def get_object_frame(remote, object_id):
"""get local frame of object"""
cmd = mmapi.StoredCommands()
cmd_key = cmd.AppendSceneCommand_GetObjectFrame(object_id)
remote.runCommand(cmd)
cur_frame = mmapi.frame3f()
cmd.GetSceneCommandResult_GetObjectFrame(cmd_key, cur_frame)
f = mmFrame()
f.set_frame3f(cur_frame)
return f
def find_nearest(remote, position):
cmd = mmapi.StoredCommands()
v = mmapi.vec3f()
key = cmd.AppendQueryCommand_FindNearestPoint(position[0], position[1], position[2]);
remote.runCommand(cmd)
frame = mmapi.frame3f()
bOK = cmd.GetQueryResult_FindNearestPoint(key, frame)
hitFrame = mmFrame()
hitFrame.setFromMM(frame)
return (bOK, hitFrame)
def find_nearest(remote, position):
"""Find the nearest point on the 3D surface to the input 3-tuple. Returns a tuple (bOK, hitFrame), where bOK is a boolean indicating if a nereast point was found, and hitFrame is an mmFrame at the hit point, with Z axis oriented to the surface normal"""
cmd = mmapi.StoredCommands()
v = mmapi.vec3f()
key = cmd.AppendQueryCommand_FindNearestPoint(position[0], position[1], position[2]);
remote.runCommand(cmd)
frame = mmapi.frame3f()
bOK = cmd.GetQueryResult_FindNearestPoint(key, frame)
hitFrame = mmFrame()
hitFrame.setFromMM(frame)
return (bOK, hitFrame)
def find_nearest(remote, position):
cmd = mmapi.StoredCommands()
v = mmapi.vec3f()
key = cmd.AppendQueryCommand_FindNearestPoint(position[0], position[1],
position[2])
remote.runCommand(cmd)
frame = mmapi.frame3f()
bOK = cmd.GetQueryResult_FindNearestPoint(key, frame)
hitFrame = mmFrame()
hitFrame.setFromMM(frame)
return (bOK, hitFrame)
def find_nearest(remote, position):
"""Find the nearest point on the 3D surface to the input 3-tuple. Returns a tuple (bOK, hitFrame), where bOK is a boolean indicating if a nereast point was found, and hitFrame is an mmFrame at the hit point, with Z axis oriented to the surface normal"""
cmd = mmapi.StoredCommands()
v = mmapi.vec3f()
key = cmd.AppendQueryCommand_FindNearestPoint(position[0], position[1], position[2]);
remote.runCommand(cmd)
frame = mmapi.frame3f()
bOK = cmd.GetQueryResult_FindNearestPoint(key, frame)
hitFrame = mmFrame()
hitFrame.set_frame3f(frame)
return (bOK, hitFrame)
def find_ray_hit(remote, ray_origin, ray_direction):
cmd = mmapi.StoredCommands()
o = mmapi.vec3f()
o.x = ray_origin[0]; o.y = ray_origin[1]; o.z = ray_origin[2]
d = mmapi.vec3f()
d.x = ray_direction[0]; d.y = ray_direction[1]; d.z = ray_direction[2]
key = cmd.AppendQueryCommand_FindRayIntersection(o,d)
remote.runCommand(cmd)
frame = mmapi.frame3f()
bOK = cmd.GetQueryResult_FindRayIntersection(key, frame)
hitFrame = mmFrame()
hitFrame.setFromMM(frame)
return (bOK, hitFrame)
def find_ray_hit(remote, ray_origin, ray_direction):
"""Find the intersection of a ray (specified by 3-tuples for origin and direction) and the 3D surface. Returns a tuple (bOK, hitFrame), where bOK is a boolean indicating if a hit was found, and hitFrame is an mmFrame at the hit point, with Z axis oriented to the surface normal"""
cmd = mmapi.StoredCommands()
o = mmapi.vec3f()
o.x = ray_origin[0]; o.y = ray_origin[1]; o.z = ray_origin[2]
d = mmapi.vec3f()
d.x = ray_direction[0]; d.y = ray_direction[1]; d.z = ray_direction[2]
key = cmd.AppendQueryCommand_FindRayIntersection(o,d)
remote.runCommand(cmd)
frame = mmapi.frame3f()
bOK = cmd.GetQueryResult_FindRayIntersection(key, frame)
hitFrame = mmFrame()
hitFrame.setFromMM(frame)
return (bOK, hitFrame)
def find_ray_hit(remote, ray_origin, ray_direction):
"""Find the intersection of a ray (specified by 3-tuples for origin and direction) and the 3D surface. Returns a tuple (bOK, hitFrame), where bOK is a boolean indicating if a hit was found, and hitFrame is an mmFrame at the hit point, with Z axis oriented to the surface normal"""
cmd = mmapi.StoredCommands()
o = mmapi.vec3f()
o.x = ray_origin[0]; o.y = ray_origin[1]; o.z = ray_origin[2]
d = mmapi.vec3f()
d.x = ray_direction[0]; d.y = ray_direction[1]; d.z = ray_direction[2]
key = cmd.AppendQueryCommand_FindRayIntersection(o,d)
remote.runCommand(cmd)
frame = mmapi.frame3f()
bOK = cmd.GetQueryResult_FindRayIntersection(key, frame)
hitFrame = mmFrame()
hitFrame.set_frame3f(frame)
return (bOK, hitFrame)
def get_frame3f(self):
"""return mmapi.frame3f version of this frame"""
f = mmapi.frame3f()
f.origin_x = self.origin[0]
f.origin_y = self.origin[1]
f.origin_z = self.origin[2]
f.tan1_x = self.x[0]
f.tan1_y = self.x[1]
f.tan1_z = self.x[2]
f.tan2_x = self.y[0]
f.tan2_y = self.y[1]
f.tan2_z = self.y[2]
f.normal_x = self.z[0]
f.normal_y = self.z[1]
f.normal_z = self.z[2]
return f
def get_frame3f(self):
"""return mmapi.frame3f version of this frame"""
f = mmapi.frame3f()
f.origin_x = self.origin[0]
f.origin_y = self.origin[1]
f.origin_z = self.origin[2]
f.tan1_x = self.x[0]
f.tan1_y = self.x[1]
f.tan1_z = self.x[2]
f.tan2_x = self.y[0]
f.tan2_y = self.y[1]
f.tan2_z = self.y[2]
f.normal_x = self.z[0]
f.normal_y = self.z[1]
f.normal_z = self.z[2]
return f
def find_ray_hit(remote, ray_origin, ray_direction):
cmd = mmapi.StoredCommands()
o = mmapi.vec3f()
o.x = ray_origin[0]
o.y = ray_origin[1]
o.z = ray_origin[2]
d = mmapi.vec3f()
d.x = ray_direction[0]
d.y = ray_direction[1]
d.z = ray_direction[2]
key = cmd.AppendQueryCommand_FindRayIntersection(o, d)
remote.runCommand(cmd)
frame = mmapi.frame3f()
bOK = cmd.GetQueryResult_FindRayIntersection(key, frame)
hitFrame = mmFrame()
hitFrame.setFromMM(frame)
return (bOK, hitFrame)
