def makeGeom(trimesh):
if len(trimesh.indices)==0:
return None
inds = collide.intArray(len(trimesh.indices))
for index,v in enumerate(trimesh.indices):
inds[index] = v
verts = collide.doubleArray(len(trimesh.vertices))
for index,v in enumerate(trimesh.vertices):
verts[index] = v
gindex = collide.newGeom()
collide.makeTriMeshGeom(gindex,verts,inds,len(trimesh.vertices)/3,len(trimesh.indices)/3)
return gindex
def makeTrimeshGeom(trimesh):
if len(trimesh.indices)==0:
return None
inds = collide.intArray(len(trimesh.indices))
for index in xrange(len(trimesh.indices)):
inds[index] = trimesh.indices[index]
verts = collide.doubleArray(len(trimesh.vertices))
for index in xrange(len(trimesh.vertices)):
verts[index] = trimesh.vertices[index]
gindex = collide.newGeom()
collide.makeTriMeshGeom(gindex,verts,inds,len(trimesh.vertices)/3,len(trimesh.indices)/3)
return gindex
def makePointCloudGeom(pc,radius=0):
if len(pc.vertices)==0:
return None
#make individual points / spheres
verts = []
for v in len(pc.vertices)/3:
vert = [pc.vertices[v*3],pc.vertices[v*3+1],pc.vertices[v*3+2]]
verts.append(collide.newGeom())
if radius == 0:
collide.makePointGeom(verts[-1],vert)
else:
collide.makeSphereGeom(verts[-1],vert,radius)
#make a collision group
res = collide.newGeom()
vertArray = collide.intArray(len(verts))
for index,v in enumerate(verts):
vertArray[index] = v
collide.makeGroupGeom(res,vertArray,len(verts))
return res
