def createInertials(link, empty=False, preserve_children=False):
"""Creates inertial representations for visual and collision objects in link.
:param link: The link you want to create the inertial for.
:type link: bpy_types.Object
:param empty: If set to True the new inertial object will contain no information.
:type empty: bool
:param preserve_children: If set to False already existent inertial objects will be deleted.
:type preserve_children: bool
"""
#
viscols = getInertiaRelevantObjects(link)
# clean existing data
if not preserve_children:
oldinertials = selectionUtils.getImmediateChildren(link, ['inertial'])
else:
try:
oldinertials = [bpy.data.objects['inertial_' + link.name]]
except KeyError:
oldinertials = None
if oldinertials:
selectionUtils.selectObjects(oldinertials, clear=True, active=0)
bpy.ops.object.delete()
if not preserve_children:
for obj in viscols:
if not empty:
mass = obj['mass'] if 'mass' in obj else None
geometry = robotdictionary.deriveGeometry(obj)
if mass is not None:
if geometry['type'] == 'mesh':
selectionUtils.selectObjects([obj])
bpy.context.scene.objects.active = obj
inert = calculateMeshInertia(obj.data, mass)
#print('mesh:', inert)
#print('ellipsoid:', calculateEllipsoidInertia(mass, geometry['size']))
#print('box:', calculateBoxInertia(mass, geometry['size']))
else:
inert = calculateInertia(mass, geometry)
if inert is not None:
inertial = createInertial(obj)
inertial['mass'] = mass
inertial['inertia'] = inert
else:
createInertial(obj)
# compose inertial object for link
if not empty:
mass, com, inert = fuseInertiaData(
selectionUtils.getImmediateChildren(link, ['inertial']))
if mass and com and inert:
inertial = createInertial(link)
com_translate = mathutils.Matrix.Translation(com)
inertial.matrix_local = com_translate
bpy.ops.transform.translate(value=(
0, 0, 0
)) # FIXME: this is a trick to force Blender to apply matrix_local
inertial['inertial/mass'] = mass
inertial['inertial/inertia'] = inertiaMatrixToList(inert)
else:
createInertial(link)
def getInertiaChildren(link, selected_only=False, include_hidden=False):
"""Returns a list of the inertia objects which are children of a link.
:param link: The link you want to gather the inertia relevant objects for
:type link: bpy.types.Object
:param selected_only: return only relevant objects which are selected
:type selected_only: bool
:param include_hidden: include hidden inertia objects
:type include_hidden: bool
:return: list of child inertial objects of the link
:rtype: list
"""
assert link.phobostype == 'link', "Object is not a link."
assert isinstance(selected_only,
bool), "Not a boolean: " + type(selected_only)
assert isinstance(include_hidden,
bool), "Not a boolean: " + type(include_hidden)
# Get the inertia objects
inertiaobjects = sUtils.getImmediateChildren(link, ('inertial'),
selected_only, include_hidden)
# Get the visuals and collisions
viscols = getInertiaRelevantObjects(link, selected_only)
# Iterate over the objects and get the inertia objects
for obj in viscols:
# Add inertia objects to the list
inertiaobjects += sUtils.getImmediateChildren(obj, ('inertial'),
selected_only,
include_hidden)
return inertiaobjects
def get_link_information(linkobj):
"""Returns the full link information including joint and motor data from a blender object.
The link information is derived according to :func:`derive_link`.
Args:
linkobj(bpy.types.Object): blender object to derive the link from
Returns:
dict: link representation of the object
"""
props = initObjectProperties(linkobj,
phobostype='link',
ignoretypes=['joint', 'motor', 'entity'])
parent = sUtils.getEffectiveParent(linkobj)
props['parent'] = parent.name if parent else None
props['pose'] = deriveObjectPose(linkobj)
props['joint'] = deriveJoint(linkobj, logging=False, adjust=False)
del props['joint']['parent']
# collect collision objs for link
collisionobjs = sUtils.getImmediateChildren(linkobj,
phobostypes=('collision'),
include_hidden=True)
collisiondict = {}
for colobj in collisionobjs:
collisiondict[colobj.name] = colobj
props['collision'] = collisiondict
# collect visual objs for link
visualobjects = sUtils.getImmediateChildren(linkobj,
phobostypes=('visual'),
include_hidden=True)
visualdict = {}
for visualobj in visualobjects:
visualdict[visualobj.name] = visualobj
props["visual"] = visualdict
# collect inertial objects
inertialdict = {
nUtils.getObjectName(obj): obj
for obj in linkobj.children if obj.phobostype == 'inertial'
}
props["inertial"] = inertialdict
# collect sensor objects
sensorobjects = sUtils.getImmediateChildren(linkobj,
phobostypes=('sensor'),
include_hidden=True)
sensordict = {}
for sensorobj in sensorobjects:
sensordict[sensorobj.name] = sensorobj
if sensordict:
props["sensor"] = sensordict
props['approxcollision'] = []
return props
def createInertials(link, empty=False, preserve_children=False):
"""Creates inertial representations for visual and collision objects in link.
:param link: The link you want to create the inertial for.
:type link: bpy_types.Object
:param empty: If set to True the new inertial object will contain no information.
:type empty: bool
:param preserve_children: If set to False already existent inertial objects will be deleted.
:type preserve_children: bool
"""
#
viscols = getInertiaRelevantObjects(link)
# clean existing data
if not preserve_children:
oldinertials = selectionUtils.getImmediateChildren(link, ['inertial'])
else:
try:
oldinertials = [bpy.data.objects['inertial_'+link.name]]
except KeyError:
oldinertials = None
if oldinertials:
selectionUtils.selectObjects(oldinertials, clear=True, active=0)
bpy.ops.object.delete()
if not preserve_children:
for obj in viscols:
if not empty:
mass = obj['mass'] if 'mass' in obj else None
geometry = robotdictionary.deriveGeometry(obj)
if mass is not None:
if geometry['type'] == 'mesh':
selectionUtils.selectObjects([obj])
bpy.context.scene.objects.active = obj
inert = calculateMeshInertia(obj.data, mass)
#print('mesh:', inert)
#print('ellipsoid:', calculateEllipsoidInertia(mass, geometry['size']))
#print('box:', calculateBoxInertia(mass, geometry['size']))
else:
inert = calculateInertia(mass, geometry)
if inert is not None:
inertial = createInertial(obj)
inertial['mass'] = mass
inertial['inertia'] = inert
else:
createInertial(obj)
# compose inertial object for link
if not empty:
mass, com, inert = fuseInertiaData(selectionUtils.getImmediateChildren(link, ['inertial']))
if mass and com and inert:
inertial = createInertial(link)
com_translate = mathutils.Matrix.Translation(com)
inertial.matrix_local = com_translate
bpy.ops.transform.translate(value=(0, 0, 0)) # FIXME: this is a trick to force Blender to apply matrix_local
inertial['inertial/mass'] = mass
inertial['inertial/inertia'] = inertiaMatrixToList(inert)
else:
createInertial(link)
def get_link_information(linkobj):
"""Returns the full link information including joint and motor data from a blender object.
