def execute(self, context):
startLog(self)
global sensors
global motors
location = bpy.context.scene.cursor_location
objects = []
controllers = []
for obj in bpy.context.selected_objects:
if obj.phobostype == "controller":
controllers.append(obj)
else:
objects.append(obj)
if len(controllers) <= 0:
blenderUtils.createPrimitive(self.controller_name, "sphere",
self.controller_scale,
defs.layerTypes["sensor"],
"phobos_controller", location)
bpy.context.scene.objects.active.phobostype = "controller"
bpy.context.scene.objects.active.name = self.controller_name
controllers.append(bpy.context.scene.objects.active)
#empty index list so enable robotupdate of controller
for ctrl in controllers:
ctrl['controller/sensors'] = sorted(sensors, key=str.lower)
ctrl['controller/motors'] = sorted(motors, key=str.lower)
ctrl['controller/rate'] = self.controller_rate
print("Added joints/motors to (new) controller(s).")
#for prop in defs.controllerProperties[self.controller_type]:
# for ctrl in controllers:
# ctrl[prop] = defs.controllerProperties[prop]
endLog()
return {'FINISHED'}
def execute(self, context):
location = bpy.context.scene.cursor_location
objects = []
controllers = []
for obj in bpy.context.selected_objects:
if obj.phobostype == "controller":
controllers.append(obj)
else:
objects.append(obj)
if len(controllers) <= 0:
bUtils.createPrimitive("controller", "sphere",
self.controller_scale,
defs.layerTypes["sensor"], "controller",
location)
bpy.context.scene.objects.active.phobostype = "controller"
bpy.context.scene.objects.active.name = "controller"
controllers.append(bpy.context.scene.objects.active)
#empty index list so enable robotupdate of controller
for ctrl in controllers:
for key in ctrl.keys():
if key.find("index") >= 0:
del ctrl[key]
log("Deleting " + str(key) + " in " + ctrl.name, "INFO")
i = 1
for obj in objects:
if obj.phobostype == "link":
ctrl["index" + (str(i) if i >= 10 else "0" +
str(i))] = nUtils.getObjectName(obj)
i += 1
log("Added joints to (new) controller(s).", "INFO")
#for prop in defs.controllerProperties[self.controller_type]:
# for ctrl in controllers:
# ctrl[prop] = defs.controllerProperties[prop]
return {'FINISHED'}
def execute(self, context):
startLog(self)
location = bpy.context.scene.cursor_location
objects = []
controllers = []
for obj in bpy.context.selected_objects:
if obj.phobostype == "controller":
controllers.append(obj)
else:
objects.append(obj)
if len(controllers) <= 0:
blenderUtils.createPrimitive("controller", "sphere", self.controller_scale, defs.layerTypes["sensor"], "controller", location)
bpy.context.scene.objects.active.phobostype = "controller"
bpy.context.scene.objects.active.name = "controller"
controllers.append(bpy.context.scene.objects.active)
#empty index list so enable robotupdate of controller
for ctrl in controllers:
for key in ctrl.keys():
if key.find("index") >= 0:
del ctrl[key]
log("Deleting " + str(key) + " in " + ctrl.name, "INFO")
i = 1
for obj in objects:
if obj.phobostype == "link":
ctrl["index"+(str(i) if i >= 10 else "0"+str(i))] = namingUtils.getObjectName(obj)
i += 1
log("Added joints to (new) controller(s).", "INFO")
#for prop in defs.controllerProperties[self.controller_type]:
# for ctrl in controllers:
# ctrl[prop] = defs.controllerProperties[prop]
endLog()
return {'FINISHED'}
def execute(self, context):
startLog(self)
global sensors
global motors
location = bpy.context.scene.cursor_location
objects = []
controllers = []
for obj in bpy.context.selected_objects:
if obj.phobostype == "controller":
controllers.append(obj)
else:
objects.append(obj)
if len(controllers) <= 0:
blenderUtils.createPrimitive(self.controller_name, "sphere", self.controller_scale, defs.layerTypes["sensor"], "phobos_controller", location)
bpy.context.scene.objects.active.phobostype = "controller"
bpy.context.scene.objects.active.name = self.controller_name
controllers.append(bpy.context.scene.objects.active)
#empty index list so enable robotupdate of controller
for ctrl in controllers:
ctrl['controller/sensors'] = sorted(sensors, key=str.lower)
ctrl['controller/motors'] = sorted(motors, key=str.lower)
ctrl['controller/rate'] = self.controller_rate
print("Added joints/motors to (new) controller(s).")
#for prop in defs.controllerProperties[self.controller_type]:
# for ctrl in controllers:
# ctrl[prop] = defs.controllerProperties[prop]
endLog()
return {'FINISHED'}
def createSensor(sensor, reference, origin=mathutils.Matrix()):
blenderUtils.toggleLayer(defs.layerTypes['sensor'], value=True)
# create sensor object
if 'Camera' in sensor['type']:
bpy.context.scene.layers[defs.layerTypes['sensor']] = True
bpy.ops.object.add(type='CAMERA', location=origin.to_translation(),
rotation=origin.to_euler(),
layers=blenderUtils.defLayers([defs.layerTypes['sensor']]))
newsensor = bpy.context.active_object
if reference is not None:
selectionUtils.selectObjects([newsensor, bpy.data.objects[reference]], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
elif sensor['type'] in ['RaySensor', 'RotatingRaySensor', 'ScanningSonar', 'MultiLevelLaserRangeFinder']:
# TODO: create a proper ray sensor scanning layer disc here
newsensor = blenderUtils.createPrimitive(sensor['name'], 'disc', (0.5, 36),
defs.layerTypes['sensor'], 'phobos_laserscanner',
origin.to_translation(), protation=origin.to_euler())
if reference is not None and reference != []:
if type(reference) == str:
key = reference
else:
key = reference[0]
selectionUtils.selectObjects([newsensor, bpy.data.objects[key]], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
else: # contact, force and torque sensors (or unknown sensors)
newsensor = blenderUtils.createPrimitive(sensor['name'], 'sphere', 0.05,
defs.layerTypes['sensor'], 'phobos_sensor',
origin.to_translation(), protation=origin.to_euler())
if 'Node' in sensor['type']:
newsensor['sensor/nodes'] = sorted(reference)
elif 'Joint' in sensor['type'] or 'Motor' in sensor['type']:
newsensor['sensor/joints'] = sorted(reference)
if reference is not None and reference != []:
selectionUtils.selectObjects([newsensor, selectionUtils.getRoot(bpy.data.objects[0])], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
# set sensor properties
newsensor.phobostype = 'sensor'
newsensor.name = sensor['name']
newsensor['sensor/type'] = sensor['type']
for prop in sensor['props']:
newsensor['sensor/'+prop] = sensor['props'][prop]
# add custom properties
#for prop in sensor:
# if prop.startswith('$'):
# for tag in sensor[prop]:
# newsensor[prop[1:]+'/'+tag] = sensor[prop][tag]
# throw warning if type is not known
if sensor['type'] not in defs.sensortypes:
print("### Warning: sensor", sensor['name'], "is of unknown/custom type.")
selectionUtils.selectObjects([newsensor], clear=False, active=0)
return newsensor
def createInertial(obj):
"""Creates an empty inertial object with the same world transform as the corresponding
object and parents it to the correct link.
:param obj: The object you want to copy the world transform from.
:type obj: bpy_types.Object
:return: bpy_types.Object -- the newly created inertia.
"""
if obj.phobostype == 'link':
parent = obj
size = (0.04, 0.04, 0.04)
else:
parent = obj.parent
size = (0.02, 0.02, 0.02)
rotation = obj.matrix_world.to_euler()
center = obj.matrix_world.to_translation()
inertial = blenderUtils.createPrimitive(
'inertial_' + namingUtils.getObjectName(obj, phobostype="link"), 'box',
size, defs.layerTypes["inertial"], 'phobos_inertial', center, rotation)
bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
inertial.phobostype = 'inertial'
bpy.ops.object.select_all(action="DESELECT")
#utility.selectObjects([inertial], True, 0)
selectionUtils.selectObjects([parent, inertial], True, 0)
#bpy.context.scene.objects.active = parent.pose.bones[0]
bpy.ops.object.parent_set(type='BONE_RELATIVE')
return inertial
def exportMesh(obj, path, meshtype):
# DOCU add some docstring
objname = nUtils.getObjectName(obj)
tmpobjname = obj.name
# OPT: surely no one will ever name an object like so, better solution?
obj.name = 'tmp_export_666'
tmpobject = bUtils.createPrimitive(objname, 'box', (1.0, 1.0, 1.0))
# copy the mesh here
tmpobject.data = obj.data
outpath = os.path.join(path, obj.data.name + "." + meshtype)
if meshtype == 'obj':
axis_forward = ioUtils.getExpSettings().obj_axis_forward
axis_up = ioUtils.getExpSettings().obj_axis_up
bpy.ops.export_scene.obj(filepath=outpath,
use_selection=True,
use_normals=True,
use_materials=False,
use_mesh_modifiers=True,
axis_forward=axis_forward,
axis_up=axis_up)
elif meshtype == 'stl':
bpy.ops.export_mesh.stl(filepath=outpath,
use_selection=True,
use_mesh_modifiers=True)
elif meshtype == 'dae':
bpy.ops.wm.collada_export(filepath=outpath, selected=True)
bpy.ops.object.select_all(action='DESELECT')
tmpobject.select = True
bpy.ops.object.delete()
obj.name = tmpobjname
def createInertial(obj):
"""Creates an empty inertial object with the same world transform as the corresponding
object and parents it to the correct link.
