def execute(self, context):
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
if bpy.data.images[activeModelPoseIndex].name in modelsPosesColl.keys(
):
activeModelPose = modelsPosesColl[
bpy.data.images[activeModelPoseIndex].name]
if activeModelPose.type != "robot_name":
# show on view_3d
root = None
if context.scene.objects.active != None:
root = sUtils.getRoot(context.scene.objects.active)
if not bpy.context.scene.preview_visible and \
(bpy.data.images[activeModelPoseIndex].type == 'IMAGE') and \
(root is None or not sUtils.isRoot(root) or not (modelsPosesColl[bpy.data.images[activeModelPoseIndex].name] != root["modelname"]) or len(bpy.context.selected_objects) == 0):
bpy.ops.view3d.draw_preview_operator()
bpy.context.scene.preview_visible = True
else:
activeModelPose.hide = not activeModelPose.hide
if activeModelPose.hide:
activeModelPose.icon = "RIGHTARROW"
else:
activeModelPose.icon = "DOWNARROW_HLT"
for modelPose in modelsPosesColl:
if (modelPose.type != "robot_name") and (
modelPose.parent == activeModelPose.name):
modelPose.hide = activeModelPose.hide
return {'FINISHED'}
def poll(self, context):
"""
Args:
context:
Returns:
"""
result = False
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
root = None
# TODO delete me?
# print("modelfile: ("+modelsPosesColl[bpy.data.images[activeModelPoseIndex].name].model_file+")")
if context.scene.objects.active != None:
root = sUtils.getRoot(context.scene.objects.active)
try:
if (
not root
or not sUtils.isRoot(root)
or bpy.data.images[activeModelPoseIndex].name in modelsPosesColl.keys()
and modelsPosesColl[bpy.data.images[activeModelPoseIndex].name].model_file != ''
and len(bpy.context.selected_objects) == 0
or modelsPosesColl[bpy.data.images[activeModelPoseIndex].name].robot_name
!= root["model/name"]
):
result = True
except KeyError:
result = False
return result
def poll(self, context):
"""
Args:
context:
Returns:
"""
result = False
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
root = None
# TODO delete me?
# print("modelfile: ("+modelsPosesColl[bpy.data.images[activeModelPoseIndex].name].model_file+")")
if context.view_layer.objects.active != None:
root = sUtils.getRoot(context.view_layer.objects.active)
try:
if (not root or not sUtils.isRoot(root)
or bpy.data.images[activeModelPoseIndex].name
in modelsPosesColl.keys()
and modelsPosesColl[bpy.data.images[activeModelPoseIndex].
name].model_file != ''
and len(bpy.context.selected_objects) == 0
or modelsPosesColl[bpy.data.images[activeModelPoseIndex].
name].robot_name != root["model/name"]):
result = True
except KeyError:
result = False
return result
def poll(self, context):
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
return (context.selected_objects and context.active_object and sUtils.isRoot(context.active_object) and
bpy.data.images[activeModelPoseIndex].name in modelsPosesColl.keys() and
modelsPosesColl[bpy.data.images[activeModelPoseIndex].name].robot_name == context.active_object['modelname'] and
modelsPosesColl[bpy.data.images[activeModelPoseIndex].name].type == 'robot_pose')
def poll(self, context):
modelsPosesColl = bpy.context.user_preferences.addons[
"phobos"].preferences.models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
root = sUtils.isRoot(context.scene.objects.active)
return root and bpy.data.images[
activeModelPoseIndex].name in modelsPosesColl.keys()
def poll(self, context):
"""
Args:
context:
Returns:
"""
return (bpy.context.selected_objects and context.active_object
and sUtils.isRoot(context.active_object))
def poll(self, context):
result = False
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
root = sUtils.isRoot(context.scene.objects.active)
if root and \
(bpy.data.images[activeModelPoseIndex].name in modelsPosesColl.keys()) and \
(modelsPosesColl[bpy.data.images[activeModelPoseIndex].name].robot_name == root["modelname"]) and \
(modelsPosesColl[bpy.data.images[activeModelPoseIndex].name].type == 'robot_pose'):
result = True
return result
def poll(self, context):
"""
Args:
context:
Returns:
"""
return (
bpy.context.selected_objects
and context.active_object
and sUtils.isRoot(context.active_object)
)
def execute(self, context):
"""
Args:
context:
Returns:
"""
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
if bpy.data.images[activeModelPoseIndex].name in modelsPosesColl.keys():
activeModelPose = modelsPosesColl[bpy.data.images[activeModelPoseIndex].name]
if activeModelPose.type != "robot_name":
