def get_shape_viz(self, index):
"""Retrieves a shape's visual information.
:param index: 0-based index of the shape element to retrieve
(compound shapes contain more than one shape element)
:return: SShapeVizInfo.
"""
info = sim.simGetShapeViz(shapeHandle=self._handle, index=index)
vertices = np.array(info.vertices, dtype=float).reshape(-1, 3)
indices = np.array(info.indices, dtype=float).reshape(-1, 3)
normals = np.array(info.normals, dtype=float).reshape(-1, 3)
colors = np.array(info.colors, dtype=float)
texture = np.array(info.texture, dtype=np.uint8).reshape(
info.textureRes[1], info.textureRes[0], 4)
textureCoords = np.array(info.textureCoords, dtype=float).reshape(
-1, 2)
res = SShapeVizInfo(
vertices=vertices,
indices=indices,
normals=normals,
shading_angle=info.shadingAngle,
colors=colors,
texture=texture,
texture_id=info.textureId,
texture_coords=textureCoords,
texture_apply_mode=info.textureApplyMode,
texture_options=info.textureOptions,
)
return res
def get_shape_viz(self, index, world_frame=False):
"""Retrieves a shape's visual information.
:param index: 0-based index of the shape element to retrieve
(compound shapes contain more than one shape element)
:param world_frame: Whether to represent the mesh in the world frame.
:return: SShapeVizInfo.
"""
info = sim.simGetShapeViz(shapeHandle=self._handle, index=index)
if info == 0:
return None
vertices = np.array(info.vertices, dtype=np.float64).reshape(-1, 3)
indices = np.array(info.indices, dtype=np.int64).reshape(-1, 3)
normals = np.array(info.normals, dtype=np.float64).reshape(-1, 3)
normals_w_ones = np.concatenate(
(normals, np.ones_like(normals[:, -1:])), -1)
vertex_normals = np.zeros([vertices.shape[0], 4], dtype=np.float64)
np.add.at(vertex_normals, indices.reshape(-1), normals_w_ones)
vertex_normals = vertex_normals[..., 0:3] / vertex_normals[..., -1:]
if world_frame:
inv_ext_mat_homo = self.get_matrix()
rot_mat = inv_ext_mat_homo[0:3, 0:3]
trans = inv_ext_mat_homo[0:3, -1]
vertices = np.transpose(
np.matmul(rot_mat, np.transpose(vertices, (1, 0))),
(1, 0)) + trans
vertex_normals = np.transpose(
np.matmul(rot_mat, np.transpose(vertex_normals, (1, 0))),
(1, 0))
colors = np.array(info.colors, dtype=float)
try:
# ToDo: work out why this happens, for some reason sometimes the shapes don't match
texture = np.array(info.texture,
dtype=np.uint8).reshape(info.textureRes[1],
info.textureRes[0], 4)
textureCoords = np.array(info.textureCoords,
dtype=float).reshape(-1, 2)
except:
texture = np.array([], dtype=np.uint8)
textureCoords = np.array([], dtype=float)
res = SShapeVizInfo(
vertices=vertices,
indices=indices,
normals=vertex_normals,
shading_angle=info.shadingAngle,
colors=colors,
texture=texture,
texture_id=info.textureId,
texture_coords=textureCoords,
texture_apply_mode=info.textureApplyMode,
texture_options=info.textureOptions,
)
return res
