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):
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 execute(self, context):
"""
Args:
context:
Returns:
"""
root = sUtils.getRoot(context.selected_objects[0])
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
selected_robot = modelsPosesColl[bpy.data.images[activeModelPoseIndex].name]
objectlist = sUtils.getChildren(root, selected_only=True, include_hidden=False)
sUtils.selectObjects([root] + objectlist, clear=True, active=0)
models.loadPose(selected_robot.robot_name, selected_robot.label)
parameter = self.decimate_ratio
if self.decimate_type == 'UNSUBDIV':
parameter = self.decimate_iteration
elif self.decimate_type == 'DISSOLVE':
parameter = self.decimate_angle_limit
exporter.bakeModel(
objectlist,
root['model/name'],
selected_robot.label,
decimate_type=self.decimate_type,
decimate_parameter=parameter,
)
sUtils.selectObjects([root] + objectlist, clear=True, active=0)
bpy.ops.scene.reload_models_and_poses_operator()
return {'FINISHED'}
def execute(self, context):
"""
Args:
context:
Returns:
"""
loadModelsAndPoses()
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
for model_pose in modelsPosesColl:
if model_pose.name not in bpy.data.images.keys():
if model_pose.type == 'robot_name':
bpy.data.images.new(model_pose.name, 0, 0)
elif 'robot_pose':
if model_pose.preview != '':
if os.path.split(model_pose.preview
)[-1] in bpy.data.images.keys():
bpy.data.images[os.path.split(
model_pose.preview)[-1]].reload()
im = bpy.data.images.load(model_pose.preview)
model_pose.name = im.name
# im.name = model_pose.name
im.gl_load(0, bgl.GL_LINEAR, bgl.GL_LINEAR)
else:
bpy.data.images.new(model_pose.name, 0, 0)
else:
bpy.data.images[model_pose.name].reload()
bpy.data.images[model_pose.name].gl_load(
0, bgl.GL_LINEAR, bgl.GL_LINEAR)
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.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 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 execute(self, context):
"""
Args:
context:
Returns:
"""
loadModelsAndPoses()
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
for model_pose in modelsPosesColl:
if model_pose.name not in bpy.data.images.keys():
if model_pose.type == 'robot_name':
bpy.data.images.new(model_pose.name, 0, 0)
elif 'robot_pose':
if model_pose.preview != '':
if os.path.split(model_pose.preview)[-1] in bpy.data.images.keys():
bpy.data.images[os.path.split(model_pose.preview)[-1]].reload()
im = bpy.data.images.load(model_pose.preview)
model_pose.name = im.name
# im.name = model_pose.name
im.gl_load(0, bgl.GL_LINEAR, bgl.GL_LINEAR)
else:
bpy.data.images.new(model_pose.name, 0, 0)
else:
bpy.data.images[model_pose.name].reload()
bpy.data.images[model_pose.name].gl_load(0, bgl.GL_LINEAR, bgl.GL_LINEAR)
return {'FINISHED'}
def execute(self, context):
root = sUtils.getRoot(context.selected_objects[0])
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
selected_robot = modelsPosesColl[
bpy.data.images[activeModelPoseIndex].name]
objectlist = sUtils.getChildren(root,
selected_only=True,
include_hidden=False)
sUtils.selectObjects([root] + objectlist, clear=True, active=0)
models.loadPose(selected_robot.robot_name, selected_robot.label)
parameter = self.decimate_ratio
if self.decimate_type == 'UNSUBDIV':
parameter = self.decimate_iteration
elif self.decimate_type == 'DISSOLVE':
parameter = self.decimate_angle_limit
exporter.bakeModel(objectlist,
root['modelname'],
selected_robot.label,
decimate_type=self.decimate_type,
decimate_parameter=parameter)
sUtils.selectObjects([root] + objectlist, clear=True, active=0)
bpy.ops.scene.reload_models_and_poses_operator()
return {'FINISHED'}
def deriveEntity(root, outpath):
"""Derives the dictionary for a SMURF entity from the phobos model dictionary.
# TODO savetosubfolder is not a parameter
Args:
root(bpy.types.Object): The smurf root object.
outpath(str): The path to export the smurf to.
savetosubfolder(bool): If True the export path has a subfolder for this smurf entity.