:param linkobj: blender object to derive the link from
:type linkobj: bpy.types.Object
:return: representation of the link including motor and joint data
:rtype: dict
.. seealso:: derive_link
"""
assert linkobj.phobostype == 'link', ("Wrong phobostype: " +
linkobj.phobostype +
" instead of link.")
props = initObjectProperties(linkobj,
phobostype='link',
ignoretypes=['joint', 'motor', 'entity'])
parent = sUtils.getEffectiveParent(linkobj)
props['parent'] = parent.name if parent else None
props['pose'] = deriveObjectPose(linkobj)
props['joint'] = deriveJoint(linkobj, adjust=False)
del props['joint']['parent']
# derive Motor
if any(item.startswith('motor') for item in props):
props['motor'] = deriveMotor(linkobj, props['joint'])
# collect collision objs for link
collisionobjs = sUtils.getImmediateChildren(linkobj,
phobostypes=('collision'),
include_hidden=True)
collisiondict = {}
for colobj in collisionobjs:
collisiondict[colobj.name] = colobj
props['collision'] = collisiondict
# collect visual objs for link
visualobjects = sUtils.getImmediateChildren(linkobj,
phobostypes=('visual'),
include_hidden=True)
visualdict = {}
for visualobj in visualobjects:
visualdict[visualobj.name] = visualobj
props["visual"] = visualdict
# collect inertial objects
inertialobjects = inertiamodel.getInertiaChildren(linkobj)
inertialdict = {}
for inertialobj in inertialobjects:
inertialdict[inertialobj.name] = inertialobj
props["inertial"] = inertialdict
props['approxcollision'] = []
return props
def createLinkInertialObjects(link, autocalc=True, selected_only=False):
"""Creates inertial representations from helper inertials of a link.
The new link inertial can contain automatically calculated inertia or
remain empty (based on the autocalc parameter). If the selected_only
parameter is used the inertia is calculated including only the selected
helper inertials objects.
:param link: The link you want to create the inertial for.
:type link: bpy_types.Object
:param autocalc: If set to False the new inertial object will contain no
inertia information.
:type autocalc: bool.
:param selected_only: If set to True the inertia calculation uses only the
currently selected inertial objects.
:type selected_only: bool.
"""
inertias = sUtils.getImmediateChildren(link, ('inertial', ), selected_only,
True)
inertialdata = {
'mass': 0,
'inertia': (0, 0, 0, 0, 0, 0),
'pose': {
'translation': mathutils.Vector((0, 0, 0))
}
}
# compose inertial object for link from helper inertials
if autocalc:
mass, com, inert = fuseInertiaData(inertias)
if mass and com and inert:
inertialdata['mass'] = mass
inertialdata['inertia'] = inertiaMatrixToList(inert)
inertialdata['pose'] = {'translation': com}
# create empty inertial object
createInertial(link.name, inertialdata, parentobj=link)
def deriveLinkfromObject(obj, scale=0.2, parent_link=True, parent_objects=False, nameformat=''):
"""Derives a link from an object using its name, transformation and parenting.
Args:
obj(bpy_types.Object): object to derive a link from
scale(float, optional): scale factor for bone size (Default value = 0.2)
parent_link(bool, optional): whether to automate the parenting of the new link or not. (Default value = True)
parent_objects(bool, optional): whether to parent all the objects to the new link or not (Default value = False)
nameformat(str, optional): re-formatting template for obj names (Default value = '')
Returns:
: newly created link
"""
log('Deriving link from ' + nUtils.getObjectName(obj), level="INFO")
try:
nameparts = [p for p in re.split('[^a-zA-Z]', nUtils.getObjectName(obj)) if p != '']
linkname = nameformat.format(*nameparts)
except IndexError:
log('Invalid name format (indices) for naming: ' + nUtils.getObjectName(obj), 'WARNING')
linkname = 'link_' + nUtils.getObjectName(obj)
link = createLink({'scale': scale, 'name': linkname, 'matrix': obj.matrix_world})
# parent link to object's parent
if parent_link:
if obj.parent:
eUtils.parentObjectsTo(link, obj.parent)
# parent children of object to link
if parent_objects:
children = [obj] + sUtils.getImmediateChildren(obj)
eUtils.parentObjectsTo(children, link, clear=True)
return link
def deriveEntity(light, outpath):
"""This function handles a light entity in a scene to export it
Args:
entity(bpy.types.Object): The lights root object.
outpath(str): The path to export to. Not used for light entity
savetosubfolder(bool): If True data will be exported into subfolders. Not used for light entity
light:
Returns:
: dict - An entry for the scenes entitiesList
"""
log("Exporting " + light["entity/name"] + " as a light entity", "INFO")
entitypose = models.deriveObjectPose(light)
lightobj = sUtils.getImmediateChildren(light)[0]
color = lightobj.data.color
entity = {
"name": light["entity/name"],
"type": "light",
"light_type":
"spotlight" if lightobj.data.type == "SPOT" else "omnilight",
"anchor": light["anchor"] if "anchor" in light else "none",
"color": {
"diffuse": [color.r, color.g, color.b],
"use_specular": lightobj.data.
use_specular, # only specular information currently available
},
"position": entitypose["translation"],
"rotation": entitypose["rotation_quaternion"],
}
if entity["light_type"] == "spotlight":
entity["angle"] = lightobj.data.spot_size
return entity
def deriveEntity(light, outpath):
"""This function handles a light entity in a scene to export it
Args:
entity(bpy.types.Object): The lights root object.
outpath(str): The path to export to. Not used for light entity
savetosubfolder(bool): If True data will be exported into subfolders. Not used for light entity
light:
Returns:
: dict - An entry for the scenes entitiesList
"""
log("Exporting " + light["entity/name"] + " as a light entity", "INFO")
entitypose = models.deriveObjectPose(light)
lightobj = sUtils.getImmediateChildren(light)[0]
color = lightobj.data.color
entity = {
"name": light["entity/name"],
"type": "light",
"light_type": "spotlight" if lightobj.data.type == "SPOT" else "omnilight",
"anchor": light["anchor"] if "anchor" in light else "none",
"color": {
"diffuse": [color.r, color.g, color.b],
"use_specular": lightobj.data.use_specular, # only specular information currently available
},
"position": entitypose["translation"],
"rotation": entitypose["rotation_quaternion"],
}
if entity["light_type"] == "spotlight":
entity["angle"] = lightobj.data.spot_size
return entity
def deriveLinkfromObject(obj,
scale=0.2,
parenting=True,
parentobjects=False,
namepartindices=[],
separator='_',
prefix='link'):
"""Derives a link from an object that defines a joint through its position, orientation and parent-child relationships.
