class StaticGeometricModel(object):
"""
load an object as a static geometric model -> changing pos, rot, color, etc. are not allowed
there is no extra elements for this model, thus is much faster
author: weiwei
date: 20190312
"""
def __init__(self,
initor=None,
name="defaultname",
btransparency=True,
btwosided=False):
"""
:param initor: path type defined by os.path or trimesh or nodepath
:param btransparency
:param name
"""
if isinstance(initor, StaticGeometricModel):
self._objpath = copy.deepcopy(initor.objpath)
self._objtrm = copy.deepcopy(initor.objtrm)
self._objpdnp = copy.deepcopy(initor.objpdnp)
self._name = copy.deepcopy(initor.name)
self._localframe = copy.deepcopy(initor.localframe)
else:
# make a grandma nodepath to separate decorations (-autoshader) and raw nodepath (+autoshader)
self._name = name
self._objpdnp = NodePath(name)
if isinstance(initor, str):
self._objpath = initor
self._objtrm = da.trm.load(self._objpath)
objpdnp_raw = da.trimesh_to_nodepath(self._objtrm,
name='pdnp_raw')
objpdnp_raw.reparentTo(self._objpdnp)
elif isinstance(initor, da.trm.Trimesh):
self._objpath = None
self._objtrm = initor
objpdnp_raw = da.trimesh_to_nodepath(self._objtrm)
objpdnp_raw.reparentTo(self._objpdnp)
elif isinstance(initor, o3d.geometry.PointCloud
): # TODO should pointcloud be pdnp or pdnp_raw
self._objpath = None
self._objtrm = da.trm.Trimesh(np.asarray(initor.points))
objpdnp_raw = da.nodepath_from_points(self._objtrm.vertices,
name='pdnp_raw')
objpdnp_raw.reparentTo(self._objpdnp)
elif isinstance(
initor,
np.ndarray): # TODO should pointcloud be pdnp or pdnp_raw
self._objpath = None
if initor.shape[1] == 3:
self._objtrm = da.trm.Trimesh(initor)
objpdnp_raw = da.nodepath_from_points(
self._objtrm.vertices)
elif initor.shape[1] == 7:
self._objtrm = da.trm.Trimesh(initor[:, :3])
objpdnp_raw = da.nodepath_from_points(
self._objtrm.vertices, initor[:, 3:].tolist())
objpdnp_raw.setRenderMode(RenderModeAttrib.MPoint, 3)
else:
# TODO depth UV?
raise NotImplementedError
objpdnp_raw.reparentTo(self._objpdnp)
elif isinstance(initor, o3d.geometry.TriangleMesh):
self._objpath = None
self._objtrm = da.trm.Trimesh(
vertices=initor.vertices,
faces=initor.triangles,
face_normals=initor.triangle_normals)
objpdnp_raw = da.trimesh_to_nodepath(self._objtrm,
name='pdnp_raw')
objpdnp_raw.reparentTo(self._objpdnp)
elif isinstance(initor, NodePath):
self._objpath = None
self._objtrm = None # TODO nodepath to trimesh?
objpdnp_raw = initor
objpdnp_raw.reparentTo(self._objpdnp)
else:
self._objpath = None
self._objtrm = None
objpdnp_raw = NodePath("pdnp_raw")
objpdnp_raw.reparentTo(self._objpdnp)
if btransparency:
self._objpdnp.setTransparency(TransparencyAttrib.MDual)
if btwosided:
self._objpdnp.getChild(0).setTwoSided(True)
self._localframe = None
@property
def name(self):
# read-only property
return self._name
@property
def objpath(self):
# read-only property
return self._objpath
@property
def objpdnp(self):
# read-only property
return self._objpdnp
@property
def objpdnp_raw(self):
# read-only property
return self._objpdnp.getChild(0)
@property
def objtrm(self):
# read-only property
# 20210328 comment out, allow None
# if self._objtrm is None:
# raise ValueError("Only applicable to models with a trimesh!")
return self._objtrm
@property
def localframe(self):
# read-only property
return self._localframe
@property
def volume(self):
# read-only property
if self._objtrm is None:
raise ValueError("Only applicable to models with a trimesh!")
return self._objtrm.volume
def set_rgba(self, rgba):
self._objpdnp.setColor(rgba[0], rgba[1], rgba[2], rgba[3])
def get_rgba(self):
return da.pdv4_to_npv4(
self._objpdnp.getColor()) # panda3d.core.LColor -> LBase4F
def clear_rgba(self):
self._objpdnp.clearColor()
def set_scale(self, scale=[1, 1, 1]):
self._objpdnp.setScale(scale[0], scale[1], scale[2])
self._objtrm.apply_scale(scale)
def get_scale(self):
return da.pdv3_to_npv3(self._objpdnp.getScale())
def set_vert_size(self, size=.005):
self.objpdnp_raw.setRenderModeThickness(size * 1000)
def attach_to(self, obj):
if isinstance(obj, ShowBase):
# for rendering to base.render
self._objpdnp.reparentTo(obj.render)
elif isinstance(obj, StaticGeometricModel
): # prepared for decorations like local frames
self._objpdnp.reparentTo(obj.objpdnp)
elif isinstance(obj, mc.ModelCollection):
obj.add_gm(self)
else:
print(
"Must be ShowBase, modeling.StaticGeometricModel, GeometricModel, CollisionModel, or CollisionModelCollection!"
)
def detach(self):
self._objpdnp.detachNode()
def remove(self):
self._objpdnp.removeNode()
def show_localframe(self):
self._localframe = gen_frame()
self._localframe.attach_to(self)
def unshow_localframe(self):
if self._localframe is not None:
self._localframe.remove()
self._localframe = None
def copy(self):
return copy.deepcopy(self)
