interactive animation based on orientation data of IMU

[ProgrammingGo]

Hi guys, thank you soo much for your support. I need some time to go through the code, because I want to understand it. Thank you soo much and don't worry @cvp it is perfectly okay.

[cvp]

@ProgrammingGo please try this one, automatic (instead of manual) simulation of Bluetooth values and using continuous animation

from objc_util import *
import ctypes
import ui
from math import pi
from ImageColor import getrgb
import threading
from random import random

load_framework('SceneKit')

SCNView, SCNScene, SCNBox, SCNNode, SCNMaterial, SCNCamera, SCNLight, SCNAction, SCNLookAtConstraint = map(ObjCClass, ['SCNView', 'SCNScene', 'SCNBox', 'SCNNode', 'SCNMaterial', 'SCNCamera', 'SCNLight', 'SCNAction',  'SCNLookAtConstraint' ])

class my_thread_bt(threading.Thread):
	def __init__(self, geometry_node):
		threading.Thread.__init__(self)
		self.name = 'bt'
		self.stop = False
		self.geometry_node = geometry_node
	def run(self):
		pitch = 0
		yaw   = 0
		roll  = 0
		delta_ang = pi/10
		SCNTransaction = ObjCClass('SCNTransaction').alloc()
		while True:
			# EulerAngles is a SCNVector3
			# The order of components in this vector matches the axes of rotation:
			# Pitch (the x component) is the rotation about the node’s x-axis.
			# Yaw (the y component) is the rotation about the node’s y-axis.
			# Roll (the z component) is the rotation about the node’s z-axis.
			pitch += (random() - 0.5) * delta_ang
			yaw   += (random() - 0.5) * delta_ang
			roll  += (random() - 0.5) * delta_ang
			# change euler angles but by an animation
			SCNTransaction.begin()
			SCNTransaction.setAnimationDuration(0.3)
			self.geometry_node.setEulerAngles((pitch, yaw, roll))
			SCNTransaction.commit()
			if self.stop:
				break

class MyView(ui.View):
 ###@on_main_thread
 def __init__(self,w,h):
  self.width = w
  self.height = h
  self.name = 'SceneKit IMU'
  self.background_color = 'white'
  
  main_view_objc = ObjCInstance(self)
  scene_view = SCNView.alloc().initWithFrame_options_(((0, 0),(self.width,self.height)), None).autorelease()
  scene_view.setAutoresizingMask_(18)
  scene_view.setAllowsCameraControl_(True)
  main_view_objc.addSubview_(scene_view)
  
  scene = SCNScene.scene()
  scene_view.setScene_(scene)
  
  root_node = scene.rootNode()
  
  camera = SCNCamera.camera()
  camera_node = SCNNode.node()
  camera_node.setCamera(camera)
  camera_node.setPosition((-30,30,30))
  root_node.addChildNode_(camera_node) 
  
  geometry = SCNBox.boxWithWidth_height_length_chamferRadius_(10, 10, 10, 0)
   
  geometry_node = SCNNode.nodeWithGeometry_(geometry)
  root_node.addChildNode_(geometry_node)
  
  Materials = []
  colors = ['red','blue','green','yellow','orange','pink']
  for i in range(0,6):
    rgb = getrgb(colors[i])
    r,g,b = tuple(c/255.0 for c in rgb)
    Material = SCNMaterial.material()
    Material.contents = ObjCClass('UIColor').colorWithRed_green_blue_alpha_(r,g,b,1.0)
    Materials.append(Material)
  geometry.setMaterials_(Materials)

  # Add a constraint to the camera to keep it pointing to the target geometry
  constraint = SCNLookAtConstraint.lookAtConstraintWithTarget_(geometry_node)
  constraint.gimbalLockEnabled = True
  camera_node.constraints = [constraint]
  
  light_node = SCNNode.node()
  light_node.setPosition_((30, 0, -30))
  light = SCNLight.light()
  #light.setType_('spot')
  light.setType_('probe')
  #light.setType_('directional')
  light.setCastsShadow_(True)
  light.setColor_(UIColor.whiteColor().CGColor())
  light_node.setLight_(light)
  root_node.addChildNode_(light_node)
  
  thread_bt = my_thread_bt(geometry_node)
  thread_bt.start()
  
 def will_close(self):
 	for t in threading.enumerate():
 		if t.name == 'bt':
 			t.stop = True
 			return

def main():	
	w, h = ui.get_screen_size()
	MainView = MyView(w, h)
	MainView.present('fullscreen', hide_title_bar=False)
	