:param obj: The object you want to copy the world transform from.
:type obj: blender object.
:return: blender object -- the newly created inertia.
"""
if obj.phobostype == 'link':
parent = obj
size = (0.04, 0.04, 0.04)
else:
parent = obj.parent
size = (0.02, 0.02, 0.02)
rotation = obj.matrix_world.to_euler()
center = obj.matrix_world.to_translation()
inertial = blenderUtils.createPrimitive('inertial_' + obj.name, 'box', size,
defs.layerTypes["inertial"], 'phobos_inertial', center, rotation)
bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
inertial.phobostype = 'inertial'
bpy.ops.object.select_all(action="DESELECT")
#utility.selectObjects([inertial], True, 0)
selectionUtils.selectObjects([parent, inertial], True, 0)
#bpy.context.scene.objects.active = parent.pose.bones[0]
bpy.ops.object.parent_set(type='BONE_RELATIVE')
return inertial
def exportMesh(obj, path, meshtype):
objname = nUtils.getObjectName(obj)
tmpobjname = obj.name
obj.name = 'tmp_export_666' # surely no one will ever name an object like so
tmpobject = bUtils.createPrimitive(objname, 'box', (1.0, 1.0, 1.0))
tmpobject.data = obj.data # copy the mesh here
outpath = os.path.join(path, obj.data.name + "." + meshtype)
if meshtype == 'obj':
bpy.ops.export_scene.obj(filepath=outpath,
use_selection=True,
use_normals=True,
use_materials=False,
use_mesh_modifiers=True)
elif meshtype == 'stl':
if bpy.app.version[0] * 100 + bpy.app.version[1] >= 277:
bpy.ops.export_mesh.stl(filepath=outpath,
use_selection=True,
use_mesh_modifiers=True)
else:
bpy.ops.export_mesh.stl(filepath=outpath, use_mesh_modifiers=True)
elif meshtype == 'dae':
bpy.ops.wm.collada_export(filepath=outpath, selected=True)
bpy.ops.object.select_all(action='DESELECT')
tmpobject.select = True
bpy.ops.object.delete()
obj.name = tmpobjname
def createInertialFromDictionary(name, inertial):
"""Creates the Blender representation of a given intertial provided a dictionary.
:param name: The intertials name.
:param type: str
:param inertial: The intertial you want to create in blender form.
:type intertial: dict
:return: bpy_types.Object -- the newly created blender inertial object.
"""
# FIXME: this needs work to get rid of duplicate code
bpy.ops.object.select_all(action='DESELECT')
inert = bUtils.createPrimitive('inertial_' + name,
'box', [0.06, 0.06, 0.06],
player='inertial')
inert.select = True
bpy.ops.object.transform_apply(scale=True)
for prop in inertial:
if prop not in ['pose'] and inertial[prop] is not None:
if not prop.startswith('$'):
inert[prop] = inertial[prop]
else:
for tag in inertial[prop]:
inert[prop[1:] + '/' + tag] = inertial[prop][tag]
inert.phobostype = 'inertial'
assignMaterial(inert, 'phobos_inertial')
return inert
def createInertial(obj):
"""Creates an empty inertial object with the same world transform as the corresponding
object and parents it to the correct link.
:param obj: The object you want to copy the world transform from.
:type obj: bpy_types.Object
:return: bpy_types.Object -- the newly created inertia.
"""
if obj.phobostype == 'link':
parent = obj
size = (0.06, 0.06, 0.06)
else:
parent = obj.parent
size = (0.015, 0.015, 0.015)
rotation = obj.matrix_world.to_euler()
center = obj.matrix_world.to_translation()
inertial = bUtils.createPrimitive(
'inertial_' + nUtils.getObjectName(obj, phobostype="link"), 'box',
size, defs.layerTypes["inertial"], 'phobos_inertial', center, rotation)
bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
inertial.phobostype = 'inertial'
bpy.ops.object.select_all(action="DESELECT")
sUtils.selectObjects((inertial, parent), clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
return inertial
def addAnnotationObject(obj, annotation, name=None, size=0.1, namespace=None):
"""Add a new annotation object with the specified annotations to the object.
The annotation object will receive 'annotation_object' as its default name, unless a name is
provided. Naming is done using :func:`phobos.utils.naming.safelyName`.
The annotation object will be scaled according to the **size** parameter.
If ``namespace`` is provided, the annotations will be saved with this string prepended.
This is done using :func:`addAnnotation`.
Args:
obj(bpy.types.Object): object to add annotation object to
annotation(dict): annotations that will be added
name(str, optional): name for the new annotation object (Default value = None)
size(int/float, optional): size of the new annotation object (Default value = 0.1)
namespace(str, optional): namespace that will be prepended to the annotations (Default value = None)
Returns:
: bpy.types.Object - the new annotation object
"""
loc = obj.matrix_world.to_translation()
if not name:
name = obj.name + '_annotation_object'
annot_obj = bUtils.createPrimitive(
name,
'box',
[1, 1, 1],
defs.layerTypes['annotation'],
plocation=loc,
phobostype='annotation',
)
annot_obj.scale = (size, ) * 3
resource = ioUtils.getResource(['annotation', namespace.split('/')[-1]])
if resource:
annot_obj.data = resource.data
else:
annot_obj.data = ioUtils.getResource(['annotation', 'default']).data
# make sure all layers are enabled for parenting
originallayers = {}
for name, coll in bpy.context.window.view_layer.layer_collection.children.items(
):
originallayers[name] = coll.exclude
coll.exclude = False
# parent annotation object
parentObjectsTo(annot_obj, obj)
# Restore original layers
for key, value in originallayers.items():
bpy.context.window.view_layer.layer_collection.children[
key].exclude = value
addAnnotation(annot_obj, annotation, namespace=namespace)
return annot_obj
def createInertial(inertialdict,
obj,
size=0.03,
errors=None,
adjust=False,
logging=False):
"""Creates the Blender representation of a given inertial provided a dictionary.
Args:
inertialdict(dict): intertial data
obj:
size: (Default value = 0.03)
errors: (Default value = None)
adjust: (Default value = False)
logging: (Default value = False)
Returns:
: bpy_types.Object -- newly created blender inertial object
"""
if errors and not adjust:
log('Can not create inertial object.', 'ERROR')
try:
origin = mathutils.Vector(inertialdict['pose']['translation'])
except KeyError:
origin = mathutils.Vector()
# create new inertial object
name = nUtils.getUniqueName('inertial_' + nUtils.getObjectName(obj),
bpy.data.objects)
inertialobject = bUtils.createPrimitive(
name,
'box',
(size, ) * 3,
defs.layerTypes["inertial"],
pmaterial='phobos_inertial',
phobostype='inertial',
)
sUtils.selectObjects((inertialobject, ), clear=True, active=0)
bpy.ops.object.transform_apply(scale=True)
# set position according to the parent link
inertialobject.matrix_world = obj.matrix_world
parent = obj
if parent.phobostype != 'link':
parent = sUtils.getEffectiveParent(obj, ignore_selection=True)
eUtils.parentObjectsTo(inertialobject, parent)
# position and parent the inertial object relative to the link
# inertialobject.matrix_local = mathutils.Matrix.Translation(origin)
sUtils.selectObjects((inertialobject, ), clear=True, active=0)
# bpy.ops.object.transform_apply(scale=True)
# add properties to the object
for prop in ('mass', 'inertia'):
inertialobject['inertial/' + prop] = inertialdict[prop]
return inertialobject
def createInertial(parentname,
inertialdict,
parentobj=None,
effectiveParent=None):
"""Creates the Blender representation of a given inertial provided a dictionary.
