Merge branch 'master' into experimental

stlview.py

+#!/usr/bin/python
+import os
+import wx,math,stltool
+from wx import glcanvas
+import time
+import threading
+        
+import pyglet
+pyglet.options['shadow_window'] = False
+pyglet.options['debug_gl'] = False
+from pyglet import gl
+from pyglet.gl import *
+
+class GLPanel(wx.Panel):
+
+    '''A simple class for using OpenGL with wxPython.'''
+
+    def __init__(self, parent, id, pos=wx.DefaultPosition,
+                 size=wx.DefaultSize, style=0):
+        # Forcing a no full repaint to stop flickering
+        style = style | wx.NO_FULL_REPAINT_ON_RESIZE
+        #call super function
+        super(GLPanel, self).__init__(parent, id, pos, size, style)
+
+        #init gl canvas data
+        self.GLinitialized = False
+        attribList = (glcanvas.WX_GL_RGBA, # RGBA
+                      glcanvas.WX_GL_DOUBLEBUFFER, # Double Buffered
+                      glcanvas.WX_GL_DEPTH_SIZE, 24) # 24 bit
+        # Create the canvas
+        self.sizer = wx.BoxSizer(wx.HORIZONTAL)
+        self.canvas = glcanvas.GLCanvas(self, attribList=attribList)
+        self.sizer.Add(self.canvas, 1, wx.EXPAND)
+        self.SetSizer(self.sizer)
+        #self.sizer.Fit(self)
+        self.Layout()
+        
+        # bind events
+        self.canvas.Bind(wx.EVT_ERASE_BACKGROUND, self.processEraseBackgroundEvent)
+        self.canvas.Bind(wx.EVT_SIZE, self.processSizeEvent)
+        self.canvas.Bind(wx.EVT_PAINT, self.processPaintEvent)
+
+    #==========================================================================
+    # Canvas Proxy Methods
+    #==========================================================================
+    def GetGLExtents(self):
+        '''Get the extents of the OpenGL canvas.'''
+        return self.canvas.GetClientSize()
+
+    def SwapBuffers(self):
+        '''Swap the OpenGL buffers.'''
+        self.canvas.SwapBuffers()
+
+    #==========================================================================
+    # wxPython Window Handlers
+    #==========================================================================
+    def processEraseBackgroundEvent(self, event):
+        '''Process the erase background event.'''
+        pass # Do nothing, to avoid flashing on MSWin
+
+    def processSizeEvent(self, event):
+        '''Process the resize event.'''
+        if self.canvas.GetContext():
+            # Make sure the frame is shown before calling SetCurrent.
+            self.Show()
+            self.canvas.SetCurrent()
+            size = self.GetGLExtents()
+            self.winsize = (size.width, size.height)
+            self.width, self.height = size.width, size.height
+            self.OnReshape(size.width, size.height)
+            self.canvas.Refresh(False)
+        event.Skip()
+
+    def processPaintEvent(self, event):
+        '''Process the drawing event.'''
+        self.canvas.SetCurrent()
+        
+        # This is a 'perfect' time to initialize OpenGL ... only if we need to
+        if not self.GLinitialized:
+            self.OnInitGL()
+            self.GLinitialized = True
+        
+        self.OnDraw()
+        event.Skip()
+        
+    def Destroy(self):
+        #clean up the pyglet OpenGL context
+        #self.pygletcontext.destroy()
+        #call the super method
+        super(wx.Panel, self).Destroy()
+
+    #==========================================================================
+    # GLFrame OpenGL Event Handlers
+    #==========================================================================
+    def OnInitGL(self):
+        '''Initialize OpenGL for use in the window.'''
+        #create a pyglet context for this panel
+        self.pmat=(GLdouble * 16)()
+        self.mvmat=(GLdouble * 16)()
+        self.pygletcontext = Context(current_context)
+        self.pygletcontext.set_current()
+        self.dist=1000
+        self.vpmat=None
+        #normal gl init
+        glClearColor(0, 0, 0, 0.5)
+        glColor3f(1, 0, 0)
+        glEnable(GL_DEPTH_TEST)
+        glEnable(GL_CULL_FACE)
+        # Uncomment this line for a wireframe view
+        #glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
+    
+        # Simple light setup.  On Windows GL_LIGHT0 is enabled by default,
+        # but this is not the case on Linux or Mac, so remember to always 
+        # include it.
