forked from Rowland/EG
658 lines
24 KiB
Python
658 lines
24 KiB
Python
"""
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VR可视化模块
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提供VR手柄和交互元素的高级可视化功能：
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- 手柄3D模型渲染
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- 交互射线显示
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- 按钮状态可视化
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- 触摸板和扳机反馈
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"""
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from panda3d.core import (
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NodePath, GeomNode, LineSegs, CardMaker, Geom, GeomVertexData,
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GeomVertexFormat, GeomVertexWriter, GeomTriangles, GeomPoints,
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Vec3, Vec4, Mat4, TransparencyAttrib, RenderState, ColorAttrib,
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InternalName, loadPrcFileData
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)
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from panda3d.core import Texture, Material, TextureStage
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# 启用Assimp支持OBJ文件加载
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loadPrcFileData("", "load-file-type p3assimp")
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class VRControllerVisualizer:
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"""VR手柄可视化器"""
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def __init__(self, controller, render_node):
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"""初始化手柄可视化器
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Args:
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controller: VRController实例
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render_node: 渲染节点
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"""
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self.controller = controller
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self.render = render_node
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# 可视化节点
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self.visual_node = None
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self.model_node = None
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self.ray_node = None
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self.button_indicator_node = None
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# 射线参数
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self.ray_length = 10.0
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self.ray_color = Vec4(0.9, 0.9, 0.2, 0.8)
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self.ray_hit_color = Vec4(0.2, 0.9, 0.2, 0.8)
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# 按钮指示器参数
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self.button_colors = {
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'normal': Vec4(0.3, 0.3, 0.8, 1.0),
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'left': Vec4(0.2, 0.6, 0.9, 1.0),
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'right': Vec4(0.9, 0.3, 0.3, 1.0),
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'trigger': Vec4(0.9, 0.6, 0.2, 1.0),
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'grip': Vec4(0.6, 0.9, 0.3, 1.0),
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'menu': Vec4(0.9, 0.2, 0.9, 1.0),
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'trackpad': Vec4(0.2, 0.9, 0.9, 1.0)
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}
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self._create_visual_components()
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def _create_visual_components(self):
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"""创建可视化组件"""
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if not self.controller.anchor_node:
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return
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# 创建主可视化节点
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self.visual_node = self.controller.anchor_node.attachNewNode(f'{self.controller.name}_visual')
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# 创建手柄模型
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self._create_controller_model()
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# 创建交互射线
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self._create_interaction_ray()
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# 暂时注释按钮指示器功能，避免额外几何体造成悬空零件
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# self._create_button_indicators()
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def _create_controller_model(self):
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"""创建手柄3D模型"""
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if not self.visual_node:
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return
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# 创建模型节点
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self.model_node = self.visual_node.attachNewNode(f'{self.controller.name}_model')
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# 尝试加载SteamVR官方模型
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steamvr_model = self._load_steamvr_model()
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if steamvr_model:
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# 使用SteamVR官方模型
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steamvr_model.reparentTo(self.model_node)
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# 应用SteamVR配置中的正确旋转值，绕Y轴（俯仰轴）旋转90度
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# body组件的rotate_xyz: [5.037,0.0,0.0]，再加上绕Y轴旋转90度
