def __init__(self,
node,
filepath,
scale3d,
offset,
name_suffix='',
generatedDir=None):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
global idxVisualModel
self.node = node.createChild('visual' + name_suffix) # node
self.model = self.node.createObject('VisualModel',
name='visual' +
str(idxVisualModel),
fileMesh=filepath,
scale3d=concat(scale3d),
translation=concat(offset[:3]),
rotation=concat(r))
if generatedDir is None:
self.mapping = self.node.createObject(
'LinearMapping',
template='Affine,ExtVec3f',
name='mapping')
else:
serialization.importLinearMapping(
self.node, generatedDir + "_visualmapping.json")
idxVisualModel += 1
def transformToData(scale, offset, timeOffset=0, timeScale=1, isPerspective=0):
""" Returns a transform, formatted to sofa data given voxelsize, rigid position (offset), time and camera parameters
"""
return concat(offset[:3]) + ' ' + concat(
quat.to_euler(offset[3:]) * 180. / math.pi) + ' ' + concat(
scale) + ' ' + str(timeOffset) + ' ' + str(timeScale) + ' ' + str(
int(isPerspective))
def __init__(self,
node,
filepath,
scale3d,
offset,
name_suffix='',
generatedDir=None):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.node = node.createChild('collision' + name_suffix) # node
self.loader = SofaPython.Tools.meshLoader(self.node,
filename=filepath,
name='loader',
scale3d=concat(scale3d),
translation=concat(
offset[:3]),
rotation=concat(r),
triangulate=True)
self.topology = self.node.createObject('MeshTopology',
name='topology',
src='@loader')
self.dofs = self.node.createObject('MechanicalObject',
name='dofs',
template='Vec3' +
template_suffix)
self.triangles = self.node.createObject('TriangleModel',
name='model')
if generatedDir is None:
self.mapping = self.node.createObject('LinearMapping',
template='Affine,Vec3' +
template_suffix,
name='mapping')
else:
serialization.importLinearMapping(
self.node, generatedDir + "_collisionmapping.json")
self.normals = None
def __init__(self, node, filepath, scale3d, offset):
self.node = node.createChild( "collision" ) # node
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.loader = self.node.createObject("MeshObjLoader", name='loader', filename=filepath, scale3d=concat(scale3d), translation=concat(offset[:3]), rotation=concat(r), triangulate=1 )
self.topology = self.node.createObject('MeshTopology', name='topology', src="@loader" )
self.dofs = self.node.createObject('MechanicalObject', name='dofs')
self.triangles = self.node.createObject('TriangleModel', template='Vec3d', name='model')
self.mapping = self.node.createObject('RigidMapping', name="mapping")
def __init__(self, node, filepath, scale3d, offset, name_suffix=''):
global idxVisualModel
self.node = node.createChild( "visual"+name_suffix ) # node
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.model = self.node.createObject('VisualModel', name="visual"+str(idxVisualModel), fileMesh=filepath,
scale3d=concat(scale3d), translation=concat(offset[:3]) , rotation=concat(r),
useNormals=False, updateNormals=True)
self.mapping = self.node.createObject('RigidMapping', name="mapping")
idxVisualModel+=1
def __init__(self, node, filepath, scale3d, offset, name_suffix='', generatedDir=None):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
global idxVisualModel;
self.node = node.createChild('visual'+name_suffix) # node
self.model = self.node.createObject('VisualModel', name='visual'+str(idxVisualModel), fileMesh=filepath, scale3d=concat(scale3d), translation=concat(offset[:3]), rotation=concat(r))
if generatedDir is None:
self.mapping = self.node.createObject('LinearMapping', template='Affine,ExtVec3f', name='mapping')
else:
serialization.importLinearMapping(self.node, generatedDir+"_visualmapping.json")
idxVisualModel+=1
def __init__(self, node, filepath, scale3d, offset, name_suffix=''):
self.node = node.createChild( "collision"+name_suffix ) # node
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.loader = SofaPython.Tools.meshLoader(self.node, filename=filepath, name='loader', scale3d=concat(scale3d), translation=concat(offset[:3]) , rotation=concat(r), triangulate=True)
self.topology = self.node.createObject('MeshTopology', name='topology', src="@loader" )