Returns:
: dict - An entry for the scenes entitiesList
"""
entitypose = models.deriveObjectPose(root)
entity = models.initObjectProperties(root, 'entity',
['link', 'joint', 'motor'])
if 'parent' not in entity and 'joint/type' in root and root[
'joint/type'] == 'fixed':
entity['parent'] = 'world'
entity["position"] = entitypose["translation"]
entity["rotation"] = entitypose["rotation_quaternion"]
# check model data if entity is a reference
# FIXME: this part is broken but not used at the moment anyways
if "isReference" in entity:
entity.pop("isReference")
bpy.ops.scene.reload_models_and_poses_operator()
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
for robot_model in modelsPosesColl:
if (root["model/name"]
== robot_model.robot_name) and (root["entity/pose"]
== robot_model.label):
pass
entity['file'] = os.path.join(
os.path.relpath(robot_model.path, outpath),
root["name"] + ".smurf")
"""
with open(os.path.join(os.path.dirname(defs.__file__), "RobotLib.yml"), "r") as f:
robots = yaml.load(f.read())
sourcepath = robots[smurf["model/name"]]
for filename in os.listdir(sourcepath):
fullpath = os.path.join(sourcepath, filename)
if os.path.isfile(fullpath):
shutil.copy2(fullpath, os.path.join(smurf_outpath, filename))
else:
# remove old folders to prevent errors in copytree
shutil.rmtree(os.path.join(smurf_outpath, filename), True)
shutil.copytree(fullpath, os.path.join(smurf_outpath, filename))
"""
else:
modelpath = os.path.join(outpath, root['model/name'], 'smurf')
# TODO why the spacing between the paths?
log("Scene paths: " + outpath + ' ' + modelpath, "DEBUG")
entity['file'] = os.path.join(
os.path.relpath(modelpath, os.path.dirname(outpath)),
root['model/name'] + ".smurf")
return entity
def deriveEntity(root, outpath):
"""Derives the dictionary for a SMURF entity from the phobos model dictionary.
# TODO savetosubfolder is not a parameter
Args:
root(bpy.types.Object): The smurf root object.
outpath(str): The path to export the smurf to.
savetosubfolder(bool): If True the export path has a subfolder for this smurf entity.
Returns:
: dict - An entry for the scenes entitiesList
"""
entitypose = models.deriveObjectPose(root)
entity = models.initObjectProperties(root, 'entity', ['link', 'joint', 'motor'])
if 'parent' not in entity and 'joint/type' in root and root['joint/type'] == 'fixed':
entity['parent'] = 'world'
entity["position"] = entitypose["translation"]
entity["rotation"] = entitypose["rotation_quaternion"]
# check model data if entity is a reference
# FIXME: this part is broken but not used at the moment anyways
if "isReference" in entity:
entity.pop("isReference")
bpy.ops.scene.reload_models_and_poses_operator()
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
for robot_model in modelsPosesColl:
if (root["model/name"] == robot_model.robot_name) and (
root["entity/pose"] == robot_model.label
):
pass
entity['file'] = os.path.join(
os.path.relpath(robot_model.path, outpath), root["name"] + ".smurf"
)
"""
with open(os.path.join(os.path.dirname(defs.__file__), "RobotLib.yml"), "r") as f:
robots = yaml.load(f.read())
sourcepath = robots[smurf["model/name"]]
for filename in os.listdir(sourcepath):
fullpath = os.path.join(sourcepath, filename)
if os.path.isfile(fullpath):
shutil.copy2(fullpath, os.path.join(smurf_outpath, filename))
else:
# remove old folders to prevent errors in copytree
shutil.rmtree(os.path.join(smurf_outpath, filename), True)
shutil.copytree(fullpath, os.path.join(smurf_outpath, filename))
"""
else:
modelpath = os.path.join(outpath, root['model/name'], 'smurf')
# TODO why the spacing between the paths?
log("Scene paths: " + outpath + ' ' + modelpath, "DEBUG")
entity['file'] = os.path.join(
os.path.relpath(modelpath, os.path.dirname(outpath)), root['model/name'] + ".smurf"
)
return entity
def compileModelList():
"""TODO Missing documentation"""
from bpy.props import EnumProperty
from bpy.types import WindowManager
# DOCU missing some docstring
log("Compiling model list from local library...", "INFO")
# clear old preview collections
for previews in model_previews.values():
bpy.utils.previews.remove(previews)
model_previews.clear()
model_data.clear()
rootpath = bUtils.getPhobosPreferences().modelsfolder
if rootpath == '' or not os.path.exists(rootpath):
log('Model library folder does not exist.')