# show on view_3d
root = None
if context.scene.objects.active != None:
root = sUtils.getRoot(context.scene.objects.active)
if (
not bpy.context.scene.preview_visible
and (bpy.data.images[activeModelPoseIndex].type == 'IMAGE')
and (
root is None
or not sUtils.isRoot(root)
or not (
modelsPosesColl[bpy.data.images[activeModelPoseIndex].name]
!= root["model/name"]
)
or len(bpy.context.selected_objects) == 0
)
):
bpy.ops.view3d.draw_preview_operator()
bpy.context.scene.preview_visible = True
else:
activeModelPose.hide = not activeModelPose.hide
if activeModelPose.hide:
activeModelPose.icon = "RIGHTARROW"
else:
activeModelPose.icon = "DOWNARROW_HLT"
for modelPose in modelsPosesColl:
if (modelPose.type != "robot_name") and (
modelPose.parent == activeModelPose.name
):
modelPose.hide = activeModelPose.hide
return {'FINISHED'}
def poll(self, context):
"""
Args:
context:
Returns:
"""
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
return (
context.selected_objects
and context.active_object
and sUtils.isRoot(context.active_object)
and bpy.data.images[activeModelPoseIndex].name in modelsPosesColl.keys()
and modelsPosesColl[bpy.data.images[activeModelPoseIndex].name].robot_name
== context.active_object['model/name']
and modelsPosesColl[bpy.data.images[activeModelPoseIndex].name].type == 'robot_pose'
)
def poll(self, context):
return bpy.context.selected_objects and context.active_object and sUtils.isRoot(
context.active_object)
def deriveModelDictionaryFromSubmodel(modelname):
model = {
'links': {},
'joints': {},
'sensors': {},
'motors': {},
'controllers': {},
'materials': {},
'meshes': {},
'lights': {},
'groups': {},
'chains': {}
}
# collect general model properties
model['date'] = datetime.now().strftime("%Y%m%d_%H:%M")
model['name'] = modelname
# collect all submodels
submodels = [a for a in bpy.data.objects if a.phobostype == 'submodel']
# namespace links, joints, motors etc for each submodel
for subm in submodels:
print('-----------------------', subm.name, subm['submodelname'], '\n')
rootlink = [
r for r in bpy.data.objects
if sUtils.isRoot(r) and r['modelname'] == subm['submodelname']
][0]
adict = buildModelDictionary(rootlink)
for l in adict['links']:
model['links'][namespaced(l, subm.name)] = namespaceLink(
adict['links'][l], subm.name)
for j in adict['joints']:
model['joints'][namespaced(j, subm.name)] = namespaceJoint(
adict['joints'][j], subm.name)
for m in adict['motors']:
model['motors'][namespaced(m, subm.name)] = namespaceMotor(
adict['motors'][m], subm.name)
for mat in adict['materials']:
if mat not in model['materials']:
model['materials'][mat] = adict['materials'][mat]
for mesh in adict['meshes']:
model['meshes'][namespaced(mesh,
subm.name)] = adict['meshes'][mesh]
print('\n\n')
for subm in submodels:
rootlink = [
r for r in bpy.data.objects
if sUtils.isRoot(r) and r['modelname'] == subm['submodelname']
][0]
if subm.parent:
# get interfaces and parents
parentsubmodelname = subm.parent.parent.parent['submodelname']
parentinterfacename = subm.parent.parent['interface/name']
parentsubmodel = [
r for r in bpy.data.objects
if sUtils.isRoot(r) and r['modelname'] == parentsubmodelname
][0]
parentinterface = [
i for i in sUtils.getChildren(parentsubmodel, ('interface', ))
if i['interface/name'] == parentinterfacename
][0]
parentlinkname = parentinterface.parent.name
# derive link pose for root link
matrix = eUtils.getCombinedTransform(subm,
subm.parent.parent.parent)
pose = {
'rawmatrix': matrix,
'matrix': [list(vector) for vector in list(matrix)],
'translation': list(matrix.to_translation()),
'rotation_euler': list(matrix.to_euler()),
'rotation_quaternion': list(matrix.to_quaternion())
}
model['links'][namespaced(rootlink.name, subm.name)]['pose'] = pose
# derive additional joint
model['joints'][a.name] = deriveJoint(rootlink)
#print(yaml.dump(model['joints'][a.name]))
model['joints'][a.name]['name'] = namespaced(rootlink.name, a.name)
model['joints'][a.name]['parent'] = namespaced(
parentlinkname, a.parent.parent.parent.name)
model['joints'][a.name]['child'] = namespaced(
rootlink.name, a.name)
#print(yaml.dump(model['joints'][a.name]))
#print('######################')
#for j in model['joints']:
# print(model['joints'][j]['name'], model['joints'][j]['child'], model['joints'][j]['child'])
#print('######################')
return model
# delete objects designated for deletion
sUtils.selectObjects(objects_to_be_deleted)
bpy.ops.object.delete(use_global=True)
