16.) Cleanup stl loader example

examples/stl_loader/main.py

@@ -1,113 +1,55 @@
-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,
-    CylinderGeometry,
-    SphereGeometry,
-    GridGeometry,
-)
-from kivy3.extras.objects import ArrowObject, AxisObject
-from kivy3.loaders import URDFLoader, STLLoader
-from kivy3 import Mesh, Material, Object3D
-from kivy3.objects.lines import Lines
-from kivy3.widgets import OrbitControlWidget, SelectionWidget, Object3DWidget
-
-from kivy.graphics.opengl import (
-    glEnable,
-    glDisable,
-    GL_DEPTH_TEST,
-    glReadPixels,
-    GL_RGBA,
-    GL_UNSIGNED_BYTE,
-)
-
-
-_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, "./stl_mesh.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")
+from kivy3 import Material
+from kivy3 import PerspectiveCamera
+from kivy3 import Renderer
+from kivy3 import Scene
+from kivy3 import shaders
+from kivy3.loaders.stlloader import STLLoader
+from kivy3.widgets import OrbitControlWidget
+import os
 
+base_path = os.path.dirname(os.path.realpath(__file__))
+stl_file = os.path.join(base_path, "stl_mesh.stl")
 
-class VisualisationWidget(FloatLayout):
-    def __init__(self, **kw):
-        super(VisualisationWidget, self).__init__(**kw)
 
-        self.renderer = Renderer(shader_file=shader_file)
-        self.renderer.set_clear_color((0.16, 0.30, 0.44, 1.0))
+class STLLoaderApp(App):
+    """Demonstrate STL file loading.
+    """
 
-        scene = Scene()
-
-        base = Object3D()
-        # id_color = (1,0,0)
-        material = Material(
-            color=(1.0, 0, 1,), diffuse=(1.0, 0, 1.0), specular=(0.35, 0.35, 0.35)
-        )
-        stl_loader = STLLoader()
-        stl_object = stl_loader.load(stl_file, material)
-        stl_object.pos.z = 0.3
-        # object1 = Mesh(geometry, material)
-
-        base.add(stl_object)
+    def build(self):
+        renderer = self.renderer = Renderer(shader_file=shaders.blinnphong)
+        renderer.set_clear_color((0.16, 0.30, 0.44, 1.0))
 
-        geometry = GridGeometry()
+        loader = STLLoader()
         material = Material(
-            color=(1.0, 1.0, 1.0),
-            diffuse=(1.0, 1.0, 1.0),
-            specular=(0.35, 0.35, 0.35),
-            transparency=0.3,
+            color=(0.3, 0.0, 0.3),
+            diffuse=(0.3, 0.3, 0.3),
+            specular=(0.0, 0.0, 0.0)
         )
-        object = Lines(geometry, material)
-        base.add(object)
+        obj = loader.load(stl_file, material)
+        obj.pos.z = 0
 
-        base.rot.x = -90
-        scene.add(base)
+        scene = Scene()
+        scene.add(obj)
 
-        self.camera = PerspectiveCamera(90, 0.3, 0.1, 1000)
-        self.camera.pos.z = 1.5
-        self.camera.look_at((0, 0, 0))
+        camera = self.camera = PerspectiveCamera(75, 0.3, 0.5, 1000)
+        camera.pos.z = 1.5
+        camera.look_at((0, 0, 0))
+        camera.bind_to(renderer)
 
-        self.camera.bind_to(self.renderer)
-        self.renderer.render(scene, self.camera)
+        renderer.render(scene, camera)
+        renderer.bind(size=self._adjust_aspect)
 
-        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)
+        root = FloatLayout()
+        root.add_widget(renderer)
+        root.add_widget(OrbitControlWidget(renderer, 4.0))
+        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()
+        size = self.renderer.size
+        self.camera.aspect = size[0] / float(size[1])
 
 
 if __name__ == "__main__":
-    from kivy.config import Config
-
-    # Config.set('input', 'mouse', 'mouse,disable_multitouch')
-    VisualisationApp().run()
+    STLLoaderApp().run()