# Protect against import	
if __name__ == '__main__':
	main()

[ProgrammingGo]

@cvp Hi cvp thank you soo much. I will give a look on that. Thank you for your time. If I will have questions I will write here. I am thinking that it would be better to use quaternions instead of euler angler to avoid gimbal lock. I think there should be a lib for that, right?

[cvp]

@ProgrammingGo said:

I think there should be a lib for that

I suppose but I really don't know anything about that.

[ProgrammingGo]

okay, I will give a trial. What for me is unclear is how I can map the sensor values to the graphic. I mean I know that I have a referential coordinate system and based on that my sensor is moving, but it is not clear how to do it.

[cvp]

@ProgrammingGo Euler angles are orientation data of your object (here a cube) versus the 3 axes, thus SceneKit geometry node is easy to orientate.

[pulbrich]

@cvp you don’t need a separate thread with all the overhead to update the scene objects. There is the scene renderer delegate (can be the same class instance as your main), which has an 'update' method to take care of exactly these type of tasks.

[cvp]

@pulbrich Thanks, the thread was for the Bluetooth listening, here simulated

[pulbrich]

@ProgrammingGo if you ever need to penetrate the domain of various coordinate system representations (angles included) I recommend you look at Pyrr

[ccc]

What would be cool would be to have two Pythonista scripts.

1. The iPhone script would get the pitch, yaw, and roll of the iPhone and transmit that over Bluetooth.
2. The iPad script could use those Bluetooth signals to change the angel of the airplane on the iPad screen.

[cvp]

@ccc getting the data is easy.
But I don't know anything about the Bluetooth part transmit/receive

[ccc]

http://omz-software.com/pythonista/docs/ios/cb.html

[cvp]

@ccc yes, I know and understand but I don't have any experience with it

[mikael]

@ccc, would suggest multipeer for that. Uses bluetooth without the need to think about it.

[cvp]

@ccc said:

What would be cool would be to have two Pythonista scripts.

The iPhone script would get the pitch, yaw, and roll of the iPhone and transmit that over Bluetooth.
The iPad script could use those Bluetooth signals to change the angel of the airplane on the iPad screen.

Pitch, yaw and roll of iDevice + AirPlane, but not Bluetooth, nor WiFi
You can turn the device and pinch/rotate the image

Dirty (more than usual, believe me) and (not so) quick, but for the fun

from objc_util import *
import ctypes
import ui
from math import pi
from ImageColor import getrgb
import threading
from random import random

load_framework('SceneKit')

SCNView, SCNScene, SCNBox, SCNPyramid, SCNCone, SCNCylinder, SCNSphere, SCNPlane, SCNNode, SCNMaterial, SCNCamera, SCNLight, SCNAction, SCNLookAtConstraint = map(ObjCClass, ['SCNView', 'SCNScene', 'SCNBox', 'SCNPyramid', 'SCNCone', 'SCNCylinder', 'SCNSphere', 'SCNPlane', 'SCNNode', 'SCNMaterial', 'SCNCamera', 'SCNLight', 'SCNAction',  'SCNLookAtConstraint' ])

class CMRotationRate (Structure):
	_fields_ = [('x', c_double), ('y', c_double), ('z', c_double)]

