def replace(obj_to_remove: MeshObject,
obj_to_add: MeshObject,
check_collision_with: [MeshObject] = [],
scale: bool = True,
relative_pose_sampler: Callable[[MeshObject], None] = None):
""" Scale, translate, rotate obj_to_add to match obj_to_remove and check if there is a bounding box collision
returns a boolean.
:param obj_to_remove: An object to remove from the scene.
:param obj_to_add: An object to put in the scene instead of obj_to_remove.
:param check_collision_with: A list of objects, which are not checked for collisions with.
:param scale: Scales obj_to_add to match obj_to_remove dimensions.
:param relative_pose_sampler: A function that randomly perturbs the pose of the object to replace with (after it has been aligned to the object to replace).
"""
# New object takes location, rotation and rough scale of original object
obj_to_add.set_location(obj_to_remove.get_location())
obj_to_add.set_rotation_euler(obj_to_remove.get_rotation())
if scale:
obj_to_add.set_scale(
ObjectReplacer._bb_ratio(obj_to_remove.get_bound_box(True),
obj_to_add.get_bound_box(True)))
if relative_pose_sampler is not None:
relative_pose_sampler(obj_to_add)
bpy.context.view_layer.update()
# Check for collision between the new object and other objects in the scene
for obj in check_collision_with: # for each object
if obj != obj_to_add and obj_to_remove != obj:
if check_bb_intersection(obj.blender_obj,
obj_to_add.blender_obj):
if check_intersection(obj.blender_obj,
obj_to_add.blender_obj)[0]:
return False
return True
def is_point_inside_object(obj: MeshObject,
obj_BVHtree: mathutils.bvhtree.BVHTree,
point: Vector):
""" Checks whether the given point is inside the given object.
This only works if the given object is watertight and has correct normals
:param obj: The object
:param obj_BVHtree: A bvh tree of the object
:param point: The point to check
:return: True, if the point is inside the object
"""
# Look for closest point on object
nearest, normal, _, _ = obj_BVHtree.find_nearest(point)
# Compute direction
p2 = nearest - point
# Compute dot product between direction and normal vector
a = p2.normalized().dot(
(obj.get_rotation().to_matrix() @ normal).normalized())
return a >= 0.0
