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Merge pull request #696 from robotology/devel
Merge devel in master
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| Original file line number | Diff line number | Diff line change |
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| function [linkMeshInfo,map]=getMeshes(model,meshFilePrefix) | ||
| % We use the iDyntree information to obtain the files containing the meshes | ||
| % and we link them to their link names | ||
| % Gets the mesh information for each link in the model. | ||
| % - Iputs: | ||
| % - `model` : iDyntree model loaded from a URDF. | ||
| % - `meshFilePrefix` : Path in which we can find the meshes. As an example the path to the mesh in a iCub urdf is `'package://iCub/meshes/simmechanics/sim_sea_2-5_root_link_prt-binary.stl' | ||
| % `. `meshFilePrefix` should replace package to allow to find the rest of the path. | ||
| % - Outputs: | ||
| % - `map` : Cell array having both the names of the meshes and the associated link | ||
| % - `linkMeshInfo` : Struct array that contain the link name and a struct (`meshInfo`) that contains the name of file or if is a simple geometry, the triangulation ( edges and vertices of the mesh ) and the link to geometry transform. | ||
| % | ||
| % NOTE: at the moment only STL files are supported. | ||
| % | ||
| % Author : Francisco Andrade ([email protected]) | ||
| % | ||
| % Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT). All rights reserved. | ||
| % This software may be modified and distributed under the terms of the | ||
| % GNU Lesser General Public License v2.1 or any later version. | ||
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| % get the linkSolidShapes containing the mesh information | ||
| visual=model.visualSolidShapes; | ||
| linkSolidShapesV=visual.linkSolidShapes; | ||
| % get number of links | ||
| numberOfLinks=linkSolidShapesV.size; | ||
| linkMeshInfo=struct('meshInfo',{},'linkName',{}); | ||
| % get pointer to beggining of vector | ||
| iterator=linkSolidShapesV.begin; | ||
| % iterate getting the name of the mesh and the name of the link | ||
| count=1; | ||
| link_with_no_visual=[]; | ||
| for links=1:numberOfLinks | ||
| linkName=model.getLinkName(links-1); | ||
| linkMeshInfo(links).linkName=linkName; | ||
| solidarray=iterator.next; | ||
| solids_number=size(solidarray,2); | ||
| meshInfo=struct('meshFile',{},'mesh_triangles',{},'link_H_geom',{}); | ||
| for solids=1:solids_number | ||
| if solidarray{solids}.isExternalMesh | ||
| externalMesh=solidarray{solids}.asExternalMesh; | ||
| scale=externalMesh.scale.toMatlab; | ||
| meshName=split(externalMesh.filename,':'); | ||
| meshFile=meshName{2}; | ||
| % Import an STL mesh, returning a PATCH-compatible face-vertex structure | ||
| if strcmp('package',meshName{1}) | ||
| mesh_triangles = stlread([meshFilePrefix meshFile]); | ||
| else | ||
| mesh_triangles = stlread(meshFile); | ||
| end | ||
| meshInfo(solids).meshFile=meshFile; | ||
| meshInfo(solids).scale=scale'; | ||
| else | ||
| meshInfo(solids).scale=[1,1,1]; | ||
| if solidarray{solids}.isCylinder | ||
| meshInfo(solids).meshFile='cylinder'; | ||
| length=solidarray{solids}.asCylinder.length; | ||
| radius=solidarray{solids}.asCylinder.radius; | ||
| mesh_triangles=calculateMeshFromCylinder(length,radius); | ||
| end | ||
| if solidarray{solids}.isBox | ||
| meshInfo(solids).meshFile='box'; | ||
| box_dimensions(1)=solidarray{solids}.asBox.x; | ||
| box_dimensions(2)=solidarray{solids}.asBox.y; | ||
| box_dimensions(3)=solidarray{solids}.asBox.z; | ||
| mesh_triangles=calculateMeshFromBox(box_dimensions); | ||
| end | ||
| if solidarray{solids}.isSphere | ||
| meshInfo(solids).meshFile='sphere'; | ||
| radius=solidarray{solids}.asSphere.radius; | ||
| mesh_triangles=calculateMeshFromSphere(radius); | ||
| end | ||
| end | ||
| link_H_geom=solidarray{solids}.link_H_geometry.asHomogeneousTransform.toMatlab; | ||
| meshInfo(solids).link_H_geom=link_H_geom; | ||
| meshInfo(solids).mesh_triangles=mesh_triangles; | ||
| map(count,:)=[{meshInfo(solids).meshFile},{linkName}]; | ||
| count=count+1; | ||
| end | ||
| linkMeshInfo(links).meshInfo=meshInfo; | ||
| if solids_number==0 | ||
| link_with_no_visual=[ link_with_no_visual links]; | ||
| end | ||
| end | ||
| % clean links with no visuals | ||
| linkMeshInfo(link_with_no_visual)=[]; | ||
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| end | ||
| %% Create points and connectivity list for each geometry | ||
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| function [mesh_triangles]=calculateMeshFromSphere(radius) | ||
| [X,Y,Z]=sphere; | ||
| X = X * radius; | ||
| Y = Y * radius; | ||
| Z = Z * radius; | ||
| [F,V]=mesh2tri(X,Y,Z,'f'); | ||
| mesh_triangles.Points=V; | ||
| mesh_triangles.ConnectivityList = F; | ||
| end | ||
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| function [mesh_triangles]=calculateMeshFromBox(box_dimensions) | ||
| mesh_triangles.Points = [0 0 0;1 0 0;1 1 0;0 1 0;0 0 1;1 0 1;1 1 1;0 1 1]; | ||
| mesh_triangles.Points(:,1)=mesh_triangles.Points(:,1)*box_dimensions(1)-box_dimensions(1)/2; | ||
| mesh_triangles.Points(:,2)=mesh_triangles.Points(:,2)*box_dimensions(2)-box_dimensions(2)/2; | ||
| mesh_triangles.Points(:,3)=mesh_triangles.Points(:,3)*box_dimensions(3)-box_dimensions(3)/2; | ||
| mesh_triangles.ConnectivityList = [1 2 6 5;2 3 7 6;3 4 8 7;4 1 5 8;1 2 3 4;5 6 7 8]; | ||
| end | ||
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| function [mesh_triangles]=calculateMeshFromCylinder(length,radius) | ||
| [X,Y,Z] = cylinder; | ||
| X = X * radius; | ||
| Y = Y * radius; | ||
| Z = Z * length-length/2; | ||
| [F,V]=mesh2tri(X,Y,Z,'f'); | ||
| mesh_triangles.Points=V; | ||
| mesh_triangles.ConnectivityList = F; | ||
| end |
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