+        glEnable(GL_LIGHTING)
+        glEnable(GL_LIGHT0)
+        glEnable(GL_LIGHT1)
+        
+        # Define a simple function to create ctypes arrays of floats:
+        def vec(*args):
+            return (GLfloat * len(args))(*args)
+    
+        glLightfv(GL_LIGHT0, GL_POSITION, vec(.5, .5, 1, 0))
+        glLightfv(GL_LIGHT0, GL_SPECULAR, vec(.5, .5, 1, 1))
+        glLightfv(GL_LIGHT0, GL_DIFFUSE, vec(1, 1, 1, 1))
+        glLightfv(GL_LIGHT1, GL_POSITION, vec(1, 0, .5, 0))
+        glLightfv(GL_LIGHT1, GL_DIFFUSE, vec(.5, .5, .5, 1))
+        glLightfv(GL_LIGHT1, GL_SPECULAR, vec(1, 1, 1, 1))
+    
+        glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, vec(0.5, 0, 0.3, 1))
+        glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, vec(1, 1, 1, 1))
+        glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, 200)
+        glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, vec(0,0.1,0,0.9))
+        #create objects to draw
+        #self.create_objects()
+                                         
+                                         
+                                         
+    def OnReshape(self, width, height):
+        '''Reshape the OpenGL viewport based on the dimensions of the window.'''
+        
+        if not self.GLinitialized:
+            self.OnInitGL()
+            self.GLinitialized = True
+        self.pmat=(GLdouble * 16)()
+        self.mvmat=(GLdouble * 16)()
+        glViewport(0, 0, width, height)
+        glMatrixMode(GL_PROJECTION)
+        glLoadIdentity()
+        gluPerspective(60., width / float(height), .1, 1000.)
+        glMatrixMode(GL_MODELVIEW)
+        glLoadIdentity()
+        #pyglet stuff
+        self.vpmat=(GLint * 4)(0,0,*list(self.GetClientSize()))
+        glGetDoublev(GL_PROJECTION_MATRIX,self.pmat)
+        glGetDoublev(GL_MODELVIEW_MATRIX,self.mvmat)
+        #glMatrixMode(GL_PROJECTION)
+        
+        
+        # Wrap text to the width of the window
+        if self.GLinitialized:
+            self.pygletcontext.set_current()
+            self.update_object_resize()
+            
+    def OnDraw(self, *args, **kwargs):
+        """Draw the window."""
+        #clear the context
+        self.canvas.SetCurrent()
+        self.pygletcontext.set_current()
+        glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT)
+        #draw objects
+        self.draw_objects()
+        #update screen
+        self.SwapBuffers()
+            
+    #==========================================================================
+    # To be implemented by a sub class
+    #==========================================================================
+    def create_objects(self):
+        '''create opengl objects when opengl is initialized'''
+        pass
+        
+    def update_object_resize(self):
+        '''called when the window recieves only if opengl is initialized'''
+        pass
+        
+    def draw_objects(self):
+        '''called in the middle of ondraw after the buffer has been cleared'''
+        pass
+       
+class stlview(object):
+    list = None
+    def __init__(self, facets, batch):
+        # Create the vertex and normal arrays.
+        vertices = []
+        normals = []
+
+        for i in facets:
+            for j in i[1]:
+                vertices.extend(j)
+                normals.extend(i[0])
+
+        # Create a list of triangle indices.
