def _add_drone_velocity(self,
init_velocity_vector,
radius=0.008,
color=[255, 0, 0]):
"""
Add the drone velocity vector as a cylinder into drone drawer batch.
"""
translation = np.eye(4)
translation[:3, 3] = [0, 0, 0.5]
height = np.linalg.norm(init_velocity_vector)
transform_z_axis = init_velocity_vector / height
transform = np.eye(4)
transform[:3, 2] = transform_z_axis
transform = np.dot(translation, transform)
velocity_axis = trimesh.creation.cylinder(radius=radius,
height=height,
transform=transform)
velocity_axis.visual.face_colors = color
axis_origin = trimesh.creation.uv_sphere(radius=radius * 5,
count=[10, 10])
axis_origin.visual.face_colors = color
merge = trimesh.util.concatenate([axis_origin, velocity_axis])
args = rendering.convert_to_vertexlist(merge)
drawer = self.drone_batch.add_indexed(*args)
return drawer
def add_geometry(self, name, geometry, **kwargs):
"""
Add a geometry to the viewer.
Parameters
--------------
name : hashable
Name that references geometry
geometry : Trimesh, Path2D, Path3D, PointCloud
Geometry to display in the viewer window
kwargs **
Passed to rendering.convert_to_vertexlist
"""
# convert geometry to constructor args
args = rendering.convert_to_vertexlist(geometry, **kwargs)
# create the indexed vertex list
self.vertex_list[name] = self.batch.add_indexed(*args)
# save the MD5 of the geometry
self.vertex_list_hash[name] = geometry_hash(geometry)
# save the rendering mode from the constructor args
self.vertex_list_mode[name] = args[1]
# if a geometry has a texture defined convert it to opengl form and
# save
if hasattr(geometry, 'visual') and hasattr(geometry.visual,
'material'):
tex = rendering.material_to_texture(geometry.visual.material)
if tex is not None:
self.textures[name] = tex
def test_args(self):
# not imported to trimesh by __init__
# so we don't have a pyglet import attempt
# unless we explicitly ask for it (like during
# a viewer show() call)
from trimesh import rendering
m = g.get_mesh('featuretype.STL')
args = rendering.mesh_to_vertexlist(m)
args_auto = rendering.convert_to_vertexlist(m)
assert len(args) == 7
assert len(args_auto) == len(args)
# try turning smoothing off and on
args_sm = rendering.mesh_to_vertexlist(
m, smooth_threshold=0)
args_ns = rendering.mesh_to_vertexlist(
m, smooth_threshold=g.np.inf)
# vertex count should be different
# if smooth kwargs got passed through successfully
assert args_sm[0] != args_ns[0]
P30 = m.section(plane_normal=[0, 0, 1],
plane_origin=m.centroid)
args = rendering.path_to_vertexlist(P30)
args_auto = rendering.convert_to_vertexlist(P30)
assert len(args) == 6
assert len(args_auto) == len(args)
P20, T = P30.to_planar()
args = rendering.path_to_vertexlist(P20)
args_auto = rendering.convert_to_vertexlist(P20)
assert len(args) == 6
assert len(args_auto) == len(args)
P21 = g.get_mesh('2D/wrench.dxf')
args = rendering.path_to_vertexlist(P21)
args_auto = rendering.convert_to_vertexlist(P21)
assert len(args) == 6
assert len(args_auto) == len(args)
P22 = g.np.random.random((100, 2))
args = rendering.points_to_vertexlist(P22)
args_auto = rendering.convert_to_vertexlist(P22)
assert len(args) == 6
assert len(args_auto) == len(args)
P31 = g.np.random.random((100, 3))
args = rendering.points_to_vertexlist(P31)
args_auto = rendering.convert_to_vertexlist(P31)
assert len(args) == 6
assert len(args_auto) == len(args)
P32 = g.trimesh.points.PointCloud(P31)
args = rendering.convert_to_vertexlist(P32)
assert len(args) == 6
assert len(args_auto) == len(args)
def _update_vertex_list(self):
for name, geom in self._scene.geometry.items():
if geom.is_empty:
continue
if self.geometry_hash(geom) == self._vertex_list_hash.get(name):
continue
args = convert_to_vertexlist(geom, smooth=bool(self._smooth))
self._vertex_list[name] = self._batch.add_indexed(*args)
self._vertex_list_hash[name] = self.geometry_hash(geom)
self._vertex_list_mode[name] = args[1]
def test_args(self):
