def createInertialFromDictionary(name, inertial):
"""Creates the Blender representation of a given intertial provided a dictionary.
:param name: The intertials name.
:param type: str
:param inertial: The intertial you want to create in blender form.
:type intertial: dict
:return: bpy_types.Object -- the newly created blender inertial object.
"""
# FIXME: this needs work to get rid of duplicate code
bpy.ops.object.select_all(action='DESELECT')
inert = bUtils.createPrimitive('inertial_' + name,
'box', [0.06, 0.06, 0.06],
player='inertial')
inert.select = True
bpy.ops.object.transform_apply(scale=True)
for prop in inertial:
if prop not in ['pose'] and inertial[prop] is not None:
if not prop.startswith('$'):
inert[prop] = inertial[prop]
else:
for tag in inertial[prop]:
inert[prop[1:] + '/' + tag] = inertial[prop][tag]
inert.phobostype = 'inertial'
assignMaterial(inert, 'phobos_inertial')
return inert
def createPrimitive(pname, ptype, psize, player=0, pmaterial=None, plocation=(0, 0, 0),
protation=(0, 0, 0), phobostype=None):
"""Generates the primitive specified by the input parameters
Args:
pname(str): The primitives new name.
ptype(str): The new primitives type. Can be one of *box, sphere, cylinder, cone, disc*
psize(float or list): The new primitives size. Depending on the ptype it can be either a single float or a tuple.
player: The layer bitmask for the new blender object. (Default value = 0)
pmaterial: The new primitives material. (Default value = None)
plocation(tuple, optional): The new primitives location. (Default value = (0)
protation(tuple): The new primitives rotation.
phobostype(str): phobostype of object to be created
0:
Returns:
bpy.types.Object - the new blender object.
"""
# TODO: allow placing on currently active layer?
try:
n_layer = int(player)
except ValueError:
n_layer = defs.layerTypes[player]
players = defLayers([n_layer])
# the layer has to be active to prevent problems with object placement
bpy.context.scene.layers[n_layer] = True
if ptype == "box":
bpy.ops.mesh.primitive_cube_add(layers=players, location=plocation, rotation=protation)
obj = bpy.context.object
obj.dimensions = psize
if ptype == "sphere":
bpy.ops.mesh.primitive_uv_sphere_add(size=psize, layers=players, location=plocation,
rotation=protation)
elif ptype == "cylinder":
bpy.ops.mesh.primitive_cylinder_add(vertices=32, radius=psize[0], depth=psize[1],
layers=players, location=plocation, rotation=protation)
elif ptype == "cone":
bpy.ops.mesh.primitive_cone_add(vertices=32, radius=psize[0], depth=psize[1], cap_end=True,
layers=players, location=plocation, rotation=protation)
elif ptype == 'disc':
bpy.ops.mesh.primitive_circle_add(vertices=psize[1], radius=psize[0], fill_type='TRIFAN',
location=plocation, rotation=protation, layers=players)
bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
obj = bpy.context.object
if phobostype:
obj.phobostype = phobostype
nUtils.safelyName(obj, pname, phobostype)
if pmaterial:
materials.assignMaterial(obj, pmaterial)
return obj
def createPrimitive(pname, ptype, psize, player=0, pmaterial="None", plocation=(0, 0, 0), protation=(0, 0, 0),
verbose=False):
"""Generates the primitive specified by the input parameters
:param pname: The primitives new name.
:type pname: str
:param ptype: The new primitives type. Can be one of *box, sphere, cylinder, cone, disc*
:type ptype: str
:param psize: The new primitives size. Depending on the ptype it can be either a single float or a tuple.
:type psize: float or list
:param player: The layer bitmask for the new blender object.
:param pmaterial: The new primitives material.
:param plocation: The new primitives location.
:type plocation: tuple
:param protation: The new primitives rotation.
:type protation: tuple
:return: bpy.types.Object - the new blender object.
