def execute(self, context):
obj = context.active_object
# rename only if necessary
if self.newname != '' and self.newname != nUtils.getObjectName(obj):
log("Renaming " + obj.phobostype + " '" + nUtils.getObjectName(obj) + "' to '" +
self.newname + "'.", 'INFO')
nUtils.safelyName(obj, self.newname)
elif self.newname == '':
log("Removing custom name from " + obj.phobostype + " '" + obj.name + "'.", 'INFO')
if obj.phobostype + '/name' in obj:
del obj[obj.phobostype + '/name']
# only links have joint names
if obj.phobostype == 'link':
if self.jointname != '':
# only change/add joint/name if it was changed
if 'joint/name' not in obj or (
'joint/name' in obj and self.jointname != obj['joint/name']):
log("Renaming joint of " + obj.phobostype + " '" + nUtils.getObjectName(obj) +
"' to '" + self.jointname + "'.", 'INFO')
obj['joint/name'] = self.jointname
# remove joint/name when empty
elif self.jointname == '':
if 'joint/name' in obj:
log("Removing joint name from " + obj.phobostype + " '" + obj.name + "'.",
'INFO')
del obj['joint/name']
return {'FINISHED'}
def createLink(link):
"""Creates the blender representation of a given link and its parent joint.
Args:
link(dict): The link you want to create a representation of.
Returns:
bpy_types.Object -- the newly created blender link object.
"""
# create armature/bone
bUtils.toggleLayer(defs.layerTypes['link'], True)
bpy.ops.object.select_all(action='DESELECT')
bpy.ops.object.armature_add(
layers=bUtils.defLayers([defs.layerTypes['link']]))
newlink = bpy.context.active_object
# Move bone when adding at selected objects location
if 'matrix' in link:
newlink.matrix_world = link['matrix']
newlink.phobostype = 'link'
if link['name'] in bpy.data.objects.keys():
log('Object with name of new link already exists: ' + link['name'],
'WARNING')
nUtils.safelyName(newlink, link['name'])
# set the size of the link
visuals, collisions = getGeometricElements(link)
if visuals or collisions:
scale = max((geometrymodel.getLargestDimension(e['geometry'])
for e in visuals + collisions))
else:
scale = 0.2
# use scaling factor provided by user
if 'scale' in link:
scale *= link['scale']
newlink.scale = (scale, scale, scale)
bpy.ops.object.transform_apply(scale=True)
# add custom properties
for prop in link:
if prop.startswith('$'):
for tag in link[prop]:
newlink['link/' + prop[1:] + '/' + tag] = link[prop][tag]
# create inertial
if 'inertial' in link:
inertia.createInertial(link['name'], link['inertial'], newlink)
# create geometric elements
log(
"Creating visual and collision objects for link '{0}': {1}".format(
link['name'],
', '.join([elem['name'] for elem in visuals + collisions])),
'DEBUG')
for v in visuals:
geometrymodel.createGeometry(v, 'visual', newlink)
for c in collisions:
geometrymodel.createGeometry(c, 'collision', newlink)
return newlink
def execute(self, context):
"""
Args:
context:
Returns:
"""
obj = context.active_object
# rename only if necessary
if self.newname != '' and self.newname != nUtils.getObjectName(obj):
log(
"Renaming "
+ obj.phobostype
+ " '"
+ nUtils.getObjectName(obj)
+ "' to '"
+ self.newname
+ "'.",
'INFO',
)
nUtils.safelyName(obj, self.newname)
elif self.newname == '':
log("Removing custom name from " + obj.phobostype + " '" + obj.name + "'.", 'INFO')
if obj.phobostype + '/name' in obj:
del obj[obj.phobostype + '/name']
# only links have joint names
if obj.phobostype == 'link':
if self.jointname != '':
# only change/add joint/name if it was changed
if 'joint/name' not in obj or (
'joint/name' in obj and self.jointname != obj['joint/name']
):
log(
"Renaming joint of "
+ obj.phobostype
+ " '"
+ nUtils.getObjectName(obj)
+ "' to '"
+ self.jointname
+ "'.",
'INFO',
)
obj['joint/name'] = self.jointname
# remove joint/name when empty
elif self.jointname == '':
if 'joint/name' in obj:
log(
"Removing joint name from " + obj.phobostype + " '" + obj.name + "'.",
'INFO',
)
del obj['joint/name']
return {'FINISHED'}
def createInterface(ifdict, parent=None):
"""Create an interface object and optionally parent to existing object.
