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ft-lab/omniverse_sample_scripts/Prim/Transform/GetTransform.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
# Get stage.
stage = omni.usd.get_context().get_stage()
# Get selection.
selection = omni.usd.get_context().get_selection()
paths = selection.get_selected_prim_paths()
for path in paths:
prim = stage.GetPrimAtPath(path)
if prim.IsValid() == True:
# Print prim name.
print('[ ' + prim.GetName() + ' ]')
# Order of Transform elements.
transformOrder = prim.GetAttribute('xformOpOrder')
if transformOrder.IsValid() and transformOrder.Get() != None:
print(f" TransformOrder : {transformOrder.Get()}")
for transV in transformOrder.Get():
# 'xformOp:scale', 'xformOp:rotateXYZ', 'xformOp:translate', etc.
tV = prim.GetAttribute(transV)
if tV.IsValid():
print(f" {transV} ( {tV.GetTypeName()} ) : {tV.Get()}")
| 921 | Python | 30.793102 | 81 | 0.592834 |
ft-lab/omniverse_sample_scripts/Prim/Transform/SetScale.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import omni.usd
import omni.timeline
# Get stage.
stage = omni.usd.get_context().get_stage()
# Get selection.
selection = omni.usd.get_context().get_selection()
paths = selection.get_selected_prim_paths()
# --------------------------------------------------.
# Set scale.
# --------------------------------------------------.
def _setScale (prim : Usd.Prim, sV : Gf.Vec3f):
if prim == None:
return
scale = prim.GetAttribute("xformOp:scale").Get()
if scale != None:
# Specify a value for each type.
if type(scale) == Gf.Vec3f:
prim.GetAttribute("xformOp:scale").Set(Gf.Vec3f(sV))
elif type(scale) == Gf.Vec3d:
prim.GetAttribute("xformOp:scale").Set(Gf.Vec3d(sV))
else:
# xformOpOrder is also updated.
xformAPI = UsdGeom.XformCommonAPI(prim)
xformAPI.SetScale(Gf.Vec3f(sV))
# --------------------------------------------------.
for path in paths:
prim = stage.GetPrimAtPath(path)
if prim.IsValid() == True:
# Print prim name.
print(f"[ {prim.GetName()} ]")
sV = Gf.Vec3f(1.1, 1.2, 1.3)
_setScale(prim, sV)
| 1,211 | Python | 28.560975 | 64 | 0.535095 |
ft-lab/omniverse_sample_scripts/Prim/Transform/GetTransformVectors.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import omni.usd
import omni.timeline
# Get stage.
stage = omni.usd.get_context().get_stage()
# Get selection.
selection = omni.usd.get_context().get_selection()
paths = selection.get_selected_prim_paths()
time_code = Usd.TimeCode.Default()
for path in paths:
prim = stage.GetPrimAtPath(path)
if prim.IsValid() == True:
# Print prim name.
print(f"[ {prim.GetName()} ]")
# Get transform.
# However, the type that can be obtained here is different from the actual Type.
xformAPI = UsdGeom.XformCommonAPI(prim)
translation, rotation, scale, pivot, rotOrder = xformAPI.GetXformVectors(time_code)
print("** GetXformVectors **")
print(f"translation : {type(translation)} {translation}")
print(f"rotation : {type(rotation)} {rotation}")
print(f"scale : {type(scale)} {scale}")
print(f"pivot : {type(pivot)} {pivot}")
print(f"rotOrder : {type(rotOrder)} {rotOrder}")
print("** prim.GetAttribute **")
trans = prim.GetAttribute("xformOp:translate").Get()
print(f"trans : {type(trans)} {trans}")
# Convert rotOrder to "xformOp:rotateXYZ" etc.
t = xformAPI.ConvertRotationOrderToOpType(rotOrder)
rotateAttrName = "xformOp:" + UsdGeom.XformOp.GetOpTypeToken(t)
rotate = prim.GetAttribute(rotateAttrName).Get()
print(f"rotate ({rotateAttrName}) : {type(rotate)} {rotate}")
scale = prim.GetAttribute("xformOp:scale").Get()
print(f"scale : {type(scale)} {scale}")
pivot = prim.GetAttribute("xformOp:translate:pivot").Get()
print(f"pivot : {type(pivot)} {pivot}")
| 1,731 | Python | 33.639999 | 91 | 0.635471 |
ft-lab/omniverse_sample_scripts/Prim/Transform/SetTranslate.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import omni.usd
import omni.timeline
# Get stage.
stage = omni.usd.get_context().get_stage()
# Get selection.
selection = omni.usd.get_context().get_selection()
paths = selection.get_selected_prim_paths()
# --------------------------------------------------.
# Set translate.
# --------------------------------------------------.
def _setTranslate (prim : Usd.Prim, tV : Gf.Vec3f):
if prim == None:
return
trans = prim.GetAttribute("xformOp:translate").Get()
if trans != None:
# Specify a value for each type.
if type(trans) == Gf.Vec3f:
prim.GetAttribute("xformOp:translate").Set(Gf.Vec3f(tV))
elif type(trans) == Gf.Vec3d:
prim.GetAttribute("xformOp:translate").Set(Gf.Vec3d(tV))
else:
# xformOpOrder is also updated.
xformAPI = UsdGeom.XformCommonAPI(prim)
xformAPI.SetTranslate(Gf.Vec3d(tV))
# -------------------------------------------------.
for path in paths:
prim = stage.GetPrimAtPath(path)
if prim.IsValid() == True:
# Print prim name.
print('[ ' + prim.GetName() + ' ]')
tV = Gf.Vec3f(10, 20, 30)
_setTranslate(prim, tV)
| 1,239 | Python | 29.999999 | 68 | 0.544794 |
ft-lab/omniverse_sample_scripts/Prim/Transform/DeletePivot.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import omni.usd
import omni.kit.commands
# Get stage.
stage = omni.usd.get_context().get_stage()
# Get selection.
selection = omni.usd.get_context().get_selection()
paths = selection.get_selected_prim_paths()
# --------------------------------------------------.
# Delete pivot.
# --------------------------------------------------.
def _deletePivot (prim : Usd.Prim):
if prim == None:
return
path = prim.GetPath().pathString + ".xformOp:translate:pivot"
omni.kit.commands.execute('RemoveProperty', prop_path=path)
transformOrder = prim.GetAttribute("xformOpOrder").Get()
if transformOrder != None:
orderList = []
for sV in transformOrder:
if sV == "xformOp:translate:pivot" or sV == "!invert!xformOp:translate:pivot":
continue
orderList.append(sV)
prim.GetAttribute("xformOpOrder").Set(orderList)
# --------------------------------------------------.
for path in paths:
prim = stage.GetPrimAtPath(path)
if prim.IsValid() == True:
# Print prim name.
print('[ ' + prim.GetName() + ' ]')
# Delete pivot.
_deletePivot(prim)
| 1,226 | Python | 28.214285 | 90 | 0.553018 |
ft-lab/omniverse_sample_scripts/Prim/Transform/GetLocalMatrix.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
# Get stage.
stage = omni.usd.get_context().get_stage()
# Get selection.
selection = omni.usd.get_context().get_selection()
paths = selection.get_selected_prim_paths()
xformCache = UsdGeom.XformCache(0)
for path in paths:
prim = stage.GetPrimAtPath(path)
if prim.IsValid() == True:
# Print prim name.
print(f"[ {prim.GetName()} ]")
# Calc local matrix.
matrix = xformCache.GetLocalTransformation(prim)[0]
print(matrix)
# Decompose matrix.
# If the result is False, then reduce the value of eps and call Factor again.
eps = 1e-10
result = matrix.Factor(eps)
if result[0]:
scale = result[2]
rotate = result[3].ExtractRotation()
translation = result[4]
# Convert Rotate to Euler.
# Rotate XYZ.
rotateE = rotate.Decompose(Gf.Vec3d(0, 0, 1), Gf.Vec3d(0, 1, 0), Gf.Vec3d(1, 0, 0))
rotateE = Gf.Vec3d(rotateE[2], rotateE[1], rotateE[0])
print(f"Translation : {translation}")
print(f"rotate : {rotateE}")
print(f"scale : {scale}")
| 1,205 | Python | 28.414633 | 95 | 0.585062 |
ft-lab/omniverse_sample_scripts/Operation/FocusPrim.py | # "omni.kit.viewport_legacy" is no longer available in kit104.
#import omni.kit.viewport_legacy
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import omni.kit.commands
# Kit104 : changed from omni.kit.viewport_legacy to omni.kit.viewport.utility.get_active_viewport_window
import omni.kit.viewport.utility
# Get active viewport window.
active_vp_window = omni.kit.viewport.utility.get_active_viewport_window()
viewport_api = active_vp_window.viewport_api
# Get camera path ("/OmniverseKit_Persp" etc).
cameraPath = viewport_api.camera_path.pathString
# Get stage.
stage = omni.usd.get_context().get_stage()
#time_code = omni.timeline.get_timeline_interface().get_current_time() * stage.GetTimeCodesPerSecond()
time_code = Usd.TimeCode()
# Get active camera.
cameraPrim = stage.GetPrimAtPath(cameraPath)
if cameraPrim.IsValid():
camera = UsdGeom.Camera(cameraPrim) # UsdGeom.Camera
cameraV = camera.GetCamera(time_code) # Gf.Camera
# Aspect ratio.
aspect = cameraV.aspectRatio
# Taret prim path.
targetPrimPath = "/World/Sphere"
prim = stage.GetPrimAtPath(targetPrimPath)
if prim.IsValid():
# Set focus.
omni.kit.commands.execute('FramePrimsCommand',
prim_to_move=Sdf.Path(cameraPath),
prims_to_frame=[targetPrimPath],
time_code=time_code,
usd_context_name='',
aspect_ratio=aspect)
| 1,431 | Python | 30.822222 | 104 | 0.703704 |
ft-lab/omniverse_sample_scripts/Operation/readme.md | # Operation
Ominverseの操作/イベント処理を行います。
|ファイル|説明|
|---|---|
|[FocusPrim.py](./FocusPrim.py)|Kit104以上で動作。<br>指定のPrim(ここでは"/World/Sphere")にフォーカスを合わせる<br>（キーボードの[F]をプッシュした時と同じ動作）|
|サンプル|説明|
|---|---|
|[Selection](./Selection)|Stageウィンドウでの選択を取得|
|[GamePad](./GamePad)|GamePadの入力イベント取得|
|[Keyboard](./Keyboard)|Keyboardの入力イベント取得|
|[UNDO](./UNDO)|UNDO処理|
|[CommandsExecute](./CommandsExecute)|omni.kit.commandsを使用したコマンド実行|
| 473 | Markdown | 26.882351 | 121 | 0.638478 |
ft-lab/omniverse_sample_scripts/Operation/GamePad/GamePad_moveSelectPrim.py | from pxr import Usd, UsdGeom, UsdSkel, UsdPhysics, UsdShade, Sdf, Gf, Tf
import carb
import carb.input
import omni.kit.app
import omni.ext
# Reference : kit/exts/omni.kit.debug.input
# Get stage.
stage = omni.usd.get_context().get_stage()
# ------------------------------------------.
# Move the selected Prim.
# ------------------------------------------.
def moveSelectedPrim (mV : Gf.Vec3f):
# Get selection.
selection = omni.usd.get_context().get_selection()
paths = selection.get_selected_prim_paths()
for path in paths:
prim = stage.GetPrimAtPath(path)
Gf.Vec3f(0, 0, 0)
if prim.IsValid() == True:
# Get translate.
transformOrder = prim.GetAttribute('xformOpOrder')
if transformOrder.IsValid():
tV = prim.GetAttribute("xformOp:translate")
if tV.IsValid():
pos = Gf.Vec3f(tV.Get())
# Update translate.
pos += mV
tV.Set(pos)
# ------------------------------------------.
# Gamepad discription.
# ------------------------------------------.
class GamepadDesc:
def _cleanup(self):
self.name = None
self.guid = None
self.gamepad_device = None
self.input_device = None
self.is_connected = False
self.input_val = {}
def __init__(self):
self._cleanup()
def __del__(self):
self._cleanup()
# ------------------------------------------.
# Input with GamePad.
# ------------------------------------------.
class InputGamePad:
_gamepads = None
_input = None
_input_provider = None
_gamepad_connection_subs = None
_gamepad_inputs = None
_app = None
_pre_update_sub = None
def __init__(self):
pass
def _update_gamepad_connection_state(self, gamepad_device, connection_state):
for gamepad_desc in self._gamepads:
if gamepad_desc.gamepad_device == gamepad_device:
gamepad_desc.is_connected = connection_state
# gamepad connection event.
def _gamepad_connection_event(self, event):
# Gamepad created.
if event.type == carb.input.GamepadConnectionEventType.CREATED:
gamepad_desc = GamepadDesc()
gamepad_desc.name = self._input.get_gamepad_name(event.gamepad)
gamepad_desc.guid = self._input.get_gamepad_guid(event.gamepad)
gamepad_desc.gamepad_device = event.gamepad
gamepad_desc.input_device = event.device
self._gamepads.append(gamepad_desc)
print("carb.input.GamepadConnectionEventType.CREATED")
print("name : " + str(gamepad_desc.name))
print("guid : " + str(gamepad_desc.guid))
# Gamepad destroyed.
elif event.type == carb.input.GamepadConnectionEventType.DESTROYED:
for gamepad_desc in self._gamepads:
if gamepad_desc.gamepad_device == event.gamepad:
self._gamepads.remove(gamepad_desc)
print("carb.input.GamepadConnectionEventType.DESTROYED")
# Gamepad connected.
elif event.type == carb.input.GamepadConnectionEventType.CONNECTED:
self._update_gamepad_connection_state(event.gamepad, True)
print(" carb.input.GamepadConnectionEventType.CONNECTED")
# Gamepad disconnected.
elif event.type == carb.input.GamepadConnectionEventType.DISCONNECTED:
self._update_gamepad_connection_state(event.gamepad, False)
print(" carb.input.GamepadConnectionEventType.DISCONNECTED")
# gamepad update event.
def _update_gamepads_data(self, event):
gamepad_descD = None
for gamepad_desc in self._gamepads:
gamepad_descD = gamepad_desc
for gamepad_input in self._gamepad_inputs:
# Store value.
val = self._input.get_gamepad_value(gamepad_descD.gamepad_device, gamepad_input)
gamepad_descD.input_val[gamepad_input] = float(val)
# gamepad_input : DPAD (0.0 or 1.0).
# carb.input.GamepadInput.DPAD_DOWN
# carb.input.GamepadInput.DPAD_UP
# carb.input.GamepadInput.DPAD_LEFT
# carb.input.GamepadInput.DPAD_RIGHT
# gamepad_input : buttons (0.0 or 1.0).
# carb.input.GamepadInput.X
# carb.input.GamepadInput.Y
# carb.input.GamepadInput.A
# carb.input.GamepadInput.B
# carb.input.GamepadInput.MENU1 (Back)
# carb.input.GamepadInput.MENU2 (Start)
# gamepad_input : stick (0.0 - 1.0).
# carb.input.GamepadInput.LEFT_STICK_DOWN
# carb.input.GamepadInput.LEFT_STICK_UP
# carb.input.GamepadInput.LEFT_STICK_LEFT
# carb.input.GamepadInput.LEFT_STICK_RIGHT
# carb.input.GamepadInput.RIGHT_STICK_DOWN
# carb.input.GamepadInput.RIGHT_STICK_UP
# carb.input.GamepadInput.RIGHT_STICK_LEFT
# carb.input.GamepadInput.RIGHT_STICK_RIGHT
# gamepad_input : stick push (0.0 or 1.0).
# carb.input.GamepadInput.LEFT_STICK
# carb.input.GamepadInput.RIGHT_STICK
# gamepad_input : trigger (0.0 - 1.0).
# carb.input.GamepadInput.LEFT_TRIGGER
# carb.input.GamepadInput.RIGHT_TRIGGER
# gamepad_input : shoulder (0.0 or 1.0).
# carb.input.GamepadInput.LEFT_SHOULDER
# carb.input.GamepadInput.RIGHT_SHOULDER
if gamepad_descD == None:
return
# Move the selected Prim.
mV = Gf.Vec3f(0, 0, 0)
scaleV = 2.0
minV = 0.3
if gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK_DOWN] > minV:
mV[2] += scaleV * gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK_DOWN]
if gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK_UP] > minV:
mV[2] -= scaleV * gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK_UP]
if gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK_LEFT] > minV:
mV[0] -= scaleV * gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK_LEFT]
if gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK_RIGHT] > minV:
mV[0] += scaleV * gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK_RIGHT]
moveSelectedPrim(mV)
def startup (self):
self._gamepads = []
self._input = carb.input.acquire_input_interface()
self._input_provider = carb.input.acquire_input_provider()
self._gamepad_connection_subs = self._input.subscribe_to_gamepad_connection_events(self._gamepad_connection_event)
# Creating a dict of processed GamepadInput enumeration for convenience
def filter_gamepad_input_attribs(attr):
return not callable(getattr(carb.input.GamepadInput, attr)) and not attr.startswith("__") and attr != "name" and attr != "COUNT"
self._gamepad_inputs = dict((getattr(carb.input.GamepadInput, attr), attr) for attr in dir(carb.input.GamepadInput) if filter_gamepad_input_attribs(attr))
self._app = omni.kit.app.get_app()
self._pre_update_sub = self._app.get_pre_update_event_stream().create_subscription_to_pop(
self._update_gamepads_data, name="GamePad test"
)
def shutdown (self):
self._input.unsubscribe_to_gamepad_connection_events(self._gamepad_connection_subs)
self._gamepad_connection_subs = None
self._gamepad_inputs = None
self._gamepads = None
self._app = None
self._pre_update_sub = None
self._input_provider = None
self._input = None
gamePadV = InputGamePad()
gamePadV.startup()
# stop.
#gamePadV.shutdown()
| 8,017 | Python | 38.112195 | 162 | 0.583385 |
ft-lab/omniverse_sample_scripts/Operation/GamePad/readme.md | # GamePad
GamePadでの操作を取得します。
XBOX Controllerの場合は以下のような入力になります。
|入力|値|
|---|---|
|carb.input.GamepadInput.LEFT_SHOULDER|0 or 1|
|carb.input.GamepadInput.RIGHT_SHOULDER|0 or 1|
|carb.input.GamepadInput.LEFT_TRIGGER|0 - 1|
|carb.input.GamepadInput.RIGHT_TRIGGER|0 - 1|
|carb.input.GamepadInput.DPAD_DOWN<br>carb.input.GamepadInput.DPAD_UP<br>carb.input.GamepadInput.DPAD_LEFT<br>carb.input.GamepadInput.DPAD_RIGHT|0 or 1|
|carb.input.GamepadInput.X|0 or 1|
|carb.input.GamepadInput.Y|0 or 1|
|carb.input.GamepadInput.A|0 or 1|
|carb.input.GamepadInput.B|0 or 1|
|carb.input.GamepadInput.MENU1|0 or 1|
|carb.input.GamepadInput.MENU2|0 or 1|
|carb.input.GamepadInput.LEFT_STICK_DOWN<br>carb.input.GamepadInput.LEFT_STICK_UP<br>carb.input.GamepadInput.LEFT_STICK_LEFT<br>carb.input.GamepadInput.LEFT_STICK_RIGHT|0 - 1|
|carb.input.GamepadInput.RIGHT_STICK_DOWN<br>carb.input.GamepadInput.RIGHT_STICK_UP<br>carb.input.GamepadInput.RIGHT_STICK_LEFT<br>carb.input.GamepadInput.RIGHT_STICK_RIGHT|0 - 1|
|carb.input.GamepadInput.LEFT_STICK |0 or 1|
|carb.input.GamepadInput.RIGHT_STICK |0 or 1|
## サンプル
|ファイル|説明|
|---|---|
|[GamePad.py](./GamePad.py)|GamePad情報を取得（特定のボタンのみ）|
|[GamePad_moveSelectPrim.py](./GamePad_moveSelectPrim.py)|GamePadのLeftStick操作で選択形状を移動|
| 1,345 | Markdown | 42.419353 | 179 | 0.751673 |
ft-lab/omniverse_sample_scripts/Operation/GamePad/GamePad.py | from pxr import Usd, UsdGeom, UsdSkel, UsdPhysics, UsdShade, Sdf, Gf, Tf
import carb
import carb.input
import omni.kit.app
import omni.ext
# Reference : kit/exts/omni.kit.debug.input
# ------------------------------------------.
# Gamepad discription.
# ------------------------------------------.
class GamepadDesc:
def _cleanup(self):
self.name = None
self.guid = None
self.gamepad_device = None
self.input_device = None
self.is_connected = False
self.input_val = {}
def __init__(self):
self._cleanup()
def __del__(self):
self._cleanup()
# ------------------------------------------.
# Input with GamePad.
# ------------------------------------------.
class InputGamePad:
_gamepads = None
_input = None
_input_provider = None
_gamepad_connection_subs = None
_gamepad_inputs = None
_app = None
_pre_update_sub = None
def __init__(self):
pass
def _update_gamepad_connection_state(self, gamepad_device, connection_state):
for gamepad_desc in self._gamepads:
if gamepad_desc.gamepad_device == gamepad_device:
gamepad_desc.is_connected = connection_state
# gamepad connection event.
def _gamepad_connection_event(self, event):
# Gamepad created.
if event.type == carb.input.GamepadConnectionEventType.CREATED:
gamepad_desc = GamepadDesc()
gamepad_desc.name = self._input.get_gamepad_name(event.gamepad)
gamepad_desc.guid = self._input.get_gamepad_guid(event.gamepad)
gamepad_desc.gamepad_device = event.gamepad
gamepad_desc.input_device = event.device
self._gamepads.append(gamepad_desc)
print("carb.input.GamepadConnectionEventType.CREATED")
print("name : " + str(gamepad_desc.name))
print("guid : " + str(gamepad_desc.guid))
# Gamepad destroyed.
elif event.type == carb.input.GamepadConnectionEventType.DESTROYED:
for gamepad_desc in self._gamepads:
if gamepad_desc.gamepad_device == event.gamepad:
self._gamepads.remove(gamepad_desc)
print("carb.input.GamepadConnectionEventType.DESTROYED")
# Gamepad connected.
elif event.type == carb.input.GamepadConnectionEventType.CONNECTED:
self._update_gamepad_connection_state(event.gamepad, True)
print(" carb.input.GamepadConnectionEventType.CONNECTED")
# Gamepad disconnected.
elif event.type == carb.input.GamepadConnectionEventType.DISCONNECTED:
self._update_gamepad_connection_state(event.gamepad, False)
print(" carb.input.GamepadConnectionEventType.DISCONNECTED")
# gamepad update event.
def _update_gamepads_data(self, event):
gamepad_descD = None
for gamepad_desc in self._gamepads:
gamepad_descD = gamepad_desc
for gamepad_input in self._gamepad_inputs:
# Store value.
val = self._input.get_gamepad_value(gamepad_descD.gamepad_device, gamepad_input)
gamepad_descD.input_val[gamepad_input] = float(val)
# gamepad_input : DPAD (0.0 or 1.0).
# carb.input.GamepadInput.DPAD_DOWN
# carb.input.GamepadInput.DPAD_UP
# carb.input.GamepadInput.DPAD_LEFT
# carb.input.GamepadInput.DPAD_RIGHT
# gamepad_input : buttons (0.0 or 1.0).
# carb.input.GamepadInput.X
# carb.input.GamepadInput.Y
# carb.input.GamepadInput.A
# carb.input.GamepadInput.B
# carb.input.GamepadInput.MENU1 (Back)
# carb.input.GamepadInput.MENU2 (Start)
# gamepad_input : stick (0.0 - 1.0).
# carb.input.GamepadInput.LEFT_STICK_DOWN
# carb.input.GamepadInput.LEFT_STICK_UP
# carb.input.GamepadInput.LEFT_STICK_LEFT
# carb.input.GamepadInput.LEFT_STICK_RIGHT
# carb.input.GamepadInput.RIGHT_STICK_DOWN
# carb.input.GamepadInput.RIGHT_STICK_UP
# carb.input.GamepadInput.RIGHT_STICK_LEFT
# carb.input.GamepadInput.RIGHT_STICK_RIGHT
# gamepad_input : stick push (0.0 or 1.0).
# carb.input.GamepadInput.LEFT_STICK
# carb.input.GamepadInput.RIGHT_STICK
# gamepad_input : trigger (0.0 - 1.0).
# carb.input.GamepadInput.LEFT_TRIGGER
# carb.input.GamepadInput.RIGHT_TRIGGER
# gamepad_input : shoulder (0.0 or 1.0).
# carb.input.GamepadInput.LEFT_SHOULDER
# carb.input.GamepadInput.RIGHT_SHOULDER
if gamepad_descD == None:
return
if gamepad_desc.input_val[carb.input.GamepadInput.A] != 0.0:
print("A")
if gamepad_desc.input_val[carb.input.GamepadInput.B] != 0.0:
print("B")
if gamepad_desc.input_val[carb.input.GamepadInput.X] != 0.0:
print("X")
if gamepad_desc.input_val[carb.input.GamepadInput.Y] != 0.0:
print("Y")
if gamepad_desc.input_val[carb.input.GamepadInput.MENU1] != 0.0:
print("Back")
if gamepad_desc.input_val[carb.input.GamepadInput.MENU2] != 0.0:
print("Start")
if gamepad_desc.input_val[carb.input.GamepadInput.LEFT_SHOULDER] != 0.0:
print("Left shoulder")
if gamepad_desc.input_val[carb.input.GamepadInput.RIGHT_SHOULDER] != 0.0:
print("Right shoulder")
if gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK] != 0.0:
print("Push Left stick")
if gamepad_desc.input_val[carb.input.GamepadInput.RIGHT_STICK] != 0.0:
print("Push Right stick")
v = gamepad_desc.input_val[carb.input.GamepadInput.LEFT_TRIGGER]
if v != 0.0:
print("Left trigger : " + str(v))
v = gamepad_desc.input_val[carb.input.GamepadInput.RIGHT_TRIGGER]
if v != 0.0:
print("Right trigger : " + str(v))
def startup (self):
self._gamepads = []
self._input = carb.input.acquire_input_interface()
self._input_provider = carb.input.acquire_input_provider()
self._gamepad_connection_subs = self._input.subscribe_to_gamepad_connection_events(self._gamepad_connection_event)
# Creating a dict of processed GamepadInput enumeration for convenience
def filter_gamepad_input_attribs(attr):
return not callable(getattr(carb.input.GamepadInput, attr)) and not attr.startswith("__") and attr != "name" and attr != "COUNT"
self._gamepad_inputs = dict((getattr(carb.input.GamepadInput, attr), attr) for attr in dir(carb.input.GamepadInput) if filter_gamepad_input_attribs(attr))
self._app = omni.kit.app.get_app()
self._pre_update_sub = self._app.get_pre_update_event_stream().create_subscription_to_pop(
self._update_gamepads_data, name="GamePad test"
)
def shutdown (self):
self._input.unsubscribe_to_gamepad_connection_events(self._gamepad_connection_subs)
self._gamepad_connection_subs = None
self._gamepad_inputs = None
self._gamepads = None
self._app = None
self._pre_update_sub = None
self._input_provider = None
self._input = None
gamePadV = InputGamePad()
gamePadV.startup()
# stop.
#gamePadV.shutdown()
| 7,645 | Python | 38.210256 | 162 | 0.58862 |
ft-lab/omniverse_sample_scripts/Operation/CommandsExecute/SelectNone.py | import omni.kit
omni.kit.commands.execute("SelectNone")
| 57 | Python | 13.499997 | 39 | 0.789474 |
ft-lab/omniverse_sample_scripts/Operation/CommandsExecute/GetCommandsList.py | import omni.kit
# Get commands list (dict).
listA = omni.kit.commands.get_commands()
keys = listA.keys()
print(str(keys))
| 124 | Python | 14.624998 | 40 | 0.709677 |
ft-lab/omniverse_sample_scripts/Operation/CommandsExecute/readme.md | # Execute
omni.kit.commandsを使用して、Omniverseのコマンドを実行します。
## サンプル
|ファイル|説明|
|---|---|
|[GetCommandsList.py](./GetCommandsList.py)|コマンドのリストを一覧。|
|[SelectNone.py](./SelectNone.py)|Stageウィンドウでの選択を解除|
|[CopyPrim.py](./CopyPrim.py)|選択されたPrimの複製を作成|
|[DeletePrims.py](./DeletePrims.py)|選択されたPrimを削除|
|[MovePrim.py](./MovePrim.py)|選択されたPrimのパスを変更。<br>/World/Xform 内に選択されたPrimを移動する。|
|[RenamePrim.py](./RenamePrim.py)|選択されたPrimの名前を変更。<br>"MovePrim"でPrimの名前変更できる。|
| 500 | Markdown | 32.399998 | 86 | 0.682 |
ft-lab/omniverse_sample_scripts/Operation/CommandsExecute/CopyPrim.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import omni.kit
# Get stage.
stage = omni.usd.get_context().get_stage()
# Get selection.
selection = omni.usd.get_context().get_selection()
selectedPaths = selection.get_selected_prim_paths()
newPrimPathList = []
for path in selectedPaths:
# Duplicate Prim from specified path.
omni.kit.commands.execute("CopyPrim", path_from=path)
# Stores the path of the newly duplicated Prim.
selection = omni.usd.get_context().get_selection()
paths = selection.get_selected_prim_paths()
if len(paths) >= 1:
newPrimPathList.append(paths[0])
# Show the path of the newly duplicated Prim.
print(newPrimPathList)
| 698 | Python | 28.124999 | 63 | 0.719198 |
ft-lab/omniverse_sample_scripts/Operation/CommandsExecute/DeletePrims.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import omni.kit
# Get stage.
stage = omni.usd.get_context().get_stage()
# Get selection.
selection = omni.usd.get_context().get_selection()
selectedPaths = selection.get_selected_prim_paths()
# Delete prims.
omni.kit.commands.execute("DeletePrims", paths=selectedPaths)
| 337 | Python | 24.999998 | 63 | 0.750742 |
ft-lab/omniverse_sample_scripts/Operation/CommandsExecute/RenamePrim.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import omni.kit
# Get stage.
stage = omni.usd.get_context().get_stage()
# Get selection.
selection = omni.usd.get_context().get_selection()
selectedPaths = selection.get_selected_prim_paths()
for path in selectedPaths:
# Get prim.
prim = stage.GetPrimAtPath(path)
if prim.IsValid() == False:
continue
newPathName = path + "_rename"
# Rename Prim name.
omni.kit.commands.execute("MovePrim", path_from=path, path_to=newPathName)
break
| 538 | Python | 23.499999 | 78 | 0.689591 |
ft-lab/omniverse_sample_scripts/Operation/CommandsExecute/MovePrim.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import omni.kit
# Get stage.
stage = omni.usd.get_context().get_stage()
# Get default prim.
defaultPrim = stage.GetDefaultPrim()
# Create empty node(Xform).
defaultPrimPath = defaultPrim.GetPath().pathString
xformPath = defaultPrimPath + '/Xform'
UsdGeom.Xform.Define(stage, xformPath)
# Get selection.
selection = omni.usd.get_context().get_selection()
selectedPaths = selection.get_selected_prim_paths()
for path in selectedPaths:
# Get prim.
prim = stage.GetPrimAtPath(path)
if prim.IsValid() == False:
continue
pathTo = xformPath + "/" + str(prim.GetName())
# Change Prim's path.
# path_from : Path of the original Prim.
# path_to : Path to move to.
omni.kit.commands.execute("MovePrim", path_from=path, path_to=pathTo)
| 839 | Python | 24.454545 | 73 | 0.697259 |
ft-lab/omniverse_sample_scripts/Operation/UNDO/CreateSphereUndo.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import omni.kit.commands
import omni.kit.undo
# Get stage.
stage = omni.usd.get_context().get_stage()
# Process to create a sphere.
class MyCreateSphere (omni.kit.commands.Command):
_path = ""
def __init__ (self, path : str):
self._path = path
def do (self):
sphereGeom = UsdGeom.Sphere.Define(stage, self._path)
# Set radius.
sphereGeom.CreateRadiusAttr(5.0)
# Set color.
sphereGeom.CreateDisplayColorAttr([(1.0, 0.0, 0.0)])
# Set position.
UsdGeom.XformCommonAPI(sphereGeom).SetTranslate((0.0, 5.0, 0.0))
def undo (self):
stage.RemovePrim(self._path)
# Create sphere.
pathName = '/World/sphere'
# Register a Class and run it.
omni.kit.commands.register(MyCreateSphere)
omni.kit.commands.execute("MyCreateSphere", path=pathName)
# UNDO.
omni.kit.undo.undo()
# REDO.
omni.kit.undo.redo()
| 952 | Python | 21.690476 | 72 | 0.656513 |
ft-lab/omniverse_sample_scripts/Operation/UNDO/readme.md | # UNDO
UNDO処理。
特にSkeleton情報を変更する場合、UNDOに対応しないと正常に動作しないケースがありました。
Omniverse Kitのドキュメントの"Bundled Extensions/omni.kit.commands"が参考になります。
|ファイル|説明|
|---|---|
|[simpleClassUNDO.py](./simpleClassUNDO.py)|classを使用してUNDO対応。|
|[CreateSphereUndo.py](./CreateSphereUndo.py)|球を生成する処理でUNDO対応して位置|
| 322 | Markdown | 23.846152 | 73 | 0.708075 |
ft-lab/omniverse_sample_scripts/Operation/UNDO/simpleClassUndo.py | # From "Bundled Extensions/omni.kit.commands" in Omniverse Kit documentation.
