def read_collada(filename, units):
""" Read collada (*.dae) scene file. Returns list with objects of type Mesh."""
e = xml.etree.ElementTree.parse(filename).getroot()
ns = {'co': 'http://www.collada.org/2005/11/COLLADASchema'}
geometries = e.findall('co:library_geometries/co:geometry', ns)
visual_scene = e.find('co:library_visual_scenes/co:visual_scene', ns)
animations = e.find('cp:library_animations/co:animation')
tris = []
for g in geometries:
geom_name = g.get("id")[:-5]
m = g.find('co:mesh', ns)
arrays = m.findall("co:source/co:float_array", ns)
pattern = re.compile(
r'(?P<x>[0-9e.-]*) (?P<y>[0-9e.-]*) (?P<z>[0-9e.-]*) ')
vstr = arrays[0].text + " "
vertices = np.array(re.findall(pattern, vstr)).astype(np.float32)
polylistr = m.find('co:polylist/co:p', ns).text + " "
faces = np.array(polylistr.split()[::2]).astype(np.int)
triangles = vertices[faces]
# apply static transformations
arg = "co:node[@name='" + geom_name + "']"
trafos = visual_scene.find(arg, ns)
rotZ = float(
trafos.find("co:rotate[@sid='rotationZ']", ns).text.split()[-1])
rotY = float(
trafos.find("co:rotate[@sid='rotationY']", ns).text.split()[-1])
rotX = float(
trafos.find("co:rotate[@sid='rotationX']", ns).text.split()[-1])
matr_x = geom.rotate(rotX * q.deg, geom.X_AX)
matr_y = geom.rotate(rotY * q.deg, geom.Y_AX)
matr_z = geom.rotate(rotZ * q.deg, geom.Z_AX)
trans = trafos.find('co:translate', ns)
trans = np.array(trans.text.split()).astype(np.float32)
matt = geom.translate(trans * q.m)
mat = np.dot(matt, matr_z)
mat = np.dot(mat, matr_y)
mat = np.dot(mat, matr_x)
for i, vert in enumerate(triangles):
vert = (tuple(vert) + (1, ))
triangles[i] = np.dot(mat, vert)[:-1]
tris = triangles.transpose()
# handle materials
material = m.find('co:polylist', ns).get("material")[:-9] + ".mat"
m = get_material(material)
# yuhuu:)
tr = Trajectory([(256 / 2, 256 / 2, 0)] * 12 * q.um)
c = [(0, 0, 0)] * q.m
#mesh = Mesh(triangles * units, tr, material = m, center = c)
#Meshes.extend([ mesh ])
# Animation data
library_animations
return tris
def test_translate(self):
vec_0 = get_vec_0()
directions = get_directions(vec_0.units)
for direction in directions:
res_vec = geom.transform_vector(geom.translate(direction), vec_0)
res = np.sum(res_vec - (direction + vec_0))
self.assertAlmostEqual(res, 0)
def test_translate(self):
vec_0 = get_vec_0()
directions = get_directions(vec_0.units)
for direction in directions:
res_vec = geom.transform_vector(geom.translate(direction), vec_0)
res = np.sum(res_vec - (direction + vec_0))
self.assertAlmostEqual(res, 0)
def translate(self, vec):
"""Translate the body by a vector *vec*."""
self.transform_matrix = np.dot(self.transform_matrix,
geom.translate(vec))
def translate(self, vec):
"""Translate the body by a vector *vec*."""
self.transform_matrix = np.dot(self.transform_matrix, geom.translate(vec))
def read_collada(filename, scene_origin, orientation=geom.X_AX, mapping='xxyzz-y', iterations=1):
"""Read collada (*.dae) scene file *filename* and return list with objects of type Mesh. Place
it at *scene_origin*. *orientation* specifies the direction of orientation vectors for all
meshes. Scene objects must have materials assigned. For assigned material 'Material', a syris
material file 'Material.mat' is expected *filename*'s path. *mapping* can be used to change the
mapping of coordinate systems between syris and collada scenes. Standard is 'xxyzz-y' to make
z (collada) point upwards in syris (-y). Options are 'xxyyzz' and 'xxyzz-y'. *iterations* is
passed to all mesh objects.