"""
if verbose:
log(ptype + psize, "INFO", "createPrimitive")
try:
# n_layer = bpy.context.scene.active_layer
n_layer = int(player)
except ValueError:
n_layer = defs.layerTypes[player]
players = defLayers([n_layer])
bpy.context.scene.layers[n_layer] = True # the layer has to be active to prevent problems with object placement
if ptype == "box":
bpy.ops.mesh.primitive_cube_add(layers=players, location=plocation, rotation=protation)
obj = bpy.context.object
obj.dimensions = psize
if ptype == "sphere":
bpy.ops.mesh.primitive_uv_sphere_add(size=psize, layers=players, location=plocation, rotation=protation)
elif ptype == "cylinder":
bpy.ops.mesh.primitive_cylinder_add(vertices=32, radius=psize[0], depth=psize[1], layers=players,
location=plocation, rotation=protation)
elif ptype == "cone":
bpy.ops.mesh.primitive_cone_add(vertices=32, radius=psize[0], depth=psize[1], cap_end=True, layers=players,
location=plocation, rotation=protation)
elif ptype == 'disc':
bpy.ops.mesh.primitive_circle_add(vertices=psize[1], radius=psize[0], fill_type='TRIFAN', location=plocation,
rotation=protation, layers=players)
bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
obj = bpy.context.object
obj.name = pname
if pmaterial != 'None':
materials.assignMaterial(obj, pmaterial)
return obj
def createGeometry(viscol, geomsrc):
"""Creates geometrical Blender object for visual or collision objects.
:param viscol: The visual/collision dictionary element you want to create the geometry for.
:type viscol: dict
:param geomsrc: The new viscols phobostype.
:type geomsrc: str
"""
if 'geometry' not in viscol or viscol['geometry'] is {}:
return None
bpy.ops.object.select_all(action='DESELECT')
geom = viscol['geometry']
geomtype = geom['type']
# create the Blender object
if geomtype == 'mesh':
bpy.context.scene.layers = bUtils.defLayers(defs.layerTypes[geomsrc])
meshname = "".join(os.path.basename(geom["filename"]).split(".")[:-1])
if not os.path.isfile(geom['filename']):
log(geom['filename'] + " is no file. Object " + viscol['name'] +
" will have empty mesh!", "ERROR")
bpy.data.meshes.new(meshname)
if meshname in bpy.data.meshes:
log('Assigning copy of existing mesh ' + meshname + ' to ' + viscol['name'], 'INFO')
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.object
newgeom.data = bpy.data.meshes[meshname]
else:
log('Importing mesh for link element ' + viscol['name'], 'INFO')
filetype = geom['filename'].split('.')[-1].lower()
newgeom = meshes.importMesh(geom['filename'], filetype)
newgeom.data.name = meshname
if not newgeom:
log('Failed to import mesh file ' + geom['filename'], 'ERROR')
return
# scale imported object
if 'scale' in geom:
sUtils.selectObjects((newgeom,), clear=True)
newgeom.scale = geom['scale']
else:
if geomtype == 'box':
dimensions = geom['size']
elif geomtype == 'cylinder':
dimensions = (geom['radius'], geom['length'])
elif geomtype == 'sphere':
dimensions = geom['radius']
else:
log("Could not determine geometry type of " + geomsrc + viscol['name']
+ '. Placing empty coordinate system.', "ERROR")
bpy.ops.object.empty_add(type='PLAIN_AXES', radius=0.2)
bpy.context.active_object.name = viscol['name']
return None
log('Creating primtive for obj ' + viscol['name'], 'INFO')
newgeom = bUtils.createPrimitive(viscol['name'], geomtype, dimensions, player=geomsrc)
newgeom.select = True
bpy.ops.object.transform_apply(scale=True)
# from here it's the same for both meshes and primitives
newgeom.phobostype = geomsrc
newgeom['geometry/type'] = geomtype
if geomsrc == 'visual':
try:
if 'name' in viscol['material']:
assignMaterial(newgeom, viscol['material']['name'])
else:
assignMaterial(newgeom, viscol['material'])
except KeyError:
log('No material for obj ' + viscol['name'], 'DEBUG')
# FIXME: place empty coordinate system and return...what? Error handling of file import!
for prop in viscol:
if prop.startswith('$'):
for tag in viscol[prop]:
newgeom[prop[1:]+'/'+tag] = viscol[prop][tag]
newgeom.name = viscol['name']
newgeom[geomsrc+"/name"] = viscol['name']
return newgeom
def createGeometry(viscol, geomsrc, linkobj=None):
"""Creates Blender object for visual or collision objects.
