def gen_submesh(verts, faces, rgba=[1, 0, 0, 1]):
"""
TODO 20201202: replace pandanode with trimesh
:param verts: np.array([[v00, v01, v02], [v10, v11, v12], ...]
:param faces: np.array([[ti00, ti01, ti02], [ti10, ti11, ti12], ...]
:param color: rgba
:return:
author: weiwei
date: 20171219
"""
# gen vert normals
vertnormals = np.zeros((len(verts), 3))
for fc in faces:
vert0 = verts[fc[0], :]
vert1 = verts[fc[1], :]
vert2 = verts[fc[2], :]
facenormal = np.cross(vert2 - vert1, vert0 - vert1)
vertnormals[fc[0], :] = vertnormals[fc[0]] + facenormal
vertnormals[fc[1], :] = vertnormals[fc[1]] + facenormal
vertnormals[fc[2], :] = vertnormals[fc[2]] + facenormal
for i in range(0, len(vertnormals)):
vertnormals[i, :] = vertnormals[i, :] / np.linalg.norm(
vertnormals[i, :])
geom = da.pandageom_from_vvnf(verts, vertnormals, faces)
node = GeomNode('surface')
node.addGeom(geom)
surface_nodepath = NodePath('surface')
surface_nodepath.attachNewNode(node)
surface_nodepath.setColor(rgba[0], rgba[1], rgba[2], rgba[3])
surface_nodepath.setTransparency(TransparencyAttrib.MDual)
surface_nodepath.setTwoSided(True)
surface_sgm = StaticGeometricModel(surface_nodepath)
return surface_sgm
def gen_cdmesh_vvnf(vertices, vertex_normals, faces, name='auto'):
geom = da.pandageom_from_vvnf(vertices * SCALE_FOR_PRECISION, vertex_normals, faces)
bullet_triangles_mesh = BulletTriangleMesh()
bullet_triangles_mesh.addGeom(geom)
bullet_triangles_shape = BulletTriangleMeshShape(bullet_triangles_mesh, dynamic=True)
bullet_triangles_shape.setMargin(0)
geombullnode = BulletRigidBodyNode(name=name)
geombullnode.addShape(bullet_triangles_shape)
return geombullnode