import omni.kit.commands
import omni.kit.undo
# Class for UNDO processing.
class MyOrange (omni.kit.commands.Command):
def __init__ (self, bar: list):
self._bar = bar
def do (self):
self._bar.append('orange')
def undo (self):
del self._bar[-1]
# Register a Class and run it.
omni.kit.commands.register(MyOrange)
my_list = []
omni.kit.commands.execute("MyOrange", bar=my_list)
print(my_list)
# UNDO.
omni.kit.undo.undo()
print(my_list)
# REDO.
omni.kit.undo.redo()
print(my_list)
| 601 | Python | 18.419354 | 77 | 0.673877 |
ft-lab/omniverse_sample_scripts/Operation/Selection/GetSelection.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
# Get selection.
selection = omni.usd.get_context().get_selection()
paths = selection.get_selected_prim_paths()
for path in paths:
print(path)
| 218 | Python | 20.899998 | 63 | 0.711009 |
ft-lab/omniverse_sample_scripts/Operation/Selection/readme.md | # Selection
StageウィンドウでのPrimの選択を取得。
|ファイル|説明|
|---|---|
|[GetSelection.py](./GetSelection.py)|Primの選択を取得|
|[IsSelected.py](./IsSelected.py)|指定されたパスのPrimが選択されているかどうか|
|[Select.py](./Select.py)|指定されたパスのPrimを選択|
|[EventSelection.py](./EventSelection.py)|選択変更イベントを取得し、選択されたPrim名を表示|
|[EventSelection_showFacesCount.py](./EventSelection_showFacesCount.py)|選択されたPrim名、子要素も含めたMeshの面数をビューポートに表示<br>
| 510 | Markdown | 38.307689 | 191 | 0.735294 |
ft-lab/omniverse_sample_scripts/Operation/Selection/EventSelection.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
# Get context.
context = omni.usd.get_context()
# Get stage.
stage = context.get_stage()
# ---------------------------------------------.
# Selected event.
# ---------------------------------------------.
def onStageEvent(evt):
if evt.type == int(omni.usd.StageEventType.SELECTION_CHANGED):
# Get selection paths.
selection = omni.usd.get_context().get_selection()
paths = selection.get_selected_prim_paths()
for path in paths:
prim = stage.GetPrimAtPath(path)
if prim.IsValid() == True:
print('Selected [ ' + prim.GetName() + ' ]')
# ------------------------------------------------.
# Register for stage events.
# Specify "subs=None" to end the event.
subs = context.get_stage_event_stream().create_subscription_to_pop(onStageEvent, name="sampleStageEvent")
| 913 | Python | 32.851851 | 105 | 0.542169 |
ft-lab/omniverse_sample_scripts/Operation/Selection/IsSelected.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
# Get selection.
selection = omni.usd.get_context().get_selection()
pathStr = '/World'
selectedF = selection.is_prim_path_selected(pathStr)
if selectedF:
print('[' + pathStr + ' ] Selected')
else:
print('[' + pathStr + ' ] Not selected')
| 313 | Python | 23.153844 | 63 | 0.674121 |
ft-lab/omniverse_sample_scripts/Operation/Selection/EventSelection_showFacesCount.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import omni.ui
import omni.kit.app
# Get context.
context = omni.usd.get_context()
# Get stage.
stage = context.get_stage()
# Get main window viewport.
window = omni.ui.Window('Viewport')
# ---------------------------------------------.
# Get the number of faces in the mesh.
# ---------------------------------------------.
def GetFacesCount (prim):
if prim.IsValid() == None:
return 0
typeName = prim.GetTypeName()
allCou = 0
if typeName == 'Mesh':
m = UsdGeom.Mesh(prim)
# If it is displayed.
if m.ComputeVisibility() == 'inherited':
# Get the number of faces of Mesh.
allCou += len(m.GetFaceVertexCountsAttr().Get())
# Recursively traverse the hierarchy.
pChildren = prim.GetChildren()
for cPrim in pChildren:
allCou += GetFacesCount(cPrim)
return allCou
# ---------------------------------------------.
# Update Viewport UI.
# Show the number of faces of the selected shape in the Viewport.
# ---------------------------------------------.
def UpdateViewportUI(paths):
if len(paths) == 0:
with window.frame:
with omni.ui.VStack(height=0):
with omni.ui.Placer(offset_x=20, offset_y=0):
omni.ui.Spacer(width=0, height=8)
return
with window.frame:
with omni.ui.VStack(height=0):
with omni.ui.Placer(offset_x=20, offset_y=50):
f = omni.ui.Label("--- Selection Shapes ---")
f.visible = True
f.set_style({"color": 0xff00ffff, "font_size": 32})
with omni.ui.Placer(offset_x=20, offset_y=0):
omni.ui.Spacer(width=0, height=8)
# Show selection shape name.
for path in paths:
prim = stage.GetPrimAtPath(path)
if prim.IsValid() == True:
facesCou = GetFacesCount(prim)
with omni.ui.Placer(offset_x=28, offset_y=0):
f2 = omni.ui.Label('[ ' + prim.GetName() + ' ] faces ' + str(facesCou))
f2.visible = True
f2.set_style({"color": 0xff00ff00, "font_size": 32})
# ---------------------------------------------.
# Selected event.
# ---------------------------------------------.
def onStageEvent(evt):
if evt.type == int(omni.usd.StageEventType.SELECTION_CHANGED):
# Get selection paths.
selection = omni.usd.get_context().get_selection()
paths = selection.get_selected_prim_paths()
# Show selected shapes info.
UpdateViewportUI(paths)
# ------------------------------------------------.
# Register for stage events.
# Specify "subs=None" to end the event.
subs = context.get_stage_event_stream().create_subscription_to_pop(onStageEvent, name="sampleStageEvent")
| 2,919 | Python | 32.563218 | 105 | 0.517643 |
ft-lab/omniverse_sample_scripts/Operation/Selection/Select.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
# Get selection.
selection = omni.usd.get_context().get_selection()
# Select one.
selection.set_selected_prim_paths(['/World'], True)
# Multiple selection.
selection.set_selected_prim_paths(['/World', '/World/defaultLight'], True)
# Deselection.
selection.clear_selected_prim_paths()
| 352 | Python | 24.214284 | 74 | 0.735795 |
ft-lab/omniverse_sample_scripts/Operation/Keyboard/readme.md | # Keyboard
キーボードの入力を取得します。
## サンプル
|ファイル|説明|
|---|---|
|[InputKeyboard.py](./InputKeyboard.py)|キーボードの入力を取得。|
|[InputKeyboard_ShowViewport.py](./InputKeyboard_ShowViewport.py)|キーボードの入力を取得し、キー入力をViewportの左上に表示。|
| 240 | Markdown | 19.083332 | 105 | 0.658333 |
ft-lab/omniverse_sample_scripts/Operation/Keyboard/InputKeyboard.py | from pxr import Usd, UsdGeom, UsdSkel, UsdShade, Sdf, Gf, Tf
import carb
import carb.input
import omni.kit.app
import omni.ext
# ------------------------------------------.
# Input with Keyboard.
# ------------------------------------------.
class InputKeyboard:
_keyboard = None
_input = None
_keyboard_subs = None
def __init__(self):
pass
# Keyboard event.
def _keyboard_event (self, event : carb.input.KeyboardEvent):
if event.type == carb.input.KeyboardEventType.KEY_PRESS:
print("KEY_PRESS : " + str(event.input))
if event.type == carb.input.KeyboardEventType.KEY_RELEASE:
print("KEY_RELEASE : " + str(event.input))
return True
def startup (self):
# Assign keyboard event.
appwindow = omni.appwindow.get_default_app_window()
self._keyboard = appwindow.get_keyboard()
self._input = carb.input.acquire_input_interface()
self._keyboard_subs = self._input.subscribe_to_keyboard_events(self._keyboard, self._keyboard_event)
def shutdown (self):
# Release keyboard event.
if self._input != None:
self._input.unsubscribe_to_keyboard_events(self._keyboard, self._keyboard_subs)
self._keyboard_subs = None
self._keyboard = None
self._input = None
# -----------------------------------------.
keyboardV = InputKeyboard()
keyboardV.startup()
# stop.
#keyboardV.shutdown()
| 1,467 | Python | 28.359999 | 108 | 0.57805 |
ft-lab/omniverse_sample_scripts/Operation/Keyboard/InputKeyboard_ShowViewport.py | from pxr import Usd, UsdGeom, UsdSkel, UsdShade, Sdf, Gf, Tf
import carb
import carb.input
import carb.events
import omni.kit.app
import omni.ext
# ------------------------------------------.
# Input with Keyboard.
# ------------------------------------------.
class InputKeyboard:
_keyboard = None
_input = None
_keyboard_subs = None
_update_subs = None
_window = None
_keyboard_input_value = None
def __init__(self):
pass
# Keyboard event.
def _keyboard_event (self, event):
if event.type == carb.input.KeyboardEventType.KEY_PRESS:
self._keyboard_input_value = event.input
print("KEY_PRESS : " + str(event.input))
if event.type == carb.input.KeyboardEventType.KEY_RELEASE:
print("KEY_RELEASE : " + str(event.input))
return True
# UI Update event.
def _on_update (self, e: carb.events.IEvent):
with self._window.frame:
with omni.ui.VStack(height=0):
with omni.ui.Placer(offset_x=20, offset_y=50):
# Set label.
f = omni.ui.Label("Input : " + str(self._keyboard_input_value))
f.visible = True
f.set_style({"color": 0xff00ffff, "font_size": 20})
def startup (self):
# Assign keyboard event.
appwindow = omni.appwindow.get_default_app_window()
self._keyboard = appwindow.get_keyboard()
self._input = carb.input.acquire_input_interface()
self._keyboard_subs = self._input.subscribe_to_keyboard_events(self._keyboard, self._keyboard_event)
# Get main window viewport.
self._window = omni.ui.Window('Viewport')
# Assing update event.
self._update_subs = omni.kit.app.get_app().get_update_event_stream().create_subscription_to_pop(self._on_update, name="update")
def shutdown (self):
# Release update event.
if self._update_subs != None:
self._update_subs.unsubscribe()
# Release keyboard event.
if self._input != None:
self._input.unsubscribe_to_keyboard_events(self._keyboard, self._keyboard_subs)
self._keyboard_subs = None
self._keyboard = None
self._input = None
self._update_subs = None
# -----------------------------------------.
keyboardV = InputKeyboard()
keyboardV.startup()
# stop.
#keyboardV.shutdown()
| 2,432 | Python | 31.013157 | 135 | 0.567845 |
ft-lab/omniverse_sample_scripts/Math/CalcMatrix.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
# Identity matrix.
m = Gf.Matrix4f()
print(m)
# Initialize with rotation and translate.
rotV = Gf.Rotation(Gf.Vec3d(1, 0, 0), 90.0)
transV = Gf.Vec3f(10, 5, 2.3)
m1 = Gf.Matrix4f(rotV, transV)
print(m1)
# Get data.
for i in range(4):
print(f"{m1[i,0]} , {m1[i,1]} , {m1[i,2]} , {m1[i,3]}")
# Set identity.
m1.SetIdentity()
print(m1)
# Matrix multiplication.
rot1 = Gf.Rotation(Gf.Vec3d(1, 0, 0), 90.0)
m2 = Gf.Matrix4f(rot1, Gf.Vec3f())
rot2 = Gf.Rotation(Gf.Vec3d(0, 1, 0), 30.0)
m3 = Gf.Matrix4f(rot2, Gf.Vec3f())
m4 = m2 * m3 # Gf.Matrix4f * Gf.Matrix4f
print(m4)
rot3 = rot1 * rot2 # Gf.Rotation * Gf.Rotation
print(Gf.Matrix4f(rot3, Gf.Vec3f()))
# Inverse matrix.
m4Inv = m4.GetInverse()
print(m4Inv)
# vector3 * matrix4.
rotV = Gf.Rotation(Gf.Vec3d(1, 0, 0), 90.0)
transV = Gf.Vec3f(10, 5, 2.3)
m5 = Gf.Matrix4f(rotV, transV)
v1 = Gf.Vec3f(1.2, 1.0, 2.5)
v2 = m5.Transform(v1)
print(f"{v2}")
# vector3 * matrix4 (Ignore position).
v1 = Gf.Vec3f(1.2, 1.0, 2.5)
v2 = m5.TransformDir(v1)
print(f"{v2}")
| 1,093 | Python | 20.88 | 63 | 0.638609 |
ft-lab/omniverse_sample_scripts/Math/DecomposeTransform2.py | from pxr import Usd, UsdGeom, UsdSkel, UsdPhysics, UsdShade, Sdf, Gf, Tf
# Dump matrix.
def DumpMatrix(m : Gf.Matrix4d):
print("---------------------")
for i in range(4):
print(f"{mm[i,0]} {mm[i,1]} {mm[i,2]} {mm[i,3]}")
print("")
# Create Matrix4.
translate = Gf.Vec3d(10.5, 2.8, 6.0)
rotation = Gf.Rotation(Gf.Vec3d(0, 1, 0), 20) * Gf.Rotation(Gf.Vec3d(0, 0, 1), 45)
scale = Gf.Vec3d(2.0, 0.5, 1.0)
mm = Gf.Matrix4d().SetScale(scale) * Gf.Matrix4d(rotation, Gf.Vec3d(0)) * Gf.Matrix4d().SetTranslate(translate)
DumpMatrix(mm)
# Decompose matrix.
mm2 = mm.RemoveScaleShear()
rTrans = mm2.ExtractTranslation()
rRot = mm2.ExtractRotation()
mm3 = mm * mm2.GetInverse()
rScale = Gf.Vec3d(mm3[0][0], mm3[1][1], mm3[2][2])
rAxisX = Gf.Vec3d(1, 0, 0)
rAxisY = Gf.Vec3d(0, 1, 0)
rAxisZ = Gf.Vec3d(0, 0, 1)
rRotE = rRot.Decompose(rAxisZ, rAxisY, rAxisX)
rRotE = Gf.Vec3d(rRotE[2], rRotE[1], rRotE[0])
print(f"Trans : {rTrans}")
print(f"Rot : {rRotE}")
print(f"Scale : {rScale}")
| 1,007 | Python | 27.799999 | 111 | 0.621648 |
ft-lab/omniverse_sample_scripts/Math/CalcDotCrossProduct.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
v1 = Gf.Vec3f(1.0, 2.0, -5.0)
v2 = Gf.Vec3f(2.5, 14.0, 12.0)
# Dot : Inner product.
print(f"{v1} x {v2} = {v1 * v2}")
print(f"{v1} x {v2} = {Gf.Dot(v1, v2)}")
# Cross : Outer product.
vx = v1[1] * v2[2] - v1[2] * v2[1]
vy = v1[2] * v2[0] - v1[0] * v2[2]
vz = v1[0] * v2[1] - v1[1] * v2[0]
print(f"Cross product : ( {vx}, {vy}, {vz} )")
v1_2 = Gf.Vec4f(v1[0], v1[1], v1[2],1.0)
v2_2 = Gf.Vec4f(v2[0], v2[1], v2[2],1.0)
v3_2 = Gf.HomogeneousCross(v1_2, v2_2)
print(f"Cross product : {v3_2}")
| 558 | Python | 26.949999 | 63 | 0.543011 |
ft-lab/omniverse_sample_scripts/Math/readme.md | # Math
ベクトルや行列計算関連。
USDのベクトル/行列計算は、"Gf"にまとまっているためそれを使用します。
numpyを経由しなくても計算できます。
ベクトルはfloat型のGf.Vec3f ( https://graphics.pixar.com/usd/release/api/class_gf_vec3f.html )、
double型のGf.Vec3d ( https://graphics.pixar.com/usd/release/api/class_gf_vec3d.html )が使用されます。
行列はfloat型のGf.Matrix4f ( https://graphics.pixar.com/usd/release/api/class_gf_matrix4f.html )、
double型のGf.Matrix4d ( https://graphics.pixar.com/usd/release/api/class_gf_matrix4d.html )が使用されます。
|ファイル|説明|
|---|---|
|[CalcDotCrossProduct.py](./CalcDotCrossProduct.py)|ベクトルの内積/外積計算|
|[CalcMatrix.py](./CalcMatrix.py)|4x4行列の計算。行列とベクトルの乗算|
|[CalcVector3.py](./CalcVector3.py)|Vector3の計算.|
|[DecomposeTransform.py](./DecomposeTransform.py)|行列を移動(translate), 回転(rotation), スケール(scale)に変換。UsdSkelを使用。|
|[DecomposeTransform2.py](./DecomposeTransform2.py)|行列を移動(translate), 回転(rotation), スケール(scale)に変換|
|[GetVector3Length.py](./GetVector3Length.py)|Vector3の長さを計算|
|[VectorToRotationAngle.py](./VectorToRotationAngle.py)|指定のベクトルをXYZ軸回転の角度（度数）に変換|
|[NormalizeVector3.py](./NormalizeVector3.py)|Vector3の正規化|
|[QuatToRotation.py](./QuatToRotation.py)|クォータニオンと回転角度（度数）の変換|
|[TransRotationFrom2Vec.py](./TransRotationFrom2Vec.py)|ベクトルAをベクトルBに変換する回転を計算。|
|[ConvRGB2SRGB.py](./ConvRGB2SRGB.py)|色のsRGBとRGBの相互変換。|
| 1,350 | Markdown | 44.033332 | 114 | 0.728148 |
ft-lab/omniverse_sample_scripts/Math/TransRotationFrom2Vec.py | from pxr import Usd, UsdGeom, UsdShade, Sdf, Gf, Tf
# No need to normalize.
dirA = Gf.Vec3f(1.0, 0.0, 0.0).GetNormalized()
dirB = Gf.Vec3f(-0.2, 12.0, 15.0).GetNormalized()
print(f"dirA : {dirA}")
print(f"dirB : {dirB}")
# Calculate the rotation to transform dirA to dirB.
rot = Gf.Rotation().SetRotateInto(Gf.Vec3d(dirA), Gf.Vec3d(dirB))
# Check that rot is correct.
# v will have the same result as dirB.
m = Gf.Matrix4f(rot, Gf.Vec3f(0, 0, 0))
v = m.Transform(dirA)
print(f"dirA * m = {v}")
| 498 | Python | 26.722221 | 65 | 0.670683 |
ft-lab/omniverse_sample_scripts/Math/NormalizeVector3.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
v1 = Gf.Vec3f(1.0, 2.0, -5.0)
v1N = v1.GetNormalized()
print(f"{v1} ==> {v1N}")
| 145 | Python | 23.333329 | 63 | 0.634483 |
ft-lab/omniverse_sample_scripts/Math/QuatToRotation.py | from pxr import Usd, UsdGeom, UsdSkel, UsdPhysics, UsdShade, Sdf, Gf, Tf
rotation = Gf.Quatf(0.7071, 0.7071, 0, 0)
print(f"quat : {rotation}")
# Convert from quaternion to Euler's rotation angles(degree).
# Rotate XYZ.
rot = Gf.Rotation(rotation)
rV = rot.Decompose(Gf.Vec3d(0, 0, 1), Gf.Vec3d(0, 1, 0), Gf.Vec3d(1, 0, 0))
rV = Gf.Vec3d(rV[2], rV[1], rV[0])
print(f"Euler's rotation angles : {rV}")
# RotationXYZ to quaternion.
rotX = Gf.Rotation(Gf.Vec3d(1, 0, 0), 90.0)
rotY = Gf.Rotation(Gf.Vec3d(0, 1, 0), 30.0)
rotZ = Gf.Rotation(Gf.Vec3d(0, 0, 1), -10.0)
rotXYZ = rotX * rotY * rotZ
q = rotXYZ.GetQuat()
print("quaternion : " + str(q))
# Quaternion to RotateXYZ.
rV = rotXYZ.Decompose(Gf.Vec3d(0, 0, 1), Gf.Vec3d(0, 1, 0), Gf.Vec3d(1, 0, 0))
rV = Gf.Vec3d(rV[2], rV[1], rV[0])
print(" Euler's rotation angles : " + str(rV))
| 834 | Python | 32.399999 | 78 | 0.647482 |
ft-lab/omniverse_sample_scripts/Math/GetVector3Length.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
v1 = Gf.Vec3f(1.0, 2.0, -5.0)
v2 = Gf.Vec3f(2.5, 14.0, 12.0)
print(f"{v1} : Length = {v1.GetLength()}")
print(f"{v2} : Length = {v2.GetLength()}")
| 212 | Python | 29.428567 | 63 | 0.613208 |
ft-lab/omniverse_sample_scripts/Math/VectorToRotationAngle.py | from pxr import Usd, UsdGeom, UsdShade, Sdf, Gf, Tf
dirV = Gf.Vec3f(20.0, 5.0, -25.0)
yUp = Gf.Vec3f(0, 1, 0)
m = Gf.Matrix4f().SetLookAt(Gf.Vec3f(0, 0, 0), dirV.GetNormalized(), yUp)
# Rotate XYZ.
rV = m.ExtractRotation().Decompose(Gf.Vec3d(0, 0, 1), Gf.Vec3d(0, 1, 0), Gf.Vec3d(1, 0, 0))
rV = Gf.Vec3d(rV[2], rV[1], rV[0])
print(f"rotateXYZ(Euler) : {rV}")
| 364 | Python | 25.071427 | 91 | 0.620879 |
ft-lab/omniverse_sample_scripts/Math/CalcVector3.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
# float vector.
print("\nfloat vector ----\n")
v1 = Gf.Vec3f(1.0, 2.0, -5.0)
v2 = Gf.Vec3f(2.5, 14.0, 12.0)
v = v1 + v2
print(f"{v1} + {v2} = {v}")
v = v1 / 2
print(f"{v1} / 2 = {v}")
print(f"v.x = {v[0]} type = {type(v[0])}")
print(f"v.y = {v[1]} type = {type(v[1])}")
print(f"v.z = {v[2]} type = {type(v[2])}")
# double vector.
# It seems to be internally converted to Gf.Vec3f.
print("\ndouble vector ----\n")
v1d = Gf.Vec3d(1.0, 2.0, -5.0)
v2d = Gf.Vec3d(2.5, 14.0, 12.0)
v = v1d + v2d
print("v.x = " + str(v1d[0]) + " type = " + str(type(v1d[0])))
v = v1d / 2
print(f"{v1d} / 2 = {v}")
print(f"v.x = {v[0]} type = {type(v[0])}")
print(f"v.y = {v[1]} type = {type(v[1])}")
print(f"v.z = {v[2]} type = {type(v[2])}")
| 792 | Python | 23.030302 | 63 | 0.52399 |
ft-lab/omniverse_sample_scripts/Math/ConvRGB2SRGB.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import math
def rgb_to_srgb (v : float, quantum_max : float = 1.0):
if v <= 0.0031308:
return (v * 12.92)
v = v / quantum_max
v = math.pow(v, 1.0 / 2.4) * 1.055 - 0.055
return (v * quantum_max)
def srgb_to_rgb (v : float, quantum_max : float = 1.0):
v = v / quantum_max
if v <= 0.04045:
return (v / 12.92)
v = math.pow((v + 0.055) / 1.055, 2.4)
return (v * quantum_max)
# Conv RGB to sRGB.
def conv_RGB_to_sRGB (col : Gf.Vec3f):
retCol = Gf.Vec3f(col)
if retCol[0] > 0.0 and retCol[0] < 1.0:
retCol[0] = rgb_to_srgb(retCol[0])
if retCol[1] > 0.0 and retCol[1] < 1.0:
retCol[1] = rgb_to_srgb(retCol[1])
if retCol[2] > 0.0 and retCol[2] < 1.0:
retCol[2] = rgb_to_srgb(retCol[2])
return retCol
# Conv sRGB to RGB (Linear).
def conv_sRGB_to_RGB (col : Gf.Vec3f):
retCol = Gf.Vec3f(col)
if retCol[0] > 0.0 and retCol[0] < 1.0:
retCol[0] = srgb_to_rgb(retCol[0])
if retCol[1] > 0.0 and retCol[1] < 1.0:
retCol[1] = srgb_to_rgb(retCol[1])
if retCol[2] > 0.0 and retCol[2] < 1.0:
retCol[2] = srgb_to_rgb(retCol[2])
return retCol
# ---------------------------------------.
# Original color (sRGB).
col = Gf.Vec3f(0.5, 0.4, 0.7)
# sRGB to RGB (sRGB to linear).
col_linear = conv_sRGB_to_RGB(col)
# RGB to sRGB (linear to sRGB).
col2 = conv_RGB_to_sRGB(col_linear)
print(f"col : {col}")
print(f"col_linear : {col_linear}")
print(f"col2 : {col2}")
| 1,557 | Python | 24.129032 | 63 | 0.552344 |
ft-lab/omniverse_sample_scripts/Math/DecomposeTransform.py | from pxr import Usd, UsdGeom, UsdSkel, UsdPhysics, UsdShade, Sdf, Gf, Tf
translate = Gf.Vec3f(10.5, 2.8, 6.0)
rotation = Gf.Quatf(0.7071, 0.7071, 0, 0) # Gf.Rotation(Gf.Vec3d(1, 0, 0), 90)
scale = Gf.Vec3f(2.0, 0.5, 1.0)
print(f"translate : {translate}")
print(f"rotation : {rotation}")
print(f"scale : {scale}")
# Make transform.
transM = UsdSkel.MakeTransform(translate, rotation, Gf.Vec3h(scale))
print(f"transform : {transM}")
# Decompose transform.
translate2, rotation2, scale2 = UsdSkel.DecomposeTransform(transM)
print(f"==> translate : {translate2}")
print(f"==> rotation : {rotation2}")
print(f"==> scale : {scale2}")
| 638 | Python | 30.949998 | 80 | 0.681818 |
ft-lab/omniverse_sample_scripts/PLATEAU/divide_GeoTiff_images.py | # ---------------------------------------------------------------------.
# PLATEAU GeoTIFF images split 10x10 and saved as jpeg.
# ---------------------------------------------------------------------.
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import omni.usd
import omni.kit.commands
import glob
import os
from PIL import Image
# Allows handling of large size images.
Image.MAX_IMAGE_PIXELS = 1000000000
# --------------------------------------.
# Input Parameters.
# --------------------------------------.
# Source path (Root path with PLATEAU GeoTIFF).
in_plateau_obj_path = "K:\\Modeling\\PLATEAU\\Tokyo_23ku\\13100_tokyo23-ku_2020_ortho_2_op"
# Folder to save the split images.
in_save_folder_path = "K:\\Modeling\\PLATEAU\\Tokyo_23ku\\13100_tokyo23-ku_2020_ortho_2_op\\divide_images"
# --------------------------------------.
# Load image and divide (10 x 10).
# --------------------------------------.
def load_divideImage (filePath : str, savePath : str):
fName = os.path.basename(filePath)
# Remove extension.
fName2 = os.path.splitext(fName)[0]
try:
srcImage = Image.open(filePath)
# Get image size.
wid = srcImage.size[0]
hei = srcImage.size[1]
# 10x10 division.
wid_10 = (float)(wid) / 10.0
hei_10 = (float)(hei) / 10.0
index = 0
fy1 = hei_10 * 9.0
for y in range(10):
fx1 = 0.0
for x in range(10):
img = srcImage.crop(((int)(fx1 + 0.5), (int)(fy1 + 0.5), (int)(fx1 + wid_10 + 0.5), (int)(fy1 + hei_10 + 0.5)))
# Save file name ('533925' + '02' ==> '53392502.jpg').
dstName = fName2 + str(index).zfill(2) + ".jpg"
dstPath = savePath + "/" + dstName
img.save(dstPath)
index += 1
fx1 += wid_10
fy1 -= hei_10
except Exception as e:
pass
# --------------------------------------.
# Divide GeoTiff images.
# --------------------------------------.
def divide_geoTiff (savePath : str):
if os.path.exists(in_plateau_obj_path) == False:
return
# Create a save folder.
if os.path.exists(in_save_folder_path) == False:
os.makedirs(in_save_folder_path)
# Divide and save images.
for path in glob.glob(in_plateau_obj_path + "/images/*.tif"):
load_divideImage(path, savePath)
fName = os.path.basename(path)
print("Divide [" + fName + "]")
# --------------------------------------.
# --------------------------------------.
divide_geoTiff(in_save_folder_path)
print("Save success !!")
| 2,648 | Python | 29.102272 | 127 | 0.481495 |
ft-lab/omniverse_sample_scripts/PLATEAU/calcDistanceWithLatLong.py | # ------------------------------------------------------------------.
# 2点の緯度経度を指定したときの距離を計算.
# 参考 : https://vldb.gsi.go.jp/sokuchi/surveycalc/surveycalc/bl2stf.html
# ------------------------------------------------------------------.
import math
# --------------------------------------.
# Input Parameters.
# --------------------------------------.
# Latitude and longitude of the starting point.
in_lat1 = 35.680908
in_longi1 = 139.767348
# Latitude and longitude of the end point.
in_lat2 = 35.666436
in_longi2 = 139.758191
# -----------------------------------------.
# 前処理.
# -----------------------------------------.
# 赤道半径 (km).
R = 6378.137
# 極半径 (km).
R2 = 6356.752
# 扁平率 (ref : https://ja.wikipedia.org/wiki/%E5%9C%B0%E7%90%83).
# 「f = 1.0 - (R2 / R)」の計算になる.
# 「f = 1.0 / 298.257222101」のほうがより正確.
f = 1.0 / 298.257222101
# 度数をラジアンに変換.
lat1R = in_lat1 * math.pi / 180.0
longi1R = in_longi1 * math.pi / 180.0
lat2R = in_lat2 * math.pi / 180.0
longi2R = in_longi2 * math.pi / 180.0
l = longi2R - longi1R
l2 = l
if l > math.pi:
l2 = l - math.pi * 2.0
elif l < -math.pi:
l2 = l + math.pi * 2.0
L = abs(l2)
L2 = math.pi - L
delta = 0.0
if l2 >= 0.0:
depta = lat2R - lat1R
else:
depta = lat1R - lat2R
sigma = lat1R + lat2R
if l2 >= 0.0:
u1 = math.atan((1.0 - f) * math.tan(lat1R))
else:
u1 = math.atan((1.0 - f) * math.tan(lat2R))
if l2 >= 0.0:
u2 = math.atan((1.0 - f) * math.tan(lat2R))
else:
u2 = math.atan((1.0 - f) * math.tan(lat1R))
sigma2 = u1 + u2
delta2 = u2 - u1
xi = math.cos(sigma2 / 2.0)
xi2 = math.sin(sigma2 / 2.0)
eta = math.sin(delta2 / 2.0)
eta2 = math.cos(delta2 / 2.0)
x = math.sin(u1) * math.sin(u2)
y = math.cos(u1) * math.cos(u2)
c = y * math.cos(L) + x
ep = f * (2.0 - f) / math.pow(1.0 - f, 2.0)
distanceV = 0.0 # 最終的な距離が返る(km).
# -----------------------------------------.
# ゾーンの判断、θの反復計算.
# -----------------------------------------.
t0 = 0.0
if c >= 0.0:
# Zone(1).
t0 = L * (1.0 + f * y)
elif c < 0.0 and c >= -math.cos((3.0 * math.pi / 180.0) * math.cos(u1)):
# Zone(2).
t0 = L2
else:
# Zone(3).
rr = 1.0 - (1.0/4.0) * f * (1.0 + f) * math.pow(math.sin(u1), 2.0)
rr += (3.0/16.0) * f * f * math.pow(math.sin(u1), 4.0)
rr = f * math.pi * math.pow(math.cos(u1), 2.0) * rr
d1 = L2 * math.cos(u1) - rr
d2 = abs(sigma2) + rr
q = L2 / (f * math.pi)
f1 = (1.0/4.0) * f * (1.0 + 0.5 * f)
gam0 = q + f1 * q - f1 * math.pow(q, 3.0)
if sigma != 0.0:
A0 = math.atan(d1 / d2)
B0 = math.asin(rr / math.sqrt(d1 * d1 + d2 * d2))
v = A0 + B0
j = gam0 / math.cos(u1)
k = (1.0 + f1) * abs(sigma2) * (1.0 - f * y) / (f * math.pi * y)
j1 = j / (1.0 + k * (1.0 / math.cos(v)))
v2 = math.asin(j1)
v3 = math.asin((math.cos(u1) / math.cos(u2)) * j1)
t0 = math.tan((v2 + v3) / 2.0) * math.sin(abs(sigma2) / 2.0)
t0 /= math.cos(delta2 / 2.0)
t0 = 2.0 * math.atan(t0)
else:
if d1 > 0.0:
t0 = L2
elif d1 == 0.0:
gam2 = math.pow(math.sin(u1), 2.0)
n0 = math.sqrt(1.0 + ep * gam2) + 1.0
n0 = (ep * gam2) / math.pow(n0, 2.0)
A = (1.0 + n0) * (1.0 + (5.0/4.0) * n0 * n0)
distanceV = (1.0 - f) * R * A * math.pi
else:
gV = gam0
gam2 = 0.0
while True:
gam2 = 1.0 - gV * gV
D = (1.0/4.0) * f * (1.0 + f) - (3.0/16.0) * f * f * gam2
gV2 = q / (1.0 - D * gam2)
if abs(gV2 - gV) < (1e-15):
break
m = 1.0 - q * (1.0 / math.cos(u1))
n = (D * gam2) / (1.0 - D * gam2)
w = m - n + m * n
n0 = math.sqrt(1.0 + ep * gam2) + 1.0
n0 = (ep * gam2) / math.pow(n0, 2.0)
A = (1.0 + n0) * (1.0 + (5.0/4.0) * n0 * n0)
distanceV = (1.0 - f) * R * A * math.pi
if distanceV == 0.0:
tV = t0
while True:
if c >= 0.0:
g = math.pow(eta, 2.0) * math.pow(math.cos(tV / 2.0), 2.0)
g += math.pow(xi, 2.0) * math.pow(math.sin(tV / 2.0), 2.0)
g = math.sqrt(g)
h = math.pow(eta2, 2.0) * math.pow(math.cos(tV / 2.0), 2.0)
h += math.pow(xi2, 2.0) * math.pow(math.sin(tV / 2.0), 2.0)
h = math.sqrt(h)
else:
g = math.pow(eta, 2.0) * math.pow(math.sin(tV / 2.0), 2.0)
g += math.pow(xi, 2.0) * math.pow(math.cos(tV / 2.0), 2.0)
g = math.sqrt(g)
h = math.pow(eta2, 2.0) * math.pow(math.sin(tV / 2.0), 2.0)
h += math.pow(xi2, 2.0) * math.pow(math.cos(tV / 2.0), 2.0)
h = math.sqrt(h)
sig = 2.0 * math.atan(g / h)
J = 2.0 * g * h
K = h * h - g * g
gam = y * math.sin(tV) / J
gam2 = 1.0 - gam * gam
v = gam2 * K - 2.0 * x
v2 = v + x
D = (1.0 / 4.0) * f * (1.0 + f) - (3.0 / 16.0) * f * f * gam2
E = (1.0 - D * gam2) * f * gam * (sig + D * J * (v + D * K * (2.0 * v * v - gam2 * gam2)))
if c >= 0.0:
F = tV - L - E
else:
F = tV - L2 + E
G = f * gam * gam * (1.0 - 2.0 * D * gam2)
G += f * v2 * (sig / J) * (1.0 - D * gam2 + 0.5 * f * gam * gam)
G += (1.0 / 4.0) * f * f * v * v2
tV = tV - F / (1.0 - G)
# -----------------------------------------.
# 測地線長の計算.
# -----------------------------------------.
if abs(F) < (1e-15):
n0 = math.sqrt(1.0 + ep * gam2) + 1.0
n0 = (ep * gam2) / math.pow(n0, 2.0)
A = (1.0 + n0) * (1.0 + (5.0/4.0) * n0 * n0)
B = ep * (1.0 - 3.0 * n0 * n0 / 8.0)
B /= math.pow(math.sqrt(1.0 + ep * gam2) + 1.0, 2.0)
s1 = (1.0/6.0) * B * v * (1.0 - 4.0 * K * K) * (3.0 * gam2 * gam2 - 4.0 * v * v)
s2 = K * (gam2 * gam2 - 2.0 * v * v) - s1
s3 = sig - B * J * (v - (1.0/4.0) * B * s2)
distanceV = (1.0 - f) * R * A * s3
break
print("Distance : " + str(distanceV * 1000.0) + " m ( " + str(distanceV) + " km )")
| 6,201 | Python | 28.393365 | 98 | 0.393646 |
ft-lab/omniverse_sample_scripts/PLATEAU/import_PLATEAU_tokyo23ku_obj.py | # ---------------------------------------------------------------------.
# Import PLATEAU obj for Tokyo23-ku in LOD1.
# Specify the path where the local "13100_tokyo23-ku_2020_obj_3_op.zip" was extracted in in_plateau_obj_path.
#
# It also assigns textures created from GeoTIFF to dem.
# Please use "divide_GeoTiff_images.py" to convert GeoTIFF into jpeg images by dividing them into 10x10 segments in advance.
# ---------------------------------------------------------------------.
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import omni.usd
import omni.client
import glob
import carb
import os
import asyncio
import omni.kit.asset_converter
# Get stage.
stage = omni.usd.get_context().get_stage()
# Get default prim.
defaultPrim = stage.GetDefaultPrim()
defaultPrimPath = defaultPrim.GetPath().pathString
if defaultPrimPath == "":
defaultPrimPath = "/World"
# --------------------------------------.
# Input Parameters.
# --------------------------------------.
# Source path (Root path with PLATEAU obj).
in_plateau_obj_path = "K:\\Modeling\\PLATEAU\\Tokyo_23ku\\13100_tokyo23-ku_2020_obj_3_op"
# dem textures path.
# See : divide_GeoTiff_images.py
in_dem_textures_path = "K:\\Modeling\\PLATEAU\\Tokyo_23ku\\13100_tokyo23-ku_2020_ortho_2_op\\divide_images"
# output folder.
# If specified, all usd and texture files are output to the specified folder.
in_output_folder = "omniverse://localhost/PLATEAU/Tokyo_23ku"
# Convert obj to USD (Skipped if already converted to USD).
in_convert_to_usd = True
# Folder to store output USD.
# If not specified, in_plateau_obj_path + "\\output_usd"
in_output_usd_folder = ""
# Load LOD2.
in_load_lod2 = False
# Load LOD1 & LOD2.
in_load_lod1_lod2 = False
# Assign texture to dem.
in_assign_dem_texture = True
# Load bridge.
in_load_bridge = False
# Load tran.
in_load_tran = False
# Load map area.
mapIndexList = [533925, 533926, 533934, 533935, 533936, 533937, 533944, 533945, 533946, 533947, 533954, 533955, 533956, 533957]
# --------------------------------------.
# Path of PLATEAU data.
# --------------------------------------.
# topographic.
dem_path = in_plateau_obj_path + "/dem"
# building.
buliding_lod1_path = in_plateau_obj_path + "/bldg/lod1"
buliding_lod2_path = in_plateau_obj_path + "/bldg/lod2"
# bridge.
bridge_path = in_plateau_obj_path + "/brid"
# tran.
tran_path = in_plateau_obj_path + "/tran"
# ----------------------------------------------------.
# Pass the process to Omniverse.
# ----------------------------------------------------.
async def _omniverse_sync_wait():
await omni.kit.app.get_app().next_update_async()
# --------------------------------------.
# Exist path (file/folder).
# Support on Nucleus.
# --------------------------------------.
async def ocl_existPath_async (path : str):
(result, entry) = await omni.client.stat_async(path)
if result == omni.client.Result.ERROR_NOT_FOUND:
return False
return True
# ----------------------------------------------------.
# Convert file name to a string that can be used in USD Prim name.
# @param[in] fName file name.
# @return USD Prim name.
# ----------------------------------------------------.
def convFileNameToUSDPrimName (fName : str):
# Remove extension.
fName2 = os.path.splitext(fName)[0]
retName = ""
for i in range(len(fName2)):
c = fName2[i]
if retName == "":
if (c >= 'a' and c <= 'z') or (c >= 'A' and c <= 'Z') or c == '_':
pass
else:
retName += '_'
if (c >= '0' and c <= '9') or (c >= 'a' and c <= 'z') or (c >= 'A' and c <= 'Z') or c == '_':
retName += c
elif c == ' ':
retName += '_'
else:
retName += str(c.encode('utf-8').hex())
return retName
# --------------------------------------.
# Set rotate.
# @param[in] prim target prim.
# @param[in] (rx, ry, rz) Rotate (angle).
# --------------------------------------.
def setRotate (prim : Usd.Prim, rx : float, ry : float, rz : float):
if prim.IsValid():
tV = prim.GetAttribute("xformOp:rotateXYZ")
if tV.IsValid():
prim.CreateAttribute("xformOp:rotateXYZ", Sdf.ValueTypeNames.Float3, False).Set(Gf.Vec3f(rx, ry, rz))
tV = prim.GetAttribute("xformOp:orient")
if tV.IsValid():
rotX = Gf.Rotation(Gf.Vec3d(1, 0, 0), rx)
rotY = Gf.Rotation(Gf.Vec3d(0, 1, 0), ry)
rotZ = Gf.Rotation(Gf.Vec3d(0, 0, 1), rz)
rotXYZ = rotZ * rotY * rotX
if type(tV.Get()) == Gf.Quatd:
tV.Set(rotXYZ.GetQuat())
elif type(tV.Get()) == Gf.Quatf:
tV.Set(Gf.Quatf(rotXYZ.GetQuat()))
# --------------------------------------.
# Set scale.
# @param[in] prim target prim.
# @param[in] (sx, sy, sz) Scale.
# --------------------------------------.
def setScale (prim : Usd.Prim, sx : float, sy : float, sz : float):
if prim.IsValid():
tV = prim.GetAttribute("xformOp:scale")
if tV.IsValid():
prim.CreateAttribute("xformOp:scale", Sdf.ValueTypeNames.Float3, False).Set(Gf.Vec3f(sx, sy, sz))
# --------------------------------------.
# Set translate.
# @param[in] prim target prim.
# @param[in] (tx, ty, tz) translate.
# --------------------------------------.
def setTranslate (prim : Usd.Prim, tx : float, ty : float, tz : float):
if prim.IsValid():
tV = prim.GetAttribute("xformOp:translate")
if tV.IsValid():
prim.CreateAttribute("xformOp:translate", Sdf.ValueTypeNames.Float3, False).Set(Gf.Vec3f(tx, ty, tz))
# --------------------------------------.
# Create new Material (OmniPBR).
# @param[in] materialPrimPath Prim path of Material
# @param[in] targetPrimPath Prim path to bind Material.
# @param[in] textureFilePath File path of Diffuse texture.
# @param[in] diffuseColor Diffuse Color.
# --------------------------------------.
def createMaterialOmniPBR (materialPrimPath : str, targetPrimPath : str = "", textureFilePath : str = "", diffuseColor : Gf.Vec3f = Gf.Vec3f(0.2, 0.2, 0.2)):
material = UsdShade.Material.Define(stage, materialPrimPath)
shaderPath = materialPrimPath + '/Shader'
shader = UsdShade.Shader.Define(stage, shaderPath)
shader.SetSourceAsset('OmniPBR.mdl', 'mdl')
shader.GetPrim().CreateAttribute('info:mdl:sourceAsset:subIdentifier', Sdf.ValueTypeNames.Token, False, Sdf.VariabilityUniform).Set('OmniPBR')
# Set Diffuse color.
shader.CreateInput('diffuse_color_constant', Sdf.ValueTypeNames.Color3f).Set((diffuseColor[0], diffuseColor[1], diffuseColor[2]))
# Set Metallic.
shader.CreateInput('metallic_constant', Sdf.ValueTypeNames.Float).Set(0.0)
# Set Roughness.
shader.CreateInput('reflection_roughness_constant', Sdf.ValueTypeNames.Float).Set(0.8)
# Set Specular.
shader.CreateInput('specular_level', Sdf.ValueTypeNames.Float).Set(0.0)
# Set texture.
if textureFilePath != "":
diffTexIn = shader.CreateInput('diffuse_texture', Sdf.ValueTypeNames.Asset)
diffTexIn.Set(textureFilePath)
diffTexIn.GetAttr().SetColorSpace('sRGB')
# Connecting Material to Shader.
mdlOutput = material.CreateSurfaceOutput('mdl')
mdlOutput.ConnectToSource(shader, 'out')
# Bind material.
if targetPrimPath != "":
tPrim = stage.GetPrimAtPath(targetPrimPath)
if tPrim.IsValid():
UsdShade.MaterialBindingAPI(tPrim).Bind(material)
