def test_triangle_surface_mesh(self):
# Create a mesh out of two triangles forming a quad.
#
# 0______1
# |b /| Two triangles: a and b.
# | / | Four vertices: 0, 1, 2, and 3.
# | /a |
# |/___|
# 2 3
t_a = mut.SurfaceTriangle(v0=3, v1=1, v2=2)
t_b = mut.SurfaceTriangle(v0=2, v1=1, v2=0)
self.assertEqual(t_a.vertex(0), 3)
self.assertEqual(t_b.vertex(1), 1)
v0 = (-1, 1, 0)
v1 = (1, 1, 0)
v2 = (-1, -1, 0)
v3 = (1, -1, 0)
self.assertListEqual(list(v0), [-1, 1, 0])
mesh = mut.TriangleSurfaceMesh(triangles=(t_a, t_b),
vertices=(v0, v1, v2, v3))
self.assertEqual(len(mesh.triangles()), 2)
self.assertEqual(len(mesh.vertices()), 4)
self.assertListEqual(list(mesh.centroid()), [0, 0, 0])
self.assertListEqual(list(mesh.element_centroid(t=1)),
[-1 / 3.0, 1 / 3.0, 0])
def test_triangle_surface_mesh(self):
# Create a mesh out of two triangles forming a quad.
#
# 0______1
# |b /| Two triangles: a and b.
# | / | Four vertices: 0, 1, 2, and 3.
# | /a |
# |/___|
# 2 3
t_a = mut.SurfaceTriangle(v0=3, v1=1, v2=2)
t_b = mut.SurfaceTriangle(v0=2, v1=1, v2=0)
self.assertEqual(t_a.vertex(0), 3)
self.assertEqual(t_b.vertex(1), 1)
v0 = (-1, 1, 0)
v1 = (1, 1, 0)
v2 = (-1, -1, 0)
v3 = (1, -1, 0)
self.assertListEqual(list(v0), [-1, 1, 0])
dut = mut.TriangleSurfaceMesh(triangles=(t_a, t_b),
vertices=(v0, v1, v2, v3))
# Sanity check every accessor.
self.assertIsInstance(dut.element(e=0), mut.SurfaceTriangle)
self.assertIsInstance(dut.vertex(v=0), np.ndarray)
self.assertIsInstance(dut.num_vertices(), int)
self.assertIsInstance(dut.num_elements(), int)
self.assertIsInstance(dut.num_triangles(), int)
self.assertIsInstance(dut.area(t=0), float)
self.assertIsInstance(dut.total_area(), float)
self.assertIsInstance(dut.face_normal(t=0), np.ndarray)
self.assertIsInstance(dut.element_centroid(t=0), np.ndarray)
self.assertIsInstance(dut.centroid(), np.ndarray)
# Sanity check some calculations
self.assertIsInstance(dut.CalcBoundingBox(), tuple)
self.assertTrue(dut.Equal(mesh=dut))
self.assertIsInstance(
dut.CalcCartesianFromBarycentric(element_index=1,
b_Q=[1 / 3.0, 1 / 3.0, 1 / 3.0]),
np.ndarray)
self.assertIsInstance(
dut.CalcBarycentric(p_MQ=[-1 / 3.0, 1 / 3.0, 0], t=1), np.ndarray)
self.assertEqual(len(dut.triangles()), 2)
self.assertEqual(len(dut.vertices()), 4)
self.assertListEqual(list(dut.centroid()), [0, 0, 0])
self.assertListEqual(list(dut.element_centroid(t=1)),
[-1 / 3.0, 1 / 3.0, 0])
