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# $Id: joint.py,v 1.5 2005/08/28 19:42:43 mbaas Exp $

## \file joint.py
## Contains the Joint class.

from _OpenGL.GL import *
from cgtypes import *
from component import *
from worldobject import WorldObject
from geomobject import GeomObject
from spheregeom import SphereGeom
from boundingbox import BoundingBox
from euleradapter import EulerAdapter
import _core
import cmds
from sl import *

# JointGeom
class JointGeom(GeomObject):
    """The geom object class for Joint objects.

    The geometry draws a wire frame sphere at the joint position
    and connections to all children joints (visualizing the bones). 
    """

    def __init__(self, joint, radius=0.05):
        """Constructor.

        \param joint (\c Joint) The joint that uses this geom
        \param radius (\c float) Radius of the wire sphere at the joint position
        """
        GeomObject.__init__(self)
        self.joint = joint
        self.radius = radius

        self.spheregeom = SphereGeom(radius=self.radius, segmentsu=8, segmentsv=4)

    def uniformCount(self):
        return 0

    def varyingCount(self):
        return 0

    def vertexCount(self):
        return 0

    def boundingBox(self):
        r = vec3(self.radius, self.radius, self.radius)
        return BoundingBox(-r, r)

    def drawGL(self):
        # Draw sphere
        glPushAttrib(GL_LIGHTING_BIT | GL_CURRENT_BIT | GL_POLYGON_BIT)
        glDisable(GL_LIGHTING)
        glPushMatrix()

        # The joint is located at the pivot point
        p = self.joint.getOffsetTransform()[3]
        pivot = vec3(p.x, p.y, p.z)
        glTranslate(pivot.x, pivot.y, pivot.z)
        
        glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
        self.spheregeom.drawGL()

        # Draw bone
        glBegin(GL_LINES)
        for child in self.joint.iterChilds():
            if not isinstance(child, Joint):
                continue
            p = child.pos-pivot
            try:
                b1 = p.ortho().normalize()
                b2 = p.cross(b1).normalize()
            except:
                continue
            b1 *= 0.75*self.radius
            b2 *= 0.75*self.radius
            
            glVertex3d(b1.x, b1.y, b1.z)
            glVertex3d(p.x, p.y, p.z)
            
            glVertex3d(-b1.x, -b1.y, -b1.z)
            glVertex3d(p.x, p.y, p.z)

            glVertex3d(b2.x, b2.y, b2.z)
            glVertex3d(p.x, p.y, p.z)

            glVertex3d(-b2.x, -b2.y, -b2.z)
            glVertex3d(p.x, p.y, p.z)
        glEnd()

        # Pivot coordinate system...
        P = self.joint.getOffsetTransform()
        r = 1.5*self.radius
        glBegin(GL_LINES)
        # X axis
        b = r*P[0]
        glColor3f(1,0,0)
        glVertex3f(0,0,0)
        glVertex3f(b.x,b.y,b.z)
        # Y axis
        b = r*P[1]
        glColor3f(0,1,0)
        glVertex3f(0,0,0)
        glVertex3f(b.x,b.y,b.z)
        # Z axis
        b = r*P[2]
        glColor3f(0,0,1)
        glVertex3f(0,0,0)
        glVertex3f(b.x,b.y,b.z)
        glEnd()

        glPopMatrix()
        glPopAttrib()


class Mult(Component):

    def __init__(self, name="Mult", auto_insert=True):
        Component.__init__(self, name=name, auto_insert=auto_insert)

        # Create the input slots
        self.op1_slot = Mat3Slot()
        self.op2_slot = Mat3Slot()
        # Create the output slot
        self.output_slot = ProceduralMat3Slot(self.computeOutput)

        # Add the slots to the component
        self.addSlot("op1", self.op1_slot)
        self.addSlot("op2", self.op2_slot)
        self.addSlot("output", self.output_slot)

        # Set up slot dependencies
        self.op1_slot.addDependent(self.output_slot)
        self.op2_slot.addDependent(self.output_slot)

    def computeOutput(self):
        return self.op1*self.op2

    # Create value attributes
    exec slotPropertyCode("op1")
    exec slotPropertyCode("op2")
    exec slotPropertyCode("output")

# Joint
class Joint(WorldObject):
    """Joint class.
    """

    def __init__(self,
                 name = "Joint",
                 radius = 0.05,
                 rotationorder = "xyz",
                 **params):
        
        WorldObject.__init__(self, name=name, **params)

        self.geom = JointGeom(self, radius=radius)

        self.euleradapter = EulerAdapter(order=rotationorder, outtype="mat3", auto_insert=False)
        self.nullrot = Mult(auto_insert=False)
        
#        self.euleradapter.output_slot.connect(self.rot_slot)
        self.nullrot.op1 = mat3(1)
        self.euleradapter.output_slot.connect(self.nullrot.op2_slot)
        self.nullrot.output_slot.connect(self.rot_slot)

        self.anglex_slot = self.euleradapter.anglex_slot
        self.angley_slot = self.euleradapter.angley_slot
        self.anglez_slot = self.euleradapter.anglez_slot

#    def setEuler(self, x,y,z):
#        m = mat3().fromEulerXYZ(radians(x), radians(y), radians(z))
#        self.rot = m

    ## protected:

    # angle properties...
    exec slotPropertyCode("anglex")
    exec slotPropertyCode("angley")
    exec slotPropertyCode("anglez")

    # freezePivot
    def freezePivot(self):
        """Make the current pivot coordinate system the default pose.

        After calling this method, the current rotation of the pivot
        coordinate system will define the default pose. This means,
        rotations are now defined around the local pivot axes.
        """
        self.nullrot.op1 = self.getOffsetTransform().getMat3()
        