Returns reference to new object or None if creation failed.
Args:
viscol(dict): visual/collision dictionary element
geomsrc(str): new object's phobostype
linkobj(bpy.types.Object): link object
Returns:
bpy.types.Object or None
"""
if 'geometry' not in viscol or viscol['geometry'] is {}:
return None
bpy.ops.object.select_all(action='DESELECT')
geom = viscol['geometry']
# create the Blender object
if geom['type'] == 'mesh':
bpy.context.scene.layers = bUtils.defLayers(defs.layerTypes[geomsrc])
meshname = "".join(os.path.basename(geom["filename"]).split(".")[:-1])
if not os.path.isfile(geom['filename']):
log(geom['filename'] + " is no file. Object " + viscol['name'] + " will have empty mesh!", "ERROR")
#bpy.data.meshes.new(meshname)
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.active_object
nUtils.safelyName(newgeom, viscol['name'], phobostype=geomsrc)
else:
if meshname in bpy.data.meshes:
log('Assigning copy of existing mesh ' + meshname + ' to ' + viscol['name'], 'INFO')
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.object
newgeom.data = bpy.data.meshes[meshname]
else:
log("Importing mesh for {0} element: '{1}".format(geomsrc, viscol['name']), 'INFO')
filetype = geom['filename'].split('.')[-1].lower()
newgeom = meshes.importMesh(geom['filename'], filetype)
newgeom.data.name = meshname
if not newgeom:
log('Failed to import mesh file ' + geom['filename'], 'ERROR')
return
# scale imported object
if 'scale' in geom:
newgeom.scale = geom['scale']
else:
if geom['type'] == 'box':
dimensions = geom['size']
elif geom['type'] == 'cylinder':
dimensions = (geom['radius'], geom['length'])
elif geom['type'] == 'sphere':
dimensions = geom['radius']
else:
log("Unknown geometry type of " + geomsrc + viscol['name']
+ '. Placing empty coordinate system.', "ERROR")
bpy.ops.object.empty_add(type='PLAIN_AXES', radius=0.2)
obj = bpy.context.object
obj.phobostype = geomsrc
nUtils.safelyName(bpy.context.active_object, viscol['name'], phobostype=geomsrc)
return None
log('Creating primtive for {0}: {1}'.format(geomsrc, viscol['name']), 'INFO')
newgeom = bUtils.createPrimitive(viscol['name'], geom['type'], dimensions, phobostype=geomsrc)
newgeom.select = True
bpy.ops.object.transform_apply(scale=True)
# from here it's the same for both meshes and primitives
newgeom['geometry/type'] = geom['type']
if geomsrc == 'visual':
try:
assignMaterial(newgeom, viscol['material'])
except KeyError:
log('No material for visual ' + viscol['name'], 'DEBUG')
for prop in viscol:
if prop.startswith('$'):
for tag in viscol[prop]:
newgeom[prop[1:]+'/'+tag] = viscol[prop][tag]
nUtils.safelyName(newgeom, viscol['name'])
newgeom[geomsrc+"/name"] = viscol['name']
newgeom.phobostype = geomsrc
# place geometric object relative to its parent link
if linkobj:
if 'pose' in viscol:
log('Setting transformation of element: ' + viscol['name'], 'DEBUG')
location = mathutils.Matrix.Translation(viscol['pose']['translation'])
rotation = mathutils.Euler(tuple(viscol['pose']['rotation_euler']), 'XYZ').to_matrix().to_4x4()
else:
log('No pose in element: ' + viscol['name'], 'DEBUG')
location = mathutils.Matrix.Identity(4)
rotation = mathutils.Matrix.Identity(4)
sUtils.selectObjects([newgeom, linkobj], True, 1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
newgeom.matrix_local = location * rotation
if 'scale' in viscol['geometry']:
newgeom.scale = mathutils.Vector(viscol['geometry']['scale'])
return newgeom
def createGeometry(viscol, geomsrc, linkobj=None):
"""Creates Blender object for visual or collision objects.
If the creation fails, nothing is returned.
