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 deriveEntity(root, outpath):
"""Derives the dictionary for a SMURF entity from the phobos model dictionary.
# TODO savetosubfolder is not a parameter
Args:
root(bpy.types.Object): The smurf root object.
outpath(str): The path to export the smurf to.
savetosubfolder(bool): If True the export path has a subfolder for this smurf entity.
Returns:
: dict - An entry for the scenes entitiesList
"""
entitypose = models.deriveObjectPose(root)
entity = models.initObjectProperties(root, 'entity',
['link', 'joint', 'motor'])
if 'parent' not in entity and 'joint/type' in root and root[
'joint/type'] == 'fixed':
entity['parent'] = 'world'
entity["position"] = entitypose["translation"]
entity["rotation"] = entitypose["rotation_quaternion"]
# check model data if entity is a reference
# FIXME: this part is broken but not used at the moment anyways
if "isReference" in entity:
entity.pop("isReference")
bpy.ops.scene.reload_models_and_poses_operator()
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
for robot_model in modelsPosesColl:
if (root["model/name"]
== robot_model.robot_name) and (root["entity/pose"]
== robot_model.label):
pass
entity['file'] = os.path.join(
os.path.relpath(robot_model.path, outpath),
root["name"] + ".smurf")
"""
with open(os.path.join(os.path.dirname(defs.__file__), "RobotLib.yml"), "r") as f:
robots = yaml.load(f.read())
sourcepath = robots[smurf["model/name"]]
for filename in os.listdir(sourcepath):
fullpath = os.path.join(sourcepath, filename)
if os.path.isfile(fullpath):
shutil.copy2(fullpath, os.path.join(smurf_outpath, filename))
else:
# remove old folders to prevent errors in copytree
shutil.rmtree(os.path.join(smurf_outpath, filename), True)
shutil.copytree(fullpath, os.path.join(smurf_outpath, filename))
"""
else:
modelpath = os.path.join(outpath, root['model/name'], 'smurf')
# TODO why the spacing between the paths?
log("Scene paths: " + outpath + ' ' + modelpath, "DEBUG")
entity['file'] = os.path.join(
os.path.relpath(modelpath, os.path.dirname(outpath)),
root['model/name'] + ".smurf")
return entity
def deriveEntity(root, outpath):
"""Derives the dictionary for a SMURF entity from the phobos model dictionary.
# TODO savetosubfolder is not a parameter
Args:
root(bpy.types.Object): The smurf root object.
outpath(str): The path to export the smurf to.
savetosubfolder(bool): If True the export path has a subfolder for this smurf entity.
Returns:
: dict - An entry for the scenes entitiesList
"""
entitypose = models.deriveObjectPose(root)
entity = models.initObjectProperties(root, 'entity', ['link', 'joint', 'motor'])
if 'parent' not in entity and 'joint/type' in root and root['joint/type'] == 'fixed':
entity['parent'] = 'world'
entity["position"] = entitypose["translation"]
entity["rotation"] = entitypose["rotation_quaternion"]
# check model data if entity is a reference
# FIXME: this part is broken but not used at the moment anyways
if "isReference" in entity:
entity.pop("isReference")
bpy.ops.scene.reload_models_and_poses_operator()
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
for robot_model in modelsPosesColl:
if (root["model/name"] == robot_model.robot_name) and (
root["entity/pose"] == robot_model.label
):
pass
entity['file'] = os.path.join(
os.path.relpath(robot_model.path, outpath), root["name"] + ".smurf"
)
"""
with open(os.path.join(os.path.dirname(defs.__file__), "RobotLib.yml"), "r") as f:
robots = yaml.load(f.read())
sourcepath = robots[smurf["model/name"]]
for filename in os.listdir(sourcepath):
fullpath = os.path.join(sourcepath, filename)
if os.path.isfile(fullpath):
shutil.copy2(fullpath, os.path.join(smurf_outpath, filename))
else:
# remove old folders to prevent errors in copytree
shutil.rmtree(os.path.join(smurf_outpath, filename), True)
shutil.copytree(fullpath, os.path.join(smurf_outpath, filename))
"""
else:
modelpath = os.path.join(outpath, root['model/name'], 'smurf')
