def create_line(self, start, end, color, name=""):
if self.dae.geometries.get("line_geometry-mesh") is None:
self.dae.geometries.append(self.shapes_dae.geometries.get("line_geometry-mesh"))
line_geom = self.dae.geometries.get("line_geometry-mesh")
node = _get_void_node()
vector = (array(end) - array(start))
vector_norm = linalg.norm(vector)
assert vector_norm > 0.
n_vector = vector/vector_norm
H = zaligned(n_vector)
H[0:3, 3] = start
node = self._add_new_geometry(name, color, line_geom)
node.transforms.append(collada.scene.ScaleTransform(vector_norm, vector_norm, vector_norm))
node.transforms.append(collada.scene.MatrixTransform(H.flatten()))
self._add_osg_description(node, "link")
return node
def create_inertia(self, inertia, color, name=""):
"""Generate a representation of inertia as an ellipsoid."""
pydaenimColladaDriver.create_inertia(self, inertia, color)
H_body_com = principalframe(inertia)
Mcom = transport(inertia, H_body_com)
mass = Mcom[5,5]
m_o_inertia = Mcom[[0,1,2], [0,1,2]] * self._options['inertia factor']
node = _get_void_node()
node.transforms.append( collada.scene.MatrixTransform(H_body_com.flatten()) )
inertia_node = self.create_ellipsoid(m_o_inertia, color, name+".inertia")
node.children.append(inertia_node)
for c in inertia_node.children:
if isinstance(c, collada.scene.ExtraNode):
inertia_node.children.remove(c)
self._add_osg_description(inertia_node, "inertia")
return node
def create_line(self, start, end, color, name=""):
if self.dae.geometries.get("line_geometry-mesh") is None:
self.dae.geometries.append(
self.shapes_dae.geometries.get("line_geometry-mesh"))
line_geom = self.dae.geometries.get("line_geometry-mesh")
node = _get_void_node()
vector = (array(end) - array(start))
vector_norm = linalg.norm(vector)
assert vector_norm > 0.
n_vector = vector / vector_norm
H = zaligned(n_vector)
H[0:3, 3] = start
node = self._add_new_geometry(name, color, line_geom)
node.transforms.append(
collada.scene.ScaleTransform(vector_norm, vector_norm,
vector_norm))
node.transforms.append(collada.scene.MatrixTransform(H.flatten()))
self._add_osg_description(node, "link")
return node
def create_inertia(self, inertia, color, name=""):
"""Generate a representation of inertia as an ellipsoid."""
pydaenimColladaDriver.create_inertia(self, inertia, color)
H_body_com = principalframe(inertia)
Mcom = transport(inertia, H_body_com)
mass = Mcom[5, 5]
m_o_inertia = Mcom[[0, 1, 2],
[0, 1, 2]] * self._options['inertia factor']
node = _get_void_node()
node.transforms.append(
collada.scene.MatrixTransform(H_body_com.flatten()))
inertia_node = self.create_ellipsoid(m_o_inertia, color,
name + ".inertia")
node.children.append(inertia_node)
for c in inertia_node.children:
if isinstance(c, collada.scene.ExtraNode):
inertia_node.children.remove(c)
self._add_osg_description(inertia_node, "inertia")
return node