return
# parse the model folder
i = 0
for category in os.listdir(rootpath):
categorypath = os.path.join(rootpath, category)
# skip all non folders
if not os.path.isdir(categorypath):
continue
# initialise new dictionaries
model_data[category] = {}
newpreviewcollection = bpy.utils.previews.new()
enum_items = []
# parse category folder
for modelname in os.listdir(categorypath):
modelpath = os.path.join(categorypath, modelname)
# check for valid blender savefile in the model folder
if os.path.exists(os.path.join(modelpath, 'blender', modelname + '.blend')):
model_data[category][modelname] = {'path': modelpath}
# use existing thumbnail if available
if os.path.exists(os.path.join(modelpath, 'thumbnails')):
previewpath = os.path.join(modelpath, 'thumbnails', modelname + '.png')
preview = newpreviewcollection.load(modelname, previewpath, 'IMAGE')
# otherwise create one from the blend file
else:
previewpath = os.path.join(modelpath, 'blender', modelname + '.blend')
preview = newpreviewcollection.load(modelname, previewpath, 'BLEND')
log("Adding model to preview: " + previewpath, 'DEBUG')
enum_items.append((modelname, modelname, "", preview.icon_id, i))
i += 1
categories.add(category)
# save the category
newpreviewcollection.enum_items = enum_items
model_previews[category] = newpreviewcollection
log("Finished parsing model folder. Imported {0} models.".format(i), 'INFO')
def compileModelList():
"""TODO Missing documentation"""
from bpy.props import EnumProperty
from bpy.types import WindowManager
# DOCU missing some docstring
log("Compiling model list from local library...", "INFO")
# clear old preview collections
for previews in model_previews.values():
bpy.utils.previews.remove(previews)
model_previews.clear()
model_data.clear()
rootpath = bUtils.getPhobosPreferences().modelsfolder
if rootpath == '' or not os.path.exists(rootpath):
log('Model library folder does not exist.')
return
# parse the model folder
i = 0
for category in os.listdir(rootpath):
categorypath = os.path.join(rootpath, category)
# skip all non folders
if not os.path.isdir(categorypath):
continue
# initialise new dictionaries
model_data[category] = {}
newpreviewcollection = bpy.utils.previews.new()
enum_items = []
# parse category folder
for modelname in os.listdir(categorypath):
modelpath = os.path.join(categorypath, modelname)
# check for valid blender savefile in the model folder
if os.path.exists(os.path.join(modelpath, 'blender', modelname + '.blend')):
model_data[category][modelname] = {'path': modelpath}
# use existing thumbnail if available
if os.path.exists(os.path.join(modelpath, 'thumbnails')):
previewpath = os.path.join(modelpath, 'thumbnails', modelname + '.png')
preview = newpreviewcollection.load(modelname, previewpath, 'IMAGE')
# otherwise create one from the blend file
else:
previewpath = os.path.join(modelpath, 'blender', modelname + '.blend')
preview = newpreviewcollection.load(modelname, previewpath, 'BLEND')
log("Adding model to preview: " + previewpath, 'DEBUG')
enum_items.append((modelname, modelname, "", preview.icon_id, i))
i += 1
categories.add(category)
# save the category
newpreviewcollection.enum_items = enum_items
model_previews[category] = newpreviewcollection
log("Finished parsing model folder. Imported {0} models.".format(i), 'INFO')
def invoke(self, context, event):
wm = context.window_manager
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
selected_robot = modelsPosesColl[
bpy.data.images[activeModelPoseIndex].name]
if selected_robot.model_file != '':
return wm.invoke_props_dialog(self, width=300, height=100)
else:
return {"CANCELLED"}
def execute(self, context):
"""
Args:
context:
Returns:
"""
log("Import robot bake", "INFO")
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
selected_robot = modelsPosesColl[
bpy.data.images[activeModelPoseIndex].name]
if selected_robot.type != "robot_name":
if os.path.splitext(selected_robot.model_file)[-1] == ".obj":
bpy.ops.import_scene.obj(
filepath=selected_robot.model_file,
axis_forward='-Z',
axis_up='Y',
filter_glob="*.obj;*.mtl",
use_edges=True,
use_smooth_groups=True,
use_split_objects=True,
use_split_groups=True,
