self,matrix):
self.matrix_block['view_matrix'] = matrix
def __init__(self,parent=None,shareWidget=None,flags=QtCore.Qt.WindowFlags(0)):
display_format = QtOpenGL.QGLFormat()
display_format.setVersion(3,3)
display_format.setProfile(QtOpenGL.QGLFormat.CoreProfile)
display_format.setAlpha(True)
display_format.setStencil(False)
display_format.setSampleBuffers(True)
display_format.setSamples(4)
super().__init__(display_format,parent,shareWidget,flags)
self.setFocusPolicy(QtCore.Qt.StrongFocus)
self.model = None
self.animation = None
self.z_near = 25
self.z_far = 12800
self.fov = 22.5
self.view_position = numpy.array([0,0,1000],numpy.float32)
self.view_rotation = Quarternion(1,0,0,0)
self.movement_speed = 10
self.rotation_speed = 1
self.fps = 30
self.z_near_changed.connect(self.on_z_near_changed)
self.z_far_changed.connect(self.on_z_far_changed)
self.fov_changed.connect(self.on_fov_changed)
self.animation_timer = QtCore.QTimer(self)
self.animation_timer.timeout.connect(self.on_animation_timer_timeout)
self.pressed_keys = set()
QtWidgets.qApp.aboutToQuit.connect(self.on_application_aboutToQuit)
def update_projection_matrix(self):
u = self.z_near*tan(radians(self.fov))
r = u*self.width()/self.height()
self.projection_matrix = create_frustum_matrix(-r,r,-u,u,self.z_near,self.z_far)
self.projection_matrix_need_update = False
def update_view_matrix(self):
#FIXME: Renormalise rotation occasionally
self.view_matrix[:,0:3] = create_rotation_matrix(self.view_rotation)
self.view_matrix[:,3] = -numpy.dot(self.view_matrix[:,0:3],self.view_position)
self.view_matrix_need_update = False
def initializeGL(self):
logger.info('OpenGL vendor: %s',glGetString(GL_VENDOR).decode())
logger.info('OpenGL renderer: %s',glGetString(GL_RENDERER).decode())
logger.info('OpenGL version: %s',glGetString(GL_VERSION).decode())
logger.info('OpenGLSL version: %s',glGetString(GL_SHADING_LANGUAGE_VERSION).decode())
if self.format().sampleBuffers():
glEnable(GL_MULTISAMPLE)
self.matrix_block = MatrixBlock(GL_DYNAMIC_DRAW)
self.projection_matrix_need_update = True
self.view_matrix_need_update = True
self.animation_timer.start(1000/self.fps)
def paintGL(self):
glClearColor(0.5,0.5,0.5,1)
glClearDepth(1.0)
glDepthMask(True)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
if self.model is not None:
self.matrix_block.bind(MATRIX_BLOCK_BINDING_POINT)
self.model.gl_draw()
def resizeGL(self,width,height):
glViewport(0,0,width,height)
self.projection_matrix_need_update = True
def sizeHint(self):
return QtCore.QSize(640,480)
@QtCore.pyqtSlot(float)
def on_z_near_changed(self,value):
self.projection_matrix_need_update = True
@QtCore.pyqtSlot(float)
def on_z_far_changed(self,value):
self.projection_matrix_need_update = True
@QtCore.pyqtSlot(float)
def on_fov_changed(self,value):
self.projection_matrix_need_update = True
@QtCore.pyqtSlot()
def on_animation_timer_timeout(self):
if QtCore.Qt.Key_Shift in self.pressed_keys:
movement_speed = 5*self.movement_speed
rotation_speed = 5*self.rotation_speed
else:
movement_speed = self.movement_speed
rotation_speed = self.rotation_speed
frontvec = copy(self.view_matrix[2,0:3])
upvec = copy(self.view_matrix[1,0:3])
leftvec = copy(self.view_matrix[0,0:3])
frontvec[1] = 0
upvec[0] = upvec[2] = 0
leftvec[1] = 0
