def check_bb_intersection(obj1: MeshObject, obj2: MeshObject):
"""
Checks if there is a bounding box collision, these don't have to be axis-aligned, but if they are not:
The surrounding/including axis-aligned bounding box is calculated and used to check the intersection.
:param obj1: object 1 to check for intersection, must be a mesh
:param obj2: object 2 to check for intersection, must be a mesh
:return: True if the two bounding boxes intersect with each other
"""
b1w = obj1.get_bound_box()
def min_and_max_point(bb):
"""
Find the minimum and maximum point of the bounding box
:param bb: bounding box
:return: min, max
"""
values = np.array(bb)
return np.min(values, axis=0), np.max(values, axis=0)
# get min and max point of the axis-aligned bounding box
min_b1, max_b1 = min_and_max_point(b1w)
b2w = obj2.get_bound_box()
# get min and max point of the axis-aligned bounding box
min_b2, max_b2 = min_and_max_point(b2w)
return CollisionUtility._check_bb_intersection_on_values(
min_b1, max_b1, min_b2, max_b2)
def replace(obj_to_remove: MeshObject,
obj_to_add: MeshObject,
check_collision_with: [MeshObject] = [],
scale: bool = True,
relative_pose_sampler: Callable[[MeshObject], None] = None):
""" Scale, translate, rotate obj_to_add to match obj_to_remove and check if there is a bounding box collision
returns a boolean.
:param obj_to_remove: An object to remove from the scene.
:param obj_to_add: An object to put in the scene instead of obj_to_remove.
:param check_collision_with: A list of objects, which are not checked for collisions with.
:param scale: Scales obj_to_add to match obj_to_remove dimensions.
:param relative_pose_sampler: A function that randomly perturbs the pose of the object to replace with (after it has been aligned to the object to replace).
"""
# New object takes location, rotation and rough scale of original object
obj_to_add.set_location(obj_to_remove.get_location())
obj_to_add.set_rotation_euler(obj_to_remove.get_rotation())
if scale:
obj_to_add.set_scale(
ObjectReplacer._bb_ratio(obj_to_remove.get_bound_box(True),
obj_to_add.get_bound_box(True)))
if relative_pose_sampler is not None:
relative_pose_sampler(obj_to_add)
bpy.context.view_layer.update()
# Check for collision between the new object and other objects in the scene
for obj in check_collision_with: # for each object
if obj != obj_to_add and obj_to_remove != obj:
if check_bb_intersection(obj.blender_obj,
obj_to_add.blender_obj):
if check_intersection(obj.blender_obj,
obj_to_add.blender_obj)[0]:
return False
return True
def __init__(self, replica_mesh: MeshObject, replica_floor: MeshObject,
height_list_file_path: str):
""" Collect object containing all floors of all rooms and read in text file containing possible height values.
:param replica_mesh: The replica mesh object.
:param replica_floor: The replica floor object.
:param height_list_file_path: The path to the file containing possible height values.
"""
# Determine bounding box of the scene
bounding_box = replica_mesh.get_bound_box()
self.bounding_box = {"min": bounding_box[0], "max": bounding_box[-2]}
self.floor_object = replica_floor
with open(height_list_file_path) as file:
self.floor_height_values = [
float(val) for val in ast.literal_eval(file.read())
]