return materialPrimPath
# --------------------------------------.
# Create Xform (e.g. map_533946).
# --------------------------------------.
def createXfrom_mapIndex (mapIndex : int, materialPath : str):
mapPrimPath = defaultPrimPath + "/map_" + str(mapIndex)
prim = stage.GetPrimAtPath(mapPrimPath)
if prim.IsValid() == False:
UsdGeom.Xform.Define(stage, mapPrimPath)
prim = stage.GetPrimAtPath(mapPrimPath)
# Bind material.
if materialPath != "":
matPrim = stage.GetPrimAtPath(materialPath)
if matPrim.IsValid():
material = UsdShade.Material(matPrim)
UsdShade.MaterialBindingAPI(prim).Bind(material)
return mapPrimPath
# --------------------------------------.
# load dem.
# @param[in] _mapIndex map index.
# @param[in] _materialPath material prim path.
# --------------------------------------.
async def loadDem (_mapIndex : int, _materialPath : str):
if (await ocl_existPath_async(dem_path)) == False:
return
mapPrimPath = createXfrom_mapIndex(_mapIndex, _materialPath)
demPrimPath = mapPrimPath + "/dem"
UsdGeom.Xform.Define(stage, demPrimPath)
# Scope specifying the Material.
materialPrimPath = ""
if in_assign_dem_texture:
materialPrimPath = defaultPrimPath + "/Looks/map_" + str(_mapIndex)
prim = stage.GetPrimAtPath(materialPrimPath)
if prim.IsValid() == False:
UsdGeom.Scope.Define(stage, materialPrimPath)
# Must be pre-converted if using USD.
src_dem_path = ""
if in_convert_to_usd:
path = in_output_usd_folder
if path == "":
path = in_plateau_obj_path + "/output_usd"
if (await ocl_existPath_async(path)):
path += "/dem/" + str(_mapIndex) + "*"
src_dem_path = path + "/" + str(_mapIndex) + "*.usd"
if src_dem_path == "":
src_dem_path = dem_path + "/" + str(_mapIndex) + "*.obj"
for path in glob.glob(src_dem_path, recursive=True):
fName = os.path.basename(path)
# Get map index from file name.
mapIndex = 0
p1 = fName.find('_')
if p1 > 0:
mapIndex = int(fName[0:p1])
# When usd file is output on Nucleus, check the corresponding file.
if in_output_folder != "":
fName2 = str(mapIndex) + "_dem.usd"
newPath = in_output_folder + "/data"
newPath += "/dem/" + str(mapIndex) + "/" + fName2
if (await ocl_existPath_async(newPath)):
path = newPath
# Convert Prim name.
primName = convFileNameToUSDPrimName(fName)
# Create Xform.
newPath = demPrimPath + "/" + primName
UsdGeom.Xform.Define(stage, newPath)
prim = stage.GetPrimAtPath(newPath)
# Remove references.
prim.GetReferences().ClearReferences()
# Add a reference.
prim.GetReferences().AddReference(path)
setRotate(prim, -90.0, 0.0, 0.0)
setScale(prim, 100.0, 100.0, 100.0)
# Assign texture.
if in_assign_dem_texture and mapIndex > 0:
mapFilePath = in_dem_textures_path + "/" + str(mapIndex) + ".jpg"
if in_output_folder != "":
mapFilePath2 = in_output_folder + "/data/geotiff_images"
mapFilePath2 += "/" + str(mapIndex) + ".jpg"
if (await ocl_existPath_async(mapFilePath2)):
mapFilePath = mapFilePath2
if (await ocl_existPath_async(mapFilePath)):
# Create material.
materialName = "mat_dem_" + str(mapIndex)
matPath = materialPrimPath + "/" + materialName
createMaterialOmniPBR(matPath, newPath, mapFilePath)
# Pass the process to Omniverse.
asyncio.ensure_future(_omniverse_sync_wait())
# --------------------------------------.
# load building.
# @param[in] _mapIndex map index.
# @param[in] _useLOD2 If LOD2 is available, use LOD2.
# @param[in] _materialPath material prim path.
# --------------------------------------.
async def loadBuilding (_mapIndex : int, _useLOD2 : bool, _materialPath : str):
if (await ocl_existPath_async(buliding_lod1_path)) == False:
return
mapPrimPath = createXfrom_mapIndex(_mapIndex, _materialPath)
buildingPath = mapPrimPath + "/building"
if _useLOD2:
buildingPath += "_lod2"
else:
buildingPath += "_lod1"
UsdGeom.Xform.Define(stage, buildingPath)
# Must be pre-converted if using USD.
src_bldg_path = ""
if in_convert_to_usd:
path = in_output_usd_folder
if path == "":
path = in_plateau_obj_path + "/output_usd"
if (await ocl_existPath_async(path)):
path += "/building/lod2/" + str(_mapIndex) + "*"
src_bldg_path = path + "/" + str(_mapIndex) + "*.usd"
if src_bldg_path == "":
src_bldg_path = buliding_lod2_path + "/**/" + str(_mapIndex) + "*.obj"
# If LOD2 exists.
useLOD2Dict = dict()
if _useLOD2 and (await ocl_existPath_async(buliding_lod2_path)):
# Search subdirectories.
for path in glob.glob(src_bldg_path, recursive=True):
fName = os.path.basename(path) # e.g. 53392641_bldg_6677.obj
p1 = fName.find('_')
if p1 > 0:
s = fName[0:p1]
# When usd file is output on Nucleus, check the corresponding file.
if in_output_folder != "":
mIndex = int(s)
fName2 = str(mIndex) + "_bldg.usd"
newPath = in_output_folder + "/data"
newPath += "/building/lod2/" + str(mIndex) + "/" + fName2
if (await ocl_existPath_async(newPath)):
path = newPath
useLOD2Dict[int(s)] = path
# Must be pre-converted if using USD.
src_bldg_path = ""
if in_convert_to_usd:
path = in_output_usd_folder
if path == "":
path = in_plateau_obj_path + "/output_usd"
if (await ocl_existPath_async(path)):
path += "/building/lod1/" + str(_mapIndex) + "*"
src_bldg_path = path + "/" + str(_mapIndex) + "*.usd"
if src_bldg_path == "":
src_bldg_path = buliding_lod1_path + "/**/" + str(_mapIndex) + "*.obj"
# Search subdirectories.
for path in glob.glob(src_bldg_path, recursive=True):
fName = os.path.basename(path)
chkF = False
p1 = fName.find('_')
if p1 > 0:
s = fName[0:p1]
mIndex = int(s)
# When usd file is output on Nucleus, check the corresponding file.
if (not in_load_lod1_lod2) or (in_load_lod1_lod2 and not _useLOD2):
if in_output_folder != "":
fName2 = str(mIndex) + "_bldg.usd"
newPath = in_output_folder + "/data"
newPath += "/building/lod1/" + str(mIndex) + "/" + fName2
if (await ocl_existPath_async(newPath)):
path = newPath
chkF = True
# Refer to LOD2 path.
if mIndex in useLOD2Dict:
path = useLOD2Dict[mIndex]
fName = os.path.basename(path)
chkF = True
if not chkF:
continue
# Conv Prim name.
primName = convFileNameToUSDPrimName(fName)
# Create Xform.
newPath = buildingPath + "/" + primName
UsdGeom.Xform.Define(stage, newPath)
prim = stage.GetPrimAtPath(newPath)
# Remove references.
prim.GetReferences().ClearReferences()
# Add a reference.
prim.GetReferences().AddReference(path)
setRotate(prim, -90.0, 0.0, 0.0)
setScale(prim, 100.0, 100.0, 100.0)
# Pass the process to Omniverse.
asyncio.ensure_future(_omniverse_sync_wait())
# --------------------------------------.
# load bridge.
# @param[in] _mapIndex map index.
# @param[in] _materialPath material prim path.
# --------------------------------------.
async def loadBridge (_mapIndex : int, _materialPath : str):
if (await ocl_existPath_async(bridge_path)) == False:
return
mapPrimPath = createXfrom_mapIndex(_mapIndex, _materialPath)
bridgePath = mapPrimPath + "/bridge"
UsdGeom.Xform.Define(stage, bridgePath)
# Must be pre-converted if using USD.
src_brid_path = ""
if in_convert_to_usd:
path = in_output_usd_folder
if path == "":
path = in_plateau_obj_path + "/output_usd"
if (await ocl_existPath_async(path)):
path += "/bridge/" + str(_mapIndex) + "*"
src_brid_path = path + "/" + str(_mapIndex) + "*.usd"
if src_brid_path == "":
src_brid_path = bridge_path + "/**/" + str(_mapIndex) + "*.obj"
# Search subdirectories.
for path in glob.glob(src_brid_path, recursive=True):
fName = os.path.basename(path)
mIndex = 0
p1 = fName.find('_')
if p1 > 0:
s = fName[0:p1]
mIndex = int(s)
if mIndex == 0:
continue
# Conv Prim name.
primName = convFileNameToUSDPrimName(fName)
# When usd file is output on Nucleus, check the corresponding file.
if in_output_folder != "":
fName2 = str(mIndex) + "_brid.usd"
newPath = in_output_folder + "/data"
newPath += "/bridge/" + str(mIndex) + "/" + fName2
if (await ocl_existPath_async(newPath)):
path = newPath
# Create Xform.
newPath = bridgePath + "/" + primName
UsdGeom.Xform.Define(stage, newPath)
prim = stage.GetPrimAtPath(newPath)
# Remove references.
prim.GetReferences().ClearReferences()
# Add a reference.
prim.GetReferences().AddReference(path)
setRotate(prim, -90.0, 0.0, 0.0)
setScale(prim, 100.0, 100.0, 100.0)
# Pass the process to Omniverse.
asyncio.ensure_future(_omniverse_sync_wait())
# --------------------------------------.
# load tran.
# @param[in] _mapIndex map index.
# @param[in] _materialPath material prim path.
# --------------------------------------.
async def loadTran (_mapIndex : int, _materialPath : str):
if (await ocl_existPath_async(tran_path)) == False:
return
mapPrimPath = createXfrom_mapIndex(_mapIndex, _materialPath)
tranPath = mapPrimPath + "/tran"
UsdGeom.Xform.Define(stage, tranPath)
# Must be pre-converted if using USD.
src_tran_path = ""
if in_convert_to_usd:
path = in_output_usd_folder
if path == "":
path = in_plateau_obj_path + "/output_usd"
if (await ocl_existPath_async(path)):
path += "/tran/" + str(_mapIndex) + "*"
src_tran_path = path + "/" + str(_mapIndex) + "*.usd"
if src_tran_path == "":
src_tran_path = tran_path + "/**/" + str(_mapIndex) + "*.obj"
# Search subdirectories.
for path in glob.glob(src_tran_path, recursive=True):
fName = os.path.basename(path)
mIndex = 0
p1 = fName.find('_')
if p1 > 0:
s = fName[0:p1]
mIndex = int(s)
if mIndex == 0:
continue
# Conv Prim name.
primName = convFileNameToUSDPrimName(fName)
# When usd file is output on Nucleus, check the corresponding file.
if in_output_folder != "":
fName2 = str(mIndex) + "_tran.usd"
newPath = in_output_folder + "/data"
newPath += "/tran/" + str(mIndex) + "/" + fName2
if (await ocl_existPath_async(newPath)):
path = newPath
# Create Xform.
newPath = tranPath + "/" + primName
UsdGeom.Xform.Define(stage, newPath)
prim = stage.GetPrimAtPath(newPath)
# Remove references.
prim.GetReferences().ClearReferences()
# Add a reference.
prim.GetReferences().AddReference(path)
setRotate(prim, -90.0, 0.0, 0.0)
setScale(prim, 100.0, 100.0, 100.0)
heightPos = 5.0
setTranslate(prim, 0.0, heightPos, 0.0)
# Create/Set material.
matPath = "/World/Looks/mat_trans"
primM = stage.GetPrimAtPath(matPath)
if not primM.IsValid():
col = Gf.Vec3f(0, 1, 0)
createMaterialOmniPBR(matPath, "", "", col)
primM = stage.GetPrimAtPath(matPath)
material = UsdShade.Material(primM)
UsdShade.MaterialBindingAPI(prim).Bind(material)
# Pass the process to Omniverse.
asyncio.ensure_future(_omniverse_sync_wait())
# --------------------------------------.
# Convert obj files to USD.
# --------------------------------------.
# Get target path for converting dem obj to usd.
async def get_ObjToUsdDem (_mapIndex : int, _dstPath : str):
if (await ocl_existPath_async(dem_path)) == False:
return
dstPath = _dstPath + "/dem"
if (await ocl_existPath_async(dstPath)) == False:
result = omni.client.create_folder(dstPath)
if result != omni.client.Result.OK:
return
srcObjPathList = []
dstUsdPathList = []
for path in glob.glob(dem_path + "/" + str(_mapIndex) + "*.obj"):
fName = os.path.basename(path)
# Get map index from file name.
mapIndex = 0
p1 = fName.find('_')
if p1 > 0:
mapIndex = int(fName[0:p1])
dstPath2 = dstPath + "/" + str(mapIndex)
if (await ocl_existPath_async(dstPath2)) == False:
omni.client.create_folder(dstPath2)
usdPath = dstPath2 + "/" + str(mapIndex) + "_dem.usd"
if (await ocl_existPath_async(usdPath)):
continue
srcObjPathList.append(path)
dstUsdPathList.append(usdPath)
return srcObjPathList, dstUsdPathList
# Get target path for converting bldg obj to usd.
async def get_ObjToUsdBuilding (_mapIndex : int, _dstPath : str):
srcObjPathList = []
dstUsdPathList = []
if (await ocl_existPath_async(buliding_lod1_path)):
dstPath = _dstPath + "/building/lod1"
for path in glob.glob(buliding_lod1_path + "/**/" + str(_mapIndex) + "*.obj", recursive=True):
if (await ocl_existPath_async(dstPath)) == False:
omni.client.create_folder(dstPath)
fName = os.path.basename(path)
# Get map index from file name.
mapIndex = 0
p1 = fName.find('_')
if p1 > 0:
mapIndex = int(fName[0:p1])
dstPath2 = dstPath + "/" + str(mapIndex)
if (await ocl_existPath_async(dstPath2)) == False:
omni.client.create_folder(dstPath2)
usdPath = dstPath2 + "/" + str(mapIndex) + "_bldg.usd"
if (await ocl_existPath_async(usdPath)):
continue
srcObjPathList.append(path)
dstUsdPathList.append(usdPath)
if (await ocl_existPath_async(buliding_lod2_path)) and in_load_lod2:
dstPath = _dstPath + "/building/lod2"
for path in glob.glob(buliding_lod2_path + "/**/" + str(_mapIndex) + "*.obj", recursive=True):
if (await ocl_existPath_async(dstPath)) == False:
omni.client.create_folder(dstPath)
fName = os.path.basename(path)
# Get map index from file name.
mapIndex = 0
p1 = fName.find('_')
if p1 > 0:
mapIndex = int(fName[0:p1])
dstPath2 = dstPath + "/" + str(mapIndex)
if (await ocl_existPath_async(dstPath2)) == False:
omni.client.create_folder(dstPath2)
usdPath = dstPath2 + "/" + str(mapIndex) + "_bldg.usd"
if (await ocl_existPath_async(usdPath)):
continue
srcObjPathList.append(path)
dstUsdPathList.append(usdPath)
return srcObjPathList, dstUsdPathList
# Get target path for converting bridge obj to usd.
async def get_ObjToUsdBridge (_mapIndex : int, _dstPath : str):
srcObjPathList = []
dstUsdPathList = []
if (await ocl_existPath_async(bridge_path)):
dstPath = _dstPath + "/bridge"
for path in glob.glob(bridge_path + "/**/" + str(_mapIndex) + "*.obj", recursive=True):
if (await ocl_existPath_async(dstPath)) == False:
omni.client.create_folder(dstPath)
fName = os.path.basename(path)
# Get map index from file name.
mapIndex = 0
p1 = fName.find('_')
if p1 > 0:
mapIndex = int(fName[0:p1])
dstPath2 = dstPath + "/" + str(mapIndex)
if (await ocl_existPath_async(dstPath2)) == False:
omni.client.create_folder(dstPath2)
usdPath = dstPath2 + "/" + str(mapIndex) + "_brid.usd"
if (await ocl_existPath_async(usdPath)):
continue
srcObjPathList.append(path)
dstUsdPathList.append(usdPath)
return srcObjPathList, dstUsdPathList
# Get target path for converting tran obj to usd.
async def get_ObjToUsdTran (_mapIndex : int, _dstPath : str):
srcObjPathList = []
dstUsdPathList = []
if (await ocl_existPath_async(tran_path)):
dstPath = _dstPath + "/tran"
if (await ocl_existPath_async(dstPath)) == False:
omni.client.create_folder(dstPath)
for path in glob.glob(tran_path + "/**/" + str(_mapIndex) + "*.obj", recursive=True):
fName = os.path.basename(path)
# Get map index from file name.
mapIndex = 0
p1 = fName.find('_')
if p1 > 0:
mapIndex = int(fName[0:p1])
dstPath2 = dstPath + "/" + str(mapIndex)
if (await ocl_existPath_async(dstPath2)) == False:
omni.client.create_folder(dstPath2)
usdPath = dstPath2 + "/" + str(mapIndex) + "_tran.usd"
if (await ocl_existPath_async(usdPath)):
continue
srcObjPathList.append(path)
dstUsdPathList.append(usdPath)
return srcObjPathList, dstUsdPathList
# Convert asset file(obj/fbx/glTF, etc) to usd.
async def convert_asset_to_usd (input_path_list, output_path_list):
# Input options are defaults.
converter_context = omni.kit.asset_converter.AssetConverterContext()
converter_context.ignore_materials = False
converter_context.ignore_camera = False
converter_context.ignore_animations = False
converter_context.ignore_light = False
converter_context.export_preview_surface = False
converter_context.use_meter_as_world_unit = False
converter_context.create_world_as_default_root_prim = True
converter_context.embed_textures = True
converter_context.convert_fbx_to_y_up = False
converter_context.convert_fbx_to_z_up = False
converter_context.merge_all_meshes = False
converter_context.use_double_precision_to_usd_transform_op = False
converter_context.ignore_pivots = False
converter_context.keep_all_materials = True
converter_context.smooth_normals = True
instance = omni.kit.asset_converter.get_instance()
for i in range(len(input_path_list)):
input_asset = input_path_list[i]
output_usd = output_path_list[i]
task = instance.create_converter_task(input_asset, output_usd, None, converter_context)
# Wait for completion.
success = await task.wait_until_finished()
if not success:
carb.log_error(task.get_status(), task.get_detailed_error())
break
# convert obj(dem/dldg/drid/tran) to usd.
async def convertObjToUsd ():
if (await ocl_existPath_async(in_plateau_obj_path)) == False:
return
dstPath = in_output_usd_folder
if dstPath == "":
dstPath = in_plateau_obj_path + "/output_usd"
if in_output_folder != "":
dstPath = in_output_folder + "/data"
if (await ocl_existPath_async(dstPath)) == False:
result = omni.client.create_folder(dstPath)
if result != omni.client.Result.OK:
return
srcObjPathList = []
dstUsdPathList = []
for mapIndex in mapIndexList:
##sList, dList = get_ObjToUsdDem(mapIndex, dstPath)
sList, dList = await get_ObjToUsdDem(mapIndex, dstPath)
srcObjPathList.extend(sList)
dstUsdPathList.extend(dList)
for mapIndex in mapIndexList:
#sList, dList = get_ObjToUsdBuilding(mapIndex, dstPath)
sList, dList = await get_ObjToUsdBuilding(mapIndex, dstPath)
srcObjPathList.extend(sList)
dstUsdPathList.extend(dList)
if in_load_bridge:
for mapIndex in mapIndexList:
#sList, dList = get_ObjToUsdBridge(mapIndex, dstPath)
sList, dList = await get_ObjToUsdBridge(mapIndex, dstPath)
srcObjPathList.extend(sList)
dstUsdPathList.extend(dList)
if in_load_tran:
for mapIndex in mapIndexList:
#sList, dList = get_ObjToUsdTran(mapIndex, dstPath)
sList, dList = await get_ObjToUsdTran(mapIndex, dstPath)
srcObjPathList.extend(sList)
dstUsdPathList.extend(dList)
# Wait for usd conversion.
if len(srcObjPathList) > 0:
task = asyncio.create_task(convert_asset_to_usd(srcObjPathList, dstUsdPathList))
await task
print(f"PLATEAU : convert obj to usd ({ len(srcObjPathList) })")
asyncio.ensure_future(_omniverse_sync_wait())
# Copy geoTiff images.
async def copyGEOTiffImages (srcPath : str, _mapIndex : int):
if in_output_folder == "":
return
if (await ocl_existPath_async(srcPath)) == False:
return
dstPath = in_output_folder + "/data/geotiff_images"
if (await ocl_existPath_async(dstPath)) == False:
result = omni.client.create_folder(dstPath)
if result != omni.client.Result.OK:
return
imgCou = 0
for path in glob.glob(srcPath + "/" + str(_mapIndex) + "*.*"):
fName = os.path.basename(path)
dPath = dstPath + "/" + fName
if (await ocl_existPath_async(dPath)):
continue
try:
# TODO : Warning ?
result = omni.client.copy(path, dPath)
if result == omni.client.Result.OK:
imgCou += 1
except:
pass
if imgCou > 0:
print(f"PLATEAU : copy GEOTiff images ({ imgCou })")
# --------------------------------------.
# load PLATEAU data.
# --------------------------------------.
async def load_PLATEAU ():
if (await ocl_existPath_async(in_plateau_obj_path)) == False:
return
print("PLATEAU : Start processing.")
# Convert obj to usd.
if in_convert_to_usd:
task = asyncio.create_task(convertObjToUsd())
await task
# Copy GEOTiff images.
if in_dem_textures_path != "":
for mapIndex in mapIndexList:
await copyGEOTiffImages(in_dem_textures_path, mapIndex)
# Create OmniPBR material.
materialLooksPath = defaultPrimPath + "/Looks"
prim = stage.GetPrimAtPath(materialLooksPath)
if prim.IsValid() == False:
UsdGeom.Scope.Define(stage, materialLooksPath)
defaultMaterialPath = createMaterialOmniPBR(materialLooksPath + "/defaultMaterial")
for mapIndex in mapIndexList:
task_dem = asyncio.create_task(loadDem(mapIndex, defaultMaterialPath))
await task_dem
if not in_load_lod1_lod2:
task_building = asyncio.create_task(loadBuilding(mapIndex, in_load_lod2, defaultMaterialPath))
await task_building
else:
task_building_lod1 = asyncio.create_task(loadBuilding(mapIndex, False, defaultMaterialPath))
await task_building_lod1
task_building_lod2 = asyncio.create_task(loadBuilding(mapIndex, True, defaultMaterialPath))
await task_building_lod2
if in_load_bridge and in_load_lod2:
task_bridge = asyncio.create_task(loadBridge(mapIndex, defaultMaterialPath))
await task_bridge
if in_load_tran:
task_tran = asyncio.create_task(loadTran(mapIndex, defaultMaterialPath))
await task_tran
print(f"PLATEAU : map_index[{mapIndex}]")
print("PLATEAU : Processing is complete.")
# --------------------------------------.
# --------------------------------------.
asyncio.ensure_future(load_PLATEAU())
| 32,163 | Python | 33.734341 | 157 | 0.567049 |
ft-lab/omniverse_sample_scripts/PLATEAU/readme.md | # PLATEAU
Project PLATEAU ( https://www.mlit.go.jp/plateau/ )の都市データをOmniverseにインポートします。
G空間情報センターの「3D都市モデルポータルサイト」( https://www.geospatial.jp/ckan/dataset/plateau )の「東京都23区」より、
OBJ形式のデータを使用しています。
また、地形のテクスチャについてはGeoTIFFを分割して使用しました。
2022/06/26 : objからusdに変換して読み込むようにしました。
2022/07/11 : 変換されたusdやテクスチャをNucleus上にアップロードするようにしました（デフォルトの指定）。
## 使い方
### 「東京都23区」のobjファイル一式をダウンロード
「3D都市モデルポータルサイト」より、「東京都23区」のobjファイル一式をダウンロードします。
https://www.geospatial.jp/ckan/dataset/plateau-tokyo23ku/resource/9c8d65f1-a424-4189-92c0-d9e3f7c3d2db
「13100_tokyo23-ku_2020_obj_3_op.zip」がダウンロードされますので解凍します。
注意 : 配置パスに日本語名のフォルダがある場合は正しく動作しません。
### 「東京都23区」のGeoTIFFファイル一式をダウンロード
また、地形のテクスチャで「東京都23区」の「GeoTIFF」のオルソ画像データを用います。
これは航空写真を平行投影として地域メッシュの2次メッシュ(533926、533935など)ごとにテクスチャ化したものです。
以下より、GeoTIFFの画像をダウンロードします。
https://www.geospatial.jp/ckan/dataset/plateau-tokyo23ku/resource/2434d5b4-7dad-4286-8da5-276f68a23797
「13100_tokyo23-ku_2020_ortho_2_op.zip」がダウンロードされますので解凍します。
### GeoTIFF画像を10x10分割してjpeg形式に変換
Omniverseでは、tiff画像を扱うことができません。
そのためjpegに変換するようにしました。
また、8K解像度以上のテクスチャは読み込みに失敗するようです。
そのため、このtiffを10x10分割しそれぞれをjpegに変換します。
この処理はOmniverse上で行うことにしました。
Omniverse Createを起動します。
Omniverse Create 2022.1.2で確認しました。
[divide_GeoTiff_images.py](./divide_GeoTiff_images.py) のスクリプトの内容を、OmniverseのScript Editorにコピーします。
「in_plateau_obj_path」のパスに、「13100_tokyo23-ku_2020_ortho_2_op.zip」を解凍して展開されたフォルダのルートを指定します。
「in_save_folder_path」にそれぞれのtiff画像を10x10分割したときの画像を格納するフォルダを指定します。
スクリプトを実行します。
この処理は時間がかかります。Consoleに"Save success !!"と出ると出力完了です。
「in_save_folder_path」に指定したフォルダに53392500.jpg/53392501.jpgなどが出力されていることを確認します。
このTiffからjpeg出力を行う処理は1回だけ行えばOKです。
注意 : 配置パスに日本語名のフォルダがある場合は正しく動作しません。
### 例1 : 東京23区の地形と建物(LOD1)を読み込み
※ テクスチャは反映しません。
Omniverse Createを起動し、新規Stageを作成します。
「[import_PLATEAU_tokyo23ku_obj.py](./import_PLATEAU_tokyo23ku_obj.py)」の内容をScript Editorにコピーします。
スクリプト上の 「in_plateau_obj_path」のパス指定を、ローカルの「13100_tokyo23-ku_2020_obj_3_op.zip」を解凍したフォルダに変更します。
スクリプト上の 「in_assign_dem_texture」をFalseにします。
これにより、demにマッピングするテクスチャは読み込まれません。
スクリプトを実行します。
この処理は時間がかかります。数分ほど待つと、StageにPLATEAUの都市データが読み込まれます。
以下は背景のEnvironmentを指定し、RTX-Interactive (Path Tracing)にしています。
このLOD1のみの都市データは、Omniverse Createで約12GBくらいのメモリを消費します。
OSのメモリは32GBあれば足ります。
2022/06/26
すべてのデータをobjからusdに変換して読み込むようにしました。
変換されたusdは、in_plateau_obj_pathの"output_usd"フォルダに格納されます。
### 例2 : 東京23区の地形と建物(LOD1)を読み込み + 地形のテクスチャを反映
Omniverse Create 2022.1.2で確認しました。
Omniverse Createで新規Stageを作成します。
「[import_PLATEAU_tokyo23ku_obj.py](./import_PLATEAU_tokyo23ku_obj.py)」の内容をScript Editorにコピーします。
スクリプト上の 「in_plateau_obj_path」のパス指定を、ローカルの「13100_tokyo23-ku_2020_obj_3_op.zip」を解凍したフォルダに変更します。
スクリプト上の 「in_dem_textures_path」のパスは、ローカルのGeoTiffからjpeg変換したときの出力先を指定します。
スクリプト上の 「in_assign_dem_texture」がTrueになっているのを確認します。
これにより、「in_dem_textures_path」で指定したフォルダからテクスチャが読み込まれ、マテリアルとテクスチャが地形のMeshであるdemに割り当てられます。
スクリプトを実行します。
この処理は時間がかかります。数分ほど待つと、StageにPLATEAUの都市データが読み込まれます。
地形にはテクスチャが割り当てられています。
以下は背景のEnvironmentを指定し、RTX-Interactive (Path Tracing)にしています。
このLOD1のみの都市データは、Omniverse Createで約13GBくらいのメモリを消費します。
OSのメモリは32GBあれば足ります。
### 例3 : 東京23区の地形と建物(LOD1またはLOD2)を読み込み + 地形のテクスチャを反映
LOD2の建物がある場合はそれを読み込みます。
Omniverse Create 2022.1.2で確認しました。
Omniverse Createで新規Stageを作成します。
「[import_PLATEAU_tokyo23ku_obj.py](./import_PLATEAU_tokyo23ku_obj.py)」の内容をScript Editorにコピーします。
スクリプト上の 「in_plateau_obj_path」のパス指定を、ローカルの「13100_tokyo23-ku_2020_obj_3_op.zip」を解凍したフォルダに変更します。
スクリプト上の 「in_dem_textures_path」のパスは、ローカルのGeoTiffからjpeg変換したときの出力先を指定します。
スクリプト上の 「in_assign_dem_texture」がTrueになっているのを確認します。
これにより、「in_dem_textures_path」で指定したフォルダからテクスチャが読み込まれ、マテリアルとテクスチャが地形のMeshであるdemに割り当てられます。
スクリプト上の「in_load_lod2」をTrueに変更します。
これにより、もし建物にLOD2の情報を持つ場合はそれが読み込まれます。
※ LOD2はテクスチャを伴います。これにより、読み込み速度とメモリはかなり消費します。
また、スクリプト上の「mapIndexList」に地域メッシュの2次メッシュの番号を配列で入れています。
デフォルトでは東京23区全体をいれていますが、メモリに合わせて2次メッシュの番号を調整します。
ここでは以下のように変更しました。
```
mapIndexList = [533945, 533946]
```
スクリプトを実行します。
LOD2を読み込む場合は時間がかなりかかります。
20分ほどで読み込みが完了しました。
「mapIndexList = [533945, 533946]」でOmniverse Createで約11GBくらいのメモリを消費。
続いて
```
mapIndexList = [533935, 533936]
```
として追加でスクリプトを実行し、地形データを読み込みました。
30分ほどで読み込みが完了しました。
追加の「mapIndexList = [533935, 533936]」でOmniverse Createで合計約20GBくらいのメモリを消費。
スクリプトで連続して複数の2次メッシュ分を読み込む場合、読み込み完了後にフリーズする場合がありました（マテリアルの更新でぶつかる？）。
Omniverse CreateのステータスバーでLoading Materialと出てプログレスバーのパーセントが進まない場合がありました。
これを回避するため、読み込みが完全に完了するのを待って何回かに分けてスクリプトを複数回実行するようにしています。
以下は背景のEnvironmentを指定し、RTX-Interactive (Path Tracing)にしています。
LOD2も考慮した[533945, 533946, 533935, 533936]の2次メッシュ範囲のデータは、Omniverse Createで合計で約20GBくらいのメモリを消費します。
OSのメモリは32GBでは読み込めませんでした。64GBくらい余裕を持たせたほうがよさそうです。
### 例4 : 東京23区の地形と建物(LOD1またはLOD2)、橋(LOD2)を読み込み + 地形のテクスチャを反映
LOD2の建物がある場合はそれを読み込みます。
また、LOD2の橋も読み込みます。
Omniverse Create 2022.1.2で確認しました。
Omniverse Createで新規Stageを作成します。
「[import_PLATEAU_tokyo23ku_obj.py](./import_PLATEAU_tokyo23ku_obj.py)」の内容をScript Editorにコピーします。
スクリプト上の 「in_plateau_obj_path」のパス指定を、ローカルの「13100_tokyo23-ku_2020_obj_3_op.zip」を解凍したフォルダに変更します。
スクリプト上の 「in_dem_textures_path」のパスは、ローカルのGeoTiffからjpeg変換したときの出力先を指定します。
スクリプト上の 「in_assign_dem_texture」がTrueになっているのを確認します。
これにより、「in_dem_textures_path」で指定したフォルダからテクスチャが読み込まれ、マテリアルとテクスチャが地形のMeshであるdemに割り当てられます。
スクリプト上の「in_load_lod2」をTrueに変更します。
これにより、もし建物にLOD2の情報を持つ場合はそれが読み込まれます。
※ LOD2はテクスチャを伴います。これにより、読み込み速度とメモリはかなり消費します。
スクリプト上の「in_load_bridge」をTrueに変更します。
これにより、LOD2の橋の3Dモデルも読み込まれます。
また、スクリプト上の「mapIndexList」に2次メッシュの番号を配列で入れています。
デフォルトでは東京23区全体をいれていますが、メモリに合わせて2次メッシュの番号を調整します。
ここでは以下のように変更しました。
```
mapIndexList = [533935]
```
スクリプトを実行します。
以下は背景のEnvironmentを指定し、RTX-Interactive (Path Tracing)にしています。
LOD2で橋を追加するとさらにメモリ消費は増加することになります。
ですが、建物に比べて橋は数が少ないです。
## スクリプトを使った緯度経度の確認
いくつか緯度経度計算を行う際の確認用スクリプトを作成しました。
### 緯度経度を指定し、平面直角座標/Omniverse上のXZ位置に変換
地理院地図の「平面直角座標への換算」( https://vldb.gsi.go.jp/sokuchi/surveycalc/surveycalc/bl2xyf.html )をPythonスクリプトに置き換えました。
[calcLatLongToOmniverse.py](./calcLatLongToOmniverse.py)
これはスクリプトのみの計算になります。
スクリプトの(in_lat, in_longi)に緯度経度を指定すると平面直角座標での位置を計算、Omniverse(USD)の座標系（Y-Up/右手系/cm単位）に変換します。
Omniverse上の-Z方向が北向きとします。
以下は地理院地図( https://maps.gsi.go.jp/ )での東京タワー前。
緯度 : 35.658310
経度 : 139.745243
これをこのスクリプトで計算すると、Omniverse上のXZ位置は以下のように計算できました。
x = -797587.3075871967 (cm)
z = 3790513.4729016027 (cm)
この位置に赤いマテリアルを与えたSphereを配置すると以下のようになりました。
### 2点間の距離を計算（単純な直線距離）
[calcDistance.py](./calcDistance.py)
選択された2つの形状の中心位置の距離を単純計算します。
cmとm単位の距離をConsoleに出力します。
### 2つの緯度経度を指定して距離を計算
地理院地図の「距離と方位角の計算」( https://vldb.gsi.go.jp/sokuchi/surveycalc/surveycalc/bl2stf.html )をPythonスクリプトに置き換えました。
[calcDistanceWithLatLong.py](./calcDistanceWithLatLong.py)
これはスクリプトのみの計算になります。
スクリプトの(in_lat1, in_longi1)に開始位置の緯度経度を指定、(in_lat2, in_longi2)に終了位置の緯度経度を指定します。
この2つの緯度経度の距離をmとkm単位でConsoleに出力します。
## USDファイル変換について
「[import_PLATEAU_tokyo23ku_obj.py](./import_PLATEAU_tokyo23ku_obj.py)」を実行する際、PLATEAUのobjファイルをusdファイルに変換します。
変換されたUSDファイルは「in_plateau_obj_path + "/output_usd"」に格納されます。
東京23区全体でusdと関連テクスチャファイルは全体で4GBほどのファイル容量になりました。
また、objからusdに変換する処理は時間がかかります。
2回目以降、すでにusdファイルが存在する場合はこのusdファイル変換処理はスキップされます。
もし、改めてobjからusd変換する場合は「in_plateau_obj_path + "/output_usd"」ファイルを削除するようにしてください。
Omniverseではobj/fbxファイルを直接Referenceできますが、できるだけusdに変換して扱うほうがよいと思われます。
## Nucleus上へアップロード (2022/07/11 追加)
PLATEAUのデータをデフォルトでNucleus上にアップロードするようにしました。
「[import_PLATEAU_tokyo23ku_obj.py](./import_PLATEAU_tokyo23ku_obj.py)」の
```
in_output_folder = "omniverse://localhost/PLATEAU/Tokyo_23ku"
```
の指定のURLに、objからusd変換されたときのファイルとGEOTiffを分割した画像を転送します。
なお、初回はobjからusdの変換、GEOTiff画像のNucleusへの転送作業が発生するため時間がかかります。
都市データを参照として読み込んだルートのusdファイルをNucleus上に保存することで、usdやテクスチャの参照は自動的に相対パスに変換されます。
Omniverseでシーンを管理する場合はNucleus上で行うほうがよさそうです。
## Collect Asset : Nucleusにアップロードするには？
※ 2022/07/11 : デフォルトで、関連するusdとテクスチャファイルをNucleus上にアップロードするようにしました。
そのため、Collect Assetは使わなくても問題ありません。
参考 : https://docs.omniverse.nvidia.com/app_create/prod_extensions/ext_collect.html
「Collect Asset」を使用することで、
対象usdファイル内からusdファイルや画像ファイルなどの参照がある場合に相対パスになるように整理して出力します。
これによりローカルの環境依存がある状態でのパスが整理され、Nucleusへのアップロードができるようになります。
「[import_PLATEAU_tokyo23ku_obj.py](./import_PLATEAU_tokyo23ku_obj.py)」を使用して東京23区の都市データを読み込み後、
現在のStageをusdファイルに保存します。
なお、このとき参照されるファイルもすべてUSDファイルで構成されるようにしておいてください。デフォルトの「in_convert_to_usd = True」の指定でobjはUSDに変換されます。
Contentウィンドウで保存したusdを右クリックしてポップアップメニューを表示。
「Collect Asset」を選択します。
Collection Optionsウィンドウで「Collection Path」に出力先を指定します。
ここでNucleus上のパスを指定しました。
Collectボタンを押すと、指定のパスに整理した状態でusdや参照されているテクスチャなどを出力します。
### Collect Asset使用時の注意点
Omniverse Create 2022.1.3段階で、以下の点を確認しています。
* 対象のUSDファイルから参照(Reference)するAssetは、usdファイルを指定するようにしてください。
objやfbxを直接参照することもできますが、この場合はCollect Assetでマテリアルファイルやテクスチャファイルが正しく渡せませんでした。
* ~~Material Graphを使用すると、Collect AssetでMDLファイルが正しく渡せませんでした。~~ Omniverse Create 2022.1.3では問題なし。
----
## ファイル
|ファイル|説明|
|---|---|
|[divide_GeoTiff_images.py](./divide_GeoTiff_images.py)|東京23区のPLATEAUのGeoTIFFファイルを10x10分割して、jpeg形式で指定のフォルダに出力します。<br>コード内の「in_xxx」の指定を環境に合わせて書き換えるようにしてください。|
|[import_PLATEAU_tokyo23ku_obj.py](./import_PLATEAU_tokyo23ku_obj.py)|東京23区のPLATEAUのobjファイルより、都市モデルをOmniverseにインポートします。<br>コード内の「in_xxx」の指定を環境に合わせて書き換えるようにしてください。|
|[calcDistance.py](./calcDistance.py)|選択された2つの形状の直線距離を計算します。|
|[calcDistanceWithLatLong.py](./calcDistanceWithLatLong.py)|2つの緯度経度を指定して距離を計算します。<br>コード内の「in_xxx」の指定を環境に合わせて書き換えるようにしてください。|
|[calcLatLongToOmniverse.py](./calcLatLongToOmniverse.py)|緯度経度から平面直角座標上の位置を計算、Omniverse上のXZ位置を計算します。<br>コード内の「in_xxx」の指定を環境に合わせて書き換えるようにしてください。|
## 現状の既知問題点
Omniverse Create 2022.1.3で確認。
### 大量のusdをReferenceする際にプログレスバーが止まる
※ 開発にレポート済み。
「[import_PLATEAU_tokyo23ku_obj.py](./import_PLATEAU_tokyo23ku_obj.py)」を使って都市データを読み込む場合、
Omniverse CreateのステータスバーでLoading Materialと出てプログレスバーのパーセントが進まない場合がありました。
これを回避するため、読み込みが完全に完了するのを待って何回かに分けてスクリプトを複数回実行するようにします。
LOD1だけの読み込みの場合は、地域メッシュ全部(14個分)を読み込む場合でも停止することはありませんでした。
LOD2を含む場合、マップを1つまたは2つずつ読み込まないとフリーズします。
### 作成されたusdファイルを保存する際にSaving layersで進まない
※ 開発にレポート済み。
東京23区全体を読み込んで保存する場合、Saving layersでずっと進まない場合がありました。
数時間待てば処理が完了します。
回避策として、マップを1つだけ読み込んでその段階でいったん保存。
マップを追加読み込んで保存、とすると時間がかからないようでした。
### 保存したusdファイルを読み込む場合にプログレスバーが止まる
※ 開発にレポート済み。
東京23区全体(LOD2)を読み込んで保存後、いったんOmniverse Createを再起動してusdを読み込みます。
この際、Loading Materialと出てプログレスバーのパーセントが進まない場合がありました。
おそらく１つめの「大量のusdをReferenceする際にプログレスバーが止まる」と同じ現象と思われます。
### objファイルをReferenceした状態で保存すると、再読み込み時にテクスチャが消える
「[import_PLATEAU_tokyo23ku_obj.py](./import_PLATEAU_tokyo23ku_obj.py)」を使って都市データを読み込む場合に「in_convert_to_usd」をFalseにすると、
PLATEAUのobjを直接Referenceで参照します。
「in_convert_to_usd」をTrueにするとobjからusdに変換してそれを参照します。
東京23区全体(LOD2)を読み込んで保存後usdを閉じ、
再度同じシーンを開いた場合、テクスチャが消えてしまう場合があります。
これはobjで読み込んだ場合のキャッシュ（objの場合、作業ディレクトリにusd変換した際のジオメトリやテクスチャが格納される）によるものと思われます。
また、「Collect Asset」( https://docs.omniverse.nvidia.com/app_create/prod_extensions/ext_collect.html )を行ってNucleusにusd一式をアップロードする場合、
objを使っているとマテリアルのmtlやテクスチャを渡してくれないようでした。
そのため、OmniverseではStageはすべてusdを使用するほうがよさそうです。
## 更新履歴
### 2022/07/11
[import_PLATEAU_tokyo23ku_obj.py](./import_PLATEAU_tokyo23ku_obj.py) を更新。
* 「in_output_folder」を指定することで、Nucleus上にusd/テクスチャファイルを送るようにした
* ファイル転送時にUIが止まる問題の緩和 (Nucleus上にアップするようにしたため？)
ただし、ステージの構築時はLOD2の場合はマテリアル処理で待ちが発生する模様。
* GEOTiffのテクスチャを地形に割り当てる際に、マテリアルのSpecularを0にした（白飛びを緩和）
### 2022/06/26
* [import_PLATEAU_tokyo23ku_obj.py](./import_PLATEAU_tokyo23ku_obj.py)でUSDに変換してインポートするようにした
### 2022/06/10
* 初回バージョン | 13,043 | Markdown | 33.599469 | 163 | 0.766848 |
ft-lab/omniverse_sample_scripts/PLATEAU/calcLatLongToOmniverse.py | # ------------------------------------------------------------------.