# Now check the SurfaceTriangle bindings.
triangle0 = dut.element(e=0)
self.assertEqual(triangle0.num_vertices(), 3)
self.assertEqual(triangle0.vertex(i=0), 3)
def test_meshcat(self):
port = 7051
params = mut.MeshcatParams(host="*",
port=port,
web_url_pattern="http://host:{port}")
meshcat = mut.Meshcat(params=params)
self.assertEqual(meshcat.port(), port)
with self.assertRaises(RuntimeError):
meshcat2 = mut.Meshcat(port=port)
self.assertIn("http", meshcat.web_url())
self.assertIn("ws", meshcat.ws_url())
meshcat.SetObject(path="/test/box",
shape=mut.Box(1, 1, 1),
rgba=mut.Rgba(.5, .5, .5))
meshcat.SetTransform(path="/test/box", X_ParentPath=RigidTransform())
meshcat.SetTransform(path="/test/box", matrix=np.eye(4))
self.assertTrue(meshcat.HasPath("/test/box"))
cloud = PointCloud(4)
cloud.mutable_xyzs()[:] = np.zeros((3, 4))
meshcat.SetObject(path="/test/cloud",
cloud=cloud,
point_size=0.01,
rgba=mut.Rgba(.5, .5, .5))
mesh = mut.TriangleSurfaceMesh(triangles=[
mut.SurfaceTriangle(0, 1, 2),
mut.SurfaceTriangle(3, 0, 2)
],
vertices=[[0, 0, 0], [1, 0, 0],
[1, 0, 1], [0, 0, 1]])
meshcat.SetObject(path="/test/triangle_surface_mesh",
mesh=mesh,
rgba=mut.Rgba(0.3, 0.3, 0.3),
wireframe=True,
wireframe_line_width=2.0)
meshcat.SetLine(path="/test/line",
vertices=np.eye(3),
line_width=2.0,
rgba=mut.Rgba(.3, .3, .3))
meshcat.SetLineSegments(path="/test/line_segments",
start=np.eye(3),
end=2 * np.eye(3),
line_width=2.0,
rgba=mut.Rgba(.3, .3, .3))
meshcat.SetTriangleMesh(path="/test/triangle_mesh",
vertices=np.array([[0, 0, 0], [1, 0, 0],
[1, 0, 1], [0, 0, 1]]).T,
faces=np.array([[0, 1, 2], [3, 0, 2]]).T,
rgba=mut.Rgba(0.3, 0.3, 0.3),
wireframe=True,
wireframe_line_width=2.0)
meshcat.SetProperty(path="/Background", property="visible", value=True)
meshcat.SetProperty(path="/Lights/DirectionalLight/<object>",
property="intensity",
value=1.0)
meshcat.SetProperty(path="/Background",
property="top_color",
value=[0, 0, 0])
meshcat.Set2dRenderMode(X_WC=RigidTransform(),
xmin=-1,
xmax=1,
ymin=-1,
ymax=1)
meshcat.ResetRenderMode()
meshcat.AddButton(name="button")
self.assertEqual(meshcat.GetButtonClicks(name="button"), 0)
meshcat.DeleteButton(name="button")
meshcat.AddSlider(name="slider", min=0, max=1, step=0.01, value=0.5)
meshcat.SetSliderValue(name="slider", value=0.7)
self.assertAlmostEqual(meshcat.GetSliderValue(name="slider"),
0.7,
delta=1e-14)
meshcat.DeleteSlider(name="slider")
meshcat.DeleteAddedControls()
self.assertIn("data:application/octet-binary;base64",
meshcat.StaticHtml())
meshcat.Flush()
# PerspectiveCamera
camera = mut.Meshcat.PerspectiveCamera(fov=80,
aspect=1.2,
near=0.2,
far=200,
zoom=1.3)
self.assertEqual(camera.fov, 80)
self.assertEqual(camera.aspect, 1.2)
self.assertEqual(camera.near, 0.2)
self.assertEqual(camera.far, 200)
self.assertEqual(camera.zoom, 1.3)
self.assertEqual(
repr(camera), "".join([
r"PerspectiveCamera(", r"fov=80.0, "
r"aspect=1.2, ", r"near=0.2, ", r"far=200.0, ", r"zoom=1.3)"