These entries in the dictionary are mandatory:
| **geometry**:
| **type**: type of geometry (mesh, box, cylinder, sphere)
Depending on the geometry type other values are required: `size`, `radius`, `length`
These entries are optional:
| **geometry**:
| **scale**: scale for the new geometry
| **material**: material name to assign to the visual
| **pose**: specifies the placement of the new object relative to the optional linkobj
| **translation**: position vector for the new object
| **rotation_euler**: rotation for the new object
Furthermore any generic properties, prepended by a ``$`` will be added as custom properties to
the visual/collision object. E.g. ``$test/etc`` would be put to visual/test/etc for a visual
object. However, these properties are extracted only in the first layer of hierarchy.
Args:
viscol(dict): visual/collision model dictionary representation
geomsrc(str): phobostype of the new object
linkobj(bpy.types.Object, optional): link object to attach the visual/collision object to
(Default value = None)
Returns:
bpy.types.Object or None: the new geometry object or nothing
"""
if 'geometry' not in viscol or viscol['geometry'] is {}:
log("Could not create {}. Geometry information not defined!".format(geomsrc), 'ERROR')
return None
bpy.ops.object.select_all(action='DESELECT')
geom = viscol['geometry']
# create the Blender object
if geom['type'] == 'mesh':
bpy.context.scene.layers = bUtils.defLayers(defs.layerTypes[geomsrc])
meshname = "".join(os.path.basename(geom["filename"]).split(".")[:-1])
if not os.path.isfile(geom['filename']):
log(
"This path "
+ geom['filename']
+ " is no file. Object "
+ viscol['name']
+ " will have empty mesh!",
'ERROR',
)
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.active_object
nUtils.safelyName(newgeom, viscol['name'], phobostype=geomsrc)
else:
if meshname in bpy.data.meshes:
log('Assigning copy of existing mesh ' + meshname + ' to ' + viscol['name'], 'INFO')
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.object
newgeom.data = bpy.data.meshes[meshname]
else:
log("Importing mesh for {0} element: '{1}".format(geomsrc, viscol['name']), 'INFO')
filetype = geom['filename'].split('.')[-1].lower()
newgeom = meshes.importMesh(geom['filename'], filetype)
# bpy.data.meshes[newgeom].name = meshname
if not newgeom:
log('Failed to import mesh file ' + geom['filename'], 'ERROR')
return
else:
if geom['type'] == 'box':
dimensions = geom['size']
elif geom['type'] == 'cylinder':
dimensions = (geom['radius'], geom['length'])
elif geom['type'] == 'sphere':
dimensions = geom['radius']
# TODO add support for heightmap, image, plane and polyline geometries (see sdf!)
else:
log(
"Unknown geometry type of "
+ geomsrc
+ viscol['name']
+ '. Placing empty coordinate system.',
"ERROR",
)
bpy.ops.object.empty_add(type='PLAIN_AXES', radius=0.2)
obj = bpy.context.object
obj.phobostype = geomsrc
nUtils.safelyName(bpy.context.active_object, viscol['name'], phobostype=geomsrc)
return None
log("Creating primtive for {0}: {1}".format(geomsrc, viscol['name']), 'INFO')
newgeom = bUtils.createPrimitive(
viscol['name'], geom['type'], dimensions, phobostype=geomsrc
)
newgeom.select = True
bpy.ops.object.transform_apply(scale=True)
# from here it's the same for both meshes and primitives
newgeom['geometry/type'] = geom['type']
if geomsrc == 'visual':
if 'material' in viscol:
assignMaterial(newgeom, viscol['material'])
else:
log('No material for visual {}.'.format(viscol['name']), 'WARNING')
# write generic custom properties
for prop in viscol:
if prop.startswith('$'):
for tag in viscol[prop]:
newgeom[prop[1:] + '/' + tag] = viscol[prop][tag]
nUtils.safelyName(newgeom, viscol['name'])
newgeom[geomsrc + '/name'] = viscol['name']
newgeom.phobostype = geomsrc
# place geometric object relative to its parent link
if linkobj:
if 'pose' in viscol:
log("Setting transformation of element: " + viscol['name'], 'DEBUG')
location = mathutils.Matrix.Translation(viscol['pose']['translation'])
rotation = (
mathutils.Euler(tuple(viscol['pose']['rotation_euler']), 'XYZ').to_matrix().to_4x4()
)
else:
log("No pose in element: " + viscol['name'], 'DEBUG')
location = mathutils.Matrix.Identity(4)
rotation = mathutils.Matrix.Identity(4)
eUtils.parentObjectsTo(newgeom, linkobj)
newgeom.matrix_local = location * rotation
# scale imported object
if 'scale' in geom:
newgeom.scale = geom['scale']
# make object smooth
eUtils.smoothen_surface(newgeom)
return newgeom
def createGeometry(viscol, geomsrc, linkobj=None):
"""Creates Blender object for visual or collision objects.