# 緯度経度を平面直角座標に変換し、Omniverse(USD)のY-Up/cmに変換.
# 参考 : https://vldb.gsi.go.jp/sokuchi/surveycalc/surveycalc/bl2xyf.html
#
# ただし、日本地図上での計算になる点に注意.
# ------------------------------------------------------------------.
import math
# --------------------------------------.
# Input Parameters.
# --------------------------------------.
# Latitude and longitude.
in_lat = 35.680908
in_longi = 139.767348
# ---------------------------------------------------------.
# 平面直角座標系の原点の緯度と経度を取得.
# 参考 : https://www.gsi.go.jp/LAW/heimencho.html
# 東京都の場合は9を指定.
# ---------------------------------------------------------.
def getOriginLatAndLongi (index : int = 9):
latV0 = 0.0
longiV0 = 0.0
# I.
if index == 1:
latV0 = 33.0
longiV0 = 129.5
# II.
elif index == 2:
latV0 = 33.0
longiV0 = 131.0
# III.
elif index == 3:
latV0 = 36.0
longiV0 = 131.16666666
# IV.
elif index == 4:
latV0 = 33.0
longiV0 = 133.5
# V.
elif index == 5:
latV0 = 36.0
longiV0 = 134.33333333
# VI.
elif index == 6:
latV0 = 36.0
longiV0 = 136.0
# VII.
elif index == 7:
latV0 = 36.0
longiV0 = 137.16666666
# VIII.
elif index == 8:
latV0 = 36.0
longiV0 = 138.5
# IX. // 東京都（デフォルト）.
elif index == 9:
latV0 = 36.0
longiV0 = 139.83333333
# X.
elif index == 10:
latV0 = 40.0
longiV0 = 140.83333333
# XI.
elif index == 11:
latV0 = 44.0
longiV0 = 140.25
# XII.
elif index == 12:
latV0 = 44.0
longiV0 = 142.25
# XIII.
elif index == 13:
latV0 = 44.0
longiV0 = 144.25
# XIV.
elif index == 14:
latV0 = 26.0
longiV0 = 142.0
# XV.
elif index == 15:
latV0 = 26.0
longiV0 = 127.5
# XVI.
elif index == 16:
latV0 = 26.0
longiV0 = 124.0
# XVII.
elif index == 17:
latV0 = 26.0
longiV0 = 131.0
# XVIII.
elif index == 18:
latV0 = 20.0
longiV0 = 136.0
# XIX.
elif index == 19:
latV0 = 26.0
longiV0 = 154.0
return latV0, longiV0
# ---------------------------------------------.
# 緯度経度を平面直角座標に変換.
# @param[in] latV 緯度 (10進数の度数指定).
# @param[in] longiV 経度 (10進数の度数指定).
# @param[in] originIndex 平面直角座標系の原点の番号.
# https://www.gsi.go.jp/LAW/heimencho.html
# @return x, y (m単位)
# ---------------------------------------------.
def calcLatLongToHeimenChokaku (latV : float, longiV : float, originIndex : int = 9):
# 赤道半径 (km) = 楕円体の長半径.
R = 6378.137
# 極半径 (km).
R2 = 6356.752
# 逆扁平率.
F = 298.257222101
# 平面直角座標系のX軸上における縮尺係数.
m0 = 0.9999
# 平面直角座標系の原点の緯度と経度.
# https://www.gsi.go.jp/LAW/heimencho.html
# 地域によってこれは変わる。東京の場合はIX(9)番目のものを使用.
latV0, longiV0 = getOriginLatAndLongi(originIndex)
# 度数をラジアンに変換.
lat0R = latV0 * math.pi / 180.0
longi0R = longiV0 * math.pi / 180.0
latR = latV * math.pi / 180.0
longiR = longiV * math.pi / 180.0
n = 1.0 / (2.0 * F - 1.0)
A0 = 1.0 + (n**2) / 4.0 + (n**4) / 64.0
A1 = (-3.0 / 2.0) * (n - (n**3) / 8.0 - (n**5) / 64.0)
A2 = (15.0 / 16.0) * ((n**2) - (n**4) / 4.0)
A3 = (-35.0/ 48.0) * ((n**3) - (5.0 / 16.0) * (n**5))
A4 = (315.0 / 512.0) * (n**4)
A5 = (-693.0/1280.0) * (n**5)
A_Array = [A0, A1, A2, A3 , A4, A5]
a1 = (1.0 / 2.0) * n - (2.0 / 3.0) * (n**2) + (5.0 / 16.0) * (n**3) + (41.0 / 180.0) * (n**4) - (127.0 / 288.0) * (n**5)
a2 = (13.0 / 48.0) * (n**2) - (3.0 / 5.0) * (n**3) + (557.0 / 1440.0) * (n**4) + (281.0 / 630.0) * (n**5)
a3 = (61.0 / 240.0) * (n**3) - (103.0 / 140.0) * (n**4) + (15061.0 / 26880.0) * (n**5)
a4 = (49561.0 / 161280.0) * (n**4) - (179.0 / 168.0) * (n**5)
a5 = (34729.0 / 80640.0) * (n**5)
a_Array = [0.0, a1, a2, a3, a4, a5]
A_ = ((m0 * R) / (1.0 + n)) * A0
v = 0.0
for i in range(5):
v += A_Array[i + 1] * math.sin(2.0 * (float)(i + 1) * lat0R)
S_ = ((m0 * R) / (1.0 + n)) * (A0 * lat0R + v)
lambdaC = math.cos(longiR - longi0R)
lambdaS = math.sin(longiR - longi0R)
t = math.sinh(math.atanh(math.sin(latR)) - ((2.0 * math.sqrt(n)) / (1.0 + n)) * math.atanh(((2.0 * math.sqrt(n)) / (1.0 + n)) * math.sin(latR)))
t_ = math.sqrt(1.0 + t * t)
xi2 = math.atan(t / lambdaC)
eta2 = math.atanh(lambdaS / t_)
v = 0.0
for i in range(5):
v += a_Array[i + 1] * math.sin(2.0 * (float)(i + 1) * xi2) * math.cosh(2.0 * (float)(i + 1) * eta2)
x = A_ * (xi2 + v) - S_
v = 0.0
for i in range(5):
v += a_Array[i + 1] * math.cos(2.0 * (float)(i + 1) * xi2) * math.sinh(2.0 * (float)(i + 1) * eta2)
y = A_ * (eta2 + v)
# kmからmに変換して返す.
return (x * 1000.0), (y * 1000.0)
# ----------------------------------------------------------.
# 緯度経度から平面直角座標に変換（単位 m）.
originIndex = 9 # Tokyo.
x,y = calcLatLongToHeimenChokaku(in_lat, in_longi, originIndex)
print("Latitude = " + str(in_lat))
print("Longitude = " + str(in_longi))
print(" X = " + str(x) + " (m)")
print(" Y = " + str(y) + " (m)")
# Omniverse(USD)のY-up/右手座標系/cmに変換.
x2 = y * 100.0
z2 = -x * 100.0
print("[ Omniverse ] (Y-up/right hand/cm)")
print(" x = " + str(x2) + " (cm)")
print(" z = " + str(z2) + " (cm)")
| 5,518 | Python | 26.733668 | 148 | 0.436934 |
ft-lab/omniverse_sample_scripts/PLATEAU/calcDistance.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import omni.usd
# Get stage.
stage = omni.usd.get_context().get_stage()
# -------------------------------------------------.
# Calculate bounding box in world coordinates.
# -------------------------------------------------.
def _calcWorldBoundingBox (prim : Usd.Prim):
# Calc world boundingBox.
bboxCache = UsdGeom.BBoxCache(Usd.TimeCode.Default(), ["default"])
bboxD = bboxCache.ComputeWorldBound(prim).ComputeAlignedRange()
bb_min = Gf.Vec3f(bboxD.GetMin())
bb_max = Gf.Vec3f(bboxD.GetMax())
return bb_min, bb_max
# -------------------------------------------------.
# Calculate the distance between two selected shapes.
# -------------------------------------------------.
# Get selection.
selection = omni.usd.get_context().get_selection()
paths = selection.get_selected_prim_paths()
wPosList = []
for path in paths:
# Get prim.
prim = stage.GetPrimAtPath(path)
if prim.IsValid():
bbMin, bbMax = _calcWorldBoundingBox(prim)
wCenter = Gf.Vec3f((bbMax[0] + bbMin[0]) * 0.5, (bbMax[1] + bbMin[1]) * 0.5, (bbMax[2] + bbMin[2]) * 0.5)
wPosList.append(wCenter)
continue
if len(wPosList) == 2:
distV = (wPosList[1] - wPosList[0]).GetLength()
print("Distance : " + str(distV) + " cm ( " + str(distV * 0.01) + " m)")
| 1,359 | Python | 33.871794 | 113 | 0.554084 |
ft-lab/omniverse_sample_scripts/Animation/readme.md | # Animation
アニメーション関連の処理を行います。
|ファイル|説明|
|---|---|
|[GetTimeCode.py](./GetTimeCode.py)|現在のStageの開始/終了TimeCode、TimeCodesPerSecond(フレームレート)を取得。|
|[GetCurrentTimeCode.py](./GetCurrentTimeCode.py)|現在のタイムコード（フレーム位置）を取得。|
| 244 | Markdown | 26.222219 | 96 | 0.67623 |
ft-lab/omniverse_sample_scripts/Animation/GetTimeCode.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
# Get stage.
stage = omni.usd.get_context().get_stage()
# Get TimeCode.
print(f"Start TimeCode : {stage.GetStartTimeCode()}")
print(f"End TimeCode : {stage.GetEndTimeCode()}")
# Get frame rate.
print(f"TimeCodesPerSecond : {stage.GetTimeCodesPerSecond()}")
| 325 | Python | 24.076921 | 63 | 0.723077 |
ft-lab/omniverse_sample_scripts/Animation/GetCurrentTimeCode.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import omni.usd
import omni.timeline
# Get stage.
stage = omni.usd.get_context().get_stage()
# Get current timeCode.
time_code = omni.timeline.get_timeline_interface().get_current_time() * stage.GetTimeCodesPerSecond()
print(f"Current timeCode : {time_code}")
| 327 | Python | 26.333331 | 101 | 0.746177 |
ft-lab/Omniverse_OmniGraph_ClockSample/readme.md | # ft_lab.OmniGraph.GetDateTime
This sample uses OmniGraph to reflect the current time on analog and digital clocks created as 3D models.
This is a sample project in which OmniGraph custom nodes are prepared with a Python Extension to control a pre-prepared 3D model.
## How to use
I have confirmed that it works with ~~Omniverse Create 2022.3.3~~ USD Composer 2023.2.2(Kit 105.1.2).
Download and use this repository locally.
```
[extension]
[ft_lab.OmniGraph.GetDateTime] ... Extension(OmniGraph Nodes) used in this project
[usds] sample scene
[Clock]
[textures]
clock.usd
[ClockDigital]
[textures]
clock_digital.usd
clock_stage.usd ... Open and use this locally.
```
* Assign and activate Extension to Omniverse Create.
Copy "[ft_lab.OmniGraph.GetDateTime](./extension/ft_lab.OmniGraph.GetDateTime/)" to a folder where Omniverse can find it as an Extension.
* Open "[clock_stage.usd](./usds/clock_stage.usd)" in Omniverse Create.
References two USD "[clock.usd](./usds/Clock/clock.usd)" and "[clock_digital.usd](./usds/ClockDigital/clock_digital.usd)".
You can now see the current time reflected in the analog and digital clocks.
## Documents
* [Description of OmniGraph nodes](./OmniGraphNodes.md)
## Documents for Development
* [Extension Structure](./docs/ExtensionStructure.md)
* [GetDateTime](./docs/node_GetDateTime.md)
* [RotationByTime](./docs/node_RotationByTime.md)
* [OutputToLCD](./docs/node_OutputToLCD.md)
* [3D Models](./docs/Modeling3D.md)
## Change Log
* [Change Log](./ChangeLog.md)
## License
This software is released under the MIT License, see [LICENSE.txt](./LICENSE.txt).
| 1,864 | Markdown | 31.155172 | 143 | 0.714056 |
ft-lab/Omniverse_OmniGraph_ClockSample/ChangeLog.md | # Change Log
## December 22, 2023
Fixed in USD Composer 2023.2.2 (Kit.105.1.2)
### xxxxDatabase.py
The icons were not reflected until these two internal versions were updated.
* GENERATOR_VERSION : (1, 31, 1) -> (1, 41, 3)
* TARGET_VERSION : (2, 107, 4) -> (2, 139, 12)
## July 11, 2023
Fixed in USD Composer 2023.1.0-beta (Kit.105) from Omniverse Create 2022.3.3 (Kit.104).
### [RotationByTime.ogn](extension/ft_lab.OmniGraph.GetDateTime/ft_lab/OmniGraph/GetDateTime/nodes/RotationByTime.ogn)
"type": "float3" -> "float[3]"
### xxxxDatabase.py
* GENERATOR_VERSION : (1, 17, 2) -> (1, 31, 1)
* TARGET_VERSION : (2, 65, 4) -> (2, 107, 4)
| 673 | Markdown | 23.962962 | 118 | 0.63893 |
ft-lab/Omniverse_OmniGraph_ClockSample/OmniGraphNodes.md | # Description of OmniGraph nodes
This extension consists of three custom nodes.
Three nodes are added to "Examples" as Graph.
These are nodes that act as Push Graphs.
## Get DateTime
Get the current local date and time.
### Outputs
* Year (int)
* Month (int)
* Day (int)
* Hour (int)
* Minute (int)
* Second (int)
## Rotation By Time
Given an hour, minute, and second, returns the XYZ of each rotation(degree).
Used in analog clock rotation.
### Inputs
* Default RotateXYZ : Default rotation value (float3)
* Rotation Axis : Rotation axis (0:X, 1:Y, 2:Z)
* Hour (int)
* Minute (int)
* Second (int)
### Outputs
* Hour RotateXYZ : Hour rotation value (float3)
* Minute RotateXYZ : Minute rotation value (float3)
* Second RotateXYZ : Second rotation value (float3)
Connect the Output value of the Get DateTime node to the Hour/Minute/Second of Inputs.
The analog clock "[clock.usd](./usds/Clock/clock.usd)" referenced in this stage has a default rotation of Rotate(90, 0, 0).
It also rotates the hands of the clock around the Y axis.
This is the same for Hour/Minute/Second hands.
In Inputs, set "Default RotationXYZ" to (90, 0, 0) and "Rotation Axis" to 1 (Y).
This input returns the calculated rotation values for "Hour RotateXYZ", "Minute RotateXYZ", and "Second RotateXYZ".
Clock hand prims are added to Graph as "Write Prim Attribute".
In this case, select "xformOp:rotateXYZ" for the "Attribute Name".
Connect "Hour RotateXYZ", "Minute RotateXYZ", and "Second RotateXYZ" of "Rotation By Time" to the Value of this node.
This is all that is required to move the hands of an analog clock.
## Time Output To LCD
This node controls a virtual 7-segment LED LCD screen.
Show/Hide the Prim specified in Input to display the digital clock.
### Inputs
* HourNum10 Prim : Specify the 10th digit Prim of hour (token)
* HourNum11 Prim : Specify the 1th digit Prim of hour (token)
* MinuteNum10 Prim : Specify the 10th digit Prim of minute (token)
* MinuteNum11 Prim : Specify the 1th digit Prim of minute (token)
* AM Prim : Specify the prim to display "AM" (token)
* PM Prim : Specify the prim to display "PM" (token)
* Hour (int)
* Minute (int)
* Second (int)
The digital clock is controlled by showing/hiding the respective parts of the virtual LCD screen.
”AM" and "PM" are one prim (mesh) each.
Hours and minutes are on a two-digit, seven-segment LED.
It consists of A, B, C, D, E, F, and G Prim(Mesh) respectively.
By showing/hiding this 7-segment LED component, a numerical value from 0-9 is represented.
The Hour, Minute, and Second inputs to the "Time Output To LCD" node are connected from the output of "Get DateTime".
Each input to the "Time Output To LCD" node uses the "Source Prim Path" of the Read Bundle.
AM, PM and 4 LED's Prim connected.
This allows the digital clock to reflect the current time.
| 3,664 | Markdown | 36.783505 | 123 | 0.704694 |
ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/config/extension.toml | [package]
# Semantic Versionning is used: https://semver.org/
version = "0.0.1"
# Lists people or organizations that are considered the "authors" of the package.
authors = ["ft-lab"]
# The title and description fields are primarily for displaying extension info in UI
title = "OmniGraph : Get DateTime"
description="OmniGraph sample node.Get datetime."
# Path (relative to the root) or content of readme markdown file for UI.
readme = "docs/README.md"
# URL of the extension source repository.
repository = ""
# One of categories for UI.
category = "Example"
# Keywords for the extension
keywords = ["kit", "example", "omnigraph"]
# Location of change log file in target (final) folder of extension, relative to the root. Can also be just a content
# of it instead of file path. More info on writing changelog: https://keepachangelog.com/en/1.0.0/
changelog="docs/CHANGELOG.md"
# Preview image and icon. Folder named "data" automatically goes in git lfs (see .gitattributes file).
# Preview image is shown in "Overview" of Extensions window. Screenshot of an extension might be a good preview image.
preview_image = "data/preview.jpg"
# Icon is shown in Extensions window, it is recommended to be square, of size 256x256.
icon = "data/icon.png"
# Watch the .ogn files for hot reloading (only works for Python files)
[fswatcher.patterns]
include = ["*.ogn", "*.py"]
exclude = ["*Database.py","*/ogn*"]
# We only depend on testing framework currently:
[dependencies]
"omni.graph" = {}
"omni.graph.nodes" = {}
"omni.graph.tools" = {}
# Main python module this extension provides.
[[python.module]]
name = "ft_lab.OmniGraph.GetDateTime"
| 1,647 | TOML | 31.959999 | 118 | 0.734062 |
ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/ft_lab/OmniGraph/GetDateTime/extension.py | import omni.ext
import importlib
import os
from .ogn import *
# Any class derived from `omni.ext.IExt` in top level module (defined in `python.modules` of `extension.toml`) will be
# instantiated when extension gets enabled and `on_startup(ext_id)` will be called. Later when extension gets disabled
# on_shutdown() is called.
class SimpleNodeExtension(omni.ext.IExt):
# ext_id is current extension id. It can be used with extension manager to query additional information, like where
# this extension is located on filesystem.
def on_startup(self, ext_id):
print("[ft_lab.OmniGraph.GetDateTime] startup")
def on_shutdown(self):
print("[ft_lab.OmniGraph.GetDateTime] shutdown")
| 712 | Python | 40.941174 | 119 | 0.738764 |
ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/ft_lab/OmniGraph/GetDateTime/__init__.py | from .extension import *
| 25 | Python | 11.999994 | 24 | 0.76 |
ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/ft_lab/OmniGraph/GetDateTime/ogn/GetDateTimeDatabase.py | import omni.graph.core as og
import omni.graph.core._omni_graph_core as _og
import omni.graph.tools.ogn as ogn
import numpy
import sys
import traceback
import carb
class GetDateTimeDatabase(og.Database):
"""Helper class providing simplified access to data on nodes of type ft_lab.OmniGraph.GetDateTime.GetDateTime
Class Members:
node: Node being evaluated
Attribute Value Properties:
Inputs:
Outputs:
outputs.a1_year
outputs.a2_month
outputs.a3_day
outputs.b1_hour
outputs.b2_minute
outputs.b3_second
"""
# Omniverse Create 2022.3.3 (Kit.104)
#GENERATOR_VERSION = (1, 17, 2)
#TARGET_VERSION = (2, 65, 4)
# Imprint the generator and target ABI versions in the file for JIT generation
# USD Composer 2023.2.2 (Kit.105.1.2)
GENERATOR_VERSION = (1, 41, 3)
TARGET_VERSION = (2, 139, 12)
# This is an internal object that provides per-class storage of a per-node data dictionary
PER_NODE_DATA = {}
INTERFACE = og.Database._get_interface([
('outputs:a1_year', 'int', 0, 'Year', 'output year', {ogn.MetadataKeys.DEFAULT: '2000'}, True, 0, False, ''),
('outputs:a2_month', 'int', 0, 'Month', 'output month', {ogn.MetadataKeys.DEFAULT: '1'}, True, 0, False, ''),
('outputs:a3_day', 'int', 0, 'Day', 'output day', {ogn.MetadataKeys.DEFAULT: '1'}, True, 0, False, ''),
('outputs:b1_hour', 'int', 0, 'Hour', 'output hour', {ogn.MetadataKeys.DEFAULT: '1'}, True, 0, False, ''),
('outputs:b2_minute', 'int', 0, 'Minute', 'output minute', {ogn.MetadataKeys.DEFAULT: '0'}, True, 0, False, ''),
('outputs:b3_second', 'int', 0, 'Second', 'output second', {ogn.MetadataKeys.DEFAULT: '0'}, True, 0, False, ''),
])
# ----------------------------------------------------.
# Processing Output Parameter.
# ----------------------------------------------------.
class ValuesForOutputs(og.DynamicAttributeAccess):
LOCAL_PROPERTY_NAMES = { "a1_year", "a2_month", "a3_day", "b1_hour", "b2_month", "b3_second" }
"""Helper class that creates natural hierarchical access to output attributes"""
def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface):
"""Initialize simplified access for the attribute data"""
context = node.get_graph().get_default_graph_context()
super().__init__(context, node, attributes, dynamic_attributes)
self._batchedWriteValues = { }
@property
def a1_year(self):
value = self._batchedWriteValues.get(self._attributes.a1_year)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.a1_year)
return data_view.get()
@a1_year.setter
def a1_year(self, value):
self._batchedWriteValues[self._attributes.a1_year] = value
@property
def a2_month(self):
value = self._batchedWriteValues.get(self._attributes.a2_month)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.a2_month)
return data_view.get()
@a2_month.setter
def a2_month(self, value):
self._batchedWriteValues[self._attributes.a2_month] = value
@property
def a3_day(self):
value = self._batchedWriteValues.get(self._attributes.a3_day)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.a3_day)
return data_view.get()
@a3_day.setter
def a3_day(self, value):
self._batchedWriteValues[self._attributes.a3_day] = value
@property
def b1_hour(self):
value = self._batchedWriteValues.get(self._attributes.b1_hour)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.b1_hour)
return data_view.get()
@b1_hour.setter
def b1_hour(self, value):
self._batchedWriteValues[self._attributes.b1_hour] = value
@property
def b2_minute(self):
value = self._batchedWriteValues.get(self._attributes.b2_minute)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.b2_minute)
return data_view.get()
@b2_minute.setter
def b2_minute(self, value):
self._batchedWriteValues[self._attributes.b2_minute] = value
@property
def b3_second(self):
value = self._batchedWriteValues.get(self._attributes.b3_second)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.b3_second)
return data_view.get()
@b3_second.setter
def b3_second(self, value):
self._batchedWriteValues[self._attributes.b3_second] = value
def __getattr__(self, item: str):
if item in self.LOCAL_PROPERTY_NAMES:
return object.__getattribute__(self, item)
else:
return super().__getattr__(item)
def __setattr__(self, item: str, new_value):
if item in self.LOCAL_PROPERTY_NAMES:
object.__setattr__(self, item, new_value)
else:
super().__setattr__(item, new_value)
def _commit(self):
_og._commit_output_attributes_data(self._batchedWriteValues)
self._batchedWriteValues = { }
class ValuesForState(og.DynamicAttributeAccess):
"""Helper class that creates natural hierarchical access to state attributes"""
def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface):
"""Initialize simplified access for the attribute data"""
context = node.get_graph().get_default_graph_context()
super().__init__(context, node, attributes, dynamic_attributes)
def __init__(self, node):
super().__init__(node)
dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_OUTPUT)
self.outputs = GetDateTimeDatabase.ValuesForOutputs(node, self.attributes.outputs, dynamic_attributes)
dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_STATE)
self.state = GetDateTimeDatabase.ValuesForState(node, self.attributes.state, dynamic_attributes)
# ----------------------------------------------------.
# Class defining the ABI interface for the node type.
# ----------------------------------------------------.
class abi:
@staticmethod
def get_node_type():
get_node_type_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'get_node_type', None)
if callable(get_node_type_function):
return get_node_type_function()
return 'ft_lab.OmniGraph.GetDateTime.GetDateTime'
@staticmethod
def compute(context, node):
def database_valid():
return True
try:
per_node_data = GetDateTimeDatabase.PER_NODE_DATA[node.node_id()]
db = per_node_data.get('_db')
if db is None:
db = GetDateTimeDatabase(node)
per_node_data['_db'] = db
if not database_valid():
per_node_data['_db'] = None
return False
except:
db = GetDateTimeDatabase(node)
try:
compute_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'compute', None)
if callable(compute_function) and compute_function.__code__.co_argcount > 1:
return compute_function(context, node)
with og.in_compute():
return GetDateTimeDatabase.NODE_TYPE_CLASS.compute(db)
except Exception as error:
stack_trace = "".join(traceback.format_tb(sys.exc_info()[2].tb_next))
db.log_error(f'Assertion raised in compute - {error}\n{stack_trace}', add_context=False)
finally:
db.outputs._commit()
return False
@staticmethod
def initialize(context, node):
GetDateTimeDatabase._initialize_per_node_data(node)
initialize_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'initialize', None)
if callable(initialize_function):
initialize_function(context, node)
@staticmethod
def release(node):
release_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'release', None)
if callable(release_function):
release_function(node)
GetDateTimeDatabase._release_per_node_data(node)
@staticmethod
def update_node_version(context, node, old_version, new_version):
update_node_version_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'update_node_version', None)
if callable(update_node_version_function):
return update_node_version_function(context, node, old_version, new_version)
return False
@staticmethod
def initialize_type(node_type):
initialize_type_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'initialize_type', None)
needs_initializing = True
if callable(initialize_type_function):
needs_initializing = initialize_type_function(node_type)
if needs_initializing:
node_type.set_metadata(ogn.MetadataKeys.EXTENSION, "ft_lab.OmniGraph.GetDateTime")
node_type.set_metadata(ogn.MetadataKeys.UI_NAME, "Get DateTime")
node_type.set_metadata(ogn.MetadataKeys.CATEGORIES, "examples")
node_type.set_metadata(ogn.MetadataKeys.DESCRIPTION, "Get current date and time")
node_type.set_metadata(ogn.MetadataKeys.LANGUAGE, "Python")
# Set Icon(svg).
icon_path = carb.tokens.get_tokens_interface().resolve("${ft_lab.OmniGraph.GetDateTime}")
icon_path = icon_path + '/' + "data/icons/ft_lab.OmniGraph.GetDateTime.icon.svg"
node_type.set_metadata(ogn.MetadataKeys.ICON_PATH, icon_path)
GetDateTimeDatabase.INTERFACE.add_to_node_type(node_type)
@staticmethod
def on_connection_type_resolve(node):
on_connection_type_resolve_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'on_connection_type_resolve', None)
if callable(on_connection_type_resolve_function):
on_connection_type_resolve_function(node)
NODE_TYPE_CLASS = None
@staticmethod
def register(node_type_class):
GetDateTimeDatabase.NODE_TYPE_CLASS = node_type_class
og.register_node_type(GetDateTimeDatabase.abi, 1)
@staticmethod
def deregister():
og.deregister_node_type("ft_lab.OmniGraph.GetDateTime.GetDateTime")
| 11,389 | Python | 42.473282 | 130 | 0.588375 |
ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/ft_lab/OmniGraph/GetDateTime/ogn/OutputToLCDDatabase.py | import omni.graph.core as og
import omni.graph.core._omni_graph_core as _og
import omni.graph.tools.ogn as ogn
import numpy
import sys
import traceback
import carb
from typing import Any
class OutputToLCDDatabase(og.Database):
"""Helper class providing simplified access to data on nodes of type ft_lab.OmniGraph.GetDateTime.OutputToDatabaseDatabase
Class Members:
node: Node being evaluated
Attribute Value Properties:
Inputs:
inputs.a1_hourNum10Prim
inputs.a2_hourNum1Prim
inputs.b1_minuteNum10Prim
inputs.b2_minuteNum1Prim
inputs.c1_amPrim
inputs.c2_pmPrim
inputs.d1_hour
inputs.d2_minute
inputs.d3_second
Outputs:
"""
# Omniverse Create 2022.3.3 (Kit.104)
#GENERATOR_VERSION = (1, 17, 2)
#TARGET_VERSION = (2, 65, 4)
# Imprint the generator and target ABI versions in the file for JIT generation
# USD Composer 2023.2.2 (Kit.105.1.2)
GENERATOR_VERSION = (1, 41, 3)
TARGET_VERSION = (2, 139, 12)
# This is an internal object that provides per-class storage of a per-node data dictionary
PER_NODE_DATA = {}
INTERFACE = og.Database._get_interface([
('inputs:a1_hourNum10Prim', 'token', 0, 'HourNum10 Prim', 'HourNum10 Prim', {}, True, None, False, ''),
('inputs:a2_hourNum1Prim', 'token', 0, 'HourNum1 Prim', 'HourNum1 Prim', {}, True, None, False, ''),
('inputs:b1_minuteNum10Prim', 'token', 0, 'MinuteNum10 Prim', 'MinuteNum10 Prim', {}, True, None, False, ''),
('inputs:b2_minuteNum1Prim', 'token', 0, 'MinuteNum1 Prim', 'MinuteNum1 Prim', {}, True, None, False, ''),
('inputs:c1_amPrim', 'token', 0, 'AM Prim', 'AM Prim', {}, True, None, False, ''),
('inputs:c2_pmPrim', 'token', 0, 'PM Prim', 'PM Prim', {}, True, None, False, ''),
('inputs:d1_hour', 'int', 0, 'Hour', 'Hour', {}, True, 0, False, ''),
('inputs:d2_minute', 'int', 0, 'Minute', 'Minute', {}, True, 0, False, ''),
('inputs:d3_second', 'int', 0, 'Second', 'Second', {}, True, 0, False, ''),
])
# ----------------------------------------------------.
# Processing Input Parameters.
# ----------------------------------------------------.
class ValuesForInputs(og.DynamicAttributeAccess):
LOCAL_PROPERTY_NAMES = {"a1_hourNum10Prim", "a2_hourNum1Prim", "b1_minuteNum10Prim", "b2_minuteNum1Prim", "c1_amPrim", "c2_pmPrim", "d1_hour", "d2_minute", "d3_second"}
"""Helper class that creates natural hierarchical access to input attributes"""
def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface):
"""Initialize simplified access for the attribute data"""
context = node.get_graph().get_default_graph_context()
super().__init__(context, node, attributes, dynamic_attributes)
self._batchedReadAttributes = [self._attributes.a1_hourNum10Prim, self._attributes.a2_hourNum1Prim, self._attributes.b1_minuteNum10Prim, self._attributes.b2_minuteNum1Prim, self._attributes.c1_amPrim, self._attributes.c2_pmPrim, self._attributes.d1_hour, self._attributes.d2_minute, self._attributes.d3_second]
self._batchedReadValues = ["", "", "", "", "", "", 0, 0, 0]
@property
def a1_hourNum10Prim(self):
return self._batchedReadValues[0]
@a1_hourNum10Prim.setter
def a1_hourNum10Prim(self, value):
self._batchedReadValues[0] = value
@property
def a2_hourNum1Prim(self):
return self._batchedReadValues[1]
@a2_hourNum1Prim.setter
def a2_hourNum1Prim(self, value):
self._batchedReadValues[1] = value
@property
def b1_minuteNum10Prim(self):
return self._batchedReadValues[2]
@b1_minuteNum10Prim.setter
def b1_minuteNum10Prim(self, value):
self._batchedReadValues[2] = value
@property
def b2_minuteNum1Prim(self):
return self._batchedReadValues[3]
@b2_minuteNum1Prim.setter
def b2_minuteNum1Prim(self, value):
self._batchedReadValues[3] = value
@property
def c1_amPrim(self):
return self._batchedReadValues[4]
@c1_amPrim.setter
def c1_amPrim(self, value):
self._batchedReadValues[4] = value
@property
def c2_pmPrim(self):
return self._batchedReadValues[5]
@c2_pmPrim.setter
def c2_pmPrim(self, value):
self._batchedReadValues[5] = value
@property
def d1_hour(self):
return self._batchedReadValues[6]
@d1_hour.setter
def d1_hour(self, value):
self._batchedReadValues[6] = value
@property
def d2_minute(self):
return self._batchedReadValues[7]
@d2_minute.setter
def d2_minute(self, value):
self._batchedReadValues[7] = value
@property
def d3_second(self):
return self._batchedReadValues[8]
@d3_second.setter
def d3_second(self, value):
self._batchedReadValues[8] = value
def __getattr__(self, item: str):
if item in self.LOCAL_PROPERTY_NAMES:
return object.__getattribute__(self, item)
else:
return super().__getattr__(item)
def __setattr__(self, item: str, new_value):
if item in self.LOCAL_PROPERTY_NAMES:
object.__setattr__(self, item, new_value)
else:
super().__setattr__(item, new_value)
def _prefetch(self):
readAttributes = self._batchedReadAttributes
newValues = _og._prefetch_input_attributes_data(readAttributes)
if len(readAttributes) == len(newValues):
self._batchedReadValues = newValues
class ValuesForState(og.DynamicAttributeAccess):
"""Helper class that creates natural hierarchical access to state attributes"""
def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface):
"""Initialize simplified access for the attribute data"""
context = node.get_graph().get_default_graph_context()
super().__init__(context, node, attributes, dynamic_attributes)
def __init__(self, node):
super().__init__(node)
dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_INPUT)
self.inputs = OutputToLCDDatabase.ValuesForInputs(node, self.attributes.inputs, dynamic_attributes)
dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_STATE)
self.state = OutputToLCDDatabase.ValuesForState(node, self.attributes.state, dynamic_attributes)
