Import upstream snapshot 80e710700aac9573a2230f74f7ce9e094833a0bc

Upstream: https://github.com/Rhoban/onshape-to-robot
Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc
Upstream-Branch: master

onshape_to_robot/processor_collision_as_visual.py

@@ -0,0 +1,35 @@
+from pathlib import Path
+from .message import bright, info, error, warning
+from .processor import Processor
+from .config import Config
+from .robot import Robot, Part
+from .geometry import Mesh
+import numpy as np
+
+
+class ProcessorCollisionAsVisual(Processor):
+    """
+    This processor will update the part mesh and shapes to turn every collision into visual.
+
+    Can be useful for debugging
+    """
+
+    def __init__(self, config: Config):
+        super().__init__(config)
+
+        # OpenSCAD pure shapes
+        self.collisions_as_visual: bool = config.get("collisions_as_visual", False)
+
+    def process(self, robot: Robot):
+        """
+        Runs the processor
+        """
+        if self.collisions_as_visual:
+            print(info("+ Converting collisions to visual"))
+            for link in robot.links:
+                for part in link.parts:
+                    for mesh in part.meshes:
+                        mesh.visual = mesh.collision
+                    for shape in part.shapes:
+                        shape.visual = shape.collision
+                    part.prune_unused_geometry()