Source code for compas_ghpython.artists.robotmodelartist

from __future__ import absolute_import
from __future__ import division
from __future__ import print_function

from compas.robots.base_artist import BaseRobotModelArtist
from compas.utilities import rgb_to_rgb

from compas_ghpython.utilities import draw_mesh
from compas_ghpython.artists import BaseArtist
from compas_rhino.geometry.transformations import xtransform


__all__ = [
    'RobotModelArtist',
]


[docs]class RobotModelArtist(BaseRobotModelArtist, BaseArtist):
    """Visualizer for robots inside a Grasshopper environment.

    Parameters
    ----------
    model : :class:`compas.robots.RobotModel`
        Robot model.
    """

[docs]    def __init__(self, model):
        super(RobotModelArtist, self).__init__(model)

[docs]    def transform(self, native_mesh, transformation):
        xtransform(native_mesh, transformation)

[docs]    def draw_geometry(self, geometry, name=None, color=None):
        if color:
            color = rgb_to_rgb(color[0], color[1], color[2])
        vertices, faces = geometry.to_vertices_and_faces()

        mesh = draw_mesh(vertices, faces, color=color)

        # Try to fix invalid meshes
        if not mesh.IsValid:
            mesh.FillHoles()

        return mesh

[docs]    def draw(self):
        self.draw_visual()

[docs]    @staticmethod
    def draw_collection(collection):
        raise NotImplementedError