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Switch to using MeshCat.MeshFileGeometry and MechanismGeometries.MeshFile. #32

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merged 5 commits into from
Jul 12, 2019
Merged

Switch to using MeshCat.MeshFileGeometry and MechanismGeometries.MeshFile. #32

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cf937cb
Dependency version requirement updates.
tkoolen May 15, 2019
7038a97
Temporarily undo MeshCat version bound changes.
tkoolen May 15, 2019
71d85d0
Switch to using MeshCat.MeshFileGeometry and MechanismGeometries.Mesh…
tkoolen May 15, 2019
788a3f4
Bump MeshCat lower bound.
tkoolen Jul 9, 2019
fa1ef92
Add missing Random test dependency.
tkoolen Jul 12, 2019
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7 changes: 4 additions & 3 deletions Project.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,8 @@ GeometryTypes = "≥ 0.4.0"
InteractBase = "≥ 0.8.0"
Interpolations = "≥ 0.9.0"
LoopThrottle = "≥ 0.0.1"
MechanismGeometries = "≥ 0.2.0"
MeshCat = "≥ 0.6.0"
MechanismGeometries = "≥ 0.4.0"
MeshCat = "≥ 0.7.0"
NBInclude = "≥ 1.1.0"
OrderedCollections = "≥ 1.0.0"
RigidBodyDynamics = "2"
Expand All @@ -33,9 +33,10 @@ julia = "1"
Blink = "ad839575-38b3-5650-b840-f874b8c74a25"
NBInclude = "0db19996-df87-5ea3-a455-e3a50d440464"
Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
ValkyrieRobot = "c74b26e8-f247-5d24-b013-c11a2bbd97c6"

[targets]
test = ["StaticArrays", "Pkg", "NBInclude", "Test", "Blink", "ValkyrieRobot"]
test = ["StaticArrays", "Pkg", "NBInclude", "Test", "Blink", "ValkyrieRobot", "Random"]
2 changes: 1 addition & 1 deletion src/MeshCatMechanisms.jl
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Expand Up @@ -28,7 +28,7 @@ const rbd = RigidBodyDynamics
using RigidBodyDynamics.Graphs: ancestors, edge_to_parent, source, vertices, root
using Interpolations: interpolate, Gridded, Linear
using LoopThrottle: @throttle
using MechanismGeometries: visual_elements, VisualElement, Skeleton, URDFVisuals, AbstractGeometrySource
using MechanismGeometries: visual_elements, VisualElement, Skeleton, URDFVisuals, AbstractGeometrySource, MeshFile
using GeometryTypes: HyperSphere, Point

include("visualizer.jl")
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20 changes: 16 additions & 4 deletions src/visualizer.jl
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Expand Up @@ -79,29 +79,41 @@ end

Attach the given geometry to the visualizer at the given frame, using its default material.
"""
setelement!(mvis::MechanismVisualizer, frame::CartesianFrame3D, geometry::GeometryLike, name::AbstractString="<element>") = setelement!(mvis, frame, Object(geometry), name)
function setelement!(mvis::MechanismVisualizer, frame::CartesianFrame3D, geometry::GeometryLike, name::AbstractString="<element>")
setelement!(mvis, frame, Object(geometry), name)
end

"""
setelement!(mvis::MechanismVisualizer, frame::CartesianFrame3D, geometry::GeometryLike, material::AbstractMaterial, name::AbstractString="<element>")

Construct an object with the given geometry and material and attach it to the visualizer
"""
setelement!(mvis::MechanismVisualizer, frame::CartesianFrame3D, geometry::GeometryLike, material::AbstractMaterial, name::AbstractString="<element>") = setelement!(mvis, frame, Object(geometry, material), name)
function setelement!(mvis::MechanismVisualizer, frame::CartesianFrame3D, geometry::GeometryLike, material::AbstractMaterial, name::AbstractString="<element>")
setelement!(mvis, frame, Object(geometry, material), name)
end

function setelement!(mvis::MechanismVisualizer, frame::CartesianFrame3D, geometry::MeshFile, args...)
setelement!(mvis, frame, MeshFileGeometry(geometry.filename), args...)
end

# Special cases for visualizing frames and points
"""
setelement!(mvis::MechanismVisualizer, frame::CartesianFrame3D, scale::Real=0.5, name::AbstractString="<element>")

Add a Triad geometry with the given scale to the visualizer at the specified frame
"""
setelement!(mvis::MechanismVisualizer, frame::CartesianFrame3D, scale::Real=0.5, name::AbstractString="<element>") = setelement!(mvis, frame, Triad(scale), name)
function setelement!(mvis::MechanismVisualizer, frame::CartesianFrame3D, scale::Real=0.5, name::AbstractString="<element>")
setelement!(mvis, frame, Triad(scale), name)
end

"""
setelement!(mvis::MechanismVisualizer, point::Point3D, radius::Real=0.05, name::AbstractString="<element>")

Add a HyperSphere geometry with the given radius to the visualizer at the given point
"""
setelement!(mvis::MechanismVisualizer, point::Point3D, radius::Real=0.05, name::AbstractString="<element>") = setelement!(mvis, point.frame, HyperSphere(Point(point.v[1], point.v[2], point.v[3]), convert(eltype(point.v), radius)), name)
function setelement!(mvis::MechanismVisualizer, point::Point3D, radius::Real=0.05, name::AbstractString="<element>")
setelement!(mvis, point.frame, HyperSphere(Point(point.v[1], point.v[2], point.v[3]), convert(eltype(point.v), radius)), name)
end

function _path(mechanism, body)
body_ancestors = ancestors(body, mechanism.tree)
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