# not imported to trimesh by __init__
# so we don't have a pyglet import attempt
# unless we explicitly ask for it (like during
# a viewer show() call)
from trimesh import rendering
files = ['featuretype.STL', 'fuze.obj', 'points_bin.ply']
for file_name in files:
m = g.get_mesh(file_name)
args = rendering.convert_to_vertexlist(m)
if isinstance(m, g.trimesh.Trimesh):
# try turning smoothing off and on
rendering.mesh_to_vertexlist(m, smooth_threshold=0)
rendering.mesh_to_vertexlist(m, smooth_threshold=g.np.inf)
P30 = m.section(plane_normal=[0, 0, 1],
plane_origin=m.centroid)
args = rendering.path_to_vertexlist(P30)
args_auto = rendering.convert_to_vertexlist(P30)
assert len(args) == 6
assert len(args_auto) == len(args)
P20, T = P30.to_planar()
args = rendering.path_to_vertexlist(P20)
args_auto = rendering.convert_to_vertexlist(P20)
assert len(args) == 6
assert len(args_auto) == len(args)
P21 = g.get_mesh('2D/wrench.dxf')
args = rendering.path_to_vertexlist(P21)
args_auto = rendering.convert_to_vertexlist(P21)
assert len(args) == 6
assert len(args_auto) == len(args)
P22 = g.np.random.random((100, 2))
args = rendering.points_to_vertexlist(P22)
args_auto = rendering.convert_to_vertexlist(P22)
assert len(args) == 6
assert len(args_auto) == len(args)
P31 = g.np.random.random((100, 3))
args = rendering.points_to_vertexlist(P31)
args_auto = rendering.convert_to_vertexlist(P31)
assert len(args) == 6
assert len(args_auto) == len(args)
P32 = g.trimesh.points.PointCloud(P31)
args = rendering.convert_to_vertexlist(P32)
assert len(args) == 6
assert len(args_auto) == len(args)
def _add_drone(self):
""" Add the drone 3D model in its own model space.
"""
for name, geom in self.drone_scene.geometry.items():
if geom.is_empty:
continue
if geometry_hash(geom) == self.drone_vertex_list_hash:
continue
if name == self.drone_name:
args = rendering.convert_to_vertexlist(geom, smooth=True)
self.drone_drawer = self.drone_batch.add_indexed(*args)
self.drone_vertex_list_hash = geometry_hash(geom)
self.drone_vertex_list_mode = args[1]
try:
assert len(geom.visual.uv) == len(geom.vertices)
has_texture = True
except BaseException:
has_texture = False
if has_texture:
self.drone_texture = rendering.material_to_texture(
geom.visual.material)
def test_args(self):
# not imported to trimesh by __init__
# so we don't have a pyglet import attempt
# unless we explicitly ask for it (like during
# a viewer show() call)
from trimesh import rendering
try:
import pyglet
assert not pyglet.options['shadow_window']
except ImportError:
pass
m = g.get_mesh('featuretype.STL')
args = rendering.mesh_to_vertexlist(m)
args_auto = rendering.convert_to_vertexlist(m)
assert len(args) == 7
assert len(args_auto) == len(args)
# try turning smoothing off and on
args_sm = rendering.mesh_to_vertexlist(
m, smooth_threshold=0)
args_ns = rendering.mesh_to_vertexlist(
m, smooth_threshold=g.np.inf)
# vertex count should be different
# if smooth kwargs got passed through successfully
assert args_sm[0] != args_ns[0]
P30 = m.section(plane_normal=[0, 0, 1],
plane_origin=m.centroid)
args = rendering.path_to_vertexlist(P30)
args_auto = rendering.convert_to_vertexlist(P30)
assert len(args) == 6
assert len(args_auto) == len(args)
P20, T = P30.to_planar()
args = rendering.path_to_vertexlist(P20)
args_auto = rendering.convert_to_vertexlist(P20)
assert len(args) == 6
assert len(args_auto) == len(args)
P21 = g.get_mesh('2D/wrench.dxf')
args = rendering.path_to_vertexlist(P21)
args_auto = rendering.convert_to_vertexlist(P21)
assert len(args) == 6
assert len(args_auto) == len(args)
P22 = g.np.random.random((100, 2))
args = rendering.points_to_vertexlist(P22)
args_auto = rendering.convert_to_vertexlist(P22)
assert len(args) == 6
assert len(args_auto) == len(args)
P31 = g.np.random.random((100, 3))
args = rendering.points_to_vertexlist(P31)
args_auto = rendering.convert_to_vertexlist(P31)
assert len(args) == 6
assert len(args_auto) == len(args)
P32 = g.trimesh.points.PointCloud(P31)
args = rendering.convert_to_vertexlist(P32)
assert len(args) == 6
assert len(args_auto) == len(args)