self.dofs = self.node.createObject('MechanicalObject', name='dofs', template="Vec3"+template_suffix )
self.triangles = self.node.createObject('TriangleModel', name='model')
self.mapping = self.node.createObject('RigidMapping', name="mapping")
self.normals = None
self.visual = None
def __init__(self, node, filepath, scale3d, offset, name_suffix='', generatedDir=None):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.node = node.createChild('collision'+name_suffix) # node
self.loader = SofaPython.Tools.meshLoader(self.node, filename=filepath, name='loader', scale3d=concat(scale3d), translation=concat(offset[:3]) , rotation=concat(r), triangulate=True)
self.topology = self.node.createObject('MeshTopology', name='topology', src='@loader')
self.dofs = self.node.createObject('MechanicalObject', name='dofs', template='Vec3'+template_suffix)
self.triangles = self.node.createObject('TriangleModel', name='model')
if generatedDir is None:
self.mapping = self.node.createObject('LinearMapping', template='Affine,Vec3'+template_suffix, name='mapping')
else:
serialization.importLinearMapping(self.node, generatedDir+"_collisionmapping.json")
self.normals = None
def __init__(self, node, filepath, scale3d, offset):
self.node = node.createChild("visual") # node
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.model = self.node.createObject('VisualModel',
template='ExtVec3f',
name='model',
fileMesh=filepath,
scale3d=concat(scale3d),
translation=concat(offset[:3]),
rotation=concat(r))
self.mapping = self.node.createObject('RigidMapping',
name="mapping")
def loadVisualCylinder(self,
meshPath,
offset=[0, 0, 0, 0, 0, 0, 1],
scale=[1, 1, 1],
color=[1, 1, 1, 1],
radius=0.01,
**kwargs):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.visual = self.node.createObject("OglCylinderModel",
radius=radius,
position="@topology.position",
edges="@topology.edges")
self.normals = self.visual
def __init__(self, node, filepath, scale3d, offset, name_suffix=''):
global idxVisualModel
self.node = node.createChild("visual" + name_suffix) # node
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.model = self.node.createObject('VisualModel',
name="visual" +
str(idxVisualModel),
fileMesh=filepath,
scale3d=concat(scale3d),
translation=concat(offset[:3]),
rotation=concat(r),
useNormals=False,
updateNormals=True)
self.mapping = self.node.createObject('RigidMapping',
name="mapping")
idxVisualModel += 1
def loadMesh(self,
meshPath,
offset=[0, 0, 0, 0, 0, 0, 1],
scale=[1, 1, 1],
triangulate=False):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.meshLoader = SofaPython.Tools.meshLoader(self.node,
meshPath,
translation=concat(
offset[:3]),
rotation=concat(r),
scale3d=concat(scale),
triangulate=triangulate)
self.topology = self.node.createObject("MeshTopology",
name="topology",
src="@" + self.meshLoader.name)
def __init__(self, node, filepath, scale3d, offset):
self.node = node.createChild("collision") # node
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.loader = self.node.createObject("MeshObjLoader",
name='loader',
filename=filepath,
scale3d=concat(scale3d),
translation=concat(
offset[:3]),
rotation=concat(r),
triangulate=1)
self.topology = self.node.createObject('MeshTopology',
name='topology',
src="@loader")
self.dofs = self.node.createObject('MechanicalObject', name='dofs')
self.triangles = self.node.createObject('TriangleModel',
template='Vec3d',
name='model')
self.mapping = self.node.createObject('RigidMapping',
name="mapping")
def loadVisual(self,
meshPath,
offset=[0, 0, 0, 0, 0, 0, 1],
scale=[1, 1, 1],
color=[1, 1, 1, 1],
**kwargs):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.visual = self.node.createObject("VisualModel",
name="model",
filename=meshPath,
translation=concat(offset[:3]),
rotation=concat(r),
scale3d=concat(scale),
color=concat(color),
putOnlyTexCoords=True,
computeTangents=True,
**kwargs)
# self.visual = self.node.createObject("VisualModel", name="model", filename=meshPath, translation=concat(offset[:3]) , rotation=concat(r), scale3d=concat(scale), color=concat(color), **kwargs)
self.visual.setColor(
color[0], color[1], color[2], color[3]
) # the previous assignement fails when reloading a scene..
