def createLink(link):
"""Creates the blender representation of a given link and its parent joint.
Args:
link(dict): The link you want to create a representation of.
Returns:
bpy_types.Object -- the newly created blender link object.
"""
# create armature/bone
bUtils.toggleLayer(defs.layerTypes['link'], True)
bpy.ops.object.select_all(action='DESELECT')
bpy.ops.object.armature_add(
layers=bUtils.defLayers([defs.layerTypes['link']]))
newlink = bpy.context.active_object
# Move bone when adding at selected objects location
if 'matrix' in link:
newlink.matrix_world = link['matrix']
newlink.phobostype = 'link'
if link['name'] in bpy.data.objects.keys():
log('Object with name of new link already exists: ' + link['name'],
'WARNING')
nUtils.safelyName(newlink, link['name'])
# set the size of the link
visuals, collisions = getGeometricElements(link)
if visuals or collisions:
scale = max((geometrymodel.getLargestDimension(e['geometry'])
for e in visuals + collisions))
else:
scale = 0.2
# use scaling factor provided by user
if 'scale' in link:
scale *= link['scale']
newlink.scale = (scale, scale, scale)
bpy.ops.object.transform_apply(scale=True)
# add custom properties
for prop in link:
if prop.startswith('$'):
for tag in link[prop]:
newlink['link/' + prop[1:] + '/' + tag] = link[prop][tag]
# create inertial
if 'inertial' in link:
inertia.createInertial(link['name'], link['inertial'], newlink)
# create geometric elements
log(
"Creating visual and collision objects for link '{0}': {1}".format(
link['name'],
', '.join([elem['name'] for elem in visuals + collisions])),
'DEBUG')
for v in visuals:
geometrymodel.createGeometry(v, 'visual', newlink)
for c in collisions:
geometrymodel.createGeometry(c, 'collision', newlink)
return newlink
def createLink(link):
"""Creates the blender representation of a given link and its parent joint.
:param link: The link you want to create a representation of.
:type link: dict
:return: bpy_types.Object -- the newly created blender link object.
"""
# create armature/bone
bUtils.toggleLayer(defs.layerTypes['link'], True)
bpy.ops.object.select_all(action='DESELECT')
bpy.ops.object.armature_add(
layers=bUtils.defLayers([defs.layerTypes['link']]))
newlink = bpy.context.active_object
# Move bone when adding at selected objects location
if 'matrix' in link:
newlink.matrix_world = link['matrix']
newlink.phobostype = 'link'
newlink.name = link['name']
# FIXME: This is a hack and should be checked before creation!
# this is a backup in case an object with the link's name already exists
newlink["link/name"] = link['name']
# FIXME geometric dimensions are not intiallized properly, thus scale always 0.2!
# set the size of the link
elements = getGeometricElements(link)
scale = max((geometrymodel.getLargestDimension(element['geometry'])
for element in elements)) if elements else 0.2
# use scaling factor provided by user
#FIXME where would this *scale* come from?
if 'scale' in link:
scale *= link['scale']
newlink.scale = (scale, scale, scale)
bpy.ops.object.transform_apply(scale=True)
# add custom properties
for prop in link:
if prop.startswith('$'):
for tag in link[prop]:
newlink['link/' + prop[1:] + '/' + tag] = link[prop][tag]
# create inertial
if 'inertial' in link:
inertiamodel.createInertialFromDictionary(link['name'],
link['inertial'])
# create visual elements
if 'visual' in link:
for v in link['visual']:
visual = link['visual'][v]
geometrymodel.createGeometry(visual, 'visual')
# create collision elements
if 'collision' in link:
for c in link['collision']:
collision = link['collision'][c]
geometrymodel.createGeometry(collision, 'collision')
return newlink
def createLink(link):
"""Creates the blender representation of a given link and its parent joint.
The link is added to the link layer.
These entries in the dictionary are mandatory:
*name*: name for the link
The specified dictionary may contain these entries:
*matrix*: world matrix for the new link transformation
*scale*: scale for the new link (single float)
*visual*: list of visual dictionaries
*collision*: list of collision dictionaries
*inertial*: inertial dictionary (an inertial object will be created on the fly)
Furthermore any generic properties, prepended by a `$` will be added as custom properties to the
link. E.g. $test/etc would be put to link/test/etc. However, these properties are extracted
only in the first layer of hierarchy.
Args:
link(dict): The link you want to create a representation of.
