# -*- coding: utf-8 -*-
#===============================================================================
#
# PyGLWidget.py
#
# A simple GL Viewer.
#
# Copyright (c) 2011, Arne Schmitz <arne.schmitz@gmx.net>
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of the <organization> nor the
# names of its contributors may be used to endorse or promote products
# derived from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
#===============================================================================
from PyQt4 import QtCore, QtGui, QtOpenGL
import math
import numpy
import numpy.linalg as linalg
import OpenGL
OpenGL.ERROR_CHECKING = False
from OpenGL.GL import *
from OpenGL.GLU import *
class PyGLWidget(QtOpenGL.QGLWidget):
# Qt signals
signalGLMatrixChanged = QtCore.pyqtSignal()
rotationBeginEvent = QtCore.pyqtSignal()
rotationEndEvent = QtCore.pyqtSignal()
def __init__(self, parent = None):
format = QtOpenGL.QGLFormat()
format.setSampleBuffers(True)
QtOpenGL.QGLWidget.__init__(self, format, parent)
self.setCursor(QtCore.Qt.OpenHandCursor)
self.setMouseTracking(True)
self.modelview_matrix_ = []
self.translate_vector_ = [0.0, 0.0, 0.0]
self.viewport_matrix_ = []
self.projection_matrix_ = []
self.near_ = 0.1
self.far_ = 100.0
self.fovy_ = 45.0
self.radius_ = 5.0
self.last_point_2D_ = QtCore.QPoint()
self.last_point_ok_ = False
self.last_point_3D_ = [1.0, 0.0, 0.0]
self.isInRotation_ = False
# connections
#self.signalGLMatrixChanged.connect(self.printModelViewMatrix)
@QtCore.pyqtSlot()
def printModelViewMatrix(self):
print self.modelview_matrix_
def initializeGL(self):
# OpenGL state
glClearColor(1.0, 1.0, 1.0, 0.0)
glEnable(GL_DEPTH_TEST)
self.reset_view()
def resizeGL(self, width, height):
glViewport( 0, 0, width, height );
self.set_projection( self.near_, self.far_, self.fovy_ );
self.updateGL()
def paintGL(self):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glMatrixMode(GL_MODELVIEW)
glLoadMatrixd(self.modelview_matrix_)
def set_projection(self, _near, _far, _fovy):
self.near_ = _near
self.far_ = _far
self.fovy_ = _fovy
self.makeCurrent()
glMatrixMode( GL_PROJECTION )
glLoadIdentity()
gluPerspective( self.fovy_, float(self.width()) / float(self.height()),
self.near_, self.far_ )
self.updateGL()
def set_center(self, _cog):
self.center_ = _cog
self.view_all()
def set_radius(self, _radius):
self.radius_ = _radius
self.set_projection(_radius / 100.0, _radius * 100.0, self.fovy_)
self.reset_view()
self.translate([0, 0, -_radius * 2.0])
self.view_all()
self.updateGL()
def reset_view(self):
# scene pos and size
glMatrixMode( GL_MODELVIEW )
glLoadIdentity();
self.modelview_matrix_ = glGetDoublev( GL_MODELVIEW_MATRIX )
self.set_center([0.0, 0.0, 0.0])
def reset_rotation(self):
self.modelview_matrix_[0] = [1.0, 0.0, 0.0, 0.0]
self.modelview_matrix_[1] = [0.0, 1.0, 0.0, 0.0]
self.modelview_matrix_[2] = [0.0, 0.0, 1.0, 0.0]
glMatrixMode(GL_MODELVIEW)
glLoadMatrixd(self.modelview_matrix_)
self.updateGL()
def translate(self, _trans):
# Translate the object by _trans
# Update modelview_matrix_
self.makeCurrent()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
glTranslated(_trans[0], _trans[1], _trans[2])
glMultMatrixd(self.modelview_matrix_)
self.modelview_matrix_ = glGetDoublev(GL_MODELVIEW_MATRIX)
self.translate_vector_[0] = self.modelview_matrix_[3][0]
self.translate_vector_[1] = self.modelview_matrix_[3][1]
self.translate_vector_[2] = self.modelview_matrix_[3][2]
self.signalGLMatrixChanged.emit()
def rotate(self, _axis, _angle):
t = [self.modelview_matrix_[0][0] * self.center_[0] +
self.modelview_matrix_[1][0] * self.center_[1] +
self.modelview_matrix_[2][0] * self.center_[2] +
self.modelview_matrix_[3][0],
self.modelview_matrix_[0][1] * self.center_[0] +
self.modelview_matrix_[1][1] * self.center_[1] +
self.modelview_matrix_[2][1] * self.center_[2] +
self.modelview_matrix_[3][1],
self.modelview_matrix_[0][2] * self.center_[0] +
self.modelview_matrix_[1][2] * self.center_[1] +
self.modelview_matrix_[2][2] * self.center_[2] +
self.modelview_matrix_[3][2]]
self.makeCurrent()
glLoadIdentity()
glTranslatef(t[0], t[1], t[2])
glRotated(_angle, _axis[0], _axis[1], _axis[2])
glTranslatef(-t[0], -t[1], -t[2])
glMultMatrixd(self.modelview_matrix_)
self.modelview_matrix_ = glGetDoublev(GL_MODELVIEW_MATRIX)
self.signalGLMatrixChanged.emit()
def view_all(self):
self.translate( [ -( self.modelview_matrix_[0][0] * self.center_[0] +
self.modelview_matrix_[0][1] * self.center_[1] +
self.modelview_matrix_[0][2] * self.center_[2] +
self.modelview_matrix_[0][3]),
-( self.modelview_matrix_[1][0] * self.center_[0] +
self.modelview_matrix_[1][1] * self.center_[1] +
self.modelview_matrix_[1][2] * self.center_[2] +
self.modelview_matrix_[1][3]),
-( self.modelview_matrix_[2][0] * self.center_[0] +
self.modelview_matrix_[2][1] * self.center_[1] +
self.modelview_matrix_[2][2] * self.center_[2] +
self.modelview_matrix_[2][3] +
self.radius_ / 2.0 )])
def map_to_sphere(self, _v2D):
_v3D = [0.0, 0.0, 0.0]