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# 右手正确，左手需要反向
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if self.controller.name == 'left':
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# 左手控制器：绕Y轴俯仰+90度（修正反向）
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steamvr_model.setHpr(0, 5.037 + 90, 0)
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else:
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# 右手控制器：绕Y轴俯仰+90度（保持不变）
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steamvr_model.setHpr(0, 5.037 + 90, 0)
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# 设置合适的缩放值
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steamvr_model.setScale(1.0)
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# 打印实际应用的旋转值
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if self.controller.name == 'left':
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print(f"🔧 {self.controller.name}手柄：缩放: 1.0，旋转: (0, {5.037 + 90}, 0) [Y轴俯仰+90度]")
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else:
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print(f"🔧 {self.controller.name}手柄：缩放: 1.0，旋转: (0, {5.037 + 90}, 0) [Y轴俯仰+90度]")
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# 修复纯黑色问题：重新设置材质属性
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self._fix_model_material(steamvr_model)
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# 暂时注释身份标记功能，避免额外几何体造成悬空零件
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# self._apply_controller_identity_marker(steamvr_model)
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# 设置手柄始终显示在上层
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self._set_always_on_top(steamvr_model)
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print(f"✅ {self.controller.name}手柄已加载SteamVR官方模型（缩放: 1.0，实体渲染模式）")
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else:
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# 降级到改进的程序化模型
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self._create_fallback_model()
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print(f"⚠️ {self.controller.name}手柄使用程序化模型（未找到SteamVR模型）")
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def _load_steamvr_model(self):
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"""加载SteamVR官方手柄模型"""
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import os
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from panda3d.core import Filename, Texture, TextureStage
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# SteamVR模型基础路径
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steamvr_base_paths = [
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"/home/hello/.local/share/Steam/steamapps/common/SteamVR/resources/rendermodels/vr_controller_vive_1_5",
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"/home/hello/.steam/steam/steamapps/common/SteamVR/resources/rendermodels/vr_controller_vive_1_5",
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"~/.local/share/Steam/steamapps/common/SteamVR/resources/rendermodels/vr_controller_vive_1_5"
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]
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for base_path in steamvr_base_paths:
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expanded_base_path = os.path.expanduser(base_path)
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if os.path.exists(expanded_base_path):
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print(f"🔍 找到SteamVR模型目录: {expanded_base_path}")
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# 不再添加目录到搜索路径，避免自动加载多余组件
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# from panda3d.core import getModelPath
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# getModelPath().appendDirectory(expanded_base_path)
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# 尝试加载不同的模型文件，按优先级排序
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model_files = [
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("body.obj", "手柄主体"), # 最重要的部分
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("vr_controller_vive_1_5.obj", "完整手柄模型"), # 组合模型
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]
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for model_file, description in model_files:
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model_path = os.path.join(expanded_base_path, model_file)
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if os.path.exists(model_path):
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try:
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print(f"🎮 尝试加载{description}: {model_file}")
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# 加载主模型
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model = loader.loadModel(Filename.fromOsSpecific(model_path))
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if model:
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# 先应用纹理，再修复材质（保持纹理效果）
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self._apply_steamvr_textures(model, expanded_base_path)
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print(f"✅ 成功加载{description}")
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return model
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else:
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print(f"⚠️ 模型文件存在但加载失败: {model_file}")
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except Exception as e:
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print(f"❌ 加载{description}失败: {e}")
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continue
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# 不再尝试组合加载多个部件，避免悬空零件问题
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print("⚠️ 单个模型文件加载失败，跳过组合加载以避免悬空零件")
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break