ifdict is expected as:
| **type**: str
| **direction**: str
| **model**: str
| **name**: str
| **parent**: bpy.types.Object (optional)
| **scale**: float (optional)
Args:
ifdict(dict): interface data
parent(bpy.types.Object, optional): designated parent object (Default value = None)
Returns:
bpy.data.Object: newly created interface object
"""
if not parent:
try:
parent = ifdict['parent']
assert isinstance(parent, bpy.types.Object)
except (AttributeError, AssertionError, KeyError):
parent = None
location = parent.matrix_world.translation if parent else mathutils.Vector(
)
rotation = parent.matrix_world.to_euler() if parent else mathutils.Euler()
model = ifdict['model'] if 'model' in ifdict else 'default'
templateobj = ioUtils.getResource(
('interface', model, ifdict['direction']))
scale = ifdict['scale'] if 'scale' in ifdict else 1.0
ifobj = bUtils.createPrimitive(
ifdict['name'],
'box',
(1.0, 1.0, 1.0),
defs.layerTypes['interface'],
plocation=location,
protation=rotation,
phobostype='interface',
)
nUtils.safelyName(ifobj, ifdict['name'], 'interface')
ifobj.data = templateobj.data
ifobj.scale = (scale, ) * 3
ifobj['interface/type'] = ifdict['type']
ifobj['interface/direction'] = ifdict['direction']
if parent is not None:
ifobj['interface/parent'] = parent.name
parentObjectsTo(ifobj, parent)
bpy.ops.object.make_single_user(object=True, obdata=True)
def createInterface(ifdict, parent=None):
"""Create an interface object and optionally parent to existing object.
ifdict is expected as:
| **type**: str
| **direction**: str
| **model**: str
| **name**: str
| **parent**: bpy.types.Object (optional)
| **scale**: float (optional)
Args:
ifdict(dict): interface data
parent(bpy.types.Object, optional): designated parent object (Default value = None)
Returns:
bpy.data.Object: newly created interface object
"""
if not parent:
try:
parent = ifdict['parent']
assert isinstance(parent, bpy.types.Object)
except (AttributeError, AssertionError, KeyError):
parent = None
location = parent.matrix_world.translation if parent else mathutils.Vector()
rotation = parent.matrix_world.to_euler() if parent else mathutils.Euler()
model = ifdict['model'] if 'model' in ifdict else 'default'
templateobj = ioUtils.getResource(('interface', model, ifdict['direction']))
scale = ifdict['scale'] if 'scale' in ifdict else 1.0
ifobj = bUtils.createPrimitive(
ifdict['name'],
'box',
(1.0, 1.0, 1.0),
defs.layerTypes['interface'],
plocation=location,
protation=rotation,
phobostype='interface',
)
nUtils.safelyName(ifobj, ifdict['name'], 'interface')
ifobj.data = templateobj.data
ifobj.scale = (scale,) * 3
ifobj['interface/type'] = ifdict['type']
ifobj['interface/direction'] = ifdict['direction']
bpy.ops.object.make_single_user(object=True, obdata=True)
def createLink(link):
"""Creates the blender representation of a given link and its parent joint.
The link is added to the link layer.
These entries in the dictionary are mandatory:
*name*: name for the link
The specified dictionary may contain these entries:
*matrix*: world matrix for the new link transformation
*scale*: scale for the new link (single float)
*visual*: list of visual dictionaries
*collision*: list of collision dictionaries
*inertial*: inertial dictionary (an inertial object will be created on the fly)
Furthermore any generic properties, prepended by a `$` will be added as custom properties to the
link. E.g. $test/etc would be put to link/test/etc. However, these properties are extracted
only in the first layer of hierarchy.
Args:
link(dict): The link you want to create a representation of.
Returns:
: bpy_types.Object -- the newly created blender link object.