# TODO why the spacing between the paths?
log("Scene paths: " + outpath + ' ' + modelpath, "DEBUG")
entity['file'] = os.path.join(
os.path.relpath(modelpath, os.path.dirname(outpath)), root['model/name'] + ".smurf"
)
return entity
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 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 deriveEntity(entity, outpath, savetosubfolder):
"""Derives the dictionary for a SMURF entity from the phobos model dictionary.
:param entity: The smurf root object.
:type entity: bpy.types.Object
:param outpath: The path to export the smurf to.
:type outpath: str
:param savetosubfolder: If True the export path has a subfolder for this smurf entity.
:type savetosubfolder: bool
:return: dict - An entry for the scenes entitiesList
"""
smurf = entity
# determine outpath for the smurf export
# differentiate between full model and baked reference
if "entity/isReference" in smurf:
bpy.ops.scene.reload_models_and_poses_operator()
modelsPosesColl = bpy.context.user_preferences.addons[
"phobos"].preferences.models_poses
for robot_model in modelsPosesColl:
if (smurf["modelname"]
== robot_model.robot_name) and (smurf["entity/pose"]
== robot_model.label):
entitypose = models.deriveObjectPose(smurf)
entry = models.initObjectProperties(smurf, 'entity',
['link', 'joint', 'motor'])
entry.pop("isReference")
entry['file'] = os.path.join(
os.path.relpath(robot_model.path, outpath),
smurf["modelname"] + ".smurf")
if 'parent' not in entry and 'joint/type' in smurf and smurf[
'joint/type'] == 'fixed':
entry['parent'] = 'world'
entry["position"] = entitypose["translation"]
entry["rotation"] = entitypose["rotation_quaternion"]
'''
with open(os.path.join(os.path.dirname(defs.__file__), "RobotLib.yml"), "r") as f:
robots = yaml.load(f.read())
sourcepath = robots[smurf["modelname"]]
for filename in os.listdir(sourcepath):
fullpath = os.path.join(sourcepath, filename)
if os.path.isfile(fullpath):
shutil.copy2(fullpath, os.path.join(smurf_outpath, filename))
else:
# remove old folders to prevent errors in copytree
shutil.rmtree(os.path.join(smurf_outpath, filename), True)
shutil.copytree(fullpath, os.path.join(smurf_outpath, filename))
'''
else:
smurf_outpath = securepath(
os.path.join(outpath, entity["modelname"]
) if savetosubfolder else outpath)
log("smurf_outpath: " + outpath, "DEBUG", "exportSMURFsScene")
log(
"Exporting " + smurf["entity/name"] + " as a smurf entity to " +
smurf_outpath, "INFO", "deriveSMURFEntity", "\n\n")
subfolder = smurf["modelname"] if savetosubfolder else ""
sUtils.selectObjects(sUtils.getChildren(smurf),
clear=True) # re-select for mesh export
model, objectlist = models.buildModelDictionary(smurf)
export(
model, objectlist,
smurf_outpath) # FIXME: this is the export function from entities!
entitypose = models.deriveObjectPose(smurf)
entry = models.initObjectProperties(smurf, 'entity',
['link', 'joint', 'motor'])
entry['file'] = (os.path.join(subfolder, smurf["modelname"] + ".smurf")
if os.path.isfile(smurf_outpath) else os.path.join(
subfolder, "smurf", smurf["modelname"] +
".smurf"))
if 'parent' not in entry and 'joint/type' in smurf and smurf[
'joint/type'] == 'fixed':
entry['parent'] = 'world'
entry["position"] = entitypose["translation"]
entry["rotation"] = entitypose["rotation_quaternion"]
return entry
