def pandageom_from_vfnf(vertices, face_normals, triangles, name='auto'):
"""
:param vertices: nx3 nparray, each row is vertex
:param face_normals: nx3 nparray, each row is the normal of a face
:param triangles: nx3 nparray, each row is three idx to the vertices
:param name:
:return: a geom model that is ready to be used to define a nodepath
author: weiwei
date: 20160613, 20210109
"""
# expand vertices to let each triangle refer to a different vert+normal
# vertices and normals
vertformat = GeomVertexFormat.getV3n3()
vertexdata = GeomVertexData(name, vertformat, Geom.UHStatic)
vertids = triangles.flatten()
multiplied_verticies = np.empty((len(vertids), 3), dtype=np.float32)
multiplied_verticies[:] = vertices[vertids]
vertex_normals = np.repeat(face_normals.astype(np.float32),
repeats=3,
axis=0)
npstr = np.hstack((multiplied_verticies, vertex_normals)).tobytes()
vertexdata.modifyArrayHandle(0).setData(npstr)
# triangles
primitive = GeomTriangles(Geom.UHStatic)
primitive.setIndexType(GeomEnums.NTUint32)
multiplied_triangles = np.arange(len(vertids),
dtype=np.uint32).reshape(-1, 3)
primitive.modifyVertices(-1).modifyHandle().setData(
multiplied_triangles.tobytes())
# make geom
geom = Geom(vertexdata)
geom.addPrimitive(primitive)
return geom
def pandageom_from_points(vertices, rgba_list=None, name=''):
"""
pack the vertices into a panda3d point cloud geom
:param vertices:
:param rgba_list: a list with a single 1x4 nparray or with len(vertices) 1x4 nparray
:param name:
:return:
author: weiwei
date: 20170328, 20210116
"""
if rgba_list is None:
# default
vertex_rgbas = np.array([[0, 0, 0, 255]] * len(vertices),
dtype=np.uint8)
elif type(rgba_list) is not list:
raise Exception('rgba\_list must be a list!')
elif len(rgba_list) == 1:
vertex_rgbas = np.tile((np.array(rgba_list[0]) * 255).astype(np.uint8),
(len(vertices), 1))
elif len(rgba_list) == len(vertices):
vertex_rgbas = (np.array(rgba_list) * 255).astype(np.uint8)
else:
raise ValueError(
'rgba_list must be a list of one or len(vertices) 1x4 nparray!')
vertformat = GeomVertexFormat()
arrayformat = GeomVertexArrayFormat()
arrayformat.addColumn(InternalName.getVertex(), 3, GeomEnums.NTFloat32,
GeomEnums.CPoint)
vertformat.addArray(arrayformat)
arrayformat = GeomVertexArrayFormat()
arrayformat.addColumn(InternalName.getColor(), 4, GeomEnums.NTUint8,
GeomEnums.CColor)
vertformat.addArray(arrayformat)
vertformat = GeomVertexFormat.registerFormat(vertformat)
vertexdata = GeomVertexData(name, vertformat, Geom.UHStatic)
vertexdata.modifyArrayHandle(0).copyDataFrom(
np.ascontiguousarray(vertices, dtype=np.float32))
vertexdata.modifyArrayHandle(1).copyDataFrom(vertex_rgbas)
primitive = GeomPoints(Geom.UHStatic)
primitive.setIndexType(GeomEnums.NTUint32)
primitive.modifyVertices(-1).modifyHandle().copyDataFrom(
np.arange(len(vertices), dtype=np.uint32))
geom = Geom(vertexdata)
geom.addPrimitive(primitive)
return geom
def pandageom_from_points(vertices, rgba=None, name=''):
"""
pack the vertices into a panda3d point cloud geom
:param vertices:
:param rgba: rgba color for each vertex, can be list or nparray (rgb is also acceptable)
:param name:
:return:
author: weiwei
date: 20170328, 20210116, 20220721
"""
if rgba is None:
# default
vertex_rgbas = np.asarray([[0, 0, 0, 255]] * len(vertices),
dtype=np.uint8)
if isinstance(rgba, list):
rgba = np.array(rgba)
if not isinstance(rgba, np.array):
raise ValueError('rgba must be a list or an nparray!')
