def gen_sphere(pos=np.array([0, 0, 0]), radius=0.02, subdivisions=2):
"""
:param pos: 1x3 nparray
:param radius: 0.02 m by default
:param subdivisions: levels of icosphere discretization
:return:
author: weiwei
date: 20191228osaka
"""
return tp.Sphere(sphere_radius=radius,
sphere_center=pos,
subdivisions=subdivisions)
def gen_ellipsoid(pos=np.array([0, 0, 0]), axmat=np.eye(3), subdivisions=5):
"""
:param pos:
:param axmat: 3x3 mat, each column is an axis of the ellipse
:param subdivisions: levels of icosphere discretization
:return:
author: weiwei
date: 20191228osaka
"""
sphere = tp.Sphere(sphere_radius=1,
sphere_center=np.zeros(3),
subdivisions=subdivisions)
vertices = axmat.dot(sphere.vertices.T).T
vertices = vertices + pos
return trm.Trimesh(vertices=vertices, faces=sphere.faces)