# ----------------------------------------------------.
# Class defining the ABI interface for the node type.
# ----------------------------------------------------.
class abi:
@staticmethod
def get_node_type():
get_node_type_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'get_node_type', None)
if callable(get_node_type_function):
return get_node_type_function()
return 'ft_lab.OmniGraph.GetDateTime.OutputToLCD'
@staticmethod
def compute(context, node):
def database_valid():
return True
try:
per_node_data = OutputToLCDDatabase.PER_NODE_DATA[node.node_id()]
db = per_node_data.get('_db')
if db is None:
db = OutputToLCDDatabase(node)
per_node_data['_db'] = db
if not database_valid():
per_node_data['_db'] = None
return False
except:
db = OutputToLCDDatabase(node)
try:
compute_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'compute', None)
if callable(compute_function) and compute_function.__code__.co_argcount > 1:
return compute_function(context, node)
db.inputs._prefetch()
db.inputs._setting_locked = True
with og.in_compute():
return OutputToLCDDatabase.NODE_TYPE_CLASS.compute(db)
except Exception as error:
stack_trace = "".join(traceback.format_tb(sys.exc_info()[2].tb_next))
db.log_error(f'Assertion raised in compute - {error}\n{stack_trace}', add_context=False)
finally:
db.inputs._setting_locked = False
#db.outputs._commit()
return False
@staticmethod
def initialize(context, node):
OutputToLCDDatabase._initialize_per_node_data(node)
initialize_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'initialize', None)
if callable(initialize_function):
initialize_function(context, node)
@staticmethod
def release(node):
release_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'release', None)
if callable(release_function):
release_function(node)
OutputToLCDDatabase._release_per_node_data(node)
@staticmethod
def update_node_version(context, node, old_version, new_version):
update_node_version_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'update_node_version', None)
if callable(update_node_version_function):
return update_node_version_function(context, node, old_version, new_version)
return False
@staticmethod
def initialize_type(node_type):
initialize_type_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'initialize_type', None)
needs_initializing = True
if callable(initialize_type_function):
needs_initializing = initialize_type_function(node_type)
if needs_initializing:
node_type.set_metadata(ogn.MetadataKeys.EXTENSION, "ft_lab.OmniGraph.GetDateTime")
node_type.set_metadata(ogn.MetadataKeys.UI_NAME, "Time output to LCD")
node_type.set_metadata(ogn.MetadataKeys.CATEGORIES, "examples")
node_type.set_metadata(ogn.MetadataKeys.DESCRIPTION, "Time output to LCD")
node_type.set_metadata(ogn.MetadataKeys.LANGUAGE, "Python")
# Set Icon(svg).
icon_path = carb.tokens.get_tokens_interface().resolve("${ft_lab.OmniGraph.GetDateTime}")
icon_path = icon_path + '/' + "data/icons/ft_lab.OmniGraph.GetDateTime.outputToLCD.svg"
node_type.set_metadata(ogn.MetadataKeys.ICON_PATH, icon_path)
OutputToLCDDatabase.INTERFACE.add_to_node_type(node_type)
@staticmethod
def on_connection_type_resolve(node):
on_connection_type_resolve_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'on_connection_type_resolve', None)
if callable(on_connection_type_resolve_function):
on_connection_type_resolve_function(node)
NODE_TYPE_CLASS = None
@staticmethod
def register(node_type_class):
OutputToLCDDatabase.NODE_TYPE_CLASS = node_type_class
og.register_node_type(OutputToLCDDatabase.abi, 1)
@staticmethod
def deregister():
og.deregister_node_type("ft_lab.OmniGraph.GetDateTime.OutputToLCD")
| 11,682 | Python | 42.431227 | 322 | 0.598185 |
ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/ft_lab/OmniGraph/GetDateTime/ogn/RotationByTimeDatabase.py | import omni.graph.core as og
import omni.graph.core._omni_graph_core as _og
import omni.graph.tools.ogn as ogn
import numpy
import sys
import traceback
import carb
class RotationByTimeDatabase(og.Database):
"""Helper class providing simplified access to data on nodes of type ft_lab.OmniGraph.GetDateTime.RotationByTime
Class Members:
node: Node being evaluated
Attribute Value Properties:
Inputs:
inputs.a1_defaultRotateXYZ
inputs.a2_rotationAxis
inputs.b1_hour
inputs.b2_minute
inputs.b3_second
Outputs:
outputs.a1_hourRotateXYZ
outputs.a2_minuteRotateXYZ
outputs.a3_secondRotateXYZ
"""
# Omniverse Create 2022.3.3 (Kit.104)
#GENERATOR_VERSION = (1, 17, 2)
#TARGET_VERSION = (2, 65, 4)
# Imprint the generator and target ABI versions in the file for JIT generation
# USD Composer 2023.2.2 (Kit.105.1.2)
GENERATOR_VERSION = (1, 41, 3)
TARGET_VERSION = (2, 139, 12)
# This is an internal object that provides per-class storage of a per-node data dictionary
PER_NODE_DATA = {}
INTERFACE = og.Database._get_interface([
('inputs:a1_defaultRotateXYZ', 'float[3]', 0, 'Default RotateXYZ', 'Default rotateXYZ', {}, True, None, False, ''),
('inputs:a2_rotationAxis', 'int', 0, 'Rotation Axis', 'Rotation axis (0:X, 1:Y, 2:Z)', {}, True, None, False, ''),
('inputs:b1_hour', 'int', 0, 'Hour', 'Hour', {ogn.MetadataKeys.DEFAULT: '0'}, True, 0, False, ''),
('inputs:b2_minute', 'int', 0, 'Minute', 'Minute', {ogn.MetadataKeys.DEFAULT: '0'}, True, 0, False, ''),
('inputs:b3_second', 'int', 0, 'Second', 'Second', {ogn.MetadataKeys.DEFAULT: '0'}, True, 0, False, ''),
('outputs:a1_hourRotateXYZ', 'float[3]', 0, 'Hour RotateXYZ', 'Hour RotateXYZ', {}, True, None, False, ''),
('outputs:a2_minuteRotateXYZ', 'float[3]', 0, 'Minute RotateXYZ', 'Minute RotateXYZ', {}, True, None, False, ''),
('outputs:a3_secondRotateXYZ', 'float[3]', 0, 'Second RotateXYZ', 'Second RotateXYZ', {}, True, None, False, ''),
])
# ----------------------------------------------------.
# Processing Input Parameters.
# ----------------------------------------------------.
class ValuesForInputs(og.DynamicAttributeAccess):
LOCAL_PROPERTY_NAMES = {"a1_defaultRotateXYZ", "a2_rotationAxis", "b1_hour", "b2_minute", "b3_second"}
"""Helper class that creates natural hierarchical access to input attributes"""
def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface):
"""Initialize simplified access for the attribute data"""
context = node.get_graph().get_default_graph_context()
super().__init__(context, node, attributes, dynamic_attributes)
self._batchedReadAttributes = [self._attributes.a1_defaultRotateXYZ, self._attributes.a2_rotationAxis, self._attributes.b1_hour, self._attributes.b2_minute, self._attributes.b3_second]
self._batchedReadValues = [[0.0, 0.0, 0.0], 0, 0, 0, 0]
@property
def a1_defaultRotateXYZ(self):
return self._batchedReadValues[0]
@a1_defaultRotateXYZ.setter
def a1_defaultRotateXYZ(self, value):
self._batchedReadValues[0] = value
@property
def a2_rotationAxis(self):
return self._batchedReadValues[1]
@a2_rotationAxis.setter
def a2_rotationAxis(self, value):
self._batchedReadValues[1] = value
@property
def b1_hour(self):
return self._batchedReadValues[2]
@b1_hour.setter
def b1_hour(self, value):
self._batchedReadValues[2] = value
@property
def b2_minute(self):
return self._batchedReadValues[3]
@b2_minute.setter
def b2_minute(self, value):
self._batchedReadValues[3] = value
@property
def b3_second(self):
return self._batchedReadValues[4]
@b3_second.setter
def b3_second(self, value):
self._batchedReadValues[4] = value
def __getattr__(self, item: str):
if item in self.LOCAL_PROPERTY_NAMES:
return object.__getattribute__(self, item)
else:
return super().__getattr__(item)
def __setattr__(self, item: str, new_value):
if item in self.LOCAL_PROPERTY_NAMES:
object.__setattr__(self, item, new_value)
else:
super().__setattr__(item, new_value)
def _prefetch(self):
readAttributes = self._batchedReadAttributes
newValues = _og._prefetch_input_attributes_data(readAttributes)
if len(readAttributes) == len(newValues):
self._batchedReadValues = newValues
# ----------------------------------------------------.
# Processing Output Parameter.
# ----------------------------------------------------.
class ValuesForOutputs(og.DynamicAttributeAccess):
LOCAL_PROPERTY_NAMES = { "a1_hourRotateXYZ", "a2_minuiteRotateXYZ", "a3_secondRotateXYZ" }
"""Helper class that creates natural hierarchical access to output attributes"""
def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface):
"""Initialize simplified access for the attribute data"""
context = node.get_graph().get_default_graph_context()
super().__init__(context, node, attributes, dynamic_attributes)
self._batchedWriteValues = { }
@property
def a1_hourRotateXYZ(self):
value = self._batchedWriteValues.get(self._attributes.a1_hourRotateXYZ)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.a1_hourRotateXYZ)
return data_view.get()
@a1_hourRotateXYZ.setter
def a1_hourRotateXYZ(self, value):
self._batchedWriteValues[self._attributes.a1_hourRotateXYZ] = value
@property
def a2_minuteRotateXYZ(self):
value = self._batchedWriteValues.get(self._attributes.a2_minuteRotateXYZ)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.a2_minuteRotateXYZ)
return data_view.get()
@a2_minuteRotateXYZ.setter
def a2_minuteRotateXYZ(self, value):
self._batchedWriteValues[self._attributes.a2_minuteRotateXYZ] = value
@property
def a3_secondRotateXYZ(self):
value = self._batchedWriteValues.get(self._attributes.a3_secondRotateXYZ)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.a3_secondRotateXYZ)
return data_view.get()
@a3_secondRotateXYZ.setter
def a3_secondRotateXYZ(self, value):
self._batchedWriteValues[self._attributes.a3_secondRotateXYZ] = value
def __getattr__(self, item: str):
if item in self.LOCAL_PROPERTY_NAMES:
return object.__getattribute__(self, item)
else:
return super().__getattr__(item)
def __setattr__(self, item: str, new_value):
if item in self.LOCAL_PROPERTY_NAMES:
object.__setattr__(self, item, new_value)
else:
super().__setattr__(item, new_value)
def _commit(self):
_og._commit_output_attributes_data(self._batchedWriteValues)
self._batchedWriteValues = { }
class ValuesForState(og.DynamicAttributeAccess):
"""Helper class that creates natural hierarchical access to state attributes"""
def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface):
"""Initialize simplified access for the attribute data"""
context = node.get_graph().get_default_graph_context()
super().__init__(context, node, attributes, dynamic_attributes)
def __init__(self, node):
super().__init__(node)
dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_INPUT)
self.inputs = RotationByTimeDatabase.ValuesForInputs(node, self.attributes.inputs, dynamic_attributes)
dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_OUTPUT)
self.outputs = RotationByTimeDatabase.ValuesForOutputs(node, self.attributes.outputs, dynamic_attributes)
dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_STATE)
self.state = RotationByTimeDatabase.ValuesForState(node, self.attributes.state, dynamic_attributes)
# ----------------------------------------------------.
# Class defining the ABI interface for the node type.
# ----------------------------------------------------.
class abi:
@staticmethod
def get_node_type():
get_node_type_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'get_node_type', None)
if callable(get_node_type_function):
return get_node_type_function()
return 'ft_lab.OmniGraph.GetDateTime.RotationByTime'
@staticmethod
def compute(context, node):
def database_valid():
return True
try:
per_node_data = RotationByTimeDatabase.PER_NODE_DATA[node.node_id()]
db = per_node_data.get('_db')
if db is None:
db = RotationByTimeDatabase(node)
per_node_data['_db'] = db
if not database_valid():
per_node_data['_db'] = None
return False
except:
db = RotationByTimeDatabase(node)
try:
compute_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'compute', None)
if callable(compute_function) and compute_function.__code__.co_argcount > 1:
return compute_function(context, node)
db.inputs._prefetch()
db.inputs._setting_locked = True
with og.in_compute():
return RotationByTimeDatabase.NODE_TYPE_CLASS.compute(db)
except Exception as error:
stack_trace = "".join(traceback.format_tb(sys.exc_info()[2].tb_next))
db.log_error(f'Assertion raised in compute - {error}\n{stack_trace}', add_context=False)
finally:
db.inputs._setting_locked = False
db.outputs._commit()
return False
@staticmethod
def initialize(context, node):
RotationByTimeDatabase._initialize_per_node_data(node)
initialize_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'initialize', None)
if callable(initialize_function):
initialize_function(context, node)
@staticmethod
def release(node):
release_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'release', None)
if callable(release_function):
release_function(node)
RotationByTimeDatabase._release_per_node_data(node)
@staticmethod
def update_node_version(context, node, old_version, new_version):
update_node_version_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'update_node_version', None)
if callable(update_node_version_function):
return update_node_version_function(context, node, old_version, new_version)
return False
@staticmethod
def initialize_type(node_type):
initialize_type_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'initialize_type', None)
needs_initializing = True
if callable(initialize_type_function):
needs_initializing = initialize_type_function(node_type)
if needs_initializing:
node_type.set_metadata(ogn.MetadataKeys.EXTENSION, "ft_lab.OmniGraph.GetDateTime")
node_type.set_metadata(ogn.MetadataKeys.UI_NAME, "Rotation By Time")
node_type.set_metadata(ogn.MetadataKeys.CATEGORIES, "examples")
node_type.set_metadata(ogn.MetadataKeys.DESCRIPTION, "Rotation By Time")
node_type.set_metadata(ogn.MetadataKeys.LANGUAGE, "Python")
# Set Icon(svg).
icon_path = carb.tokens.get_tokens_interface().resolve("${ft_lab.OmniGraph.GetDateTime}")
icon_path = icon_path + '/' + "data/icons/ft_lab.OmniGraph.GetDateTime.rotationByTimeIcon.svg"
node_type.set_metadata(ogn.MetadataKeys.ICON_PATH, icon_path)
RotationByTimeDatabase.INTERFACE.add_to_node_type(node_type)
@staticmethod
def on_connection_type_resolve(node):
on_connection_type_resolve_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'on_connection_type_resolve', None)
if callable(on_connection_type_resolve_function):
on_connection_type_resolve_function(node)
NODE_TYPE_CLASS = None
@staticmethod
def register(node_type_class):
RotationByTimeDatabase.NODE_TYPE_CLASS = node_type_class
og.register_node_type(RotationByTimeDatabase.abi, 1)
@staticmethod
def deregister():
og.deregister_node_type("ft_lab.OmniGraph.GetDateTime.RotationByTime")
| 13,782 | Python | 44.488449 | 196 | 0.600929 |
ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/ft_lab/OmniGraph/GetDateTime/nodes/GetDateTime.py | """
Get date time.
"""
import numpy as np
import omni.ext
import datetime
class GetDateTime:
@staticmethod
def compute(db) -> bool:
try:
# Get current date and time.
now = datetime.datetime.now()
db.outputs.a1_year = now.year
db.outputs.a2_month = now.month
db.outputs.a3_day = now.day
db.outputs.b1_hour = now.hour
db.outputs.b2_minute = now.minute
db.outputs.b3_second = now.second
except TypeError as error:
db.log_error(f"Processing failed : {error}")
return False
return True
| 650 | Python | 22.249999 | 56 | 0.550769 |
ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/ft_lab/OmniGraph/GetDateTime/nodes/OutputToLCD.py | """
Time output to LCD (hh:mm).
"""
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import numpy as np
import omni.ext
class OutputToLCD:
@staticmethod
def compute(db) -> bool:
try:
hour = db.inputs.d1_hour
minute = db.inputs.d2_minute
second = db.inputs.d3_second
# xABCDEFG => 0b01111110 = 0x7e = '0'
nameList = ["A", "B", "C", "D", "E", "F", "G"]
numMaskList = [0x7e, 0x30, 0x6d, 0x79, 0x33, 0x5b, 0x5f, 0x70, 0x7f, 0x7b]
# Get stage.
stage = omni.usd.get_context().get_stage()
# Show/hide "AM"
if db.inputs.c1_amPrim != None and db.inputs.c1_amPrim != "":
prim = stage.GetPrimAtPath(db.inputs.c1_amPrim)
if prim.IsValid():
primImageable = UsdGeom.Imageable(prim)
primImageable.GetVisibilityAttr().Set('inherited' if hour < 12 else 'invisible')
# Show/hide "PM"
if db.inputs.c2_pmPrim != None and db.inputs.c2_pmPrim != "":
prim = stage.GetPrimAtPath(db.inputs.c2_pmPrim)
if prim.IsValid():
primImageable = UsdGeom.Imageable(prim)
primImageable.GetVisibilityAttr().Set('inherited' if (hour >= 12) else 'invisible')
# Hour : 10th digit.
hour12 = hour if (hour < 12) else (hour - 12)
if db.inputs.a1_hourNum10Prim != None and db.inputs.a1_hourNum10Prim != "":
basePrimPath = db.inputs.a1_hourNum10Prim
shiftV = 0x40
maskV = numMaskList[(int)(hour12 / 10) % 10]
for i in range(7):
primPath = f"{basePrimPath}/{nameList[i]}"
prim = stage.GetPrimAtPath(primPath)
if prim.IsValid():
primImageable = UsdGeom.Imageable(prim)
primImageable.GetVisibilityAttr().Set('inherited' if ((maskV & shiftV) != 0) else 'invisible')
shiftV >>= 1
# Hour : 1th digit.
if db.inputs.a2_hourNum1Prim != None and db.inputs.a2_hourNum1Prim != "":
basePrimPath = db.inputs.a2_hourNum1Prim
shiftV = 0x40
maskV = numMaskList[(int)(hour12) % 10]
for i in range(7):
primPath = f"{basePrimPath}/{nameList[i]}"
prim = stage.GetPrimAtPath(primPath)
if prim.IsValid():
primImageable = UsdGeom.Imageable(prim)
primImageable.GetVisibilityAttr().Set('inherited' if ((maskV & shiftV) != 0) else 'invisible')
shiftV >>= 1
# Minute : 10th digit.
if db.inputs.b1_minuteNum10Prim != None and db.inputs.b1_minuteNum10Prim != "":
basePrimPath = db.inputs.b1_minuteNum10Prim
shiftV = 0x40
maskV = numMaskList[(int)(minute / 10) % 10]
for i in range(7):
primPath = f"{basePrimPath}/{nameList[i]}"
prim = stage.GetPrimAtPath(primPath)
if prim.IsValid():
primImageable = UsdGeom.Imageable(prim)
primImageable.GetVisibilityAttr().Set('inherited' if ((maskV & shiftV) != 0) else 'invisible')
shiftV >>= 1
# Minute : 1th digit.
if db.inputs.b2_minuteNum1Prim != None and db.inputs.b2_minuteNum1Prim != "":
basePrimPath = db.inputs.b2_minuteNum1Prim
shiftV = 0x40
maskV = numMaskList[(int)(minute) % 10]
for i in range(7):
primPath = f"{basePrimPath}/{nameList[i]}"
prim = stage.GetPrimAtPath(primPath)
if prim.IsValid():
primImageable = UsdGeom.Imageable(prim)
primImageable.GetVisibilityAttr().Set('inherited' if ((maskV & shiftV) != 0) else 'invisible')
shiftV >>= 1
except TypeError as error:
db.log_error(f"Processing failed : {error}")
return False
return True
| 4,275 | Python | 42.632653 | 118 | 0.509474 |
ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/ft_lab/OmniGraph/GetDateTime/nodes/RotationByTime.py | """
Rotation by time.
"""
import numpy as np
import omni.ext
class RotationByTime:
@staticmethod
def compute(db) -> bool:
try:
# Calculate clock rotation from seconds.
if db.inputs.a2_rotationAxis >= 0 and db.inputs.a2_rotationAxis <= 2:
v = db.outputs.a3_secondRotateXYZ
v[0] = db.inputs.a1_defaultRotateXYZ[0]
v[1] = db.inputs.a1_defaultRotateXYZ[1]
v[2] = db.inputs.a1_defaultRotateXYZ[2]
v[db.inputs.a2_rotationAxis] = ((float)(db.inputs.b3_second) / 60.0) * 360.0
# Calculate clock rotation from minutes.
if db.inputs.a2_rotationAxis >= 0 and db.inputs.a2_rotationAxis <= 2:
v = db.outputs.a2_minuteRotateXYZ
v[0] = db.inputs.a1_defaultRotateXYZ[0]
v[1] = db.inputs.a1_defaultRotateXYZ[1]
v[2] = db.inputs.a1_defaultRotateXYZ[2]
v[db.inputs.a2_rotationAxis] = ((float)(db.inputs.b2_minute * 60.0 + db.inputs.b3_second) / (60.0 * 60.0)) * 360.0
# Calculate clock rotation from hours.
if db.inputs.a2_rotationAxis >= 0 and db.inputs.a2_rotationAxis <= 2:
v = db.outputs.a1_hourRotateXYZ
v[0] = db.inputs.a1_defaultRotateXYZ[0]
v[1] = db.inputs.a1_defaultRotateXYZ[1]
v[2] = db.inputs.a1_defaultRotateXYZ[2]
v[db.inputs.a2_rotationAxis] = ((float)(db.inputs.b1_hour * 60.0 + db.inputs.b2_minute) / (60.0 * 24.0)) * 360.0 * 2.0
except TypeError as error:
db.log_error(f"Processing failed : {error}")
return False
return True
| 1,705 | Python | 39.619047 | 134 | 0.559531 |
ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/docs/CHANGELOG.md | # CHANGELOG
This document records all notable changes to ``ft_lab.OmniGraph.GetDateTime`` extension.
| 104 | Markdown | 16.499997 | 88 | 0.778846 |
ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/docs/README.md | # GetDateTime [ft_lab.OmniGraph.GetDateTime]
This sample uses OmniGraph to reflect the current time on analog and digital clocks created as 3D models.
This extension consists of three custom nodes.
## Get DateTime
Get the current local date and time.
### Output
* Year (int)
* Month (int)
* Day (int)
* Hour (int)
* Minute (int)
* Second (int)
## Rotation By Time
Given an hour, minute, and second, returns the XYZ of each rotation(degree).
Used in analog clock rotation.
### Input
* Default RotationXYZ : Default rotation value (float3)
* Rotation Axis : Rotation axis (0:X, 1:Y, 2:Z)
* Hour (int)
* Minute (int)
* Second (int)
### Output
* Hour RotateXYZ : Hour rotation value (float3)
* Minute RotateXYZ : Minute rotation value (float3)
* Second RotateXYZ : Second rotation value (float3)
## Time Output To LCD
This node controls a virtual 7-segment LED LCD screen.
Show/Hide the Prim specified in Input to display the digital clock.
### Input
* HourNum10 Prim : Specify the 10th digit Prim of hour (token)
* HourNum11 Prim : Specify the 1th digit Prim of hour (token)
* MinuteNum10 Prim : Specify the 10th digit Prim of minute (token)
* MinuteNum11 Prim : Specify the 1th digit Prim of minute (token)
* AM Prim : Specify the prim to display "AM" (token)
* PM Prim : Specify the prim to display "PM" (token)
* Hour (int)
* Minute (int)
* Second (int)
| 1,405 | Markdown | 24.563636 | 110 | 0.703203 |
ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/docs/index.rst | ft_lab.OmniGraph.GetDateTime
###########################
.. toctree::
:maxdepth: 1
README
CHANGELOG
| 113 | reStructuredText | 9.363636 | 28 | 0.495575 |
ft-lab/Omniverse_OmniGraph_ClockSample/docs/node_GetDateTime.md | # GetDateTime
Get the current local date and time.
## GetDateTime.json
```json
{
"GetDateTime": {
"version": 1,
"categories": "examples",
"description": "Get datetime node.",
"language": "Python",
"metadata": {
"uiName": "Get DateTime"
},
"inputs": {
},
"outputs": {
"a1_year": {
"type": "int",
"description": "year",
"default": 2000,
"metadata": {
"uiName": "Year"
}
},
"a2_month": {
"type": "int",
"description": "month",
"default": 1,
"metadata": {
"uiName": "Month"
}
},
"a3_day": {
"type": "int",
"description": "day",
"default": 1,
"metadata": {
"uiName": "Day"
}
},
"b1_hour": {
"type": "int",
"description": "hour",
"default": 1,
"metadata": {
"uiName": "Hour"
}
},
"b2_minute": {
"type": "int",
"description": "minute",
"default": 1,
"metadata": {
"uiName": "Minute"
}
},
"b3_second": {
"type": "int",
"description": "second",
"default": 1,
"metadata": {
"uiName": "Second"
}
}
}
}
}
```
No inputs is provided, as it only outputs the current time.
Outputs date and time in int type.
### Outputs
|Attribute name|Type|UI name|Description|
|---|---|---|---|
|a1_year|int|Year|year|
|a2_month|int|Month|month|
|a3_day|int|Day|day|
|b1_hour|int|Hour|hour|
|b2_minute|int|Minute|minute|
|b3_second|int|Second|second|
The "a1_" or "b1_" at the beginning of the attribute name is used to display the data in ascending order when it is displayed in a graph.
This is done to prevent the node inputs/outputs from being sorted in ascending order as ASCII code strings when displaying the inputs/outputs of the node in the UI.
The order is ascending by attribute name, and the display name is the UI name.
## GetDateTime.py
”GetDateTime.py" specifies what the node actually does.
```python
import numpy as np
import omni.ext
import datetime
class GetDateTime:
@staticmethod
def compute(db) -> bool:
try:
# Get current date and time.
now = datetime.datetime.now()
db.outputs.a1_year = now.year
db.outputs.a2_month = now.month
db.outputs.a3_day = now.day
db.outputs.b1_hour = now.hour
db.outputs.b2_minute = now.minute
db.outputs.b3_second = now.second
except TypeError as error:
db.log_error(f"Processing failed : {error}")
return False
return True
```
Get the date and time and store them in the outputs.
Data is set to "db.outputs.[Attribute name]".
## GetDateTimeDatabase.py
The registration process as an Extension of the OmniGraph node is performed.
Since this code is almost canned, it is expected that once it is created, it will be reused.
In the case of "GetDateTimeDatabase.py", enter the class "GetDateTimeDatabase(og.Database)".
```python
import omni.graph.core as og
import omni.graph.core._omni_graph_core as _og
import omni.graph.tools.ogn as ogn
import numpy
import sys
import traceback
import carb
class GetDateTimeDatabase(og.Database):
PER_NODE_DATA = {}
INTERFACE = og.Database._get_interface([
('outputs:a1_year', 'int', 0, 'Year', 'output year', {ogn.MetadataKeys.DEFAULT: '2000'}, True, 0, False, ''),
('outputs:a2_month', 'int', 0, 'Month', 'output month', {ogn.MetadataKeys.DEFAULT: '1'}, True, 0, False, ''),
('outputs:a3_day', 'int', 0, 'Day', 'output day', {ogn.MetadataKeys.DEFAULT: '1'}, True, 0, False, ''),
('outputs:b1_hour', 'int', 0, 'Hour', 'output hour', {ogn.MetadataKeys.DEFAULT: '1'}, True, 0, False, ''),
('outputs:b2_minute', 'int', 0, 'Minute', 'output minute', {ogn.MetadataKeys.DEFAULT: '0'}, True, 0, False, ''),
('outputs:b3_second', 'int', 0, 'Second', 'output second', {ogn.MetadataKeys.DEFAULT: '0'}, True, 0, False, ''),
])
```
"INTERFACE" enumerates attribute data.
The input and output data, in turn, will include the following.
* Attribute name
* Type (To allow more than one, separate them with a comma)
* Index of type ? Specify 0 for a single Type or 1 for multiple Types.
* Display name in UI
* Description
* Meta data
* Necessary or not (True, False)
* Default value
* Deprecated (True, False)
* Message when deprecated
Attribute name and type must match those specified in the ogn file.
In the case of the OmniGraph node provided by Extension, it seemed to refer to this description rather than the ogn file.
### ValuesForOutputs
The outputs designation is described in the "ValuesForOutputs" class.
```python
class ValuesForOutputs(og.DynamicAttributeAccess):
LOCAL_PROPERTY_NAMES = { "a1_year", "a2_month", "a3_day", "b1_hour", "b2_month", "b3_second" }
"""Helper class that creates natural hierarchical access to output attributes"""
def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface):
"""Initialize simplified access for the attribute data"""
context = node.get_graph().get_default_graph_context()
super().__init__(context, node, attributes, dynamic_attributes)
self._batchedWriteValues = { }
@property
def a1_year(self):
value = self._batchedWriteValues.get(self._attributes.a1_year)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.a1_year)
return data_view.get()
@a1_year.setter
def a1_year(self, value):
self._batchedWriteValues[self._attributes.a1_year] = value
@property
def a2_month(self):
value = self._batchedWriteValues.get(self._attributes.a2_month)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.a2_month)
return data_view.get()
@a2_month.setter
def a2_month(self, value):
self._batchedWriteValues[self._attributes.a2_month] = value
@property
def a3_day(self):
value = self._batchedWriteValues.get(self._attributes.a3_day)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.a3_day)
return data_view.get()
@a3_day.setter
def a3_day(self, value):
self._batchedWriteValues[self._attributes.a3_day] = value
@property
def b1_hour(self):
value = self._batchedWriteValues.get(self._attributes.b1_hour)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.b1_hour)
return data_view.get()
@b1_hour.setter
def b1_hour(self, value):
self._batchedWriteValues[self._attributes.b1_hour] = value
@property
def b2_minute(self):
value = self._batchedWriteValues.get(self._attributes.b2_minute)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.b2_minute)
return data_view.get()
@b2_minute.setter
def b2_minute(self, value):
self._batchedWriteValues[self._attributes.b2_minute] = value
@property
def b3_second(self):
value = self._batchedWriteValues.get(self._attributes.b3_second)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.b3_second)
return data_view.get()
@b3_second.setter
def b3_second(self, value):
self._batchedWriteValues[self._attributes.b3_second] = value
def __getattr__(self, item: str):
if item in self.LOCAL_PROPERTY_NAMES:
return object.__getattribute__(self, item)
else:
return super().__getattr__(item)
def __setattr__(self, item: str, new_value):
if item in self.LOCAL_PROPERTY_NAMES:
object.__setattr__(self, item, new_value)
else:
super().__setattr__(item, new_value)
def _commit(self):
_og._commit_output_attributes_data(self._batchedWriteValues)
self._batchedWriteValues = { }
```
Specify the attribute names to be used in order in "LOCAL_PROPERTY_NAMES".
```python
LOCAL_PROPERTY_NAMES = { "a1_year", "a2_month", "a3_day", "b1_hour", "b2_month", "b3_second" }
```
Specify getter/setter for each attribute.
If the attribute type is fixed, simply change the attribute name.
```python
@property
def a1_year(self):
value = self._batchedWriteValues.get(self._attributes.a1_year)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.a1_year)
return data_view.get()
@a1_year.setter
def a1_year(self, value):
self._batchedWriteValues[self._attributes.a1_year] = value
```
"\_\_getattr\_\_", "\_\_setattr\_\_", and "\_commit" can be copied and pasted as is.
### ValuesForState(og.DynamicAttributeAccess)
The ValuesForState class "GetDateTimeDatabase" can be used by simply specifying the target class name and copying and pasting.
```python
class ValuesForState(og.DynamicAttributeAccess):
"""Helper class that creates natural hierarchical access to state attributes"""
def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface):
"""Initialize simplified access for the attribute data"""
context = node.get_graph().get_default_graph_context()
super().__init__(context, node, attributes, dynamic_attributes)
```
### \_\_init\_\_
In "\_\_init\_\_", outputs and state classes are created.
```python
def __init__(self, node):
super().__init__(node)
dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_OUTPUT)
self.outputs = GetDateTimeDatabase.ValuesForOutputs(node, self.attributes.outputs, dynamic_attributes)
dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_STATE)
self.state = GetDateTimeDatabase.ValuesForState(node, self.attributes.state, dynamic_attributes)
```
There are no inputs in this GetDateTimeDatabase class, so that is not mentioned.
### class abi
Define the connections for the OmniGraph node.
Think of ABI as a regular flow.
Basically, the designation to the ABI interface is a canned statement.
```python
class abi:
@staticmethod
def get_node_type():
get_node_type_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'get_node_type', None)
if callable(get_node_type_function):
return get_node_type_function()
return 'ft_lab.OmniGraph.GetDateTime.GetDateTime'
```
Since the name of this Extension is "ft_lab.OmniGraph.GetDateTime" and "GetDateTime" is in it, "ft_lab.OmniGraph.GetDateTime.GetDateTime" is specified as the return value.
The compute method is called when this node is executed.
This also specifies an almost canned statement.
```python
@staticmethod
def compute(context, node):
try:
per_node_data = GetDateTimeDatabase.PER_NODE_DATA[node.node_id()]
db = per_node_data.get('_db')
if db is None:
db = GetDateTimeDatabase(node)
per_node_data['_db'] = db
except:
db = GetDateTimeDatabase(node)
try:
compute_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'compute', None)
if callable(compute_function) and compute_function.__code__.co_argcount > 1:
return compute_function(context, node)
with og.in_compute():
return GetDateTimeDatabase.NODE_TYPE_CLASS.compute(db)
except Exception as error:
stack_trace = "".join(traceback.format_tb(sys.exc_info()[2].tb_next))
db.log_error(f'Assertion raised in compute - {error}\n{stack_trace}', add_context=False)
finally:
db.outputs._commit()
return False
```
The compute method of GetDateTime.py is called from "GetDateTimeDatabase.NODE_TYPE_CLASS.compute(db)".
initialize, release, and update_node_version are listed as they are, just matching the class names.
This is also a canned statement.
```python
@staticmethod
def initialize(context, node):
GetDateTimeDatabase._initialize_per_node_data(node)
initialize_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'initialize', None)
if callable(initialize_function):
initialize_function(context, node)
@staticmethod
def release(node):
release_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'release', None)
if callable(release_function):
release_function(node)
GetDateTimeDatabase._release_per_node_data(node)
@staticmethod
def update_node_version(context, node, old_version, new_version):
update_node_version_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'update_node_version', None)
if callable(update_node_version_function):
return update_node_version_function(context, node, old_version, new_version)
return False
```
The initialize_type method specifies information about the OmniGraph node.
```python
@staticmethod
def initialize_type(node_type):
initialize_type_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'initialize_type', None)
needs_initializing = True
if callable(initialize_type_function):
needs_initializing = initialize_type_function(node_type)
if needs_initializing:
node_type.set_metadata(ogn.MetadataKeys.EXTENSION, "ft_lab.OmniGraph.GetDateTime")
node_type.set_metadata(ogn.MetadataKeys.UI_NAME, "Get DateTime")
node_type.set_metadata(ogn.MetadataKeys.CATEGORIES, "examples")
node_type.set_metadata(ogn.MetadataKeys.DESCRIPTION, "Get current date and time")
node_type.set_metadata(ogn.MetadataKeys.LANGUAGE, "Python")
# Set Icon(svg).
icon_path = carb.tokens.get_tokens_interface().resolve("${ft_lab.OmniGraph.GetDateTime}")
icon_path = icon_path + '/' + "data/icons/icon.svg"
node_type.set_metadata(ogn.MetadataKeys.ICON_PATH, icon_path)
GetDateTimeDatabase.INTERFACE.add_to_node_type(node_type)
```
The information is set as metadata by using "node_type.set_metadata".
|Key name|Description|Value|
|---|---|---|
|ogn.MetadataKeys.EXTENSION|Extension name|ft_lab.OmniGraph.GetDateTime|
|ogn.MetadataKeys.UI_NAME|UI name of node|Get DateTime|
|ogn.MetadataKeys.CATEGORIES|Categories name|examples|
|ogn.MetadataKeys.DESCRIPTION|Node description|Get current date and time|
|ogn.MetadataKeys.LANGUAGE|language used|Python|
|ogn.MetadataKeys.ICON_PATH|Icon path|[Extension Path]/data/icons/ft_lab.OmniGraph.GetDateTime.icon.svg|
See below for available category names.
https://docs.omniverse.nvidia.com/kit/docs/omni.graph.docs/latest/howto/Categories.html
The icon path is obtained from the Extension path as follows, and then "/data/icons/icon.svg" is connected.
```python
icon_path = carb.tokens.get_tokens_interface().resolve("${ft_lab.OmniGraph.GetDateTime}")
icon_path = icon_path + '/' + "data/icons/ft_lab.OmniGraph.GetDateTime.icon.svg"
node_type.set_metadata(ogn.MetadataKeys.ICON_PATH, icon_path)
```
Finally, register the "node_type" to which the metadata is assigned.
```python
GetDateTimeDatabase.INTERFACE.add_to_node_type(node_type)
```
The on_connection_type_resolve method is a canned statement.
```python
@staticmethod
def on_connection_type_resolve(node):
on_connection_type_resolve_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'on_connection_type_resolve', None)
if callable(on_connection_type_resolve_function):
on_connection_type_resolve_function(node)
```
### Specify version
After describing the abi class, add the following line as is.
USD Composer 2023.2.2 (Kit.105.1.2).
```python
NODE_TYPE_CLASS = None
GENERATOR_VERSION = (1, 41, 3)
TARGET_VERSION = (2, 139, 12)
```
This seemed to need to be updated when the Kit version was upgraded.
Otherwise, problems occurred, such as icons not being displayed.
### register method
The register method is a canned statement.
```python
@staticmethod
def register(node_type_class):
GetDateTimeDatabase.NODE_TYPE_CLASS = node_type_class
og.register_node_type(GetDateTimeDatabase.abi, 1)
```
### deregister method
The deregister method specifies "[Extension name].[class name of this node]".
```python
@staticmethod
def deregister():
og.deregister_node_type("ft_lab.OmniGraph.GetDateTime.GetDateTime")
```
| 18,152 | Markdown | 34.734252 | 177 | 0.613431 |
ft-lab/Omniverse_OmniGraph_ClockSample/docs/node_RotationByTime.md | # RotationByTime
Given an hour, minute, and second, returns the XYZ of each rotation(degree).