If the creation fails, nothing is returned.
These entries in the dictionary are mandatory:
| **geometry**:
| **type**: type of geometry (mesh, box, cylinder, sphere)
Depending on the geometry type other values are required: `size`, `radius`, `length`
These entries are optional:
| **geometry**:
| **scale**: scale for the new geometry
| **material**: material name to assign to the visual
| **pose**: specifies the placement of the new object relative to the optional linkobj
| **translation**: position vector for the new object
| **rotation_euler**: rotation for the new object
Furthermore any generic properties, prepended by a ``$`` will be added as custom properties to
the visual/collision object. E.g. ``$test/etc`` would be put to visual/test/etc for a visual
object. However, these properties are extracted only in the first layer of hierarchy.
Args:
viscol(dict): visual/collision model dictionary representation
geomsrc(str): phobostype of the new object
linkobj(bpy.types.Object, optional): link object to attach the visual/collision object to
(Default value = None)
Returns:
bpy.types.Object or None: the new geometry object or nothing
"""
if 'geometry' not in viscol or viscol['geometry'] is {}:
log("Could not create {}. Geometry information not defined!".format(geomsrc), 'ERROR')
return None
bpy.ops.object.select_all(action='DESELECT')
geom = viscol['geometry']
# create the Blender object
if geom['type'] == 'mesh':
bpy.context.scene.layers = bUtils.defLayers(defs.layerTypes[geomsrc])
meshname = "".join(os.path.basename(geom["filename"]).split(".")[:-1])
if not os.path.isfile(geom['filename']):
log(
"This path "
+ geom['filename']
+ " is no file. Object "
+ viscol['name']
+ " will have empty mesh!",
'ERROR',
)
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.active_object
nUtils.safelyName(newgeom, viscol['name'], phobostype=geomsrc)
else:
if meshname in bpy.data.meshes:
log('Assigning copy of existing mesh ' + meshname + ' to ' + viscol['name'], 'INFO')
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.object
newgeom.data = bpy.data.meshes[meshname]
else:
log("Importing mesh for {0} element: '{1}".format(geomsrc, viscol['name']), 'INFO')
filetype = geom['filename'].split('.')[-1].lower()
newgeom = meshes.importMesh(geom['filename'], filetype)
# bpy.data.meshes[newgeom].name = meshname
if not newgeom:
log('Failed to import mesh file ' + geom['filename'], 'ERROR')
return
else:
if geom['type'] == 'box':
dimensions = geom['size']
elif geom['type'] == 'cylinder':
dimensions = (geom['radius'], geom['length'])
elif geom['type'] == 'sphere':
dimensions = geom['radius']