:param obj: The object you want to derive your link from.
:type obj: bpy_types.Object
:param scale: The scale you want to apply to the link.
:type scale: float
:param parenting: Whether you want to automate the parenting of the new link or not.
:type parenting: bool.
:param parentobjects: Whether you want to parent all the objects to the new link or not.
:type parentobjects: bool.
:param namepartindices: Parts of the objects name you want to reuse in the links name.
:type namepartindices: list with two elements.
:param separator: The separator you want to use to separate the links name with. Its '_' per default
:type separator: str
:param prefix: The prefix you want to use for the new links name. Its 'link' per default.
:type prefix: str
"""
print('Deriving link from', namingUtils.getObjectName(obj))
nameparts = namingUtils.getObjectName(obj).split('_')
rotation = obj.matrix_world.to_euler()
if 'invertAxis' in obj and obj['invertAxis'] == 1:
rotation.x += math.pi if rotation.x < 0 else -math.pi
tmpname = namingUtils.getObjectName(obj)
if namepartindices:
try:
tmpname = separator.join([nameparts[p] for p in namepartindices])
except IndexError:
print('Wrong name segment indices given for obj',
namingUtils.getObjectName(obj))
if prefix != '':
tmpname = prefix + separator + tmpname
if tmpname == namingUtils.getObjectName(obj):
obj.name += '*'
link = createLink(scale, obj.matrix_world.to_translation(),
obj.matrix_world.to_euler(), tmpname)
if parenting:
if obj.parent:
selectionUtils.selectObjects([link, obj.parent], True, 1)
if obj.parent.phobostype == 'link':
bpy.ops.object.parent_set(type='BONE_RELATIVE')
else:
bpy.ops.object.parent_set(type='OBJECT')
children = selectionUtils.getImmediateChildren(obj)
if parentobjects:
children.append(obj)
for child in children:
selectionUtils.selectObjects([child], True, 0)
bpy.ops.object.parent_clear(type='CLEAR_KEEP_TRANSFORM')
selectionUtils.selectObjects([child, link], True, 1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
def initObjectProperties(obj,
phobostype=None,
ignoretypes=(),
includeannotations=True,
ignorename=False):
"""Initializes phobos dictionary of *obj*, including information stored in custom properties.
Args:
obj(bpy_types.Object): object to derive initial properties from.
phobostype(str, optional): limit parsing of data fields to this phobostype
ignoretypes(list, optional): list of properties ignored while initializing the objects properties.
ignorename(bool, optional): whether or not to add the object's name
Returns:
dict
"""
# allow duplicated names differentiated by types
props = {} if ignorename else {
'name': nUtils.getObjectName(obj, phobostype)
}
# if no phobostype is defined, everything is parsed
if not phobostype:
for key, value in obj.items():
props[key] = value
# search for type-specific properties if phobostype is defined
else:
for key, value in obj.items():
# transform Blender id_arrays into lists
if hasattr(value, 'to_list'):
value = list(value)
if key.startswith(phobostype + '/'):
if key.count('/') == 1:
props[key.replace(phobostype + '/', '')] = value
elif key.count('/') == 2:
category, specifier = key.split('/')[1:]
if '$' + category not in props:
props['$' + category] = {}
props['$' + category][specifier] = value
# ignore two-level specifiers if phobostype is not present
elif key.count('/') == 1:
category, specifier = key.split('/')
if category not in ignoretypes:
if '$' + category not in props:
props['$' + category] = {}
props['$' + category][specifier] = value
if includeannotations:
annotationobjs = sUtils.getImmediateChildren(obj, ('annotation', ),
selected_only=True)
for obj in annotationobjs:
props.update(
initObjectProperties(obj,
phobostype,
ignoretypes,
includeannotations,
ignorename=True))
return props
def deriveFullLinkInformation(obj):
"""This function derives the full link information (including joint and
motor data) from a blender object and creates its initial phobos data
structure.
:param obj: The blender object to derive the link from.
:type obj: bpy_types.Object
:return: dict
"""
props = initObjectProperties(obj,
phobostype='link',
ignoretypes=['joint', 'motor', 'entity'])
parent = sUtils.getEffectiveParent(obj)
props['parent'] = parent.name if parent else None
props["pose"] = deriveObjectPose(obj)
props["joint"] = deriveJoint(obj, adjust=False)
del props["joint"]["parent"]
if any(item.startswith('motor') for item in props.keys()):
props["motor"] = deriveMotor(obj, props['joint'])
collisionObjects = sUtils.getImmediateChildren(obj,
phobostypes=('collision'),
include_hidden=True)
collisionDict = {}
for colobj in collisionObjects:
collisionDict[colobj.name] = colobj
props["collision"] = collisionDict
visualObjects = sUtils.getImmediateChildren(obj,
phobostypes=('visual'),
include_hidden=True)
visualDict = {}
for visualobj in visualObjects:
visualDict[visualobj.name] = visualobj
props["visual"] = visualDict
inertialObjects = sUtils.getImmediateChildren(obj,
phobostypes=('inertial'),
include_hidden=True)
inertialDict = {}
for inertialobj in inertialObjects:
inertialDict[inertialobj.name] = inertialobj
props["inertial"] = inertialDict
props['approxcollision'] = []
return props
def getInertiaRelevantObjects(link, selected_only=False):
"""Returns a list of visual and collision objects of a link.
If name-pairs of visual and collision objects are detected,
the one with the latest change-date is used. If this is not clear,
visual objects are omitted in favor of collision objects. If the
selected_only parameter is used, only the selected objects are considered.
