From 1c11de1f2b73853412501e7d232a70cd7a9d0314 Mon Sep 17 00:00:00 2001
From: A-0-A-0-A <3131489786@qq,com>
Date: Sat, 25 Apr 2026 17:39:04 +0800
Subject: [PATCH] =?UTF-8?q?TUI=E7=95=8C=E9=9D=A2=E4=BB=A3=E7=A0=81?=
 =?UTF-8?q?=E4=B8=8A=E4=BC=A0?=
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---
 tactile/code/guis.py | 110 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 110 insertions(+)
 create mode 100644 tactile/code/guis.py

diff --git a/tactile/code/guis.py b/tactile/code/guis.py
new file mode 100644
index 00000000..dcbeee52
--- /dev/null
+++ b/tactile/code/guis.py
@@ -0,0 +1,110 @@
+from interfaces import *
+from pynput import keyboard
+from colorama import just_fix_windows_console, Fore, Style
+import numpy as np
+
+just_fix_windows_console()
+
+class TUI(GUI):
+    """终端用户界面 - 汉化版"""
+    
+    # 重置按键
+    RESET_KEYS = [keyboard.KeyCode.from_char('R'), keyboard.KeyCode.from_char('r')]
+    
+    # 视角移动按键
+    MOVE_KEYS = {
+        keyboard.Key.down: [-1, 0, 0],
+        keyboard.Key.up: [1, 0, 0],
+        keyboard.Key.left: [0, 0, -1],
+        keyboard.Key.right: [0, 0, 1]
+    }
+    MOVE_SCALE = 0.5
+    
+    # 手部移动按键
+    HAND_MOVE_KEYS = {
+        keyboard.KeyCode.from_char('w'): [1, 0, 0],  # 前进
+        keyboard.KeyCode.from_char('s'): [-1, 0, 0], # 后退
+        keyboard.KeyCode.from_char('a'): [0, 1, 0],  # 左移
+        keyboard.KeyCode.from_char('d'): [0, -1, 0], # 右移
+        keyboard.KeyCode.from_char('q'): [0, 0, 1],  # 上升
+        keyboard.KeyCode.from_char('e'): [0, 0, -1], # 下降
+    }
+    HAND_MOVE_SCALE = 0.01
+    
+    def _key_press(self, key):
+        """处理按键事件"""
+        if key == keyboard.Key.esc:
+            self._esc_pressed = True
+
+        elif key in TUI.RESET_KEYS:
+            print(f"{Fore.YELLOW}正在重置仿真...{Fore.RESET}")
+            self._engine.reset_simulation()
+
+        elif key in TUI.MOVE_KEYS:
+            self._offset_origin += TUI.MOVE_KEYS[key]
+            self._update_position()
+
+        elif key == keyboard.Key.space:
+            self._offset_origin = np.zeros(3)
+            self._update_position()
+
+        # 手部控制切换：1=左手(id=0)，2=右手(id=1)
+        elif key == keyboard.KeyCode.from_char('1'):
+            self._active_hand_id = 0
+            print(f"{Fore.CYAN}切换：控制左手 (id=0){Fore.RESET}")
+
+        elif key == keyboard.KeyCode.from_char('2'):
+            self._active_hand_id = 1
+            print(f"{Fore.CYAN}切换：控制右手 (id=1){Fore.RESET}")
+
+        elif key in TUI.HAND_MOVE_KEYS:
+            if hasattr(self._engine, "nudge_hand"):
+                delta = np.asarray(TUI.HAND_MOVE_KEYS[key], dtype=float) * TUI.HAND_MOVE_SCALE
+                self._engine.nudge_hand(self._active_hand_id, delta.tolist())
+    
+    def _update_position(self):
+        """更新位置显示"""
+        print(f"{Fore.CYAN}移动到{Style.BRIGHT}", self._offset_origin, Style.RESET_ALL)
+        self._visualizer.offset_origin(self._offset_origin * TUI.MOVE_SCALE)
+
+    def start_gui(self, engine: Engine, visualizer: Visualizer):
+        """启动图形界面"""
+        self._engine = engine
+        self._visualizer = visualizer
+
+        self._esc_pressed = False
+        self._kb_listener = keyboard.Listener(on_press=self._key_press)
+        self._kb_listener.start()
+
+        self._offset_origin = np.zeros(3)
+
+        # 默认控制右手（id=1）
+        self._active_hand_id = 1
+
+        # 打印中文操作说明
+        print(Fore.WHITE)
+        print("=" * 60)
+        print(f"{Style.BRIGHT}           可变形物体触觉仿真系统 - 控制面板{Style.NORMAL}")
+        print("=" * 60)
+        print()
+        print(f"  {Style.BRIGHT}ESC{Style.NORMAL}      - 停止仿真并退出")
+        print(f"  {Style.BRIGHT}R{Style.NORMAL}        - 重置仿真")
+        print(f"  {Style.BRIGHT}方向键 ↑↓←→{Style.NORMAL} - 移动视角")
+        print(f"  {Style.BRIGHT}空格键{Style.NORMAL}   - 重置视角位置")
+        print()
+        print(f"  {Fore.CYAN}手部控制:{Fore.WHITE} (按 1=左手 / 2=右手，当前默认右手)")
+        print(f"    {Style.BRIGHT}W/S{Style.NORMAL} - 前进/后退")
+        print(f"    {Style.BRIGHT}A/D{Style.NORMAL} - 左移/右移")
+        print(f"    {Style.BRIGHT}Q/E{Style.NORMAL} - 上升/下降")
+        print()
+        print("=" * 60)
+        print(Style.RESET_ALL)
+
+    def should_exit(self) -> bool:
+        """检查是否应该退出"""
+        return self._esc_pressed
+    
+    def stop_gui(self):
+        """停止图形界面"""
+        self._kb_listener.stop()
+        print(f"{Fore.GREEN}仿真已结束，感谢使用！{Style.RESET_ALL}")