14.) Cleanup selection example

examples/selection/main.py

@@ -1,56 +1,38 @@
-import os
-
-os.environ["KIVY_NO_CONSOLELOG"] = "1"
-import math
 from kivy.app import App
 from kivy.uix.floatlayout import FloatLayout
-from kivy.uix.scatterlayout import ScatterLayout
-from kivy.uix.relativelayout import RelativeLayout
-from kivy.properties import ListProperty
-from kivy.clock import Clock
-from kivy.core.image import Image
-
-from kivy3 import Scene, Renderer, PerspectiveCamera
-from kivy3.extras.geometries import PlaneGeometry, ConeGeometry, BoxGeometry
-from kivy3.extras.objects import ArrowObject, AxisObject
-from kivy3.loaders import URDFLoader
-from kivy3 import Mesh, Material, Object3D
-from kivy3.widgets import OrbitControlWidget, SelectionWidget, Object3DWidget
-
-from kivy.graphics.opengl import (
-    glEnable,
-    glDisable,
-    GL_DEPTH_TEST,
-    glReadPixels,
-    GL_RGBA,
-    GL_UNSIGNED_BYTE,
-)
-
+from kivy3 import Material
+from kivy3 import Mesh
+from kivy3 import Object3D
+from kivy3 import PerspectiveCamera
+from kivy3 import Renderer
+from kivy3 import Scene
+from kivy3.extras.geometries import BoxGeometry
+from kivy3.widgets import Object3DWidget
+from kivy3.widgets import OrbitControlWidget
+from kivy3.widgets import SelectionWidget
+import os
 
 _this_path = os.path.dirname(os.path.realpath(__file__))
-shader_file = os.path.join(_this_path, "../blinnphong.glsl")
-obj_file = os.path.join(_this_path, "./monkey.obj")
-stl_file = os.path.join(_this_path, "./test.stl")
-urdf_file = os.path.join(
-    _this_path, "./rs1_description/urdf/generated_rs1_parallel.urdf"
-)
-package_path = os.path.join(_this_path, "./")  # parent of the package path
-arrow_img_file = os.path.join(_this_path, "./assets/icon-rotate-360.png")
-prismatic_arrow_img_file = os.path.join(_this_path, "./assets/icon-arrows.png")
+shader_file = os.path.join(_this_path, "./blinnphong.glsl")
 
 
-class VisualisationWidget(FloatLayout):
-    def __init__(self, **kw):
-        super(VisualisationWidget, self).__init__(**kw)
+class SelectionExample(App):
+    """This example shows how to make objects selectable
+    """
 
-        self.renderer = Renderer(shader_file=shader_file)
-        self.renderer.set_clear_color((0.16, 0.30, 0.44, 1.0))
+    def build(self):
+        renderer = self.renderer = Renderer(shader_file=shader_file)
+        renderer.set_clear_color((0.16, 0.30, 0.44, 1.0))
 
-        self.selection_widget = SelectionWidget(self.renderer)
+        selection_widget = SelectionWidget(renderer)
 
-        scene = Scene()
+        camera = PerspectiveCamera(90, 0.3, 0.1, 1000)
+        camera.pos.z = 1.5
+        camera.look_at((0, 0, 0))
+        camera.bind_to(renderer)
 
         base = Object3D()
+
         id_color = (1, 0, 0)
         geometry = BoxGeometry(1, 1, 1)
         material = Material(
@@ -59,11 +41,10 @@ def __init__(self, **kw):
             specular=(0.3, 0.3, 0.3),
             id_color=(id_color),
         )
-        object1 = Mesh(geometry, material)
+        obj_1 = Mesh(geometry, material)
 
-        widget1 = Object3DWidget(object1, self.renderer)
-        self.selection_widget.register(id_color, widget1)
-        base.add(object1)
+        widget_1 = Object3DWidget(obj_1, renderer)
+        selection_widget.register(id_color, widget_1)
 
         id_color = (2, 0, 0)
         geometry = BoxGeometry(1, 1, 1)
@@ -73,54 +54,34 @@ def __init__(self, **kw):
             specular=(0.3, 0.3, 0.3),
             id_color=(id_color),
         )
-        object2 = Mesh(geometry, material)
-        object2.pos.x = 1
-        widget2 = Object3DWidget(object2, self.renderer)
-        self.selection_widget.register(id_color, widget2)
-        base.add(object2)
-
-        # arrow = AxisObject(alpha=0.5)
-
-        # loader = URDFLoader(package_path=package_path)
-        # obj = loader.load(urdf_file)
-        # self.robot = obj
+        obj_2 = Mesh(geometry, material)
+        obj_2.pos.x = 1
+        widget_2 = Object3DWidget(obj_2, renderer)
+        selection_widget.register(id_color, widget_2)
 
-        # base.add(self.robot)
-        # base.add(arrow)
         base.rot.x = -90
-        scene.add(base)
+        base.add(obj_1)
+        base.add(obj_2)
 
-        # self.robot.joint_dict['rs2_joint_g'].set_position(0.5)
-        # self.robot.joint_dict['rs2_joint_f'].set_position(3.14)
-        # self.robot.joint_dict['rs2_gripper_joint_1'].set_position(1.)
+        scene = Scene()
+        scene.add(base)
 
-        self.camera = PerspectiveCamera(90, 0.3, 0.1, 1000)
-        self.camera.pos.z = 1.5
-        self.camera.look_at((0, 0, 0))
+        renderer.render(scene, camera)
+        renderer.bind(size=self._adjust_aspect)
 
-        self.camera.bind_to(self.renderer)
-        self.renderer.render(scene, self.camera)
+        orbit = OrbitControlWidget(renderer, 4.0)
+        root = FloatLayout()
+        root.add_widget(renderer, index=30)
+        root.add_widget(orbit, index=99)
+        root.add_widget(selection_widget, index=98)
 
-        self.add_widget(self.renderer, index=30)
-        self.orbit = OrbitControlWidget(self.renderer, 4.0)
-        self.add_widget(self.orbit, index=99)
-        self.add_widget(self.selection_widget, index=98)
-        self.renderer.bind(size=self._adjust_aspect)
+        return root
 
     def _adjust_aspect(self, inst, val):
         rsize = self.renderer.size
         aspect = rsize[0] / float(rsize[1])
         self.renderer.camera.aspect = aspect
 
 
-class VisualisationApp(App):
-    def build(self):
-
-        return VisualisationWidget()
-
-
 if __name__ == "__main__":
-    from kivy.config import Config
-
-    # Config.set('input', 'mouse', 'mouse,disable_multitouch')
-    VisualisationApp().run()
+    SelectionExample().run()