Call generateDecorations twice for fixed and non-fixed geometry

src/backend/backend/backend/osimConverters/DecorativeGeometryImplementationGltf.py

@@ -21,8 +21,9 @@ class DecorativeGeometryImplementationGltf(osim.simbody.DecorativeGeometryImplem
     groundNode = None       # Node corresponding to Model::Ground
     modelState = None       # reference to state object obtained by initSystem
     mapTypesToMaterialIndex = {}
-
+    MaterialGrouping = {}
     model = None
+
     accessors = None        # references to arrays within the gltf structure for convenience
     buffers = None
     bufferViews = None
@@ -86,14 +87,30 @@ def implementCircleGeometry(self, arg0):
     def implementSphereGeometry(self, arg0):
         sphereSource = vtk.vtkSphereSource()
         sphereSource.SetRadius(arg0.getRadius()*self.unitConversion)
+        sphereSource.SetPhiResolution(16)
+        sphereSource.SetThetaResolution(16)
         sphereSource.Update()
         polyDataOutput = sphereSource.GetOutput()
         self.createGLTFMeshFromPolyData(arg0, "Sphere:", polyDataOutput, self.getMaterialIndexByType())
         # print("produce sphere", arg0.getRadius())
         return
 
     def implementEllipsoidGeometry(self, arg0):
-        return _simbody.DecorativeGeometryImplementation_implementEllipsoidGeometry(self, arg0)
+        sphereSource = vtk.vtkSphereSource()
+        sphereSource.SetRadius(1.0*self.unitConversion)
+        sphereSource.SetPhiResolution(16)
+        sphereSource.SetThetaResolution(16)
+        # Make a stretching transform to take the sphere into an ellipsoid
+        stretch = vtk.vtkTransformPolyDataFilter();
+        stretchSphereToEllipsoid = vtk.vtkTransform();
+        radiiVec3 = arg0.getRadii()
+        stretchSphereToEllipsoid.Scale(radiiVec3[0], radiiVec3[1], radiiVec3[2]);
+        stretch.SetTransform(stretchSphereToEllipsoid);
+        stretch.SetInputConnection(sphereSource.GetOutputPort());
+        stretch.Update()
+        polyDataOutput = stretch.GetOutput()
+        self.createGLTFMeshFromPolyData(arg0, "Ellipsoid:", polyDataOutput, self.getMaterialIndexByType())
+        return
 
     def implementFrameGeometry(self, arg0):
         # print("produce frame", arg0.getAxisLength())
@@ -150,8 +167,17 @@ def createGLTFMeshFromPolyData(self, arg0, gltfName, polyDataOutput, materialInd
             self.mapMobilizedBodyIndexToNodes[arg0.getBodyId()].children.append(nodeIndex)
 
     def implementTorusGeometry(self, arg0):
-        return _simbody.DecorativeGeometryImplementation_implementTorusGeometry(self, arg0)
-
+        torus=vtk.vtkParametricTorus();
+        torusSource = vtk.vtkParametricFunctionSource();
+        torusSource.SetParametricFunction(torus);
+        torusMapper=vtk.vtkPolyDataMapper();
+        torusMapper.SetInputConnection(torusSource.GetOutputPort());
+        torus.SetRingRadius(arg0.getTorusRadius()+arg0.getTubeRadius());
+        torus.SetCrossSectionRadius(arg0.getTubeRadius());
+        polyDataOutput = torusSource.GetOutput();
+        self.createGLTFMeshFromPolyData(arg0, "Torus:", polyDataOutput, self.getMaterialIndexByType())
+        return
+
     def implementArrowGeometry(self, arg0):
         return _simbody.DecorativeGeometryImplementation_implementArrowGeometry(self, arg0)
 
@@ -196,6 +222,13 @@ def addDefaultMaterials(self):
         # 3 shiny green material for forces
         # 4 shiny blue material for experimental markers
         # 5 shiny orange material for IMUs
+        self.MaterialGrouping["ContactHalfSpace"] = "Wrapping"
+        self.MaterialGrouping["ContactSphere"] = "Wrapping"
+        self.MaterialGrouping["ContactMesh"] = "Wrapping"
+        self.MaterialGrouping["WrapSphere"] = "Wrapping"
+        self.MaterialGrouping["WrapCylinder"] = "Wrapping"
+        self.MaterialGrouping["WrapEllipsoid"] = "Wrapping"
+        self.MaterialGrouping["WrapTorus"] = "Wrapping"
         self.mapTypesToMaterialIndex["Mesh"] = self.addMaterialToGltf("default", [.87, .78, .6, 1.0])
         self.mapTypesToMaterialIndex["Wrapping"] = self.addMaterialToGltf("obstacle", [0, .9, .9, 0.7])
         self.mapTypesToMaterialIndex["Marker"] = self.addMaterialToGltf("markerMat", [1.0, .6, .8, 1.0])
@@ -216,7 +249,11 @@ def addMaterialToGltf(self, matName, color4):
 
     def getMaterialIndexByType(self):
         componentType = self.currentComponent.getConcreteClassName()
-        mat = self.mapTypesToMaterialIndex.get(componentType)
+        materialGrouping = self.MaterialGrouping.get(componentType)
+        if (materialGrouping is not None):
+            mat = self.mapTypesToMaterialIndex.get(materialGrouping)
+        else:
+            mat = self.mapTypesToMaterialIndex.get(componentType)
         if (mat is not None):
             return mat
         else:
@@ -226,7 +263,6 @@ def setNodeTransformFromDecoration(self, node: Node, mesh: Mesh, decorativeGeome
         bd = decorativeGeometry.getBodyId()
         bdNode = self.mapMobilizedBodyIndexToNodes[bd]
         nodeIndex = len(self.nodes)
-        meshIndex = len(self.meshes)
         self.meshes.append(mesh)
         bdNode.children.append(nodeIndex)
         nodeForDecoration = Node(name=""+bd.getName()+decorativeGeometry.getIndexOnBody())
@@ -259,17 +295,21 @@ def addMeshForPolyData(self, polyData: vtk.vtkPolyData, mat: int):
         tris.Update()
         triPolys = tris.GetOutput()
 