Args:
link(bpy_types.Object): The link you want to gather the inertia relevant objects for.
selected_only(bool, optional): return only relevant objects which are selected (Default value = False)
Returns:
list
"""
objdict = {
obj.name: obj
for obj in sUtils.getImmediateChildren(link, ['visual', 'collision'],
selected_only)
}
basenames = set()
inertiaobjects = []
for objname in objdict.keys():
if 'mass' in objdict[objname]:
if not objname.startswith('visual_') and not objname.startswith(
'collision_'):
inertiaobjects.append(objdict[objname])
else:
basename = objname.replace(objdict[objname].phobostype + '_',
'')
if basename not in basenames:
basenames.add(basename)
collision = 'collision_'+basename if 'collision_'+basename in objdict.keys()\
and 'mass' in objdict['collision_'+basename] else None
visual = 'visual_'+basename if 'visual_'+basename in objdict.keys()\
and 'mass' in objdict['visual_'+basename] else None
if visual and collision:
try:
tv = gUtils.datetimeFromIso(
objdict[visual]['masschanged'])
tc = gUtils.datetimeFromIso(
objdict[collision]['masschanged'])
# if collision information is older than visual information
if tc < tv:
inertiaobjects.append(objdict[visual])
else:
inertiaobjects.append(objdict[collision])
# if masschanged not present in both
except KeyError:
inertiaobjects.append(objdict[collision])
else:
inertiaobjects.append(objdict[collision] if collision
else objdict[visual])
return inertiaobjects
def deriveLinkfromObject(
obj, scale=0.2, parenting=True, parentobjects=False, namepartindices=[], separator="_", prefix="link"
):
"""Derives a link from an object that defines a joint through its position, orientation and parent-child relationships.
:param obj: The object you want to derive your link from.
:type obj: bpy_types.Object
:param scale: The scale you want to apply to the link.
:type scale: float
:param parenting: Whether you want to automate the parenting of the new link or not.
:type parenting: bool.
:param parentobjects: Whether you want to parent all the objects to the new link or not.
:type parentobjects: bool.
:param namepartindices: Parts of the objects name you want to reuse in the links name.
:type namepartindices: list with two elements.
:param separator: The separator you want to use to separate the links name with. Its '_' per default
:type separator: str
:param prefix: The prefix you want to use for the new links name. Its 'link' per default.
:type prefix: str
"""
print("Deriving link from", namingUtils.getObjectName(obj))
nameparts = namingUtils.getObjectName(obj).split("_")
rotation = obj.matrix_world.to_euler()
if "invertAxis" in obj and obj["invertAxis"] == 1:
rotation.x += math.pi if rotation.x < 0 else -math.pi
tmpname = namingUtils.getObjectName(obj)
if namepartindices:
try:
tmpname = separator.join([nameparts[p] for p in namepartindices])
except IndexError:
print("Wrong name segment indices given for obj", namingUtils.getObjectName(obj))
if prefix != "":
tmpname = prefix + separator + tmpname
if tmpname == namingUtils.getObjectName(obj):
obj.name += "*"
link = createLink(scale, obj.matrix_world.to_translation(), obj.matrix_world.to_euler(), tmpname)
if parenting:
if obj.parent:
selectionUtils.selectObjects([link, obj.parent], True, 1)
if obj.parent.phobostype == "link":
bpy.ops.object.parent_set(type="BONE_RELATIVE")
else:
bpy.ops.object.parent_set(type="OBJECT")
children = selectionUtils.getImmediateChildren(obj)
if parentobjects:
children.append(obj)
for child in children:
selectionUtils.selectObjects([child], True, 0)
bpy.ops.object.parent_clear(type="CLEAR_KEEP_TRANSFORM")
selectionUtils.selectObjects([child, link], True, 1)
bpy.ops.object.parent_set(type="BONE_RELATIVE")
def createInertials(link, empty=False, preserve_children=False):
# create inertial representations for visual and collision objects in link
viscols = getInertiaRelevantObjects(link)
# clean existing data
if not preserve_children:
oldinertials = selectionUtils.getImmediateChildren(link, ['inertial'])
else:
try:
oldinertials = [bpy.data.objects['inertial_'+link.name]]
except KeyError:
oldinertials = None
if oldinertials:
selectionUtils.selectObjects(oldinertials, clear=True, active=0)
bpy.ops.object.delete()
if not preserve_children:
for obj in viscols:
if not empty:
mass = obj['mass'] if 'mass' in obj else None
geometry = robotdictionary.deriveGeometry(obj)
if mass is not None:
inert = calculateInertia(mass, geometry)
if inert is not None:
inertial = createInertial(obj)
inertial['mass'] = mass
inertial['inertia'] = inert
else:
createInertial(obj)
# compose inertial object for link
if not empty:
mass, com, inert = fuseInertiaData(selectionUtils.getImmediateChildren(link, ['inertial']))
if mass and com and inert:
inertial = createInertial(link)
com_translate = mathutils.Matrix.Translation(com)
inertial.matrix_local = com_translate
bpy.ops.transform.translate(value=(0, 0, 0)) # FIXME: this is a trick to force Blender to apply matrix_local
inertial['inertial/mass'] = mass
inertial['inertial/inertia'] = inertiaMatrixToList(inert)
else:
createInertial(link)
def addPCCombinations(parent):
"""Function to add parent/child link combinations for all parents an children that are not already set via collision bitmask.
:param parent: This is the parent object.
:type parent: dict.
"""
children = selectionUtils.getImmediateChildren(parent, 'link')
if len(children) > 0:
for child in children:
#output.append(xmlline(2, 'disable_collisions', ('link1', 'link2'), (mother.name, child.name)))
if ((parent, child) not in collisionExclusives) or ((child, parent) not in collisionExclusives):
collisionExclusives.append((parent.name, child.name))
addPCCombinations(child)
def getInertiaRelevantObjects(link):
"""Returns a list of visual and collision objects of a link.
If name-pairs of visual and collision objects are detected,
the one with the latest change-date is used. If this is not clear,
visual objects are omitted in favor of collision objects.
:param link: The link you want to gather the inertia relevant objects for.
:type link: bpy_types.Object
:return: list
"""
objdict = {
obj.name: obj
for obj in selectionUtils.getImmediateChildren(link,
['visual', 'collision'])
}
basenames = set()
inertiaobjects = []
for objname in objdict.keys():
if 'mass' in objdict[objname]:
if not objname.startswith('visual_') and not objname.startswith(
'collision_'):
inertiaobjects.append(objdict[objname])
else:
basename = objname.replace(objdict[objname].phobostype + '_',
'')
if not basename in basenames:
basenames.add(basename)
collision = 'collision_'+basename if 'collision_'+basename in objdict.keys()\
and 'mass' in objdict['collision_'+basename] else None
visual = 'visual_'+basename if 'visual_'+basename in objdict.keys()\
and 'mass' in objdict['visual_'+basename] else None
if visual and collision:
try:
tv = generalUtils.datetimeFromIso(
objdict[visual]['masschanged'])
tc = generalUtils.datetimeFromIso(
objdict[collision]['masschanged'])
if tc < tv: # if collision information is older than visual information
inertiaobjects.append(objdict[visual])
else:
inertiaobjects.append(objdict[collision])
except KeyError: # if masschanged not present in both
inertiaobjects.append(objdict[collision])
else:
inertiaobjects.append(objdict[collision] if collision
else objdict[visual])
return inertiaobjects
def calculateMassOfLink(link):
"""Calculates the masses of visual and collision objects found in a link,
compares it to mass in link inertial object if present and returns the max of both, warning if they are not equal.
