Merge pull request #764 from compas-dev/robot_visuals_blender

hide meshes on instantiation of RobotModelArtist

CHANGELOG.md

@@ -23,6 +23,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 * Added ability of `RobotModel.add_link` to accept primitives in addition to meshes.
 * Fixed bug regarding the computation of `Joint.current_origin`.
 * Fixed bug regarding a repeated call to `RobotModel.add_joint`.
+* Fixed bug in `compas_blender.RobotModelArtist.update`.
 * Fixed bug in `compas.datastructures.mesh_slice_plane`.
 * Fixed bug where initialising a `compas_blender.artists.Robotmodelartist` would create a new collection for each mesh and then also not put the mesh iton the created collection. 
 * Changed the initialisation of `compas_blender.artists.Robotmodelartist` to include a `collection`-parameter instead of a `layer`-parameter to be more consistent with Blender's nomenclature. 
@@ -528,12 +529,15 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 * Split up network and mesh naming conventions.
 * Reworked network face cycle finding.
 * Updated mesh from lines.
-* Updated network plotter in correspondance with network.
+* Updated network plotter in correspondence with network.
 * Integrated mixin functionality and removed mixins.
+* Meshes are now initially hidden in `compas_blender.artists.RobotModelArtist`.
+* `compas_blender.artists.RobotModelArtist.draw_visual` and `compas_blender.artists.RobotModelArtist.draw_collision` now show those meshes.
+* Renamed the method `draw_geometry` of `compas.robots.base_artist.RobotModelBaseArtist` to `create_geometry`.
 
 ### Removed
 
-* Removed parallelisation from network algorithms.
+* Removed parallelization from network algorithms.
 * Removed numba based dr implementations.
 
 ## [0.15.0] 2020-01-24

src/compas/robots/base_artist/_artist.py

@@ -22,13 +22,13 @@ def transform(self, geometry, transformation):
         Parameters
         ----------
         geometry : object
-            A CAD-specific (i.e. native) geometry object as returned by :meth:`draw_geometry`.
+            A CAD-specific (i.e. native) geometry object as returned by :meth:`create_geometry`.
         transformation : `Transformation`
             **COMPAS** transformation to update the geometry object.
         """
         raise NotImplementedError
 
-    def draw_geometry(self, geometry, name=None, color=None):
+    def create_geoemetry(self, geometry, name=None, color=None):
         """Draw a **COMPAS** geometry in the respective CAD environment.
 
         Note
@@ -60,7 +60,7 @@ class BaseRobotModelArtist(AbstractRobotModelArtist):
 
     There are two methods that implementers of this base class should provide, one
     is concerned with the actual creation of geometry in the native format of the
-    CAD environment (:meth:`draw_geometry`) and the other is one to apply a transformation
+    CAD environment (:meth:`create_geometry`) and the other is one to apply a transformation
     to geometry (:meth:`transform`).
 
     Attributes
@@ -117,7 +117,7 @@ def detach_tool_model(self):
     def create(self, link=None, context=None):
         """Recursive function that triggers the drawing of the robot model's geometry.
 
-        This method delegates the geometry drawing to the :meth:`draw_geometry`
+        This method delegates the geometry drawing to the :meth:`create_geometry`
         method. It transforms the geometry based on the saved initial
         transformation from the robot model.
 
@@ -150,7 +150,7 @@ def create(self, link=None, context=None):
                     else:
                         mesh_name_components = [self.model.name, mesh_type, context, link.name, str(i)]
                     mesh_name = '.'.join(mesh_name_components)
-                    native_mesh = self.draw_geometry(mesh, name=mesh_name, color=color)
+                    native_mesh = self.create_geoemetry(mesh, name=mesh_name, color=color)
 
                     self.transform(native_mesh, item.init_transformation)
 
