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Added mesh properties in ModelWriter (meshcolor, meshscale, meshrt) #254

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merged 2 commits into from
Jan 20, 2022
Merged

Added mesh properties in ModelWriter (meshcolor, meshscale, meshrt) #254

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f727376
Added meshcolor, meshscale, meshrt properties to the ModelWriter
RVSagar Jan 20, 2022
71dcd10
Merge branch 'pyomeca:master' into mesh_dev_writer
RVSagar Jan 20, 2022
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14 changes: 14 additions & 0 deletions include/RigidBody/Mesh.h
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Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,12 @@ class BIORBD_API Mesh
void rotate(
const utils::RotoTrans& rt);

///
/// \brief Get the rotation applied to the vertex
/// \return The Transformation applied to the mesh wrt the parent
///
utils::RotoTrans& getRotation() const;

///
/// \brief Scale the vertex wrt to 0, 0, 0. Warnign, this function is
/// applied when called, meaning that if it is called after rotate, it will
Expand All @@ -108,6 +114,12 @@ class BIORBD_API Mesh
void scale(
const utils::Vector3d& scaler);

///
/// \brief Get the scaling applied to the vertex wrt to 0, 0, 0.
/// \return The scaling applied to the mesh wrt the parent
///
utils::Vector3d& getScale() const;

///
/// \brief Add a face patch to the mesh
/// \param face The face patch to add
Expand Down Expand Up @@ -160,6 +172,8 @@ class BIORBD_API Mesh
m_faces; ///< The faces
std::shared_ptr<utils::Path> m_pathFile; ///< The path to the mesh file
std::shared_ptr<utils::Vector3d> m_patchColor; ///< The color of faces
std::shared_ptr<utils::RotoTrans> m_rotation; ///< The rotation
std::shared_ptr<utils::Vector3d> m_scale; ///< The scale
};

}
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14 changes: 14 additions & 0 deletions src/ModelWriter.cpp
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Expand Up @@ -8,6 +8,7 @@
#include "Utils/String.h"
#include "Utils/Path.h"
#include "Utils/Matrix3d.h"
#include "Utils/Vector.h"
#include "RigidBody/IMU.h"
#include "RigidBody/NodeSegment.h"
#include "RigidBody/Segment.h"
Expand Down Expand Up @@ -77,6 +78,19 @@ void Writer::writeModel(Model & model,
biorbdModelFile << sep << sep << "meshfile" << sep << model.segment(
i).characteristics().mesh().path().originalPath() <<
std::endl;
biorbdModelFile << sep << sep << "meshcolor" << sep << model.segment(
i).characteristics().mesh().color().transpose() <<
std::endl;
biorbdModelFile << sep << sep << "meshscale" << sep << model.segment(
i).characteristics().mesh().getScale().transpose() <<
std::endl;

biorbdModelFile << sep << sep << "meshrt" << sep <<
utils::RotoTrans::toEulerAngles(model.segment(i).characteristics().mesh().getRotation(),
utils::String("xyz")).transpose() <<
" xyz " <<
model.segment(i).characteristics().mesh().getRotation().trans().transpose() <<
std::endl;
}
biorbdModelFile << sep << "endsegment" << sep << std::endl;
biorbdModelFile << std::endl;
Expand Down
28 changes: 23 additions & 5 deletions src/RigidBody/Mesh.cpp
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Expand Up @@ -12,7 +12,9 @@ rigidbody::Mesh::Mesh() :
m_vertex(std::make_shared<std::vector<utils::Vector3d>>()),
m_faces(std::make_shared<std::vector<rigidbody::MeshFace>>()),
m_pathFile(std::make_shared<utils::Path>()),
m_patchColor(std::make_shared<utils::Vector3d>(0.89, 0.855, 0.788))
m_patchColor(std::make_shared<utils::Vector3d>(0.89, 0.855, 0.788)),
m_rotation(std::make_shared<utils::RotoTrans>(RigidBodyDynamics::Math::Matrix4d::Identity())),
m_scale(std::make_shared<utils::Vector3d>(1.0, 1.0, 1.0))
{

}
Expand All @@ -22,7 +24,9 @@ rigidbody::Mesh::Mesh(
m_vertex(std::make_shared<std::vector<utils::Vector3d>>(other)),
m_faces(std::make_shared<std::vector<rigidbody::MeshFace>>()),
m_pathFile(std::make_shared<utils::Path>()),
m_patchColor(std::make_shared<utils::Vector3d>(0.89, 0.855, 0.788))
m_patchColor(std::make_shared<utils::Vector3d>(0.89, 0.855, 0.788)),
m_rotation(std::make_shared<utils::RotoTrans>(RigidBodyDynamics::Math::Matrix4d::Identity())),
m_scale(std::make_shared<utils::Vector3d>(1.0, 1.0, 1.0))
{

}
Expand All @@ -33,7 +37,9 @@ rigidbody::Mesh::Mesh(const std::vector<utils::Vector3d>
m_vertex(std::make_shared<std::vector<utils::Vector3d>>(vertex)),
m_faces(std::make_shared<std::vector<rigidbody::MeshFace>>(faces)),
m_pathFile(std::make_shared<utils::Path>()),
m_patchColor(std::make_shared<utils::Vector3d>(0.89, 0.855, 0.788))
m_patchColor(std::make_shared<utils::Vector3d>(0.89, 0.855, 0.788)),
m_rotation(std::make_shared<utils::RotoTrans>(RigidBodyDynamics::Math::Matrix4d::Identity())),
m_scale(std::make_shared<utils::Vector3d>(1.0, 1.0, 1.0))
{

}
Expand Down Expand Up @@ -85,22 +91,34 @@ unsigned int rigidbody::Mesh::nbVertex() const

void rigidbody::Mesh::rotate(
const utils::RotoTrans &rt)
{
{
*m_rotation = rt;
for (auto& v : *m_vertex){
v.applyRT(rt);
}
}

utils::RotoTrans &rigidbody::Mesh::getRotation() const
{
return *m_rotation;
}

void rigidbody::Mesh::scale(
const utils::Vector3d &scaler)
{
{
*m_scale = scaler;
for (auto& v: *m_vertex){
v(0) *= scaler(0);
v(1) *= scaler(1);
v(2) *= scaler(2);
}
}

utils::Vector3d &rigidbody::Mesh::getScale() const
{
return *m_scale;
}

unsigned int rigidbody::Mesh::nbFaces()
{
return static_cast<unsigned int>(m_faces->size());
Expand Down