ykcheungab
2e5c047d1e
2. centralixzed arrow config in layout.py 3. seperate mesh render and display resolution to speed up (~40 fps)
69 lines
2.1 KiB
Python
69 lines
2.1 KiB
Python
"""Finger 3D mesh viewer with example-only contact arrow overlay."""
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from __future__ import annotations
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from orisys.finger.viewer import UVMeshViewer
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from .contact_arrow import ContactArrowOverlay, ContactArrowStyle, DEFAULT_CONTACT_ARROW_STYLE
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class FingerMeshViewer(UVMeshViewer):
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"""UV mesh viewer with a force-scaled contact normal arrow."""
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def __init__(
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self,
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mesh,
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*,
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max_magnitude=None,
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threshold: float = 0.0,
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color_mode: str = "flow",
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value_min=None,
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value_max=None,
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window_width: int = 1024,
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window_height: int = 1024,
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contact_arrow_style: ContactArrowStyle | None = None,
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normal_force_scale: float | None = None,
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show_contact_arrow: bool = True,
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):
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super().__init__(
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mesh,
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max_magnitude=max_magnitude,
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threshold=threshold,
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color_mode=color_mode,
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value_min=value_min,
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value_max=value_max,
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window_width=window_width,
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window_height=window_height,
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)
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self._contact_arrow = ContactArrowOverlay(
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mesh,
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style=contact_arrow_style or DEFAULT_CONTACT_ARROW_STYLE,
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normal_force_scale=normal_force_scale,
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enabled=show_contact_arrow,
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)
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def _extra_geometries_for_init(self):
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if self._contact_arrow.arrow_mesh is None:
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return []
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return [self._contact_arrow.arrow_mesh]
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def _extra_geometries_for_update(self):
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if self._contact_arrow.arrow_mesh is None:
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return []
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return [self._contact_arrow.arrow_mesh]
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def update(
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self,
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flow=None,
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scalar_map=None,
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*,
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centroid=None,
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centroid_found: bool = False,
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fnormal: float = 0.0,
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):
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arrow = self._contact_arrow.compute(centroid, centroid_found, fnormal)
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if arrow is not None and self._contact_arrow.arrow_mesh is not None:
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arrow_vertices, _, arrow_colors = arrow
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self._contact_arrow.apply(arrow_vertices, arrow_colors)
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return super().update(flow=flow, scalar_map=scalar_map)
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