klampt.vis.glrobotprogram module¶

Defines GLWorldPlugin and GLSimulationPlugin, which may be useful as base classes for your own plugins.

class klampt.vis.glrobotprogram.GLSimulationPlugin(world)[source]¶

Bases: klampt.vis.glrobotprogram.GLWorldPlugin

A program that runs a simulation given a world.

sim¶

the simulator that this plugin will be using

Type: SimpleSimulator

simulate¶

set this to True to start simulating.

Type: bool

dt¶

the timestep for each idle call.

Type: float

drawContacts¶

set this to True to draw contact points

Type: bool

drawSensors¶

set this to True to draw sensors

Type: bool

saveScreenshots¶

set this to True if frames should be saved to disk.

Type: bool

verbose¶

set to 1 if you wish to get printouts of the event loop

Type: int, optional

Subclasses should overload self.control_loop() and put whatever control loop you desire inside. Note: in this loop you should interact with self.sim.controller(0), not self.world.robot(0). self.world is simply a model and does not have a direct relation to the simulation.

Args: world (WorldModel): the world to simulate

control_loop()[source]¶: Overload this to perform custom control handling.

display()[source]¶: Override this to do custom drawing

idle()[source]¶

initialize()[source]¶: Called by backend after the GL context is created but before the event loop starts.

motionfunc(x, y, dx, dy)[source]¶

mousefunc(button, state, x, y)[source]¶

sim_step(dt=None)[source]¶: Advance the simulation and update the GUI

class klampt.vis.glrobotprogram.GLWorldPlugin(world)[source]¶

Bases: klampt.vis.glinterface.GLPluginInterface

A program that draws a WorldModel. This is a pretty bare plugin class, and users will want to override the GLPluginInterface methods to provide any reasonable functionality.

world¶

a world instance provided on construction. All elements in the world must be instantiated already.

Type: WorldModel

collider¶

used for the click_world helper.

Type: WorldCollider

Args: world (WorldModel): the world to draw

click_world(x, y, want_points=False)[source]¶

Helper: returns a list of objects sorted in order of increasing distance. This will be useful for handling mouse_click events.

Parameters

x,y (int) – the screen coordinates of a point being clicked
want_points (bool, optional) – if true, the return list contains the point of contact.

Returns

If want_points=False, a list of world objects.: If want_points=True, a list of (world object, point) pairs

Return type

(list)

display()[source]¶