36 lines
1.1 KiB
Python
36 lines
1.1 KiB
Python
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from pathlib import Path
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from .message import bright, info, error, warning
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from .processor import Processor
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from .config import Config
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from .robot import Robot, Part
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from .geometry import Mesh
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import numpy as np
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class ProcessorCollisionAsVisual(Processor):
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"""
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This processor will update the part mesh and shapes to turn every collision into visual.
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Can be useful for debugging
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"""
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def __init__(self, config: Config):
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super().__init__(config)
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# OpenSCAD pure shapes
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self.collisions_as_visual: bool = config.get("collisions_as_visual", False)
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def process(self, robot: Robot):
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"""
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Runs the processor
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"""
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if self.collisions_as_visual:
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print(info("+ Converting collisions to visual"))
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for link in robot.links:
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for part in link.parts:
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for mesh in part.meshes:
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mesh.visual = mesh.collision
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for shape in part.shapes:
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shape.visual = shape.collision
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part.prune_unused_geometry()
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