:param parentname: inertial object's parent's name
:type parentname: str
:param inertialdict: intertial data
:type inertialdict: dict
:param parentobj: link or visual/collision with which the inertial obj is associated
:type parentobj: bpy.types.Object
:param helper: whether or not the object is a helper inertial
:type helper: bool
:return: the newly created blender inertial object.
:rtype: bpy_types.Object
"""
size = 0.03
try:
origin = mathutils.Vector(inertialdict['pose']['translation'])
except KeyError:
origin = mathutils.Vector()
# Check the inertia data for consistency
if checkInertiaData(inertialdict):
material = 'phobos_inertial'
elif not checkInertiaData(inertialdict):
log(
'Inconsistent inertia data found for object {}!'.format(
parentname), "WARNING")
material = 'phobos_error'
inertialobject = bUtils.createPrimitive('inertial_' + parentname,
'box', (size, ) * 3,
defs.layerTypes["inertial"],
pmaterial=material,
phobostype='inertial')
sUtils.selectObjects((inertialobject, ), clear=True, active=0)
bpy.ops.object.transform_apply(scale=True)
if parentobj:
inertialobject.matrix_world = parentobj.matrix_world
parent = parentobj if parentobj.phobostype == 'link' else parentobj.parent
sUtils.selectObjects((inertialobject, parent), clear=True, active=1)
# Create the inertial object relative to the link / joint
bpy.ops.object.parent_set(type='BONE_RELATIVE')
inertialobject.matrix_local = mathutils.Matrix.Translation(origin)
sUtils.selectObjects((inertialobject, ), clear=True, active=0)
bpy.ops.object.transform_apply(scale=True) # force matrix_world update
# set properties
for prop in ('mass', 'inertia'):
inertialobject[prop] = inertialdict[prop]
return inertialobject
def addAnnotationObject(obj, annotation, name=None, size=0.1, namespace=None):
"""Add a new annotation object with the specified annotations to the object.
The annotation object will receive 'annotation_object' as its default name, unless a name is
provided. Naming is done using :func:`phobos.utils.naming.safelyName`.
The annotation object will be scaled according to the **size** parameter.
If ``namespace`` is provided, the annotations will be saved with this string prepended.
This is done using :func:`addAnnotation`.
Args:
obj(bpy.types.Object): object to add annotation object to
annotation(dict): annotations that will be added
name(str, optional): name for the new annotation object (Default value = None)
size(int/float, optional): size of the new annotation object (Default value = 0.1)
namespace(str, optional): namespace that will be prepended to the annotations (Default value = None)
Returns:
: bpy.types.Object - the new annotation object
"""
loc = obj.matrix_world.to_translation()
if not name:
name = obj.name + '_annotation_object'
annot_obj = bUtils.createPrimitive(
name,
'box',
[1, 1, 1],
defs.layerTypes['annotation'],
plocation=loc,
phobostype='annotation',
)
annot_obj.scale = (size,) * 3
resource = ioUtils.getResource(['annotation', namespace.split('/')[-1]])
if resource:
annot_obj.data = resource.data
else:
annot_obj.data = ioUtils.getResource(['annotation', 'default']).data
# make sure all layers are enabled for parenting
originallayers = list(bpy.context.scene.layers)
bpy.context.scene.layers = [True for i in range(20)]
# parent annotation object
parentObjectsTo(annot_obj, obj)
bpy.context.scene.layers = originallayers
addAnnotation(annot_obj, annotation, namespace=namespace)
return annot_obj
def createInertial(inertialdict, obj, size=0.03, errors=None, adjust=False, logging=False):
"""Creates the Blender representation of a given inertial provided a dictionary.
Args:
inertialdict(dict): intertial data
obj:
size: (Default value = 0.03)
errors: (Default value = None)
adjust: (Default value = False)
logging: (Default value = False)
Returns:
: bpy_types.Object -- newly created blender inertial object
"""
if errors and not adjust:
log('Can not create inertial object.', 'ERROR')
try:
origin = mathutils.Vector(inertialdict['pose']['translation'])
except KeyError:
origin = mathutils.Vector()
# create new inertial object
name = nUtils.getUniqueName('inertial_' + nUtils.getObjectName(obj), bpy.data.objects)
inertialobject = bUtils.createPrimitive(
name,
'box',
(size,) * 3,
defs.layerTypes["inertial"],
pmaterial='phobos_inertial',
phobostype='inertial',
)
sUtils.selectObjects((inertialobject,), clear=True, active=0)
bpy.ops.object.transform_apply(scale=True)
# set position according to the parent link
inertialobject.matrix_world = obj.matrix_world
parent = obj
if parent.phobostype != 'link':
parent = sUtils.getEffectiveParent(obj, ignore_selection=True)
eUtils.parentObjectsTo(inertialobject, parent)
# position and parent the inertial object relative to the link
# inertialobject.matrix_local = mathutils.Matrix.Translation(origin)
sUtils.selectObjects((inertialobject,), clear=True, active=0)
# bpy.ops.object.transform_apply(scale=True)
# add properties to the object
for prop in ('mass', 'inertia'):
inertialobject['inertial/' + prop] = inertialdict[prop]
return inertialobject
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 exportMesh(obj, path, meshtype):
"""
Args:
obj:
path:
meshtype:
Returns:
"""
import phobos.utils.io as ioUtils
# DOCU add some docstring
objname = nUtils.getObjectName(obj)
tmpobjname = obj.name
# OPT: surely no one will ever name an object like so, better solution?
obj.name = 'tmp_export_666'
tmpobject = bUtils.createPrimitive(objname, 'box', (1.0, 1.0, 1.0))
# copy the mesh here
tmpobject.data = obj.data
outpath = os.path.join(path, obj.data.name + "." + meshtype)
if meshtype == 'obj':
axis_forward = bpy.context.scene.phobosexportsettings.obj_axis_forward
axis_up = bpy.context.scene.phobosexportsettings.obj_axis_up
bpy.ops.export_scene.obj(
filepath=outpath,
use_selection=True,
use_normals=True,
use_materials=False,
use_mesh_modifiers=True,
axis_forward=axis_forward,
axis_up=axis_up,
)
elif meshtype == 'stl':
bpy.ops.export_mesh.stl(filepath=outpath, use_selection=True, use_mesh_modifiers=True)
elif meshtype == 'dae':
bpy.ops.wm.collada_export(filepath=outpath, selected=True)
bpy.ops.object.select_all(action='DESELECT')
tmpobject.select = True
bpy.ops.object.delete()
obj.name = tmpobjname
def exportObj(path, obj):
"""This function exports a specific object to a chosen path as an .obj
:param path: The path you want the object export to. *without the filename!*
:type path: String
:param obj: The blender object you want to export.
:type obj: bpy.types.Object
:return: Nothing.
"""
objname = namingUtils.getObjectName(obj)
oldBlenderObjName = obj.name
obj.name = 'tmp_export_666' # surely no one will ever name an object like so
tmpobject = blenderUtils.createPrimitive(objname, 'box', (2.0, 2.0, 2.0))
tmpobject.data = obj.data # copy the mesh here
outpath = determineMeshOutpath(obj, objname, 'obj', path)
bpy.ops.export_scene.obj(filepath=outpath, use_selection=True, use_normals=True, use_materials=False)
bpy.ops.object.select_all(action='DESELECT')
tmpobject.select = True
bpy.ops.object.delete()
obj.name = oldBlenderObjName
def createInertial(parentname, inertialdict, parentobj=None, helper=False):
"""Creates the Blender representation of a given inertial provided a dictionary.
:param parentname: inertial object's parent's name
:type parentname: str
:param inertialdict: intertial data
:type inertialdict: dict
:param parentobj: link or visual/collision with which the inertial obj is associated
:type parentobj: bpy_types.Object
:param helper: whether or not the object is a helper inertial
:type helper: bool
:return: bpy_types.Object -- the newly created blender inertial object.