"""
log("Creating link object '{}'...".format(link['name']),
'DEBUG',
prefix='\n')
# create armature/bone
bUtils.toggleLayer('link', True)
bpy.ops.object.select_all(action='DESELECT')
bpy.ops.object.armature_add()
newlink = bpy.context.active_object
# Move bone when adding at selected objects location
if 'matrix' in link:
newlink.matrix_world = link['matrix']
# give it a proper name
newlink.phobostype = 'link'
if link['name'] in bpy.data.objects.keys():
log('Object with name of new link already exists: ' + link['name'],
'WARNING')
nUtils.safelyName(newlink, link['name'])
# set the size of the link
visuals, collisions = getGeometricElements(link)
if visuals or collisions:
scale = max((geometrymodel.getLargestDimension(e['geometry'])
for e in visuals + collisions))
else:
scale = 0.2
# use scaling factor provided by user
if 'scale' in link:
scale *= link['scale']
newlink.scale = (scale, scale, scale)
bpy.ops.object.transform_apply(location=False,
rotation=False,
scale=True,
properties=False)
# add custom properties
for prop in link:
if prop.startswith('$'):
for tag in link[prop]:
newlink['link/' + prop[1:] + '/' + tag] = link[prop][tag]
# create inertial
if 'inertial' in link:
inertia.createInertial(link['inertial'], newlink)
# create geometric elements
log(
"Creating visual and collision objects for link '{0}':\n{1}".format(
link['name'],
' \n'.join([elem['name'] for elem in visuals + collisions])),
'DEBUG',
)
for vis in visuals:
geometrymodel.createGeometry(vis, 'visual', newlink)
for col in collisions:
geometrymodel.createGeometry(col, 'collision', newlink)
bUtils.sortObjectToCollection(newlink, 'link')
return newlink
def createGeometry(viscol, geomsrc, linkobj=None):
"""Creates Blender object for visual or collision objects.
Returns reference to new object or None if creation failed.
Args:
viscol(dict): visual/collision dictionary element
geomsrc(str): new object's phobostype
linkobj(bpy.types.Object): link object
Returns:
bpy.types.Object or None
"""
if 'geometry' not in viscol or viscol['geometry'] is {}:
return None
bpy.ops.object.select_all(action='DESELECT')
geom = viscol['geometry']
# create the Blender object
if geom['type'] == 'mesh':
bpy.context.scene.layers = bUtils.defLayers(defs.layerTypes[geomsrc])
meshname = "".join(os.path.basename(geom["filename"]).split(".")[:-1])
if not os.path.isfile(geom['filename']):
log(geom['filename'] + " is no file. Object " + viscol['name'] + " will have empty mesh!", "ERROR")
#bpy.data.meshes.new(meshname)
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.active_object
nUtils.safelyName(newgeom, viscol['name'], phobostype=geomsrc)
else:
if meshname in bpy.data.meshes:
log('Assigning copy of existing mesh ' + meshname + ' to ' + viscol['name'], 'INFO')
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.object
newgeom.data = bpy.data.meshes[meshname]
else:
log("Importing mesh for {0} element: '{1}".format(geomsrc, viscol['name']), 'INFO')
filetype = geom['filename'].split('.')[-1].lower()
newgeom = meshes.importMesh(geom['filename'], filetype)
newgeom.data.name = meshname
if not newgeom:
log('Failed to import mesh file ' + geom['filename'], 'ERROR')
return
# scale imported object
if 'scale' in geom:
newgeom.scale = geom['scale']
else:
if geom['type'] == 'box':
dimensions = geom['size']
elif geom['type'] == 'cylinder':
dimensions = (geom['radius'], geom['length'])
elif geom['type'] == 'sphere':
dimensions = geom['radius']
else:
log("Unknown geometry type of " + geomsrc + viscol['name']
+ '. Placing empty coordinate system.', "ERROR")
bpy.ops.object.empty_add(type='PLAIN_AXES', radius=0.2)
obj = bpy.context.object
obj.phobostype = geomsrc
nUtils.safelyName(bpy.context.active_object, viscol['name'], phobostype=geomsrc)
return None
log('Creating primtive for {0}: {1}'.format(geomsrc, viscol['name']), 'INFO')
newgeom = bUtils.createPrimitive(viscol['name'], geom['type'], dimensions, phobostype=geomsrc)
newgeom.select = True
bpy.ops.object.transform_apply(scale=True)
# from here it's the same for both meshes and primitives
newgeom['geometry/type'] = geom['type']
if geomsrc == 'visual':
try:
assignMaterial(newgeom, viscol['material'])
except KeyError:
log('No material for visual ' + viscol['name'], 'DEBUG')
for prop in viscol:
if prop.startswith('$'):
for tag in viscol[prop]:
newgeom[prop[1:]+'/'+tag] = viscol[prop][tag]
nUtils.safelyName(newgeom, viscol['name'])
newgeom[geomsrc+"/name"] = viscol['name']
newgeom.phobostype = geomsrc
# place geometric object relative to its parent link
if linkobj:
if 'pose' in viscol:
log('Setting transformation of element: ' + viscol['name'], 'DEBUG')
location = mathutils.Matrix.Translation(viscol['pose']['translation'])
rotation = mathutils.Euler(tuple(viscol['pose']['rotation_euler']), 'XYZ').to_matrix().to_4x4()
else:
log('No pose in element: ' + viscol['name'], 'DEBUG')
location = mathutils.Matrix.Identity(4)
rotation = mathutils.Matrix.Identity(4)
sUtils.selectObjects([newgeom, linkobj], True, 1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
newgeom.matrix_local = location * rotation
if 'scale' in viscol['geometry']:
newgeom.scale = mathutils.Vector(viscol['geometry']['scale'])
return newgeom
def createGeometry(viscol, geomsrc, linkobj=None):
"""Creates Blender object for visual or collision objects.
