Merge 96b0fa3 into 5cc1da0

README.md

@@ -15,9 +15,9 @@ pip install meshcat-shapes
 
 ## Shapes
 
-| ``meshcat_shapes.frame`` | ``meshcat_shapes.point`` |
-|--------------------------|--------------------------|
-| <img src="https://github.com/stephane-caron/meshcat-shapes/raw/main/gallery/frame.png" width="250"> | <img src="https://github.com/stephane-caron/meshcat-shapes/raw/main/gallery/point.png" width="250"> |
+| ``meshcat_shapes.frame`` | ``meshcat_shapes.point`` | ``meshcat_shapes.textarea`` |
+|--------------------------|--------------------------|-----------------------------|
+| <img src="https://github.com/stephane-caron/meshcat-shapes/raw/main/gallery/frame.png" width="250"> | <img src="https://github.com/stephane-caron/meshcat-shapes/raw/main/gallery/point.png" width="250"> | <img src="https://github.com/stephane-caron/meshcat-shapes/raw/main/gallery/textarea.png" width="250"> |
 
 PRs are welcome: open one if you have implemented a shape that can be useful to others.
 
@@ -43,4 +43,9 @@ meshcat_shapes.point(
     radius=0.05,
     color=0xFF0000,
 )
+
+meshcat_shapes.textarea(
+    vis["text"],
+    "super easy",
+)
 ```

examples/textarea.py

@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright 2022 Stéphane Caron
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import meshcat
+import numpy as np
+
+import meshcat_shapes
+
+if __name__ == "__main__":
+    vis = meshcat.Visualizer().open()
+
+    meshcat_shapes.textarea(
+        vis["foo"],
+        "super easy",
+    )
+
+    meshcat_shapes.textarea(
+        vis["bar"],
+        "barely an inconvenience",
+        width=1.5,
+        height=1.5,
+        font_size=200,
+    )
+
+    Rx = meshcat.transformations.rotation_matrix(0.5 * np.pi, [1.0, 0.0, 0.0])
+    Rz = meshcat.transformations.rotation_matrix(0.5 * np.pi, [0.0, 0.0, 1.0])
+    vis["foo"].set_transform(Rz.dot(Rx))
+
+    trans = meshcat.transformations.translation_matrix([0.0, 1.0, 0.2])
+    vis["bar"].set_transform(trans @ Rz @ Rx)
+
+    input("Press Enter to exit...")

meshcat_shapes/__init__.py

@@ -23,8 +23,10 @@
 
 from .frame import frame
 from .point import point
+from .textarea import textarea
 
 __all__ = [
     "frame",
     "point",
+    "textarea",
 ]

meshcat_shapes/textarea.py

@@ -0,0 +1,168 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright 2023 Inria
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# This file incorporates work covered by the following copyright and permission
+# notice:
+#
+#     geometry.py from https://github.com/rdeits/meshcat-python/pull/32
+#     Copyright (c) 2018 Shen Shen
+#     License: MIT
+
+"""Text area.
+
+Notes:
+    To be simplified once https://github.com/rdeits/meshcat-python/pull/111
+    makes it to a released version of meshcat-python.
+"""
+
+import meshcat
+from meshcat.geometry import Geometry, Mesh, MeshPhongMaterial, Texture
+
+
+class Plane(Geometry):
+    """Plane segment.
+
+    Attributes:
+        height: Plane segment height.
+        height_segments: Number of height segments.
+        width: Plane segment width.
+        width_segments: Number of width segments.
+    """
+
+    height: float
+    height_segments: int
+    width: float
+    width_segments: int
+
+    def __init__(
+        self,
+        width: float = 1.0,
+        height: float = 1.0,
+        width_segments: int = 1,
+        height_segments: int = 1,
+    ):
+        """Initialize plane segment.
+
+        Args:
+            width: Plane segment width.
+            height: Plane segment height.
+            width_segments: Number of width segments.
+            height_segments: Number of height segments.
+        """
+        super().__init__()
+        self.height = height
+        self.height_segments = height_segments
+        self.width = width
+        self.width_segments = width_segments
+
+    def lower(self, _):
+        """Serialize object.
+
+        Args:
+            object_data: Unused.
+        """
+        return {
+            "uuid": self.uuid,
+            "type": "PlaneGeometry",
+            "width": self.width,
+            "height": self.height,
+            "widthSegments": self.width_segments,
+            "heightSegments": self.height_segments,
+        }
+
+
+class TextTexture(Texture):
+    """Text texture.
+
+    Attributes:
+        font_face: Font face.
+        font_size: Font size in px.
+        text: Text content.
+    """
+
+    font_face: str
+    font_size: int
+    text: str
+
+    def __init__(
+        self,
+        text: str,
+        font_size: int = 100,
+        font_face: str = "sans-serif",
+    ):
+        """Initialize text texture.
+
+        Args:
+            text: Text content.
+            font_size: Font size in px.
+            font_face: Font face.
+        """
+        super().__init__()
+        self.font_face = font_face
+        self.font_size = font_size
+        self.text = text
+
+    def lower(self, _):
+        """Serialize texture.
+
+        Args:
+            object_data: Unused.
+        """
+        return {
+            "uuid": self.uuid,
+            "type": "_text",
+            "text": self.text,
+            "font_size": self.font_size,
+            "font_face": self.font_face,
+        }
+
+
+def textarea(
+    handle: meshcat.Visualizer,
+    text: str,
+    width: float = 1.0,
+    height: float = 1.0,
+    font_size: int = 100,
+    font_face: str = "sans-serif",
+) -> None:
+    """
+    Set MeshCat handle to a text area.
+
+    Args:
+        handle: MeshCat handle to attach the frame to.
+        text: Content to write inside the text area.
+        width: Text area width.
+        height: Text area height.
+        font_size: Font size in px.
+        font_face: Font face.
+
+    Note:
+        As per the de-facto standard (Blender, OpenRAVE, RViz, ...), the
+        x-axis is red, the y-axis is green and the z-axis is blue.
+    """
+    handle.set_object(
+        Mesh(
+            Plane(width=width, height=height),
+            MeshPhongMaterial(
+                map=TextTexture(
+                    text, font_size=font_size, font_face=font_face
+                ),
+                transparent=True,
+                needsUpdate=True,
+            ),
+        )
+    )