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print("❌ 未找到任何SteamVR模型目录")
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return None
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def _fix_model_material(self, model):
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"""修复模型材质，解决纯黑色问题同时保持纹理"""
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from panda3d.core import Material, MaterialAttrib
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# 检查模型是否有纹理
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has_texture = model.hasTexture()
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# 创建新的材质
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material = Material()
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if has_texture:
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# 有纹理时，设置材质以增强纹理效果
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material.setDiffuse((1.0, 1.0, 1.0, 1.0)) # 白色漫反射让纹理完全显示
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material.setAmbient((0.4, 0.4, 0.4, 1.0)) # 适度环境光
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material.setSpecular((0.3, 0.3, 0.3, 1.0)) # 轻度高光
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material.setShininess(16.0) # 中等光泽度
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print(f"🎨 {self.controller.name}手柄：已修复材质（保持纹理效果）")
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else:
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# 无纹理时，设置合适的基础颜色
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material.setDiffuse((0.7, 0.7, 0.8, 1.0)) # 略偏蓝的灰色
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material.setAmbient((0.3, 0.3, 0.3, 1.0)) # 环境光
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material.setSpecular((0.5, 0.5, 0.5, 1.0)) # 高光
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material.setShininess(32.0) # 光泽度
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print(f"🎨 {self.controller.name}手柄：已修复材质（使用颜色）")
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# 应用材质到模型
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model.setMaterial(material)
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# 确保模型能正确渲染
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model.setTwoSided(False)
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def _apply_controller_identity_marker(self, model):
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"""为控制器添加身份标记，区分左右手"""
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from panda3d.core import RenderModeAttrib
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# 创建一个小的标识几何体
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marker_geom = self._create_box_geometry(0.005, 0.005, 0.02)
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marker_node = model.attachNewNode(marker_geom)
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# 根据左右手设置不同位置和颜色（现在都是Y轴+90度俯仰）
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if self.controller.name == 'left':
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# 左手控制器：左侧标记
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marker_node.setPos(-0.03, 0.05, 0.02)
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marker_node.setColor(0.2, 0.4, 1.0, 1.0) # 蓝色
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print(f"🔵 {self.controller.name}手柄已添加蓝色身份标记")
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else:
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# 右手控制器：右侧标记
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marker_node.setPos(0.03, 0.05, 0.02)
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marker_node.setColor(1.0, 0.2, 0.2, 1.0) # 红色
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print(f"🔴 {self.controller.name}手柄已添加红色身份标记")
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# 让标记发光以便更容易看到
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marker_node.setLightOff() # 不受光照影响，保持明亮
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# 添加轻微的色彩调整（非常微弱，不影响主要纹理）
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if self.controller.name == 'left':
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model.setColorScale(0.98, 0.98, 1.02, 1.0) # 极轻微的蓝色调
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else:
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model.setColorScale(1.02, 0.98, 0.98, 1.0) # 极轻微的红色调
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def _apply_steamvr_textures(self, model, base_path):
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"""为SteamVR模型应用纹理"""
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import os
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from panda3d.core import Texture, TextureStage
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# SteamVR纹理文件
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texture_files = {
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'diffuse': 'onepointfive_texture.png',
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'specular': 'onepointfive_spec.png'
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}
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textures_applied = 0
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for texture_type, texture_file in texture_files.items():
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texture_path = os.path.join(base_path, texture_file)
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if os.path.exists(texture_path):
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try:
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texture = loader.loadTexture(texture_path)
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if texture:
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# 确保纹理能正确加载
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texture.setWrapU(Texture.WMClamp)