If the creation fails, nothing is returned.
These entries in the dictionary are mandatory:
| **geometry**:
| **type**: type of geometry (mesh, box, cylinder, sphere)
Depending on the geometry type other values are required: `size`, `radius`, `length`
These entries are optional:
| **geometry**:
| **scale**: scale for the new geometry
| **material**: material name to assign to the visual
| **pose**: specifies the placement of the new object relative to the optional linkobj
| **translation**: position vector for the new object
| **rotation_euler**: rotation for the new object
Furthermore any generic properties, prepended by a ``$`` will be added as custom properties to
the visual/collision object. E.g. ``$test/etc`` would be put to visual/test/etc for a visual
object. However, these properties are extracted only in the first layer of hierarchy.
Args:
viscol(dict): visual/collision model dictionary representation
geomsrc(str): phobostype of the new object
linkobj(bpy.types.Object, optional): link object to attach the visual/collision object to
(Default value = None)
Returns:
bpy.types.Object or None: the new geometry object or nothing
"""
if 'geometry' not in viscol or viscol['geometry'] is {}:
log("Could not create {}. Geometry information not defined!".format(geomsrc), 'ERROR')
return None
bpy.ops.object.select_all(action='DESELECT')
geom = viscol['geometry']
# create the Blender object
if geom['type'] == 'mesh':
bpy.context.scene.layers = bUtils.defLayers(defs.layerTypes[geomsrc])
meshname = "".join(os.path.basename(geom["filename"]).split(".")[:-1])
if not os.path.isfile(geom['filename']):
log(
"This path "
+ geom['filename']
+ " is no file. Object "
+ viscol['name']
+ " will have empty mesh!",
'ERROR',
)
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.active_object
nUtils.safelyName(newgeom, viscol['name'], phobostype=geomsrc)
else:
if meshname in bpy.data.meshes:
log('Assigning copy of existing mesh ' + meshname + ' to ' + viscol['name'], 'INFO')
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.object
newgeom.data = bpy.data.meshes[meshname]
else:
log("Importing mesh for {0} element: '{1}".format(geomsrc, viscol['name']), 'INFO')
filetype = geom['filename'].split('.')[-1].lower()
newgeom = meshes.importMesh(geom['filename'], filetype)
# bpy.data.meshes[newgeom].name = meshname
if not newgeom:
log('Failed to import mesh file ' + geom['filename'], 'ERROR')
return
else:
if geom['type'] == 'box':
dimensions = geom['size']
elif geom['type'] == 'cylinder':
dimensions = (geom['radius'], geom['length'])
elif geom['type'] == 'sphere':
dimensions = geom['radius']