# TODO add support for heightmap, image, plane and polyline geometries (see sdf!)
else:
log(
"Unknown geometry type of "
+ geomsrc
+ viscol['name']
+ '. Placing empty coordinate system.',
"ERROR",
)
bpy.ops.object.empty_add(type='PLAIN_AXES', radius=0.2)
obj = bpy.context.object
obj.phobostype = geomsrc
nUtils.safelyName(bpy.context.active_object, viscol['name'], phobostype=geomsrc)
return None
log("Creating primtive for {0}: {1}".format(geomsrc, viscol['name']), 'INFO')
newgeom = bUtils.createPrimitive(
viscol['name'], geom['type'], dimensions, phobostype=geomsrc
)
newgeom.select = True
bpy.ops.object.transform_apply(scale=True)
# from here it's the same for both meshes and primitives
newgeom['geometry/type'] = geom['type']
if geomsrc == 'visual':
if 'material' in viscol:
assignMaterial(newgeom, viscol['material'])
else:
log('No material for visual {}.'.format(viscol['name']), 'WARNING')
# write generic custom properties
for prop in viscol:
if prop.startswith('$'):
for tag in viscol[prop]:
newgeom[prop[1:] + '/' + tag] = viscol[prop][tag]
nUtils.safelyName(newgeom, viscol['name'])
newgeom[geomsrc + '/name'] = viscol['name']
newgeom.phobostype = geomsrc
# place geometric object relative to its parent link
if linkobj:
if 'pose' in viscol:
log("Setting transformation of element: " + viscol['name'], 'DEBUG')
location = mathutils.Matrix.Translation(viscol['pose']['translation'])
rotation = (
mathutils.Euler(tuple(viscol['pose']['rotation_euler']), 'XYZ').to_matrix().to_4x4()
)
else:
log("No pose in element: " + viscol['name'], 'DEBUG')
location = mathutils.Matrix.Identity(4)
rotation = mathutils.Matrix.Identity(4)
eUtils.parentObjectsTo(newgeom, linkobj)
newgeom.matrix_local = location * rotation
# scale imported object
if 'scale' in geom:
newgeom.scale = geom['scale']
# make object smooth
eUtils.smoothen_surface(newgeom)
return newgeom
def createPrimitive(
pname,
ptype,
psize,
player=0,
pmaterial=None,
plocation=(0, 0, 0),
protation=(0, 0, 0),
phobostype=None,
):
"""Generates the primitive specified by the input parameters
Args:
pname(str): The primitives new name.
ptype(str): The new primitives type. Can be one of *box, sphere, cylinder, cone, disc*
psize(float or list): The new primitives size. Depending on the ptype it can be either a single float or a tuple.
player: The layer bitmask for the new blender object. (Default value = 0)
pmaterial: The new primitives material. (Default value = None)
plocation(tuple, optional): The new primitives location. (Default value = (0)
protation(tuple, optional): The new primitives rotation. (Default value = (0)
phobostype(str, optional): phobostype of object to be created (Default value = None)
0:
0):
Returns:
: bpy.types.Object - the new blender object.
"""
# TODO: allow placing on currently active layer?
try:
n_layer = int(player)
except ValueError:
n_layer = defs.layerTypes[player]
players = defLayers([n_layer])
# the layer has to be active to prevent problems with object placement
bpy.context.scene.layers[n_layer] = True
if ptype == "box":
bpy.ops.mesh.primitive_cube_add(layers=players, location=plocation, rotation=protation)
obj = bpy.context.object
obj.dimensions = psize
elif ptype == "sphere":
bpy.ops.mesh.primitive_uv_sphere_add(
size=psize, layers=players, location=plocation, rotation=protation
)
elif ptype == "cylinder":
bpy.ops.mesh.primitive_cylinder_add(
vertices=32,
radius=psize[0],
depth=psize[1],
layers=players,
location=plocation,
rotation=protation,
end_fill_type='TRIFAN',
)
elif ptype == "cone":
bpy.ops.mesh.primitive_cone_add(
vertices=32,
radius=psize[0],
depth=psize[1],
cap_end=True,
layers=players,
location=plocation,
rotation=protation,
end_fill_type='TRIFAN',
)
elif ptype == 'disc':
bpy.ops.mesh.primitive_circle_add(
vertices=psize[1],
radius=psize[0],
fill_type='TRIFAN',
location=plocation,
rotation=protation,
layers=players,
)
elif ptype == 'ico':
bpy.ops.mesh.primitive_ico_sphere_add(
size=psize, layers=players, location=plocation, rotation=protation
)
else:
log("Primitive type not found: " + ptype + ". Adding default cube instead.", 'WARNING')
bpy.ops.mesh.primitive_cube_add(layers=players, location=plocation, rotation=protation)
obj = bpy.context.object
obj.dimensions = psize
bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
obj = bpy.context.object
if phobostype:
obj.phobostype = phobostype
nUtils.safelyName(obj, pname, phobostype)
if pmaterial:
materials.assignMaterial(obj, pmaterial)
return obj
def createGeometry(viscol, geomsrc):
"""Creates geometrical Blender object for visual or collision objects.
:param viscol: The visual/collision dictionary element you want to create the geometry for.
:type viscol: dict
:param geomsrc: The new viscols phobostype.
