def _pipeline_default(self):
sqrt2 = numpy.sqrt(2)
x = -sqrt2 * numpy.cos(numpy.pi * 2. / 3)
y = sqrt2 * numpy.sin(numpy.pi * 2. / 3)
p1 = tvtk.PlaneSource(origin=(0,0,0), \
point1=(-sqrt2,0,1), point2=(x,y,1))
p2 = tvtk.PlaneSource(origin=(0,0,0), \
point1=(x,y,1), point2=(x,-y,1))
p3 = tvtk.PlaneSource(origin=(0,0,0), \
point1=(x,-y,1), point2=(-sqrt2,0,1))
for p in (p1, p2, p3):
p.set_resolution(32, 32)
append = tvtk.AppendPolyData()
append.add_input_connection(p1.output_port)
append.add_input_connection(p2.output_port)
append.add_input_connection(p3.output_port)
scale_f = tvtk.TransformFilter(input_connection=append.output_port,
transform=self.scale)
trans = tvtk.Transform()
trans.rotate_x(90.0)
self.imp_cyl.transform = trans
clip = tvtk.ClipPolyData(input_connection=scale_f.output_port,
clip_function=self.imp_cyl,
inside_out=True)
transF2 = tvtk.TransformFilter(input_connection=clip.output_port,
transform=self.transform)
self.config_pipeline()
return transF2
def endEffectorBody(X_s, size, color):
"""
Return a end effector reprsented by a plane
and the appropriate static transform.
"""
apd = tvtk.AppendPolyData()
ls = tvtk.LineSource(point1=(0., 0., 0.), point2=tuple(X_s.translation()))
p1 = (sva.PTransformd(e.Vector3d.UnitX() * size) * X_s).translation()
p2 = (sva.PTransformd(e.Vector3d.UnitY() * size) * X_s).translation()
ps = tvtk.PlaneSource(origin=tuple(X_s.translation()),
point1=tuple(p1),
point2=tuple(p2),
center=tuple(X_s.translation()))
apd.add_input(ls.output)
apd.add_input(ps.output)
pdm = tvtk.PolyDataMapper(input=apd.output)
actor = tvtk.Actor(mapper=pdm)
actor.property.color = color
actor.user_transform = tvtk.Transform()
return actor, sva.PTransformd.Identity()
def get_actor_from_models(models):
actors = []
scene_obj = {}
m = models.keys()[randint(len(models))]
mapper = models[m]
scene_obj['model'] = m
p = tvtk.Property(color=(1.0, 1.0, 1.0), lighting=False)
actor = tvtk.Actor(mapper=mapper, property=p)
x = (rand() - 0.5) * 2 * model_center_square
y = (rand() - 0.5) * 2 * model_center_square
theta = rand() * 360
actor.position = [x, y, 0]
actor.rotate_z(theta)
#scene_obj['x'] = actor.position[0]
#scene_obj['y'] = actor.position[1]
#scene_obj['theta'] = actor.orientation[2]
scene_obj['actor_matrix'] = actor.matrix.to_array().tolist()
actors.append(actor)
plane = tvtk.PlaneSource()
plane_mapper = tvtk.PolyDataMapper(input=plane.output)
p = tvtk.Property(color=(1.0, 0, 0), lighting=False)
floor_actor = tvtk.Actor(mapper=plane_mapper, property=p)
p = tvtk.Property(color=(0, 1.0, 0), lighting=False)
wall_actor = tvtk.Actor(mapper=plane_mapper, property=p)
wall_actor.rotate_x(90)
wall_actor.scale = [10, 6, 1]
wall_actor.position = [0, 3, 2]
floor_actor.scale = [10, 6, 1]
actors.append(wall_actor)
actors.append(floor_actor)
return actors, scene_obj
def __source_dict_default(self):
"""Default value for source dict."""
sd = {
'arrow': tvtk.ArrowSource(),
'cone': tvtk.ConeSource(),
'cube': tvtk.CubeSource(),
'cylinder': tvtk.CylinderSource(),
'disk': tvtk.DiskSource(),
'earth': tvtk.EarthSource(),
'line': tvtk.LineSource(),
'outline': tvtk.OutlineSource(),
'plane': tvtk.PlaneSource(),
'point': tvtk.PointSource(),
'polygon': tvtk.RegularPolygonSource(),
'sphere': tvtk.SphereSource(),
'superquadric': tvtk.SuperquadricSource(),
'textured sphere': tvtk.TexturedSphereSource(),
'glyph2d': tvtk.GlyphSource2D()
}
return sd
def endEffectorBody(X_s, size, color):
"""
Return a end effector reprsented by a plane
and the appropriate static transform.
"""
apd = tvtk.AppendPolyData()
ls = tvtk.LineSource(point1=(0., 0., 0.),
point2=tuple(X_s.translation()))
p1 = (sva.PTransformd(e.Vector3d.UnitX()*size)*X_s).translation()
p2 = (sva.PTransformd(e.Vector3d.UnitY()*size)*X_s).translation()
ps = tvtk.PlaneSource(origin=tuple(X_s.translation()),
point1=tuple(p1),
point2=tuple(p2),
center=tuple(X_s.translation()))
# apd.add_input(ls.output)
# apd.add_input(ps.output)
# https://github.com/enthought/mayavi/blob/ac5c8e316335078c25461a0bce4a724ae86f1836/tvtk/tests/test_tvtk.py#L586
apd.add_input_data(ls.output)
apd.add_input_data(ps.output)
# pdm = tvtk.PolyDataMapper(input=apd.output)
# arcPdm = tvtk.PolyDataMapper(input=arcSource.output)
pdm = tvtk.PolyDataMapper()
# https://stackoverflow.com/questions/35089379/how-to-fix-traiterror-the-input-trait-of-a-instance-is-read-only
# configure_input_data(textPdm, textSource)# https://github.com/enthought/mayavi/issues/521
pdm.input_connection = apd.output_port
prop = tvtk.Property(color=color)
# https://github.com/enthought/mayavi/issues/521
# arcPdm.input_connection = arcSource.output_port
actor = tvtk.Actor(mapper=pdm, property=prop)
actor.property.color = color
actor.user_transform = tvtk.Transform()
return actor, sva.PTransformd.Identity()
def draw_bilboard(fig, texture_name, pos=(0, 0, 0), scale=1.0):
plane = tvtk.PlaneSource(center=pos)
# pdb.set_trace()
# plane = resize(plane, scale)
reader = tvtk.PNGReader()
reader.set_data_scalar_type_to_unsigned_char()
reader.set(file_name=texture_name)
plane_texture = tvtk.Texture()
plane_texture.set_input(reader.get_output())
plane_texture.set(interpolate=0)
# pdb.set_trace()
map = tvtk.TextureMapToPlane()
map.set_input(plane.get_output())
plane_mapper = tvtk.PolyDataMapper()
plane_mapper.set(input=map.get_output())
p = tvtk.Property(opacity=1.0, color=(1, 0, 0))
plane_actor = tvtk.Actor(mapper=plane_mapper, texture=plane_texture)
fig.scene.add_actor(plane_actor)