# TODO add support for heightmap, image, plane and polyline geometries (see sdf!)
else:
log(
"Unknown geometry type of "
+ geomsrc
+ viscol['name']
+ '. Placing empty coordinate system.',
"ERROR",
)
bpy.ops.object.empty_add(type='PLAIN_AXES', radius=0.2)
obj = bpy.context.object
obj.phobostype = geomsrc
nUtils.safelyName(bpy.context.active_object, viscol['name'], phobostype=geomsrc)
return None
log("Creating primtive for {0}: {1}".format(geomsrc, viscol['name']), 'INFO')
newgeom = bUtils.createPrimitive(
viscol['name'], geom['type'], dimensions, phobostype=geomsrc
)
newgeom.select = True
bpy.ops.object.transform_apply(scale=True)
# from here it's the same for both meshes and primitives
newgeom['geometry/type'] = geom['type']
if geomsrc == 'visual':
if 'material' in viscol:
assignMaterial(newgeom, viscol['material'])
else:
log('No material for visual {}.'.format(viscol['name']), 'WARNING')
# write generic custom properties
for prop in viscol:
if prop.startswith('$'):
for tag in viscol[prop]:
newgeom[prop[1:] + '/' + tag] = viscol[prop][tag]
nUtils.safelyName(newgeom, viscol['name'])
newgeom[geomsrc + '/name'] = viscol['name']
newgeom.phobostype = geomsrc
# place geometric object relative to its parent link
if linkobj:
if 'pose' in viscol:
log("Setting transformation of element: " + viscol['name'], 'DEBUG')
location = mathutils.Matrix.Translation(viscol['pose']['translation'])
rotation = (
mathutils.Euler(tuple(viscol['pose']['rotation_euler']), 'XYZ').to_matrix().to_4x4()
)
else:
log("No pose in element: " + viscol['name'], 'DEBUG')
location = mathutils.Matrix.Identity(4)
rotation = mathutils.Matrix.Identity(4)
eUtils.parentObjectsTo(newgeom, linkobj)
newgeom.matrix_local = location * rotation
# scale imported object
if 'scale' in geom:
newgeom.scale = geom['scale']
# make object smooth
eUtils.smoothen_surface(newgeom)
return newgeom
def createLink(link):
"""Creates the blender representation of a given link and its parent joint.
The link is added to the link layer.
These entries in the dictionary are mandatory:
*name*: name for the link
The specified dictionary may contain these entries:
*matrix*: world matrix for the new link transformation
*scale*: scale for the new link (single float)
*visual*: list of visual dictionaries
*collision*: list of collision dictionaries
*inertial*: inertial dictionary (an inertial object will be created on the fly)
Furthermore any generic properties, prepended by a `$` will be added as custom properties to the
link. E.g. $test/etc would be put to link/test/etc. However, these properties are extracted
only in the first layer of hierarchy.
Args:
link(dict): The link you want to create a representation of.
Returns:
: bpy_types.Object -- the newly created blender link object.
"""
log("Creating link object '{}'...".format(link['name']), 'DEBUG', prefix='\n')
# create armature/bone
bUtils.toggleLayer(defs.layerTypes['link'], True)
bpy.ops.object.select_all(action='DESELECT')
bpy.ops.object.armature_add(layers=bUtils.defLayers([defs.layerTypes['link']]))
newlink = bpy.context.active_object
# Move bone when adding at selected objects location
if 'matrix' in link:
newlink.matrix_world = link['matrix']
# give it a proper name
newlink.phobostype = 'link'
if link['name'] in bpy.data.objects.keys():
log('Object with name of new link already exists: ' + link['name'], 'WARNING')
nUtils.safelyName(newlink, link['name'])
# set the size of the link
visuals, collisions = getGeometricElements(link)
if visuals or collisions:
scale = max(
(geometrymodel.getLargestDimension(e['geometry']) for e in visuals + collisions)
)
else:
scale = 0.2
# use scaling factor provided by user
if 'scale' in link:
scale *= link['scale']
newlink.scale = (scale, scale, scale)
bpy.ops.object.transform_apply(scale=True)
# add custom properties
for prop in link:
if prop.startswith('$'):
for tag in link[prop]:
newlink['link/' + prop[1:] + '/' + tag] = link[prop][tag]
# create inertial
if 'inertial' in link:
inertia.createInertial(link['inertial'], newlink)
# create geometric elements
log(
"Creating visual and collision objects for link '{0}':\n{1}".format(
link['name'], ' \n'.join([elem['name'] for elem in visuals + collisions])
),
'DEBUG',
)
for vis in visuals:
geometrymodel.createGeometry(vis, 'visual', newlink)
for col in collisions:
geometrymodel.createGeometry(col, 'collision', newlink)
return newlink
def createGeometry(viscol, geomsrc, linkobj=None):
"""Creates Blender object for visual or collision objects.
If the creation fails, nothing is returned.
These entries in the dictionary are mandatory:
| **geometry**:
| **type**: type of geometry (mesh, box, cylinder, sphere)
Depending on the geometry type other values are required: `size`, `radius`, `length`
These entries are optional:
| **geometry**:
| **scale**: scale for the new geometry
| **material**: material name to assign to the visual
| **pose**: specifies the placement of the new object relative to the optional linkobj
| **translation**: position vector for the new object
| **rotation_euler**: rotation for the new object
Furthermore any generic properties, prepended by a ``$`` will be added as custom properties to
the visual/collision object. E.g. ``$test/etc`` would be put to visual/test/etc for a visual
object. However, these properties are extracted only in the first layer of hierarchy.