:param link: The link you want to calculate the visuals and collision objects mass of.
:type link: dict
:return: double
"""
objects = getInertiaRelevantObjects(link, ['visual', 'collision'])
inertials = sUtils.getImmediateChildren(link, ['inertial'])
objectsmass = sUtils.calculateSum(objects, 'mass')
if len(inertials) == 1:
inertialmass = inertials[0]['mass'] if 'mass' in inertials[0] else 0
if objectsmass != inertialmass:
log("Warning: Masses are inconsistent, sync masses of link!",
"WARNING")
return max(objectsmass, inertialmass)
def calculateMassOfLink(link):
"""Calculates the masses of visual and collision objects found in a link,
compares it to mass in link inertial object if present and returns the max of both, warning if they are not equal.
:param link: The link you want to calculate the visuals and collision objects mass of.
:type link: dict.
:return: double.
"""
objects = getInertiaRelevantObjects(link, ['visual', 'collision'])
inertials = selectionUtils.getImmediateChildren(link, ['inertial'])
objectsmass = selectionUtils.calculateSum(objects, 'mass')
if len(inertials) == 1:
inertialmass = inertials[0]['mass'] if 'mass' in inertials[0] else 0
if objectsmass != inertialmass:
log("Warning: Masses are inconsistent, sync masses of link!", "WARNING")
return max(objectsmass, inertialmass)
def getInertiaRelevantObjects(link):
"""Returns a list of visual and collision objects of a link.
If name-pairs of visual and collision objects are detected,
the one with the latest change-date is used. If this is not clear,
visual objects are omitted in favor of collision objects.
:param link: The link you want to gather the inertia relevant objects for.
:type link: Blender object.
:return: list.
"""
objdict = {obj.name: obj for obj in selectionUtils.getImmediateChildren(link, ['visual', 'collision'])}
basenames = set()
inertiaobjects = []
for objname in objdict.keys():
if 'mass' in objdict[objname]:
if not objname.startswith('visual_') and not objname.startswith('collision_'):
inertiaobjects.append(objdict[objname])
else:
basename = objname.replace(objdict[objname].phobostype + '_', '')
if not basename in basenames:
basenames.add(basename)
collision = 'collision_'+basename if 'collision_'+basename in objdict.keys()\
and 'mass' in objdict['collision_'+basename] else None
visual = 'visual_'+basename if 'visual_'+basename in objdict.keys()\
and 'mass' in objdict['visual_'+basename] else None
if visual and collision:
try:
tv = generalUtils.datetimeFromIso(objdict[visual]['masschanged'])
tc = generalUtils.datetimeFromIso(objdict[collision]['masschanged'])
if tc < tv: # if collision information is older than visual information
inertiaobjects.append(objdict[visual])
else:
inertiaobjects.append(objdict[collision])
except KeyError: # if masschanged not present in both
inertiaobjects.append(objdict[collision])
else:
inertiaobjects.append(objdict[collision] if collision else objdict[visual])
return inertiaobjects
def buildRobotDictionary():
"""Builds a python dictionary representation of a Blender robot model for export and inspection.
"""
objectlist = bpy.context.selected_objects
#notifications, faulty_objects = robotupdate.updateModel(bpy.context.selected_objects)
#print(notifications)
robot = {
'links': {},
'joints': {},
'sensors': {},
'motors': {},
'controllers': {},
'materials': {},
'groups': {},
'chains': {},
'lights': {}
}
#save timestamped version of model
robot["date"] = datetime.now().strftime("%Y%m%d_%H:%M")
root = selectionUtils.getRoot(bpy.context.selected_objects[0])
if root.phobostype != 'link':
raise Exception("Found no 'link' object as root of the robot model.")
else:
if 'modelname' in root:
robot['modelname'] = root["modelname"]
else:
robot['modelname'] = 'unnamed_robot'
# digest all the links to derive link and joint information
print('\nParsing links, joints and motors...')
for obj in bpy.context.selected_objects:
if obj.phobostype == 'link':
link, joint, motor = deriveKinematics(obj)
robot['links'][namingUtils.getObjectName(
obj, phobostype="link"
)] = link # it's important that this is really the object's name
if joint: # joint can be None if link is a root
robot['joints'][joint['name']] = joint
if motor:
robot['motors'][joint['name']] = motor
obj.select = False
# add inertial information to link
print('\n\nParsing inertials...')
for l in robot['links']:
#link = bpy.data.objects[l] NEW NAMING!
link = selectionUtils.getObjectByName(
l)[0] if selectionUtils.getObjectByName(
l) is not None else "ERROR!"
inertials = selectionUtils.getImmediateChildren(link, ['inertial'])
if len(inertials) == 1:
props, parent = deriveDictEntry(inertials[0])
if not (
props is None or parent is None
): # this may be the case if there is inertia information missing
robot['links'][namingUtils.getObjectName(
parent)]['inertial'] = props
inertials[0].select = False
elif len(inertials) > 1:
for i in inertials:
if i.name == 'inertial_' + l:
props, parent = deriveDictEntry(i)
robot['links'][namingUtils.getObjectName(
parent, phobostype="link")]['inertial'] = props
# FIXME: this has to be re-implemented
#if linkinertial == None:
# mass, com, inertia = inertia.fuseInertiaData(inertials)
# parent = inertials[0].parent
# matrix_local = mathutils.Matrix.Translation(mathutils.Vector(com))
# pose = {}
# pose['matrix'] = [list(vector) for vector in list(matrix_local)]
# pose['translation'] = list(matrix_local.to_translation())
# pose['rotation_euler'] = list(matrix_local.to_euler())
# pose['rotation_quaternion'] = list(matrix_local.to_quaternion())
# props = {'mass': mass, 'pose': pose, 'inertia': inertia}
# robot['links'][parent.name]['inertial'] = props
for i in inertials:
i.select = False
# complete link information by parsing visuals and collision objects
print('\n\nParsing visual and collision (approximation) objects...')