# inside Widget?
if (( _v2D.x() >= 0 ) and ( _v2D.x() <= self.width() ) and
( _v2D.y() >= 0 ) and ( _v2D.y() <= self.height() ) ):
# map Qt Coordinates to the centered unit square [-0.5..0.5]x[-0.5..0.5]
x = float( _v2D.x() - 0.5 * self.width()) / self.width()
y = float( 0.5 * self.height() - _v2D.y()) / self.height()
_v3D[0] = x;
_v3D[1] = y;
# use Pythagoras to comp z-coord (the sphere has radius sqrt(2.0*0.5*0.5))
z2 = 2.0*0.5*0.5-x*x-y*y;
# numerical robust sqrt
_v3D[2] = math.sqrt(max( z2, 0.0 ))
# normalize direction to unit sphere
n = linalg.norm(_v3D)
_v3D = numpy.array(_v3D) / n
return True, _v3D
else:
return False, _v3D
def wheelEvent(self, _event):
# Use the mouse wheel to zoom in/out
d = - float(_event.delta()) / 200.0 * self.radius_
self.translate([0.0, 0.0, d])
self.updateGL()
_event.accept()
def mousePressEvent(self, _event):
self.last_point_2D_ = _event.pos()
self.last_point_ok_, self.last_point_3D_ = self.map_to_sphere(self.last_point_2D_)
def mouseMoveEvent(self, _event):
newPoint2D = _event.pos()
if ((newPoint2D.x() < 0) or (newPoint2D.x() > self.width()) or
(newPoint2D.y() < 0) or (newPoint2D.y() > self.height())):
return
# Left button: rotate around center_
# Middle button: translate object
# Left & middle button: zoom in/out
value_y = 0
newPoint_hitSphere, newPoint3D = self.map_to_sphere(newPoint2D)
dx = float(newPoint2D.x() - self.last_point_2D_.x())
dy = float(newPoint2D.y() - self.last_point_2D_.y())
w = float(self.width())
h = float(self.height())
# enable GL context
self.makeCurrent()
# move in z direction
if (((_event.buttons() & QtCore.Qt.LeftButton) and (_event.buttons() & QtCore.Qt.MidButton))
or (_event.buttons() & QtCore.Qt.LeftButton and _event.modifiers() & QtCore.Qt.ControlModifier)):
value_y = self.radius_ * dy * 2.0 / h;
self.translate([0.0, 0.0, value_y])
# move in x,y direction
elif (_event.buttons() & QtCore.Qt.MidButton
or (_event.buttons() & QtCore.Qt.LeftButton and _event.modifiers() & QtCore.Qt.ShiftModifier)):
z = - (self.modelview_matrix_[0][2] * self.center_[0] +
self.modelview_matrix_[1][2] * self.center_[1] +
self.modelview_matrix_[2][2] * self.center_[2] +
self.modelview_matrix_[3][2]) / (self.modelview_matrix_[0][3] * self.center_[0] +
self.modelview_matrix_[1][3] * self.center_[1] +
self.modelview_matrix_[2][3] * self.center_[2] +
self.modelview_matrix_[3][3])
fovy = 45.0
aspect = w / h
n = 0.01 * self.radius_
up = math.tan(fovy / 2.0 * math.pi / 180.0) * n
right = aspect * up
self.translate( [2.0 * dx / w * right / n * z,
-2.0 * dy / h * up / n * z,
0.0] )
# rotate
elif (_event.buttons() & QtCore.Qt.LeftButton):
if (not self.isInRotation_):
self.isInRotation_ = True
self.rotationBeginEvent.emit()
axis = [0.0, 0.0, 0.0]
angle = 0.0
if (self.last_point_ok_ and newPoint_hitSphere):
axis = numpy.cross(self.last_point_3D_, newPoint3D)
cos_angle = numpy.dot(self.last_point_3D_, newPoint3D)
if (abs(cos_angle) < 1.0):
angle = math.acos(cos_angle) * 180.0 / math.pi
angle *= 2.0
self.rotate(axis, angle)
# remember this point
self.last_point_2D_ = newPoint2D
self.last_point_3D_ = newPoint3D
self.last_point_ok_ = newPoint_hitSphere
# trigger redraw
self.updateGL()
def mouseReleaseEvent(self, _event):
if (isInRotation_):
isInRotation_ = false
self.rotationEndEvent.emit()
last_point_ok_ = False
#===============================================================================
#
# Local Variables:
# mode: Python
# indent-tabs-mode: nil
# End:
#
#===============================================================================