def execute(self, context):
"""
Args:
context:
Returns:
"""
objects = context.selected_objects
annotation = defs.definitions[self.annotationtype][self.devicetype]
# add annotation (objects) to the selected objects
annot_objects = []
for obj in objects:
if self.asObject:
annot_objects.append(
eUtils.addAnnotationObject(
obj,
annotation,
name=obj.name + '_annotation',
namespace=self.annotationtype.rstrip('s'),
)
)
else:
eUtils.addAnnotation(obj, annotation, namespace=self.annotationtype.rstrip('s'))
# reselect the original objects and additional annotation objects
sUtils.selectObjects(objects + annot_objects, clear=True)
bUtils.toggleLayer(defs.layerTypes['annotation'], value=True)
return {'FINISHED'}
def execute(self, context):
"""
Args:
context:
Returns:
"""
objects = context.selected_objects
annotation = defs.definitions[self.annotationtype][self.devicetype]
# add annotation (objects) to the selected objects
annot_objects = []
for obj in objects:
if self.asObject:
annot_objects.append(
eUtils.addAnnotationObject(
obj,
annotation,
name=obj.name + '_annotation',
namespace=self.annotationtype.rstrip('s'),
)
)
else:
eUtils.addAnnotation(obj, annotation, namespace=self.annotationtype.rstrip('s'))
# reselect the original objects and additional annotation objects
sUtils.selectObjects(objects + annot_objects, clear=True)
bUtils.toggleLayer('annotation', value=True)
return {'FINISHED'}
def createSensor(sensor, reference, origin=mathutils.Matrix()):
"""This function creates a new sensor specified by its parameters.
The sensor dictionary has to contain these keys:
*name*: name of the new sensor
*type*: type specifier of the sensor
*shape*: a shape specifier for the sensor
*props*: custom properties to be written to the sensor object
Args:
sensor(dict): phobos representation of the new sensor
reference(bpy_types.Object): object to add a parent relationship to
origin(mathutils.Matrix, optional): new sensors origin (Default value = mathutils.Matrix())
Returns:
: The newly created sensor object
"""
layers = defs.layerTypes['sensor']
bUtils.toggleLayer(layers, value=True)
# create sensor object
if sensor['shape'].startswith('resource'):
newsensor = bUtils.createPrimitive(
sensor['name'],
'box',
[1, 1, 1],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=sensor['material'],
phobostype='sensor',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(
['sensor'] + sensor['shape'].split('://')[1].split('_'))
if resource_obj:
log("Assigned resource mesh and materials to new sensor object.",
'DEBUG')
newsensor.data = resource_obj.data
newsensor.scale = (sensor['size'], ) * 3
else:
log(
"Could not use resource mesh for sensor. Default cube used instead.",
'WARNING')
else:
newsensor = bUtils.createPrimitive(
sensor['name'],
sensor['shape'],
sensor['size'],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=sensor['material'],
phobostype='sensor',
)
# assign the parent if available
if reference is not None:
eUtils.parentObjectsTo(newsensor, reference)
# TODO we need to deal with other types of parameters for sensors
# TODO cameraRotLock() use or dispose?
# contact, force and torque sensors (or unknown sensors)
# else:
# newsensor = bUtils.createPrimitive(
# sensor['name'], 'ico', 0.05, layers, 'phobos_sensor',
# origin.to_translation(), protation=origin.to_euler())
# if sensor['name'] == 'Joint6DOF':
# # TODO delete me? handle this
# #newsensor['sensor/nodes'] = nUtils.getObjectName(reference)
# pass
# elif 'Node' in sensor['type']:
# newsensor['sensor/nodes'] = sorted([nUtils.getObjectName(ref) for ref in reference])
# elif 'Joint' in sensor['type'] or 'Motor' in sensor['type']:
# newsensor['sensor/joints'] = sorted([nUtils.getObjectName(ref) for ref in reference])
# elif sensor['type'] in ['Joint6DOF']:
# for obj in context.selected_objects:
# if obj.phobostype == 'link':
# sensor['name'] = "sensor_joint6dof_" + nUtils.getObjectName(obj, phobostype="joint")
# sensors.createSensor(sensor, obj, obj.matrix_world)
# elif 'Node' in sensor['type']:
# sensors.createSensor(sensor, [obj for obj in context.selected_objects if obj.phobostype == 'collision'],
# mathutils.Matrix.Translation(context.scene.cursor_location))
# elif 'Motor' in sensor['type'] or 'Joint' in sensor['type']:
# sensors.createSensor(sensor, [obj for obj in context.selected_objects if obj.phobostype == 'link'],
# mathutils.Matrix.Translation(context.scene.cursor_location))
# set sensor properties
newsensor.phobostype = 'sensor'
newsensor.name = sensor['name']
newsensor['sensor/name'] = sensor['name']
newsensor['sensor/type'] = sensor['type']
# write the custom properties to the sensor
eUtils.addAnnotation(newsensor, sensor['props'], namespace='sensor')
# throw warning if type is not known
# TODO we need to link this error to the sensor type specifications
if sensor['type'] not in [
key.lower() for key in defs.def_settings['sensors']
]:
log(
"Sensor " + sensor['name'] + " is of unknown/custom type: " +
sensor['type'] + ".",
'WARNING',
)
# select the new sensor
sUtils.selectObjects([newsensor], clear=True, active=0)
return newsensor
def createController(controller, reference, origin=mathutils.Matrix(), annotations=None):
"""This function creates a new controller specified by its parameters.