capsules_list = []
for obj in bpy.context.selected_objects:
print("Parsing object " + namingUtils.getObjectName(obj))
if obj.phobostype in ['visual', 'collision']:
props, parent = deriveDictEntry(obj)
if all([
key in props for key in ['cylinder', 'sphere1', 'sphere2']
]): # this is the case with simulated capsules
capsules_list.append({
'link':
parent.name,
'name':
props['cylinder']['name'][:-len('_cylinder')],
'radius':
props['cylinder']['geometry']['radius'],
'length':
props['cylinder']['geometry']['length'] +
2 * props['cylinder']['geometry']['radius'],
#'bitmask': props['cylinder']['bitmask']
})
for key in props:
robot['links'][namingUtils.getObjectName(
parent,
phobostype="link")][obj.phobostype][key] = props[key]
else:
robot['links'][namingUtils.getObjectName(
parent, phobostype="link")][obj.phobostype][
namingUtils.getObjectName(
obj, phobostype=obj.phobostype)] = props
obj.select = False
elif obj.phobostype == 'approxsphere':
props, parent = deriveDictEntry(obj)
robot['links'][namingUtils.getObjectName(
parent)]['approxcollision'].append(props)
obj.select = False
robot['capsules'] = capsules_list
# combine collision information for links
for linkname in robot['links']:
link = robot['links'][linkname]
bitmask = 0
for collname in link['collision']:
try:
bitmask = bitmask | link['collision'][collname]['bitmask']
except KeyError:
pass
link['collision_bitmask'] = bitmask
# parse sensors and controllers
print('\n\nParsing sensors and controllers...')
for obj in bpy.context.selected_objects:
if obj.phobostype in ['sensor', 'controller']:
robot[obj.phobostype +
's'][namingUtils.getObjectName(obj)] = deriveDictEntry(obj)
obj.select = False
# parse materials
print('\n\nParsing materials...')
robot['materials'] = collectMaterials(objectlist)
for obj in objectlist:
if obj.phobostype == 'visual' and len(obj.data.materials) > 0:
mat = obj.data.materials[0]
if not namingUtils.getObjectName(mat) in robot['materials']:
robot['materials'][namingUtils.getObjectName(
mat)] = deriveMaterial(
mat) #this should actually never happen
robot['links'][namingUtils.getObjectName(
obj.parent)]['visual'][namingUtils.getObjectName(
obj, phobostype="visual"
)]['material'] = namingUtils.getObjectName(mat)
# gather information on groups of objects
print('\n\nParsing groups...')
for group in bpy.data.groups: # TODO: get rid of the "data" part
if len(group.objects) > 0 and namingUtils.getObjectName(
group) != "RigidBodyWorld":
robot['groups'][namingUtils.getObjectName(
group)] = deriveGroupEntry(group)
# gather information on chains of objects
print('\n\nParsing chains...')
chains = []
for obj in bpy.data.objects:
if obj.phobostype == 'link' and 'endChain' in obj:
chains.extend(deriveChainEntry(obj))
for chain in chains:
robot['chains'][chain['name']] = chain
# gather information on global lights
print('\n\nParsing lights...')
for obj in bpy.context.selected_objects:
if obj.phobostype == 'light':
robot['lights'][namingUtils.getObjectName(obj)] = deriveLight(obj)
robot['poses'] = deriveStoredPoses()
#shorten numbers in dictionary to n decimalPlaces and return it
print('\n\nRounding numbers...')
epsilon = 10**(-bpy.data.worlds[0].decimalPlaces
) # TODO: implement this separately
return generalUtils.epsilonToZero(robot, epsilon,
bpy.data.worlds[0].decimalPlaces)
def buildRobotDictionary():
"""Builds a python dictionary representation of a Blender robot model for export and inspection."""
objectlist = bpy.context.selected_objects
#notifications, faulty_objects = robotupdate.updateModel(bpy.context.selected_objects)
#print(notifications)
robot = {'links': {},
'joints': {},
'sensors': {},
'motors': {},
'controllers': {},
'materials': {},
'groups': {},
'chains': {},
'lights': {}
}
#save timestamped version of model
robot["date"] = datetime.now().strftime("%Y%m%d_%H:%M")
root = selectionUtils.getRoot(bpy.context.selected_objects[0])
if root.phobostype != 'link':
raise Exception("Found no 'link' object as root of the robot model.")
else:
if 'modelname' in root:
robot['modelname'] = root["modelname"]
else:
robot['modelname'] = 'unnamed_robot'
# digest all the links to derive link and joint information
print('\nParsing links, joints and motors...')
for obj in bpy.context.selected_objects:
if obj.phobostype == 'link':
link, joint, motor = deriveKinematics(obj)
robot['links'][namingUtils.getObjectName(obj, phobostype="link")] = link # it's important that this is really the object's name
if joint: # joint can be None if link is a root
robot['joints'][joint['name']] = joint
if motor:
robot['motors'][joint['name']] = motor
obj.select = False
# add inertial information to link
print('\n\nParsing inertials...')
for l in robot['links']:
#link = bpy.data.objects[l] NEW NAMING!
link = selectionUtils.getObjectByName(l)[0] if selectionUtils.getObjectByName(l) is not None else "ERROR!"
inertials = selectionUtils.getImmediateChildren(link, ['inertial'])
if len(inertials) == 1:
props, parent = deriveDictEntry(inertials[0])
if not (props is None or parent is None): # this may be the case if there is inertia information missing
robot['links'][namingUtils.getObjectName(parent)]['inertial'] = props
inertials[0].select = False
elif len(inertials) > 1:
for i in inertials:
if namingUtils.getObjectName(i, phobostype="inertial") == 'inertial_' + l:
props, parent = deriveDictEntry(i)
robot['links'][namingUtils.getObjectName(parent, phobostype="link")]['inertial'] = props
# FIXME: this has to be re-implemented
#if linkinertial == None:
# mass, com, inertia = inertia.fuseInertiaData(inertials)
# parent = inertials[0].parent
# matrix_local = mathutils.Matrix.Translation(mathutils.Vector(com))
# pose = {}
# pose['matrix'] = [list(vector) for vector in list(matrix_local)]
# pose['translation'] = list(matrix_local.to_translation())
# pose['rotation_euler'] = list(matrix_local.to_euler())
# pose['rotation_quaternion'] = list(matrix_local.to_quaternion())
# props = {'mass': mass, 'pose': pose, 'inertia': inertia}
# robot['links'][parent.name]['inertial'] = props
for i in inertials:
i.select = False
# complete link information by parsing visuals and collision objects
print('\n\nParsing visual and collision (approximation) objects...')