class my_thread_bt(threading.Thread):
	def __init__(self, geometry_node):
		threading.Thread.__init__(self)
		self.name = 'bt'
		self.stop = False
		self.geometry_node = geometry_node
	def run(self):
		pitch = 0
		yaw   = 0
		roll  = 0
		delta_ang = pi/10
		SCNTransaction = ObjCClass('SCNTransaction').alloc()
		# https://forum.omz-software.com/topic/3030
		CMMotionManager = ObjCClass('CMMotionManager').alloc().init()
		#print(CMMotionManager.isDeviceMotionAvailable())
		CMMotionManager.startGyroUpdates()
		while True:
			# EulerAngles is a SCNVector3
			# The order of components in this vector matches the axes of rotation:
			# Pitch (the x component) is the rotation about the node’s x-axis.
			# Yaw (the y component) is the rotation about the node’s y-axis.
			# Roll (the z component) is the rotation about the node’s z-axis.
			#pitch += (random() - 0.5) * delta_ang	
			#yaw   += (random() - 0.5) * delta_ang	
			#roll  += (random() - 0.5) * delta_ang 
			gyro_data = CMMotionManager.gyroData()
			if not gyro_data:
				#print('data not available (yet?)')
				continue
			# Using the custom struct here:
			rate = gyro_data.rotationRate(argtypes=[], restype=CMRotationRate)
			# You can now access the struct's fields as x, y, z:
			roll  = rate.z
			pitch = rate.x
			yaw   = rate.y
			#print(rate.x, rate.y, rate.z)

			# change euler angles but by using animation
			SCNTransaction.begin()
			SCNTransaction.setAnimationDuration(0.3)
			self.geometry_node.setEulerAngles((pitch, yaw, roll))
			SCNTransaction.commit()
			if self.stop:
				break
		CMMotionManager.stopGyroUpdates()
		CMMotionManager.release()

class MyView(ui.View):
 ###@on_main_thread
 def __init__(self,w,h):
  self.width = w
  self.height = h
  self.name = 'SceneKit IMU'
  self.background_color = 'white'
  
  main_view_objc = ObjCInstance(self)
  scene_view = SCNView.alloc().initWithFrame_options_(((0, 0),(self.width,self.height)), None).autorelease()
  scene_view.setAutoresizingMask_(18)
  scene_view.setAllowsCameraControl_(True)
  #scene_view.setDebugOptions_(0xFFFF)
  main_view_objc.addSubview_(scene_view)
  
  scene = SCNScene.scene()
  scene_view.setScene_(scene)
  
  root_node = scene.rootNode()
  
  camera = SCNCamera.camera()
  camera_node = SCNNode.node()
  camera_node.setCamera(camera)
  camera_node.setPosition((-35,35,35))
  root_node.addChildNode_(camera_node) 
  
  # build an image with text to use as material on wing: begin
  l = 40
  r = 2
  h = 3*15	# 3 x height of text
  sc = h / (2*pi*r)
  w = l*sc
  h = 2*pi*r*sc
  with ui.ImageContext(w,h) as ctx:
    path = ui.Path.rect(0,0,w,h)
    ui.set_color('blue')
    path.fill()
    x = w/10
    y = h/3
    t = 'Pytho'
    ui.draw_string(t, rect=(x, y, 8*w/10, 2+h/3), font=('<System-Bold>',15), color='white', alignment=ui.ALIGN_LEFT)
    x = 6*w/10
    t = 'nista'
    ui.draw_string(t, rect=(x, y, 8*w/10, 2+h/3), font=('<System-Bold>',15), color='white', alignment=ui.ALIGN_LEFT)
    ui_image = ctx.get_image()
    #ui_image.show()
  Material_pyth = SCNMaterial.material()
  Material_pyth.contents = ObjCInstance(ui_image)
  # build an image with text to use as material on wing: end
  
  # build an image with text to use as material on cockpit: begin
  l = 40
  r = 2
  h = 3*15	# 3 x height of text
  sc = h / (2*pi*r)
  w = l*sc
  h = 2*pi*r*sc
  with ui.ImageContext(w,h) as ctx:
    path = ui.Path.rect(0,0,w,h)
    ui.set_color('gray')
    path.fill()
    x = w/2 - 15/2 - 2
    y = h/3
    path1 = ui.Path.rect(x, y, 20, 2+h/3)
    ui.set_color('lightgray')
    path1.fill()
    t = '👨‍✈️'
    ui.draw_string(t, rect=(x, y, 20, 2+h/3), font=('<System-Bold>',15), color='white', alignment=ui.ALIGN_LEFT)
    ui_image = ctx.get_image()
    #ui_image.show()
  Material_nose = SCNMaterial.material()
  Material_nose.contents = ObjCInstance(ui_image)
  # build an image with text to use as material on cockpit: end
  