if QtCore.Qt.Key_A in self.pressed_keys and QtCore.Qt.Key_D not in self.pressed_keys:
self.view_position -= movement_speed*leftvec
self.view_matrix_need_update = True
if QtCore.Qt.Key_D in self.pressed_keys and QtCore.Qt.Key_A not in self.pressed_keys:
self.view_position += movement_speed*leftvec
self.view_matrix_need_update = True
if QtCore.Qt.Key_Q in self.pressed_keys and QtCore.Qt.Key_E not in self.pressed_keys:
self.view_position -= movement_speed*upvec
self.view_matrix_need_update = True
if QtCore.Qt.Key_E in self.pressed_keys and QtCore.Qt.Key_Q not in self.pressed_keys:
self.view_position += movement_speed*upvec
self.view_matrix_need_update = True
if QtCore.Qt.Key_W in self.pressed_keys and QtCore.Qt.Key_S not in self.pressed_keys:
self.view_position -= movement_speed*frontvec
self.view_matrix_need_update = True
if QtCore.Qt.Key_S in self.pressed_keys and QtCore.Qt.Key_W not in self.pressed_keys:
self.view_position += movement_speed*frontvec
self.view_matrix_need_update = True
if QtCore.Qt.Key_J in self.pressed_keys and QtCore.Qt.Key_L not in self.pressed_keys:
self.view_rotation = Quarternion.rotation(0,1,0,-radians(rotation_speed))*self.view_rotation
self.view_matrix_need_update = True
if QtCore.Qt.Key_L in self.pressed_keys and QtCore.Qt.Key_J not in self.pressed_keys:
self.view_rotation = Quarternion.rotation(0,1,0,radians(rotation_speed))*self.view_rotation
self.view_matrix_need_update = True
if QtCore.Qt.Key_I in self.pressed_keys and QtCore.Qt.Key_K not in self.pressed_keys:
self.view_rotation = Quarternion.rotation(1,0,0,-radians(rotation_speed))*self.view_rotation
self.view_matrix_need_update = True
if QtCore.Qt.Key_K in self.pressed_keys and QtCore.Qt.Key_I not in self.pressed_keys:
self.view_rotation = Quarternion.rotation(1,0,0,radians(rotation_speed))*self.view_rotation
self.view_matrix_need_update = True
if QtCore.Qt.Key_O in self.pressed_keys and QtCore.Qt.Key_U not in self.pressed_keys:
self.view_rotation = Quarternion.rotation(0,0,1,-radians(rotation_speed))*self.view_rotation
self.view_matrix_need_update = True
if QtCore.Qt.Key_U in self.pressed_keys and QtCore.Qt.Key_O not in self.pressed_keys:
self.view_rotation = Quarternion.rotation(0,0,1,radians(rotation_speed))*self.view_rotation
self.view_matrix_need_update = True
if self.projection_matrix_need_update:
self.update_projection_matrix()
if self.view_matrix_need_update:
self.update_view_matrix()
if self.animation is not None and not self.animation.is_finished:
self.animation.advance_frame()
self.updateGL()
def setModel(self,model):
self.makeCurrent()
model.gl_init()
self.model = model
self.animation = None
def setAnimation(self,animation):
animation.attach(self.model)
self.animation = animation
def keyPressEvent(self,event):
self.pressed_keys.add(event.key())
super().keyPressEvent(event)
def keyReleaseEvent(self,event):
self.pressed_keys.discard(event.key())
super().keyPressEvent(event)
def focusOutEvent(self,event):
self.pressed_keys = set()
super().focusOutEvent(event)
@QtCore.pyqtSlot()
def on_application_aboutToQuit(self):
#XXX Delete OpenGL objects before the OpenGL module starts to unload
#FIXME: Find a better way of doing this?
self.makeCurrent()
if hasattr(self,'matrix_block'): del self.matrix_block
if hasattr(self,'model'): del self.model