for obj in bpy.context.selected_objects:
print("Parsing object " + namingUtils.getObjectName(obj))
if obj.phobostype in ['visual', 'collision']:
props, parent = deriveDictEntry(obj)
robot['links'][namingUtils.getObjectName(parent, phobostype="link")][obj.phobostype][namingUtils.getObjectName(obj, phobostype=obj.phobostype)] = props
obj.select = False
elif obj.phobostype == 'approxsphere':
props, parent = deriveDictEntry(obj)
robot['links'][namingUtils.getObjectName(parent)]['approxcollision'].append(props)
obj.select = False
# combine collision information for links
for linkname in robot['links']:
link = robot['links'][linkname]
bitmask = 0
for collname in link['collision']:
try:
bitmask = bitmask | link['collision'][collname]['bitmask']
except KeyError:
pass
link['collision_bitmask'] = bitmask
# parse sensors and controllers
print('\n\nParsing sensors and controllers...')
for obj in bpy.context.selected_objects:
if obj.phobostype in ['sensor', 'controller']:
robot[obj.phobostype+'s'][namingUtils.getObjectName(obj)] = deriveDictEntry(obj)
obj.select = False
# parse materials
print('\n\nParsing materials...')
robot['materials'] = collectMaterials(objectlist)
for obj in objectlist:
if obj.phobostype == 'visual' and len(obj.data.materials) > 0:
mat = obj.data.materials[0]
if not namingUtils.getObjectName(mat) in robot['materials']:
robot['materials'][namingUtils.getObjectName(mat)] = deriveMaterial(mat) #this should actually never happen
robot['links'][namingUtils.getObjectName(obj.parent)]['visual'][namingUtils.getObjectName(obj, phobostype="visual")]['material'] = namingUtils.getObjectName(mat)
# gather information on groups of objects
print('\n\nParsing groups...')
for group in bpy.data.groups: # TODO: get rid of the "data" part
if len(group.objects) > 0 and namingUtils.getObjectName(group) != "RigidBodyWorld":
robot['groups'][namingUtils.getObjectName(group)] = deriveGroupEntry(group)
# gather information on chains of objects
print('\n\nParsing chains...')
chains = []
for obj in bpy.data.objects:
if obj.phobostype == 'link' and 'endChain' in obj:
chains.extend(deriveChainEntry(obj))
for chain in chains:
robot['chains'][chain['name']] = chain
# gather information on global lights
print('\n\nParsing lights...')
for obj in bpy.context.selected_objects:
if obj.phobostype == 'light':
robot['lights'][namingUtils.getObjectName(obj)] = deriveLight(obj)
robot['poses'] = deriveStoredPoses()
#shorten numbers in dictionary to n decimalPlaces and return it
print('\n\nRounding numbers...')
epsilon = 10**(-bpy.data.worlds[0].decimalPlaces) # TODO: implement this separately
return generalUtils.epsilonToZero(robot, epsilon, bpy.data.worlds[0].decimalPlaces)
def deriveEntity(entity, outpath):
"""This function handles a heightmap entity in a scene to export it
Args:
smurf(bpy.types.Object): The heightmap root object.
outpath(str): The path to export to.
savetosubfolder(bool): If True data will be exported into subfolders.
entity:
Returns:
: dict - An entry for the scenes entitiesList
"""
heightmap = entity
# determine outpath for the heightmap export
heightmap_outpath = securepath(os.path.join(outpath, structure_subfolder))
log("Exporting " + heightmap["entity/name"] + " as a heightmap entity", "INFO")
entitypose = models.deriveObjectPose(heightmap)
heightmapMesh = sUtils.getImmediateChildren(heightmap)[0]
if bpy.data.window_managers[0].heightmapMesh:
exMesh = heightmapMesh.to_mesh(bpy.context.scene, True, "PREVIEW")
exMesh.name = "hm_" + heightmap["entity/name"]
oldMesh = heightmapMesh.data
heightmapMesh.data = exMesh
heightmapMesh.modifiers["displace_heightmap"].show_render = False
heightmapMesh.modifiers["displace_heightmap"].show_viewport = False
# CHECK are the heightmaps exported to the right directory?
if bpy.data.window_managers[0].useObj:
ioUtils.exportObj(heightmap_outpath, heightmapMesh)
filename = os.path.join("heightmaps", exMesh.name + ".obj")
elif bpy.data.window_managers[0].useStl:
ioUtils.exportStl(heightmap_outpath, heightmapMesh)
filename = os.path.join("heightmaps", exMesh.name + ".stl")
elif bpy.data.window_managers[0].useDae:
ioUtils.exportDae(heightmap_outpath, heightmapMesh)
filename = os.path.join("heightmaps", exMesh.name + ".dae")
else:
log("No mesh export type checked! Aborting heightmap export.", "ERROR")
return {}
heightmapMesh.modifiers["displace_heightmap"].show_render = True
heightmapMesh.modifiers["displace_heightmap"].show_viewport = True
heightmapMesh.data = oldMesh
bpy.data.meshes.remove(exMesh)
entry = {
"name": heightmap["entity/name"],
"type": "mesh",
"file": filename,
"anchor": heightmap["anchor"] if "anchor" in heightmap else "none",
"position": entitypose["translation"],
"rotation": entitypose["rotation_quaternion"],
}
else:
imagepath = os.path.abspath(
os.path.join(os.path.split(bpy.data.filepath)[0], heightmap["image"])
)
shutil.copy2(imagepath, heightmap_outpath)
entry = {
"name": heightmap["entity/name"],
"type": "heightmap",
"file": os.path.join("heightmaps", os.path.basename(imagepath)),
"anchor": heightmap["anchor"] if "anchor" in heightmap else "none",
"width": heightmapMesh.dimensions[1],
"length": heightmapMesh.dimensions[0],
"height": heightmapMesh.modifiers["displace_heightmap"].strength,
"position": entitypose["translation"],
"rotation": entitypose["rotation_quaternion"],
}
return entry
def deriveMotor(obj, jointdict=None):
"""Derives motor information from an object.
Args:
obj(bpy_types.Object): Blender object to derive the motor from
jointdict(dict, optional): phobos representation of the respective joint (Default value = None)
Returns:
: dict -- phobos representation of a motor
"""
import phobos.model.models as models
import phobos.model.controllers as controllermodel
props = models.initObjectProperties(obj, phobostype='motor')
# return None if no motor is attached (there will always be at least a name in the props)
if len(props) < 2:
return None
# make sure the parent is a joint
if not obj.parent or obj.parent.phobostype != 'link' or 'joint/type' not in obj.parent:
log(
"Can not derive motor from {}. Insufficient requirements from parent object!"
