def createMotor(motor,
parentobj,
origin=mathutils.Matrix(),
addcontrollers=False):
"""This function creates a new motor specified by its parameters.
If *addcontrollers* is set, a controller object will be created from the controller definition
which is specified in the motor dictionary (key *controller*).
Args:
motor(dict): phobos representation of the new motor.
parentobj(bpy_types.Object): object to parent new motor to
origin(mathutils.Matrix, optional): new motors origin (Default value = mathutils.Matrix())
addcontrollers(bool, optional): whether to add the defined controller as object (Default value = False)
Returns:
bpy.types.Object: new motor object or a list of the new motor_object and the new controller object
"""
bUtils.toggleLayer('motor', value=True)
primitive_name = ''
# create name if not given by motor dict
if not 'name' in motor or len(motor['name']) == 0:
motor['name'] = parentobj.name
primitive_name = "motor_" + motor['name']
else:
primitive_name = motor['name']
primitive_name = ''
# create name if not given by motor dict
if not 'name' in motor or len(motor['name']) == 0:
motor['name'] = parentobj.name
primitive_name = "motor_" + motor['name']
else:
primitive_name = motor['name']
# create motor object
if motor['shape'].startswith('resource'):
newmotor = bUtils.createPrimitive(
primitive_name,
'box',
[1, 1, 1],
[],
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=motor['material'],
phobostype='motor',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(
['motor'] + motor['shape'].split('://')[1].split('_'))
if resource_obj:
log("Assigned resource mesh and materials to new motor object.",
'DEBUG')
newmotor.data = resource_obj.data
newmotor.scale = (motor['size'], ) * 3
else:
log(
"Could not use resource mesh for motor. Default cube used instead.",
'WARNING')
else:
newmotor = bUtils.createPrimitive(
primitive_name,
motor['shape'],
motor['size'],
[],
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=motor['material'],
phobostype='motor',
)
# assign the parent if available
if parentobj is not None:
sUtils.selectObjects([newmotor, parentobj], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
# set motor properties
newmotor.phobostype = 'motor'
# should not be nessaccary: newmotor.name = motor['name']
defname = motor['defname']
# write the custom properties to the motor
eUtils.addAnnotation(newmotor,
motor['props'],
namespace='motor',
ignore=['defname'])
# fix motor name since it can differe from object name
newmotor['motor/name'] = motor['name']
if 'controller' in defs.definitions['motors'][defname] and addcontrollers:
import phobos.model.controllers as controllermodel
motorcontroller = defs.definitions['motors'][defname]['controller']
controllerdefs = ioUtils.getDictFromYamlDefs(
'controller', motorcontroller, newmotor.name + '_controller')
newcontroller = controllermodel.createController(
controllerdefs,
newmotor,
origin=newmotor.matrix_world,
annotations='all')
else:
newcontroller = None
# select the new motor
sUtils.selectObjects(
[newmotor] if not newcontroller else [newmotor, newcontroller],
clear=True,
active=0)
return newmotor if not newcontroller else [newmotor, newcontroller]
def buildModelFromDictionary(model):
"""Creates the Blender representation of the imported model, using a model dictionary.