  # build an image with text to use as material on vertical stabilizer: begin
  w = 22
  h = 17
  with ui.ImageContext(w,h) as ctx:
    path = ui.Path.rect(0,0,w,h)
    ui.set_color((0.17, 0.6, 0.0))
    path.fill()
    x = 8
    y = 0
    t = 'V'
    ui.draw_string(t, rect=(x, y, w, h), font=('<System-Bold>',15), color='white', alignment=ui.ALIGN_LEFT)
    ui_image = ctx.get_image()
    #ui_image.show()
  Material_icon1 = SCNMaterial.material()
  Material_icon1.contents = ObjCInstance(ui_image)
  # build an image with text to use as material on vertical stabilizer: end
  
  # build an image with text to use as material on vertical stabilizer: begin
  w = 22
  h = 17
  with ui.ImageContext(w,h) as ctx:
    path = ui.Path.rect(0,0,w,h)
    ui.set_color((0.17, 0.6, 0.0))
    path.fill()
    x = 3
    y = 0
    t = 'Λ'
    ui.draw_string(t, rect=(x, y, w, h), font=('<System-Bold>',15), color='white', alignment=ui.ALIGN_LEFT)
    ui_image = ctx.get_image()
    #ui_image.show()
  Material_icon2 = SCNMaterial.material()
  Material_icon2.contents = ObjCInstance(ui_image)
  # build an image with text to use as material on vertical stabilizer: end
  
  geometry = SCNCylinder.cylinderWithRadius_height_(r,l)
  lc = l/10
  cone = SCNCone.coneWithTopRadius_bottomRadius_height_(r,r/2,lc)
  sphe = SCNSphere.sphereWithRadius_(r/2)
  wing = SCNBox.boxWithWidth_height_length_chamferRadius_(20*r, 2*r, 0.3, 0)
  vert = SCNBox.boxWithWidth_height_length_chamferRadius_(2*r, r, 0.3, 0)
  hori = SCNBox.boxWithWidth_height_length_chamferRadius_(3*r, r*0.6, 0.3, 0)
  mot1 = SCNCylinder.cylinderWithRadius_height_(r*0.3,r*2)
  mot2 = SCNCylinder.cylinderWithRadius_height_(r*0.3,r*2)
   
  cone_node = SCNNode.nodeWithGeometry_(cone)
  sphe_node = SCNNode.nodeWithGeometry_(sphe)
  wing_node = SCNNode.nodeWithGeometry_(wing)
  vert_node = SCNNode.nodeWithGeometry_(vert)
  hori_node = SCNNode.nodeWithGeometry_(hori)
  mot1_node = SCNNode.nodeWithGeometry_(mot1)
  mot2_node = SCNNode.nodeWithGeometry_(mot2)

  tx,ty,tz = (0,l/2+lc/2,0)
  x = (1,0,0,0, 0,1,0,0, 0,0,1,0, tx,ty,tz,1)
  cone_node.setPivot_(x)
  tx,ty,tz = (0,l/2+lc,0)
  x = (1,0,0,0, 0,1,0,0, 0,0,1,0, tx,ty,tz,1)
  sphe_node.setPivot_(x)
  geometry_node = SCNNode.nodeWithGeometry_(geometry)
  geometry_node.addChildNode_(cone_node)
  geometry_node.addChildNode_(sphe_node)
  geometry_node.addChildNode_(wing_node)
  
