astar寻路算法的实现

''' threeDS.py - Python Module for loading and displaying 3DStudio format modules Copyright (C) 2000-2001 Jason Petrone <jp@demonseed.net> The 3DS format is very robust, and much of it is not implemented in this module. Currently, 3DS geometry, materials(including textures), and undirected lights are supported. Keyframing, directed lighting, and everything else is currently unimplemented. ''' __version__ = '0.3.1' __author__ = 'Jason Petrone <jp@demonseed.net>' DEBUG = 0 from struct import * import os, cStringIO, math, copy from OpenGL.GL import * from Numeric import * dispListCnt = 0 # generic chunks used throughout RGB1 = 0x0010 # 3 floats of RGB RGB2 = 0x0011 # 3 bytes of RGB IPERCENT = 0x0030 # integer percentage FPERCENT = 0x0031 # float percentage OBJMESH = 0x3D3D SMOOTH_GROUP = 0x4150 # geometry chunks OBJBLOCK = 0x4000 TRIMESH = 0x4100 VERTLIST = 0x4110 FACELIST = 0x4120 FACEMAT = 0x4130 MAPLIST = 0x4140 TRMATRIX = 0x4160 LIGHT = 0x4600 SPOTLIGHT = 0x4610 CAMERA = 0x4700 MAIN = 0x4D4D # material chunks AMBIENT = 0xA010 DIFFUSE = 0xA020 SPECULAR = 0xA030 SHININESS = 0xA040 TRANSPARENCY = 0xA050 DOUBLESIDED = 0xA081 TEXTURE = 0xA200 MATNAME = 0xA000 MAT_MAPNAME = 0xA300 MATMAPTILING = 0xA351 TEXBLUR = 0xA353 MAT_MAP_USCALE = 0xA354 MAT_MAP_VSCALE = 0xA356 MATERIAL = 0xAFFF KEYFRAMER = 0xB000 # global textures(dont want to load them more than once!) tex_data = {} def readStr(f): txt = "" [c] = unpack('c', f.read(1) ) while c != '\0': txt = txt + c [c] = unpack('c', f.read(1) ) return txt def readHdr(f): [hdr] = unpack( '<H', f.read(2) ) [size] = unpack( '<I', f.read(4) ) return (hdr, size) class TexImage: data = None sizex = 0 sizey = 0 class Texture: def __init__(self, f, myLen): self.imgfile = None self.texId = -1 while f.tell() < myLen: [hdr, size] = readHdr(f) if hdr == MAT_MAPNAME: global tex_data self.imgfile = readStr(f) if not tex_data.has_key(self.imgfile): try: from PIL import Image img = Image.open(self.imgfile) except IOError, e: print 'Cannot load '+self.imgfile+': '+ str(e) self.imgfile = None continue img = img.convert('RGBA', colors=32) # texture size must be aligned by 2^n w = 0; h = 0 [w, h] = img.size power = 2 while w > power: power = power * 2 w = power power = 2 while h > power: power = power * 2 h = power img = img.resize((w, h)) # now create storage class teximg = TexImage() teximg.sizex, teximg.sizey = w, h teximg.data = img.tostring('raw', 'RGBA', 0, -1) # outfile = self.imgfile + '.png' # img.save(outfile, "PNG") tex_data[self.imgfile] = teximg elif hdr == IPERCENT: [self.percent] = unpack( '<h', f.read(2) ) elif hdr == FPERCENT: [self.percent] = unpack( '<f', f.read(4) ) elif hdr == MATMAPTILING: # not sure what to do with this [self.tiling] = unpack( '<h', f.read(2) ) elif hdr == TEXBLUR: [self.blur] = unpack( '<f', f.read(4) ) else: if DEBUG: print 'tex hdr: 0x'+hex(hdr)[2:].upper() f.read(size - 6) return None def load(self): global tex_data self.texId = glGenTextures(1) glBindTexture(GL_TEXTURE_2D, self.texId) if self.imgfile is None: return teximg = tex_data[self.imgfile] glPixelStorei(GL_UNPACK_ALIGNMENT, 1) # glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT) # glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT) glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP) glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP) # glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT) # glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT) glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST) glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST) # glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL) # glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_BLEND) glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE) # glTexImage2D(GL_TEXTURE_2D, 0, 4, teximg.sizex, teximg.sizey, 0, # GL_RGBA, GL_UNSIGNED_BYTE, teximg.data) # glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR) # glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR) glTexImage2D(GL_TEXTURE_2D, 0, 3, teximg.sizex, teximg.sizey, 0, GL_RGBA, GL_UNSIGNED_BYTE, teximg.data) def set(self): if DEBUG: print 'setting texture ' + self.imgfile if self.texId == -1: self.load() glBindTexture(GL_TEXTURE_2D, self.texId) class Material: "All shading values are stored as floats" def __init__(self, f = None, myLen = None): self.texture = None self.doublesided = None if f == None: # set defaults self.ambient = [1.0, 1.0, 1.0, 1.0] self.diffuse = [1.0, 1.0, 1.0, 1.0] self.specular = [1.0, 1.0, 1.0, 1.0] return self.ambient = [] self.diffuse = [] self.specular = [] self.shininess = 0 self.transparency = 0 self.name = "" while f.tell() < myLen: [hdr, size] = readHdr(f) if hdr == MATNAME: self.name = readStr(f) elif hdr == AMBIENT: self.ambient = self.readShading(f, f.tell() + size - 6) self.ambient.append(0.6) elif hdr == DIFFUSE: self.diffuse = self.readShading(f, f.tell() + size - 6) self.diffuse.append(0.8) elif hdr == SPECULAR: self.specular = self.readShading(f, f.tell() + size - 6) self.specular.append(0.5) elif hdr == SHININESS: [hdr, size] = readHdr(f) [self.shininess] = unpack('<H', f.read(2)) elif hdr == TRANSPARENCY: [hdr, size] = readHdr(f) [self.transparency] = unpack('<H', f.read(2)) elif hdr == TEXTURE: self.texture = Texture(f, f.tell() + size - 6) if DEBUG: print self.name + ': ' + self.texture.imgfile elif hdr == DOUBLESIDED: if DEBUG: print 'doublesided material: '+self.name self.doublesided = 1 else: # print 'mat hdr: 0x'+hex(hdr)[2:].upper() f.read(size - 6) def readShading(self, f, myLen): while f.tell() < myLen: [hdr, size] = readHdr(f) if hdr == RGB1: return list(unpack('<3f', f.read(12))) elif hdr == RGB2: [r, g, b] = unpack( '3B', f.read(3) ) return [ float(r)/256.0, float(g)/256.0, float(b)/256.0 ] else: f.read(size - 6) def set(self): glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, self.ambient) glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, self.diffuse) glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, self.specular) # glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, self.shininess) # glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, (self.shininess/100.0)*128) if self.texture: self.texture.set() class Light: color = [0, 0, 0] pos = [0, 0, 0] target = None def __init__(self, name, f, myLen): self.pos = unpack('<3f', f.read(12)) while f.tell() < myLen: [hdr, size] = readHdr(f) if hdr == RGB1: self.color = unpack( '<3f', f.read(12) ) elif hdr == RGB2: [r, g, b] = unpack( '3B', f.read(3) ) self.color = [ float(r)/256.0, float(g)/256.0, float(b)/256.0 ] elif hdr == SPOTLIGHT: self.target = [0, 0, 0] self.target = unpack('<3f', f.read(12)) self.hotspot = unpack('<1f', f.read(4)) self.falloff = unpack('<1f', f.re