If an annotation category or the keyword 'all' is specified, the respective annotations for the
controller will be added as objects.
Args:
controller(dict): phobos representation of the new controller
reference(bpy_types.Object): object to add a parent relationship to
origin(mathutils.Matrix, optional): new controllers origin (Default value = mathutils.Matrix())
annotations(list(str, optional): list of annotation keys or 'all' to add to as annotation
objects (Default value = None)
Returns:
: bpy.types.Object -- new created controller object
"""
layers = defs.layerTypes['controller']
bUtils.toggleLayer(layers, value=True)
# create controller object
if controller['shape'].startswith('resource'):
newcontroller = bUtils.createPrimitive(
controller['name'],
'box',
[1, 1, 1],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=controller['material'],
phobostype='controller',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(
['controller'] + controller['shape'].split('://')[1].split('_')
)
if resource_obj:
log("Assigned resource mesh and materials to new controller object.", 'DEBUG')
newcontroller.data = resource_obj.data
newcontroller.scale = (controller['size'],) * 3
else:
log("Could not use resource mesh for controller. Default cube used instead.", 'WARNING')
else:
newcontroller = bUtils.createPrimitive(
controller['name'],
controller['shape'],
controller['size'],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=controller['material'],
phobostype='controller',
)
newcontroller.name = controller['name']
newcontroller['controller/type'] = controller['type']
# write the custom properties to the controller
eUtils.addAnnotation(newcontroller, controller['props'], namespace='controller')
if controller['annotations'] and annotations:
if annotations == 'all':
keys = controller['annotations'].keys()
elif isinstance(annotations, list):
keys = [key for key in annotations if key in controller['annotations']]
else:
keys = []
for key in keys:
eUtils.addAnnotationObject(
newcontroller, controller['annotations'][key], namespace='controller/' + key
)
# assign the parent if available
if reference is not None:
sUtils.selectObjects([newcontroller, reference], clear=True, active=1)
if reference.phobostype == 'link':
bpy.ops.object.parent_set(type='BONE_RELATIVE')
else:
bpy.ops.object.parent_set(type='OBJECT')
return newcontroller
def createController(controller,
reference,
origin=mathutils.Matrix(),
annotations=None):
"""This function creates a new controller specified by its parameters.
If an annotation category or the keyword 'all' is specified, the respective annotations for the
controller will be added as objects.
Args:
controller(dict): phobos representation of the new controller
reference(bpy_types.Object): object to add a parent relationship to
origin(mathutils.Matrix, optional): new controllers origin (Default value = mathutils.Matrix())
annotations(list(str, optional): list of annotation keys or 'all' to add to as annotation
objects (Default value = None)
Returns:
: bpy.types.Object -- new created controller object
"""
bUtils.toggleLayer('controller', value=True)
# create controller object
if controller['shape'].startswith('resource'):
newcontroller = bUtils.createPrimitive(
controller['name'],
'box',
[1, 1, 1],
[],
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=controller['material'],
phobostype='controller',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(
['controller'] + controller['shape'].split('://')[1].split('_'))
if resource_obj:
log(
"Assigned resource mesh and materials to new controller object.",
'DEBUG')
newcontroller.data = resource_obj.data
newcontroller.scale = (controller['size'], ) * 3
else:
log(
"Could not use resource mesh for controller. Default cube used instead.",
'WARNING')
else:
newcontroller = bUtils.createPrimitive(
controller['name'],
controller['shape'],
controller['size'],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=controller['material'],
phobostype='controller',
)
newcontroller.name = controller['name']
newcontroller['controller/type'] = controller['type']
# write the custom properties to the controller
eUtils.addAnnotation(newcontroller,
controller['props'],
namespace='controller')
if controller['annotations'] and annotations:
if annotations == 'all':
keys = controller['annotations'].keys()
elif isinstance(annotations, list):
keys = [
key for key in annotations if key in controller['annotations']
]
else:
keys = []
for key in keys:
eUtils.addAnnotationObject(newcontroller,
controller['annotations'][key],
namespace='controller/' + key)
# assign the parent if available
if reference is not None:
sUtils.selectObjects([newcontroller, reference], clear=True, active=1)
if reference.phobostype == 'link':
bpy.ops.object.parent_set(type='BONE_RELATIVE')
else:
bpy.ops.object.parent_set(type='OBJECT')
return newcontroller
def createSensor(sensor, reference, origin=mathutils.Matrix()):
"""This function creates a new sensor specified by its parameters.