use_groups_as_vgroups=False,
use_image_search=True,
split_mode='ON',
global_clamp_size=0,
)
elif os.path.splitext(selected_robot.model_file)[-1] == ".stl":
bpy.ops.import_mesh.stl(
filepath=selected_robot.model_file,
axis_forward='Y',
axis_up='Z',
filter_glob="*.stl",
files=[],
directory="",
global_scale=1,
use_scene_unit=True,
use_facet_normal=False,
)
robot_obj = bpy.context.selected_objects[0]
bpy.context.view_layer.objects.active = robot_obj
robot_obj.name = self.obj_name
robot_obj["model/name"] = selected_robot.robot_name
robot_obj["entity/name"] = self.obj_name
robot_obj["entity/type"] = "smurf"
robot_obj["entity/pose"] = selected_robot.label
robot_obj["entity/isReference"] = True
robot_obj.phobostype = 'entity'
return {'FINISHED'}
def invoke(self, context, event):
"""
Args:
context:
event:
Returns:
"""
self.filepath = bUtils.getPhobosPreferences().modelsfolder
context.window_manager.fileselect_add(self)
return {'RUNNING_MODAL'}
def invoke(self, context, event):
"""
Args:
context:
event:
Returns:
"""
self.filepath = bUtils.getPhobosPreferences().modelsfolder
context.window_manager.fileselect_add(self)
return {'RUNNING_MODAL'}
def execute(self, context):
"""
Args:
context:
Returns:
"""
log("Import robot bake", "INFO")
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
selected_robot = modelsPosesColl[bpy.data.images[activeModelPoseIndex].name]
if selected_robot.type != "robot_name":
if os.path.splitext(selected_robot.model_file)[-1] == ".obj":
bpy.ops.import_scene.obj(
filepath=selected_robot.model_file,
axis_forward='-Z',
axis_up='Y',
filter_glob="*.obj;*.mtl",
use_edges=True,
use_smooth_groups=True,
use_split_objects=True,
use_split_groups=True,
use_groups_as_vgroups=False,
use_image_search=True,
split_mode='ON',
global_clamp_size=0,
)
elif os.path.splitext(selected_robot.model_file)[-1] == ".stl":
bpy.ops.import_mesh.stl(
filepath=selected_robot.model_file,
axis_forward='Y',
axis_up='Z',
filter_glob="*.stl",
files=[],
directory="",
global_scale=1,
use_scene_unit=True,
use_facet_normal=False,
)
robot_obj = bpy.context.selected_objects[0]
bpy.context.scene.objects.active = robot_obj
robot_obj.name = self.obj_name
robot_obj["model/name"] = selected_robot.robot_name
robot_obj["entity/name"] = self.obj_name
robot_obj["entity/type"] = "smurf"
robot_obj["entity/pose"] = selected_robot.label
robot_obj["entity/isReference"] = True
robot_obj.phobostype = 'entity'
return {'FINISHED'}
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 invoke(self, context, event):
"""
Args:
context:
event:
Returns:
"""
wm = context.window_manager
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
selected_robot = modelsPosesColl[bpy.data.images[activeModelPoseIndex].name]
if selected_robot.model_file != '':
return wm.invoke_props_dialog(self, width=300, height=100)
else:
return {"CANCELLED"}
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 draw_preview_callback(self):
"""TODO Missing documentation"""
# Search for View_3d window
area = None
if bpy.context.area.type != 'VIEW_3D':
return bpy.context.area
else:
for oWindow in bpy.context.window_manager.windows:
oScreen = oWindow.screen
for oArea in oScreen.areas:
if oArea.type == 'VIEW_3D':
area = oArea
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
if (len(modelsPosesColl) > 0) and area:
# Draw a textured quad
area_widths = [
region.width for region in bpy.context.area.regions if region.type == 'WINDOW'
]
area_heights = [
region.height for region in bpy.context.area.regions if region.type == 'WINDOW'
]
if (len(area_widths) > 0) and (len(area_heights) > 0):
active_preview = modelsPosesColl[bpy.data.images[activeModelPoseIndex].name]
im = bpy.data.images[activeModelPoseIndex]
view_width = area_widths[0]
view_height = area_heights[0]
tex_start_x = 50
tex_end_x = view_width - 50
tex_start_y = 50
tex_end_y = view_height - 50
if im.size[0] < view_width:
diff = int((view_width - im.size[0]) / 2)
tex_start_x = diff
tex_end_x = diff + im.size[0]
if im.size[1] < view_height:
diff = int((view_height - im.size[1]) / 2)
tex_start_y = diff
tex_end_y = diff + im.size[1]
# Draw information
font_id = 0 # XXX, need to find out how best to get this.