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texture.setWrapV(Texture.WMClamp)
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texture.setMinfilter(Texture.FTLinearMipmapLinear)
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texture.setMagfilter(Texture.FTLinear)
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if texture_type == 'diffuse':
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# 应用主要漫反射纹理
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model.setTexture(texture)
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print(f"✅ 应用了主纹理: {texture_file}")
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textures_applied += 1
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elif texture_type == 'specular':
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# 应用高光纹理
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ts = TextureStage('specular')
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ts.setMode(TextureStage.MModulate)
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model.setTexture(ts, texture)
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print(f"✅ 应用了高光纹理: {texture_file}")
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textures_applied += 1
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except Exception as e:
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print(f"⚠️ 应用纹理失败 {texture_file}: {e}")
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if textures_applied == 0:
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print(f"⚠️ {self.controller.name}手柄未能加载任何纹理，将使用材质颜色")
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else:
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print(f"🎨 {self.controller.name}手柄成功应用了 {textures_applied} 个纹理")
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def _load_combined_steamvr_model(self, base_path):
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"""尝试组合加载多个SteamVR模型部件"""
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import os
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from panda3d.core import NodePath
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# 重要的模型部件
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important_components = [
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"body.obj",
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"trigger.obj",
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"trackpad.obj",
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"l_grip.obj" if self.controller.name == 'left' else "r_grip.obj"
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]
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combined_model = NodePath("combined_controller")
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has_components = False
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for component in important_components:
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component_path = os.path.join(base_path, component)
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if os.path.exists(component_path):
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try:
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part = loader.loadModel(component_path)
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if part:
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part.reparentTo(combined_model)
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has_components = True
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print(f"✅ 加载了部件: {component}")
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except Exception as e:
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print(f"⚠️ 加载部件失败 {component}: {e}")
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if has_components:
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self._apply_steamvr_textures(combined_model, base_path)
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return combined_model
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return None
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def _create_fallback_model(self):
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"""创建改进的程序化手柄模型作为后备方案"""
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# 主体（长条形状）
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main_body = self._create_box_geometry(0.025, 0.15, 0.04)
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main_node = self.model_node.attachNewNode(main_body)
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# 根据左右手设置不同颜色
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if self.controller.name == 'left':
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color = self.button_colors['left']
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else:
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color = self.button_colors['right']
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main_node.setColor(color)
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# 启用光照响应
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from panda3d.core import RenderState, MaterialAttrib, Material
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material = Material()
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material.setShininess(32)
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material.setAmbient((0.2, 0.2, 0.2, 1))
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material.setDiffuse(color)
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material.setSpecular((0.5, 0.5, 0.5, 1))
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main_node.setMaterial(material)
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# 扳机区域（小突起）
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trigger = self._create_box_geometry(0.015, 0.03, 0.02)