The sensor dictionary has to contain these keys:
*name*: name of the new sensor
*type*: type specifier of the sensor
*shape*: a shape specifier for the sensor
*props*: custom properties to be written to the sensor object
Args:
sensor(dict): phobos representation of the new sensor
reference(bpy_types.Object): object to add a parent relationship to
origin(mathutils.Matrix, optional): new sensors origin (Default value = mathutils.Matrix())
Returns:
: The newly created sensor object
"""
layers = defs.layerTypes['sensor']
bUtils.toggleLayer(layers, value=True)
# create sensor object
if sensor['shape'].startswith('resource'):
newsensor = bUtils.createPrimitive(
sensor['name'],
'box',
[1, 1, 1],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=sensor['material'],
phobostype='sensor',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(['sensor'] + sensor['shape'].split('://')[1].split('_'))
if resource_obj:
log("Assigned resource mesh and materials to new sensor object.", 'DEBUG')
newsensor.data = resource_obj.data
newsensor.scale = (sensor['size'],) * 3
else:
log("Could not use resource mesh for sensor. Default cube used instead.", 'WARNING')
else:
newsensor = bUtils.createPrimitive(
sensor['name'],
sensor['shape'],
sensor['size'],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=sensor['material'],
phobostype='sensor',
)
# assign the parent if available
if reference is not None:
eUtils.parentObjectsTo(newsensor, reference)
# TODO we need to deal with other types of parameters for sensors
# TODO cameraRotLock() use or dispose?
# contact, force and torque sensors (or unknown sensors)
# else:
# newsensor = bUtils.createPrimitive(
# sensor['name'], 'ico', 0.05, layers, 'phobos_sensor',
# origin.to_translation(), protation=origin.to_euler())
# if sensor['name'] == 'Joint6DOF':
# # TODO delete me? handle this
# #newsensor['sensor/nodes'] = nUtils.getObjectName(reference)
# pass
# elif 'Node' in sensor['type']:
# newsensor['sensor/nodes'] = sorted([nUtils.getObjectName(ref) for ref in reference])
# elif 'Joint' in sensor['type'] or 'Motor' in sensor['type']:
# newsensor['sensor/joints'] = sorted([nUtils.getObjectName(ref) for ref in reference])
# elif sensor['type'] in ['Joint6DOF']:
# for obj in context.selected_objects:
# if obj.phobostype == 'link':
# sensor['name'] = "sensor_joint6dof_" + nUtils.getObjectName(obj, phobostype="joint")
# sensors.createSensor(sensor, obj, obj.matrix_world)
# elif 'Node' in sensor['type']:
# sensors.createSensor(sensor, [obj for obj in context.selected_objects if obj.phobostype == 'collision'],
# mathutils.Matrix.Translation(context.scene.cursor_location))
# elif 'Motor' in sensor['type'] or 'Joint' in sensor['type']:
# sensors.createSensor(sensor, [obj for obj in context.selected_objects if obj.phobostype == 'link'],
# mathutils.Matrix.Translation(context.scene.cursor_location))
# set sensor properties
newsensor.phobostype = 'sensor'
newsensor.name = sensor['name']
newsensor['sensor/name'] = sensor['name']
newsensor['sensor/type'] = sensor['type']
# write the custom properties to the sensor
eUtils.addAnnotation(newsensor, sensor['props'], namespace='sensor')
# throw warning if type is not known
# TODO we need to link this error to the sensor type specifications
if sensor['type'] not in [key.lower() for key in defs.def_settings['sensors']]:
log(
"Sensor " + sensor['name'] + " is of unknown/custom type: " + sensor['type'] + ".",
'WARNING',
)
# select the new sensor
sUtils.selectObjects([newsensor], clear=True, active=0)
return newsensor
def createMotor(motor,
parentobj,
origin=mathutils.Matrix(),
addcontrollers=False):
"""This function creates a new motor specified by its parameters.
If *addcontrollers* is set, a controller object will be created from the controller definition
which is specified in the motor dictionary (key *controller*).
