def updateGeometryFromProperties(self):
filename = self.getProperty('Filename')
scale = self.getProperty('Scale')
if not filename:
polyData = vtk.vtkPolyData()
else:
polyData = self.getMeshManager().get(filename)
if not polyData:
if not os.path.isabs(filename):
filename = os.path.join(director.getDRCBaseDir(), filename)
if os.path.isfile(filename):
polyData = ioUtils.readPolyData(filename)
if not scale == [1, 1, 1]:
transform = vtk.vtkTransform()
transform.Scale(scale)
transformFilter = vtk.vtkTransformPolyDataFilter()
transformFilter.SetInput(polyData)
transformFilter.SetTransform(transform)
transformFilter.Update()
polyData = transformFilter.GetOutput()
else:
# use axes as a placeholder mesh
d = DebugData()
d.addFrame(vtk.vtkTransform(), scale=0.1, tubeRadius=0.005)
polyData = d.getPolyData()
self.setPolyData(polyData)
def updateGeometryFromProperties(self):
filename = self.getProperty('Filename')
scale = self.getProperty('Scale')
if not filename:
polyData = vtk.vtkPolyData()
else:
polyData = self.getMeshManager().get(filename)
if not polyData:
if not os.path.isabs(filename):
filename = os.path.join(director.getDRCBaseDir(), filename)
if os.path.isfile(filename):
polyData = ioUtils.readPolyData(filename)
if not scale == [1, 1, 1]:
transform = vtk.vtkTransform()
transform.Scale(scale)
polyData = filterUtils.transformPolyData(
polyData, transform)
else:
# use axes as a placeholder mesh
d = DebugData()
d.addFrame(vtk.vtkTransform(), scale=0.1, tubeRadius=0.005)
polyData = d.getPolyData()
self.setPolyData(polyData)
def debugDrawFootPoints(model):
pts_left, pts_right = FootstepsDriver.getContactPts()
d = DebugData()
for linkName in [_leftFootLink, _rightFootLink]:
t = model.getLinkFrame(linkName)
d.addFrame(t, scale=0.2)
if (linkName is _leftFootLink):
pts = pts_left
else:
pts = pts_right
footMidPoint = np.mean(pts, axis=0)
for p in pts.tolist() + [footMidPoint.tolist()]:
t.TransformPoint(p, p)
d.addSphere(p, radius=0.015)
midpt = FootstepsDriver.getFeetMidPoint(model)
d.addFrame(midpt, scale=0.2)
vis.showPolyData(d.getPolyData(), 'foot points debug', parent='debug', colorByName='RGB255')
def updateGeometryFromProperties(self):
filename = self.getProperty('Filename')
if not filename:
polyData = vtk.vtkPolyData()
else:
polyData = self.getMeshManager().get(filename)
if not polyData:
if not os.path.isabs(filename):
filename = os.path.join(director.getDRCBaseDir(), filename)
if os.path.isfile(filename):
polyData = ioUtils.readPolyData(filename)
else:
# use axes as a placeholder mesh
d = DebugData()
d.addFrame(vtk.vtkTransform(), scale=0.1, tubeRadius=0.005)
polyData = d.getPolyData()
self.setPolyData(polyData)
def createTriad(params):
d = DebugData()
d.addFrame(vtk.vtkTransform(), scale=params.get("scale", 1.0),
tubeRadius=0.002 if params.get("tube", False) else 0.0)
return [d.getPolyData()]
d.addPolygon([[0,0,0], [0.8, 0, 0], [1, 0.6, 0], [0.4, 1, 0], [-0.2, 0.6, 0]]) show(d, (2, 0, 0)) d = DebugData() d.addPolyLine(getHelixPoints(), radius=0.01) show(d, (4, 0, 0)) d = DebugData() d.addSphere([0, 0, 0], radius=0.3) show(d, (6, 0, 0)) d = DebugData() d.addFrame(vtk.vtkTransform(), scale=0.5, tubeRadius=0.03) show(d, (0, 2, 0)) d = DebugData() d.addArrow((0, 0, 0), (0, 1, 0)) show(d, (2, 2, 0)) d = DebugData() d.addEllipsoid((0, 0, 0), radii=(0.5, 0.35, 0.2)) show(d, (4, 2, 0)) d = DebugData() d.addTorus(radius=0.5, thickness=0.2)
def createTriad(params):
d = DebugData()
d.addFrame(vtk.vtkTransform(), scale=params.get("scale", 1.0),
tubeRadius=0.002 if params.get("tube", False) else 0.0)
return [d.getPolyData()]