"""
size = 0.015 if helper else 0.06
try:
origin = mathutils.Vector(inertialdict['pose']['translation'])
except KeyError:
origin = mathutils.Vector()
inertialobject = bUtils.createPrimitive('inertial_' + parentname, 'box',
(size, ) * 3,
defs.layerTypes["inertial"],
'phobos_inertial')
sUtils.selectObjects((inertialobject, ), clear=True, active=0)
bpy.ops.object.transform_apply(scale=True)
inertialobject.phobostype = 'inertial'
if parentobj:
inertialobject.matrix_world = parentobj.matrix_world
parent = parentobj if parentobj.phobostype == 'link' else parentobj.parent
sUtils.selectObjects((inertialobject, parent), clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
inertialobject.matrix_local = mathutils.Matrix.Translation(origin)
sUtils.selectObjects((inertialobject, ), clear=True, active=0)
bpy.ops.object.transform_apply(scale=True) # force matrix_world update
# set properties
for prop in ('mass', 'inertia'):
if helper:
inertialobject[prop] = inertialdict[prop]
else:
inertialobject['inertial/' + prop] = inertialdict[prop]
return inertialobject
def createInertial(inertialdict, obj=None):
"""Creates the Blender representation of a given inertial provided a dictionary.
Args:
inertialdict(dict): intertial data
obj(bpy.types.Object): link or visual/collision reference object
Returns:
bpy_types.Object: newly created blender inertial object
"""
size = 0.03
try:
origin = mathutils.Vector(inertialdict['pose']['translation'])
except KeyError:
origin = mathutils.Vector()
if not isInertiaDataValid(inertialdict):
return None
name = nUtils.getUniqueName('inertial_' + nUtils.getObjectName(obj), bpy.data.objects)
inertialobject = bUtils.createPrimitive(name, 'box', (size,) * 3, defs.layerTypes["inertial"],
pmaterial='phobos_inertial', phobostype='inertial')
sUtils.selectObjects((inertialobject,), clear=True, active=0)
bpy.ops.object.transform_apply(scale=True)
if obj:
inertialobject.matrix_world = obj.matrix_world
parent = obj if obj.phobostype == 'link' else obj.parent
sUtils.selectObjects((inertialobject, parent), clear=True, active=1)
# Create the inertial object relative to the link / joint
bpy.ops.object.parent_set(type='BONE_RELATIVE')
inertialobject.matrix_local = mathutils.Matrix.Translation(origin)
sUtils.selectObjects((inertialobject,), clear=True, active=0)
bpy.ops.object.transform_apply(scale=True) # force matrix_world update
# set properties
for prop in ('mass', 'inertia'):
inertialobject['inertia/' + prop] = inertialdict[prop]
return inertialobject
def exportStl(path, obj):
"""This function exports a specific object to a chosen path as a .stl
:param path: The path you want the object exported to. *without filename!*
:type path: String
:param obj: The blender object you want to export.
:type obj: bpy.types.Object
:return: Nothing.
"""
objname = namingUtils.getObjectName(obj)
oldBlenderObjectName = obj.name
print("OBJNAME: " + objname)
obj.name = 'tmp_export_666' # surely no one will ever name an object like so
tmpobject = blenderUtils.createPrimitive(objname, 'box', (1.0, 1.0, 1.0))
tmpobject.data = obj.data # copy the mesh here
outpath = determineMeshOutpath(obj, objname, 'stl', path)
bpy.ops.export_mesh.stl(filepath=outpath)
bpy.ops.object.select_all(action='DESELECT')
tmpobject.select = True
bpy.ops.object.delete()
obj.name = oldBlenderObjectName
def createGeometry(viscol, geomsrc):
"""Creates geometrical Blender object for visual or collision objects.
:param viscol: The visual/collision dictionary element you want to create the geometry for.
:type viscol: dict
:param geomsrc: The new viscols phobostype.
:type geomsrc: str
"""
if 'geometry' not in viscol or viscol['geometry'] is {}:
return None
bpy.ops.object.select_all(action='DESELECT')
geom = viscol['geometry']
geomtype = geom['type']
# create the Blender object
if geomtype == '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)
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 link element ' + 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:
sUtils.selectObjects((newgeom,), clear=True)
newgeom.scale = geom['scale']
else:
if geomtype == 'box':
dimensions = geom['size']
elif geomtype == 'cylinder':
dimensions = (geom['radius'], geom['length'])
elif geomtype == 'sphere':
dimensions = geom['radius']
else:
log("Could not determine geometry type of " + geomsrc + viscol['name']
+ '. Placing empty coordinate system.', "ERROR")
bpy.ops.object.empty_add(type='PLAIN_AXES', radius=0.2)
bpy.context.active_object.name = viscol['name']
return None
log('Creating primtive for obj ' + viscol['name'], 'INFO')
newgeom = bUtils.createPrimitive(viscol['name'], geomtype, dimensions, player=geomsrc)
newgeom.select = True
bpy.ops.object.transform_apply(scale=True)
# from here it's the same for both meshes and primitives
newgeom.phobostype = geomsrc
newgeom['geometry/type'] = geomtype
if geomsrc == 'visual':
try:
if 'name' in viscol['material']:
assignMaterial(newgeom, viscol['material']['name'])
else:
assignMaterial(newgeom, viscol['material'])
except KeyError:
log('No material for obj ' + viscol['name'], 'DEBUG')
# FIXME: place empty coordinate system and return...what? Error handling of file import!
for prop in viscol:
if prop.startswith('$'):
for tag in viscol[prop]:
newgeom[prop[1:]+'/'+tag] = viscol[prop][tag]
newgeom.name = viscol['name']
newgeom[geomsrc+"/name"] = viscol['name']
return newgeom
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):
"""Creates geometrical Blender object for visual or collision objects.
:param viscol: The visual/collision dictionary element you want to create the geometry for.
:type viscol: dict
:param geomsrc: The new viscols phobostype.
:type geomsrc: str
"""
if 'geometry' not in viscol or viscol['geometry'] is {}:
return None
newgeom = None
bpy.ops.object.select_all(action='DESELECT')
geom = viscol['geometry']
geomtype = geom['type']
# create the Blender object
if geomtype == 'mesh':
# if hasattr(self, 'zipped') and self.zipped:
# if not os.path.isdir(os.path.join(self.tmp_path, tmp_dir_name)):
# os.mkdir(os.path.join(self.tmp_path, tmp_dir_name))
# archive = zipfile.ZipFile(self.filepath)
# archive.extract(geom['filename'], path=os.path.join(self.tmp_path, tmp_dir_name))
# geom_path = os.path.join(os.path.abspath(os.path.join(self.tmp_path, tmp_dir_name)), geom['filename'])
# else:
if 'sourcefilepath' in geom:
geom_path = os.path.normpath(
os.path.join(os.path.dirname(geom['sourcefilepath']),
geom['filename']))
log('sourcefilepath: ' + geom_path, 'DEBUG', 'createGeometry')
else:
geom_path = geom['filename']
# Remove 'urdf/package://{package_name}' to workaround the lack
# of rospack here. This supposes that the urdf file is in the
# urdf folder and that the meshes are in the meshes folder at
# the same level as the urdf folder.
if 'package://' in geom_path:
geom_path = re.sub(r'(.*)urdf/package://([^/]+)/(.*)', '\\1\\3',
geom_path)
bpy.context.scene.layers = bUtils.defLayers(defs.layerTypes[geomsrc])
meshname = "".join(os.path.basename(geom["filename"]).split(".")[:-1])
if not os.path.isfile(geom_path):
log(
geom_path + " is no file. Object " + viscol['name'] +
" will have empty mesh!", "ERROR", "createGeometry")
bpy.data.meshes.new(meshname)
if meshname in bpy.data.meshes:
log(
'Assigning copy of existing mesh ' + meshname + ' to ' +
viscol['name'], 'INFO', 'createGeometry')
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.object
newgeom.data = bpy.data.meshes[meshname]
else:
log('Importing mesh for link element ' + viscol['name'], 'INFO',
'createGeometry')
filetype = geom['filename'].split('.')[-1].lower()
newgeom = meshes.importMesh(geom_path, filetype)
newgeom.data.name = meshname
if not newgeom:
log('Failed to import mesh file ' + geom['filename'], 'ERROR',
'createGeometry')
return
# scale imported object
if 'scale' in geom:
sUtils.selectObjects((newgeom, ), clear=True)
newgeom.scale = geom['scale']
else:
if geomtype == 'box':
dimensions = geom['size']
elif geomtype == 'cylinder':
dimensions = (geom['radius'], geom['length'])
elif geomtype == 'sphere':
dimensions = geom['radius']
else:
log(
"Could not determine geometry type of " + geomsrc +
viscol['name'] + '. Placing empty coordinate system.', "ERROR")
bpy.ops.object.empty_add(type='PLAIN_AXES', radius=0.2)
bpy.context.active_object.name = viscol['name']
return None
log('Creating primitve for obj ' + viscol['name'], 'INFO',
'createGeometry')
newgeom = bUtils.createPrimitive(viscol['name'],
geomtype,
dimensions,
player=geomsrc)
newgeom.select = True
bpy.ops.object.transform_apply(scale=True)
# from here it's the same for both meshes and primitives
newgeom.phobostype = geomsrc
newgeom['geometry/type'] = geomtype
if geomsrc == 'visual':
try:
if 'name' in viscol['material']:
assignMaterial(newgeom, viscol['material']['name'])
else:
assignMaterial(newgeom, viscol['material'])
except KeyError:
log('No material for obj', viscol['name'], 'DEBUG',
'createGeometry')
#FIXME: place empty coordinate system and return...what? Error handling of file import!
for prop in viscol:
if prop.startswith('$'):
for tag in viscol[prop]:
newgeom[prop[1:] + '/' + tag] = viscol[prop][tag]
newgeom.name = viscol['name']
newgeom[geomsrc + "/name"] = viscol['name']
return newgeom
def createSensor(sensor, reference, origin=mathutils.Matrix()):
"""This function creates a new sensor specified by its parameters.