Returns:
: bpy_types.Object -- the newly created blender link object.
"""
log("Creating link object '{}'...".format(link['name']),
'DEBUG',
prefix='\n')
# create armature/bone
bUtils.toggleLayer('link', True)
bpy.ops.object.select_all(action='DESELECT')
bpy.ops.object.armature_add()
newlink = bpy.context.active_object
# Move bone when adding at selected objects location
if 'matrix' in link:
newlink.matrix_world = link['matrix']
# give it a proper name
newlink.phobostype = 'link'
if link['name'] in bpy.data.objects.keys():
log('Object with name of new link already exists: ' + link['name'],
'WARNING')
nUtils.safelyName(newlink, link['name'])
# set the size of the link
visuals, collisions = getGeometricElements(link)
if visuals or collisions:
scale = max((geometrymodel.getLargestDimension(e['geometry'])
for e in visuals + collisions))
else:
scale = 0.2
# use scaling factor provided by user
if 'scale' in link:
scale *= link['scale']
newlink.scale = (scale, scale, scale)
bpy.ops.object.transform_apply(location=False,
rotation=False,
scale=True,
properties=False)
# add custom properties
for prop in link:
if prop.startswith('$'):
for tag in link[prop]:
newlink['link/' + prop[1:] + '/' + tag] = link[prop][tag]
# create inertial
if 'inertial' in link:
inertia.createInertial(link['inertial'], newlink)
# create geometric elements
log(
"Creating visual and collision objects for link '{0}':\n{1}".format(
link['name'],
' \n'.join([elem['name'] for elem in visuals + collisions])),
'DEBUG',
)
for vis in visuals:
geometrymodel.createGeometry(vis, 'visual', newlink)
for col in collisions:
geometrymodel.createGeometry(col, 'collision', newlink)
bUtils.sortObjectToCollection(newlink, 'link')
return newlink
def createLink(link):
"""Creates the blender representation of a given link and its parent joint.
The link is added to the link layer.
These entries in the dictionary are mandatory:
*name*: name for the link
The specified dictionary may contain these entries:
*matrix*: world matrix for the new link transformation
*scale*: scale for the new link (single float)
*visual*: list of visual dictionaries
*collision*: list of collision dictionaries
*inertial*: inertial dictionary (an inertial object will be created on the fly)
Furthermore any generic properties, prepended by a `$` will be added as custom properties to the
link. E.g. $test/etc would be put to link/test/etc. However, these properties are extracted
only in the first layer of hierarchy.
Args:
link(dict): The link you want to create a representation of.
Returns:
: bpy_types.Object -- the newly created blender link object.
"""
log("Creating link object '{}'...".format(link['name']), 'DEBUG', prefix='\n')
# create armature/bone
bUtils.toggleLayer(defs.layerTypes['link'], True)
bpy.ops.object.select_all(action='DESELECT')
bpy.ops.object.armature_add(layers=bUtils.defLayers([defs.layerTypes['link']]))
newlink = bpy.context.active_object
# Move bone when adding at selected objects location
if 'matrix' in link:
newlink.matrix_world = link['matrix']
# give it a proper name
newlink.phobostype = 'link'
if link['name'] in bpy.data.objects.keys():
log('Object with name of new link already exists: ' + link['name'], 'WARNING')
nUtils.safelyName(newlink, link['name'])
# set the size of the link
visuals, collisions = getGeometricElements(link)
if visuals or collisions:
scale = max(
(geometrymodel.getLargestDimension(e['geometry']) for e in visuals + collisions)
)
else:
scale = 0.2
# use scaling factor provided by user
if 'scale' in link:
scale *= link['scale']
newlink.scale = (scale, scale, scale)
bpy.ops.object.transform_apply(scale=True)
# add custom properties
for prop in link:
if prop.startswith('$'):
for tag in link[prop]:
newlink['link/' + prop[1:] + '/' + tag] = link[prop][tag]
# create inertial
if 'inertial' in link:
inertia.createInertial(link['inertial'], newlink)
# create geometric elements
log(
"Creating visual and collision objects for link '{0}':\n{1}".format(
link['name'], ' \n'.join([elem['name'] for elem in visuals + collisions])
),
'DEBUG',
)
for vis in visuals:
geometrymodel.createGeometry(vis, 'visual', newlink)
for col in collisions:
geometrymodel.createGeometry(col, 'collision', newlink)
return newlink
