def append_collada(self, component=None):
""" Append Collada objects to the scene
:param component: component in which the objects are located
:return: list of the imported Blender objects
"""
if not component:
component = self._blender_filename
if component.endswith('.dae'):
filepath = os.path.abspath(component) # external blend file
else:
filepath = os.path.join(MORSE_COMPONENTS, self._category,
component + '.dae')
if not os.path.exists(filepath):
logger.error("Collada file %s for external asset import can" \
"not be found.\nEither provide an absolute path, or" \
"a path relative to MORSE assets directory (typically"\
"$PREFIX/share/morse/data)" % filepath)
return
# Save a list of objects names before importing Collada
objects_names = [obj.name for obj in bpymorse.get_objects()]
# Import Collada from filepath
bpymorse.collada_import(filepath=filepath)
# Get a list of the imported objects
imported_objects = [obj for obj in bpymorse.get_objects() \
if obj.name not in objects_names]
return imported_objects
def append_collada(self, component=None):
""" Append Collada objects to the scene
:param component: component in which the objects are located
:return: list of the imported Blender objects
"""
if not component:
component = self._blender_filename
if component.endswith(".dae"):
filepath = os.path.abspath(component) # external blend file
else:
filepath = os.path.join(MORSE_COMPONENTS, self._category, component + ".dae")
if not os.path.exists(filepath):
logger.error(
"Collada file %s for external asset import can"
"not be found.\nEither provide an absolute path, or"
"a path relative to MORSE assets directory (typically"
"$PREFIX/share/morse/data)" % (filepath)
)
return
# Save a list of objects names before importing Collada
objects_names = [obj.name for obj in bpymorse.get_objects()]
# Import Collada from filepath
bpymorse.collada_import(filepath=filepath)
# Get a list of the imported objects
imported_objects = [obj for obj in bpymorse.get_objects() if obj.name not in objects_names]
return imported_objects
def _generate_robot_properties(self):
robots = {}
for obj in bpymorse.get_objects():
p = obj.game.properties
if 'Robot_Tag' in p and 'jsbsim_model' in p:
loc = obj.location
rot = obj.rotation_euler
model = p['jsbsim_model'].value
geoc = self.coord_conv.ecef_to_geocentric(
self.coord_conv.ltp_to_ecef(
self.coord_conv.blender_to_ltp(numpy.matrix(loc))))
geoc[0, 0] = degrees(geoc[0, 0])
geoc[0, 1] = degrees(geoc[0, 1])
geoc[0, 2] -= self.coord_conv.A
# XXX check angles orientation
robots[obj.name] = {
'longitude': geoc[0, 0],
'latitude': geoc[0, 1],
'altitude': geoc[0, 2],
'yaw': rot.z,
'pitch': rot.y,
'roll': rot.x,
'model': model
}
self.properties['robots'] = robots
def find_family(self):
objs = bpymorse.get_objects()
# Initialise family to parent
family =[self.name]
while True:
more = 0
for f in family:
remaining = [o for o in objs if o.name not in family]
for r in remaining:
# Check forward constraints
for c in objs[f].constraints:
if 'target' in dir(c):
if c.target.name == r.name:
family.append(r.name)
more += 1
# Check backward constraints
for c in r.constraints:
if 'target' in dir(c):
if c.target.name == f:
family.append(r.name)
more += 1
if not more:
break
return set(family)
def translate_compound(self, x=0.0, y=0.0, z=0.0):
objs = bpymorse.get_objects()
family = find_family(self)
# print("found %d objects constrained by %s:" % (len(family)-1, self.name))
# print([f for f in family if f != self.name])
for f in family:
oldl = objs[f].location
objs[f].location = (oldl.x+x,oldl.y+y,oldl.z+z)
def rotate_compound(self, x=0.0, y=0.0, z=0.0):
objs = bpymorse.get_objects()
family = find_family(self)
# Parent origin
origin = self.location
# Rotation matrix
rot = Euler([x,y,z]).to_matrix()
for f in family:
oldl = objs[f].location
oldr = objs[f].rotation_euler
# Rotate each object around the parent origin
objs[f].rotation_euler = (oldr.x+x,oldr.y+y,oldr.z+z)
objs[f].location = rot * (oldl - origin) + origin
