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Commit bf1c39a4 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
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Update export to blender and fix export of curves

parent c747b37b
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include/gepetto/viewer/blender-geom-writer.h
View file @ bf1c39a4
......@@ -55,7 +55,7 @@ namespace graphics {
std::ofstream file_;
std::string filename_;
unsigned int frameCount_;
std::stack<std::string> groupStack_;
std::size_t groupDepth_;
};
} /* namespace graphics */
......
src/blender-geom-writer.cc
View file @ bf1c39a4
......@@ -43,6 +43,7 @@ namespace graphics {
const char node[] = "#";
const char varMat[] = "material";
const char warning[] = "# Warning: ";
const std::string varShape = "currentShape";
template <typename Vector>
std::ostream& writeVectorAsList (std::ostream& os, const Vector& v)
......@@ -88,12 +89,12 @@ namespace graphics {
<< varMat << ".diffuse_intensity = " << rgbaDiffuse.a() << end;
}
template <typename NodeType> void setColor(std::ostream& os, NodeType& node) {
template <typename NodeType> void setColor(std::ostream& os, NodeType& node, const std::string& var) {
writeMaterial(os, node.getID() + "__mat", node.getColor());
os << "bpy.context.object.data.materials.append(" << varMat << ')' << end;
os << var << ".materials.append(" << varMat << ')' << end;
}
template <> void setColor(std::ostream& os, LeafNodeCollada& node) {
void setColor(std::ostream& os, LeafNodeCollada& node) {
osg::Material* mat_ptr = dynamic_cast<osg::Material*> (
node.getOsgNode()->getStateSet()->getAttribute(osg::StateAttribute::MATERIAL));
if (mat_ptr != NULL) { // Color was set by URDF
......@@ -105,6 +106,7 @@ namespace graphics {
BlenderGeomWriterVisitor::BlenderGeomWriterVisitor (const std::string& filename)
: filename_ (filename)
, groupDepth_ (0)
{
bool isNew = !openFile();
const std::string comment = (isNew ? "" : "# ");
......@@ -138,8 +140,39 @@ namespace graphics {
<< comment << "def setMaterial (children, mat):" << end
<< comment << " for child in children:" << end
<< comment << " child.data.materials.append(mat)" << end << end
<< comment << "" << end
<< comment << "def makeEmpty(objname):" << end
<< comment << " bpy.ops.object.empty_add()" << end
<< comment << " bpy.context.object.name = objname" << end
<< comment << " return bpy.context.object" << end
<< comment << "" << end
<< comment << "def setLocQuatSca(obj, loc = (0,0,0), quat=(1,0,0,0), sca=(1,1,1)):" << end
<< comment << " obj.location = loc" << end
<< comment << " obj.rotation_mode = 'QUATERNION'" << end
<< comment << " obj.rotation_quaternion = quat" << end
<< comment << " obj.scale = sca" << end
<< comment << "" << end
<< comment << "def makePolyLine(objname, curvename, cList):" << end
<< comment << " curvedata = bpy.data.curves.new(name=curvename, type='CURVE')" << end
<< comment << " curvedata.dimensions = '3D'" << end
<< comment << " curvedata.fill_mode = 'FULL'" << end
<< comment << " curvedata.bevel_depth = 0.01" << end
<< comment << " curvedata.bevel_resolution = 10" << end
<< comment << "" << end
<< comment << " objectdata = bpy.data.objects.new(objname, curvedata)" << end
<< comment << " objectdata.location = (0,0,0) #object origin" << end
<< comment << " bpy.context.scene.objects.link(objectdata)" << end
<< comment << " w = 1.0" << end
<< comment << " polyline = curvedata.splines.new('POLY')" << end
<< comment << " polyline.points.add(len(cList)-1)" << end
<< comment << " for num in range(len(cList)):" << end
<< comment << " x, y, z = cList[num]" << end
<< comment << " polyline.points[num].co = (x, y, z, w)" << end
<< comment << " return objectdata, curvedata" << end
<< comment << "" << end << end
<< comment << "## End of convenient functions" << end
<< comment << "checkConf()" << end << end
<< comment << "## End of convenient functions" << end;
<< comment << "obj_stack = []" << end;
}
bool BlenderGeomWriterVisitor::openFile () {
......@@ -159,22 +192,22 @@ namespace graphics {
}
void BlenderGeomWriterVisitor::apply (GroupNode& node)
{
for (std::size_t i = 0; i < groupStack_.size() + 1; ++i)
for (std::size_t i = 0; i < groupDepth_ + 1; ++i)
out() << group;
out() << " Group " << node.getID() << end;
out() << "bpy.ops.object.empty_add()" << end
<< "bpy.context.object.name = \"" << node.getID() << '"' << end;
// Set parent of this group
if (!groupStack_.empty())
out() << "bpy.context.object.parent = bpy.data.objects[\""
<< groupStack_.top() << "\"]" << end;
out() << "if obj_stack: bpy.context.object.parent = obj_stack[-1]" << end;
groupStack_.push(node.getID());
++groupDepth_;
out() << "obj_stack.append(bpy.context.object)" << end;
NodeVisitor::apply(static_cast<Node&>(node));
groupStack_.pop();
--groupDepth_;
out() << "obj_stack.pop()" << end;
for (std::size_t i = 0; i < groupStack_.size() + 1; ++i)
for (std::size_t i = 0; i < groupDepth_ + 1; ++i)