Only geometry is imported, i.e there is currently no support for animated objects."""
e = xml.etree.ElementTree.parse(filename).getroot()
ns = {'co': 'http://www.collada.org/2005/11/COLLADASchema'}
scene_units = float(e.findall('co:asset/co:unit', ns)[0].get("meter")) * q.m
geometries = e.findall('co:library_geometries/co:geometry', ns)
visual_scene = e.find('co:library_visual_scenes/co:visual_scene', ns)
#animations = e.find('cp:library_animations/co:animation')
Meshes = []
for g in geometries:
geom_name = g.get("id")[:-5]
m = g.find('co:mesh', ns)
arrays = m.findall("co:source/co:float_array",ns)
pattern = re.compile(r'(?P<x>[0-9e.-]*) (?P<y>[0-9e.-]*) (?P<z>[0-9e.-]*) ')
vstr = arrays[0].text + " "
vertices = np.array(re.findall(pattern, vstr)).astype(np.float32)
polylistr = m.find('co:polylist/co:p', ns).text + " "
faces = np.array(polylistr.split()[::2]).astype(np.int)
triangles = vertices[faces]
if(mapping == 'xxyzz-y'):
# mapping corresponds to rotation around x-axis by 90 deg.
mat_mapping = geom.rotate(90* q.deg, geom.X_AX)
elif(mapping == 'xxyyzz'):
mat_mapping = np.identity(4)
else:
raise ValueError('Invalid mapping option for collada import.')
# above vertices are stored with respect to their object origin,
# transform them to obtain global vertex coordinates
# there are two possible ways to specify transformations in collada, matrix and transloc:
# find out which one was used and apply transformations
arg = "co:node[@name='" + geom_name + "']"
trafos = visual_scene.find(arg,ns)
if(trafos.find("co:rotate[@sid='rotationZ']", ns) is not None):
# TransLoc format
rotZ = float(trafos.find("co:rotate[@sid='rotationZ']", ns).text.split()[-1])
rotY = float(trafos.find("co:rotate[@sid='rotationY']", ns).text.split()[-1])
rotX = float(trafos.find("co:rotate[@sid='rotationX']", ns).text.split()[-1])
scale = map(float, trafos.find("co:scale[@sid='scale']", ns).text.split())
str_origin = trafos.find("co:translate[@sid='location']", ns).text.split()
origin = map(float, str_origin) * q.dimensionless
matr_x = geom.rotate(rotX * q.deg, geom.X_AX)
matr_y = geom.rotate(rotY * q.deg, geom.Y_AX)
matr_z = geom.rotate(rotZ * q.deg, geom.Z_AX)
mat_trans = geom.translate(origin)
mat_scale = geom.scale(scale)
# build transformation matrix
mat = np.dot(mat_mapping, mat_trans)
mat = np.dot(mat, mat_scale)
mat = np.dot(mat, matr_z)
mat = np.dot(mat, matr_y)
mat = np.dot(mat, matr_x)
elif (trafos.find("co:matrix[@sid='transform']", ns) is not None):
# Matrix format
str_mat = trafos.find("co:matrix[@sid='transform']", ns).text.split()
mat = np.dot(mat_mapping, np.array(str_mat, dtype = float).reshape(4,4))
else:
raise RuntimeError("Transformation type in collada file could not be determined.")
# apply transformation to vertices
for i, vert in enumerate(triangles):
vert = (tuple(vert) + (1,))
triangles[i] = np.dot(mat, vert)[:-1]
triangles = triangles.transpose()
# handle materials
material = m.find('co:polylist', ns).get("material")[:-9] + ".mat"
matname = os.path.join(os.path.dirname(filename), material)
if(not os.path.isfile(matname)):
raise RuntimeError("Materialfile {} not found. Files have to be in the same "\
"directory as the corresponding collada scene file.".format(matname))
m = make_fromfile(matname)
# create and add Mesh object
tr = geom.Trajectory(scene_origin)
mesh = Mesh(triangles * scene_units , tr, material = m, center = None,
orientation = orientation, iterations = iterations)
Meshes.extend([ mesh ])
return Meshes