def __init__(self, render_scene=None, viewport_size=None) -> None:
viewport_width, viewport_height = viewport_size if viewport_size is not None else (
640, 480)
PyRenderBase.__init__(self, render_scene=render_scene)
OffscreenRenderer.__init__(self,
viewport_width=viewport_width,
viewport_height=viewport_height,
point_size=1.0)
def test_grid_lines(self):
r = PyRenderBase()
lines = r._grid_lines()
self.assertEqual(lines.shape, (21 * 4, 3))
self.assertAlmostEqual(lines[0, 1], -10.)
self.assertAlmostEqual(lines[1, 1], 10.)
self.assertAlmostEqual(lines[-2, 2], -10.)
self.assertAlmostEqual(lines[-1, 2], 10.)
def test_actor_to_node(self):
r = PyRenderBase()
actor = RigidDynamic()
self.assertEqual(r.actor_to_node(actor, [ShapeFlag.VISUALIZATION]),
None)
actor.attach_shape(Shape.create_box([0.2] * 3, Material()))
n = r.actor_to_node(actor, [ShapeFlag.VISUALIZATION])
self.assertEqual(len(n.children), 1)
actor.attach_shape(Shape.create_box([0.2] * 3, Material()))
n = r.actor_to_node(actor, [ShapeFlag.VISUALIZATION])
self.assertEqual(len(n.children), 2)
def test_actor_pose_matrix(self):
scene = Scene()
actor = RigidDynamic()
actor.attach_shape(Shape.create_box([0.2] * 3, Material()))
actor.set_global_pose([1, 2, 3])
scene.add_actor(actor)
p1 = PyRenderBase._get_actor_pose_matrix(actor, offset=None)
p2 = PyRenderBase._get_actor_pose_matrix(actor, offset=[3., 2., 1.])
self.assertEqual(p1.shape, (4, 4))
self.assertEqual(p2.shape, (4, 4))
self.assertAlmostEqual(p1[0, 3], 1.)
self.assertAlmostEqual(p1[1, 3], 2.)
self.assertAlmostEqual(p1[2, 3], 3.)
self.assertAlmostEqual(p2[0, 3], 4.)
self.assertAlmostEqual(p2[1, 3], 4.)
self.assertAlmostEqual(p2[2, 3], 4.)
def __init__(self, render_scene=None, viewport_size=None, render_flags=None, viewer_flags=None,
registered_keys=None, run_in_thread=True, video_filename=None, **kwargs):
""" Use render_scene to specify camera or lighting or additional geometries if required. """
_viewer_flags = {
'view_center': np.zeros(3), 'window_title': 'PyPhysX Scene Viewer', 'show_world_axis': True,
'show_mesh_axes': False, 'axes_scale': 0.5, 'use_raymond_lighting': True, 'plane_grid_spacing': 1.,
'plane_grid_num_of_lines': 10, 'spheres_count': [8, 8], 'refresh_rate': 30.0,
}
if viewer_flags is not None:
_viewer_flags.update(viewer_flags)
fps = _viewer_flags['refresh_rate']
self.video_writer = imageio.get_writer(video_filename, fps=fps) if video_filename is not None else None
PyRenderBase.__init__(self, render_scene=render_scene,
plane_grid_spacing=_viewer_flags['plane_grid_spacing'],
plane_grid_num_of_lines=_viewer_flags['plane_grid_num_of_lines'],
spheres_count=_viewer_flags['spheres_count'])
Viewer.__init__(self, scene=self.render_scene, viewport_size=viewport_size, render_flags=render_flags,
viewer_flags=_viewer_flags, registered_keys=registered_keys, run_in_thread=run_in_thread,
**kwargs)
def test_base_scene_creation(self):
r = PyRenderBase()
""" Default bg color """
self.assertEqual(r.render_scene.bg_color[0], 0.75)
""" Default camera position """
pose = r.render_scene.get_pose(r.render_scene.main_camera_node)
self.assertAlmostEqual(pose[0, 3], 3. * np.sin(np.deg2rad(45)))
self.assertAlmostEqual(pose[1, 3], 0.)
