1002142102@qq.com
cc31254055
2.增加多臂多控制器模式 3.末端姿态由欧拉角控制切换到四元数控制 4.增加vr手柄控制器 Signed-off-by: 1002142102@qq.com <1002142102@qq.com>
81 lines
2.6 KiB
Python
81 lines
2.6 KiB
Python
import threading
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import pygame
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import atexit
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class PygameEventState(object):
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def __init__(self,joystick):
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joystick.init()
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self.states={
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'axis':[0]*joystick.get_numaxes(),
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'button':[0]*joystick.get_numbuttons(),
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'hat':[[0,0]]*joystick.get_numhats()
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}
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def get_axis(self,index):
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return self.states['axis'][index]
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def get_numaxes(self):
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return len(self.states['axis'])
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def set_axis(self,index,value):
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self.states['axis'][index]=value
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def get_button(self,index):
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return self.states['button'][index]
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def get_numbuttons(self):
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return len(self.states['button'])
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def set_button(self,index,value):
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self.states['button'][index]=value
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def get_hat(self,index):
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return self.states['hat'][index]
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def get_numhats(self):
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return len(self.states['hat'])
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def set_hat(self,index,value):
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self.states['hat'][index]=value
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class _PygameEvent:
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def __init__(self):
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self.running = False
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def start(self):
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if self.running: return
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self.running = True
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threading.Thread(target=self.eventLoop).start()
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def getState(self,index):
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if index >= len(self.states):
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raise ValueError("不存在的控制器")
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return self.states[index]
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def eventLoop(self):
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# 初始化pygame
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pygame.init()
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pygame.joystick.init()
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"""检测连接的手柄"""
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joystick_count = pygame.joystick.get_count()
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self.states=[]
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joysticks = []
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for i in range(joystick_count):
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joystick = pygame.joystick.Joystick(i)
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joystick.init()
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self.states.append(PygameEventState(joystick))
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joysticks.append(joystick)
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print(f"检测到 {joystick_count} 个手柄设备")
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while self.running:
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event = pygame.event.wait()
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data = event.dict
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if 'instance_id' not in data:
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continue
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state = self.states[data['instance_id']]
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if event.type == pygame.JOYAXISMOTION:
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state.set_axis(data['axis'], data['value'])
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elif event.type == pygame.JOYHATMOTION:
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state.set_hat(data['hat'], data['value'])
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elif event.type == pygame.JOYBUTTONUP:
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state.set_button(data['button'], 0)
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elif event.type == pygame.JOYBUTTONDOWN:
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state.set_button(data['button'], 1)
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def stop(self):
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self.running = False
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@atexit.register
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def exit():
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PygameEvent.stop()
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PygameEvent = _PygameEvent() |