@@ -288,22 +288,22 @@ def update_tool(self, joint_state=None, visual=True, collision=True, transformat
 
     def draw_visual(self):
         """Draws all visual geometry of the robot model."""
-        for native_geometry in self._draw_model_geometry(self.model, 'visual'):
+        for native_geometry in self._iter_geometry(self.model, 'visual'):
             yield native_geometry
         if self.attached_tool_model:
-            for native_geometry in self._draw_model_geometry(self.attached_tool_model, 'visual'):
+            for native_geometry in self._iter_geometry(self.attached_tool_model, 'visual'):
                 yield native_geometry
 
     def draw_collision(self):
         """Draws all collision geometry of the robot model."""
-        for native_geometry in self._draw_model_geometry(self.model, 'collision'):
+        for native_geometry in self._iter_geometry(self.model, 'collision'):
             yield native_geometry
         if self.attached_tool_model:
-            for native_geometry in self._draw_model_geometry(self.attached_tool_model, 'collision'):
+            for native_geometry in self._iter_geometry(self.attached_tool_model, 'collision'):
                 yield native_geometry
 
     @staticmethod
-    def _draw_model_geometry(model, geometry_type):
+    def _iter_geometry(model, geometry_type):
         for link in model.iter_links():
             for item in getattr(link, geometry_type):
                 if item.native_geometry:

src/compas_blender/artists/robotmodelartist.py

@@ -16,37 +16,44 @@ class RobotModelArtist(BaseRobotModelArtist):
     ----------
     model : :class:`compas.robots.RobotModel`
         Robot model.
-    layer : str, optional
-        The name of the layer that will contain the robot meshes.
     """
 
-    def __init__(self, model, collection=None, layer=None):
-        self.view_layer = layer
+    def __init__(self, model, collection=None):
         self.collection = collection
         super(RobotModelArtist, self).__init__(model)
 
     def transform(self, native_mesh, transformation):
-        native_mesh.matrix_world @= mathutils.Matrix(transformation.matrix)
+        native_mesh.matrix_world = mathutils.Matrix(transformation.matrix) @ native_mesh.matrix_world
 
-    def draw_geometry(self, geometry, name=None, color=None):
+    def create_geoemetry(self, geometry, name=None, color=None):
         # Imported colors take priority over a the parameter color
-
         if 'mesh_color.diffuse' in geometry.attributes:
             color = geometry.attributes['mesh_color.diffuse']
 
         # If we have a color, we'll discard alpha because draw_mesh is hard coded for a=1
         if color:
             r, g, b, _a = color
-            color = [r, g, b]
+            color = (r, g, b)
         else:
-            color = [1., 1., 1.]
+            color = (1., 1., 1.)
 
-        if self.collection:
-            if self.collection not in bpy.data.collections.keys():
-                compas_blender.utilities.create_collection(self.collection)
+        if self.collection and self.collection not in bpy.data.collections.keys():
+            compas_blender.utilities.create_collection(self.collection)
 
         v, f = geometry.to_vertices_and_faces()
-        return compas_blender.draw_mesh(vertices=v, faces=f, name=name, color=color, centroid=False, collection=self.collection)
-
-    def redraw(self, timeout=None):
-        bpy.ops.wm.redraw_timer(type='DRAW_WIN_SWAP', iterations=1)
+        native_mesh = compas_blender.draw_mesh(vertices=v, faces=f, name=name, color=color, centroid=False, collection=self.collection)
+        native_mesh.hide_set(True)
+        return native_mesh
+
+    def redraw(self, timeout=0.0):
+        bpy.ops.wm.redraw_timer(type='DRAW_WIN_SWAP', iterations=1, time_limit=timeout)
+
+    def draw_visual(self):
+        visuals = super(RobotModelArtist, self).draw_visual()
+        for visual in visuals:
+            visual.hide_set(False)
+
+    def draw_collision(self):
+        collisions = super(RobotModelArtist, self).draw_collision()
+        for collision in collisions:
+            collision.hide_set(False)

src/compas_ghpython/artists/robotmodelartist.py

@@ -30,7 +30,7 @@ def __init__(self, model):
     def transform(self, native_mesh, transformation):
         xtransform(native_mesh, transformation)
 
-    def draw_geometry(self, geometry, name=None, color=None):
+    def create_geoemetry(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()

src/compas_rhino/artists/robotmodelartist.py

@@ -43,7 +43,7 @@ def transform(self, native_mesh, transformation):
         T = xform_from_transformation(transformation)
         native_mesh.Transform(T)
 
-    def draw_geometry(self, geometry, name=None, color=None):
+    def create_geoemetry(self, geometry, name=None, color=None):
         # Imported colors take priority over a the parameter color
         if 'mesh_color.diffuse' in geometry.attributes:
             color = geometry.attributes['mesh_color.diffuse']