def set_stl_origin(stl_obj, current_obj_origin, required_obj_origin,
scene): # pragma nocover
"""
Move the object so the required origin is at (0, 0, 0). Then set the
origin for the generated stl object. Origin can't be changed, so creating
a compound of itself allows setting an origin location
:param stl_obj: The generated stl object.
:type stl_obj: class:`vpython.compound`
:param current_obj_origin: Current coordinates of the origin of the model
:type current_obj_origin: class:`vpython.vector`
:param required_obj_origin: Required coordinates to place the origin
at (0, 0, 0)
:type required_obj_origin: class:`vpython.vector`
:param scene: The scene in which to draw the object
:type scene: class:`vpython.canvas`
:return: Compound object of itself, with origin set respective to the joint
:rtype: class:`vpython.compound`
"""
# Move the object to put the origin at 0, 0, 0
movement = required_obj_origin - current_obj_origin
stl_obj.pos += movement
# Set invisible to return an overwritten copy
stl_obj.visible = False
# Return a compound of itself with the origin at (0, 0, 0)
return compound([stl_obj],
origin=vector(0, 0, 0),
vector=x_axis_vector,
canvas=scene)
def __set_graphic(self, structure, axis_through):
"""
Set the graphic object depending on if one was given. If no object was
given, create a box and return it
:param structure: `float` or `str` representing the joint length or
STL path to load from
:type structure: `float`, `str`
:param axis_through: The axis that the longest side goes through
:type axis_through: class:`numpy.ndarray`
:raises ValueError: Joint length must be greater than 0
:return: Graphical object for the joint
:rtype: class:`vpython.compound`
"""
if isinstance(structure, float):
length = structure
if length <= 0.0:
raise ValueError("Joint length must be greater than 0")
axis = vector(axis_through[0], axis_through[1], axis_through[2])
axis.mag = length
box_midpoint = axis / 2
box_tooltip = axis
# Create a box along the +x axis, with the origin
# (point of rotation) at (0, 0, 0)
graphic_obj = box(
canvas=self.__scene,
pos=vector(box_midpoint.x, box_midpoint.y, box_midpoint.z),
axis=axis,
size=vector(length, 0.1, 0.1), # L, W, H
# up=y_axis_vector
)
# Set the boxes new origin
graphic_obj = compound([graphic_obj],
origin=box_tooltip,
axis=axis)
return graphic_obj
else:
# self.stl_offset = structure[2]
return import_object_from_numpy_stl(structure, self.__scene)
def set_texture(self, colour=None, texture_link=None):
"""
Apply the texture/colour to the object. If both are given, both are
applied.
Texture link can either be a link to an online image, or local file.
WARNING: If the texture can't be loaded, the object will have n
texture
(appear invisible, but not set as invisible).
WARNING: If the image has a width or height that is not a power of 2
(that is, not 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, etc.),
the image is stretched to the next larger width or height that is
a power of 2.
:param colour: List of RGB values
:type colour: `list`, optional
:param texture_link: Path/website to a texture image
:type texture_link: `str`, optional
:raises ValueError: RGB values must be normalised between 0 and 1
"""
# Apply the texture
if texture_link is not None:
self.__graphic_obj.texture = {
'file': texture_link
# 'bumpmap', 'place', 'flipx', 'flipy', 'turn'
}
# Wait for the texture to load
self.__scene.waitfor("textures")
else:
# Remove any texture
self.__graphic_obj.texture = None
# Apply the colour
if colour is not None:
if colour[0] > 1.0 or colour[1] > 1.0 or colour[2] > 1.0 or \
colour[0] < 0.0 or colour[1] < 0.0 or colour[2] < 0.0:
raise ValueError(
"RGB values must be normalised between 0 and 1")
colour_vec = vector(colour[0], colour[1], colour[2])
self.__graphic_obj.color = colour_vec
else:
# Set to white if none given
self.__graphic_obj.color = color.white