## RotationByTime.json
```json
{
"RotationByTime": {
"version": 1,
"categories": "examples",
"description": "Rotation mechanism by time.",
"language": "Python",
"metadata": {
"uiName": "Rotation By Time"
},
"inputs": {
"a1_defaultRotateXYZ": {
"type": "float[3]",
"description": "Default rotateXYZ",
"default": [0.0, 0.0, 0.0],
"metadata": {
"uiName": "Default rotateXYZ"
}
},
"a2_rotationAxis": {
"type": "int",
"description": "Rotation axis (0:X, 0:Y, 0:Z)",
"default": 0,
"metadata": {
"uiName": "Rotation axis"
}
},
"b1_hour": {
"type": "int",
"description": "Hour",
"default": 0,
"metadata": {
"uiName": "Hour"
}
},
"b2_minute": {
"type": "int",
"description": "Minute",
"default": 0,
"metadata": {
"uiName": "Minute"
}
},
"b3_second": {
"type": "int",
"description": "Second",
"default": 0,
"metadata": {
"uiName": "Second"
}
}
},
"outputs": {
"a1_hourRotateXYZ": {
"type": "float[3]",
"description": "Hour rotateXYZ",
"default": [0.0, 0.0, 0.0],
"metadata": {
"uiName": "Hour RotateXYZ"
}
},
"a2_minuteRotateXYZ": {
"type": "float[3]",
"description": "Minute rotateXYZ",
"default": [0.0, 0.0, 0.0],
"metadata": {
"uiName": "Minute RotateXYZ"
}
},
"a3_secondRotateXYZ": {
"type": "float[3]",
"description": "Second rotateXYZ",
"default": [0.0, 0.0, 0.0],
"metadata": {
"uiName": "Second RotateXYZ"
}
}
}
}
}
```
### Inputs
|Attribute name|Type|UI name|Description|
|---|---|---|---|
|a1_defaultRotateXYZ|float3|Default rotateXYZ|Default rotateXYZ|
|a2_rotationAxis|int|Rotation axis|Rotation axis (0:X, 1:Y, 2:Z)|
|b1_hour|int|Hour|Hour|
|b2_minute|int|Minute|Minute|
|b3_second|int|Second|Second|
The "a1_" or "b1_" at the beginning of the attribute name is used to display the data in ascending order when it is displayed in a graph.
"a1_defaultRotateXYZ" is the initial rotation value of the clock hands provided in the 3D model.
"a2_rotationAxis" is the axis of rotation (0:X, 1:Y, 2:Z).
In the case of the image above, it rotates around the Y axis. In this case, specify 1.
b1_hour, b2_minute, and b3_second are entered as hours, minutes, and seconds.
### Outputs
|Attribute name|Type|UI name|Description|
|---|---|---|---|
|a1_hourRotateXYZ|float3|Hour rotateXYZ|Hour rotateXYZ|
|a2_minuteRotateXYZ|float3|Minute rotateXYZ|Minute rotateXYZ|
|a3_secondRotateXYZ|float3|Second rotateXYZ|Second rotateXYZ|
Returns the rotational value of an analog clock corresponding to the input hour, minute, and second.
The XYZ of the rotation returned here is assigned to the rotation of the clock hands in the 3D model.
## RotationByTime.py
The rotation of the hands of a clock is calculated.
```python
import numpy as np
import omni.ext
class RotationByTime:
@staticmethod
def compute(db) -> bool:
try:
# Calculate clock rotation from seconds.
if db.inputs.a2_rotationAxis >= 0 and db.inputs.a2_rotationAxis <= 2:
v = db.outputs.a3_secondRotateXYZ
v[0] = db.inputs.a1_defaultRotateXYZ[0]
v[1] = db.inputs.a1_defaultRotateXYZ[1]
v[2] = db.inputs.a1_defaultRotateXYZ[2]
v[db.inputs.a2_rotationAxis] = ((float)(db.inputs.b3_second) / 60.0) * 360.0
# Calculate clock rotation from minutes.
if db.inputs.a2_rotationAxis >= 0 and db.inputs.a2_rotationAxis <= 2:
v = db.outputs.a2_minuteRotateXYZ
v[0] = db.inputs.a1_defaultRotateXYZ[0]
v[1] = db.inputs.a1_defaultRotateXYZ[1]
v[2] = db.inputs.a1_defaultRotateXYZ[2]
v[db.inputs.a2_rotationAxis] = ((float)(db.inputs.b2_minute * 60.0 + db.inputs.b3_second) / (60.0 * 60.0)) * 360.0
# Calculate clock rotation from hours.
if db.inputs.a2_rotationAxis >= 0 and db.inputs.a2_rotationAxis <= 2:
v = db.outputs.a1_hourRotateXYZ
v[0] = db.inputs.a1_defaultRotateXYZ[0]
v[1] = db.inputs.a1_defaultRotateXYZ[1]
v[2] = db.inputs.a1_defaultRotateXYZ[2]
v[db.inputs.a2_rotationAxis] = ((float)(db.inputs.b1_hour * 60.0 + db.inputs.b2_minute) / (60.0 * 24.0)) * 360.0 * 2.0
except TypeError as error:
db.log_error(f"Processing failed : {error}")
return False
return True
```
## RotationByTimeDatabase.py
For the most part, the process is the same as for "[GetDateTimeDatabase.py](./node_GetDateTime.md)".
"INTERFACE" enumerates attribute data.
```python
PER_NODE_DATA = {}
INTERFACE = og.Database._get_interface([
('inputs:a1_defaultRotateXYZ', 'float[3]', 0, 'Default RotateXYZ', 'Default rotateXYZ', {}, True, None, False, ''),
('inputs:a2_rotationAxis', 'int', 0, 'Rotation Axis', 'Rotation axis (0:X, 1:Y, 2:Z)', {}, True, None, False, ''),
('inputs:b1_hour', 'int', 0, 'Hour', 'Hour', {ogn.MetadataKeys.DEFAULT: '0'}, True, 0, False, ''),
('inputs:b2_minute', 'int', 0, 'Minute', 'Minute', {ogn.MetadataKeys.DEFAULT: '0'}, True, 0, False, ''),
('inputs:b3_second', 'int', 0, 'Second', 'Second', {ogn.MetadataKeys.DEFAULT: '0'}, True, 0, False, ''),
('outputs:a1_hourRotateXYZ', 'float[3]', 0, 'Hour RotateXYZ', 'Hour RotateXYZ', {}, True, None, False, ''),
('outputs:a2_minuteRotateXYZ', 'float[3]', 0, 'Minute RotateXYZ', 'Minute RotateXYZ', {}, True, None, False, ''),
('outputs:a3_secondRotateXYZ', 'float[3]', 0, 'Second RotateXYZ', 'Second RotateXYZ', {}, True, None, False, ''),
])
```
”RotationByTimeDatabase.py" specifies both inputs and outputs.
Note that the attribute type specified as "float3" in the ogn file becomes "float[3]".
### ValuesForInputs
The inputs designation is described in the "ValuesForInputs" class.
```python
class ValuesForInputs(og.DynamicAttributeAccess):
LOCAL_PROPERTY_NAMES = {"a1_defaultRotateXYZ", "a2_rotationAxis", "b1_hour", "b2_minute", "b3_second"}
"""Helper class that creates natural hierarchical access to input attributes"""
def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface):
"""Initialize simplified access for the attribute data"""
context = node.get_graph().get_default_graph_context()
super().__init__(context, node, attributes, dynamic_attributes)
self._batchedReadAttributes = [self._attributes.a1_defaultRotateXYZ, self._attributes.a2_rotationAxis, self._attributes.b1_hour, self._attributes.b2_minute, self._attributes.b3_second]
self._batchedReadValues = [[0.0, 0.0, 0.0], 0, 0, 0, 0]
@property
def a1_defaultRotateXYZ(self):
return self._batchedReadValues[0]
@a1_defaultRotateXYZ.setter
def a1_defaultRotateXYZ(self, value):
self._batchedReadValues[0] = value
@property
def a2_rotationAxis(self):
return self._batchedReadValues[1]
@a2_rotationAxis.setter
def a2_rotationAxis(self, value):
self._batchedReadValues[1] = value
@property
def b1_hour(self):
return self._batchedReadValues[2]
@b1_hour.setter
def b1_hour(self, value):
self._batchedReadValues[2] = value
@property
def b2_minute(self):
return self._batchedReadValues[3]
@b2_minute.setter
def b2_minute(self, value):
self._batchedReadValues[3] = value
@property
def b3_second(self):
return self._batchedReadValues[4]
@b3_second.setter
def b3_second(self, value):
self._batchedReadValues[4] = value
def __getattr__(self, item: str):
if item in self.LOCAL_PROPERTY_NAMES:
return object.__getattribute__(self, item)
else:
return super().__getattr__(item)
def __setattr__(self, item: str, new_value):
if item in self.LOCAL_PROPERTY_NAMES:
object.__setattr__(self, item, new_value)
else:
super().__setattr__(item, new_value)
def _prefetch(self):
readAttributes = self._batchedReadAttributes
newValues = _og._prefetch_input_attributes_data(readAttributes)
if len(readAttributes) == len(newValues):
self._batchedReadValues = newValues
```
Specify the attribute names to be used in order in "LOCAL_PROPERTY_NAMES".
```python
LOCAL_PROPERTY_NAMES = {"a1_defaultRotateXYZ", "a2_rotationAxis", "b1_hour", "b2_minute", "b3_second"}
```
In "\_\_init\_\_", specify "self._attributes.[Attribute name]" as an array.
```python
self._batchedReadAttributes = [self._attributes.a1_defaultRotateXYZ, self._attributes.a2_rotationAxis, self._attributes.b1_hour, self._attributes.b2_minute, self._attributes.b3_second]
```
Also, put initial values in self._batchedReadValues.
```python
self._batchedReadValues = [[0.0, 0.0, 0.0], 0, 0, 0, 0]
```
"a1_defaultRotateXYZ" is a float[3] value, all other values are of type int.
The property getter/setter is specified as follows.
If the attribute type is fixed, simply change the attribute name.
```python
@property
def a1_defaultRotateXYZ(self):
return self._batchedReadValues[0]
@a1_defaultRotateXYZ.setter
def a1_defaultRotateXYZ(self, value):
self._batchedReadValues[0] = value
```
The index of "self.\_batchedReadValues" is a number starting from 0 specified in "self.\_batchedReadAttributes[]".
"\_\_getattr\_\_", "\_\_setattr\_\_", and "\_prefetch" can be copied and pasted as is.
### ValuesForOutputs
The outputs designation is described in the "ValuesForOutputs" class.
```python
class ValuesForOutputs(og.DynamicAttributeAccess):
LOCAL_PROPERTY_NAMES = { "a1_hourRotateXYZ", "a2_minuiteRotateXYZ", "a3_secondRotateXYZ" }
"""Helper class that creates natural hierarchical access to output attributes"""
def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface):
"""Initialize simplified access for the attribute data"""
context = node.get_graph().get_default_graph_context()
super().__init__(context, node, attributes, dynamic_attributes)
self._batchedWriteValues = { }
@property
def a1_hourRotateXYZ(self):
value = self._batchedWriteValues.get(self._attributes.a1_hourRotateXYZ)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.a1_hourRotateXYZ)
return data_view.get()
@a1_hourRotateXYZ.setter
def a1_hourRotateXYZ(self, value):
self._batchedWriteValues[self._attributes.a1_hourRotateXYZ] = value
@property
def a2_minuteRotateXYZ(self):
value = self._batchedWriteValues.get(self._attributes.a2_minuteRotateXYZ)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.a2_minuteRotateXYZ)
return data_view.get()
@a2_minuteRotateXYZ.setter
def a2_minuteRotateXYZ(self, value):
self._batchedWriteValues[self._attributes.a2_minuteRotateXYZ] = value
@property
def a3_secondRotateXYZ(self):
value = self._batchedWriteValues.get(self._attributes.a3_secondRotateXYZ)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.a3_secondRotateXYZ)
return data_view.get()
@a3_secondRotateXYZ.setter
def a3_secondRotateXYZ(self, value):
self._batchedWriteValues[self._attributes.a3_secondRotateXYZ] = value
def __getattr__(self, item: str):
if item in self.LOCAL_PROPERTY_NAMES:
return object.__getattribute__(self, item)
else:
return super().__getattr__(item)
def __setattr__(self, item: str, new_value):
if item in self.LOCAL_PROPERTY_NAMES:
object.__setattr__(self, item, new_value)
else:
super().__setattr__(item, new_value)
def _commit(self):
_og._commit_output_attributes_data(self._batchedWriteValues)
self._batchedWriteValues = { }
```
Specify the attribute names to be used in order in "LOCAL_PROPERTY_NAMES".
```python
LOCAL_PROPERTY_NAMES = { "a1_hourRotateXYZ", "a2_minuiteRotateXYZ", "a3_secondRotateXYZ" }
```
Specify getter/setter for each attribute.
If the attribute type is fixed, simply change the attribute name.
```python
@property
def a1_hourRotateXYZ(self):
value = self._batchedWriteValues.get(self._attributes.a1_hourRotateXYZ)
if value:
return value
else:
data_view = og.AttributeValueHelper(self._attributes.a1_hourRotateXYZ)
return data_view.get()
@a1_hourRotateXYZ.setter
def a1_hourRotateXYZ(self, value):
self._batchedWriteValues[self._attributes.a1_hourRotateXYZ] = value
```
"\_\_getattr\_\_", "\_\_setattr\_\_", and "\_commit" can be copied and pasted as is.
### ValuesForState(og.DynamicAttributeAccess)
The ValuesForState class "RotationByTimeDatabase" can be used by simply specifying the target class name and copying and pasting.
```python
class ValuesForState(og.DynamicAttributeAccess):
"""Helper class that creates natural hierarchical access to state attributes"""
def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface):
"""Initialize simplified access for the attribute data"""
context = node.get_graph().get_default_graph_context()
super().__init__(context, node, attributes, dynamic_attributes)
```
### \_\_init\_\_
In "\_\_init\_\_", inputs, outputs and state classes are created.
```python
def __init__(self, node):
super().__init__(node)
dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_INPUT)
self.inputs = RotationByTimeDatabase.ValuesForInputs(node, self.attributes.inputs, dynamic_attributes)
dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_OUTPUT)
self.outputs = RotationByTimeDatabase.ValuesForOutputs(node, self.attributes.outputs, dynamic_attributes)
dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_STATE)
self.state = RotationByTimeDatabase.ValuesForState(node, self.attributes.state, dynamic_attributes)
```
### class abi
Define the connections for the OmniGraph node.
Think of ABI as a regular flow.
Basically, the designation to the ABI interface is a canned statement.
```python
class abi:
@staticmethod
def get_node_type():
get_node_type_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'get_node_type', None)
if callable(get_node_type_function):
return get_node_type_function()
return 'ft_lab.OmniGraph.GetDateTime.RotationByTime'
```
Since the name of this Extension is "ft_lab.OmniGraph.GetDateTime" and "RotationByTime" is in it, "ft_lab.OmniGraph.GetDateTime.RotationByTime" is specified as the return value.
The compute method is called when this node is executed.
This also specifies an almost canned statement.
```python
@staticmethod
def compute(context, node):
try:
per_node_data = RotationByTimeDatabase.PER_NODE_DATA[node.node_id()]
db = per_node_data.get('_db')
if db is None:
db = RotationByTimeDatabase(node)
per_node_data['_db'] = db
except:
db = RotationByTimeDatabase(node)
try:
compute_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'compute', None)
if callable(compute_function) and compute_function.__code__.co_argcount > 1:
return compute_function(context, node)
db.inputs._prefetch()
db.inputs._setting_locked = True
with og.in_compute():
return RotationByTimeDatabase.NODE_TYPE_CLASS.compute(db)
except Exception as error:
stack_trace = "".join(traceback.format_tb(sys.exc_info()[2].tb_next))
db.log_error(f'Assertion raised in compute - {error}\n{stack_trace}', add_context=False)
finally:
db.inputs._setting_locked = False
db.outputs._commit()
return False
```
The compute method of RotationByTime.py is called from "RotationByTimeDatabase.NODE_TYPE_CLASS.compute(db)".
initialize, release, and update_node_version are listed as they are, just matching the class names.
This is also a canned statement.
```python
@staticmethod
def initialize(context, node):
RotationByTimeDatabase._initialize_per_node_data(node)
initialize_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'initialize', None)
if callable(initialize_function):
initialize_function(context, node)
@staticmethod
def release(node):
release_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'release', None)
if callable(release_function):
release_function(node)
RotationByTimeDatabase._release_per_node_data(node)
@staticmethod
def update_node_version(context, node, old_version, new_version):
update_node_version_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'update_node_version', None)
if callable(update_node_version_function):
return update_node_version_function(context, node, old_version, new_version)
return False
```
The initialize_type method specifies information about the OmniGraph node.
```python
@staticmethod
def initialize_type(node_type):
initialize_type_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'initialize_type', None)
needs_initializing = True
if callable(initialize_type_function):
needs_initializing = initialize_type_function(node_type)
if needs_initializing:
node_type.set_metadata(ogn.MetadataKeys.EXTENSION, "ft_lab.OmniGraph.GetDateTime")
node_type.set_metadata(ogn.MetadataKeys.UI_NAME, "Rotation By Time")
node_type.set_metadata(ogn.MetadataKeys.CATEGORIES, "examples")
node_type.set_metadata(ogn.MetadataKeys.DESCRIPTION, "Rotation By Time")
node_type.set_metadata(ogn.MetadataKeys.LANGUAGE, "Python")
# Set Icon(svg).
icon_path = carb.tokens.get_tokens_interface().resolve("${ft_lab.OmniGraph.GetDateTime}")
icon_path = icon_path + '/' + "data/icons/rotationByTimeIcon.svg"
node_type.set_metadata(ogn.MetadataKeys.ICON_PATH, icon_path)
RotationByTimeDatabase.INTERFACE.add_to_node_type(node_type)
```
The information is set as metadata by using "node_type.set_metadata".
|Key name|Description|Value|
|---|---|---|
|ogn.MetadataKeys.EXTENSION|Extension name|ft_lab.OmniGraph.GetDateTime|
|ogn.MetadataKeys.UI_NAME|UI name of node|Rotation By Time|
|ogn.MetadataKeys.CATEGORIES|Categories name|examples|
|ogn.MetadataKeys.DESCRIPTION|Node description|Rotation By Time|
|ogn.MetadataKeys.LANGUAGE|language used|Python|
|ogn.MetadataKeys.ICON_PATH|Icon path|[Extension Path]/data/icons/ft_lab.OmniGraph.GetDateTime.rotationByTimeIcon.svg|
See below for available category names.
https://docs.omniverse.nvidia.com/kit/docs/omni.graph.docs/latest/howto/Categories.html
The icon path is obtained from the Extension path as follows, and then "/data/icons/rotationByTimeIcon.svg" is connected.
```python
icon_path = carb.tokens.get_tokens_interface().resolve("${ft_lab.OmniGraph.GetDateTime}")
icon_path = icon_path + '/' + "data/icons/ft_lab.OmniGraph.GetDateTime.rotationByTimeIcon.svg"
node_type.set_metadata(ogn.MetadataKeys.ICON_PATH, icon_path)
```
Finally, register the "node_type" to which the metadata is assigned.
```python
RotationByTimeDatabase.INTERFACE.add_to_node_type(node_type)
```
The on_connection_type_resolve method is a canned statement.
```python
@staticmethod
def on_connection_type_resolve(node):
on_connection_type_resolve_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'on_connection_type_resolve', None)
if callable(on_connection_type_resolve_function):
on_connection_type_resolve_function(node)
```
### Specify version
After describing the abi class, add the following line as is.
USD Composer 2023.2.2 (Kit.105.1.2).
```python
NODE_TYPE_CLASS = None
GENERATOR_VERSION = (1, 41, 3)
TARGET_VERSION = (2, 139, 12)
```
This seemed to need to be updated when the Kit version was upgraded.
Otherwise, problems occurred, such as icons not being displayed.
### register method
The register method is a canned statement.
```python
@staticmethod
def register(node_type_class):
RotationByTimeDatabase.NODE_TYPE_CLASS = node_type_class
og.register_node_type(RotationByTimeDatabase.abi, 1)
```
### deregister method
The deregister method specifies "[Extension name].[class name of this node]".
```python
@staticmethod
def deregister():
og.deregister_node_type("ft_lab.OmniGraph.GetDateTime.RotationByTime")
```
| 23,193 | Markdown | 37.785953 | 196 | 0.617341 |
ft-lab/Omniverse_OmniGraph_ClockSample/docs/Modeling3D.md | # 3D models
I modeled 3D models of analog and digital clocks in Blender.
I used the Blender 3.6 alpha USD branch which can be launched from the Omniverse Launcher.
This is because I want to export the correct USD from Blender.
I exported the modeled shapes in Blender in fbx format and textured them in Substance 3D Painter.
I also imported Blender exported USD files into Omniverse Create to edit the hierarchy and reassign materials.
## Clock
Analog clocks use hour, minute, and second hands.
To organize this part of the process, I imported it once into Omniverse Create and organized it.
The final usd file is placed at "[usds/Clock](../usds/Clock)".
Check which Prim the hour, minute, and second hands are.
## Digital Clock
For digital clocks, note the AM/PM/7-segment LED on the LCD.
This is used by showing/hiding each of them.
AM/PM gives the quadrangle mesh a texture with Opacity as the material.
To organize this, I imported it into Omniverse Create and edited it.
"SevenSegmentLED1", "SevenSegmentLED2", "SevenSegmentLED3", "SevenSegmentLED4", and a mesh of parts A through G as children.
The Mesh of the letters on this LCD was placed with a slight float in the normal direction.
The final usd file is placed at "[usds/ClockDigital](../usds/ClockDigital)".
| 1,643 | Markdown | 42.263157 | 129 | 0.725502 |
ft-lab/Omniverse_OmniGraph_ClockSample/docs/node_OutputToLCD.md | # OutputToLCD
This node controls a virtual 7-segment LED LCD screen.
## OutputToLCD.ogn
```json
{
"OutputToLCD": {
"version": 1,
"categories": "examples",
"description": "Time output to LCD (hh:mm).",
"language": "Python",
"metadata": {
"uiName": "Time output to LCD (hh:mm)"
},
"inputs": {
"a1_hourNum10Prim": {
"type": "token",
"description": "Tenth digit of the hour Prim",
"metadata": {
"uiName": "HourNum10 Prim"
}
},
"a2_hourNum1Prim": {
"type": "token",
"description": "First digit of the hour Prim",
"metadata": {
"uiName": "HourNum1 Prim"
}
},
"b1_minuteNum10Prim": {
"type": "token",
"description": "Tenth digit of the minute Prim",
"metadata": {
"uiName": "MinuteNum10 Prim"
}
},
"b2_minuteNum1Prim": {
"type": "token",
"description": "First digit of the minute Prim",
"metadata": {
"uiName": "MinuteNum1 Prim"
}
},
"c1_amPrim": {
"type": "token",
"description": "AM Prim",
"metadata": {
"uiName": "AM Prim"
}
},
"c2_pmPrim": {
"type": "token",
"description": "PM Prim",
"metadata": {
"uiName": "PM Prim"
}
},
"d1_hour": {
"type": "int",
"description": "Hour",
"default": 0,
"metadata": {
"uiName": "Hour"
}
},
"d2_minute": {
"type": "int",
"description": "Minute",
"default": 0,
"metadata": {
"uiName": "Minute"
}
},
"d3_second": {
"type": "int",
"description": "Second",
"default": 0,
"metadata": {
"uiName": "Second"
}
}
},
"outputs": {
}
}
}
```
### Inputs
|Attribute name|Type|UI name|Description|
|---|---|---|---|
|a1_hourNum10Prim|token|HourNum10 Prim|Tenth digit of the hour Prim|
|a2_hourNum1Prim|token|HourNum1 Prim|First digit of the hour Prim|
|b1_minuteNum10Prim|token|MinuteNum10 Prim|Tenth digit of the minute Prim|
|b2_minuteNum1Prim|token|MinuteNum1 Prim|First digit of the minute Prim|
|c1_amPrim|token|AM Prim|AM Prim|
|c2_pmPrim|token|PM Prim|PM Prim|
|d1_hour|int|Hour|Hour|
|d2_minute|int|Minute|Minute|
|d3_second|int|Second|Second|
The "a1_" or "b1_" at the beginning of the attribute name is used to display the data in ascending order when it is displayed in a graph.
Those that specify a "token" type will be connected to the Prim path.
In total, 6 Prims will be connected to this node.
Four prims that imitate "7-segment LEDs" are placed as numerical components.
One of the "7-segment LEDs" consists of four components, A, B, C, D, E, F, and G, as shown below.
The same A, B, C, D, E, F, and G are given for the child Prim names.
This is turned On/Off to indicate the numerical value.
The numbers were expressed in 8 bits as follows.
The lower 7 bits are assigned to ABCDEFG respectively.
|Image|Bit value|Hexadecimal|
|---|---|---|
|<img src="./images/num_0.jpg" height=40 />|01111110|0x7e|
|<img src="./images/num_1.jpg" height=40 />|00110000|0x30|
|<img src="./images/num_2.jpg" height=40 />|01101101|0x6d|
|<img src="./images/num_3.jpg" height=40 />|01111001|0x79|
|<img src="./images/num_4.jpg" height=40 />|00110011|0x33|
|<img src="./images/num_5.jpg" height=40 />|01011011|0x5b|
|<img src="./images/num_6.jpg" height=40 />|01011111|0x5f|
|<img src="./images/num_7.jpg" height=40 />|01110000|0x70|
|<img src="./images/num_8.jpg" height=40 />|01111111|0x7f|
|<img src="./images/num_9.jpg" height=40 />|01111011|0x7b|
d1_hour, d2_minute, and d3_second are entered as hours, minutes, and seconds.
## OutputToLCD.py
Controls the display/non-display of the AM and PM panels and the 2-digit 7-segment LED for the hour and minute, respectively.
```python
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import numpy as np
import omni.ext
class OutputToLCD:
@staticmethod
def compute(db) -> bool:
try:
hour = db.inputs.d1_hour
minute = db.inputs.d2_minute
second = db.inputs.d3_second
# xABCDEFG => 0b01111110 = 0x7e = '0'
nameList = ["A", "B", "C", "D", "E", "F", "G"]
numMaskList = [0x7e, 0x30, 0x6d, 0x79, 0x33, 0x5b, 0x5f, 0x70, 0x7f, 0x7b]
# Get stage.
stage = omni.usd.get_context().get_stage()
# Show/hide "AM"
if db.inputs.c1_amPrim != None and db.inputs.c1_amPrim != "":
prim = stage.GetPrimAtPath(db.inputs.c1_amPrim)
if prim.IsValid():
primImageable = UsdGeom.Imageable(prim)
primImageable.GetVisibilityAttr().Set('inherited' if hour < 12 else 'invisible')
# Show/hide "PM"
if db.inputs.c2_pmPrim != None and db.inputs.c2_pmPrim != "":
prim = stage.GetPrimAtPath(db.inputs.c2_pmPrim)
if prim.IsValid():
primImageable = UsdGeom.Imageable(prim)
primImageable.GetVisibilityAttr().Set('inherited' if (hour >= 12) else 'invisible')
# Hour : 10th digit.
hour12 = hour if (hour < 12) else (hour - 12)
if db.inputs.a1_hourNum10Prim != None and db.inputs.a1_hourNum10Prim != "":
basePrimPath = db.inputs.a1_hourNum10Prim
shiftV = 0x40
maskV = numMaskList[(int)(hour12 / 10) % 10]
for i in range(7):
primPath = f"{basePrimPath}/{nameList[i]}"
prim = stage.GetPrimAtPath(primPath)
if prim.IsValid():
primImageable = UsdGeom.Imageable(prim)
primImageable.GetVisibilityAttr().Set('inherited' if ((maskV & shiftV) != 0) else 'invisible')
shiftV >>= 1
# Hour : 1th digit.
if db.inputs.a2_hourNum1Prim != None and db.inputs.a2_hourNum1Prim != "":
basePrimPath = db.inputs.a2_hourNum1Prim
shiftV = 0x40
maskV = numMaskList[(int)(hour12) % 10]
for i in range(7):
primPath = f"{basePrimPath}/{nameList[i]}"
prim = stage.GetPrimAtPath(primPath)
if prim.IsValid():
primImageable = UsdGeom.Imageable(prim)
primImageable.GetVisibilityAttr().Set('inherited' if ((maskV & shiftV) != 0) else 'invisible')
shiftV >>= 1
# Minute : 10th digit.
if db.inputs.b1_minuteNum10Prim != None and db.inputs.b1_minuteNum10Prim != "":
basePrimPath = db.inputs.b1_minuteNum10Prim
shiftV = 0x40
maskV = numMaskList[(int)(minute / 10) % 10]
for i in range(7):
primPath = f"{basePrimPath}/{nameList[i]}"
prim = stage.GetPrimAtPath(primPath)
if prim.IsValid():
primImageable = UsdGeom.Imageable(prim)
primImageable.GetVisibilityAttr().Set('inherited' if ((maskV & shiftV) != 0) else 'invisible')
shiftV >>= 1
# Minute : 1th digit.
if db.inputs.b2_minuteNum1Prim != None and db.inputs.b2_minuteNum1Prim != "":
basePrimPath = db.inputs.b2_minuteNum1Prim
shiftV = 0x40
maskV = numMaskList[(int)(minute) % 10]
for i in range(7):
primPath = f"{basePrimPath}/{nameList[i]}"
prim = stage.GetPrimAtPath(primPath)
if prim.IsValid():
primImageable = UsdGeom.Imageable(prim)
primImageable.GetVisibilityAttr().Set('inherited' if ((maskV & shiftV) != 0) else 'invisible')
shiftV >>= 1
except TypeError as error:
db.log_error(f"Processing failed : {error}")
return False
return True
```
The following retrieves hours, minutes, and seconds.
```python
hour = db.inputs.d1_hour
minute = db.inputs.d2_minute
second = db.inputs.d3_second
```
### AM/PM
The Prim path specified as "token" in the cogn file is received as a string.
I did the following to show/hide the Prim path in the AM.
The Prim path is in "db.inputs.c1_amPrim".
Use "db.inputs.c2_pmPrim" for the PM prim path.
```python
# Get stage.
stage = omni.usd.get_context().get_stage()
# Show/hide "AM"
if db.inputs.c1_amPrim != None and db.inputs.c1_amPrim != "":
prim = stage.GetPrimAtPath(db.inputs.c1_amPrim)
if prim.IsValid():
primImageable = UsdGeom.Imageable(prim)
primImageable.GetVisibilityAttr().Set('inherited' if hour < 12 else 'invisible')
# Show/hide "PM"
if db.inputs.c2_pmPrim != None and db.inputs.c2_pmPrim != "":
prim = stage.GetPrimAtPath(db.inputs.c2_pmPrim)
if prim.IsValid():
primImageable = UsdGeom.Imageable(prim)
primImageable.GetVisibilityAttr().Set('inherited' if (hour >= 12) else 'invisible')
```
"stage.GetPrimAtPath" is used to obtain Prim.
"prim.IsValid()" is True, the prim exists.
For AM, the time is before 12, so it will be displayed then.
In Visibility, specify "inherited" to show or "invisible" to hide.
PM is the reverse of AM.
### Display 2-digit numbers
Hour(db.inputs.d1_hour) will be entered as a number from 0-23.
nameList is an array of letters from 'A' to 'G'.
The numMaskList contains an array of bits to show/hide for seven of them.
This will display 0-9.
```python
nameList = ["A", "B", "C", "D", "E", "F", "G"]
numMaskList = [0x7e, 0x30, 0x6d, 0x79, 0x33, 0x5b, 0x5f, 0x70, 0x7f, 0x7b]
```
Divide the hour into 10 and 1 digits and give a show/hide for each of 'A' through 'G' in the target Prim.
```python
# Hour : 10th digit.
hour12 = hour if (hour < 12) else (hour - 12)
if db.inputs.a1_hourNum10Prim != None and db.inputs.a1_hourNum10Prim != "":
basePrimPath = db.inputs.a1_hourNum10Prim
shiftV = 0x40
maskV = numMaskList[(int)(hour12 / 10) % 10]
for i in range(7):
primPath = f"{basePrimPath}/{nameList[i]}"
prim = stage.GetPrimAtPath(primPath)
if prim.IsValid():
primImageable = UsdGeom.Imageable(prim)
primImageable.GetVisibilityAttr().Set('inherited' if ((maskV & shiftV) != 0) else 'invisible')
shiftV >>= 1
# Hour : 1th digit.
if db.inputs.a2_hourNum1Prim != None and db.inputs.a2_hourNum1Prim != "":
basePrimPath = db.inputs.a2_hourNum1Prim
shiftV = 0x40
maskV = numMaskList[(int)(hour12) % 10]
for i in range(7):
primPath = f"{basePrimPath}/{nameList[i]}"
prim = stage.GetPrimAtPath(primPath)
if prim.IsValid():
primImageable = UsdGeom.Imageable(prim)
primImageable.GetVisibilityAttr().Set('inherited' if ((maskV & shiftV) != 0) else 'invisible')
shiftV >>= 1
```
The same process is applied to the minute.
## OutputToLCDDatabase.py
For the most part, the process is the same as for "[GetDateTimeDatabase.py](./node_GetDateTime.md)".
"INTERFACE" enumerates attribute data.
```python
PER_NODE_DATA = {}
INTERFACE = og.Database._get_interface([
('inputs:a1_hourNum10Prim', 'token', 0, 'HourNum10 Prim', 'HourNum10 Prim', {}, True, None, False, ''),
('inputs:a2_hourNum1Prim', 'token', 0, 'HourNum1 Prim', 'HourNum1 Prim', {}, True, None, False, ''),
('inputs:b1_minuteNum10Prim', 'token', 0, 'MinuteNum10 Prim', 'MinuteNum10 Prim', {}, True, None, False, ''),
('inputs:b2_minuteNum1Prim', 'token', 0, 'MinuteNum1 Prim', 'MinuteNum1 Prim', {}, True, None, False, ''),
('inputs:c1_amPrim', 'token', 0, 'AM Prim', 'AM Prim', {}, True, None, False, ''),
('inputs:c2_pmPrim', 'token', 0, 'PM Prim', 'PM Prim', {}, True, None, False, ''),
('inputs:d1_hour', 'int', 0, 'Hour', 'Hour', {}, True, 0, False, ''),
('inputs:d2_minute', 'int', 0, 'Minute', 'Minute', {}, True, 0, False, ''),
('inputs:d3_second', 'int', 0, 'Second', 'Second', {}, True, 0, False, ''),
])
```
'inputs:a1_hourNum10Prim', 'inputs:a2_hourNum1Prim', 'inputs:b1_minuteNum10Prim', 'inputs:b2_minuteNum1Prim', 'inputs:c1_amPrim', ' inputs:c2_pmPrim' accepts the Prim path, so the type is token.
### ValuesForInputs
The inputs designation is described in the "ValuesForInputs" class.
```python
class ValuesForInputs(og.DynamicAttributeAccess):
LOCAL_PROPERTY_NAMES = {"a1_hourNum10Prim", "a2_hourNum1Prim", "b1_minuteNum10Prim", "b2_minuteNum1Prim", "c1_amPrim", "c2_pmPrim", "d1_hour", "d2_minute", "d3_second"}
"""Helper class that creates natural hierarchical access to input attributes"""
def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface):
"""Initialize simplified access for the attribute data"""
context = node.get_graph().get_default_graph_context()
super().__init__(context, node, attributes, dynamic_attributes)
self._batchedReadAttributes = [self._attributes.a1_hourNum10Prim, self._attributes.a2_hourNum1Prim, self._attributes.b1_minuteNum10Prim, self._attributes.b2_minuteNum1Prim, self._attributes.c1_amPrim, self._attributes.c2_pmPrim, self._attributes.d1_hour, self._attributes.d2_minute, self._attributes.d3_second]
self._batchedReadValues = ["", "", "", "", "", "", 0, 0, 0]
@property
def a1_hourNum10Prim(self):
return self._batchedReadValues[0]
@a1_hourNum10Prim.setter
def a1_hourNum10Prim(self, value):
self._batchedReadValues[0] = value
@property
def a2_hourNum1Prim(self):
return self._batchedReadValues[1]
@a2_hourNum1Prim.setter
def a2_hourNum1Prim(self, value):
self._batchedReadValues[1] = value
@property
def b1_minuteNum10Prim(self):
return self._batchedReadValues[2]
@b1_minuteNum10Prim.setter
def b1_minuteNum10Prim(self, value):
self._batchedReadValues[2] = value
@property
def b2_minuteNum1Prim(self):
return self._batchedReadValues[3]
@b2_minuteNum1Prim.setter
def b2_minuteNum1Prim(self, value):
self._batchedReadValues[3] = value
@property
def c1_amPrim(self):
return self._batchedReadValues[4]
@c1_amPrim.setter
def c1_amPrim(self, value):
self._batchedReadValues[4] = value
@property
def c2_pmPrim(self):
return self._batchedReadValues[5]
@c2_pmPrim.setter
def c2_pmPrim(self, value):
self._batchedReadValues[5] = value
@property
def d1_hour(self):
return self._batchedReadValues[6]
@d1_hour.setter
def d1_hour(self, value):
self._batchedReadValues[6] = value
@property
def d2_minute(self):
return self._batchedReadValues[7]
@d2_minute.setter
def d2_minute(self, value):
self._batchedReadValues[7] = value
@property
def d3_second(self):
return self._batchedReadValues[8]
@d3_second.setter
def d3_second(self, value):
self._batchedReadValues[8] = value
def __getattr__(self, item: str):
if item in self.LOCAL_PROPERTY_NAMES:
return object.__getattribute__(self, item)
else:
return super().__getattr__(item)
def __setattr__(self, item: str, new_value):
if item in self.LOCAL_PROPERTY_NAMES:
object.__setattr__(self, item, new_value)
else:
super().__setattr__(item, new_value)
def _prefetch(self):
readAttributes = self._batchedReadAttributes
newValues = _og._prefetch_input_attributes_data(readAttributes)
if len(readAttributes) == len(newValues):
self._batchedReadValues = newValues
```
Specify the attribute names to be used in order in "LOCAL_PROPERTY_NAMES".
```python
LOCAL_PROPERTY_NAMES = {"a1_hourNum10Prim", "a2_hourNum1Prim", "b1_minuteNum10Prim", "b2_minuteNum1Prim", "c1_amPrim", "c2_pmPrim", "d1_hour", "d2_minute", "d3_second"}
```
In "\_\_init\_\_", specify "self._attributes.[Attribute name]" as an array.
```python
self._batchedReadAttributes = [self._attributes.a1_hourNum10Prim, self._attributes.a2_hourNum1Prim, self._attributes.b1_minuteNum10Prim, self._attributes.b2_minuteNum1Prim, self._attributes.c1_amPrim, self._attributes.c2_pmPrim, self._attributes.d1_hour, self._attributes.d2_minute, self._attributes.d3_second]
```
Also, put initial values in self._batchedReadValues.
```python
self._batchedReadValues = ["", "", "", "", "", "", 0, 0, 0]
```
Specify "" for token. All other values are of type int.
The property getter/setter is specified as follows.
If the attribute type is fixed, simply change the attribute name.
```python
@property
def a1_hourNum10Prim(self):
return self._batchedReadValues[0]
@a1_hourNum10Prim.setter
def a1_hourNum10Prim(self, value):
self._batchedReadValues[0] = value
```
The index of "self.\_batchedReadValues" is a number starting from 0 specified in "self.\_batchedReadAttributes[]".
"\_\_getattr\_\_", "\_\_setattr\_\_", and "\_prefetch" can be copied and pasted as is.
### ValuesForState(og.DynamicAttributeAccess)
The ValuesForState class "OutputToLCDDatabase" can be used by simply specifying the target class name and copying and pasting.
