def linesBody(mb, bodyName, successorJointsName):
"""
Return a mesh represented by lines and the appropriate static transform.
"""
apd = tvtk.AppendPolyData()
sources = []
# create a line from the body base to the next joint
for s in map(mb.jointIndexByName, successorJointsName[bodyName]):
X_s = mb.transform(s)
sources.append(tvtk.LineSource(point1=(0., 0., 0.),
point2=tuple(X_s.translation())))
# add an empty source to avoid a warning if AppendPolyData have 0 source
if len(sources) == 0:
sources.append(tvtk.PointSource(radius=0.))
map(lambda s: apd.add_input(s.output), sources)
apd.update()
pdm = tvtk.PolyDataMapper()
pdm.input_connection = apd.output_port
actor = tvtk.Actor(mapper=pdm)
actor.property.color = (0., 0., 0.)
actor.user_transform = tvtk.Transform()
return actor, sva.PTransformd.Identity()
def _mode_changed(self):
v = self._target
# Workaround for different version of VTK:
if hasattr(v.glyph.glyph_source, 'glyph_source'):
g = v.glyph.glyph_source
else:
g = v.glyph
if self.mode == 'point':
g.glyph_source = tvtk.PointSource(radius=0, number_of_points=1)
else:
g.glyph_source = g.glyph_list[self.mode_]
if self.mode_ == 0:
g.glyph_source.glyph_type = self.mode[2:]
def __source_dict_default(self):
"""Default value for source dict."""
sd = {
'arrow': tvtk.ArrowSource(),
'cone': tvtk.ConeSource(),
'cube': tvtk.CubeSource(),
'cylinder': tvtk.CylinderSource(),
'disk': tvtk.DiskSource(),
'earth': tvtk.EarthSource(),
'line': tvtk.LineSource(),
'outline': tvtk.OutlineSource(),
'plane': tvtk.PlaneSource(),
'point': tvtk.PointSource(),
'polygon': tvtk.RegularPolygonSource(),
'sphere': tvtk.SphereSource(),
'superquadric': tvtk.SuperquadricSource(),
'textured sphere': tvtk.TexturedSphereSource(),
'glyph2d': tvtk.GlyphSource2D()
}
return sd