-        meshBufferIndex = len(self.buffers)
         # This follows vtkGLTFExporter flow
         pointData = triPolys.GetPoints().GetData();
         self.writeBufferAndView(pointData, ARRAY_BUFFER)
+        bounds = triPolys.GetPoints().GetBounds()
         # create accessor
         pointAccessor = Accessor()
         pointAccessor.bufferView= len(self.bufferViews)-1
         pointAccessor.byteOffset = 0
         pointAccessor.type = VEC3
         pointAccessor.componentType = FLOAT
         pointAccessor.count = pointData.GetNumberOfTuples()
+        maxValue = [bounds[1], bounds[3], bounds[5]]
+        minValue = [bounds[0], bounds[2], bounds[4]]
+        pointAccessor.min = minValue
+        pointAccessor.max = maxValue
         self.accessors.append(pointAccessor)
         pointAccessorIndex = len(self.accessors)-1
 
@@ -295,7 +335,6 @@ def addMeshForPolyData(self, polyData: vtk.vtkPolyData, mat: int):
         primitive.material = mat
         meshPolys = triPolys.GetPolys()
         ia = vtk.vtkUnsignedIntArray()
-        cellData = meshPolys.GetData()
         idList = vtk.vtkIdList()
         while meshPolys.GetNextCell(idList):
             # do something with the cell

src/backend/backend/backend/osimConverters/convertOsim2Gltf.py

@@ -40,6 +40,9 @@ def convertOsim2Gltf(osimModelFilePath, geometrySearchPath) :
     sizeBefore = adg.size()
     # print(comp.getAbsolutePathString())
     comp.generateDecorations(True, mdh, state, adg);
+    # we don't know how to handle muscles for now so will leave off, verify everything else displays ok
+    if (comp.getConcreteClassName()!= "GeometryPath"):
+      comp.generateDecorations(False, mdh, state, adg);
     sizeAfter = adg.size()
     if (sizeAfter > sizeBefore):
       decorativeGeometryImp.setCurrentComponent(comp)

src/components/Components/VisualizationControl.tsx

@@ -74,6 +74,10 @@ const VisualizationControl : React.FC<VisualizationControlProps> = (props:Visual
             <FormControlLabel control={<Checkbox />} label={t('visualizationControl.joints')} />
             <FormControlLabel control={<Checkbox checked={curState.getLayerVisibility(1)}/>} label={t('visualizationControl.bodies')}
                     onChange={()=>{curState.toggleLayerVisibility(1); setCameraLayerMask(curState.cameraLayersMask)}} />
+            <FormControlLabel control={<Checkbox checked={curState.getLayerVisibility(7)}/>} label={t('visualizationControl.wrapObjects')}
+                    onChange={()=>{curState.toggleLayerVisibility(7); setCameraLayerMask(curState.cameraLayersMask)}} />
+            <FormControlLabel control={<Checkbox checked={curState.getLayerVisibility(8)}/>} label={t('visualizationControl.contactObjects')}
+                    onChange={()=>{curState.toggleLayerVisibility(8); setCameraLayerMask(curState.cameraLayersMask)}} />
             <FormControlLabel control={<Checkbox checked={curState.getLayerVisibility(4)}/>} label={t('visualizationControl.markers')} 
                     onChange={()=>{curState.toggleLayerVisibility(4); setCameraLayerMask(curState.cameraLayersMask)}}/>
         </FormGroup>

src/components/pages/OpenSimControl.tsx

@@ -30,7 +30,7 @@ const OpenSimControl = () => {
             curState.takeSnapshot = false;
         }
         else if (curState.cameraLayersMask !== camera.layers.mask) {
-            for (let layernumber =0; layernumber < 6; layernumber++){
+            for (let layernumber =0; layernumber < 31; layernumber++){
                 let newState = curState.getLayerVisibility(layernumber)
                 if (newState)
                     camera.layers.enable(layernumber)

src/components/pages/OpenSimScene.tsx

@@ -33,7 +33,15 @@ const OpenSimScene: React.FC<OpenSimSceneProps> = ({ currentModelPath, supportCo
       ["World", 3],
       ["Marker", 4], 
       ["ExpMarker", 5],
-      ["expForce", 6]
+      ["expForce", 6],
+      ["WrapSphere", 7],
+      ["WrapCylinder", 7],
+      ["WrapEllipsoid", 7],
+      ["WrapTorus", 7],
+      ["wrapObject", 7],
+      ["ContactSphere", 8],
+      ["ContactMesh", 8],
+      ["ContactHalfSpace", 8]
     ]);
 
     const mapObjectToLayer = (obj3d: Object3D)=>{

src/internationalization/i18n.js

@@ -86,6 +86,8 @@ i18next
                         wcs: "WCS",
                         joints: "Joints",
                         bodies: "Bodies",
+                        wrapObjects: "WrapObjects",
+                        contactObjects: "Contacts",
                         markers: "Markers",
                         speed: "Speed"
                     },