def createInertial(inertialdict,
obj,
size=0.03,
errors=None,
adjust=False,
logging=False):
"""Creates the Blender representation of a given inertial provided a dictionary.
Args:
inertialdict(dict): intertial data
obj:
size: (Default value = 0.03)
errors: (Default value = None)
adjust: (Default value = False)
logging: (Default value = False)
Returns:
: bpy_types.Object -- newly created blender inertial object
"""
if errors and not adjust:
log('Can not create inertial object.', 'ERROR')
try:
origin = mathutils.Vector(inertialdict['pose']['translation'])
except KeyError:
origin = mathutils.Vector()
# create new inertial object
name = nUtils.getUniqueName('inertial_' + nUtils.getObjectName(obj),
bpy.data.objects)
inertialobject = bUtils.createPrimitive(
name,
'box',
(size, ) * 3,
defs.layerTypes["inertial"],
pmaterial='phobos_inertial',
phobostype='inertial',
)
sUtils.selectObjects((inertialobject, ), clear=True, active=0)
bpy.ops.object.transform_apply(scale=True)
# set position according to the parent link
inertialobject.matrix_world = obj.matrix_world
parent = obj
if parent.phobostype != 'link':
parent = sUtils.getEffectiveParent(obj, ignore_selection=True)
eUtils.parentObjectsTo(inertialobject, parent)
# position and parent the inertial object relative to the link
# inertialobject.matrix_local = mathutils.Matrix.Translation(origin)
sUtils.selectObjects((inertialobject, ), clear=True, active=0)
# bpy.ops.object.transform_apply(scale=True)
# add properties to the object
for prop in ('mass', 'inertia'):
inertialobject['inertial/' + prop] = inertialdict[prop]
return inertialobject
def createInertial(inertialdict, obj, size=0.03, errors=None, adjust=False, logging=False):
"""Creates the Blender representation of a given inertial provided a dictionary.
Args:
inertialdict(dict): intertial data
obj:
size: (Default value = 0.03)
errors: (Default value = None)
adjust: (Default value = False)
logging: (Default value = False)
Returns:
: bpy_types.Object -- newly created blender inertial object
"""
if errors and not adjust:
log('Can not create inertial object.', 'ERROR')
try:
origin = mathutils.Vector(inertialdict['pose']['translation'])
except KeyError:
origin = mathutils.Vector()
# create new inertial object
name = nUtils.getUniqueName('inertial_' + nUtils.getObjectName(obj), bpy.data.objects)
inertialobject = bUtils.createPrimitive(
name,
'box',
(size,) * 3,
defs.layerTypes["inertial"],
pmaterial='phobos_inertial',
phobostype='inertial',
)
sUtils.selectObjects((inertialobject,), clear=True, active=0)
bpy.ops.object.transform_apply(scale=True)
# set position according to the parent link
inertialobject.matrix_world = obj.matrix_world
parent = obj
if parent.phobostype != 'link':
parent = sUtils.getEffectiveParent(obj, ignore_selection=True)
eUtils.parentObjectsTo(inertialobject, parent)
# position and parent the inertial object relative to the link
# inertialobject.matrix_local = mathutils.Matrix.Translation(origin)
sUtils.selectObjects((inertialobject,), clear=True, active=0)
# bpy.ops.object.transform_apply(scale=True)
# add properties to the object
for prop in ('mass', 'inertia'):
inertialobject['inertial/' + prop] = inertialdict[prop]
return inertialobject
def createInertial(inertialdict, obj=None):
"""Creates the Blender representation of a given inertial provided a dictionary.
Args:
inertialdict(dict): intertial data
obj(bpy.types.Object): link or visual/collision reference object
Returns:
bpy_types.Object: newly created blender inertial object
"""
size = 0.03
try:
origin = mathutils.Vector(inertialdict['pose']['translation'])
except KeyError:
origin = mathutils.Vector()
if not isInertiaDataValid(inertialdict):
return None
name = nUtils.getUniqueName('inertial_' + nUtils.getObjectName(obj), bpy.data.objects)
inertialobject = bUtils.createPrimitive(name, 'box', (size,) * 3, defs.layerTypes["inertial"],
pmaterial='phobos_inertial', phobostype='inertial')
sUtils.selectObjects((inertialobject,), clear=True, active=0)
bpy.ops.object.transform_apply(scale=True)
if obj:
inertialobject.matrix_world = obj.matrix_world
parent = obj if obj.phobostype == 'link' else obj.parent
sUtils.selectObjects((inertialobject, parent), clear=True, active=1)
# Create the inertial object relative to the link / joint
bpy.ops.object.parent_set(type='BONE_RELATIVE')
inertialobject.matrix_local = mathutils.Matrix.Translation(origin)
sUtils.selectObjects((inertialobject,), clear=True, active=0)
bpy.ops.object.transform_apply(scale=True) # force matrix_world update
# set properties
for prop in ('mass', 'inertia'):
inertialobject['inertia/' + prop] = inertialdict[prop]
return inertialobject