"""
# DOCU add some more docstring
log("Creating Blender model...", 'INFO')
log("Creating links...", 'INFO')
for l in model['links']:
link = model['links'][l]
linkmodel.createLink(link)
log("Creating joints...", 'INFO')
for j in model['joints']:
joint = model['joints'][j]
jointmodel.createJoint(joint)
# build tree recursively and correct translation & rotation on the fly
log("Placing links...", 'INFO')
for l in model['links']:
if 'parent' not in model['links'][l]:
root = model['links'][l]
linkmodel.placeChildLinks(model, root)
log("Assigning model name...", 'INFO')
try:
rootlink = sUtils.getRoot(bpy.data.objects[root['name']])
rootlink['modelname'] = model['name']
rootlink.location = (0, 0, 0)
except KeyError:
log("Could not assign model name to root link.", "ERROR")
log("Placing visual and collision objects...", 'INFO')
for link in model['links']:
linkmodel.placeLinkSubelements(model['links'][link])
try:
log("Creating sensors...", 'INFO')
for s in model['sensors']:
sensormodel.createSensor(model['sensors'][s])
except KeyError:
log("No sensors in model " + model['name'], 'INFO')
try:
log("Creating motors...", 'INFO')
for m in model['motors']:
eUtils.addDictionaryToObj(
model['motors'][m],
model['joints'][model['motors'][m]['joint']],
category='motor')
except KeyError:
log("No motors in model " + model['name'], 'INFO')
try:
log("Creating controllers...", 'INFO')
for c in model['controllers']:
controllermodel.createController(model['controllers'][c])
except KeyError:
log("No controllers in model " + model['name'], 'INFO')
try:
log("Creating groups...", 'INFO')
for g in model['groups']:
createGroup(model['groups'][g])
except KeyError:
log("No kinematic groups in model " + model['name'], 'INFO')
try:
log("Creating chains...", 'INFO')
for ch in model['chains']:
createChain(model['chains'][ch])
except KeyError:
log("No kinematic chains in model " + model['name'], 'INFO')
try:
log("Creating lights...", 'INFO')
for l in model['lights']:
lightmodel.createLight(model['lights'][l])
except KeyError:
log("No lights in model " + model['name'], 'INFO')
# FIXME: this is a trick to force Blender to apply matrix_local
# AAAAAARGH: THIS DOES NOT WORK!
for obj in bpy.data.objects:
bUtils.setObjectLayersActive(obj)
bpy.ops.object.mode_set(mode='OBJECT')
bpy.ops.object.select_all(action='SELECT')
bpy.ops.transform.translate(value=(0, 0, 0))
def createMotor(motor, parentobj, origin=mathutils.Matrix(), addcontrollers=False):
"""This function creates a new motor specified by its parameters.
If *addcontrollers* is set, a controller object will be created from the controller definition
which is specified in the motor dictionary (key *controller*).
Args:
motor(dict): phobos representation of the new motor.
parentobj(bpy_types.Object): object to parent new motor to
origin(mathutils.Matrix, optional): new motors origin (Default value = mathutils.Matrix())
addcontrollers(bool, optional): whether to add the defined controller as object (Default value = False)
Returns:
bpy.types.Object: new motor object or a list of the new motor_object and the new controller object
"""
layers = defs.layerTypes['motor']
bUtils.toggleLayer(layers, value=True)
# create motor object
if motor['shape'].startswith('resource'):
newmotor = bUtils.createPrimitive(
motor['name'],
'box',
[1, 1, 1],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=motor['material'],
phobostype='motor',
)
# use resource name provided as: "resource:whatever_name"
resource_obj = ioUtils.getResource(['motor'] + motor['shape'].split('://')[1].split('_'))
if resource_obj:
log("Assigned resource mesh and materials to new motor object.", 'DEBUG')
newmotor.data = resource_obj.data
newmotor.scale = (motor['size'],) * 3
else:
log("Could not use resource mesh for motor. Default cube used instead.", 'WARNING')
else:
newmotor = bUtils.createPrimitive(
motor['name'],
motor['shape'],
motor['size'],
layers,
plocation=origin.to_translation(),
protation=origin.to_euler(),
pmaterial=motor['material'],
phobostype='motor',
)
# assign the parent if available
if parentobj is not None:
sUtils.selectObjects([newmotor, parentobj], clear=True, active=1)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
# set motor properties
newmotor.phobostype = 'motor'
newmotor.name = motor['name']
defname = motor['defname']
# write the custom properties to the motor
eUtils.addAnnotation(newmotor, motor['props'], namespace='motor', ignore=['defname'])
if 'controller' in defs.definitions['motors'][defname] and addcontrollers:
import phobos.model.controllers as controllermodel
motorcontroller = defs.definitions['motors'][defname]['controller']
controllerdefs = ioUtils.getDictFromYamlDefs(
'controller', motorcontroller, newmotor.name + '_controller'
)
newcontroller = controllermodel.createController(
controllerdefs, newmotor, origin=newmotor.matrix_world, annotations='all'
)
else:
newcontroller = None
# select the new motor
sUtils.selectObjects(
[newmotor] if not newcontroller else [newmotor, newcontroller], clear=True, active=0
)
return newmotor if not newcontroller else [newmotor, newcontroller]