out() << group;
out() << end;
}
......@@ -186,10 +219,11 @@ namespace graphics {
{
out()
<< "bpy.ops.mesh.primitive_cube_add ()" << end
<< "bpy.context.object.dimensions = ";
<< varShape << " = bpy.context.object" << end
<< varShape << ".dimensions = ";
writeVectorAsList(out(), node.getHalfAxis()*2) << end;
setColor(out(), node);
setColor(out(), node, varShape + ".data");
standardApply(node);
}
......@@ -223,8 +257,9 @@ namespace graphics {
out ()
<< "imported_objects = getNonTaggedObjects ()" << end
<< "print(imported_objects)" << end
<< "bpy.ops.object.empty_add ()" << end
<< "setParent (imported_objects, bpy.context.object)" << end;
<< varShape << " = makeEmpty(\"" << node.getID() << "__shape\")" << end
<< "setLocQuatSca(" << varShape << ')' << end
<< "setParent (imported_objects, " << varShape << ')' << end;
setColor(out(), node);
......@@ -233,15 +268,17 @@ namespace graphics {
void BlenderGeomWriterVisitor::apply (LeafNodeCone& node)
{
out() << "bpy.ops.mesh.primitive_cone_add (radius1="
<< node.getRadius() << ", depth=" << node.getHeight() << ')' << end;
setColor(out(), node);
<< node.getRadius() << ", depth=" << node.getHeight() << ')' << end
<< varShape << " = bpy.context.object" << end;
setColor(out(), node, varShape + ".data");
standardApply(node);
}
void BlenderGeomWriterVisitor::apply (LeafNodeCylinder& node)
{
out() << "bpy.ops.mesh.primitive_cylinder_add (radius="
<< node.getRadius() << ", depth=" << node.getHeight() << ')' << end;
setColor(out(), node);
<< node.getRadius() << ", depth=" << node.getHeight() << ')' << end
<< varShape << " = bpy.context.object" << end;
setColor(out(), node, varShape + ".data");
standardApply(node);
}
void BlenderGeomWriterVisitor::apply (LeafNodeFace& node)
......@@ -258,6 +295,8 @@ namespace graphics {
}
void BlenderGeomWriterVisitor::apply (LeafNodeLine& node)
{
const char varCurve[] = "currentCurve";
::osg::Vec3ArrayRefPtr points = node.getPoints();
out() << "points = [";
for (std::size_t i = 0; i < points->size(); ++i)
......@@ -269,26 +308,19 @@ namespace graphics {
}
out()
<< "curve = bpy.data.curves.new(name=\"" << node.getID() << "__curve\", type='CURVE')" << end
<< "curve.dimensions = '3D'" << end
<< "curve.fill_mode = 'FULL'" << end
<< "curve.bevel_depth = 0.01" << end
<< "curve.bevel_resolution = 10" << end
/// define points that make the line
<< "polyline = curve.splines.new('POLY')" << end
<< "polyline.points.add(len(points)-1)" << end
<< "for i in xrange(len(points)):" << end
<< " polyline.points[i].co = (points[i])+(1.0,)" << end;
<< varShape << ", " << varCurve
<< " = makePolyLine(\"" << node.getID() << "__shape\", \"" << node.getID() << "__curve\", points)" << end;
setColor(out(), node);
setColor(out(), node, varCurve);
standardApply(node);
}
void BlenderGeomWriterVisitor::apply (LeafNodeSphere& node)
{
out () << "bpy.ops.mesh.primitive_ico_sphere_add (size="
<< node.getRadius() << ")" << end;
setColor(out(), node);
<< node.getRadius() << ")" << end
<< varShape << " = bpy.context.object" << end;
setColor(out(), node, varShape + ".data");
standardApply(node);
}
void BlenderGeomWriterVisitor::apply (LeafNodeXYZAxis& node)
......@@ -301,25 +333,17 @@ namespace graphics {
const std::string& id = node.getID ();
// Set name
out()
<< "bpy.context.object.name = \"" << id << "__shape\"" << end
<< "bpy.context.object.location = ";
writeVectorAsList(out(), node.getStaticPosition()) << end;
out()
<< "bpy.context.object.rotation_mode = 'QUATERNION'" << end
<< "bpy.context.object.rotation_quaternion = ";
writeVectorAsList(out(), node.getStaticRotation()) << end;
out()
<< "bpy.context.object.scale = ";
writeVectorAsList(out(), node.getScale()) << end;
<< varShape << ".name = \"" << id << "__shape\"" << end
<< "setLocQuatSca(" << varShape << ", ";
writeVectorAsList(out() << "loc = " , node.getStaticPosition()) << ", ";
writeVectorAsList(out() << "quat = ", node.getStaticRotation()) << ", ";
writeVectorAsList(out() << "sca = " , node.getScale()) << ')' << end;
out()
<< "bpy.ops.object.empty_add ()" << end
<< "bpy.context.object.name = \"" << id << '"' << end
<< "bpy.data.objects[\"" << id << "__shape\"].parent = "
<< "bpy.data.objects[\"" << id << "\"]" << end;
<< "obj = makeEmpty(\"" << id << "\")" << end
<< "setLocQuatSca(obj)" << end
<< varShape << ".parent = obj" << end;
// Set parent group
if (!groupStack_.empty())
out() << "bpy.context.object.parent = bpy.data.objects[\""
<< groupStack_.top() << "\"]" << end;
out() << "if obj_stack: obj.parent = obj_stack[-1]" << end;
NodeVisitor::apply (node);
}
......@@ -328,7 +352,7 @@ namespace graphics {
{
std::cout << type << " is not implemented. " << node.getID()
<< " not added" << std::endl;
out() << "bpy.ops.object.empty_add()" << end;
out() << varShape << " = makeEmpty()" << end;
standardApply(node);
}
} // namespace graphics
......
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