]))
meshcat.SetCamera(camera=camera, path="mypath")
# OrthographicCamera
camera = mut.Meshcat.OrthographicCamera(left=0.1,
right=1.3,
top=0.3,
bottom=1.4,
near=0.2,
far=200,
zoom=1.3)
self.assertEqual(camera.left, 0.1)
self.assertEqual(camera.right, 1.3)
self.assertEqual(camera.top, 0.3)
self.assertEqual(camera.bottom, 1.4)
self.assertEqual(camera.near, 0.2)
self.assertEqual(camera.far, 200)
self.assertEqual(camera.zoom, 1.3)
self.assertEqual(
repr(camera), "".join([
r"OrthographicCamera(", r"left=0.1, "
r"right=1.3, ", r"top=0.3, "
r"bottom=1.4, ", r"near=0.2, ", r"far=200.0, ", r"zoom=1.3)"
]))
meshcat.SetCamera(camera=camera, path="mypath")
def test_meshcat(self):
meshcat = mut.Meshcat(port=7051)
self.assertEqual(meshcat.port(), 7051)
with self.assertRaises(RuntimeError):
meshcat2 = mut.Meshcat(port=7051)
self.assertIn("http", meshcat.web_url())
self.assertIn("ws", meshcat.ws_url())
meshcat.SetObject(path="/test/box",
shape=mut.Box(1, 1, 1),
rgba=mut.Rgba(.5, .5, .5))
meshcat.SetTransform(path="/test/box", X_ParentPath=RigidTransform())
meshcat.SetTransform(path="/test/box", matrix=np.eye(4))
self.assertTrue(meshcat.HasPath("/test/box"))
cloud = PointCloud(4)
cloud.mutable_xyzs()[:] = np.zeros((3, 4))
meshcat.SetObject(path="/test/cloud",
cloud=cloud,
point_size=0.01,
rgba=mut.Rgba(.5, .5, .5))
mesh = mut.TriangleSurfaceMesh(triangles=[
mut.SurfaceTriangle(0, 1, 2),
mut.SurfaceTriangle(3, 0, 2)
],
vertices=[[0, 0, 0], [1, 0, 0],
[1, 0, 1], [0, 0, 1]])
meshcat.SetObject(path="/test/triangle_surface_mesh",
mesh=mesh,
rgba=mut.Rgba(0.3, 0.3, 0.3),
wireframe=True,
wireframe_line_width=2.0)
meshcat.SetLine(path="/test/line",
vertices=np.eye(3),
line_width=2.0,
rgba=mut.Rgba(.3, .3, .3))
meshcat.SetLineSegments(path="/test/line_segments",
start=np.eye(3),
end=2 * np.eye(3),
line_width=2.0,
rgba=mut.Rgba(.3, .3, .3))
meshcat.SetTriangleMesh(path="/test/triangle_mesh",
vertices=np.array([[0, 0, 0], [1, 0, 0],
[1, 0, 1], [0, 0, 1]]).T,
faces=np.array([[0, 1, 2], [3, 0, 2]]).T,
rgba=mut.Rgba(0.3, 0.3, 0.3),
wireframe=True,
wireframe_line_width=2.0)
meshcat.SetProperty(path="/Background", property="visible", value=True)
meshcat.SetProperty(path="/Lights/DirectionalLight/<object>",
property="intensity",
value=1.0)
meshcat.SetProperty(path="/Background",
property="top_color",
value=[0, 0, 0])
meshcat.Set2dRenderMode(X_WC=RigidTransform(),
xmin=-1,
xmax=1,
ymin=-1,
ymax=1)
meshcat.ResetRenderMode()
meshcat.AddButton(name="button")
self.assertEqual(meshcat.GetButtonClicks(name="button"), 0)
meshcat.DeleteButton(name="button")
meshcat.AddSlider(name="slider", min=0, max=1, step=0.01, value=0.5)
meshcat.SetSliderValue(name="slider", value=0.7)
self.assertAlmostEqual(meshcat.GetSliderValue(name="slider"),
0.7,
delta=1e-14)
meshcat.DeleteSlider(name="slider")
meshcat.DeleteAddedControls()
self.assertIn("data:application/octet-binary;base64",
meshcat.StaticHtml())
meshcat.Flush()