def __init__(self,
node,
filepath,
scale3d,
offset,
name_suffix='',
generatedDir=None):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
global idxVisualModel
self.node = node.createChild('visual' + name_suffix) # node
self.model = self.node.createObject('VisualModel',
name='visual' +
str(idxVisualModel),
fileMesh=filepath,
scale3d=concat(scale3d),
translation=concat(offset[:3]),
rotation=concat(r))
if generatedDir is None:
self.mapping = self.node.createObject(
'LinearMapping',
template='Affine,ExtVec3f',
name='mapping')
else:
serialization.importLinearMapping(
self.node, generatedDir + "_visualmapping.json")
idxVisualModel += 1
def __init__(self,
node,
filepath,
scale3d,
offset,
name_suffix='',
generatedDir=None):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.node = node.createChild('collision' + name_suffix) # node
self.loader = SofaPython.Tools.meshLoader(self.node,
filename=filepath,
name='loader',
scale3d=concat(scale3d),
translation=concat(
offset[:3]),
rotation=concat(r),
triangulate=True)
self.topology = self.node.createObject('MeshTopology',
name='topology',
src='@loader')
self.dofs = self.node.createObject('MechanicalObject',
name='dofs',
template='Vec3' +
template_suffix)
self.triangles = self.node.createObject('TriangleModel',
name='model')
if generatedDir is None:
self.mapping = self.node.createObject('LinearMapping',
template='Affine,Vec3' +
template_suffix,
name='mapping')
else:
serialization.importLinearMapping(
self.node, generatedDir + "_collisionmapping.json")
self.normals = None
def __init__(self, node, filepath, scale3d, offset, name_suffix='', generatedDir=None):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
global idxVisualModel;
self.node = node.createChild('visual'+name_suffix) # node
self.model = self.node.createObject('VisualModel', name='visual'+str(idxVisualModel), fileMesh=filepath, scale3d=concat(scale3d), translation=concat(offset[:3]), rotation=concat(r))
if generatedDir is None:
self.mapping = self.node.createObject('LinearMapping', template='Affine,ExtVec3f', name='mapping')
else:
serialization.importLinearMapping(self.node, generatedDir+"_visualmapping.json")
idxVisualModel+=1
def __init__(self, node, filepath, scale3d, offset, name_suffix='', generatedDir=None):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.node = node.createChild('collision'+name_suffix) # node
self.loader = SofaPython.Tools.meshLoader(self.node, filename=filepath, name='loader', scale3d=concat(scale3d), translation=concat(offset[:3]) , rotation=concat(r), triangulate=True)
self.topology = self.node.createObject('MeshTopology', name='topology', src='@loader')
self.dofs = self.node.createObject('MechanicalObject', name='dofs', template='Vec3'+template_suffix)
self.triangles = self.node.createObject('TriangleModel', name='model')
if generatedDir is None:
self.mapping = self.node.createObject('LinearMapping', template='Affine,Vec3'+template_suffix, name='mapping')
else:
serialization.importLinearMapping(self.node, generatedDir+"_collisionmapping.json")
self.normals = None