GUI for finger v1

2026-06-18 22:18:19 +08:00
parent f19f092b64
commit 3fd9b839a9
42 changed files with 2326 additions and 1186 deletions
@@ -0,0 +1,66 @@
+"""Finger 3D mesh viewer with example-only contact arrow overlay."""
+
+from __future__ import annotations
+
+from orisys.finger.viewer import UVMeshViewer
+
+from .contact_arrow import ContactArrowOverlay, DEFAULT_NORMAL_FORCE_SCALE
+
+
+class FingerMeshViewer(UVMeshViewer):
+    """UV mesh viewer with a force-scaled contact normal arrow."""
+
+    def __init__(
+        self,
+        mesh,
+        *,
+        max_magnitude=None,
+        threshold: float = 0.0,
+        color_mode: str = "flow",
+        value_min=None,
+        value_max=None,
+        window_width: int = 1024,
+        window_height: int = 1024,
+        normal_force_scale: float = DEFAULT_NORMAL_FORCE_SCALE,
+        show_contact_arrow: bool = True,
+    ):
+        super().__init__(
+            mesh,
+            max_magnitude=max_magnitude,
+            threshold=threshold,
+            color_mode=color_mode,
+            value_min=value_min,
+            value_max=value_max,
+            window_width=window_width,
+            window_height=window_height,
+        )
+        self._contact_arrow = ContactArrowOverlay(
+            mesh,
+            normal_force_scale=normal_force_scale,
+            enabled=show_contact_arrow,
+        )
+
+    def _extra_geometries_for_init(self):
+        if self._contact_arrow.arrow_mesh is None:
+            return []
+        return [self._contact_arrow.arrow_mesh]
+
+    def _extra_geometries_for_update(self):
+        if self._contact_arrow.arrow_mesh is None:
+            return []
+        return [self._contact_arrow.arrow_mesh]
+
+    def update(
+        self,
+        flow=None,
+        scalar_map=None,
+        *,
+        centroid=None,
+        centroid_found: bool = False,
+        fnormal: float = 0.0,
+    ):
+        arrow = self._contact_arrow.compute(centroid, centroid_found, fnormal)
+        if arrow is not None and self._contact_arrow.arrow_mesh is not None:
+            arrow_vertices, _, arrow_colors = arrow
+            self._contact_arrow.apply(arrow_vertices, arrow_colors)
+        return super().update(flow=flow, scalar_map=scalar_map)