sim.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-

""" Original code: from vispy """

import threading
import sys
import pyquaternion
import numpy as np

import PyQt5.QtGui as qt
import pyqtgraph.opengl as ogl

# golden ratio
PHI = (1.0 + np.sqrt(5.0))/2.0

def icosahedron(radius):
    """ Generate an icosahedron with a given radius """

    # vertices of a icosahedron
    verts = [(-1, PHI, 0),
             (1, PHI, 0),
             (-1, -PHI, 0),
             (1, -PHI, 0),
             (0, -1, PHI),
             (0, 1, PHI),
             (0, -1, -PHI),
             (0, 1, -PHI),
             (PHI, 0, -1),
             (PHI, 0, 1),
             (-PHI, 0, -1),
             (-PHI, 0, 1)]

    # faces of the icosahedron
    faces = [(0, 11, 5),
             (0, 5, 1),
             (0, 1, 7),
             (0, 7, 10),
             (0, 10, 11),
             (1, 5, 9),
             (5, 11, 4),
             (11, 10, 2),
             (10, 7, 6),
             (7, 1, 8),
             (3, 9, 4),
             (3, 4, 2),
             (3, 2, 6),
             (3, 6, 8),
             (3, 8, 9),
             (4, 9, 5),
             (2, 4, 11),
             (6, 2, 10),
             (8, 6, 7),
             (9, 8, 1)]

    verts = np.array(verts)
    faces = np.array(faces)
    # make each vertex lie on the sphere
    lengths = np.sqrt((verts*verts).sum(axis=1))
    verts /= lengths[:, np.newaxis]/radius

    return verts, faces

class RotThread(threading.Thread):
    """ Reads quaternions from stdin and use them to set the cube's orientation """

    def __init__(self, ico):
        super().__init__()
        self.ico = ico

    def run(self):
        for line in sys.stdin:
            try:
                quat = pyquaternion.Quaternion(list(map(float, line.strip().split(','))))
                self.ico.resetTransform()
                self.ico.rotate(quat.degrees, quat.axis[0], quat.axis[1], quat.axis[2])
                self.ico.update()
            except ValueError:
                print("Invalid input")

def run_sim():
    """ Run the simulator """

    verts, faces = icosahedron(100)

    app = qt.QApplication([])
    widget = ogl.GLViewWidget()
    widget.show()
    widget.setWindowTitle('bouLED simulator')
    widget.setCameraPosition(distance=440)

    grid = ogl.GLGridItem(color=(1, 1, 1, 1), glOptions='opaque')
    grid.scale(200, 200, 200)
    widget.addItem(grid)

    axes = ogl.GLAxisItem(glOptions='opaque')
    axes.setSize(300, 300, 300)
    widget.addItem(axes)

    colors = np.random.random(size=(faces.shape[0], 4))
    mesh = ogl.MeshData(vertexes=verts, faces=faces, faceColors=colors)

    ico = ogl.GLMeshItem(meshdata=mesh, smooth=False)
    widget.addItem(ico)

    rot_thread = RotThread(ico)
    rot_thread.setDaemon(True)
    rot_thread.start()

    app.exec_()

if __name__ == '__main__':
    run_sim()