Args:
motor(dict): phobos representation of the new motor.
parentobj(bpy_types.Object): object to parent new motor to
origin(mathutils.Matrix, optional): new motors origin (Default value = mathutils.Matrix())
addcontrollers(bool, optional): whether to add the defined controller as object (Default value = False)
Returns:
bpy.types.Object: new motor object or a list of the new motor_object and the new controller object
"""
bUtils.toggleLayer('motor', value=True)
primitive_name = ''
# create name if not given by motor dict
if not 'name' in motor or len(motor['name']) == 0:
motor['name'] = parentobj.name
primitive_name = "motor_" + motor['name']
else:
primitive_name = motor['name']
primitive_name = ''
# create name if not given by motor dict
if not 'name' in motor or len(motor['name']) == 0:
motor['name'] = parentobj.name
primitive_name = "motor_" + motor['name']
else:
primitive_name = motor['name']
# create motor object
if motor['shape'].startswith('resource'):
newmotor = bUtils.createPrimitive(
primitive_name,
'box',
[1, 1, 1],
[],
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=motor['material'],
phobostype='motor',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(
['motor'] + motor['shape'].split('://')[1].split('_'))
if resource_obj:
log("Assigned resource mesh and materials to new motor object.",
'DEBUG')
newmotor.data = resource_obj.data
newmotor.scale = (motor['size'], ) * 3
else:
log(
"Could not use resource mesh for motor. Default cube used instead.",
'WARNING')
else:
newmotor = bUtils.createPrimitive(
primitive_name,
motor['shape'],
motor['size'],
[],
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=motor['material'],
phobostype='motor',
)
# assign the parent if available
if parentobj is not None:
sUtils.selectObjects([newmotor, parentobj], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
# set motor properties
newmotor.phobostype = 'motor'
# should not be nessaccary: newmotor.name = motor['name']
defname = motor['defname']
# write the custom properties to the motor
eUtils.addAnnotation(newmotor,
motor['props'],
namespace='motor',
ignore=['defname'])
# fix motor name since it can differe from object name
newmotor['motor/name'] = motor['name']
if 'controller' in defs.definitions['motors'][defname] and addcontrollers:
import phobos.model.controllers as controllermodel
motorcontroller = defs.definitions['motors'][defname]['controller']
controllerdefs = ioUtils.getDictFromYamlDefs(
'controller', motorcontroller, newmotor.name + '_controller')
newcontroller = controllermodel.createController(
controllerdefs,
newmotor,
origin=newmotor.matrix_world,
annotations='all')
else:
newcontroller = None
# select the new motor
sUtils.selectObjects(
[newmotor] if not newcontroller else [newmotor, newcontroller],
clear=True,
active=0)
return newmotor if not newcontroller else [newmotor, newcontroller]
def createMotor(motor, parentobj, origin=mathutils.Matrix(), addcontrollers=False):
"""This function creates a new motor specified by its parameters.
If *addcontrollers* is set, a controller object will be created from the controller definition
which is specified in the motor dictionary (key *controller*).
Args:
motor(dict): phobos representation of the new motor.
parentobj(bpy_types.Object): object to parent new motor to
origin(mathutils.Matrix, optional): new motors origin (Default value = mathutils.Matrix())
addcontrollers(bool, optional): whether to add the defined controller as object (Default value = False)
Returns:
bpy.types.Object: new motor object or a list of the new motor_object and the new controller object
"""
layers = defs.layerTypes['motor']
bUtils.toggleLayer(layers, value=True)
# create motor object
if motor['shape'].startswith('resource'):
newmotor = bUtils.createPrimitive(
motor['name'],
'box',
[1, 1, 1],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=motor['material'],
phobostype='motor',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(['motor'] + motor['shape'].split('://')[1].split('_'))
if resource_obj:
log("Assigned resource mesh and materials to new motor object.", 'DEBUG')
newmotor.data = resource_obj.data
newmotor.scale = (motor['size'],) * 3
else:
log("Could not use resource mesh for motor. Default cube used instead.", 'WARNING')
else:
newmotor = bUtils.createPrimitive(
motor['name'],
motor['shape'],
motor['size'],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=motor['material'],
phobostype='motor',
)
# assign the parent if available
if parentobj is not None:
sUtils.selectObjects([newmotor, parentobj], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
# set motor properties
newmotor.phobostype = 'motor'
newmotor.name = motor['name']
defname = motor['defname']
# write the custom properties to the motor
eUtils.addAnnotation(newmotor, motor['props'], namespace='motor', ignore=['defname'])
if 'controller' in defs.definitions['motors'][defname] and addcontrollers:
import phobos.model.controllers as controllermodel
motorcontroller = defs.definitions['motors'][defname]['controller']
controllerdefs = ioUtils.getDictFromYamlDefs(
'controller', motorcontroller, newmotor.name + '_controller'
)
newcontroller = controllermodel.createController(
controllerdefs, newmotor, origin=newmotor.matrix_world, annotations='all'
)
else:
newcontroller = None
# select the new motor
sUtils.selectObjects(
[newmotor] if not newcontroller else [newmotor, newcontroller], clear=True, active=0
)
return newmotor if not newcontroller else [newmotor, newcontroller]