blf.position(font_id, tex_start_x, tex_end_y + 20, 0)
blf.size(font_id, 20, 72)
blf.draw(font_id, active_preview.label)
tex = im.bindcode
bgl.glEnable(bgl.GL_TEXTURE_2D)
# if using blender 2.77 change tex to tex[0]
bgl.glBindTexture(bgl.GL_TEXTURE_2D, tex)
# Background
bgl.glEnable(bgl.GL_BLEND)
bgl.glBegin(bgl.GL_QUADS)
bgl.glColor4f(0, 0, 0, 0.3)
bgl.glVertex2i(0, 0)
bgl.glVertex2i(0, view_height)
bgl.glVertex2i(view_width, view_height)
bgl.glVertex2i(view_width, 0)
# Draw Image
bgl.glColor4f(1, 1, 1, 1)
bgl.glTexCoord2f(0, 0)
bgl.glVertex2i(int(tex_start_x), int(tex_start_y))
bgl.glTexCoord2f(0, 1)
bgl.glVertex2i(int(tex_start_x), int(tex_end_y))
bgl.glTexCoord2f(1, 1)
bgl.glVertex2i(int(tex_end_x), int(tex_end_y))
bgl.glTexCoord2f(1, 0)
bgl.glVertex2i(int(tex_end_x), int(tex_start_y))
bgl.glEnd()
# restore opengl defaults
bgl.glColor4f(0.0, 0.0, 0.0, 1.0)
bgl.glDisable(bgl.GL_QUADS)
bgl.glDisable(bgl.GL_BLEND)
bgl.glDisable(bgl.GL_TEXTURE_2D)
def draw_preview_callback(self):
# Search for View_3d window
area = None
if bpy.context.area.type != 'VIEW_3D':
return bpy.context.area
else:
for oWindow in bpy.context.window_manager.windows:
oScreen = oWindow.screen
for oArea in oScreen.areas:
if oArea.type == 'VIEW_3D':
area = oArea
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
activeModelPoseIndex = bpy.context.scene.active_ModelPose
if (len(modelsPosesColl) > 0) and area:
# Draw a textured quad
area_widths = [
region.width for region in bpy.context.area.regions
if region.type == 'WINDOW'
]
area_heights = [
region.height for region in bpy.context.area.regions
if region.type == 'WINDOW'
]
if (len(area_widths) > 0) and (len(area_heights) > 0):
active_preview = modelsPosesColl[
bpy.data.images[activeModelPoseIndex].name]
im = bpy.data.images[activeModelPoseIndex]
view_width = area_widths[0]
view_height = area_heights[0]
tex_start_x = 50
tex_end_x = view_width - 50
tex_start_y = 50
tex_end_y = view_height - 50
if im.size[0] < view_width:
diff = int((view_width - im.size[0]) / 2)
tex_start_x = diff
tex_end_x = diff + im.size[0]
if im.size[1] < view_height:
diff = int((view_height - im.size[1]) / 2)
tex_start_y = diff
tex_end_y = diff + im.size[1]
# Draw information
font_id = 0 # XXX, need to find out how best to get this.
