CubeSim.py

import numpy
from math import *
from quat import *

import pygame
from pygame.locals import *

from OpenGL.GL import *
from OpenGL.GLU import *


axis_verts = (
	(-7.5, 0.0, 0.0),
	( 7.5, 0.0, 0.0),
	( 0.0,-7.5, 0.0),
	( 0.0, 7.5, 0.0),
	( 0.0, 0.0,-7.5),
	( 0.0, 0.0, 7.5)
	)

axes = (
	(0,1),
	(2,3),
	(4,5)
	)

axis_colors = (
	(1.0,0.0,0.0), # Red
	(0.0,1.0,0.0), # Green
	(0.0,0.0,1.0)  # Blue
	)


'''
	   5____________6
	   /           /|
	  /           / |
	1/__________2/  |
	|           |   |
	|           |   |
	|           |   7
	|           |  /
	|           | /
	0___________3/
'''

cube_verts = (
	(-3.0,-3.0, 3.0),
	(-3.0, 3.0, 3.0),
	( 3.0, 3.0, 3.0),
	( 3.0,-3.0, 3.0),
	(-3.0,-3.0,-3.0),
	(-3.0, 3.0,-3.0),
	( 3.0, 3.0,-3.0),
	( 3.0,-3.0,-3.0)
	)

cube_edges = (
	(0,1),
	(0,3),
	(0,4),
	(2,1),
	(2,3),
	(2,6),
	(5,1),
	(5,4),
	(5,6),
	(7,3),
	(7,4),
	(7,6)
	)

cube_surfaces = (
	(0,1,2,3), # Front
	(3,2,6,7), # Right
	(7,6,5,4), # Left
	(4,5,1,0), # Back
	(1,5,6,2), # Top
	(4,0,3,7)  # Bottom
	)

cube_colors = (
	(0.769,0.118,0.227), # Red
	(  0.0,0.318,0.729), # Blue
	(  1.0,0.345,  0.0), # Orange
	(  0.0, 0.62,0.376), # Green
	(  1.0,  1.0,  1.0), # White
	(  1.0,0.835,  0.0)  # Yellow
	)


def Axis():
	glBegin(GL_LINES)
	for color,axis in zip(axis_colors,axes):
		glColor3fv(color)
		for point in axis:
			glVertex3fv(axis_verts[point])
	glEnd()

def Cube():
	glBegin(GL_QUADS)
	for color,surface in zip(cube_colors,cube_surfaces):
		glColor3fv(color)
		for vertex in surface:
			glVertex3fv(cube_verts[vertex])
	glEnd()

	glBegin(GL_LINES)
	glColor3fv((0.0,0.0,0.0))
	for edge in cube_edges:
		for vertex in edge:
			glVertex3fv(cube_verts[vertex])
	glEnd()

def main():
	pygame.init()
	display = (1800,1718)
	pygame.display.set_mode(display, DOUBLEBUF|OPENGL)

	# Using depth test to make sure closer colors are shown over further ones
	glEnable(GL_DEPTH_TEST)
	glDepthFunc(GL_LESS)
	
	# Default view
	glMatrixMode(GL_PROJECTION)
	gluPerspective(45, (display[0]/display[1]), 0.5, 40)
	glTranslatef(0.0,0.0,-17.5)


	inc_x = 0
	inc_y = 0
	accum = (1,0,0,0)

	while True:
		for event in pygame.event.get():
			if event.type == pygame.QUIT:
				pygame.quit()
				quit()

			if event.type == pygame.KEYDOWN:
				#Rotating about the x axis
				if event.key == pygame.K_UP:
					inc_x =  pi/100
				if event.key == pygame.K_DOWN:
					inc_x = -pi/100

				# Rotating about the y axis
				if event.key == pygame.K_LEFT:
					inc_y =  pi/100
				if event.key == pygame.K_RIGHT:
					inc_y = -pi/100

				# Reset to default view
				if event.key == pygame.K_SPACE:
					accum = (1,0,0,0)

			if event.type == pygame.KEYUP:
				# Stoping rotation
				if event.key == pygame.K_UP or event.key == pygame.K_DOWN:
					inc_x = 0.0
				if event.key == pygame.K_LEFT or event.key == pygame.K_RIGHT:
					inc_y = 0.0

		rot_x = normalize(axisangle_to_q((1.0,0.0,0.0), inc_x))
		rot_y = normalize(axisangle_to_q((0.0,1.0,0.0), inc_y))
		accum = q_mult(accum,rot_x)
		accum = q_mult(accum,rot_y)

		glMatrixMode(GL_MODELVIEW)
		glLoadMatrixf(q_to_mat4(accum))

		glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT)
		Cube()
		Axis()
		pygame.display.flip()
		pygame.time.wait(10)

main()