def execute(self, context):
"""This function executes the operator and creates a link.
:param context: The blender context this operator works with.
:type context: Blender context.
:return: Blender result.
"""
if self.type == '3D cursor':
links.createLink(self.size)
else:
for obj in bpy.context.selected_objects:
tmpnamepartindices = [int(p) for p in self.namepartindices.split()]
links.deriveLinkfromObject(obj, scale=self.size, parenting=self.parenting, parentobjects=self.parentobject,
namepartindices=tmpnamepartindices, separator=self.separator,
prefix=self.prefix)
return {'FINISHED'}
def execute(self, context):
if self.bakeObj == "None":
return {"FINISHED"}
with open(os.path.join(os.path.dirname(defs.__file__), "RobotLib.yml"), "r") as f:
robot_lib = yaml.load(f.read())
root = links.createLink(1.0, name=self.robName + "::" + self.bakeObj)
root["modelname"] = self.bakeObj
root["entityname"] = self.robName
root["isInstance"] = True
bpy.ops.import_mesh.stl(filepath=os.path.join(robot_lib[self.bakeObj], "bake.stl"))
bpy.ops.view3d.snap_selected_to_cursor(use_offset=False)
obj = context.active_object
obj.name = self.robName + "::visual"
obj.phobostype = "visual"
selectionUtils.selectObjects([root, obj], clear=True, active=0)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
return {"FINISHED"}
def execute(self, context):
if self.bakeObj == "None":
return {"FINISHED"}
with open(os.path.join(os.path.dirname(defs.__file__), "RobotLib.yml"),
"r") as f:
robot_lib = yaml.load(f.read())
root = links.createLink(1.0, name=self.robName + "::" + self.bakeObj)
root["modelname"] = self.bakeObj
root["entity/name"] = self.robName
root["isInstance"] = True
bpy.ops.import_mesh.stl(
filepath=os.path.join(robot_lib[self.bakeObj], "bake.stl"))
bpy.ops.view3d.snap_selected_to_cursor(use_offset=False)
obj = context.active_object
obj.name = self.robName + "::visual"
obj.phobostype = "visual"
sUtils.selectObjects([root, obj], clear=True, active=0)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
return {"FINISHED"}
def execute(self, context):
# create a dictionary holding the sensor definition
sensor = {'name': self.sensor_name,
'type': self.custom_type if self.sensor_type == 'Custom' else self.sensor_type,
'props': {}
}
parent = context.active_object
for key in defs.sensorProperties[self.sensor_type]:
if type(defs.sensorProperties[self.sensor_type][key]) == type(True):
value = getattr(self, key)
sensor['props'][key] = '$true' if value else '$false'
else:
sensor['props'][key] = getattr(self, key)
# type-specific settings
if sensor['type'] in ['CameraSensor', 'ScanningSonar', 'RaySensor',
'MultiLevelLaserRangeFinder', 'RotatingRaySensor']:
if self.add_link:
link = links.createLink(scale=0.1, position=context.active_object.matrix_world.to_translation(),
name='link_' + self.sensor_name)
sensorObj = sensors.createSensor(sensor, link.name, link.matrix_world)
else:
sensorObj = sensors.createSensor(sensor, context.active_object.name, context.active_object.matrix_world)
if self.add_link:
selectionUtils.selectObjects([parent, link], clear=True, active=0)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
selectionUtils.selectObjects([link, sensorObj], clear=True, active=0)
bpy.ops.object.parent_set(type='BONE_RELATIVE')
sensors.cameraRotLock(sensorObj)
elif sensor['type'] in ['Joint6DOF']:
sensors.createSensor(sensor, context.active_object, context.active_object.matrix_world)
elif 'Node' in sensor['type']:
sensors.createSensor(sensor, [obj for obj in context.selected_objects if obj.phobostype == 'collision'],
mathutils.Matrix.Translation(context.scene.cursor_location))
elif 'Motor' in sensor['type'] or 'Joint' in sensor['type']:
sensors.createSensor(sensor, [obj for obj in context.selected_objects if obj.phobostype == 'link'],
mathutils.Matrix.Translation(context.scene.cursor_location))
return {'FINISHED'}