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trigger_node = self.model_node.attachNewNode(trigger)
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trigger_node.setPos(0, -0.08, 0.03)
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trigger_node.setColor(self.button_colors['trigger'])
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trigger_node.setMaterial(material)
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# 握把区域
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grip = self._create_box_geometry(0.02, 0.06, 0.03)
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grip_node = self.model_node.attachNewNode(grip)
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grip_node.setPos(0, 0.05, -0.03)
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grip_node.setColor(self.button_colors['grip'])
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grip_node.setMaterial(material)
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# 触摸板区域（圆盘）
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trackpad = self._create_disc_geometry(0.015, 0.005)
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trackpad_node = self.model_node.attachNewNode(trackpad)
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trackpad_node.setPos(0, -0.02, 0.04)
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trackpad_node.setColor(self.button_colors['trackpad'])
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trackpad_node.setMaterial(material)
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def _create_box_geometry(self, width, length, height):
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"""创建立方体几何体"""
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# 创建顶点格式
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format = GeomVertexFormat.getV3n3()
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vdata = GeomVertexData('box', format, Geom.UHStatic)
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vertex = GeomVertexWriter(vdata, 'vertex')
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normal = GeomVertexWriter(vdata, 'normal')
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# 定义立方体的8个顶点
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vertices = [
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Vec3(-width/2, -length/2, -height/2),
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Vec3( width/2, -length/2, -height/2),
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Vec3( width/2, length/2, -height/2),
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Vec3(-width/2, length/2, -height/2),
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Vec3(-width/2, -length/2, height/2),
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Vec3( width/2, -length/2, height/2),
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Vec3( width/2, length/2, height/2),
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Vec3(-width/2, length/2, height/2)
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]
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# 立方体的6个面，每个面4个顶点
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faces = [
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# 底面 (z = -height/2)
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[0, 1, 2, 3, Vec3(0, 0, -1)],
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# 顶面 (z = height/2)
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[7, 6, 5, 4, Vec3(0, 0, 1)],
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# 前面 (y = -length/2)
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[4, 5, 1, 0, Vec3(0, -1, 0)],
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# 后面 (y = length/2)
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[3, 2, 6, 7, Vec3(0, 1, 0)],
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# 左面 (x = -width/2)
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[0, 3, 7, 4, Vec3(-1, 0, 0)],
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# 右面 (x = width/2)
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[5, 6, 2, 1, Vec3(1, 0, 0)]
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]
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# 添加顶点和法线
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for face in faces:
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for i in range(4):
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vertex.addData3(vertices[face[i]])
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normal.addData3(face[4]) # 法线向量
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# 创建几何体
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geom = Geom(vdata)
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||
|
||
# 为每个面创建三角形
|
||
for face_idx in range(6):
|
||
base_idx = face_idx * 4
|
||
prim = GeomTriangles(Geom.UHStatic)
|
||
# 第一个三角形
|
||
prim.addVertices(base_idx, base_idx + 1, base_idx + 2)
|
||
# 第二个三角形
|
||
prim.addVertices(base_idx, base_idx + 2, base_idx + 3)
|
||
geom.addPrimitive(prim)
|
||
|
||
# 创建几何体节点
|
||
geom_node = GeomNode('box')
|
||
geom_node.addGeom(geom)
|
||
|
||
return geom_node
|
||
|
||
def _create_disc_geometry(self, radius, thickness):
|
||
"""创建圆盘几何体（用于触摸板）"""
|
||
format = GeomVertexFormat.getV3n3()
|
||
vdata = GeomVertexData('disc', format, Geom.UHStatic)
|
||
|
||
vertex = GeomVertexWriter(vdata, 'vertex')
|
||
normal = GeomVertexWriter(vdata, 'normal')
|
||
|
||
# 创建圆盘顶点
|
||
segments = 16
|
||
import math
|
||
|
||
# 中心点
|
||
vertex.addData3(0, 0, thickness/2)
|
||
normal.addData3(0, 0, 1)
|
||
|
||
# 圆周点
|
||
for i in range(segments):
|
||
angle = 2 * math.pi * i / segments
|
||
x = radius * math.cos(angle)
|
||
y = radius * math.sin(angle)
|
||
|
||
vertex.addData3(x, y, thickness/2)
|
||
normal.addData3(0, 0, 1)
|
||
|
||
