TriangleMeshReceptacle class
Defines a Receptacle surface as a triangle mesh. TODO: configurable maximum height.
Methods
- def debug_draw(self, sim: habitat_sim.simulator.Simulator, color: typing.Optional[_magnum.Color4] = None) -> None
- Render the Receptacle with DebugLineRender utility at the current frame. Draws the Receptacle mesh. Must be called after each frame is rendered, before querying the image data.
- def dist_to_rec(self, sim: habitat_sim.simulator.Simulator, point: numpy.ndarray) -> float
- Compute and return the distance from a 3D global point to the Receptacle. Uses point to mesh distance check.
- def get_face_verts(self, f_ix: int) -> typing.List[_magnum.Vector3]
- Get all three vertices of a mesh triangle given it’s face index as a list of numpy arrays.
- def get_global_transform(self, sim: habitat_sim.simulator.Simulator) -> _magnum.Matrix4
- Isolates boilerplate necessary to extract receptacle global transform of the Receptacle at the current state.
- def get_support_object_ids(self, sim: habitat_sim.simulator.Simulator) -> typing.List[int]
- Get a list of object ids representing the set of acceptable support surfaces for this receptacle.
- def sample_area_weighted_triangle(self) -> int
- Isolates the area weighted triangle sampling code.
- def sample_uniform_global(self, sim: habitat_sim.simulator.Simulator, sample_region_scale: float) -> _magnum.Vector3
- Sample a uniform random point in the local Receptacle volume and then transform it into global space.
- def sample_uniform_local(self, sample_region_scale: float = 1.0) -> _magnum.Vector3
- Sample a uniform random point from the mesh.
Special methods
- def __init__(self, name: str, mesh_data: _magnum.trade.MeshData, parent_object_handle: typing.Optional[str] = None, parent_link: typing.Optional[int] = None, up: typing.Optional[_magnum.Vector3] = None, scale: typing.Union[float, _magnum.Vector3, None] = None) -> None
- Initialize the TriangleMeshReceptacle from mesh data and pre-compute the area weighted accumulator.
Properties
- bounds: _magnum.Range3D get
- Get the vertex AABB bounds pre-computed during initialization.
- is_parent_object_articulated get
- Convenience query for articulated vs. rigid object check.
Method documentation
def habitat.
Render the Receptacle with DebugLineRender utility at the current frame. Draws the Receptacle mesh. Must be called after each frame is rendered, before querying the image data.
| Parameters | |
|---|---|
| sim | Simulator must be provided. |
| color | Optionally provide wireframe color, otherwise magenta. |
def habitat.
Compute and return the distance from a 3D global point to the Receptacle. Uses point to mesh distance check.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| point | A 3D point in global space. E.g. the bottom center point of a placed object. |
| Returns | Point to Receptacle distance. |
def habitat.
Get all three vertices of a mesh triangle given it’s face index as a list of numpy arrays.
| Parameters | |
|---|---|
| f_ix | The index of the mesh triangle. |
def habitat.
Get a list of object ids representing the set of acceptable support surfaces for this receptacle.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| Returns | A list of object id integers for this Receptacle’s set of valid support surfaces. |
def habitat.
Isolates the area weighted triangle sampling code.
Returns a random triangle index sampled with area weighting.
def habitat.
Sample a uniform random point in the local Receptacle volume and then transform it into global space.
| Parameters | |
|---|---|
| sim | |
| sample_region_scale | defines a XZ scaling of the sample region around its center. |
def habitat.
Sample a uniform random point from the mesh.
| Parameters | |
|---|---|
| sample_region_scale | defines a XZ scaling of the sample region around its center. For example to constrain object spawning toward the center of a receptacle. |
def habitat.
Initialize the TriangleMeshReceptacle from mesh data and pre-compute the area weighted accumulator.
| Parameters | |
|---|---|
| name | The name of the Receptacle. Should be unique and descriptive for any one object. |
| mesh_data | The Receptacle’s mesh data. A magnum.trade.MeshData object (indices len divisible by 3). |
| parent_object_handle | The rigid or articulated object instance handle for the parent object to which the Receptacle is attached. None for globally defined stage Receptacles. |
| parent_link | Index of the link to which the Receptacle is attached if the parent is an ArticulatedObject. -1 denotes the base link. None for rigid objects and stage Receptacles. |
| up | The “up” direction of the Receptacle in local AABB space. Used for optionally culling receptacles in un-supportive states such as inverted surfaces. |
| scale | The scaling vector (or uniform scaling float) to be applied to the mesh. |