self.assertAlmostEqual(pose[2, 3], 3. * np.cos(np.deg2rad(45)))
""" no actors """
self.assertEqual(len(r.nodes_and_actors), 0)
def test_basic_shape_trimesh(self):
r = PyRenderBase(spheres_count=(4, 4))
s = Shape.create_box([0.2] * 3, Material())
m = r._trimesh_from_basic_shape(s, vertex_colors=[10, 20, 30, 250])
self.assertEqual(m.visual.vertex_colors.shape,
(8, 4)) # box has 8 vertices
self.assertEqual(m.visual.vertex_colors[5, 0], 10)
self.assertEqual(m.visual.vertex_colors[5, 1], 20)
self.assertEqual(m.visual.vertex_colors[5, 2], 30)
self.assertEqual(m.visual.vertex_colors[5, 3], 250)
s = Shape.create_sphere(0.15, Material())
m = r._trimesh_from_basic_shape(s)
err = np.max(np.abs(np.linalg.norm(m.vertices, axis=-1) -
0.15)) # error of sphere creation
self.assertAlmostEqual(err, 0.)
s.set_user_data({
'visual_mesh': uv_sphere(1.)
}) # set user data - should return this mesh instead of shape
m = r._trimesh_from_basic_shape(s)
err = np.max(np.abs(np.linalg.norm(m.vertices, axis=-1) -
1.)) # error of sphere creation
self.assertAlmostEqual(err, 0.)
def test_scene_size(self):
scene = Scene()
actor = RigidDynamic()
actor.attach_shape(Shape.create_box([0.2] * 3, Material()))
scene.add_actor(actor)
r = PyRenderBase()
r.add_physx_scene(scene)
self.assertEqual(len(r.nodes_and_actors), 1)
r.clear_physx_scenes()
self.assertEqual(len(r.nodes_and_actors), 0)
def test_update(self):
scene = Scene()
actor = RigidDynamic()
actor.attach_shape(Shape.create_box([0.2] * 3, Material()))
actor.set_global_pose([1, 2, 3])
scene.add_actor(actor)
r = PyRenderBase()
r.add_physx_scene(scene)
r.update()
p1 = r.render_scene.get_pose(r.nodes_and_actors[0][0])
self.assertAlmostEqual(p1[0, 3], 1.)
self.assertAlmostEqual(p1[1, 3], 2.)
self.assertAlmostEqual(p1[2, 3], 3.)
actor.set_global_pose([4, 5, 6])
p1 = r.render_scene.get_pose(r.nodes_and_actors[0][0])
self.assertAlmostEqual(p1[0, 3], 1.)
self.assertAlmostEqual(p1[1, 3], 2.)
self.assertAlmostEqual(p1[2, 3], 3.)
r.update()
p1 = r.render_scene.get_pose(r.nodes_and_actors[0][0])
self.assertAlmostEqual(p1[0, 3], 4.)
self.assertAlmostEqual(p1[1, 3], 5.)
self.assertAlmostEqual(p1[2, 3], 6.)
def test_shape_any_of_flags(self):
s = Shape.create_box([0.2] * 3, Material())
s.set_flag(ShapeFlag.VISUALIZATION, True)
s.set_flag(ShapeFlag.SIMULATION_SHAPE, True)
s.set_flag(ShapeFlag.SCENE_QUERY_SHAPE, False)
self.assertTrue(
PyRenderBase.has_shape_any_of_flags(s, [ShapeFlag.VISUALIZATION]))
self.assertTrue(
PyRenderBase.has_shape_any_of_flags(s,
[ShapeFlag.SIMULATION_SHAPE]))
self.assertTrue(
PyRenderBase.has_shape_any_of_flags(
s, [ShapeFlag.SIMULATION_SHAPE, ShapeFlag.VISUALIZATION]))
self.assertTrue(
PyRenderBase.has_shape_any_of_flags(
s, [ShapeFlag.VISUALIZATION, ShapeFlag.SCENE_QUERY_SHAPE]))
self.assertFalse(
PyRenderBase.has_shape_any_of_flags(s,
[ShapeFlag.SCENE_QUERY_SHAPE]))
self.assertFalse(PyRenderBase.has_shape_any_of_flags(s, []))