:param sensor: The phobos representation of the new sensor.
:type sensor: dict
:param reference: This is an object to add a parent relationship to.
:type reference: bpy_types.Object
:param origin: The new sensors origin.
:type origin: mathutils.Matrix
:return: The newly created sensor object
"""
blenderUtils.toggleLayer(defs.layerTypes['sensor'], value=True)
# create sensor object
if 'Camera' in sensor['type']:
bpy.ops.object.add(type='CAMERA', location=origin.to_translation(),
rotation=origin.to_euler(),
layers=blenderUtils.defLayers([defs.layerTypes['sensor']]))
newsensor = bpy.context.active_object
if reference is not None:
selectionUtils.selectObjects([newsensor, reference], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
elif sensor['type'] in ['RaySensor', 'RotatingRaySensor', 'ScanningSonar', 'MultiLevelLaserRangeFinder']:
# TODO: create a proper ray sensor scanning layer disc here
newsensor = blenderUtils.createPrimitive(sensor['name'], 'disc', (0.5, 36),
defs.layerTypes['sensor'], 'phobos_laserscanner',
origin.to_translation(), protation=origin.to_euler())
if reference is not None:
selectionUtils.selectObjects([newsensor, reference], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
else: # contact, force and torque sensors (or unknown sensors)
newsensor = blenderUtils.createPrimitive(sensor['name'], 'sphere', 0.05,
defs.layerTypes['sensor'], 'phobos_sensor',
origin.to_translation(), protation=origin.to_euler())
if sensor['type'] == 'Joint6DOF':
pass #newsensor['sensor/nodes'] = nameUtils.getObjectName(reference)
elif 'Node' in sensor['type']:
newsensor['sensor/nodes'] = sorted([nameUtils.getObjectName(ref) for ref in reference])
elif 'Joint' in sensor['type'] or 'Motor' in sensor['type']:
newsensor['sensor/joints'] = sorted([nameUtils.getObjectName(ref) for ref in reference])
if reference is not None:
selectionUtils.selectObjects([newsensor, reference], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
# set sensor properties
newsensor.phobostype = 'sensor'
newsensor.name = sensor['name']
newsensor['sensor/type'] = sensor['type']
#for prop in ['link', 'joint', 'links', 'joints', 'motors']:
# if prop in sensor:
# newsensor['sensor/'+prop] = sensor[prop]
# add custom properties
#for prop in sensor:
# if prop.startswith('$'):
# for tag in sensor[prop]:
# newsensor[prop[1:]+'/'+tag] = sensor[prop][tag]
# throw warning if type is not known
if sensor['type'] not in defs.sensortypes:
print("### Warning: sensor", sensor['name'], "is of unknown/custom type.")
selectionUtils.selectObjects([newsensor], clear=False, active=0)
return newsensor
def createSensor(sensor, reference, origin=mathutils.Matrix()):
"""This function creates a new sensor specified by its parameters.
The sensor dictionary has to contain these keys:
*name*: name of the new sensor
*type*: type specifier of the sensor
*shape*: a shape specifier for the sensor
*props*: custom properties to be written to the sensor object
Args:
sensor(dict): phobos representation of the new sensor
reference(bpy_types.Object): object to add a parent relationship to
origin(mathutils.Matrix, optional): new sensors origin (Default value = mathutils.Matrix())
Returns:
: The newly created sensor object
"""
layers = defs.layerTypes['sensor']
bUtils.toggleLayer(layers, value=True)
# create sensor object
if sensor['shape'].startswith('resource'):
newsensor = bUtils.createPrimitive(
sensor['name'],
'box',
[1, 1, 1],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=sensor['material'],
phobostype='sensor',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(['sensor'] + sensor['shape'].split('://')[1].split('_'))
if resource_obj:
log("Assigned resource mesh and materials to new sensor object.", 'DEBUG')
newsensor.data = resource_obj.data
newsensor.scale = (sensor['size'],) * 3
else:
log("Could not use resource mesh for sensor. Default cube used instead.", 'WARNING')
else:
newsensor = bUtils.createPrimitive(
sensor['name'],
sensor['shape'],
sensor['size'],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=sensor['material'],
phobostype='sensor',
)
# assign the parent if available
if reference is not None:
eUtils.parentObjectsTo(newsensor, reference)
# TODO we need to deal with other types of parameters for sensors
# TODO cameraRotLock() use or dispose?
# contact, force and torque sensors (or unknown sensors)
# else:
# newsensor = bUtils.createPrimitive(
# sensor['name'], 'ico', 0.05, layers, 'phobos_sensor',
# origin.to_translation(), protation=origin.to_euler())
# if sensor['name'] == 'Joint6DOF':
# # TODO delete me? handle this
# #newsensor['sensor/nodes'] = nUtils.getObjectName(reference)
# pass
# elif 'Node' in sensor['type']:
# newsensor['sensor/nodes'] = sorted([nUtils.getObjectName(ref) for ref in reference])
# elif 'Joint' in sensor['type'] or 'Motor' in sensor['type']:
# newsensor['sensor/joints'] = sorted([nUtils.getObjectName(ref) for ref in reference])
# elif sensor['type'] in ['Joint6DOF']:
# for obj in context.selected_objects:
# if obj.phobostype == 'link':
# sensor['name'] = "sensor_joint6dof_" + nUtils.getObjectName(obj, phobostype="joint")
# sensors.createSensor(sensor, obj, obj.matrix_world)
# elif 'Node' in sensor['type']:
# sensors.createSensor(sensor, [obj for obj in context.selected_objects if obj.phobostype == 'collision'],
# mathutils.Matrix.Translation(context.scene.cursor_location))
# elif 'Motor' in sensor['type'] or 'Joint' in sensor['type']:
# sensors.createSensor(sensor, [obj for obj in context.selected_objects if obj.phobostype == 'link'],
# mathutils.Matrix.Translation(context.scene.cursor_location))
# set sensor properties
newsensor.phobostype = 'sensor'
newsensor.name = sensor['name']
newsensor['sensor/name'] = sensor['name']
newsensor['sensor/type'] = sensor['type']
# write the custom properties to the sensor
eUtils.addAnnotation(newsensor, sensor['props'], namespace='sensor')
# throw warning if type is not known
# TODO we need to link this error to the sensor type specifications
if sensor['type'] not in [key.lower() for key in defs.def_settings['sensors']]:
log(
"Sensor " + sensor['name'] + " is of unknown/custom type: " + sensor['type'] + ".",
'WARNING',
)
# select the new sensor
sUtils.selectObjects([newsensor], clear=True, active=0)
return newsensor
def execute(self, context):
"""Executes this blender operator and creates collision objects for the selected bodies.
:param context: The blender context this function should work with.
:return: set -- the blender specific return set.