+        indices = range(3*len(facets))#[[3*i,3*i+1,3*i+2] for i in xrange(len(facets))]
+        #print indices[:10]
+        self.vertex_list = batch.add_indexed(len(vertices)//3, 
+                                             GL_TRIANGLES,
+                                             None,#group,
+                                             indices,
+                                             ('v3f/static', vertices),
+                                             ('n3f/static', normals))
+       
+    def delete(self):
+        self.vertex_list.delete()
+
+def trackball(p1x, p1y, p2x, p2y, r):
+    TRACKBALLSIZE=r
+#float a[3]; /* Axis of rotation */
+#float phi;  /* how much to rotate about axis */
+#float p1[3], p2[3], d[3];
+#float t;
+
+    if (p1x == p2x and p1y == p2y):
+        return [0.0,0.0,0.0,1.0]
+
+    p1=[p1x,p1y,project_to_sphere(TRACKBALLSIZE,p1x,p1y)]
+    p2=[p2x,p2y,project_to_sphere(TRACKBALLSIZE,p2x,p2y)]
+    a=stltool.cross(p2,p1)
+    
+    d=map(lambda x,y:x-y,p1,p2)
+    t = math.sqrt(sum(map(lambda x:x*x, d))) / (2.0*TRACKBALLSIZE)
+
+    if (t > 1.0): t = 1.0
+    if (t < -1.0): t = -1.0
+    phi = 2.0 * math.asin(t)
+
+    return axis_to_quat(a,phi)
+
+def vec(*args):
+    return (GLfloat * len(args))(*args)
+    
+def axis_to_quat(a,phi):
+    #print a, phi
+    lena=math.sqrt(sum(map(lambda x:x*x, a)))
+    q=map(lambda x:x*(1/lena),a)
+    q=map(lambda x:x*math.sin(phi/2.0),q)
+    q.append(math.cos(phi/2.0))
+    return q
+    
+def build_rotmatrix(q):
+    m=(GLdouble * 16)()
+    m[0] = 1.0 - 2.0 * (q[1] * q[1] + q[2] * q[2])
+    m[1] = 2.0 * (q[0] * q[1] - q[2] * q[3]);
+    m[2] = 2.0 * (q[2] * q[0] + q[1] * q[3]);
+    m[3] = 0.0;
+
+    m[4] = 2.0 * (q[0] * q[1] + q[2] * q[3]);
+    m[5]= 1.0 - 2.0 * (q[2] * q[2] + q[0] * q[0]);
+    m[6] = 2.0 * (q[1] * q[2] - q[0] * q[3]);
+    m[7] = 0.0;
+
+    m[8] = 2.0 * (q[2] * q[0] - q[1] * q[3]);
+    m[9] = 2.0 * (q[1] * q[2] + q[0] * q[3]);
+    m[10] = 1.0 - 2.0 * (q[1] * q[1] + q[0] * q[0]);
+    m[11] = 0.0;
+
+    m[12] = 0.0;
+    m[13] = 0.0;
+    m[14] = 0.0;
+    m[15] = 1.0;
+    return m
+
+def project_to_sphere(r, x, y):
+    d = math.sqrt(x*x + y*y)
+    if (d < r * 0.70710678118654752440):
+        return math.sqrt(r*r - d*d)
+    else:
+        t = r / 1.41421356237309504880
+        return t*t / d
+        
+def mulquat(q1,rq):
+    return [q1[3] * rq[0] + q1[0] * rq[3] + q1[1] * rq[2] - q1[2] * rq[1],
+                    q1[3] * rq[1] + q1[1] * rq[3] + q1[2] * rq[0] - q1[0] * rq[2],
+                    q1[3] * rq[2] + q1[2] * rq[3] + q1[0] * rq[1] - q1[1] * rq[0],
+                    q1[3] * rq[3] - q1[0] * rq[0] - q1[1] * rq[1] - q1[2] * rq[2]]
+
+class TestGlPanel(GLPanel):
+    
+    def __init__(self, parent, id=wx.ID_ANY, pos=(10, 10)):
+        super(TestGlPanel, self).__init__(parent, id, wx.DefaultPosition, wx.DefaultSize, 0)
+        self.batches=[]
+        self.rot=0
+        self.canvas.Bind(wx.EVT_MOUSE_EVENTS,self.move)
+        self.initialized=1
+        self.canvas.Bind(wx.EVT_MOUSEWHEEL,self.wheel)
+        self.initp=None
+        self.selected=0
+        self.dist=200
+        self.transv=[0, 0, -self.dist]
+        self.basequat=[0,0,0,1]
+        wx.CallAfter(self.forceresize)
+        
+    def forceresize(self):
+        self.SetClientSize((self.GetClientSize()[0],self.GetClientSize()[1]+1))
+        self.SetClientSize((self.GetClientSize()[0],self.GetClientSize()[1]-1))
+        threading.Thread(target=self.update).start()
+        self.initialized=0
+    
+    def move(self, event):
+        if event.Dragging() and event.LeftIsDown():
+            if self.initp==None:
+                self.initp=event.GetPositionTuple()
+            else:
+                if event.ShiftDown():
+                    if self.selected<0:
+                        return
+                    p1=list(self.initp)
+                    p1[1]*=-1
+                    self.initp=None
+                    p2=list(event.GetPositionTuple())