blf.position(font_id, tex_start_x, tex_end_y + 20, 0)
blf.size(font_id, 20, 72)
blf.draw(font_id, active_preview.label)
tex = im.bindcode
bgl.glEnable(bgl.GL_TEXTURE_2D)
# if using blender 2.77 change tex to tex[0]
bgl.glBindTexture(bgl.GL_TEXTURE_2D, tex)
# Background
bgl.glEnable(bgl.GL_BLEND)
bgl.glBegin(bgl.GL_QUADS)
bgl.glColor4f(0, 0, 0, 0.3)
bgl.glVertex2i(0, 0)
bgl.glVertex2i(0, view_height)
bgl.glVertex2i(view_width, view_height)
bgl.glVertex2i(view_width, 0)
# Draw Image
bgl.glColor4f(1, 1, 1, 1)
bgl.glTexCoord2f(0, 0)
bgl.glVertex2i(int(tex_start_x), int(tex_start_y))
bgl.glTexCoord2f(0, 1)
bgl.glVertex2i(int(tex_start_x), int(tex_end_y))
bgl.glTexCoord2f(1, 1)
bgl.glVertex2i(int(tex_end_x), int(tex_end_y))
bgl.glTexCoord2f(1, 0)
bgl.glVertex2i(int(tex_end_x), int(tex_start_y))
bgl.glEnd()
# restore opengl defaults
bgl.glColor4f(0.0, 0.0, 0.0, 1.0)
bgl.glDisable(bgl.GL_QUADS)
bgl.glDisable(bgl.GL_BLEND)
bgl.glDisable(bgl.GL_TEXTURE_2D)
def loadModelsAndPoses():
"""TODO Missing documentation"""
# DOCU add some docstring
if bUtils.getPhobosPreferences().modelsfolder:
modelsfolder = os.path.abspath(
bUtils.getPhobosPreferences().modelsfolder)
else:
modelsfolder = ''
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
robots_found = []
print(modelsfolder)
for root, dirs, files in os.walk(modelsfolder):
for file in files:
if os.path.splitext(file)[-1] == '.smurf':
robots_found.append(os.path.join(root, file))
robots_dict = dict()
for robot in robots_found:
with open(robot, 'r') as robot_smurf:
robot_yml = json.loads(robot_smurf)
model_name = robot_yml["modelname"]
robot_files = robot_yml["files"]
for file in robot_files:
if file.split('_')[-1] == "poses.yml":
if model_name not in robots_dict:
robots_dict[model_name] = []
with open(os.path.join(os.path.dirname(robot),
file)) as poses:
poses_yml = json.loads(poses)
for pose in poses_yml['poses']:
robots_dict[model_name].append(
{"posename": pose['name']})
robots_dict[model_name][-1][
"robotpath"] = os.path.dirname(robot)
modelsPosesColl.clear()
for model_name in robots_dict.keys():
item = modelsPosesColl.add()
item.robot_name = model_name
item.name = model_name
item.label = model_name
item.type = "robot_name"
if item.hide:
item.icon = "RIGHTARROW"
else:
item.icon = "DOWNARROW_HLT"
current_parent = item.name
for pose in robots_dict[model_name]:
item = modelsPosesColl.add()
item.parent = current_parent
item.name = model_name + '_' + pose["posename"]
item.label = pose["posename"]
item.path = pose["robotpath"]
item.type = "robot_pose"
item.robot_name = model_name
item.icon = "X_VEC"
search_path = pose["robotpath"]
if os.path.split(search_path)[-1] == "smurf":
search_path = os.path.dirname(search_path)
for file in glob.glob(search_path + "/**/" + model_name + "_" +
pose['posename'] +
".*") + glob.glob(search_path + "/" +
model_name + "_" +
pose['posename'] + ".*"):
if (os.path.splitext(file)[-1].lower()
== ".stl") or (os.path.splitext(file)[-1].lower()
== ".obj"):
item.model_file = os.path.join(search_path, file)
if os.path.splitext(file)[-1].lower() == ".png":
item.preview = os.path.join(search_path, file)
item.name = os.path.split(file)[-1]
def parseLink(link, urdffilepath):
"""Parses a URDF link xml definition.
