Source code for compas_fab.ghpython.artists

from __future__ import absolute_import
from __future__ import division
from __future__ import print_function

import compas
from compas.utilities import rgb_to_rgb
from compas_fab.artists import BaseRobotModelArtist

if compas.RHINO:
    from compas_ghpython.utilities import draw_mesh
    from compas_rhino.geometry.transformations import xtransform


__all__ = [
    'RobotArtist',
    'RobotModelArtist',
]


class RobotModelArtist(BaseRobotModelArtist):
    """Visualizer for robots inside a Grasshopper environment.

    Parameters
    ----------
    model : :class:`compas.robots.RobotModel`
        Robot model.
    """

    def __init__(self, model):
        super(RobotModelArtist, self).__init__(model)

    def transform(self, native_mesh, transformation):
        xtransform(native_mesh, transformation)

    def draw_geometry(self, geometry, name=None, color=None):
        if color:
            color = rgb_to_rgb(color[0], color[1], color[2])
        vertices, faces = geometry.to_vertices_and_faces()

        mesh = draw_mesh(vertices, faces, color=color)

        # Try to fix invalid meshes
        if not mesh.IsValid:
            mesh.FillHoles()

        return mesh


# deprecated alias
RobotArtist = RobotModelArtist