+                    p2[1]*=-1
+                    self.batches[self.selected][0]=map(lambda old,new,original:original+(new-old), list(p1)+[0],list(p2)+[0],self.batches[0][0])
+                    return
+                #print self.initp
+                p1=self.initp
+                self.initp=None
+                p2=event.GetPositionTuple()
+                sz=self.GetClientSize()
+                p1x=(float(p1[0])-sz[0]/2)/(sz[0]/2)
+                p1y=-(float(p1[1])-sz[1]/2)/(sz[1]/2)
+                p2x=(float(p2[0])-sz[0]/2)/(sz[0]/2)
+                p2y=-(float(p2[1])-sz[1]/2)/(sz[1]/2)
+                #print p1x,p1y,p2x,p2y
+                quat=trackball(p1x, p1y, p2x, p2y, -self.transv[2]/250.0)
+                if self.rot:
+                    self.basequat=mulquat(self.basequat,quat)
+                #else:
+                glGetDoublev(GL_MODELVIEW_MATRIX,self.mvmat)
+                #self.basequat=quatx
+                mat=build_rotmatrix(self.basequat)
+                glLoadIdentity()
+                #glTranslatef(-self.transv[0],-self.transv[1],-self.transv[2])
+                glTranslatef(*self.transv)
+                glMultMatrixd(mat)
+                glGetDoublev(GL_MODELVIEW_MATRIX,self.mvmat)
+                self.rot=1
+            
+        elif event.ButtonUp(wx.MOUSE_BTN_LEFT):
+            if self.initp is not None:
+                self.initp=None
+        elif event.ButtonUp(wx.MOUSE_BTN_RIGHT):
+            if self.initp is not None:
+                self.initp=None
+        
+        elif event.Dragging() and event.RightIsDown():
+                if self.initp is None:
+                    self.initp=event.GetPositionTuple()
+                else:
+                    p1=self.initp
+                    p2=event.GetPositionTuple()
+                    sz=self.GetClientSize()
+                    p1=list(p1)
+                    p2=list(p2)
+                    p1[1]*=-1
+                    p2[1]*=-1
+                    
+                    self.transv=map(lambda x,y,z,c:c-self.dist*(x-y)/z, list(p1)+[0], list(p2)+[0], list(sz)+[1], self.transv)
+                    
+                    glLoadIdentity()
+                    glTranslatef(*self.transv)
+                    if(self.rot):
+                        glMultMatrixd(build_rotmatrix(self.basequat))
+                    glGetDoublev(GL_MODELVIEW_MATRIX,self.mvmat)
+                    self.rot=1
+                    self.initp=None
+                
+    def wheel(self,event):
+        z=event.GetWheelRotation()
+        delta=10
+        if event.ShiftDown():
+            if self.selected<0:
+                return
+                    
+            if z > 0:
+                self.batches[self.selected][2]+=delta/2
+            else:
+                self.batches[self.selected][2]-=delta/2
+            return
+        if z > 0:
+            self.transv[2]+=delta
+        else:
+            self.transv[2]-=delta
+        
+        glLoadIdentity()
+        glTranslatef(*self.transv)
+        if(self.rot):
+            glMultMatrixd(build_rotmatrix(self.basequat))
+        glGetDoublev(GL_MODELVIEW_MATRIX,self.mvmat)
+        self.rot=1
+    
+                
+    def update(self):
+        while(1):
+            dt=0.05
+            time.sleep(0.05)
+            try:
+                wx.CallAfter(self.Refresh)
+            except:
+                return
+            #continue
+            global rx, ry, rz
+            rx += dt * 1
+            ry += dt * 80
+            rz += dt * 30
+            rx %= 360
+            ry %= 360
+            rz %= 360
+        
+    def create_objects(self):
+        '''create opengl objects when opengl is initialized'''
+        import stltool
+        batch = pyglet.graphics.Batch()
+        s= stltool.stl("x-end-idler.stl")
+        stl = stlview(s.facets, batch=batch)
+        #print "added vertices"
+        self.batches+=[[[50,50,0],batch,0]]
+        #batch = pyglet.graphics.Batch()