Args:
link(xml.etree.ElementTree.ElementTree): xml representation of the link
urdffilepath(str): path of originating urdf file (for filename handling)
Returns:
: dict -- model representation of the link
"""
newlink = {a: link.attrib[a] for a in link.attrib}
newlink['children'] = []
inertial = parseInertial(link)
if inertial:
newlink['inertial'] = inertial
for objtype in ['visual', 'collision']:
log(' Parsing ' + objtype + ' elements...', 'DEBUG')
newlink[objtype] = {}
for xmlelement in link.iter(objtype):
# generate name for visual/collision representation
if 'name' not in xmlelement.attrib:
elementname = objtype + '_' + str(len(
newlink[objtype])) + '_' + newlink['name']
else:
elementname = xmlelement.attrib['name']
# assign values to element dictionary
elementdict = {a: xmlelement.attrib[a] for a in xmlelement.attrib}
elementdict['name'] = elementname
elementdict['pose'] = parsePose(xmlelement.find('origin'))
# gather material
material = xmlelement.find('material')
if material is not None:
elementdict['material'] = material.attrib['name']
# objects without geometry skip the last part
geometry = xmlelement.find('geometry')
if geometry is None:
newlink[objtype][elementname] = elementdict
continue
# gather geometry information for visual/collision
elementdict['geometry'] = {
a: gUtils.parse_text(geometry[0].attrib[a])
for a in geometry[0].attrib
}
elementdict['geometry']['type'] = geometry[0].tag
# gather mesh information
if geometry[0].tag == 'mesh':
# interpret filename
filename = geometry[0].attrib['filename']
# Some URDFs use rospack "package://" or "urdf/package://"
# We'll assume the package root is in Phobos models dir
filename = filename.split('package://')[-1]
phobos_models = bUtils.getPhobosPreferences().modelsfolder
filepath = path.join(phobos_models, filename)
elementdict['geometry']['filename'] = filepath
log(
"Filepath for {element} mesh: {path}".format(
element=elementname, path=filepath), 'DEBUG')
# read scale
if 'scale' in geometry[0].attrib:
elementdict['geometry']['scale'] = gUtils.parse_text(
geometry[0].attrib['scale'])
else:
elementdict['geometry']['scale'] = [1.0, 1.0, 1.0]
newlink[objtype][elementname] = elementdict
if newlink == {}:
log("Link information for " + newlink['name'] + " is empty.",
'WARNING')
return newlink
def loadModelsAndPoses():
"""TODO Missing documentation"""
# DOCU add some docstring
if bUtils.getPhobosPreferences().modelsfolder:
modelsfolder = os.path.abspath(bUtils.getPhobosPreferences().modelsfolder)
else:
modelsfolder = ''
modelsPosesColl = bUtils.getPhobosPreferences().models_poses
robots_found = []
print(modelsfolder)
for root, dirs, files in os.walk(modelsfolder):
for file in files:
if os.path.splitext(file)[-1] == '.smurf':
robots_found.append(os.path.join(root, file))
robots_dict = dict()
for robot in robots_found:
with open(robot, 'r') as robot_smurf:
robot_yml = yaml.load(robot_smurf)
model_name = robot_yml["modelname"]
robot_files = robot_yml["files"]
for file in robot_files:
if file.split('_')[-1] == "poses.yml":
if model_name not in robots_dict:
robots_dict[model_name] = []
with open(os.path.join(os.path.dirname(robot), file)) as poses:
poses_yml = yaml.load(poses)
for pose in poses_yml['poses']:
robots_dict[model_name].append({"posename": pose['name']})
robots_dict[model_name][-1]["robotpath"] = os.path.dirname(robot)
modelsPosesColl.clear()
for model_name in robots_dict.keys():
item = modelsPosesColl.add()
item.robot_name = model_name
item.name = model_name
item.label = model_name
item.type = "robot_name"
if item.hide:
item.icon = "RIGHTARROW"
else:
item.icon = "DOWNARROW_HLT"
current_parent = item.name
for pose in robots_dict[model_name]:
item = modelsPosesColl.add()
item.parent = current_parent
item.name = model_name + '_' + pose["posename"]
item.label = pose["posename"]
item.path = pose["robotpath"]
item.type = "robot_pose"
item.robot_name = model_name
item.icon = "X_VEC"
search_path = pose["robotpath"]
if os.path.split(search_path)[-1] == "smurf":
search_path = os.path.dirname(search_path)
for file in glob.glob(
search_path + "/**/" + model_name + "_" + pose['posename'] + ".*"
) + glob.glob(search_path + "/" + model_name + "_" + pose['posename'] + ".*"):
if (os.path.splitext(file)[-1].lower() == ".stl") or (
os.path.splitext(file)[-1].lower() == ".obj"
):
item.model_file = os.path.join(search_path, file)
if os.path.splitext(file)[-1].lower() == ".png":
item.preview = os.path.join(search_path, file)
item.name = os.path.split(file)[-1]