world

Documentation

Index

• func DepthImage(img *image.RGBA, depth []float32, cmap *colormap.Map, cam *Camera)
• func DepthNorm(nd *[]float32, depth []float32, cam *Camera, flipY bool)
• func NoDisplayScene(gp *gpu.GPU, dev *gpu.Device) *xyz.Scene
• type Camera
  • func (cm *Camera) Defaults()
• type View
  • func NewView(world *physics.Group, sc *xyz.Scene, root *xyz.Group) *View
  • func (vw *View) ConfigBodySolid(bod physics.Body, sld *xyz.Solid)
  • func (vw *View) ConfigView(wn physics.Node, vn xyz.Node, sc *xyz.Scene)
  • func (vw *View) DepthImage() ([]float32, error)
  • func (vw *View) Image() (*image.RGBA, error)
  • func (vw *View) InitLibSolid(bod physics.Body, sc *xyz.Scene)
  • func (vw *View) InitLibrary()
  • func (vw *View) InitLibraryBody(wn physics.Node, sc *xyz.Scene)
  • func (vw *View) RenderOffNode(node physics.Node, cam *Camera) error
  • func (vw *View) Sync() bool
  • func (vw *View) SyncNode(wn physics.Node, vn xyz.Node, sc *xyz.Scene) bool
  • func (vw *View) UpdateBodyView(bodyNames ...string)
  • func (vw *View) UpdateBodyViewNode(bodyNames []string, wn physics.Node, vn xyz.Node)
  • func (vw *View) UpdatePose()
  • func (vw *View) UpdatePoseNode(wn physics.Node, vn xyz.Node)

Functions

func DepthImage

func DepthImage(img *image.RGBA, depth []float32, cmap *colormap.Map, cam *Camera)

DepthImage renders an image of linear depth map from GPU (0-1 normalized floats) to given image, which must be of appropriate size for map, using given colormap name. Camera params determine whether log is used, and max cutoff distance for sensitive range of distances -- also has Near / Far required to transform numbers into linearized distance values. Y axis is always flipped.

func DepthNorm

func DepthNorm(nd *[]float32, depth []float32, cam *Camera, flipY bool)

DepthNorm renders a normalized linear depth map from GPU (0-1 normalized floats) to given float slice, which is resized if not already appropriate size. if flipY then Y axis is flipped -- input is bottom-Y = 0. Camera params determine whether log is used, and max cutoff distance for sensitive range of distances -- also has Near / Far required to transform numbers into linearized distance values.

func NoDisplayScene

func NoDisplayScene(gp *gpu.GPU, dev *gpu.Device) *xyz.Scene

NoDisplayScene returns a xyz Scene initialized and ready to use in NoGUI offscreen rendering mode, using given GPU and device. Must manually call Init3D and Style3D on the Scene prior to a RenderOffNode call to grab the image from a specific camera.

Types

type Camera

type Camera struct {

	// size of image to record
	Size image.Point

	// field of view in degrees
	FOV float32

	// near plane z coordinate
	Near float32 `default:"0.01"`

	// far plane z coordinate
	Far float32 `default:"1000"`

	// maximum distance for depth maps -- anything above is 1 -- this is independent of Near / Far rendering (though must be < Far) and is for normalized depth maps
	MaxD float32 `default:"20"`

	// use the natural log of 1 + depth for normalized depth values in display etc
	LogD bool `default:"true"`

	// number of multi-samples to use for antialising -- 4 is best and default
	MSample int `default:"4"`

	// up direction for camera -- which way is up -- defaults to positive Y axis, and is reset by call to LookAt method
	UpDir math32.Vector3
}

Camera defines the properties of a camera needed for offscreen rendering

func (*Camera) Defaults

func (cm *Camera) Defaults()

type View

type View struct {

	// the root Group node of the virtual world
	World *physics.Group

	// the scene object for visualizing
	Scene *xyz.Scene

	// the root Group node in the Scene under which the world is rendered
	Root *xyz.Group
}

View connects a Virtual World with a Xyz Scene to visualize the world, including ability to render offscreen

func NewView

func NewView(world *physics.Group, sc *xyz.Scene, root *xyz.Group) *View

NewView returns a new View that links given world with given scene and root group

func (*View) ConfigBodySolid

func (vw *View) ConfigBodySolid(bod physics.Body, sld *xyz.Solid)

ConfigBodySolid configures a solid for a body with current values

func (*View) ConfigView

func (vw *View) ConfigView(wn physics.Node, vn xyz.Node, sc *xyz.Scene)

ConfigView configures the view node to properly display world node

func (*View) DepthImage

func (vw *View) DepthImage() ([]float32, error)

DepthImage returns the current rendered depth image

func (*View) Image

func (vw *View) Image() (*image.RGBA, error)

Image returns the current rendered image

func (*View) InitLibSolid

func (vw *View) InitLibSolid(bod physics.Body, sc *xyz.Scene)

InitLibSolid initializes Scene library with Solid for given body

func (*View) InitLibrary

func (vw *View) InitLibrary()

InitLibrary initializes Scene library with basic Solid shapes based on bodies in the virtual world. More complex visualizations can be configured after this.

func (*View) InitLibraryBody

func (vw *View) InitLibraryBody(wn physics.Node, sc *xyz.Scene)

InitLibraryBody initializes Scene library with basic Solid shapes based on bodies in the virtual world. More complex visualizations can be configured after this.

func (*View) RenderOffNode

func (vw *View) RenderOffNode(node physics.Node, cam *Camera) error

RenderOffNode does an offscreen render using given node for the camera position and orientation. Current scene camera is saved and restored

func (*View) Sync

func (vw *View) Sync() bool

Sync synchronizes the view to the world

func (*View) SyncNode

func (vw *View) SyncNode(wn physics.Node, vn xyz.Node, sc *xyz.Scene) bool

SyncNode updates the view tree to match the world tree, using efficient plan-based Build to maximally preserve existing tree elements returns true if view tree was modified (elements added / removed etc)

func (*View) UpdateBodyView

func (vw *View) UpdateBodyView(bodyNames ...string)

UpdateBodyView updates the display properties of given body name recurses the tree until this body name is found.

func (*View) UpdateBodyViewNode

func (vw *View) UpdateBodyViewNode(bodyNames []string, wn physics.Node, vn xyz.Node)

UpdateBodyViewNode updates the body view info for given name(s) Essential that both trees are already synchronized.

func (*View) UpdatePose

func (vw *View) UpdatePose()

UpdatePose updates the view pose values only from world tree. Essential that both trees are already synchronized.

func (*View) UpdatePoseNode

func (vw *View) UpdatePoseNode(wn physics.Node, vn xyz.Node)

UpdatePoseNode updates the view pose values only from world tree. Essential that both trees are already synchronized.