"""
startLog(self)
visuals = []
for obj in bpy.context.selected_objects:
if obj.phobostype == "visual":
visuals.append(obj)
obj.select = False
if not visuals:
# bpy.ops.error.message('INVOKE_DEFAULT', type="CreateCollisions Error", message="Not enough bodies selected.")
log("Not enough bodies selected.", "ERROR")
return {'CANCELLED'}
for vis in visuals:
nameparts = vis.name.split('_')
if nameparts[0] == 'visual':
nameparts[0] = 'collision'
collname = '_'.join(nameparts)
materialname = vis.data.materials[0].name if len(vis.data.materials) > 0 else "None"
bBox = vis.bound_box
center = generalUtils.calcBoundingBoxCenter(bBox)
rotation = mathutils.Matrix.Identity(4)
size = list(vis.dimensions)
if self.property_colltype in ['cylinder', 'capsule']:
axes = ('X', 'Y', 'Z')
long_side = axes[size.index(max(size))]
# xyequal = (size[0] - size[1])
length = max(size)
radii = [s for s in size if s != length]
radius = max(radii) / 2 if radii != [] else length / 2
size = (radius, length)
if long_side == 'X':
rotation = mathutils.Matrix.Rotation(math.pi / 2, 4, 'Y')
elif long_side == 'Y':
rotation = mathutils.Matrix.Rotation(math.pi / 2, 4, 'X')
# FIXME: apply rotation for moved cylinder object?
elif self.property_colltype == 'sphere':
size = max(size) / 2
rotation_euler = (vis.matrix_world * rotation).to_euler()
center = vis.matrix_world.to_translation() + vis.matrix_world.to_quaternion() * center
if self.property_colltype != 'capsule':
ob = blenderUtils.createPrimitive(collname, self.property_colltype, size,
defs.layerTypes['collision'], materialname, center,
rotation_euler)
elif self.property_colltype == 'capsule':
length = max(length - 2 * radius, 0.001) # prevent length from turning negative
size = (radius, length)
zshift = length / 2
ob = blenderUtils.createPrimitive(collname, 'cylinder', size,
defs.layerTypes['collision'], materialname, center,
rotation_euler)
sph1 = blenderUtils.createPrimitive('tmpsph1', 'sphere', radius,
defs.layerTypes['collision'], materialname,
center + rotation * mathutils.Vector((0, 0, zshift)),
rotation_euler)
sph2 = blenderUtils.createPrimitive('tmpsph2', 'sphere', radius,
defs.layerTypes['collision'], materialname,
center - rotation * mathutils.Vector((0, 0, zshift)),
rotation_euler)
selectionUtils.selectObjects([ob, sph1, sph2], True, 0)
bpy.ops.object.join()
ob['length'] = length
ob['radius'] = radius
elif self.property_colltype == 'mesh':
pass
# TODO: copy mesh!!
ob.phobostype = 'collision'
ob['geometry/type'] = self.property_colltype
if vis.parent:
ob.select = True
bpy.ops.object.transform_apply(scale=True)
vis.parent.select = True
bpy.context.scene.objects.active = vis.parent
bpy.ops.object.parent_set(type='BONE_RELATIVE')
# ob.parent_type = vis.parent_type
# ob.parent_bone = vis.parent_bone
endLog()
return {'FINISHED'}
def createMotor(motor,
parentobj,
origin=mathutils.Matrix(),
addcontrollers=False):
"""This function creates a new motor specified by its parameters.
If *addcontrollers* is set, a controller object will be created from the controller definition
which is specified in the motor dictionary (key *controller*).
Args:
motor(dict): phobos representation of the new motor.
parentobj(bpy_types.Object): object to parent new motor to
origin(mathutils.Matrix, optional): new motors origin (Default value = mathutils.Matrix())
addcontrollers(bool, optional): whether to add the defined controller as object (Default value = False)
Returns:
bpy.types.Object: new motor object or a list of the new motor_object and the new controller object
"""
bUtils.toggleLayer('motor', value=True)
primitive_name = ''
# create name if not given by motor dict
if not 'name' in motor or len(motor['name']) == 0:
motor['name'] = parentobj.name
primitive_name = "motor_" + motor['name']
else:
primitive_name = motor['name']
primitive_name = ''
# create name if not given by motor dict
if not 'name' in motor or len(motor['name']) == 0:
motor['name'] = parentobj.name
primitive_name = "motor_" + motor['name']
else:
primitive_name = motor['name']
# create motor object
if motor['shape'].startswith('resource'):
newmotor = bUtils.createPrimitive(
primitive_name,
'box',
[1, 1, 1],
[],
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=motor['material'],
phobostype='motor',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(
['motor'] + motor['shape'].split('://')[1].split('_'))
if resource_obj:
log("Assigned resource mesh and materials to new motor object.",
'DEBUG')
newmotor.data = resource_obj.data
newmotor.scale = (motor['size'], ) * 3
else:
log(
"Could not use resource mesh for motor. Default cube used instead.",
'WARNING')
else:
newmotor = bUtils.createPrimitive(
primitive_name,
motor['shape'],
motor['size'],
[],
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=motor['material'],
phobostype='motor',
)
# assign the parent if available
if parentobj is not None:
sUtils.selectObjects([newmotor, parentobj], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
# set motor properties
newmotor.phobostype = 'motor'
# should not be nessaccary: newmotor.name = motor['name']
defname = motor['defname']
# write the custom properties to the motor
eUtils.addAnnotation(newmotor,
motor['props'],
namespace='motor',
ignore=['defname'])
# fix motor name since it can differe from object name
newmotor['motor/name'] = motor['name']
if 'controller' in defs.definitions['motors'][defname] and addcontrollers:
import phobos.model.controllers as controllermodel
motorcontroller = defs.definitions['motors'][defname]['controller']
controllerdefs = ioUtils.getDictFromYamlDefs(
'controller', motorcontroller, newmotor.name + '_controller')
newcontroller = controllermodel.createController(
controllerdefs,
newmotor,
origin=newmotor.matrix_world,
annotations='all')
else:
newcontroller = None
# select the new motor
sUtils.selectObjects(
[newmotor] if not newcontroller else [newmotor, newcontroller],
clear=True,
active=0)
return newmotor if not newcontroller else [newmotor, newcontroller]
def createController(controller, reference, origin=mathutils.Matrix(), annotations=None):
"""This function creates a new controller specified by its parameters.
If an annotation category or the keyword 'all' is specified, the respective annotations for the
controller will be added as objects.
Args:
controller(dict): phobos representation of the new controller
reference(bpy_types.Object): object to add a parent relationship to
origin(mathutils.Matrix, optional): new controllers origin (Default value = mathutils.Matrix())
annotations(list(str, optional): list of annotation keys or 'all' to add to as annotation
objects (Default value = None)
Returns:
: bpy.types.Object -- new created controller object
"""
layers = defs.layerTypes['controller']
bUtils.toggleLayer(layers, value=True)
# create controller object
if controller['shape'].startswith('resource'):
newcontroller = bUtils.createPrimitive(
controller['name'],
'box',
[1, 1, 1],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=controller['material'],
phobostype='controller',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(
['controller'] + controller['shape'].split('://')[1].split('_')
)
if resource_obj:
log("Assigned resource mesh and materials to new controller object.", 'DEBUG')
newcontroller.data = resource_obj.data
newcontroller.scale = (controller['size'],) * 3
else:
log("Could not use resource mesh for controller. Default cube used instead.", 'WARNING')
else:
newcontroller = bUtils.createPrimitive(
controller['name'],
controller['shape'],
controller['size'],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=controller['material'],
phobostype='controller',
)
newcontroller.name = controller['name']
newcontroller['controller/type'] = controller['type']
# write the custom properties to the controller
eUtils.addAnnotation(newcontroller, controller['props'], namespace='controller')
if controller['annotations'] and annotations:
if annotations == 'all':
keys = controller['annotations'].keys()
elif isinstance(annotations, list):
keys = [key for key in annotations if key in controller['annotations']]
else:
keys = []
for key in keys:
eUtils.addAnnotationObject(
newcontroller, controller['annotations'][key], namespace='controller/' + key
)
# assign the parent if available
if reference is not None:
sUtils.selectObjects([newcontroller, reference], clear=True, active=1)
if reference.phobostype == 'link':
bpy.ops.object.parent_set(type='BONE_RELATIVE')
else:
bpy.ops.object.parent_set(type='OBJECT')
return newcontroller
def createSensor(sensor, reference, origin=mathutils.Matrix()):
"""This function creates a new sensor specified by its parameters.
