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# $Id: joint.py,v 1.5 2005/08/28 19:42:43 mbaas Exp $
## \file joint.py
## Contains the Joint class.
from _OpenGL.GL import *
from cgtypes import *
from component import *
from worldobject import WorldObject
from geomobject import GeomObject
from spheregeom import SphereGeom
from boundingbox import BoundingBox
from euleradapter import EulerAdapter
import _core
import cmds
from sl import *
# JointGeom
class JointGeom(GeomObject):
"""The geom object class for Joint objects.
The geometry draws a wire frame sphere at the joint position
and connections to all children joints (visualizing the bones).
"""
def __init__(self, joint, radius=0.05):
"""Constructor.
\param joint (\c Joint) The joint that uses this geom
\param radius (\c float) Radius of the wire sphere at the joint position
"""
GeomObject.__init__(self)
self.joint = joint
self.radius = radius
self.spheregeom = SphereGeom(radius=self.radius, segmentsu=8, segmentsv=4)
def uniformCount(self):
return 0
def varyingCount(self):
return 0
def vertexCount(self):
return 0
def boundingBox(self):
r = vec3(self.radius, self.radius, self.radius)
return BoundingBox(-r, r)
def drawGL(self):
# Draw sphere
glPushAttrib(GL_LIGHTING_BIT | GL_CURRENT_BIT | GL_POLYGON_BIT)
glDisable(GL_LIGHTING)
glPushMatrix()
# The joint is located at the pivot point
p = self.joint.getOffsetTransform()[3]
pivot = vec3(p.x, p.y, p.z)
glTranslate(pivot.x, pivot.y, pivot.z)
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
self.spheregeom.drawGL()
# Draw bone
glBegin(GL_LINES)
for child in self.joint.iterChilds():
if not isinstance(child, Joint):
continue
p = child.pos-pivot
try:
b1 = p.ortho().normalize()
b2 = p.cross(b1).normalize()
except:
continue
b1 *= 0.75*self.radius
b2 *= 0.75*self.radius
glVertex3d(b1.x, b1.y, b1.z)
glVertex3d(p.x, p.y, p.z)
glVertex3d(-b1.x, -b1.y, -b1.z)
glVertex3d(p.x, p.y, p.z)
glVertex3d(b2.x, b2.y, b2.z)
glVertex3d(p.x, p.y, p.z)
glVertex3d(-b2.x, -b2.y, -b2.z)
glVertex3d(p.x, p.y, p.z)
glEnd()
# Pivot coordinate system...
P = self.joint.getOffsetTransform()
r = 1.5*self.radius
glBegin(GL_LINES)
# X axis
b = r*P[0]
glColor3f(1,0,0)
glVertex3f(0,0,0)
glVertex3f(b.x,b.y,b.z)
# Y axis
b = r*P[1]
glColor3f(0,1,0)
glVertex3f(0,0,0)
glVertex3f(b.x,b.y,b.z)
# Z axis
b = r*P[2]
glColor3f(0,0,1)
glVertex3f(0,0,0)
glVertex3f(b.x,b.y,b.z)
glEnd()
glPopMatrix()
glPopAttrib()
class Mult(Component):
def __init__(self, name="Mult", auto_insert=True):
Component.__init__(self, name=name, auto_insert=auto_insert)
# Create the input slots
self.op1_slot = Mat3Slot()
self.op2_slot = Mat3Slot()
# Create the output slot
self.output_slot = ProceduralMat3Slot(self.computeOutput)
# Add the slots to the component
self.addSlot("op1", self.op1_slot)
self.addSlot("op2", self.op2_slot)
self.addSlot("output", self.output_slot)
# Set up slot dependencies
self.op1_slot.addDependent(self.output_slot)
self.op2_slot.addDependent(self.output_slot)
def computeOutput(self):
return self.op1*self.op2
# Create value attributes
exec slotPropertyCode("op1")
exec slotPropertyCode("op2")
exec slotPropertyCode("output")
# Joint
class Joint(WorldObject):
"""Joint class.
"""
def __init__(self,
name = "Joint",
radius = 0.05,
rotationorder = "xyz",
**params):
WorldObject.__init__(self, name=name, **params)
self.geom = JointGeom(self, radius=radius)
self.euleradapter = EulerAdapter(order=rotationorder, outtype="mat3", auto_insert=False)
self.nullrot = Mult(auto_insert=False)
# self.euleradapter.output_slot.connect(self.rot_slot)
self.nullrot.op1 = mat3(1)
self.euleradapter.output_slot.connect(self.nullrot.op2_slot)
self.nullrot.output_slot.connect(self.rot_slot)
self.anglex_slot = self.euleradapter.anglex_slot
self.angley_slot = self.euleradapter.angley_slot
self.anglez_slot = self.euleradapter.anglez_slot
# def setEuler(self, x,y,z):
# m = mat3().fromEulerXYZ(radians(x), radians(y), radians(z))
# self.rot = m
## protected:
# angle properties...
exec slotPropertyCode("anglex")
exec slotPropertyCode("angley")
exec slotPropertyCode("anglez")
# freezePivot
def freezePivot(self):
"""Make the current pivot coordinate system the default pose.
After calling this method, the current rotation of the pivot
coordinate system will define the default pose. This means,
rotations are now defined around the local pivot axes.
"""
self.nullrot.op1 = self.getOffsetTransform().getMat3()
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