def createInertials(link, empty=False, preserve_children=False):
"""Creates inertial representations for visual and collision objects in link.
:param link: The link you want to create the inertial for.
:type link: bpy_types.Object
:param empty: If set to True the new inertial object will contain no information.
:type empty: bool
:param preserve_children: If set to False already existent inertial objects will be deleted.
:type preserve_children: bool
"""
#
viscols = getInertiaRelevantObjects(link)
# clean existing data
if not preserve_children:
oldinertials = selectionUtils.getImmediateChildren(link, ['inertial'])
else:
try:
oldinertials = [bpy.data.objects['inertial_' + link.name]]
except KeyError:
oldinertials = None
if oldinertials:
selectionUtils.selectObjects(oldinertials, clear=True, active=0)
bpy.ops.object.delete()
if not preserve_children:
for obj in viscols:
if not empty:
mass = obj['mass'] if 'mass' in obj else None
geometry = robotdictionary.deriveGeometry(obj)
if mass is not None:
if geometry['type'] == 'mesh':
selectionUtils.selectObjects([obj])
bpy.context.scene.objects.active = obj
inert = calculateMeshInertia(obj.data, mass)
#print('mesh:', inert)
#print('ellipsoid:', calculateEllipsoidInertia(mass, geometry['size']))
#print('box:', calculateBoxInertia(mass, geometry['size']))
else:
inert = calculateInertia(mass, geometry)
if inert is not None:
inertial = createInertial(obj)
inertial['mass'] = mass
inertial['inertia'] = inert
else:
createInertial(obj)
# compose inertial object for link
if not empty:
mass, com, inert = fuseInertiaData(
selectionUtils.getImmediateChildren(link, ['inertial']))
if mass and com and inert:
inertial = createInertial(link)
com_translate = mathutils.Matrix.Translation(com)
inertial.matrix_local = com_translate
bpy.ops.transform.translate(value=(
0, 0, 0
)) # FIXME: this is a trick to force Blender to apply matrix_local
inertial['inertial/mass'] = mass
inertial['inertial/inertia'] = inertiaMatrixToList(inert)
else:
createInertial(link)
def createInertials(link, empty=False, preserve_children=False):
"""Creates inertial representations for visual and collision objects in link.
:param link: The link you want to create the inertial for.
:type link: bpy_types.Object
:param empty: If set to True the new inertial object will contain no information.
:type empty: bool
:param preserve_children: If set to False already existent inertial objects will be deleted.
:type preserve_children: bool
"""
#
viscols = getInertiaRelevantObjects(link)
# clean existing data
if not preserve_children:
oldinertials = selectionUtils.getImmediateChildren(link, ['inertial'])
else:
try:
oldinertials = [bpy.data.objects['inertial_'+link.name]]
except KeyError:
oldinertials = None
if oldinertials:
selectionUtils.selectObjects(oldinertials, clear=True, active=0)
bpy.ops.object.delete()
if not preserve_children:
for obj in viscols:
if not empty:
mass = obj['mass'] if 'mass' in obj else None
geometry = robotdictionary.deriveGeometry(obj)
if mass is not None:
if geometry['type'] == 'mesh':
selectionUtils.selectObjects([obj])
bpy.context.scene.objects.active = obj
inert = calculateMeshInertia(obj.data, mass)
#print('mesh:', inert)
#print('ellipsoid:', calculateEllipsoidInertia(mass, geometry['size']))
#print('box:', calculateBoxInertia(mass, geometry['size']))
else:
inert = calculateInertia(mass, geometry)
if inert is not None:
inertial = createInertial(obj)
inertial['mass'] = mass
inertial['inertia'] = inert
else:
createInertial(obj)
# compose inertial object for link
if not empty:
mass, com, inert = fuseInertiaData(selectionUtils.getImmediateChildren(link, ['inertial']))
if mass and com and inert:
inertial = createInertial(link)
com_translate = mathutils.Matrix.Translation(com)
inertial.matrix_local = com_translate
bpy.ops.transform.translate(value=(0, 0, 0)) # FIXME: this is a trick to force Blender to apply matrix_local
inertial['inertial/mass'] = mass
inertial['inertial/inertia'] = inertiaMatrixToList(inert)
else:
createInertial(link)
def createInertials(link, empty=False, preserve_children=False):
# create inertial representations for visual and collision objects in link
viscols = getInertiaRelevantObjects(link)
# clean existing data
if not preserve_children:
oldinertials = selectionUtils.getImmediateChildren(link, ['inertial'])
else:
try:
oldinertials = [bpy.data.objects['inertial_'+link.name]]
except KeyError:
oldinertials = None
if oldinertials:
selectionUtils.selectObjects(oldinertials, clear=True, active=0)
bpy.ops.object.delete()
if not preserve_children:
for obj in viscols:
if not empty:
mass = obj['mass'] if 'mass' in obj else None
geometry = robotdictionary.deriveGeometry(obj)
if mass is not None:
inert = calculateInertia(mass, geometry)
if inert is not None:
inertial = createInertial(obj)
inertial['mass'] = mass
inertial['inertia'] = inert
else:
createInertial(obj)
# compose inertial object for link
if not empty:
mass, com, inert = fuseInertiaData(selectionUtils.getImmediateChildren(link, ['inertial']))
if mass and com and inert:
inertial = createInertial(link)
com_translate = mathutils.Matrix.Translation(com)
inertial.matrix_local = com_translate
bpy.ops.transform.translate(value=(0, 0, 0)) # FIXME: this is a trick to force Blender to apply matrix_local
inertial['inertial/mass'] = mass
inertial['inertial/inertia'] = inertiaMatrixToList(inert)
else:
createInertial(link)