# remove motor limits custom properties
for obj in objectlist:
if 'motor/limit' in obj:
del obj['motor/limit']
elif 'motor/limits' in obj:
del obj['motor/limits']
# move modelname to model/name and reassign root
for obj in objectlist:
if 'modelname' in obj:
obj['model/name'] = obj['modelname']
del obj['modelname']
if 'version' in obj:
obj['model/version'] = obj['version']
del obj['version']
if sUtils.isRoot(obj):
bpy.context.view_layer.objects.active = obj
bpy.ops.phobos.set_model_root()
# update joint shapes for whole model
joints = [obj for obj in objectlist if 'joint/type' in obj]
for joint in joints:
resource_obj = ioUtils.getResource(['joint', joint['joint/type']])
joint.pose.bones[0].custom_shape = resource_obj
def deriveModelDictionaryFromAssemblies(modelname):
model = {
'links': {},
'joints': {},
'sensors': {},
'motors': {},
'controllers': {},
'materials': {},
'meshes': {},
'lights': {},
'groups': {},
'chains': {}
}
model['date'] = datetime.now().strftime("%Y%m%d_%H:%M")
model['name'] = modelname
assemblies = [a for a in bpy.data.objects if a.phobostype == 'assembly']
for a in assemblies:
print('-----------------------', a.name, a['assemblyname'], '\n')
rootlink = [
r for r in bpy.data.objects
if sUtils.isRoot(r) and r['modelname'] == a['assemblyname']
][0]
adict = buildModelDictionary(rootlink)
for l in adict['links']:
model['links'][namespaced(l, a.name)] = namespaceLink(
adict['links'][l], a.name)
for j in adict['joints']:
model['joints'][namespaced(j, a.name)] = namespaceJoint(
adict['joints'][j], a.name)
for m in adict['motors']:
model['motors'][namespaced(m, a.name)] = namespaceMotor(
adict['motors'][m], a.name)
for mat in adict['materials']:
if mat not in model['materials']:
model['materials'][mat] = adict['materials'][mat]
for mesh in adict['meshes']:
model['meshes'][namespaced(mesh, a.name)] = adict['meshes'][mesh]
print('\n\n')
for a in assemblies:
rootlink = [
r for r in bpy.data.objects
if sUtils.isRoot(r) and r['modelname'] == a['assemblyname']
][0]
if a.parent:
#print('combining...:', a.name)
#print([l for l in model['links']])
parentassemblyname = a.parent.parent.parent['assemblyname']
#print(parentassemblyname)
parentinterfacename = a.parent.parent['interface/name']
#print(parentinterfacename)
parentassembly = [
r for r in bpy.data.objects
if sUtils.isRoot(r) and r['modelname'] == parentassemblyname
][0]
#print(parentassembly)
parentinterface = [
i for i in sUtils.getChildren(parentassembly, ('interface', ))
if i['interface/name'] == parentinterfacename
][0]
#print(parentinterface)
parentlinkname = parentinterface.parent.name
#print(parentlinkname)
# derive link pose for root link
matrix = eUtils.getCombinedTransform(a, a.parent.parent.parent)
pose = {
'rawmatrix': matrix,
'matrix': [list(vector) for vector in list(matrix)],
'translation': list(matrix.to_translation()),
'rotation_euler': list(matrix.to_euler()),
'rotation_quaternion': list(matrix.to_quaternion())
}
model['links'][namespaced(rootlink.name, a.name)]['pose'] = pose
# derive additional joint
model['joints'][a.name] = deriveJoint(rootlink)
#print(yaml.dump(model['joints'][a.name]))
model['joints'][a.name]['name'] = namespaced(rootlink.name, a.name)
model['joints'][a.name]['parent'] = namespaced(
parentlinkname, a.parent.parent.parent.name)
model['joints'][a.name]['child'] = namespaced(
rootlink.name, a.name)
#print(yaml.dump(model['joints'][a.name]))
#print('######################')
#for j in model['joints']:
# print(model['joints'][j]['name'], model['joints'][j]['child'], model['joints'][j]['child'])
#print('######################')
return model
# delete objects designated for deletion
sUtils.selectObjects(objects_to_be_deleted)
bpy.ops.object.delete(use_global=True)
# remove motor limits custom properties
for obj in objectlist:
if 'motor/limit' in obj:
del obj['motor/limit']
elif 'motor/limits' in obj:
del obj['motor/limits']
# move modelname to model/name and reassign root
for obj in objectlist:
if 'modelname' in obj:
obj['model/name'] = obj['modelname']
del obj['modelname']
if 'version' in obj:
obj['model/version'] = obj['version']
del obj['version']
if sUtils.isRoot(obj):
bpy.context.scene.objects.active = obj
bpy.ops.phobos.set_model_root()
# update joint shapes for whole model
joints = [obj for obj in objectlist if 'joint/type' in obj]
for joint in joints:
resource_obj = ioUtils.getResource(['joint', joint['joint/type']])
joint.pose.bones[0].custom_shape = resource_obj
