def to_collision_meshes(self): """Creates a list of collision meshes from a :class:`compas_fab.backends.CollisionObject` """ collision_meshes = [] for mesh, pose in zip(self.meshes, self.mesh_poses): pose = pose if isinstance(pose, Pose) else Pose(**pose) pose.position = pose.position if isinstance(pose.position, Point) else Point(**pose.position) pose.position.x = float(pose.position.x) pose.position.y = float(pose.position.y) pose.position.z = float(pose.position.z) pose.orientation = pose.orientation if isinstance(pose.orientation, Quaternion) else Quaternion(**pose.orientation) pose.orientation.x = float(pose.orientation.x) pose.orientation.y = float(pose.orientation.y) pose.orientation.z = float(pose.orientation.z) pose.orientation.w = float(pose.orientation.w) mesh = mesh if isinstance(mesh, Mesh) else Mesh(**mesh) mesh.triangles = [t if isinstance(t, MeshTriangle) else MeshTriangle(**t) for t in mesh.triangles] for triangle in mesh.triangles: triangle.vertex_indices = [int(x) for x in triangle.vertex_indices] mesh.vertices = [v if isinstance(v, Point) else Point(**v) for v in mesh.vertices] for vertex in mesh.vertices: vertex.x = float(vertex.x) vertex.y = float(vertex.y) vertex.z = float(vertex.z) root_name = getattr(self.header, 'frame_id', None) or self.header['frame_id'] cm = CollisionMesh(mesh.mesh, self.id, pose.frame, root_name) collision_meshes.append(cm) return collision_meshes
def from_mesh(cls, compas_mesh): """Construct a `Mesh` message from a :class:`compas.datastructures.Mesh`. """ mesh_quads_to_triangles(compas_mesh) vertices, faces = compas_mesh.to_vertices_and_faces() triangles = [MeshTriangle(face) for face in faces] vertices = [Point(*v) for v in vertices] return cls(triangles, vertices)
def from_sphere(cls, sphere): """Creates a `BoundingVolume` from a :class:`compas.geometry.Sphere`. Parameters ---------- sphere: `compas.geometry.Sphere` """ primitive = SolidPrimitive.from_sphere(sphere) pose = Pose(Point(*sphere.point), Quaternion(0, 0, 0, 1)) return cls(primitives=[primitive], primitive_poses=[pose])
def from_msg(cls, msg): triangles = [MeshTriangle.from_msg(t) for t in msg['triangles']] vertices = [Point.from_msg(v) for v in msg['vertices']] return cls(triangles, vertices)