Environment.py

"""
@file Environment.py
@copyright Software License Agreement (BSD License).
Copyright (c) 2017, Rutgers the State University of New Jersey, New Brunswick.
All Rights Reserved. For a full description see the file named LICENSE.
Authors: Chaitanya Mitash, Kostas Bekris, Abdeslam Boularias.
"""

import bpy
import random


class Shelf:
    def __init__(self, shape_file):
        bpy.ops.import_scene.obj(filepath=shape_file)
        for planes in bpy.data.objects:
            if 'Plane' in planes.name:
                bpy.context.scene.objects.active = planes
                bpy.ops.rigidbody.object_add(type='ACTIVE')
                bpy.ops.object.modifier_add(type='COLLISION')
                planes.rigid_body.enabled = False
                planes.rigid_body.use_margin = True
                planes.rigid_body.collision_margin = 0.01
                bpy.data.objects["Plane.Front"].hide_render = True
        bpy.data.materials["None"].use_shadeless = True
        bpy.data.materials["None_shelfside.JPG"].use_shadeless = True
        bpy.data.materials["None_shelftop.JPG"].use_shadeless = True
        bpy.data.materials["None_shelftop.JPG_shelftop.JPG"].use_shadeless = True

    def setPose(self, pose):
        return


class Table:
    def __init__(self, shape_file):
        bpy.ops.import_scene.obj(filepath=shape_file)
        object_instance = bpy.data.objects["Table"]
        object_instance.location = [0, 0, 0]
        object_instance.rotation_mode = 'QUATERNION'
        object_instance.rotation_quaternion = [0.7, 0.7, 0, 0]

        bpy.context.scene.objects.active = bpy.context.scene.objects["Table"]
        bpy.ops.rigidbody.object_add(type='ACTIVE')
        bpy.ops.object.modifier_add(type='COLLISION')
        object_instance.rigid_body.enabled = False
        object_instance.rigid_body.use_margin = True
        object_instance.rigid_body.collision_margin = 0.01
        bpy.data.materials["WHITE_PLASTIC"].use_shadeless = True

    def setPose(self, pose):
        object_instance = bpy.data.objects["Table"]
        object_instance.location = [pose[0], pose[1], pose[2]]
        object_instance.rotation_mode = 'QUATERNION'
        object_instance.rotation_quaternion = [pose[3], pose[4], pose[5], pose[6]]


class Board:
    def __init__(self, shape_file):
        bpy.ops.import_scene.obj(filepath=shape_file)
        object_instance = bpy.data.objects["Board"]
        object_instance.location = [0, 0, 0]
        object_instance.rotation_mode = 'QUATERNION'
        object_instance.rotation_quaternion = [0.7, 0.7, 0, 0]

        bpy.context.scene.objects.active = bpy.context.scene.objects["Board"]
        bpy.ops.rigidbody.object_add(type='ACTIVE')    # 活动项
        bpy.ops.object.modifier_add(type='COLLISION')
        object_instance.rigid_body.enabled = False
        object_instance.rigid_body.use_margin = True
        object_instance.rigid_body.collision_margin = 0.01
        # bpy.data.materials["WHITE_PLASTIC"].use_shadeless = True

    def setPose(self, pose):
        object_instance = bpy.data.objects["Board"]
        object_instance.location = [pose[0], pose[1], pose[2]]
        object_instance.rotation_mode = 'QUATERNION'
        object_instance.rotation_quaternion = [pose[3], pose[4], pose[5], pose[6]]


class Light:
    lightColors = [[255, 255, 255], ]
    GlobalEnergyLowbound = 1
    GlobalEnergyHighbound = 2

    def __init__(self):
        bpy.ops.object.select_by_type(type='LAMP')
        bpy.ops.object.delete(use_global=False)
        bpy.context.scene.world.light_settings.use_environment_light = True
        bpy.context.scene.world.light_settings.environment_energy = random.uniform(self.GlobalEnergyLowbound,
                                                                                   self.GlobalEnergyHighbound)
        bpy.context.scene.world.light_settings.environment_color = 'PLAIN'

        # add a point light source
        bpy.ops.object.lamp_add(type='POINT', view_align=False)
        bpy.data.objects['Point'].data.use_specular = False
        bpy.data.objects['Point'].data.shadow_method = 'RAY_SHADOW'
        bpy.data.objects['Point'].data.shadow_ray_samples = 2
        bpy.data.objects['Point'].data.shadow_soft_size = 0.5

    def placePointLight(self, light_range_x, light_range_y, light_range_z):
        lx = random.uniform(light_range_x[0], light_range_x[1])
        ly = random.uniform(light_range_y[0], light_range_y[1])
        lz = random.uniform(light_range_z[0], light_range_z[1])
        bpy.data.objects['Point'].location = [lx, ly, lz]
        # 强度
        bpy.data.objects['Point'].data.energy = random.randint(1, 5)
        # 颜色
        color_idx = random.randint(0, len(self.lightColors) - 1)
        bpy.data.objects['Point'].data.color = (self.lightColors[color_idx][0] / 255,
                                                self.lightColors[color_idx][1] / 255,
                                                self.lightColors[color_idx][2] / 255)