```python
class ValuesForState(og.DynamicAttributeAccess):
"""Helper class that creates natural hierarchical access to state attributes"""
def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface):
"""Initialize simplified access for the attribute data"""
context = node.get_graph().get_default_graph_context()
super().__init__(context, node, attributes, dynamic_attributes)
```
### \_\_init\_\_
In "\_\_init\_\_", inputs, outputs and state classes are created.
```python
def __init__(self, node):
super().__init__(node)
dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_INPUT)
self.inputs = OutputToLCDDatabase.ValuesForInputs(node, self.attributes.inputs, dynamic_attributes)
dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_STATE)
self.state = OutputToLCDDatabase.ValuesForState(node, self.attributes.state, dynamic_attributes)
```
There are no outputs in this OutputToLCDDatabase class, so that is not mentioned.
### class abi
Define the connections for the OmniGraph node.
Think of ABI as a regular flow.
Basically, the designation to the ABI interface is a canned statement.
```python
class abi:
@staticmethod
def get_node_type():
get_node_type_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'get_node_type', None)
if callable(get_node_type_function):
return get_node_type_function()
return 'ft_lab.OmniGraph.GetDateTime.OutputToLCD'
```
Since the name of this Extension is "ft_lab.OmniGraph.GetDateTime" and "OutputToLCD" is in it, "ft_lab.OmniGraph.GetDateTime.OutputToLCD" is specified as the return value.
The compute method is called when this node is executed.
This also specifies an almost canned statement.
```python
@staticmethod
def compute(context, node):
try:
per_node_data = OutputToLCDDatabase.PER_NODE_DATA[node.node_id()]
db = per_node_data.get('_db')
if db is None:
db = OutputToLCDDatabase(node)
per_node_data['_db'] = db
except:
db = OutputToLCDDatabase(node)
try:
compute_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'compute', None)
if callable(compute_function) and compute_function.__code__.co_argcount > 1:
return compute_function(context, node)
db.inputs._prefetch()
db.inputs._setting_locked = True
with og.in_compute():
return OutputToLCDDatabase.NODE_TYPE_CLASS.compute(db)
except Exception as error:
stack_trace = "".join(traceback.format_tb(sys.exc_info()[2].tb_next))
db.log_error(f'Assertion raised in compute - {error}\n{stack_trace}', add_context=False)
finally:
db.inputs._setting_locked = False
#db.outputs._commit()
return False
```
The compute method of OutputToLCD.py is called from "OutputToLCDDatabase.NODE_TYPE_CLASS.compute(db)".
initialize, release, and update_node_version are listed as they are, just matching the class names.
This is also a canned statement.
```python
@staticmethod
def initialize(context, node):
OutputToLCDDatabase._initialize_per_node_data(node)
initialize_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'initialize', None)
if callable(initialize_function):
initialize_function(context, node)
@staticmethod
def release(node):
release_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'release', None)
if callable(release_function):
release_function(node)
OutputToLCDDatabase._release_per_node_data(node)
@staticmethod
def update_node_version(context, node, old_version, new_version):
update_node_version_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'update_node_version', None)
if callable(update_node_version_function):
return update_node_version_function(context, node, old_version, new_version)
return False
```
The initialize_type method specifies information about the OmniGraph node.
```python
@staticmethod
def initialize_type(node_type):
initialize_type_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'initialize_type', None)
needs_initializing = True
if callable(initialize_type_function):
needs_initializing = initialize_type_function(node_type)
if needs_initializing:
node_type.set_metadata(ogn.MetadataKeys.EXTENSION, "ft_lab.OmniGraph.GetDateTime")
node_type.set_metadata(ogn.MetadataKeys.UI_NAME, "Time output to LCD")
node_type.set_metadata(ogn.MetadataKeys.CATEGORIES, "examples")
node_type.set_metadata(ogn.MetadataKeys.DESCRIPTION, "Time output to LCD")
node_type.set_metadata(ogn.MetadataKeys.LANGUAGE, "Python")
# Set Icon(svg).
icon_path = carb.tokens.get_tokens_interface().resolve("${ft_lab.OmniGraph.GetDateTime}")
icon_path = icon_path + '/' + "data/icons/outputToLCD.svg"
node_type.set_metadata(ogn.MetadataKeys.ICON_PATH, icon_path)
OutputToLCDDatabase.INTERFACE.add_to_node_type(node_type)
```
The information is set as metadata by using "node_type.set_metadata".
|Key name|Description|Value|
|---|---|---|
|ogn.MetadataKeys.EXTENSION|Extension name|ft_lab.OmniGraph.GetDateTime|
|ogn.MetadataKeys.UI_NAME|UI name of node|Time output to LCD|
|ogn.MetadataKeys.CATEGORIES|Categories name|examples|
|ogn.MetadataKeys.DESCRIPTION|Node description|Time output to LCD|
|ogn.MetadataKeys.LANGUAGE|language used|Python|
|ogn.MetadataKeys.ICON_PATH|Icon path|[Extension Path]/data/icons/ft_lab.OmniGraph.GetDateTime.outputToLCD.svg|
See below for available category names.
https://docs.omniverse.nvidia.com/kit/docs/omni.graph.docs/latest/howto/Categories.html
The icon path is obtained from the Extension path as follows, and then "/data/icons/outputToLCD.svg" is connected.
```python
icon_path = carb.tokens.get_tokens_interface().resolve("${ft_lab.OmniGraph.GetDateTime}")
icon_path = icon_path + '/' + "data/icons/ft_lab.OmniGraph.GetDateTime.outputToLCD.svg"
node_type.set_metadata(ogn.MetadataKeys.ICON_PATH, icon_path)
```
Finally, register the "node_type" to which the metadata is assigned.
```python
OutputToLCDDatabase.INTERFACE.add_to_node_type(node_type)
```
The on_connection_type_resolve method is a canned statement.
```python
@staticmethod
def on_connection_type_resolve(node):
on_connection_type_resolve_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'on_connection_type_resolve', None)
if callable(on_connection_type_resolve_function):
on_connection_type_resolve_function(node)
```
### Specify version
After describing the abi class, add the following line as is.
USD Composer 2023.2.2 (Kit.105.1.2).
```python
NODE_TYPE_CLASS = None
GENERATOR_VERSION = (1, 41, 3)
TARGET_VERSION = (2, 139, 12)
```
This seemed to need to be updated when the Kit version was upgraded.
Otherwise, problems occurred, such as icons not being displayed.
### register method
The register method is a canned statement.
```python
@staticmethod
def register(node_type_class):
OutputToLCDDatabase.NODE_TYPE_CLASS = node_type_class
og.register_node_type(OutputToLCDDatabase.abi, 1)
```
### deregister method
The deregister method specifies "[Extension name].[class name of this node]".
```python
@staticmethod
def deregister():
og.deregister_node_type("ft_lab.OmniGraph.GetDateTime.OutputToLCD")
```
| 26,995 | Markdown | 38.181422 | 322 | 0.601926 |
ft-lab/Omniverse_OmniGraph_ClockSample/docs/ExtensionStructure.md | # Extension Structure
The extension has the following structure.
Extension name is "ft_lab.OmniGraph.GetDateTime".
```
[ft_lab.OmniGraph.GetDateTime]
[config]
extension.toml
[data]
[icons]
icon.svg
outputToLCD.svg
rotationByTimeIcon.svg
icon.png
preview.jpg
[docs]
CHANGELOG.md
index.rst
README.md
[ft_lab]
[OmniGraph]
[GetDateTime]
[nodes]
GetDateTime.ogn
GetDateTime.py
OutputToLCD.ogn
OutputToLCD.py
RotationByTime.ogn
RotationByTime.py
[ogn]
__init__.py
GetDateTimeDatabase.py
OutputToLCDDatabase.py
RotationByTimeDatabase.py
__init__.py
extension.py
```
The Extension configuration file is "extension.toml".
This section describes only the information on creating custom nodes for OmniGraph in Extension.
## Files per node
The data for OmniGraph nodes uses files with the extension ogn.
If there is an ogn file called "GetDateTime.ogn", the node name is "GetDateTime".
One node consists of three files.
```
[nodes]
GetDateTime.ogn
GetDateTime.py
[ogn]
GetDateTimeDatabase.py
```
|File|Description|
|---|---|
|GetDateTime.ogn|Node configuration in json format|
|GetDateTime.py|Describes the implementation part of the node|
|GetDateTimeDatabase.py|Describe the implementation as a custom node.<br>It is almost always a canned statement.|
”GetDateTimeDatabase.py" specifies "[node name]Database.py".
## extension.toml
```
# Watch the .ogn files for hot reloading (only works for Python files)
[fswatcher.patterns]
include = ["*.ogn", "*.py"]
exclude = ["*Database.py","*/ogn*"]
# We only depend on testing framework currently:
[dependencies]
"omni.graph" = {}
"omni.graph.nodes" = {}
"omni.graph.tools" = {}
```
In [fswatcher.patterns], add the information to be used by OmniGraph nodes.
I think there is no problem copying and pasting the above as is.
Specify other Extensions to be used with OmniGraph in [dependencies].
This will be enabled if disabled before this Extension is called.
## Icons used in graph
In "data/icons", icons used in nodes are stored as SVG files.
```
[data]
[icons]
ft_lab.OmniGraph.GetDateTime.icon.svg
ft_lab.OmniGraph.GetDateTime.outputToLCD.svg
ft_lab.OmniGraph.GetDateTime.rotationByTimeIcon.svg
```
Icon names have been standardized with the following designations.
```
[Project name].[Icon name].svg
```
These icons are used in the node graph in Omniverse Create at the following locations.
I created the svg file in Affinity Designer( https://affinity.serif.com/ ).
## Nodes
The following three nodes exist.
Please also see "[Description of OmniGraph nodes](../OmniGraphNodes.md)" for node descriptions.
|Node name|Description|
|---|---|
|[GetDateTime](./node_GetDateTime.md)|Get the current local date and time.|
|[RotationByTime](./node_RotationByTime.md)|Given an hour, minute, and second, returns the XYZ of each rotation(degree).|
|[OutputToLCD](./node_OutputToLCD.md)|This node controls a virtual 7-segment LED LCD screen.|
| 3,303 | Markdown | 25.861788 | 126 | 0.674236 |
ft-lab/Omniverse_extension_SetOrigin/update_log.md | # Update log
## Set Origin v.0.0.1 [08/11/2022]
* Adjustments for Extension Manager
## Set Origin v.0.0.1 [04/28/2022]
* First version.
| 141 | Markdown | 11.90909 | 35 | 0.659574 |
ft-lab/Omniverse_extension_SetOrigin/readme.md | # Omniverse Extension : "Set Origin"
[Japanese readme](./readme_jp.md)
Changes the center position of the rotation or scale for the selected Mesh or Xform.
## Operating Environment
* Windows 10/Ubuntu 20.04
* Omniverse Create 2022.1.1 (Omniverse Kit 103)
* Omniverse Code 2022.1.0
## Usage
1. Copy "ft_lab.Tools.SetOrigin" to the exts folder in Omniverse.
(ov/pkg/create-2022.1.1/exts , etc.)
2. Run Omniverse Create.
3. Activate "ft_lab.Tools.SetOrigin" in the Extension window.
4. Select Mesh or Xform.
5. Select "Tools"-"Set Origin"-"Center of Geometry" from the menu to move the center of the manipulator to the center of the geometry.
6. Select "Tools"-"Set Origin"-"Lower center of Geometry" from the menu to move the center of the manipulator to the lower center of the geometry.
## Additional command in Python
This Set Origin function adjusts the Translate and Pivot of the Prim.
Add "ToolSetOrigin" to omni.kit.commands.
The argument "prim" specifies Usd.Prim.
The argument "center_position" specifies the center position in world coordinates.
```python
import omni.kit.commands
from pxr import Usd, Gf
stage = omni.usd.get_context().get_stage()
omni.kit.commands.execute('ToolSetOrigin',
prim=stage.GetPrimAtPath("/World/xxx"),
center_position=Gf.Vec3f(50.0, -50.0, 0.0))
```
## Script reference in Omniverse Extension
[https://github.com/ft-lab/omniverse_sample_scripts](https://github.com/ft-lab/omniverse_sample_scripts)
## Update log
[Update log](./update_log.md)
| 1,731 | Markdown | 29.385964 | 146 | 0.720971 |
ft-lab/Omniverse_extension_SetOrigin/readme_jp.md | # Omniverse Extension : "Set Origin"
[English readme](./readme.md)
選択されたMeshまたはXformの回転またはスケールの中心位置を変更します。
## 動作確認環境
* Windows 10/Ubuntu 20.04
* Omniverse Create 2022.1.1 (Omniverse Kit 103)
* Omniverse Code 2022.1.0
## 使い方
1. "ft_lab.Tools.SetOrigin"を Omniverseのextフォルダにコピーします。
(ov/pkg/create-2022.1.1/exts など)
2. Omniverse Createを起動します。
3. Extensionウィンドウで"ft_lab.Tools.SetOrigin"をアクティブにします。
4. MeshまたはXformを選択します。
5. "Tools"-"Set Origin"-"Center of Geometry"をメニューから選択すると、マニピュレータの中心がジオメトリの中心位置になります。
6. "Tools"-"Set Origin"-"Lower center of Geometry"をメニューから選択すると、マニピュレータの中心が ジオメトリの中央下の位置になります。
## Pythonでの追加コマンド
Set Origin機能は、PrimのTranslateとPivotを調整する機能を提供します。
omni.kit.commandsに"ToolSetOrigin"を追加しています。
引数"prim"はUsd.Primを指定します。
引数"center_position"はワールド座標での中心にする位置を指定します。
```python
import omni.kit.commands
from pxr import Usd, Gf
stage = omni.usd.get_context().get_stage()
omni.kit.commands.execute('ToolSetOrigin',
prim=stage.GetPrimAtPath("/World/xxx"),
center_position=Gf.Vec3f(50.0, -50.0, 0.0))
```
## Omniverse Extensionでのスクリプトの参考
[https://github.com/ft-lab/omniverse_sample_scripts](https://github.com/ft-lab/omniverse_sample_scripts)
## 更新履歴
[Update log](./update_log.md)
| 1,440 | Markdown | 25.685185 | 108 | 0.728472 |
ft-lab/Omniverse_extension_SetOrigin/exts/ft_lab.Tools.SetOrigin/config/extension.toml | [package]
# Semantic Versionning is used: https://semver.org/
version = "0.0.1"
# Lists people or organizations that are considered the "authors" of the package.
authors = ["ft-lab"]
# The title and description fields are primarily for displaying extension info in UI
title = "Set Origin"
description="Automatically adjust the center position or Pivot."
# Path (relative to the root) or content of readme markdown file for UI.
readme = "docs/README.md"
# URL of the extension source repository.
repository = "https://github.com/ft-lab/Omniverse_extension_SetOrigin"
# One of categories for UI.
category = "Tool"
# Keywords for the extension
keywords = ["tool"]
# Location of change log file in target (final) folder of extension, relative to the root. Can also be just a content
# of it instead of file path. More info on writing changelog: https://keepachangelog.com/en/1.0.0/
changelog="docs/CHANGELOG.md"
# Preview image and icon. Folder named "data" automatically goes in git lfs (see .gitattributes file).
# Preview image is shown in "Overview" of Extensions window. Screenshot of an extension might be a good preview image.
preview_image = "data/preview.jpg"
# Icon is shown in Extensions window, it is recommended to be square, of size 256x256.
icon = "data/icon.png"
# We only depend on testing framework currently:
[dependencies]
# Main python module this extension provides.
[[python.module]]
name = "ft_lab.Tools.SetOrigin"
| 1,448 | TOML | 33.499999 | 118 | 0.754834 |
ft-lab/Omniverse_extension_SetOrigin/exts/ft_lab.Tools.SetOrigin/ft_lab/Tools/SetOrigin/extension.py | from pxr import Usd, UsdGeom, UsdSkel, UsdPhysics, UsdShade, UsdSkel, Sdf, Gf, Tf
import omni.ext
import omni.usd
import omni.kit.menu.utils
import omni.kit.undo
import omni.kit.commands
from omni.kit.menu.utils import MenuItemDescription
import asyncio
from .scripts.SetOrigin import SetOrigin
# ----------------------------------------------------.
class SetOriginExtension (omni.ext.IExt):
# Menu list.
_menu_list = None
_sub_menu_list = None
# Menu name.
_menu_name = "Tools"
# ------------------------------------------.
# Initialize menu.
# ------------------------------------------.
def init_menu (self):
async def _rebuild_menus():
await omni.kit.app.get_app().next_update_async()
omni.kit.menu.utils.rebuild_menus()
def menu_select (mode):
if mode == 0:
setOrigin = SetOrigin()
setOrigin.doCenterOfGeometry()
if mode == 1:
setOrigin = SetOrigin()
setOrigin.doLowerCenterOfGeometry()
self._sub_menu_list = [
MenuItemDescription(name="Center of Geometry", onclick_fn=lambda: menu_select(0)),
MenuItemDescription(name="Lower center of Geometry", onclick_fn=lambda: menu_select(1)),
]
self._menu_list = [
MenuItemDescription(name="Set Origin", sub_menu=self._sub_menu_list),
]
# Rebuild with additional menu items.
omni.kit.menu.utils.add_menu_items(self._menu_list, self._menu_name)
asyncio.ensure_future(_rebuild_menus())
# ------------------------------------------.
# Term menu.
# It seems that the additional items in the top menu will not be removed.
# ------------------------------------------.
def term_menu (self):
async def _rebuild_menus():
await omni.kit.app.get_app().next_update_async()
omni.kit.menu.utils.rebuild_menus()
# Remove and rebuild the added menu items.
omni.kit.menu.utils.remove_menu_items(self._menu_list, self._menu_name)
asyncio.ensure_future(_rebuild_menus())
# ------------------------------------------.
# ------------------------------------------.
# Extension startup.
# ------------------------------------------.
def on_startup (self, ext_id):
# Initialize menu.
self.init_menu()
# ------------------------------------------.
# Extension shutdown.
# ------------------------------------------.
def on_shutdown(self):
# Term menu.
self.term_menu()
| 2,607 | Python | 31.6 | 100 | 0.498274 |
ft-lab/Omniverse_extension_SetOrigin/exts/ft_lab.Tools.SetOrigin/ft_lab/Tools/SetOrigin/__init__.py | from .extension import *
| 25 | Python | 11.999994 | 24 | 0.76 |
ft-lab/Omniverse_extension_SetOrigin/exts/ft_lab.Tools.SetOrigin/ft_lab/Tools/SetOrigin/scripts/TransformUtil.py | from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import omni.kit.commands
# ---------------------------.
# Set Translate.
# ---------------------------.
def TUtil_SetTranslate (prim : Usd.Prim, tV : Gf.Vec3f):
trans = prim.GetAttribute("xformOp:translate").Get()
if trans != None:
# Specify a value for each type.
if type(trans) == Gf.Vec3f:
prim.GetAttribute("xformOp:translate").Set(Gf.Vec3f(tV))
elif type(trans) == Gf.Vec3d:
prim.GetAttribute("xformOp:translate").Set(Gf.Vec3d(tV))
else:
# xformOpOrder is also updated.
xformAPI = UsdGeom.XformCommonAPI(prim)
xformAPI.SetTranslate(Gf.Vec3d(tV))
# ---------------------------.
# Set Scale.
# ---------------------------.
def TUtil_SetScale (prim : Usd.Prim, sV : Gf.Vec3f):
scale = prim.GetAttribute("xformOp:scale").Get()
if scale != None:
# Specify a value for each type.
if type(scale) == Gf.Vec3f:
prim.GetAttribute("xformOp:scale").Set(Gf.Vec3f(sV))
elif type(scale) == Gf.Vec3d:
prim.GetAttribute("xformOp:scale").Set(Gf.Vec3d(sV))
else:
# xformOpOrder is also updated.
xformAPI = UsdGeom.XformCommonAPI(prim)
xformAPI.SetScale(Gf.Vec3f(sV))
# ---------------------------.
# Set Rotate.
# ---------------------------.
def TUtil_SetRotate (prim : Usd.Prim, rV : Gf.Vec3f):
# Get rotOrder.
# If rotation does not exist, rotOrder = UsdGeom.XformCommonAPI.RotationOrderXYZ.
xformAPI = UsdGeom.XformCommonAPI(prim)
time_code = Usd.TimeCode.Default()
translation, rotation, scale, pivot, rotOrder = xformAPI.GetXformVectors(time_code)
# Convert rotOrder to "xformOp:rotateXYZ" etc.
t = xformAPI.ConvertRotationOrderToOpType(rotOrder)
rotateAttrName = "xformOp:" + UsdGeom.XformOp.GetOpTypeToken(t)
# Set rotate.
rotate = prim.GetAttribute(rotateAttrName).Get()
if rotate != None:
# Specify a value for each type.
if type(rotate) == Gf.Vec3f:
prim.GetAttribute(rotateAttrName).Set(Gf.Vec3f(rV))
elif type(rotate) == Gf.Vec3d:
prim.GetAttribute(rotateAttrName).Set(Gf.Vec3d(rV))
else:
# xformOpOrder is also updated.
xformAPI.SetRotate(Gf.Vec3f(rV), rotOrder)
# ---------------------------.
# Set Pivot.
# ---------------------------.
def TUtil_SetPivot (prim : Usd.Prim, pV : Gf.Vec3f):
pivot = prim.GetAttribute("xformOp:translate:pivot").Get()
if pivot != None:
# Specify a value for each type.
if type(pivot) == Gf.Vec3f:
prim.GetAttribute("xformOp:translate:pivot").Set(Gf.Vec3f(pV))
elif type(pivot) == Gf.Vec3d:
prim.GetAttribute("xformOp:translate:pivot").Set(Gf.Vec3d(pV))
else:
# xformOpOrder is also updated.
# ["xformOp:translate", "xformOp:translate:pivot", "xformOp:rotateXYZ", "xformOp:scale", "!invert!xformOp:translate:pivot"]
# The following do not work correctly?
#xformAPI = UsdGeom.XformCommonAPI(prim)
#xformAPI.SetPivot(Gf.Vec3f(pV))
prim.CreateAttribute("xformOp:translate:pivot", Sdf.ValueTypeNames.Float3, False).Set(Gf.Vec3f(pV))
# ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale", "xformOp:translate:pivot", "!invert!xformOp:translate:pivot"]
transformOrder = prim.GetAttribute("xformOpOrder").Get()
orderList = []
for sV in transformOrder:
orderList.append(sV)
orderList.append("xformOp:translate:pivot")
orderList.append("!invert!xformOp:translate:pivot")
prim.GetAttribute("xformOpOrder").Set(orderList)
# -------------------------------------------.
# Check the order of Pivot in OpOrder
# @return -1 ... unknown
# 0 ... No pivot.
# 1 ... ["xformOp:translate", "xformOp:translate:pivot", "xformOp:rotateXYZ", "xformOp:scale", "!invert!xformOp:translate:pivot"]
# 2 ... ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale", "xformOp:translate:pivot", "!invert!xformOp:translate:pivot"]
# -------------------------------------------.
def TUtil_ChkOrderOfPivot (prim : Usd.Prim):
if prim == None:
return
transformOrder = prim.GetAttribute("xformOpOrder").Get()
orderList = []
for sV in transformOrder:
orderList.append(sV)
orderLen = len(orderList)
pos1 = -1
pos2 = -1
for i in range(orderLen):
if orderList[i] == "xformOp:translate:pivot":
pos1 = i
elif orderList[i] == "!invert!xformOp:translate:pivot":
pos2 = i
if pos1 < 0 or pos2 < 0:
return 0
# ["xformOp:translate", "xformOp:translate:pivot", "xformOp:rotateXYZ", "xformOp:scale", "!invert!xformOp:translate:pivot"]
if pos1 == 1 and pos2 == orderLen - 1:
return 1
# ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale", "xformOp:translate:pivot", "!invert!xformOp:translate:pivot"]
if pos1 == orderLen - 2 and pos2 == orderLen - 1:
return 2
return -1
# -------------------------------------------.
# Delete Pivot.
# -------------------------------------------.
def TUtil_DeletePivot (prim : Usd.Prim):
if prim == None:
return
path = prim.GetPath().pathString + ".xformOp:translate:pivot"
omni.kit.commands.execute('RemoveProperty', prop_path=path)
transformOrder = prim.GetAttribute("xformOpOrder").Get()
if transformOrder != None:
orderList = []
for sV in transformOrder:
if sV == "xformOp:translate:pivot" or sV == "!invert!xformOp:translate:pivot":
continue
orderList.append(sV)
prim.GetAttribute("xformOpOrder").Set(orderList)
| 5,746 | Python | 36.318182 | 138 | 0.59102 |
ft-lab/Omniverse_extension_SetOrigin/exts/ft_lab.Tools.SetOrigin/ft_lab/Tools/SetOrigin/scripts/MathUtil.py | # -----------------------------------------------------.
# Math functions.
# -----------------------------------------------------.
from pxr import Usd, UsdGeom, UsdShade, Sdf, Gf, Tf
# Get local matrix.
def GetLocalMatrix (prim : Usd.Prim):
xformCache = UsdGeom.XformCache()
curM = xformCache.GetLocalToWorldTransform(prim)
parentPrim = prim.GetParent()
matrix = curM * xformCache.GetLocalToWorldTransform(parentPrim).GetInverse()
return matrix
# Get world matrix.
def GetWorldMatrix (prim : Usd.Prim):
xformCache = UsdGeom.XformCache()
return xformCache.GetLocalToWorldTransform(prim)
| 617 | Python | 33.333331 | 80 | 0.606159 |
ft-lab/Omniverse_extension_SetOrigin/exts/ft_lab.Tools.SetOrigin/ft_lab/Tools/SetOrigin/scripts/CalcWorldBoundingBox.py | # -----------------------------------------------------.
# # Calculate bounding box in world coordinates.
# -----------------------------------------------------.
from pxr import Usd, UsdGeom, UsdShade, Sdf, Gf, Tf
def CalcWorldBoundingBox (prim : Usd.Prim):
# Calc world boundingBox.
bboxCache = UsdGeom.BBoxCache(Usd.TimeCode.Default(), ["default"])
bboxD = bboxCache.ComputeWorldBound(prim).ComputeAlignedRange()
bb_min = Gf.Vec3f(bboxD.GetMin())
bb_max = Gf.Vec3f(bboxD.GetMax())
return bb_min, bb_max
| 537 | Python | 34.866664 | 70 | 0.55121 |
ft-lab/Omniverse_extension_SetOrigin/exts/ft_lab.Tools.SetOrigin/ft_lab/Tools/SetOrigin/scripts/SetOrigin.py | # -----------------------------------------------------.
# Change the center.
# -----------------------------------------------------.
from pxr import Usd, UsdGeom, UsdShade, Sdf, Gf, Tf
import omni.usd
import omni.kit.commands
import omni.kit.undo
from .CalcWorldBoundingBox import *
from .MathUtil import *
from .TransformUtil import *
# Check if Prim can handle.
def _checkPrim (prim : Usd.Prim):
if prim == None:
return False
if prim.IsA(UsdGeom.Mesh) == False and prim.IsA(UsdGeom.Xform) == False:
return False
# Skip for reference.
#if prim.HasAuthoredReferences():
# return False
return True
# ------------------------------------------------------------------------.
# Change Mesh Center
# ------------------------------------------------------------------------.
class ToolSetOrigin (omni.kit.commands.Command):
_prim = None
_centerWPos = None
_targetCenterWPos = None
_prevTranslate = None
_prevPivot = None
# prim : Target prim.
# center_position : Position of the center in world coordinates.
def __init__ (self, prim : Usd.Prim, center_position : Gf.Vec3f):
self._prim = prim
self._targetCenterWPos = center_position
# Calculate world center from bounding box.
bbMin, bbMax = CalcWorldBoundingBox(prim)
self._centerWPos = (bbMin + bbMax) * 0.5
# Execute process.
def do (self):
if _checkPrim(self._prim) == False:
return
self._prevTranslate = self._prim.GetAttribute("xformOp:translate").Get()
if self._prevTranslate == None:
self._prevTranslate = Gf.Vec3f(0, 0, 0)
self._prevPivot = self._prim.GetAttribute("xformOp:translate:pivot").Get()
localM = GetWorldMatrix(self._prim).GetInverse()
centerPosL = localM.Transform(self._targetCenterWPos)
TUtil_SetPivot(self._prim, Gf.Vec3f(centerPosL))
# Calculate world center from bounding box.
bbMin, bbMax = CalcWorldBoundingBox(self._prim)
bbCenter = (bbMin + bbMax) * 0.5
# Recalculate the center position in world coordinates and correct for any misalignment.
ddV = Gf.Vec3f(bbCenter - self._centerWPos)
fMin = 1e-6
if abs(ddV[0]) > fMin or abs(ddV[1]) > fMin or abs(ddV[2]) > fMin:
parentLocalM = GetWorldMatrix(self._prim.GetParent()).GetInverse()
p1 = parentLocalM.Transform(self._centerWPos)
p2 = parentLocalM.Transform(bbCenter)
transV = self._prim.GetAttribute("xformOp:translate").Get()
if transV == None:
transV = Gf.Vec3f(0, 0, 0)
transV = Gf.Vec3f(transV) + (p1 - p2)
TUtil_SetTranslate(self._prim, Gf.Vec3f(transV))
# Undo process.
def undo (self):
if _checkPrim(self._prim) == False:
return
TUtil_SetTranslate(self._prim, Gf.Vec3f(self._prevTranslate))
if self._prevPivot != None:
TUtil_SetPivot(self._prim, Gf.Vec3f(self._prevPivot))
else:
TUtil_DeletePivot(self._prim)
# ------------------------------------------------------------------------.
class SetOrigin:
def __init__(self):
pass
# Get selected Prim.
def _getSelectedPrim (self):
# Get stage.
stage = omni.usd.get_context().get_stage()
# Get selection.
selection = omni.usd.get_context().get_selection()
paths = selection.get_selected_prim_paths()
prim = None
for path in paths:
prim = stage.GetPrimAtPath(path)
break
return prim
def doCenterOfGeometry (self):
prim = self._getSelectedPrim()
if _checkPrim(prim) == False:
return
# Calculate world center from bounding box.
bbMin, bbMax = CalcWorldBoundingBox(prim)
bbCenter = (bbMin + bbMax) * 0.5
# Register a Class and run it.
omni.kit.commands.register(ToolSetOrigin)
omni.kit.commands.execute("ToolSetOrigin", prim=prim, center_position=bbCenter)
def doLowerCenterOfGeometry (self):
prim = self._getSelectedPrim()
if _checkPrim(prim) == False:
return
# Calculate world lower center from bounding box.
bbMin, bbMax = CalcWorldBoundingBox(prim)
bbCenter = Gf.Vec3f((bbMin[0] + bbMax[0]) * 0.5, bbMin[1], (bbMin[2] + bbMax[2]) * 0.5)
# Register a Class and run it.
omni.kit.commands.register(ToolSetOrigin)
omni.kit.commands.execute("ToolSetOrigin", prim=prim, center_position=bbCenter)
| 4,640 | Python | 32.388489 | 96 | 0.567026 |
ft-lab/Omniverse_extension_SetOrigin/exts/ft_lab.Tools.SetOrigin/docs/CHANGELOG.md | # CHANGELOG
## Ver.0.0.1 (08/11/2022)
* Adjustments for Extension Manager
## Ver.0.0.1 (04/28/2022)
* First Version
| 123 | Markdown | 8.538461 | 35 | 0.642276 |
ft-lab/Omniverse_extension_SetOrigin/exts/ft_lab.Tools.SetOrigin/docs/README.md | # Set Origin [ft_lab.Tools.SetOrigin]
Changes the center position of the rotation or scale for the selected Mesh or Xform.
https://github.com/ft-lab/Omniverse_extension_SetOrigin
## Usage
1. Activate "ft_lab.Tools.SetOrigin" in the Extension window.
2. Select Mesh or Xform.
3. Select "Tools"-"Set Origin"-"Center of Geometry" from the menu to move the center of the manipulator to the center of the geometry.
4. Select "Tools"-"Set Origin"-"Lower center of Geometry" from the menu to move the center of the manipulator to the lower center of the geometry.
## Operation Description
This Set Origin function adjusts the Translate and Pivot of the Prim.
Add "ToolSetOrigin" to omni.kit.commands.
The argument "prim" specifies Usd.Prim.
The argument "center_position" specifies the center position in world coordinates.
| 850 | Markdown | 37.681816 | 146 | 0.752941 |
ft-lab/Omniverse_extension_SetOrigin/exts/ft_lab.Tools.SetOrigin/docs/index.rst | ft_lab.Tools.SetOrigin
###########################
.. toctree::
:maxdepth: 1
README
CHANGELOG
| 107 | reStructuredText | 8.818181 | 27 | 0.46729 |
omnioverflow/kit-extension-path-tracking/README.md | # Vehicle Path Tracking Extension
## 1. About
Omniverse Vehicle Path tracking extension allows a physics-enabled vehicle created
with a PhysX Vehicle extension (omni.physx.vehicle) to move and automatically track a user-defined path.
User-defined path is represented by an instance of USD BasisCurves, and a path tracking algorithm
is inspired by a classic Pure Pursuit algorithm [3].
Figure 1. Preview of Vehicle Path Tracking Extension
### System Requirements:
- `Code 2022.1.3+` or `Create 2022.1.5+` (support for Create 2022.3.0 is in progress)
- `Pyhton 3.7+`, `numpy` (this requirement should be satisfied when using Omniverse Kit's embedded `CPython 3.7`)
### Limitations
For the moment, the extension is simple and a number of
shortcuts have been taken and a few simplifications applied, including the following:
* Pure Pursuit Tracking algorithm is kinematics-based and therefore several physics vehicle dynamics
properties are not considered while computing wheel steering angle, such as tire slipping etc.
* A vehicle might go off the track if proposed an input path of a physically "impossible" trajectory, or at high-speed turn.
* Limited unit test coverage; occasional bugs might exist.
### Future Work
* Implement automatic computation of vehicle path which satisfies certain constraints (waypoints, collision free path etc.).
* Add support for different vehicle controller algorithms, including more sophisticated ones (e.g., PID controller).
* Getting rid of limitations, bugfix.
## 2. Installing Extension
### Add a path to a local clone to Omniverse extension search path
1. `git clone -b main $PATH_TO_DIR`
2. `Window` -> `Extension Manager` -> ⚙️ `Gear Icon` -> `Extension Search Path`
3. Add a path to just cloned extension as an extension search path: `$PATH_TO_DIR/exts`
### Omniverse Community Tab
Extension is also available in the community tab in the Extension Manager: just search for path.tracking in the search field.
### Activate extension
When extension search path configuration is done, start the extension:
1. `Window` -> `Extension Manager`
2. Find Vehicle path tracking extension in the list and enable it (Figure 2)
<img src="exts/ext.path.tracking/data/img/figures/figure_01.png" alt="activating extension" style="height:400px;"/></br>
Figure 2. Activating path tracking extension in extension manager.</br>
---
## 3. Getting Started
### 3.1. Evaluate vehicle path tracking on a preset configuration
The fastest way to evaluate how vehicle path tracking extension works is to use a preset vehicle and curve (could be considered as `HelloWorld` before importing your own physx-vehicle and custom paths).
To get started with the preset configuration please proceed as follows (Figure 3):
1. Click `Load a preset scene` button
2. Click `Start scenario` button
<img src="exts/ext.path.tracking/data/img/figures/figure_02.png" style="width:600px" alt="extension preview"><br/>
Figure 3. Getting started with a preset scene.
The extension also allows a quick way to load a ground plane, a sample physics vehicle, and a sample basis curve. See Figure 4.
<img src="exts/ext.path.tracking/data/img/figures/figure_03.png" style="width:600px" alt="extension controls"/><br/>
Figure 4. Other extension controls.
---
### 3.2. Create your custom vehicle-to-curve attachment setup
Extension supports path tracking for any Omniverse PhysX Vehicle.
One could load a template vehicle using the extension ui or using a conventional method via `Create`->`Physics`->`Vehicle`.
It is also straightforward to add a custom mesh and materials to a physics vehicle [2].
You can create a curve for vehicle path tracking using either of the following methods (Figure 5):
- `Create`->`BasisCurves`->`From Bezier`
- `Create`->`BasisCurves`->`From Pencil`
<img src="exts/ext.path.tracking/data/img/figures/figure_04.png" style="height:500px"/> | <img src="exts/ext.path.tracking/data/img/figures/figure_05.png" style="height:500px"/><br/>
Figure 5. Create a custom path to track via USD BasisCurves.
---
Once a physics vehicle and a path to be tracked defined by USD BasisCurves is created, select the WizardVehicle and the BasisCruves prims in the stage (via Ctrl-click)
and click `Attach Selected` button. Note that is very important to select specifically `WizardVehicle` prim in the scene,
not `WizardVehicle/Vehicle` for instance.
Please see Figure 6 for the illustration.
<img src="exts/ext.path.tracking/data/img/figures/figure_06.png" style="width:1100px"/><br/>
Figure 6. Attachment of a path (USD BasisCurves) to a physics-enabled vehicle.
In case if vehicle-to-curve attachment was successful it should be reflected on the
extension UI (Figure 7).
<img src="exts/ext.path.tracking/data/img/figures/figure_07.png" style="width:600px"/><br/>
Figure 7. Successful vehicle-to-curve attachment is shown on the right side.
When vehicle-to-curve attachment(s) is created, proceed by clicking Start Scenario button.
If you want to get rid of all already existing vehicle-to-curve attachments, please click `Clear All Attachments` (Figure 8).
It is very important to clear vehicle-to-curve attachments, when changing vehicles and corresponding tracked paths.
<img src="exts/ext.path.tracking/data/img/figures/figure_08.png" style="width:600px"/><br/>
Figure 8. Removing existing vehicle-to-curve attachments.
### 3.3. Multiple Vehicles
The extension supports multiple vehicle-to-curve attachments.
Note, that for attachment to work, a pair of `WizardVehicle` and
`BasisCurve` objects should be selected and attached consequently.
Results of path tracking with multiple vehicles is shown in Figure 9.
<img src="exts/ext.path.tracking/data/img/figures/figure_09_01.png" style="height:300px"/> <img src="exts/ext.path.tracking/data/img/figures/figure_09_02.png" style="height:300px"/> <img src="exts/ext.path.tracking/data/img/figures/figure_09_03.png" style="height:300px"/><br/>
Figure 9. Support of multiple vehicle-to-curve attachments.
### Troubleshooting
Note that extension is in Beta. The following items might be of help if any issues:
- It always takes a few seconds between clicking 'Start scenario' button and actual start of the simulation, so please be patient.
- On a fresh install some physx warnings/errors might be occasionally reported to the console log, they should not prevent the extension from producing expected results though.
- If path tracking is not working on a custom vehicle and path, please verify that exactly `WizardVehicle1` from omni.physx.vehicle is selected (not a child prim 'WizardVehicle1/Vehicle' or some parent prim) along with a prim of type `BasisCurves` (which is to be tracked) before clicking 'Attach Selected’.