# 创建几何体
|
||
geom = Geom(vdata)
|
||
prim = GeomTriangles(Geom.UHStatic)
|
||
|
||
# 创建扇形三角形
|
||
for i in range(segments):
|
||
next_i = (i + 1) % segments
|
||
prim.addVertices(0, i + 1, next_i + 1)
|
||
|
||
geom.addPrimitive(prim)
|
||
|
||
# 创建几何体节点
|
||
geom_node = GeomNode('disc')
|
||
geom_node.addGeom(geom)
|
||
|
||
return geom_node
|
||
|
||
def _create_interaction_ray(self):
|
||
"""创建交互射线"""
|
||
if not self.visual_node:
|
||
return
|
||
|
||
# 创建射线几何
|
||
line_segs = LineSegs()
|
||
line_segs.setThickness(3)
|
||
line_segs.setColor(self.ray_color)
|
||
|
||
# 射线主体
|
||
line_segs.moveTo(0, 0, 0)
|
||
line_segs.drawTo(0, self.ray_length, 0)
|
||
|
||
# 射线端点（小球）
|
||
end_point = self._create_sphere_geometry(0.02)
|
||
|
||
# 创建射线节点
|
||
geom_node = line_segs.create()
|
||
self.ray_node = self.visual_node.attachNewNode(geom_node)
|
||
|
||
# 添加端点球
|
||
end_node = self.ray_node.attachNewNode(end_point)
|
||
end_node.setPos(0, self.ray_length, 0)
|
||
end_node.setColor(self.ray_color)
|
||
|
||
# 设置透明度
|
||
self.ray_node.setTransparency(TransparencyAttrib.MAlpha)
|
||
|
||
# 默认隐藏射线
|
||
self.ray_node.hide()
|
||
|
||
print(f"✓ {self.controller.name}手柄交互射线已创建")
|
||
|
||
def _create_sphere_geometry(self, radius):
|
||
"""创建球体几何体"""
|
||
# 简单的立方体作为球体替代
|
||
return self._create_box_geometry(radius, radius, radius)
|
||
|
||
def _create_button_indicators(self):
|
||
"""创建按钮状态指示器"""
|
||
if not self.visual_node:
|
||
return
|
||
|
||
# 创建按钮指示器容器
|
||
self.button_indicator_node = self.visual_node.attachNewNode(f'{self.controller.name}_indicators')
|
||
|
||
# 扳机指示器
|
||
trigger_indicator = self._create_box_geometry(0.005, 0.01, 0.005)
|
||
self.trigger_indicator = self.button_indicator_node.attachNewNode(trigger_indicator)
|
||
self.trigger_indicator.setPos(0.02, -0.08, 0.03)
|
||
self.trigger_indicator.setColor(0.2, 0.2, 0.2, 1.0)
|
||
|
||
# 握把指示器
|
||
grip_indicator = self._create_box_geometry(0.005, 0.02, 0.005)
|
||
self.grip_indicator = self.button_indicator_node.attachNewNode(grip_indicator)
|
||
self.grip_indicator.setPos(-0.02, 0.05, -0.03)
|
||
self.grip_indicator.setColor(0.2, 0.2, 0.2, 1.0)
|
||
|
||
# 触摸板指示器
|
||
trackpad_indicator = self._create_disc_geometry(0.003, 0.002)
|
||
self.trackpad_indicator = self.button_indicator_node.attachNewNode(trackpad_indicator)
|
||
self.trackpad_indicator.setPos(0, -0.02, 0.045)
|
||
self.trackpad_indicator.setColor(0.2, 0.2, 0.2, 1.0)
|
||
|
||
print(f"✓ {self.controller.name}手柄按钮指示器已创建")
|
||
|
||
def update(self):
|
||
"""更新可视化状态"""
|
||
if not self.controller.is_connected:
|
||
self.hide()
|
||
return
|
||
|
||
self.show()
|
||
|
||
# 更新按钮指示器状态
|
||
self._update_button_indicators()
|
||
|
||
# 更新射线显示状态
|
||
self._update_ray_display()
|
||
|
||
def _update_button_indicators(self):
|
||
"""更新按钮指示器状态"""
|
||
if not hasattr(self, 'trigger_indicator'):
|
||
return
|
||
|
||
# 扳机指示器
|
||
if self.controller.is_trigger_pressed():
|
||
self.trigger_indicator.setColor(self.button_colors['trigger'])
|
||
# 根据扳机值调整位置
|
||
trigger_offset = self.controller.trigger_value * 0.01
|
||
self.trigger_indicator.setPos(0.02, -0.08 + trigger_offset, 0.03)
|
||
else:
|
||
self.trigger_indicator.setColor(0.2, 0.2, 0.2, 1.0)
|
||
self.trigger_indicator.setPos(0.02, -0.08, 0.03)
|
||
|
||
# 握把指示器
|
||
if self.controller.is_grip_pressed():
|
||
self.grip_indicator.setColor(self.button_colors['grip'])
|
||
else:
|
||
self.grip_indicator.setColor(0.2, 0.2, 0.2, 1.0)
|
||
|
||
# 触摸板指示器
|
||
if self.controller.touchpad_touched:
|
||
self.trackpad_indicator.setColor(self.button_colors['trackpad'])
|
||
# 根据触摸位置调整指示器位置
|
||
if hasattr(self.controller, 'touchpad_pos'):
|
||
offset_x = self.controller.touchpad_pos.x * 0.01
|
||
offset_y = self.controller.touchpad_pos.y * 0.01
|
||
self.trackpad_indicator.setPos(offset_x, -0.02 + offset_y, 0.045)
|
||
else:
|
||
self.trackpad_indicator.setColor(0.2, 0.2, 0.2, 1.0)
|
||
self.trackpad_indicator.setPos(0, -0.02, 0.045)
|
||
|
||
def _update_ray_display(self):
|
||
"""更新射线显示"""
|
||
if not self.ray_node:
|
||
return
|
||
|
||
# 根据交互状态显示/隐藏射线
|
||
# 这里可以添加更复杂的逻辑，比如只在指向对象时显示
|
||
show_ray = (self.controller.is_trigger_pressed(threshold=0.1) or
|
||
self.controller.touchpad_touched)
|
||
|
||
if show_ray:
|
||
self.show_ray()
|
||
else:
|
||
self.hide_ray()
|
||
|
||
def show(self):
|
||
"""显示手柄可视化"""
|
||
if self.visual_node:
|
||
self.visual_node.show()
|
||
|
||
def hide(self):
|
||
"""隐藏手柄可视化"""
|
||
if self.visual_node:
|
||
self.visual_node.hide()
|
||
|
||
def show_ray(self):
|
||
"""显示交互射线"""
|
||
if self.ray_node:
|
||
self.ray_node.show()
|
||
|
||
def hide_ray(self):
|
||
"""隐藏交互射线"""
|
||
if self.ray_node:
|
||
self.ray_node.hide()
|
||
|
||
def set_ray_color(self, color):
|
||
"""设置射线颜色"""
|
||
if self.ray_node:
|
||
self.ray_node.setColor(color)
|
||
|
||
def set_ray_length(self, length):
|
||
"""设置射线长度"""
|
||
self.ray_length = length
|
||
# 重新创建射线（简单的实现）
|
||
if self.ray_node:
|
||
self.ray_node.removeNode()
|
||
self._create_interaction_ray()
|
||
|
||
def _set_always_on_top(self, model_node):
|
||
"""设置手柄模型始终显示在上层，不被其他物体遮挡"""
|
||
if not model_node:
|
||
return
|
||
|
||
from panda3d.core import RenderState
|
||
|
||
# 设置为固定渲染bin，优先级设为较高值（1000）
|
||
# fixed bin中的对象按sort值从小到大渲染，越大越后渲染（越在上层）
|
||
model_node.setBin("fixed", 1000)
|
||
|
||
# 禁用深度测试和深度写入，确保始终可见
|
||
model_node.setDepthTest(False)
|
||
model_node.setDepthWrite(False)
|
||
|
||
# 递归设置所有子节点的渲染属性
|
||
for child in model_node.findAllMatches("**"):
|
||
child.setBin("fixed", 1000)
|
||
child.setDepthTest(False)
|
||
child.setDepthWrite(False)
|
||
|
||
print(f"🔝 {self.controller.name}手柄已设置为始终显示在上层")
|
||
|
||
def cleanup(self):
|
||
"""清理资源"""
|
||
if self.visual_node:
|
||
self.visual_node.removeNode()
|
||
|
||
print(f"🧹 {self.controller.name}手柄可视化已清理") |