--spnav option to camera.py enables camera control with a

locally-attached Space Navigator 3D mouse.  Assumes you have the open
source spacenavd and libspnav installed.  (Both included in Ubuntu now.)

1 files changed, 82 insertions, 12 deletions

diff --git a/camera.py b/camera.py
index 59c47eb..005e2cd 100755
--- a/camera.py
+++ b/camera.py
@@ -72,11 +72,17 @@ def get_rays(position, size = (800, 600), film_size = (0.035, 0.024), focal_leng
     return grid, focal_point-grid
 
 class Camera(Thread):
-    def __init__(self, geometry, module, context, lock=None, size=(800,600)):
+    def __init__(self, geometry, module, context, lock=None, size=(800,600),
+                 spnav=False):
         Thread.__init__(self)
         self.geometry = geometry
         self.module = module
         self.context = context
+        self.spnav = spnav
+
+        if spnav:
+            import spnav as spnav_module
+            self.spnav_module = spnav_module
 
         if lock is None:
             self.lock = Lock()
@@ -130,6 +136,7 @@ class Camera(Thread):
     def initialize_render(self):
         with self.lock:
             self.context.push()
+            print 'beginning initialize_render()'
             self.rng_states_gpu = cuda.mem_alloc(self.width*self.height*sizeof('curandStateXORWOW', '#include <curand_kernel.h>'))
             self.init_rng_kernel(np.int32(self.width*self.height), self.rng_states_gpu, np.int32(0), np.int32(0), block=(self.nblocks,1,1), grid=(self.width*self.height//self.nblocks+1,1))
             self.xyz_lookup1_gpu = gpuarray.zeros(len(self.geometry.mesh.triangles), dtype=gpuarray.vec.float3)
@@ -222,7 +229,7 @@ class Camera(Thread):
 
         self.update()
 
-    def rotate_around_point(self, phi, n, point):
+    def rotate_around_point(self, phi, n, point, redraw=True):
         with self.lock:
             self.context.push()
             self.rotate_around_point_kernel(np.int32(self.origins_gpu.size), self.origins_gpu, np.float32(phi), gpuarray.vec.make_float3(*n), gpuarray.vec.make_float3(*point), block=(self.nblocks,1,1), grid=(self.origins_gpu.size//self.nblocks+1,1))
@@ -232,12 +239,13 @@ class Camera(Thread):
         self.axis1 = rotate(self.axis1, phi, n)
         self.axis2 = rotate(self.axis2, phi, n)
 
-        if self.render:
-            self.clear_image()
+        if redraw:
+            if self.render:
+                self.clear_image()
 
-        self.update()
+            self.update()
 
-    def translate(self, v):
+    def translate(self, v, redraw=True):
         with self.lock:
             self.context.push()
             self.translate_kernel(np.int32(self.pixels_gpu.size), self.origins_gpu, gpuarray.vec.make_float3(*v), block=(self.nblocks,1,1), grid=(self.pixels_gpu.size//self.nblocks,1))
@@ -245,14 +253,15 @@ class Camera(Thread):
             self.point += v
             self.context.pop()
 
-        if self.render:
-            self.clear_image()
+        if redraw:
+            if self.render:
+                self.clear_image()
 
-        self.update()
+            self.update()
 
     def update(self):
         if self.render:
-            while self.nlookup_calls < 100:
+            while self.nlookup_calls < 10:
                 self.update_xyz_lookup(self.source_position)
             self.update_image()
             self.process_image()
@@ -273,6 +282,9 @@ class Camera(Thread):
             self.movie_index += 1
 
     def run(self):
+        if self.spnav:
+            self.spnav_module.spnav_open()
+
         self.update()
         
         done = False
@@ -287,6 +299,58 @@ class Camera(Thread):
 
             if self.render and not clicked and not pygame.event.peek(KEYDOWN):
                 self.update()
+            
+            # Space Navigator controls
+            if self.spnav:
+                spnav_event = self.spnav_module.spnav_poll_event()
+                if spnav_event:
+                    if spnav_event.type == self.spnav_module.SPNAV_EVENT_MOTION:
+                        if shift:
+                            accelerate_factor = 2.0
+                        else:
+                            accelerate_factor = 1.0
+                        #print 'raw:', spnav_event
+                        v1 = self.axis1
+                        v2 = self.axis2
+                        v3 = np.cross(self.axis1,self.axis2)
+
+                        v = -v1*spnav_event.motion.x + v2*spnav_event.motion.y \
+                            + v3*spnav_event.motion.z
+                        v *= self.scale / 10000.0 * accelerate_factor
+
+                        #print 'translate:', v
+                        self.translate(v, redraw=False)                    
+
+                        axis = v1*spnav_event.motion.rx + -v2*spnav_event.motion.ry \
+                               + -v3*spnav_event.motion.rz
+
+                        # Zero all but non-max values
+                        #axis[~(np.abs(axis) == np.abs(axis).max())] = 0
+                        #axis[np.abs(axis) < 15] = 0
+                        if (axis != 0).any():
+                            axis = axis.astype(float)
+                            length = np.linalg.norm(axis)
+                            angle = length * 0.0001 * accelerate_factor
+                            axis /= length
+                            #print 'rotate:', angle, axis
+                            self.rotate_around_point(angle, axis, self.point, redraw=False)
+
+                        if self.render:
+                            self.clear_image()
+
+                        self.update()
+                        self.spnav_module.spnav_remove_events(self.spnav_module.SPNAV_EVENT_MOTION)
+
+                    elif spnav_event.type == self.spnav_module.SPNAV_EVENT_BUTTON:
+                        if spnav_event.button.bnum == 0 and spnav_event.button.press:
+                            if not hasattr(self, 'rng_states_gpu'):
+                                self.initialize_render()
+
+                            self.render = not self.render
+                            self.clear_image()
+                            self.update()
+                            self.spnav_module.spnav_remove_events(self.spnav_module.SPNAV_EVENT_ANY)
+                        
 
             for event in pygame.event.get():
                 if event.type == MOUSEBUTTONDOWN:
@@ -436,6 +500,9 @@ class Camera(Thread):
             encode_movie(self.movie_dir)
 
         pygame.display.quit()
+        if self.spnav:
+            self.spnav_module.spnav_close()
+
 
 if __name__ == '__main__':
     import optparse
@@ -452,11 +519,13 @@ if __name__ == '__main__':
 
     parser = optparse.OptionParser('%prog filename.stl')
     parser.add_option('-b', '--bits', type='int', dest='bits',
-                      help='bits for z-ordering space axes', default=8)
+                      help='bits for z-ordering space axes', default=10)
     #parser.add_option('-l', action='store_true', dest='load_bvh',
     #                  help='load bounding volumes', default=False)
     parser.add_option('-r', '--resolution', dest='resolution',
                       help='specify resolution', default='800,600')
+    parser.add_option('--spnav', action='store_true', dest='spnav',
+                      help='activate Space Navigator support', default=False)
     options, args = parser.parse_args()
 
     if len(args) < 1:
@@ -493,5 +562,6 @@ if __name__ == '__main__':
     gpu = GPU()
     gpu.load_geometry(geometry)
     gpu.context.pop()
-    camera = Camera(geometry, gpu.module, gpu.context, lock, size=size)
+    camera = Camera(geometry, gpu.module, gpu.context, lock, size=size,
+                    spnav=options.spnav)
     camera.start()