The sensor dictionary has to contain these keys:
*name*: name of the new sensor
*type*: type specifier of the sensor
*shape*: a shape specifier for the sensor
*props*: custom properties to be written to the sensor object
Args:
sensor(dict): phobos representation of the new sensor
reference(bpy_types.Object): object to add a parent relationship to
origin(mathutils.Matrix, optional): new sensors origin (Default value = mathutils.Matrix())
Returns:
: The newly created sensor object
"""
layers = defs.layerTypes['sensor']
bUtils.toggleLayer(layers, value=True)
# create sensor object
if sensor['shape'].startswith('resource'):
newsensor = bUtils.createPrimitive(
sensor['name'],
'box',
[1, 1, 1],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=sensor['material'],
phobostype='sensor',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(
['sensor'] + sensor['shape'].split('://')[1].split('_'))
if resource_obj:
log("Assigned resource mesh and materials to new sensor object.",
'DEBUG')
newsensor.data = resource_obj.data
newsensor.scale = (sensor['size'], ) * 3
else:
log(
"Could not use resource mesh for sensor. Default cube used instead.",
'WARNING')
else:
newsensor = bUtils.createPrimitive(
sensor['name'],
sensor['shape'],
sensor['size'],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=sensor['material'],
phobostype='sensor',
)
# assign the parent if available
if reference is not None:
eUtils.parentObjectsTo(newsensor, reference)
# TODO we need to deal with other types of parameters for sensors
# TODO cameraRotLock() use or dispose?
# contact, force and torque sensors (or unknown sensors)
# else:
# newsensor = bUtils.createPrimitive(
# sensor['name'], 'ico', 0.05, layers, 'phobos_sensor',
# origin.to_translation(), protation=origin.to_euler())
# if sensor['name'] == 'Joint6DOF':
# # TODO delete me? handle this
# #newsensor['sensor/nodes'] = nUtils.getObjectName(reference)
# pass
# elif 'Node' in sensor['type']:
# newsensor['sensor/nodes'] = sorted([nUtils.getObjectName(ref) for ref in reference])
# elif 'Joint' in sensor['type'] or 'Motor' in sensor['type']:
# newsensor['sensor/joints'] = sorted([nUtils.getObjectName(ref) for ref in reference])
# elif sensor['type'] in ['Joint6DOF']:
# for obj in context.selected_objects:
# if obj.phobostype == 'link':
# sensor['name'] = "sensor_joint6dof_" + nUtils.getObjectName(obj, phobostype="joint")
# sensors.createSensor(sensor, obj, obj.matrix_world)
# elif 'Node' in sensor['type']:
# sensors.createSensor(sensor, [obj for obj in context.selected_objects if obj.phobostype == 'collision'],
# mathutils.Matrix.Translation(context.scene.cursor_location))
# elif 'Motor' in sensor['type'] or 'Joint' in sensor['type']:
# sensors.createSensor(sensor, [obj for obj in context.selected_objects if obj.phobostype == 'link'],
# mathutils.Matrix.Translation(context.scene.cursor_location))
# set sensor properties
newsensor.phobostype = 'sensor'
newsensor.name = sensor['name']
newsensor['sensor/name'] = sensor['name']
newsensor['sensor/type'] = sensor['type']
# write the custom properties to the sensor
eUtils.addAnnotation(newsensor, sensor['props'], namespace='sensor')
# throw warning if type is not known
# TODO we need to link this error to the sensor type specifications
if sensor['type'] not in [
key.lower() for key in defs.def_settings['sensors']
]:
log(
"Sensor " + sensor['name'] + " is of unknown/custom type: " +
sensor['type'] + ".",
'WARNING',
)
# select the new sensor
sUtils.selectObjects([newsensor], clear=True, active=0)
return newsensor
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 createController(controller,
reference,
origin=mathutils.Matrix(),
annotations=None):
"""This function creates a new controller specified by its parameters.
If an annotation category or the keyword 'all' is specified, the respective annotations for the
controller will be added as objects.
Args:
controller(dict): phobos representation of the new controller
reference(bpy_types.Object): object to add a parent relationship to
origin(mathutils.Matrix, optional): new controllers origin (Default value = mathutils.Matrix())
annotations(list(str, optional): list of annotation keys or 'all' to add to as annotation
objects (Default value = None)
Returns:
: bpy.types.Object -- new created controller object
"""
bUtils.toggleLayer('controller', value=True)
# create controller object
if controller['shape'].startswith('resource'):
newcontroller = bUtils.createPrimitive(
controller['name'],
'box',
[1, 1, 1],
[],
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=controller['material'],
phobostype='controller',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(
['controller'] + controller['shape'].split('://')[1].split('_'))
if resource_obj:
log(
"Assigned resource mesh and materials to new controller object.",
'DEBUG')
newcontroller.data = resource_obj.data
newcontroller.scale = (controller['size'], ) * 3
else:
log(
"Could not use resource mesh for controller. Default cube used instead.",
'WARNING')
else:
newcontroller = bUtils.createPrimitive(
controller['name'],
controller['shape'],
controller['size'],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=controller['material'],
phobostype='controller',
)
newcontroller.name = controller['name']
newcontroller['controller/type'] = controller['type']
# write the custom properties to the controller
eUtils.addAnnotation(newcontroller,
controller['props'],
namespace='controller')
if controller['annotations'] and annotations:
if annotations == 'all':
keys = controller['annotations'].keys()
elif isinstance(annotations, list):
keys = [
key for key in annotations if key in controller['annotations']
]
else:
keys = []
for key in keys:
eUtils.addAnnotationObject(newcontroller,
controller['annotations'][key],
namespace='controller/' + key)
# assign the parent if available
if reference is not None:
sUtils.selectObjects([newcontroller, reference], clear=True, active=1)
if reference.phobostype == 'link':
bpy.ops.object.parent_set(type='BONE_RELATIVE')
else:
bpy.ops.object.parent_set(type='OBJECT')
return newcontroller
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 createSensor(sensor, reference, origin=mathutils.Matrix()):
"""This function creates a new sensor specified by its parameters.
:param sensor: The phobos representation of the new sensor.
:type sensor: dict
:param reference: This is an object to add a parent relationship to.
:type reference: bpy_types.Object
:param origin: The new sensors origin.
:type origin: mathutils.Matrix
:return: The newly created sensor object
"""
blenderUtils.toggleLayer(defs.layerTypes['sensor'], value=True)
# create sensor object
if 'Camera' in sensor['type']:
bpy.context.scene.layers[defs.layerTypes['sensor']] = True
bpy.ops.object.add(type='CAMERA', location=origin.to_translation(),
rotation=origin.to_euler(),
layers=blenderUtils.defLayers([defs.layerTypes['sensor']]))
newsensor = bpy.context.active_object
if reference is not None:
selectionUtils.selectObjects([newsensor, bpy.data.objects[reference]], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
elif sensor['type'] in ['RaySensor', 'RotatingRaySensor', 'ScanningSonar', 'MultiLevelLaserRangeFinder']:
# TODO: create a proper ray sensor scanning layer disc here
newsensor = blenderUtils.createPrimitive(sensor['name'], 'disc', (0.5, 36),
defs.layerTypes['sensor'], 'phobos_laserscanner',
origin.to_translation(), protation=origin.to_euler())
if reference is not None and reference != []:
if type(reference) == str:
key = reference
else:
key = reference[0]
selectionUtils.selectObjects([newsensor, bpy.data.objects[key]], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
else: # contact, force and torque sensors (or unknown sensors)
newsensor = blenderUtils.createPrimitive(sensor['name'], 'sphere', 0.05,
defs.layerTypes['sensor'], 'phobos_sensor',
origin.to_translation(), protation=origin.to_euler())
if 'Node' in sensor['type']:
newsensor['sensor/nodes'] = sorted(reference)
elif 'Joint' in sensor['type'] or 'Motor' in sensor['type']:
newsensor['sensor/joints'] = sorted(reference)
# set sensor properties
newsensor.phobostype = 'sensor'
newsensor.name = sensor['name']
newsensor['sensor/type'] = sensor['type']
#for prop in ['link', 'joint', 'links', 'joints', 'motors']:
# if prop in sensor:
# newsensor['sensor/'+prop] = sensor[prop]
# add custom properties
#for prop in sensor:
# if prop.startswith('$'):
# for tag in sensor[prop]:
# newsensor[prop[1:]+'/'+tag] = sensor[prop][tag]
# throw warning if type is not known
if sensor['type'] not in defs.sensortypes:
print("### Warning: sensor", sensor['name'], "is of unknown/custom type.")
selectionUtils.selectObjects([newsensor], clear=False, active=0)
return newsensor
def createSensor(sensor, reference, origin=mathutils.Matrix()):
"""This function creates a new sensor specified by its parameters.