  # vertical stabilizer: rotation 90° around axe y
  tx,ty,tz = (2*r,-l/2+r/2,0)
  x = (0,0,1,0, 0,1,0,0, -1,0,0,0, tx,ty,tz,1)
  vert_node.setPivot_(x)
  geometry_node.addChildNode_(vert_node)
  
  tx,ty,tz = (0,-l/2+r*0.4,-r*1.5)
  x = (1,0,0,0, 0,1,0,0, 0,0,1,0, tx,ty,tz,1)
  hori_node.setPivot_(x)
  geometry_node.addChildNode_(hori_node)
  
  tx,ty,tz = (5*r,-0.2,0.5)
  x = (1,0,0,0, 0,1,0,0, 0,0,1,0, tx,ty,tz,1)
  mot1_node.setPivot_(x)
  geometry_node.addChildNode_(mot1_node)
  
  tx,ty,tz = (-5*r,-0.2,0.5)
  x = (1,0,0,0, 0,1,0,0, 0,0,1,0, tx,ty,tz,1)
  mot2_node.setPivot_(x)
  geometry_node.addChildNode_(mot2_node)
  
  root_node.addChildNode_(geometry_node)
  
  # cylinder horizontal: rotation 90° around axe x
  x = (1,0,0,0, 0,0,1,0, 0,-1,0,0, 0,0,0,1) 
  geometry_node.setPivot_(x)	
  			
  Materials = []
  colors = ['red','gray','gray','yellow','orange','gray','lightgray']
  for i in range(0,6):
    rgb = getrgb(colors[i])
    r,g,b = tuple(c/255.0 for c in rgb)
    Material = SCNMaterial.material()
    Material.contents = ObjCClass('UIColor').colorWithRed_green_blue_alpha_(r,g,b,1.0)
    Materials.append(Material)
  geometry.setMaterials_(Materials)
  cone.setMaterial_(Material_nose)
  #cone.setMaterials_(Materials[3:5])
  sphe.setMaterials_(Materials[4:5])
  hori.setMaterial_(Materials[1])
  mot1.setMaterials_(Materials)
  mot2.setMaterials_(Materials)
  wing_Materials = [Material_pyth,Materials[1],Material_pyth]+[Materials[1]]*3
  wing.setMaterials_(wing_Materials)
  vert_Materials = [Material_icon2,Materials[1],Material_icon1]+[Materials[1]]*3
  vert.setMaterials_(vert_Materials)

  # Add a constraint to the camera to keep it pointing to the target geometry
  constraint = SCNLookAtConstraint.lookAtConstraintWithTarget_(geometry_node)
  constraint.gimbalLockEnabled = True
  camera_node.constraints = [constraint]
  
  light_node = SCNNode.node()
  light_node.setPosition_((30, 0, -30))
  light = SCNLight.light()
  #light.setType_('spot')
  light.setType_('probe')
  #light.setType_('directional')
  light.setCastsShadow_(True)
  light.setColor_(UIColor.whiteColor().CGColor())
  light_node.setLight_(light)
  root_node.addChildNode_(light_node)
  
  thread_bt = my_thread_bt(geometry_node)
  thread_bt.start()
  
 def will_close(self):
 	for t in threading.enumerate():
 		if t.name == 'bt':
 			t.stop = True
 			return

def main():	
	w, h = ui.get_screen_size()
	MainView = MyView(w, h)
	MainView.present('fullscreen', hide_title_bar=False)
	
# Protect against import	
if __name__ == '__main__':
  main()

[cvp]

@ccc said:

the angel of the airplane

I hope it's its guardian angel 😀 (humor, not mockery)

[ccc]

LOL... I read @mikael ‘s impressive multipeer this morning and then wrote the iPhone piece of the two iOS device idea that I mentioned above. If you add multipeer to your code above, the angle (but perhaps not the angel) of the plane ✈️ on the iPad will react to iPhone movements.
https://github.com/cclauss/Ten-lines-or-less/blob/master/attitude_to_multipeer.py

[cvp]

@ccc Did you try my script on only one iDevice , it reacts to its movements.
I always only work on my iPad because my iPhone is very old and slow (iPhone 5s) but if you want, I could spend some time tomorrow to try what you say.

[cvp]

@ccc Done, thanks to marvelous multipeer of @mikael.
I use your attitude_to_multipeer.py on my iPhone and my script modified to get infos from iPhone on my iPad, source here

[pavlinb]

It’s great how community supports Pythonista live.