self.normals = self.visual
def __init__(self, node, filepath, scale3d, offset, name_suffix=''):
self.node = node.createChild("collision" + name_suffix) # node
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.loader = SofaPython.Tools.meshLoader(self.node,
filename=filepath,
name='loader',
scale3d=concat(scale3d),
translation=concat(
offset[:3]),
rotation=concat(r),
triangulate=True)
self.topology = self.node.createObject('MeshTopology',
name='topology',
src="@loader")
self.dofs = self.node.createObject('MechanicalObject',
name='dofs',
template="Vec3" +
template_suffix)
self.triangles = self.node.createObject('TriangleModel',
name='model')
self.mapping = self.node.createObject('RigidMapping',
name="mapping")
self.normals = None
self.visual = None
def addMeshLoader(
self,
meshFile,
value,
insideValue=None,
closingValue=None,
roiIndices=list(),
roiValue=list(),
name=None,
offset=[0, 0, 0, 0, 0, 0, 1],
scale=[1, 1, 1],
):
mesh = Image.Mesh(value, insideValue)
_name = name if not name is None else os.path.splitext(os.path.basename(meshFile))[0]
mesh.mesh = SofaPython.Tools.meshLoader(
self.node,
meshFile,
name="meshLoader_" + _name,
triangulate=True,
translation=concat(offset[:3]),
rotation=concat(Quaternion.to_euler(offset[3:]) * 180.0 / math.pi),
scale3d=concat(scale),
)
self.__addMesh(mesh, closingValue, roiIndices, roiValue, _name)
def addMeshLoader(self, meshFile, value, insideValue=None, closingValue=None, roiIndices=list(), roiValue=list(), name=None, offset = [0,0,0,0,0,0,1], scale=[1,1,1]):
mesh = Image.Mesh(value, insideValue)
_name = name if not name is None else os.path.splitext(os.path.basename(meshFile))[0]
mesh.mesh = SofaPython.Tools.meshLoader(self.node, meshFile, name="meshLoader_"+_name, triangulate=True, translation=concat(offset[:3]) , rotation=concat(Quaternion.to_euler(offset[3:]) * 180.0 / math.pi), scale3d=concat(scale))
self.__addMesh(mesh,closingValue,roiIndices,roiValue,_name)
def loadVisual(self, meshPath, offset = [0,0,0,0,0,0,1], scale=[1,1,1], color=[1,1,1,1],**kwargs):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.visual = self.node.createObject("VisualModel", name="model", filename=meshPath, translation=concat(offset[:3]) , rotation=concat(r), scale3d=concat(scale), color=concat(color), putOnlyTexCoords=True,computeTangents=True,**kwargs)
# self.visual = self.node.createObject("VisualModel", name="model", filename=meshPath, translation=concat(offset[:3]) , rotation=concat(r), scale3d=concat(scale), color=concat(color), **kwargs)
self.visual.setColor(color[0],color[1],color[2],color[3]) # the previous assignement fails when reloading a scene..
self.normals = self.visual
def loadMesh(self, meshPath, offset = [0,0,0,0,0,0,1], scale=[1,1,1], triangulate=False):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.meshLoader = SofaPython.Tools.meshLoader(self.node, meshPath, translation=concat(offset[:3]) , rotation=concat(r), scale3d=concat(scale), triangulate=triangulate)
self.topology = self.node.createObject("MeshTopology", name="topology", src="@"+self.meshLoader.name )
def transformToData(scale,offset,timeOffset=0,timeScale=1,isPerspective=0):
""" Returns a transform, formatted to sofa data given voxelsize, rigid position (offset), time and camera parameters
"""
return concat(offset[:3])+' '+concat(quat.to_euler(offset[3:])*180./math.pi)+' '+concat(scale)+' '+str(timeOffset)+' '+str(timeScale)+' '+str(int(isPerspective))
def loadVisualCylinder(self, meshPath, offset = [0,0,0,0,0,0,1], scale=[1,1,1], color=[1,1,1,1],radius=0.01,**kwargs):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.visual = self.node.createObject("OglCylinderModel", radius=radius, position="@topology.position", edges="@topology.edges" )
self.normals = self.visual
def __init__(self, node, filepath, scale3d, offset):
self.node = node.createChild( "visual" ) # node
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.model = self.node.createObject('VisualModel', template='ExtVec3f', name='model', fileMesh=filepath, scale3d=concat(scale3d), translation=concat(offset[:3]) , rotation=concat(r) )
self.mapping = self.node.createObject('RigidMapping', name="mapping")