.format(obj.name),
'ERROR',
)
return None
props['joint'] = nUtils.getObjectName(obj.parent, phobostype='joint')
# todo: transfer joint limits to motor properties
# check for a mimic motor
for k in (obj.parent).keys():
# Check for mimic motor
if "mimic" in k:
# Find the name
mimic_driver = sUtils.getObjectByName(
(obj.parent)['joint/mimic_joint'], phobostypes=['link'])
c_motor = sUtils.getImmediateChildren(mimic_driver,
phobostypes=['motor'])
props['mimic_motor'] = nUtils.getObjectName(c_motor[0],
phobostype='motor')
props['mimic_multiplier'] = (obj.parent)['joint/mimic_multiplier']
props['mimic_offset'] = (obj.parent)['joint/mimic_offset']
break
# try to derive the motor controller
controllerobjs = [
control for control in obj.children
if control.phobostype == 'controller'
]
if controllerobjs:
controller = controllermodel.deriveController(controllerobjs[0])
else:
controller = None
# assign the derived controller
if controller:
props['controller'] = controller['name']
else:
del props['controller']
return props
def deriveEntity(entity, outpath, savetosubfolder):
"""This function handles a heightmap entity in a scene to export it
:param smurf: The heightmap root object.
:type smurf: bpy.types.Object
:param outpath: The path to export to.
:type outpath: str
:param savetosubfolder: If True data will be exported into subfolders.
:type savetosubfolder: bool
:return: dict - An entry for the scenes entitiesList
"""
heightmap = entity
# determine outpath for the heightmap export
heightmap_outpath = securepath(
os.path.join(outpath, structure_subfolder
) if savetosubfolder else outpath)
log("Exporting " + heightmap["entity/name"] + " as a heightmap entity",
"INFO")
entitypose = models.deriveObjectPose(heightmap)
heightmapMesh = sUtils.getImmediateChildren(heightmap)[0]
if bpy.data.worlds[0].heightmapMesh:
exMesh = heightmapMesh.to_mesh(bpy.context.scene, True, "PREVIEW")
exMesh.name = "hm_" + heightmap["entity/name"]
oldMesh = heightmapMesh.data
heightmapMesh.data = exMesh
heightmapMesh.modifiers["displace_heightmap"].show_render = False
heightmapMesh.modifiers["displace_heightmap"].show_viewport = False
if bpy.data.worlds[0].useObj:
iUtils.exportObj(heightmap_outpath, heightmapMesh)
filename = os.path.join("heightmaps", exMesh.name + ".obj")
elif bpy.data.worlds[0].useStl:
iUtils.exportStl(heightmap_outpath, heightmapMesh)
filename = os.path.join("heightmaps", exMesh.name + ".stl")
elif bpy.data.worlds[0].useDae:
iUtils.exportDae(heightmap_outpath, heightmapMesh)
filename = os.path.join("heightmaps", exMesh.name + ".dae")
else:
log("No mesh export type checked! Aborting heightmap export.",
"ERROR", __name__ + ".handleScene_heightmap")
return {}
heightmapMesh.modifiers["displace_heightmap"].show_render = True
heightmapMesh.modifiers["displace_heightmap"].show_viewport = True
heightmapMesh.data = oldMesh
bpy.data.meshes.remove(exMesh)
entry = {
"name": heightmap["entity/name"],
"type": "mesh",
"file": filename,
"anchor": heightmap["anchor"] if "anchor" in heightmap else "none",
"position": entitypose["translation"],
"rotation": entitypose["rotation_quaternion"]
}
else:
imagepath = os.path.abspath(
os.path.join(
os.path.split(bpy.data.filepath)[0], heightmap["image"]))
shutil.copy2(imagepath, heightmap_outpath)
entry = {
"name": heightmap["entity/name"],
"type": "heightmap",
"file": os.path.join("heightmaps", os.path.basename(imagepath)),
"anchor": heightmap["anchor"] if "anchor" in heightmap else "none",
"width": heightmapMesh.dimensions[1],
"length": heightmapMesh.dimensions[0],
"height": heightmapMesh.modifiers["displace_heightmap"].strength,
"position": entitypose["translation"],
"rotation": entitypose["rotation_quaternion"]
}
return entry
def initObjectProperties(
obj, phobostype=None, ignoretypes=(), includeannotations=True, ignorename=False
):
"""Initializes phobos dictionary of *obj*, including information stored in custom properties.
Args:
obj(bpy_types.Object): object to derive initial properties from.
phobostype(str, optional): limit parsing of data fields to this phobostype (Default value = None)
ignoretypes(list, optional): list of properties ignored while initializing the objects properties. (Default value = ())
ignorename(bool, optional): whether or not to add the object's name (Default value = False)
includeannotations: (Default value = True)
Returns:
: dict -- phobos properties of the object
"""
# allow duplicated names differentiated by types
props = {} if ignorename else {'name': nUtils.getObjectName(obj, phobostype)}
# if no phobostype is defined, everything is parsed
if not phobostype:
for key, value in obj.items():
# transform Blender id_arrays into lists
if hasattr(value, 'to_list'):
value = list(value)
elif hasattr(value, 'to_dict'):
value = value.to_dict()
props[key] = value
# search for type-specific properties if phobostype is defined
else:
for key, value in obj.items():
# transform Blender id_arrays into lists
if hasattr(value, 'to_list'):
value = list(value)
elif hasattr(value, 'to_dict'):
value = value.to_dict()
# remove phobostype namespaces for the object
if key.startswith(phobostype + '/'):
if key.count('/') == 1:
props[key.replace(phobostype + '/', '')] = value
# TODO make this work for all levels of hierarchy
elif key.count('/') == 2:
category, specifier = key.split('/')[1:]
if '$' + category not in props:
props['$' + category] = {}
props['$' + category][specifier] = value
# ignore two-level specifiers if phobostype is not present
elif key.count('/') == 1:
category, specifier = key.split('/')
if category not in ignoretypes:
if '$' + category not in props:
props['$' + category] = {}
props['$' + category][specifier] = value
# collect phobostype specific annotations from child objects
if includeannotations:
annotationobjs = sUtils.getImmediateChildren(obj, ('annotation',), selected_only=True)
for annot in annotationobjs:
log(
" Adding annotations from {}.".format(
nUtils.getObjectName(annot, phobostype='annotation')
),
'DEBUG',
)
props.update(
initObjectProperties(
annot, phobostype, ignoretypes, includeannotations, ignorename=True
)
)
# recursively enrich the property dictionary
props = recursive_dictionary_cleanup(props)
return props