+        #s= stltool.stl("../prusa/metric-prusa/mbotplate1.stl")
+        #stl = stlview(s.facets, batch=batch)
+        #print "added vertices"
+        #self.batches+=[([-50,-50,0],batch)]
+        self.initialized=1
+        wx.CallAfter(self.Refresh)
+        
+    def update_object_resize(self):
+        '''called when the window recieves only if opengl is initialized'''
+        pass
+        
+    def draw_objects(self):
+        '''called in the middle of ondraw after the buffer has been cleared'''
+        if self.vpmat is None:
+            return
+        if not self.initialized:
+            self.create_objects()
+        
+        #glLoadIdentity()
+        #print list(self.pmat)
+        if self.rot==1:
+            glLoadIdentity()
+            glMultMatrixd(self.mvmat)
+        else:
+            glLoadIdentity()
+            glTranslatef(*self.transv)
+        #glRotatef(rz, 0, 0, 1)
+        #glRotatef(ry, 0, 1, 0)
+        #glRotatef(rx, 1, 0, 0)
+        glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, vec(0.2, 0.2, 0.2, 1))
+        glBegin(GL_LINES)
+        rows=10
+        cols=10
+        zheight=50
+        for i in xrange(-rows,rows+1):
+            if i%5==0:
+                glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, vec(0.6, 0.6, 0.6, 1))
+            else:
+                glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, vec(0.2, 0.2, 0.2, 1))
+            glVertex3f(10*-cols, 10*i,0)
+            glVertex3f(10*cols, 10*i,0)
+        for i in xrange(-cols,cols+1):
+            if i%5==0:
+                glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, vec(0.6, 0.6, 0.6, 1))
+            else:
+                glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, vec(0.2, 0.2, 0.2, 1))
+            glVertex3f(10*i, 10*-rows,0)
+            glVertex3f(10*i, 10*rows,0)
+        glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, vec(0.6, 0.6, 0.6, 1))
+        glVertex3f(10*-cols, 10*-rows,0)
+        glVertex3f(10*-cols, 10*-rows,zheight)
+        glVertex3f(10*cols, 10*rows,0)
+        glVertex3f(10*cols, 10*rows,zheight)
+        glVertex3f(10*cols, 10*-rows,0)
+        glVertex3f(10*cols, 10*-rows,zheight)
+        glVertex3f(10*-cols, 10*rows,0)
+        glVertex3f(10*-cols, 10*rows,zheight)
+        
+        glVertex3f(10*-cols, 10*rows,zheight)
+        glVertex3f(10*cols, 10*rows,zheight)
+        glVertex3f(10*cols, 10*rows,zheight)
+        glVertex3f(10*cols, 10*-rows,zheight)
+        glVertex3f(10*cols, 10*-rows,zheight)
+        glVertex3f(10*-cols, 10*-rows,zheight)
+        glVertex3f(10*-cols, 10*-rows,zheight)
+        glVertex3f(10*-cols, 10*rows,zheight)
+        
+        glEnd()
+        glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, vec(0.5, 0.6, 0.3, 1))
+        #glTranslatef(0,40,0)
+        for i in self.batches:
+            glPushMatrix()
+            glTranslatef(*i[0])
+            glRotatef(i[2],0.0,0.0,1.0)
+            #glScalef(1,1,0)
+            i[1].draw()
+            glPopMatrix()
+        #print "drawn batch"
+class TestFrame(wx.Frame):
+    '''A simple class for using OpenGL with wxPython.'''
+
+    def __init__(self, parent, ID, title, pos=wx.DefaultPosition,
+            size=wx.DefaultSize, style=wx.DEFAULT_FRAME_STYLE):
+        super(TestFrame, self).__init__(parent, ID, title, pos, size, style)
+        
+        self.mainsizer = wx.BoxSizer(wx.HORIZONTAL)
+        self.GLPanel1 = TestGlPanel(self)
+        self.mainsizer.Add(self.GLPanel1, 1, wx.EXPAND)
+        #self.GLPanel2 = TestGlPanel(self, wx.ID_ANY, (20, 20))
+        #self.mainsizer.Add(self.GLPanel2, 1, wx.EXPAND)
+        self.SetSizer(self.mainsizer)
+        #self.mainsizer.Fit(self)
+        self.Layout()
+        
+        
+
+    
+rx = ry = rz = 0
+
+app = wx.App(redirect=False)
+frame = TestFrame(None, wx.ID_ANY, 'GL Window', size=(400,400))
+#frame = wx.Frame(None, -1, "GL Window", size=(400,400))
+#panel = TestGlPanel(frame)
+frame.Show(True)
+app.MainLoop()
+app.Destroy()