Args:
sensor(dict): The phobos representation of the new sensor.
reference(bpy_types.Object): This is an object to add a parent relationship to.
origin(mathutils.Matrix, optional): The new sensors origin. (Default value = mathutils.Matrix()
Returns:
The newly created sensor object
"""
bUtils.toggleLayer(defs.layerTypes['sensor'], value=True)
# create sensor object
if 'Camera' in sensor['type']:
bpy.ops.object.add(type='CAMERA',
location=origin.to_translation(),
rotation=origin.to_euler(),
layers=bUtils.defLayers([defs.layerTypes['sensor']
]))
newsensor = bpy.context.active_object
if reference is not None:
sUtils.selectObjects([newsensor, reference], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
elif sensor['type'] in [
'RaySensor', 'RotatingRaySensor', 'ScanningSonar',
'MultiLevelLaserRangeFinder'
]:
# TODO: create a proper ray sensor scanning layer disc here
newsensor = bUtils.createPrimitive(sensor['name'],
'disc', (0.5, 36),
defs.layerTypes['sensor'],
'phobos_laserscanner',
origin.to_translation(),
protation=origin.to_euler())
if reference is not None:
sUtils.selectObjects([newsensor, reference], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
# contact, force and torque sensors (or unknown sensors)
else:
newsensor = bUtils.createPrimitive(sensor['name'],
'sphere',
0.05,
defs.layerTypes['sensor'],
'phobos_sensor',
origin.to_translation(),
protation=origin.to_euler())
if sensor['type'] == 'Joint6DOF':
# TODO delete me? handle this
#newsensor['sensor/nodes'] = nUtils.getObjectName(reference)
pass
elif 'Node' in sensor['type']:
newsensor['sensor/nodes'] = sorted(
[nUtils.getObjectName(ref) for ref in reference])
elif 'Joint' in sensor['type'] or 'Motor' in sensor['type']:
newsensor['sensor/joints'] = sorted(
[nUtils.getObjectName(ref) for ref in reference])
if reference is not None:
sUtils.selectObjects([newsensor, reference], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
# set sensor properties
newsensor.phobostype = 'sensor'
newsensor.name = sensor['name']
newsensor['sensor/type'] = sensor['type']
# TODO delete me?
#for prop in ['link', 'joint', 'links', 'joints', 'motors']:
# if prop in sensor:
# newsensor['sensor/'+prop] = sensor[prop]
# add custom properties
#for prop in sensor:
# if prop.startswith('$'):
# for tag in sensor[prop]:
# newsensor[prop[1:]+'/'+tag] = sensor[prop][tag]
# throw warning if type is not known
if sensor['type'] not in defs.sensortypes:
print("### Warning: sensor", sensor['name'],
"is of unknown/custom type.")
sUtils.selectObjects([newsensor], clear=False, active=0)
return newsensor
def execute(self, context):
visuals = []
collisions = []
# find all selected visual objects
for obj in context.selected_objects:
if obj.phobostype == "visual":
visuals.append(obj)
obj.select = False
if not visuals:
log("No visual objects selected.", "ERROR", self)
return {'CANCELLED'}
# create collision objects for each visual
for vis in visuals:
# build object names
nameparts = vis.name.split('_')
if nameparts[0] == 'visual':
nameparts[0] = 'collision'
collname = '_'.join(nameparts)
materialname = vis.data.materials[0].name if len(
vis.data.materials) > 0 else "None"
# get bounding box
bBox = vis.bound_box
center = gUtils.calcBoundingBoxCenter(bBox)
rotation = mathutils.Matrix.Identity(4)
size = list(vis.dimensions)
# calculate size for cylinder, capsule or sphere
if self.property_colltype in ['cylinder', 'capsule']:
axes = ('X', 'Y', 'Z')
long_side = axes[size.index(max(size))]
length = max(size)
radii = [s for s in size if s != length]
radius = max(radii) / 2 if radii != [] else length / 2
size = (radius, length)
# rotate cylinder/capsule to match longest side
if long_side == 'X':
rotation = mathutils.Matrix.Rotation(math.pi / 2, 4, 'Y')
elif long_side == 'Y':
rotation = mathutils.Matrix.Rotation(math.pi / 2, 4, 'X')
# FIXME: apply rotation for moved cylinder object?
elif self.property_colltype == 'sphere':
size = max(size) / 2
# calculate rotation and center coordinates
rotation_euler = (vis.matrix_world * rotation).to_euler()
center = vis.matrix_world.to_translation(
) + vis.matrix_world.to_quaternion() * center
# create Mesh
if self.property_colltype != 'capsule' and self.property_colltype != 'mesh':
ob = bUtils.createPrimitive(collname, self.property_colltype,
size, defs.layerTypes['collision'],
materialname, center,
rotation_euler)
elif self.property_colltype == 'capsule':
# TODO reimplement capsules
# prevent length from turning negative
length = max(length - 2 * radius, 0.001)
size = (radius, length)
zshift = length / 2
tmpsph1_location = center + rotation_euler.to_matrix().to_4x4(
) * mathutils.Vector((0, 0, zshift))
tmpsph2_location = center - rotation_euler.to_matrix().to_4x4(
) * mathutils.Vector((0, 0, zshift))
# create cylinder and spheres and join them
ob = bUtils.createPrimitive(collname, 'cylinder', size,
defs.layerTypes['collision'],
materialname, center,
rotation_euler)
sph1 = bUtils.createPrimitive('tmpsph1', 'sphere', radius,
defs.layerTypes['collision'],
materialname, tmpsph1_location,
rotation_euler)
sph2 = bUtils.createPrimitive('tmpsph2', 'sphere', radius,
defs.layerTypes['collision'],
materialname, tmpsph2_location,
rotation_euler)
sUtils.selectObjects([ob, sph1, sph2], True, 0)
bpy.ops.object.join()
# assign capsule properties
ob['geometry/length'] = length
ob['geometry/radius'] = radius
ob['sph1_location'] = tmpsph1_location
ob['sph2_location'] = tmpsph2_location
elif self.property_colltype == 'mesh':
# FIXME: simply turn this into object.duplicate?
bpy.ops.object.duplicate_move(
OBJECT_OT_duplicate={
"linked": False,
"mode": 'TRANSLATION'
},
TRANSFORM_OT_translate={"value": (0, 0, 0)})
# TODO: copy mesh!!
# set properties of new collision object
ob.phobostype = 'collision'
ob['geometry/type'] = self.property_colltype
collisions.append(ob)
# make collision object relative if visual object has a parent
if vis.parent:
ob.select = True
bpy.ops.object.transform_apply(scale=True)
vis.parent.select = True
context.scene.objects.active = vis.parent
bpy.ops.object.parent_set(type='BONE_RELATIVE')
# TODO delete these lines?
# ob.parent_type = vis.parent_type
# ob.parent_bone = vis.parent_bone
# select created collision objects
sUtils.selectObjects(collisions)
return {'FINISHED'}
def createMotor(motor, parentobj, origin=mathutils.Matrix(), addcontrollers=False):
"""This function creates a new motor specified by its parameters.
If *addcontrollers* is set, a controller object will be created from the controller definition
which is specified in the motor dictionary (key *controller*).
Args:
motor(dict): phobos representation of the new motor.
parentobj(bpy_types.Object): object to parent new motor to
origin(mathutils.Matrix, optional): new motors origin (Default value = mathutils.Matrix())
addcontrollers(bool, optional): whether to add the defined controller as object (Default value = False)
Returns:
bpy.types.Object: new motor object or a list of the new motor_object and the new controller object
"""
layers = defs.layerTypes['motor']
bUtils.toggleLayer(layers, value=True)
# create motor object
if motor['shape'].startswith('resource'):
newmotor = bUtils.createPrimitive(
motor['name'],
'box',
[1, 1, 1],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=motor['material'],
phobostype='motor',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(['motor'] + motor['shape'].split('://')[1].split('_'))
if resource_obj:
log("Assigned resource mesh and materials to new motor object.", 'DEBUG')
newmotor.data = resource_obj.data
newmotor.scale = (motor['size'],) * 3
else:
log("Could not use resource mesh for motor. Default cube used instead.", 'WARNING')
else:
newmotor = bUtils.createPrimitive(
motor['name'],
motor['shape'],
motor['size'],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=motor['material'],
phobostype='motor',
)
# assign the parent if available
if parentobj is not None:
sUtils.selectObjects([newmotor, parentobj], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
# set motor properties
newmotor.phobostype = 'motor'
newmotor.name = motor['name']
defname = motor['defname']
# write the custom properties to the motor
eUtils.addAnnotation(newmotor, motor['props'], namespace='motor', ignore=['defname'])
if 'controller' in defs.definitions['motors'][defname] and addcontrollers:
import phobos.model.controllers as controllermodel
motorcontroller = defs.definitions['motors'][defname]['controller']
controllerdefs = ioUtils.getDictFromYamlDefs(
'controller', motorcontroller, newmotor.name + '_controller'
)
newcontroller = controllermodel.createController(
controllerdefs, newmotor, origin=newmotor.matrix_world, annotations='all'
)
else:
newcontroller = None
# select the new motor
sUtils.selectObjects(
[newmotor] if not newcontroller else [newmotor, newcontroller], clear=True, active=0
)
return newmotor if not newcontroller else [newmotor, newcontroller]