:type geomsrc: str
"""
if 'geometry' not in viscol or viscol['geometry'] is {}:
return None
newgeom = None
bpy.ops.object.select_all(action='DESELECT')
geom = viscol['geometry']
geomtype = geom['type']
# create the Blender object
if geomtype == 'mesh':
# if hasattr(self, 'zipped') and self.zipped:
# if not os.path.isdir(os.path.join(self.tmp_path, tmp_dir_name)):
# os.mkdir(os.path.join(self.tmp_path, tmp_dir_name))
# archive = zipfile.ZipFile(self.filepath)
# archive.extract(geom['filename'], path=os.path.join(self.tmp_path, tmp_dir_name))
# geom_path = os.path.join(os.path.abspath(os.path.join(self.tmp_path, tmp_dir_name)), geom['filename'])
# else:
if 'sourcefilepath' in geom:
geom_path = os.path.normpath(
os.path.join(os.path.dirname(geom['sourcefilepath']),
geom['filename']))
log('sourcefilepath: ' + geom_path, 'DEBUG', 'createGeometry')
else:
geom_path = geom['filename']
# Remove 'urdf/package://{package_name}' to workaround the lack
# of rospack here. This supposes that the urdf file is in the
# urdf folder and that the meshes are in the meshes folder at
# the same level as the urdf folder.
if 'package://' in geom_path:
geom_path = re.sub(r'(.*)urdf/package://([^/]+)/(.*)', '\\1\\3',
geom_path)
bpy.context.scene.layers = bUtils.defLayers(defs.layerTypes[geomsrc])
meshname = "".join(os.path.basename(geom["filename"]).split(".")[:-1])
if not os.path.isfile(geom_path):
log(
geom_path + " is no file. Object " + viscol['name'] +
" will have empty mesh!", "ERROR", "createGeometry")
bpy.data.meshes.new(meshname)
if meshname in bpy.data.meshes:
log(
'Assigning copy of existing mesh ' + meshname + ' to ' +
viscol['name'], 'INFO', 'createGeometry')
bpy.ops.object.add(type='MESH')
newgeom = bpy.context.object
newgeom.data = bpy.data.meshes[meshname]
else:
log('Importing mesh for link element ' + viscol['name'], 'INFO',
'createGeometry')
filetype = geom['filename'].split('.')[-1].lower()
newgeom = meshes.importMesh(geom_path, filetype)
newgeom.data.name = meshname
if not newgeom:
log('Failed to import mesh file ' + geom['filename'], 'ERROR',
'createGeometry')
return
# scale imported object
if 'scale' in geom:
sUtils.selectObjects((newgeom, ), clear=True)
newgeom.scale = geom['scale']
else:
if geomtype == 'box':
dimensions = geom['size']
elif geomtype == 'cylinder':
dimensions = (geom['radius'], geom['length'])
elif geomtype == 'sphere':
dimensions = geom['radius']
else:
log(
"Could not determine geometry type of " + geomsrc +
viscol['name'] + '. Placing empty coordinate system.', "ERROR")
bpy.ops.object.empty_add(type='PLAIN_AXES', radius=0.2)
bpy.context.active_object.name = viscol['name']
return None
log('Creating primitve for obj ' + viscol['name'], 'INFO',
'createGeometry')
newgeom = bUtils.createPrimitive(viscol['name'],
geomtype,
dimensions,
player=geomsrc)
newgeom.select = True
bpy.ops.object.transform_apply(scale=True)
# from here it's the same for both meshes and primitives
newgeom.phobostype = geomsrc
newgeom['geometry/type'] = geomtype
if geomsrc == 'visual':
try:
if 'name' in viscol['material']:
assignMaterial(newgeom, viscol['material']['name'])
else:
assignMaterial(newgeom, viscol['material'])
except KeyError:
log('No material for obj', viscol['name'], 'DEBUG',
'createGeometry')
#FIXME: place empty coordinate system and return...what? Error handling of file import!
for prop in viscol:
if prop.startswith('$'):
for tag in viscol[prop]:
newgeom[prop[1:] + '/' + tag] = viscol[prop][tag]
newgeom.name = viscol['name']
newgeom[geomsrc + "/name"] = viscol['name']
return newgeom