Args:
viscol(dict): visual/collision model dictionary representation
geomsrc(str): phobostype of the new object
linkobj(bpy.types.Object, optional): link object to attach the visual/collision object to
(Default value = None)
Returns:
bpy.types.Object or None: the new geometry object or nothing
"""
if 'geometry' not in viscol or viscol['geometry'] is {}:
log("Could not create {}. Geometry information not defined!".format(geomsrc), 'ERROR')
return None
bpy.ops.object.select_all(action='DESELECT')
geom = viscol['geometry']
# create the Blender object
if geom['type'] == 'mesh':
bpy.context.scene.layers = bUtils.defLayers(defs.layerTypes[geomsrc])
meshname = "".join(os.path.basename(geom["filename"]).split(".")[:-1])
if not os.path.isfile(geom['filename']):
log(
"This path "
+ geom['filename']
+ " is no file. Object "
+ viscol['name']
+ " will have empty mesh!",
'ERROR',
)
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.active_object
nUtils.safelyName(newgeom, viscol['name'], phobostype=geomsrc)
else:
if meshname in bpy.data.meshes:
log('Assigning copy of existing mesh ' + meshname + ' to ' + viscol['name'], 'INFO')
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.object
newgeom.data = bpy.data.meshes[meshname]
else:
log("Importing mesh for {0} element: '{1}".format(geomsrc, viscol['name']), 'INFO')
filetype = geom['filename'].split('.')[-1].lower()
newgeom = meshes.importMesh(geom['filename'], filetype)
# bpy.data.meshes[newgeom].name = meshname
if not newgeom:
log('Failed to import mesh file ' + geom['filename'], 'ERROR')
return
else:
if geom['type'] == 'box':
dimensions = geom['size']
elif geom['type'] == 'cylinder':
dimensions = (geom['radius'], geom['length'])
elif geom['type'] == 'sphere':
dimensions = geom['radius']
# TODO add support for heightmap, image, plane and polyline geometries (see sdf!)
else:
log(
"Unknown geometry type of "
+ geomsrc
+ viscol['name']
+ '. Placing empty coordinate system.',
"ERROR",
)
bpy.ops.object.empty_add(type='PLAIN_AXES', radius=0.2)
obj = bpy.context.object
obj.phobostype = geomsrc
nUtils.safelyName(bpy.context.active_object, viscol['name'], phobostype=geomsrc)
return None
log("Creating primtive for {0}: {1}".format(geomsrc, viscol['name']), 'INFO')
newgeom = bUtils.createPrimitive(
viscol['name'], geom['type'], dimensions, phobostype=geomsrc
)
newgeom.select = True
bpy.ops.object.transform_apply(scale=True)
# from here it's the same for both meshes and primitives
newgeom['geometry/type'] = geom['type']
if geomsrc == 'visual':
if 'material' in viscol:
assignMaterial(newgeom, viscol['material'])
else:
log('No material for visual {}.'.format(viscol['name']), 'WARNING')
# write generic custom properties
for prop in viscol:
if prop.startswith('$'):
for tag in viscol[prop]:
newgeom[prop[1:] + '/' + tag] = viscol[prop][tag]
nUtils.safelyName(newgeom, viscol['name'])
newgeom[geomsrc + '/name'] = viscol['name']
newgeom.phobostype = geomsrc
# place geometric object relative to its parent link
if linkobj:
if 'pose' in viscol:
log("Setting transformation of element: " + viscol['name'], 'DEBUG')
location = mathutils.Matrix.Translation(viscol['pose']['translation'])
rotation = (
mathutils.Euler(tuple(viscol['pose']['rotation_euler']), 'XYZ').to_matrix().to_4x4()
)
else:
log("No pose in element: " + viscol['name'], 'DEBUG')
location = mathutils.Matrix.Identity(4)
rotation = mathutils.Matrix.Identity(4)
eUtils.parentObjectsTo(newgeom, linkobj)
newgeom.matrix_local = location * rotation
# scale imported object
if 'scale' in geom:
newgeom.scale = geom['scale']
# make object smooth
eUtils.smoothen_surface(newgeom)
return newgeom