if len(rgba) == 1:
vertex_rgbas = np.tile((rgba * 255).astype(np.uint8),
(len(vertices), 1))
elif len(rgba) == len(vertices):
vertex_rgbas = (rgba * 255).astype(np.uint8)
n_color_bit = rgba.shape[1]
vertformat = GeomVertexFormat()
arrayformat = GeomVertexArrayFormat()
arrayformat.addColumn(InternalName.getVertex(), 3, GeomEnums.NTFloat32,
GeomEnums.CPoint)
vertformat.addArray(arrayformat)
arrayformat = GeomVertexArrayFormat()
arrayformat.addColumn(InternalName.getColor(), n_color_bit,
GeomEnums.NTUint8, GeomEnums.CColor)
vertformat.addArray(arrayformat)
vertformat = GeomVertexFormat.registerFormat(vertformat)
vertexdata = GeomVertexData(name, vertformat, Geom.UHStatic)
vertexdata.modifyArrayHandle(0).copyDataFrom(
np.ascontiguousarray(vertices, dtype=np.float32))
vertexdata.modifyArrayHandle(1).copyDataFrom(vertex_rgbas)
primitive = GeomPoints(Geom.UHStatic)
primitive.setIndexType(GeomEnums.NTUint32)
primitive.modifyVertices(-1).modifyHandle().copyDataFrom(
np.arange(len(vertices), dtype=np.uint32))
geom = Geom(vertexdata)
geom.addPrimitive(primitive)
return geom
def pandageom_from_vvnf(vertices, vertex_normals, triangles, name=''):
"""
use environment.collisionmodel instead, vvnf = vertices, vertex normals, faces
pack the vertices, vertice normals and triangles into a panda3d geom
:param vertices: nx3 nparray, each row is a vertex
:param vertex_normals: nx3 nparray, each row is the normal of a vertex
:param triangles: nx3 nparray, each row is three idx to the vertices
:param name:
:return:
author: weiwei
date: 20171219, 20210901
"""
vertformat = GeomVertexFormat.getV3n3()
vertexdata = GeomVertexData(name, vertformat, Geom.UHStatic)
vertexdata.modifyArrayHandle(0).setData(
np.hstack((vertices, vertex_normals)).astype(np.float32).tobytes())
primitive = GeomTriangles(Geom.UHStatic)
primitive.setIndexType(GeomEnums.NTUint32)
primitive.modifyVertices(-1).modifyHandle().setData(
triangles.astype(np.uint32).tobytes())
# make geom
geom = Geom(vertexdata)
geom.addPrimitive(primitive)
return geom
def create_geometry_from_mesh(mesh):
# Define the individual array formats for vertex attributes.
vertex_position_format = GeomVertexArrayFormat("vertex", 3,
Geom.NT_float32,
Geom.C_point)
vertex_normal_format = GeomVertexArrayFormat("normal", 3, Geom.NT_float32,
Geom.C_normal)
vertex_color_format = GeomVertexArrayFormat("color", 4, Geom.NT_uint8,
Geom.C_color)
# Define the vertex data format with positions and colors.
vertex_format = GeomVertexFormat()
vertex_format.addArray(vertex_position_format)
vertex_format.addArray(vertex_normal_format)
vertex_format.addArray(vertex_color_format)
vertex_format = GeomVertexFormat.registerFormat(vertex_format)
# Populate the vertex position and color arrays.
vertex_data = GeomVertexData("mesh_vertices", vertex_format,
Geom.UH_static)
vertex_data.modifyArrayHandle(0).copyDataFrom(
np.array(mesh.positions, dtype=np.float32))
vertex_data.modifyArrayHandle(1).copyDataFrom(
np.array(mesh.normals, dtype=np.float32))
vertex_data.modifyArrayHandle(2).copyDataFrom(
np.array(mesh.colors, dtype=np.uint8))
# Populate the triangle indices.
triangles = GeomTriangles(Geom.UH_static)
triangles.setIndexType(Geom.NT_uint32)
triangles.modifyVertices().modifyHandle().copyDataFrom(
np.array(mesh.triangles, dtype=np.uint32))
geometry = Geom(vertex_data)
geometry.add_primitive(triangles)
return geometry