klampt.vis.glrobotprogram module

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

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

Bases: 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

display()[source]

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 (int) – the screen coordinates of a point being clicked
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)

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

Bases: 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

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

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

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

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

idle()[source]

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

motionfunc(x, y, dx, dy)[source]

mousewheelfunc(dhorizontal, dvertical, x, y)[source]