def to_collision_meshes(self):
"""Creates a list of collision meshes from a :class:`compas_fab.backends.CollisionObject`
"""
collision_meshes = []
for mesh, pose in zip(self.meshes, self.mesh_poses):
pose = pose if isinstance(pose, Pose) else Pose(**pose)
pose.position = pose.position if isinstance(pose.position, Point) else Point(**pose.position)
pose.position.x = float(pose.position.x)
pose.position.y = float(pose.position.y)
pose.position.z = float(pose.position.z)
pose.orientation = pose.orientation if isinstance(pose.orientation, Quaternion) else Quaternion(**pose.orientation)
pose.orientation.x = float(pose.orientation.x)
pose.orientation.y = float(pose.orientation.y)
pose.orientation.z = float(pose.orientation.z)
pose.orientation.w = float(pose.orientation.w)
mesh = mesh if isinstance(mesh, Mesh) else Mesh(**mesh)
mesh.triangles = [t if isinstance(t, MeshTriangle) else MeshTriangle(**t) for t in mesh.triangles]
for triangle in mesh.triangles:
triangle.vertex_indices = [int(x) for x in triangle.vertex_indices]
mesh.vertices = [v if isinstance(v, Point) else Point(**v) for v in mesh.vertices]
for vertex in mesh.vertices:
vertex.x = float(vertex.x)
vertex.y = float(vertex.y)
vertex.z = float(vertex.z)
root_name = getattr(self.header, 'frame_id', None) or self.header['frame_id']
cm = CollisionMesh(mesh.mesh, self.id, pose.frame, root_name)
collision_meshes.append(cm)
return collision_meshes
def from_mesh(cls, compas_mesh):
"""Construct a `Mesh` message from a :class:`compas.datastructures.Mesh`.
"""
mesh_quads_to_triangles(compas_mesh)
vertices, faces = compas_mesh.to_vertices_and_faces()
triangles = [MeshTriangle(face) for face in faces]
vertices = [Point(*v) for v in vertices]
return cls(triangles, vertices)
def from_sphere(cls, sphere):
"""Creates a `BoundingVolume` from a :class:`compas.geometry.Sphere`.
Parameters
----------
sphere: `compas.geometry.Sphere`
"""
primitive = SolidPrimitive.from_sphere(sphere)
pose = Pose(Point(*sphere.point), Quaternion(0, 0, 0, 1))
return cls(primitives=[primitive], primitive_poses=[pose])
def from_msg(cls, msg):
triangles = [MeshTriangle.from_msg(t) for t in msg['triangles']]
vertices = [Point.from_msg(v) for v in msg['vertices']]
return cls(triangles, vertices)