- Use 'Clear All Attachments` if there are some issues.
---
## 4. Results
1. [youtube video] [Vehicle Path Tracking Extension Overview](https://youtu.be/tv-_xrqjzm4)
2. [youtube video] [Vehicle Dynamics and Vehicle Path Tracking: Forklift Usecase](https://youtu.be/SRibExkL4aE)
2. [youtube video] [OmniPhysX & Vehicle Dynamics Showcase](https://youtu.be/C8tjZWtU6w8)
## 5. References
1. [Omniverse Developer Contest] https://www.nvidia.com/en-us/omniverse/apps/code/developer-contest/
2. [Omniverse Vehicle Dynamics] https://docs.omniverse.nvidia.com/app_create/prod_extensions/ext_vehicle-dynamics.html
3. [Coutler 1992] Coulter, R. Craig. Implementation of the pure pursuit path tracking algorithm. Carnegie-Mellon UNIV Pittsburgh PA Robotics INST, 1992. (https://www.ri.cmu.edu/pub_files/pub3/coulter_r_craig_1992_1/coulter_r_craig_1992_1.pdf)
4. Credits for a forklift model model: https://sketchfab.com/3d-models/forklift-73d21c990e634589b0c130777751be28 (license: [Creative Commons Attribution](https://creativecommons.org/licenses/by/4.0/))
5. Credits for a Dodge Challenger car model: https://sketchfab.com/3d-models/dodge-challenger-ef40662c84eb4beb85acdfce5ac4f40e (license: [Creative Commons Attribution NonCommercial](https://creativecommons.org/licenses/by-nc/4.0/))
6. Credits for a monster truck (used in the result video): https://sketchfab.com/3d-models/hcr2-monster-truck-811bd567566b497a8cbbb06fd5a267b6 (license: [Creative Commons Attribution](https://creativecommons.org/licenses/by/4.0/))
7. Credits for a race track model (used in the result video): https://sketchfab.com/3d-models/track-5f5e9454fd59436e8d0dd38df9ec83c4 (license: [Creative Commons Attribution NonCommercial](https://creativecommons.org/licenses/by-nc/4.0/))
| 8,547 | Markdown | 55.609271 | 307 | 0.776881 |
omnioverflow/kit-extension-path-tracking/tools/scripts/link_app.py | import argparse
import json
import os
import sys
import packmanapi
import urllib3
def find_omniverse_apps():
http = urllib3.PoolManager()
try:
r = http.request("GET", "http://127.0.0.1:33480/components")
except Exception as e:
print(f"Failed retrieving apps from an Omniverse Launcher, maybe it is not installed?\nError: {e}")
sys.exit(1)
apps = {}
for x in json.loads(r.data.decode("utf-8")):
latest = x.get("installedVersions", {}).get("latest", "")
if latest:
for s in x.get("settings", []):
if s.get("version", "") == latest:
root = s.get("launch", {}).get("root", "")
apps[x["slug"]] = (x["name"], root)
break
return apps
def create_link(src, dst):
print(f"Creating a link '{src}' -> '{dst}'")
packmanapi.link(src, dst)
APP_PRIORITIES = ["code", "create", "view"]
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Create folder link to Kit App installed from Omniverse Launcher")
parser.add_argument(
"--path",
help="Path to Kit App installed from Omniverse Launcher, e.g.: 'C:/Users/bob/AppData/Local/ov/pkg/create-2021.3.4'",
required=False,
)
parser.add_argument(
"--app", help="Name of Kit App installed from Omniverse Launcher, e.g.: 'code', 'create'", required=False
)
args = parser.parse_args()
path = args.path
if not path:
print("Path is not specified, looking for Omniverse Apps...")
apps = find_omniverse_apps()
if len(apps) == 0:
print(
"Can't find any Omniverse Apps. Use Omniverse Launcher to install one. 'Code' is the recommended app for developers."
)
sys.exit(0)
print("\nFound following Omniverse Apps:")
for i, slug in enumerate(apps):
name, root = apps[slug]
print(f"{i}: {name} ({slug}) at: '{root}'")
if args.app:
selected_app = args.app.lower()
if selected_app not in apps:
choices = ", ".join(apps.keys())
print(f"Passed app: '{selected_app}' is not found. Specify one of the following found Apps: {choices}")
sys.exit(0)
else:
selected_app = next((x for x in APP_PRIORITIES if x in apps), None)
if not selected_app:
selected_app = next(iter(apps))
print(f"\nSelected app: {selected_app}")
_, path = apps[selected_app]
if not os.path.exists(path):
print(f"Provided path doesn't exist: {path}")
else:
SCRIPT_ROOT = os.path.dirname(os.path.realpath(__file__))
create_link(f"{SCRIPT_ROOT}/../../app", path)
print("Success!")
| 2,814 | Python | 32.117647 | 133 | 0.562189 |
omnioverflow/kit-extension-path-tracking/tools/packman/config.packman.xml | <config remotes="cloudfront">
<remote2 name="cloudfront">
<transport actions="download" protocol="https" packageLocation="d4i3qtqj3r0z5.cloudfront.net/${name}@${version}" />
</remote2>
</config>
| 211 | XML | 34.333328 | 123 | 0.691943 |
omnioverflow/kit-extension-path-tracking/tools/packman/bootstrap/install_package.py | # Copyright 2019 NVIDIA CORPORATION
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# http://www.apache.org/licenses/LICENSE-2.0
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import logging
import shutil
import sys
import tempfile
import zipfile
__author__ = "hfannar"
logging.basicConfig(level=logging.WARNING, format="%(message)s")
logger = logging.getLogger("install_package")
class TemporaryDirectory:
def __init__(self):
self.path = None
def __enter__(self):
self.path = tempfile.mkdtemp()
return self.path
def __exit__(self, type, value, traceback):
# Remove temporary data created
shutil.rmtree(self.path)
def install_package(package_src_path, package_dst_path):
with zipfile.ZipFile(package_src_path, allowZip64=True) as zip_file, TemporaryDirectory() as temp_dir:
zip_file.extractall(temp_dir)
# Recursively copy (temp_dir will be automatically cleaned up on exit)
try:
# Recursive copy is needed because both package name and version folder could be missing in
# target directory:
shutil.copytree(temp_dir, package_dst_path)
except OSError as exc:
logger.warning("Directory %s already present, packaged installation aborted" % package_dst_path)
else:
logger.info("Package successfully installed to %s" % package_dst_path)
install_package(sys.argv[1], sys.argv[2])
| 1,844 | Python | 33.166666 | 108 | 0.703362 |
omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/__init__.py | from .scripts.debug_draw import *
from .scripts.extension import *
from .scripts.model import *
from .scripts.path_tracker import *
from .scripts.path_tracker import *
from .scripts.ui import *
from .scripts.utils import *
from .scripts.vehicle import * | 253 | Python | 30.749996 | 35 | 0.770751 |
omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/scripts/vehicle.py | import omni.usd
from enum import IntEnum
from pxr import Gf, Usd, UsdGeom, PhysxSchema
import numpy as np
# ======================================================================================================================
# Vehicle
# ======================================================================================================================
class Axle(IntEnum):
FRONT = 0,
REAR = 1
class Wheel(IntEnum):
FRONT_LEFT = 0,
FRONT_RIGHT = 1,
REAR_LEFT = 2,
REAR_RIGHT = 3
# ======================================================================================================================
class Vehicle():
"""
A wrapper created to help manipulating state of a vehicle prim and its
dynamic properties, such as acceleration, desceleration, steering etc.
"""
def __init__(self, vehicle_prim, max_steer_angle_radians, rear_steering=True):
self._prim = vehicle_prim
self._path = self._prim.GetPath()
self._steer_delta = 0.01
self._stage = omni.usd.get_context().get_stage()
self._rear_stearing = rear_steering
self._wheel_prims = {
Wheel.FRONT_LEFT:
self._stage.GetPrimAtPath(f"{self._path}/LeftWheel1References"),
Wheel.FRONT_RIGHT:
self._stage.GetPrimAtPath(f"{self._path}/RightWheel1References"),
Wheel.REAR_LEFT:
self._stage.GetPrimAtPath(f"{self._path}/LeftWheel2References"),
Wheel.REAR_RIGHT:
self._stage.GetPrimAtPath(f"{self._path}/RightWheel2References")
}
steering_wheels = [Wheel.FRONT_LEFT, Wheel.FRONT_RIGHT]
non_steering_wheels = [Wheel.REAR_LEFT, Wheel.REAR_RIGHT]
if self._rear_stearing:
steering_wheels, non_steering_wheels = non_steering_wheels, steering_wheels
for wheel_prim_key in steering_wheels:
self._set_max_steer_angle(self._wheel_prims[wheel_prim_key], max_steer_angle_radians)
for wheel_prim_key in non_steering_wheels:
self._set_max_steer_angle(self._wheel_prims[wheel_prim_key], 0.0)
p = self._prim.GetAttribute("xformOp:translate").Get()
self._p = Gf.Vec4f(p[0], p[1], p[2], 1.0)
def _set_max_steer_angle(self, wheel_prim, max_steer_angle_radians):
physx_wheel = PhysxSchema.PhysxVehicleWheelAPI(wheel_prim)
physx_wheel.GetMaxSteerAngleAttr().Set(max_steer_angle_radians)
def get_bbox_size(self):
"""Computes size of vehicle's oriented bounding box."""
purposes = [UsdGeom.Tokens.default_]
bbox_cache = UsdGeom.BBoxCache(Usd.TimeCode.Default(), purposes)
return bbox_cache.ComputeWorldBound(self._prim).ComputeAlignedRange().GetSize()
def steer_left(self, value):
if self._rear_stearing:
self._steer_right_priv(value)
else:
self._steer_left_priv(value)
def steer_right(self, value):
if self._rear_stearing:
self._steer_left_priv(value)
else:
self._steer_right_priv(value)
def _steer_left_priv(self, value):
self._prim.GetAttribute("physxVehicleController:steerLeft").Set(value)
self._prim.GetAttribute("physxVehicleController:steerRight").Set(0.0)
def _steer_right_priv(self, value):
self._prim.GetAttribute("physxVehicleController:steerLeft").Set(0.0)
self._prim.GetAttribute("physxVehicleController:steerRight").Set(value)
def accelerate(self, value):
self._vehicle().GetAttribute("physxVehicleController:accelerator").Set(value)
def brake(self, value):
self._prim.GetAttribute("physxVehicleController:brake").Set(value)
def get_velocity(self):
return self._prim.GetAttribute("physics:velocity").Get()
def get_speed(self):
return np.linalg.norm(self.get_velocity())
def curr_position(self):
prim = self._vehicle()
cache = UsdGeom.XformCache()
T = cache.GetLocalToWorldTransform(prim)
p = self._p * T
return Gf.Vec3f(p[0], p[1], p[2])
def axle_front(self):
return self.axle_position(Axle.FRONT)
def axle_rear(self):
return self.axle_position(Axle.REAR)
def axle_position(self, type):
cache = UsdGeom.XformCache()
T = cache.GetLocalToWorldTransform(self._vehicle())
if type == Axle.FRONT:
wheel_fl = self._wheel_prims[Wheel.FRONT_LEFT].GetAttribute("xformOp:translate").Get()
wheel_fr = self._wheel_prims[Wheel.FRONT_RIGHT].GetAttribute("xformOp:translate").Get()
wheel_fl[1] = 0.0
wheel_fr[1] = 0.0
wheel_fl = Gf.Vec4f(wheel_fl[0], wheel_fl[1], wheel_fl[2], 1.0) * T
wheel_fr = Gf.Vec4f(wheel_fr[0], wheel_fr[1], wheel_fr[2], 1.0) * T
wheel_fl = Gf.Vec3f(wheel_fl[0], wheel_fl[1], wheel_fl[2])
wheel_fr = Gf.Vec3f(wheel_fr[0], wheel_fr[1], wheel_fr[2])
return (wheel_fl + wheel_fr) / 2
elif type == Axle.REAR:
wheel_rl = self._wheel_prims[Wheel.REAR_LEFT].GetAttribute("xformOp:translate").Get()
wheel_rr = self._wheel_prims[Wheel.REAR_RIGHT].GetAttribute("xformOp:translate").Get()
wheel_rl[1] = 0.0
wheel_rr[1] = 0.0
wheel_rl = Gf.Vec4f(wheel_rl[0], wheel_rl[1], wheel_rl[2], 1.0) * T
wheel_rr = Gf.Vec4f(wheel_rr[0], wheel_rr[1], wheel_rr[2], 1.0) * T
wheel_rl = Gf.Vec3f(wheel_rl[0], wheel_rl[1], wheel_rl[2])
wheel_rr = Gf.Vec3f(wheel_rr[0], wheel_rr[1], wheel_rr[2])
return (wheel_rl + wheel_rr) / 2
else:
return None
def _wheel_pos(self, type):
R = self.rotation_matrix()
wheel_pos = self._wheel_prims[type].GetAttribute("xformOp:translate").Get()
wheel_pos = Gf.Vec4f(wheel_pos[0], wheel_pos[1], wheel_pos[2], 1.0) * R
return Gf.Vec3f(wheel_pos[0], wheel_pos[1], wheel_pos[2]) + self.curr_position()
def wheel_pos_front_left(self):
return self._wheel_pos(Wheel.FRONT_LEFT)
def wheel_pos_front_right(self):
return self._wheel_pos(Wheel.FRONT_RIGHT)
def wheel_pos_rear_left(self):
return self._wheel_pos(Wheel.REAR_LEFT)
def wheel_pos_rear_right(self):
return self._wheel_pos(Wheel.REAR_RIGHT)
def rotation_matrix(self):
"""
Produces vehicle's local-to-world rotation transform.
"""
cache = UsdGeom.XformCache()
T = cache.GetLocalToWorldTransform(self._vehicle())
return Gf.Matrix4d(T.ExtractRotationMatrix(), Gf.Vec3d())
def forward(self):
R = self.rotation_matrix()
f = self._forward_local()
return Gf.Vec4f(f[0], f[1], f[2], 1.0) * R
def up(self):
R = self.rotation_matrix()
u = self._up_local()
return Gf.Vec4f(u[0], u[1], u[2], 1.0) * R
def _forward_local(self):
return Gf.Vec3f(0.0, 0.0, 1.0)
def _up_local(self):
return Gf.Vec3f(0.0, 1.0, 0.0)
def _vehicle(self):
return self._stage.GetPrimAtPath(self._path)
def is_close_to(self, point, lookahead_distance):
if not point:
raise Exception("[Vehicle] Point is None")
curr_vehicle_pos = self.curr_position()
if not curr_vehicle_pos:
raise Exception("[Vechicle] Current position is None")
distance = np.linalg.norm(curr_vehicle_pos - point)
return tuple([distance, distance < lookahead_distance])
| 7,517 | Python | 36.402985 | 120 | 0.579753 |
omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/scripts/stepper.py | import omni.kit
import omni.physx
import omni.usd
import omni.timeline
from omni.physx.bindings._physx import SimulationEvent
import math
import threading
"""
Based on Nvidia's sample from omni.physx.vehicle Physics extension.
"""
# ======================================================================================================================
#
# Scenario
#
# ======================================================================================================================
class Scenario:
def __init__(self, secondsToRun, timeStep=1.0 / 60.0):
self._targetIterationCount = math.ceil(secondsToRun / timeStep)
def get_iteration_count(self):
return self._targetIterationCount
# override in subclass as needed
def on_start(self):
pass
def on_end(self):
pass
def on_step(self, deltaTime, totalTime):
pass
# ======================================================================================================================
#
# SimStepTracker
#
# ======================================================================================================================
class SimStepTracker:
def __init__(self, scenario, scenarioDoneSignal):
self._scenario = scenario
self._targetIterationCount = scenario.get_iteration_count()
self._scenarioDoneSignal = scenarioDoneSignal
self._physx = omni.physx.get_physx_interface()
self._physxSimEventSubscription = self._physx.get_simulation_event_stream_v2().create_subscription_to_pop(
self._on_simulation_event
)
self._hasStarted = False
self._resetOnNextResume = False
def abort(self):
if self._hasStarted:
self._on_stop()
self._physxSimEventSubscription = None
self._physx = (
None
) # should release automatically (note: explicit release call results in double release being reported)
self._scenarioDoneSignal.set()
def stop(self):
self._scenario.on_end()
self._scenarioDoneSignal.set()
def reset_on_next_resume(self):
self._resetOnNextResume = True
def _on_stop(self):
self._hasStarted = False
self._physxStepEventSubscription = None # should unsubscribe automatically
self._scenario.on_end()
def _on_simulation_event(self, event):
if event.type == int(SimulationEvent.RESUMED):
if not self._hasStarted:
self._scenario.on_start()
self._iterationCount = 0
self._totalTime = 0
self._physxStepEventSubscription = self._physx.subscribe_physics_step_events(self._on_physics_step)
self._hasStarted = True
elif self._resetOnNextResume:
self._resetOnNextResume = False
# the simulation step callback is still registered and should remain so, thus no unsubscribe
self._hasStarted = False
self._scenario.on_end()
self._scenario.on_start()
self._iterationCount = 0
self._totalTime = 0
self._hasStarted = True
# elif event.type == int(SimulationEvent.PAUSED):
# self._on_pause()
elif event.type == int(SimulationEvent.STOPPED):
self._on_stop()
def _on_physics_step(self, dt):
if self._hasStarted:
pass
if self._iterationCount < self._targetIterationCount:
self._scenario.on_step(dt, self._totalTime)
self._iterationCount += 1
self._totalTime += dt
else:
self._scenarioDoneSignal.set()
# ======================================================================================================================
#
# StageEventListener
#
# ======================================================================================================================
class StageEventListener:
def __init__(self, simStepTracker):
self._simStepTracker = simStepTracker
self._stageEventSubscription = (
omni.usd.get_context().get_stage_event_stream().create_subscription_to_pop(self._on_stage_event)
)
self._stageIsClosing = False
self.restart_after_stop = False
def cleanup(self):
self._stageEventSubscription = None
def is_stage_closing(self):
return self._stageIsClosing
def _on_stage_event(self, event):
# Check out omni.usd docs for more information regarding
# omni.usd.StageEventType in particular.
# https://docs.omniverse.nvidia.com/py/kit/source/extensions/omni.usd/docs/index.html
if event.type == int(omni.usd.StageEventType.CLOSING):
self._stop(stageIsClosing=True)
elif event.type == int(omni.usd.StageEventType.SIMULATION_STOP_PLAY):
if self.restart_after_stop:
omni.timeline.get_timeline_interface().play()
elif event.type == int(omni.usd.StageEventType.SIMULATION_START_PLAY):
self.restart_after_stop = False
elif event.type == int(omni.usd.StageEventType.ANIMATION_STOP_PLAY):
pass
def _stop(self, stageIsClosing=False):
self._stageIsClosing = stageIsClosing
self._simStepTracker.stop()
# ======================================================================================================================
#
# ScenarioManager
#
# ======================================================================================================================
class ScenarioManager:
def __init__(self, scenario):
self._scenario = scenario
self._setup(scenario)
def _setup(self, scenario):
self._init_done = False
scenarioDoneSignal = threading.Event()
self._simStepTracker = SimStepTracker(scenario, scenarioDoneSignal)
self._stageEventListener = StageEventListener(self._simStepTracker)
def stop_scenario(self):
self._stageEventListener._stop()
def cleanup(self):
self._stageEventListener.cleanup()
self._simStepTracker.abort()
@property
def scenario(self):
return self._scenario
@scenario.setter
def set_scenario(self, scenario):
self.stop_scenario()
self._setup(scenario)
| 6,373 | Python | 32.197916 | 120 | 0.530206 |
omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/scripts/path_tracker.py | import omni.usd
from pxr import Gf, UsdGeom
import math
import numpy as np
from .debug_draw import DebugRenderer
from .stepper import Scenario
from .vehicle import Axle, Vehicle
# ======================================================================================================================
#
# PurePursuitScenario
#
# ======================================================================================================================
class PurePursuitScenario(Scenario):
def __init__(self, lookahead_distance, vehicle_path, trajectory_prim_path, meters_per_unit,
close_loop_flag, enable_rear_steering):
super().__init__(secondsToRun=10000.0, timeStep=1.0/25.0)
self._MAX_STEER_ANGLE_RADIANS = math.pi / 3
self._lookahead_distance = lookahead_distance
self._METERS_PER_UNIT = meters_per_unit
self._max_speed = 250.0
self._stage = omni.usd.get_context().get_stage()
self._vehicle = Vehicle(
self._stage.GetPrimAtPath(vehicle_path),
self._MAX_STEER_ANGLE_RADIANS,
enable_rear_steering
)
self._debug_render = DebugRenderer(self._vehicle.get_bbox_size())
self._path_tracker = PurePursuitPathTracker(math.pi/4)
self._dest = None
self._trajectory_prim_path = trajectory_prim_path
self._trajectory = Trajectory(trajectory_prim_path, close_loop=close_loop_flag)
self._stopped = False
self.draw_track = False
self._close_loop = close_loop_flag
def on_start(self):
self._vehicle.accelerate(1.0)
def on_end(self):
self._trajectory.reset()
def _process(self, forward, up, dest_position, distance=None, is_close_to_dest=False):
"""
Steering/accleleration vehicle control heuristic.
"""
if (distance is None):
distance, is_close_to_dest = self._vehicle.is_close_to(dest_position, self._lookahead_distance)
curr_vehicle_pos = self._vehicle.curr_position()
self._debug_render.update_vehicle(self._vehicle)
self._debug_render.update_path_to_dest(curr_vehicle_pos, dest_position)
# FIXME: - currently the extension expect Y-up axis which is not flexible.
# Project onto XZ plane
curr_vehicle_pos[1] = 0.0
forward[1] = 0.0
dest_position[1] = 0.0
speed = self._vehicle.get_speed() * self._METERS_PER_UNIT
axle_front = Gf.Vec3f(self._vehicle.axle_position(Axle.FRONT))
axle_rear = Gf.Vec3f(self._vehicle.axle_position(Axle.REAR))
axle_front[1] = 0.0
axle_rear[1] = 0.0
# self._debug_render.update_path_tracking(axle_front, axle_rear, forward, dest_position)
steer_angle = self._path_tracker.on_step(
axle_front,
axle_rear,
forward,
dest_position,
curr_vehicle_pos
)
if steer_angle < 0:
self._vehicle.steer_left(abs(steer_angle))
else:
self._vehicle.steer_right(steer_angle)
# Accelerate/break control heuristic
if abs(steer_angle) > 0.1 and speed > 5.0:
self._vehicle.brake(1.0)
self._vehicle.accelerate(0.0)
else:
if (speed >= self._max_speed):
self._vehicle.brake(0.8)
self._vehicle.accelerate(0.0)
else:
self._vehicle.brake(0.0)
self._vehicle.accelerate(0.7)
def _full_stop(self):
self._vehicle.accelerate(0.0)
self._vehicle.brake(1.0)
def set_meters_per_unit(self, value):
self._METERS_PER_UNIT = value
def teardown(self):
super().abort()
self._dest.teardown()
self._dest = None
self._stage = None
self._vehicle = None
self._debug_render = None
self._path_tracker = None
def enable_debug(self, flag):
self._debug_render.enable(flag)
def on_step(self, deltaTime, totalTime):
"""
Updates vehicle control on sim update callback in order to stay on tracked path.
"""
forward = self._vehicle.forward()
up = self._vehicle.up()
if self._trajectory and self.draw_track:
self._trajectory.draw()
dest_position = self._trajectory.point()
is_end_point = self._trajectory.is_at_end_point()
# Run vehicle control unless reached the destination
if dest_position:
distance, is_close_to_dest = self._vehicle.is_close_to(dest_position, self._lookahead_distance)
if (is_close_to_dest):
dest_position = self._trajectory.next_point()
else:
# Compute vehicle steering and acceleration
self._process(forward, up, dest_position, distance, is_close_to_dest)
else:
self._stopped = True
self._full_stop()
def recompute_trajectory(self):
self._trajectory = Trajectory(self._trajectory_prim_path, self._close_loop)
def set_lookahead_distance(self, distance):
self._lookahead_distance = distance
def set_close_trajectory_loop(self, flag):
self._close_loop = flag
self._trajectory.set_close_loop(flag)
# ======================================================================================================================
#
# PurePursuitPathTracker
#
# ======================================================================================================================
class PurePursuitPathTracker():
"""
Implements path tracking in spirit of Pure Pursuit algorithm.
References
* Implementation of the Pure Pursuit Path tracking Algorithm, RC Conlter:
https://www.ri.cmu.edu/pub_files/pub3/coulter_r_craig_1992_1/coulter_r_craig_1992_1.pdf
* https://dingyan89.medium.com/three-methods-of-vehicle-lateral-control-pure-pursuit-stanley-and-mpc-db8cc1d32081
"""
def __init__(self, max_steer_angle_radians):
self._max_steer_angle_radians = max_steer_angle_radians
self._debug_enabled = False
def _steer_value_from_angle(self, angle):
"""
Computes vehicle's steering wheel angle in expected range [-1, 1].
"""
return np.clip(angle / self._max_steer_angle_radians, -1.0, 1.0)
def on_step(self, front_axle_pos, rear_axle_pos, forward, dest_pos, curr_pos):
"""
Recomputes vehicle's steering angle on a simulation step.
"""
front_axle_pos, rear_axle_pos = rear_axle_pos, front_axle_pos
# Lookahead points to the next destination point
lookahead = dest_pos - rear_axle_pos
# Forward vector corrsponds to an axis segment front-to-rear
forward = front_axle_pos - rear_axle_pos
lookahead_dist = np.linalg.norm(lookahead)
forward_dist = np.linalg.norm(forward)
if self._debug_enabled:
if lookahead_dist == 0.0 or forward_dist == 0.0:
raise Exception("Pure pursuit aglorithm: invalid state")
lookahead.Normalize()
forward.Normalize()
# Compute a signed angle alpha between lookahead and forward vectors,
# /!\ left-handed rotation assumed.
dot = lookahead[0] * forward[0] + lookahead[2] * forward[2]
cross = lookahead[0] * forward[2] - lookahead[2] * forward[0]
alpha = math.atan2(cross, dot)
theta = math.atan(2.0 * forward_dist * math.sin(alpha) / lookahead_dist)
steer_angle = self._steer_value_from_angle(theta)
return steer_angle
# ======================================================================================================================
#
# Trajectory
#
# ======================================================================================================================
class Trajectory():
"""
A helper class to access coordinates of points that form a BasisCurve prim.
"""
def __init__(self, prim_path, close_loop=True):
stage = omni.usd.get_context().get_stage()
basis_curves = UsdGeom.BasisCurves.Get(stage, prim_path)
if (basis_curves and basis_curves is not None):
curve_prim = stage.GetPrimAtPath(prim_path)
self._points = basis_curves.GetPointsAttr().Get()
self._num_points = len(self._points)
cache = UsdGeom.XformCache()
T = cache.GetLocalToWorldTransform(curve_prim)
for i in range(self._num_points):
p = Gf.Vec4d(self._points[i][0], self._points[i][1], self._points[i][2], 1.0)
p_ = p * T
self._points[i] = Gf.Vec3f(p_[0], p_[1], p_[2])
else:
self._points = None
self._num_points = 0
self._pointer = 0
self._close_loop = close_loop
def point(self):
"""
Returns current point.
"""
return self._points[self._pointer] if self._pointer < len(self._points) else None
def next_point(self):
"""
Next point on the curve.
"""
if (self._pointer < self._num_points):
self._pointer = self._pointer + 1
if self._pointer >= self._num_points and self._close_loop:
self._pointer = 0
return self.point()
return None
def is_at_end_point(self):
"""
Checks if the current point is the last one.
"""
return self._pointer == (self._num_points - 1)
def reset(self):
"""
Resets current point to the first one.
"""
self._pointer = 0
def set_close_loop(self, flag):
self._close_loop = flag
| 9,688 | Python | 34.752767 | 120 | 0.55192 |
omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/scripts/extension.py | import omni.ext
import omni.kit
import omni.usd
import carb
import asyncio
from .model import ExtensionModel
from .ui import ExtensionUI
# ======================================================================================================================
#
# PathTrackingExtension
#
# ======================================================================================================================
class PathTrackingExtension(omni.ext.IExt):
def __init__(self):
self._DEFAULT_LOOKAHEAD = 550.0
# Any user-defined changes to the lookahead parameter will be clamped:
self._MIN_LOOKAHEAD = 400.0
self._MAX_LOOKAHEAD = 2000.0
def on_startup(self, ext_id):
if omni.usd.get_context().get_stage() is None:
# Workaround for running within test environment.
omni.usd.get_context().new_stage()
# Usd listener could be used in the future if we could be interested
# in recomputing changes in the vehicle planned trajectory "on the fly".
# self._usd_listener = Tf.Notice.Register(Usd.Notice.ObjectsChanged, self._on_usd_change, None)
self._stage_event_sub = omni.usd.get_context().get_stage_event_stream().create_subscription_to_pop(
self._on_stage_event, name="Stage Open/Closing Listening"
)
self._model = ExtensionModel(
ext_id,
default_lookahead_distance=self._DEFAULT_LOOKAHEAD,
max_lookahed_distance=self._MAX_LOOKAHEAD,
min_lookahed_distance=self._MIN_LOOKAHEAD
)
self._ui = ExtensionUI(self)
self._ui.build_ui(self._model.get_lookahead_distance(), attachments=[])
def on_shutdown(self):
timeline = omni.timeline.get_timeline_interface()
if timeline.is_playing():
timeline.stop()
self._clear_attachments()
self._usd_listener = None
self._stage_event_sub = None
self._ui.teardown()
self._ui = None
self._model.teardown()
self._model = None
def _update_ui(self):
self._ui.update_attachment_info(self._model._vehicle_to_curve_attachments.keys())
# ======================================================================================================================
# Callbacks
# ======================================================================================================================
def _on_click_start_scenario(self):
async def start_scenario(model):
timeline = omni.timeline.get_timeline_interface()
if timeline.is_playing():
timeline.stop()
await omni.kit.app.get_app().next_update_async()
lookahead_distance = self._ui.get_lookahead_distance()
model.load_simulation(lookahead_distance)
omni.timeline.get_timeline_interface().play()
run_loop = asyncio.get_event_loop()
asyncio.run_coroutine_threadsafe(start_scenario(self._model), loop=run_loop)
def _on_click_stop_scenario(self):
async def stop_scenario():
timeline = omni.timeline.get_timeline_interface()
if timeline.is_playing():
timeline.stop()
await omni.kit.app.get_app().next_update_async()
run_loop = asyncio.get_event_loop()
asyncio.run_coroutine_threadsafe(stop_scenario(), loop=run_loop)
def _on_click_load_sample_vehicle(self):
self._model.load_sample_vehicle()
def _on_click_load_ground_plane(self):
self._model.load_ground_plane()
def _on_click_load_basis_curve(self):
self._model.load_sample_track()
def _on_click_load_forklift(self):
self._model.load_forklift_rig()
def _on_click_attach_selected(self):
selected_prim_paths = omni.usd.get_context().get_selection().get_selected_prim_paths()
self._model.attach_selected_prims(selected_prim_paths)
self._update_ui()
def _clear_attachments(self):
async def stop_scenario():
timeline = omni.timeline.get_timeline_interface()
if timeline.is_playing():
timeline.stop()
await omni.kit.app.get_app().next_update_async()
run_loop = asyncio.get_event_loop()
asyncio.run_coroutine_threadsafe(stop_scenario(), loop=run_loop)
self._model.clear_attachments()
self._update_ui()
def _on_click_clear_attachments(self):
self._clear_attachments()
def _on_click_load_preset_scene(self):
self._model.load_preset_scene()
self._update_ui()
def _on_stage_event(self, event: carb.events.IEvent):
"""Called on USD Context event"""
if event.type == int(omni.usd.StageEventType.CLOSING):
self._model.clear_attachments()
self._update_ui()
def _on_usd_change(self, objects_changed, stage):
carb.log_info("_on_usd_change")
for resync_path in objects_changed.GetResyncedPaths():
carb.log_info(resync_path)
def _changed_enable_debug(self, model):
self._model.set_enable_debug(model.as_bool)
def _on_lookahead_distance_changed(self, distance):
# self._clear_attachments()
clamped_lookahead_distance = self._model.update_lookahead_distance(distance)
self._ui.set_lookahead_distance(clamped_lookahead_distance)
def _on_trajectory_loop_value_changed(self, widget_model):
self._model.set_close_trajectory_loop(widget_model.as_bool)
def _on_steering_changed(self, model):
# First we have to stop current simulation.
self._on_click_stop_scenario()
self._model.set_enable_rear_steering(model.as_bool)
| 5,705 | Python | 35.576923 | 120 | 0.57844 |
omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/scripts/utils.py | import omni.usd
from pxr import UsdGeom, Sdf, Gf, UsdPhysics, PhysxSchema
class Utils:
@staticmethod
def create_mesh_square_axis(stage, path, axis, halfSize):
if axis == "X":
points = [
Gf.Vec3f(0.0, -halfSize, -halfSize),
Gf.Vec3f(0.0, halfSize, -halfSize),
Gf.Vec3f(0.0, halfSize, halfSize),
Gf.Vec3f(0.0, -halfSize, halfSize),
]
normals = [Gf.Vec3f(1, 0, 0), Gf.Vec3f(1, 0, 0), Gf.Vec3f(1, 0, 0), Gf.Vec3f(1, 0, 0)]
indices = [0, 1, 2, 3]
vertexCounts = [4]
# Create the mesh
return Utils.create_mesh(stage, path, points, normals, indices, vertexCounts)
elif axis == "Y":
points = [
Gf.Vec3f(-halfSize, 0.0, -halfSize),
Gf.Vec3f(halfSize, 0.0, -halfSize),
Gf.Vec3f(halfSize, 0.0, halfSize),
Gf.Vec3f(-halfSize, 0.0, halfSize),
]
normals = [Gf.Vec3f(0, 1, 0), Gf.Vec3f(0, 1, 0), Gf.Vec3f(0, 1, 0), Gf.Vec3f(0, 1, 0)]
indices = [0, 1, 2, 3]
vertexCounts = [4]
# Create the mesh
return Utils.create_mesh(stage, path, points, normals, indices, vertexCounts)
points = [
Gf.Vec3f(-halfSize, -halfSize, 0.0),
Gf.Vec3f(halfSize, -halfSize, 0.0),
Gf.Vec3f(halfSize, halfSize, 0.0),
Gf.Vec3f(-halfSize, halfSize, 0.0),
]
normals = [Gf.Vec3f(0, 0, 1), Gf.Vec3f(0, 0, 1), Gf.Vec3f(0, 0, 1), Gf.Vec3f(0, 0, 1)]
indices = [0, 1, 2, 3]
vertexCounts = [4]
# Create the mesh
mesh = Utils.create_mesh(stage, path, points, normals, indices, vertexCounts)
# text coord
texCoords = mesh.CreatePrimvar("st", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.varying)
texCoords.Set([(0, 0), (1, 0), (1, 1), (0, 1)])
return mesh
@staticmethod
def create_mesh(stage, path, points, normals, indices, vertexCounts):
mesh = UsdGeom.Mesh.Define(stage, path)
# Fill in VtArrays
mesh.CreateFaceVertexCountsAttr().Set(vertexCounts)
mesh.CreateFaceVertexIndicesAttr().Set(indices)
mesh.CreatePointsAttr().Set(points)
mesh.CreateDoubleSidedAttr().Set(False)
mesh.CreateNormalsAttr().Set(normals)
return mesh
@staticmethod
def add_ground_plane(stage, planePath, axis,
size=3000.0, position=Gf.Vec3f(0.0), color=Gf.Vec3f(0.2, 0.25, 0.25)):
# plane xform, so that we dont nest geom prims
planePath = omni.usd.get_stage_next_free_path(stage, planePath, True)
planeXform = UsdGeom.Xform.Define(stage, planePath)
planeXform.AddTranslateOp().Set(position)
planeXform.AddOrientOp().Set(Gf.Quatf(1.0))
planeXform.AddScaleOp().Set(Gf.Vec3f(1.0))
# (Graphics) Plane mesh
geomPlanePath = planePath + "/CollisionMesh"
entityPlane = Utils.create_mesh_square_axis(stage, geomPlanePath, axis, size)
entityPlane.CreateDisplayColorAttr().Set([color])
# (Collision) Plane
colPlanePath = planePath + "/CollisionPlane"
planeGeom = PhysxSchema.Plane.Define(stage, colPlanePath)
planeGeom.CreatePurposeAttr().Set("guide")
planeGeom.CreateAxisAttr().Set(axis)
prim = stage.GetPrimAtPath(colPlanePath)
UsdPhysics.CollisionAPI.Apply(prim)
return planePath
| 3,519 | Python | 38.111111 | 104 | 0.577721 |
omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/scripts/model.py | import omni
from pxr import UsdGeom
import omni.kit.commands
from omni.physxvehicle.scripts.wizards import physxVehicleWizard as VehicleWizard
from omni.physxvehicle.scripts.helpers.UnitScale import UnitScale
from omni.physxvehicle.scripts.commands import PhysXVehicleWizardCreateCommand
from .stepper import ScenarioManager
from .path_tracker import PurePursuitScenario
from .utils import Utils
from pxr import UsdPhysics
# ======================================================================================================================
#
# ExtensionModel
#
# ======================================================================================================================
class ExtensionModel:
ROOT_PATH = "/World"
def __init__(self, extension_id, default_lookahead_distance, max_lookahed_distance, min_lookahed_distance):
self._ext_id = extension_id
self._METADATA_KEY = f"{extension_id.split('-')[0]}.metadata"
self._lookahead_distance = default_lookahead_distance
self._min_lookahead_distance = min_lookahed_distance
self._max_lookahead_distance = max_lookahed_distance
self.METERS_PER_UNIT = 0.01
UsdGeom.SetStageMetersPerUnit(omni.usd.get_context().get_stage(), self.METERS_PER_UNIT)
# Currently the extension expects Y-axis to be up-axis.
# Conventionally Y-up is often used in graphics, including Kit-apps.
# TODO: refactor impl to avoid breaking things when changing up-axis settings.
self._up_axis = "Y"
self._vehicle_to_curve_attachments = {}
self._scenario_managers = []
self._dirty = False
# Enables debug overlay with additional info regarding current vehicle state.
self._enable_debug = False
# Closed trajectory loop
self._closed_trajectory_loop = False
self._rear_steering = False
def teardown(self):
self.stop_scenarios()
self._scenario_managers = None
def attach_vehicle_to_curve(self, wizard_vehicle_path, curve_path):
"""
Links a vehicle prim (must be WizardVehicle Xform) to the path (BasisCurve)
to be tracked by the vechile.
Currently we expect two prims to be selected:
- WizardVehicle
- BasisCurve (corresponding curve/trajectory the vehicle must track)
"""
stage = omni.usd.get_context().get_stage()
prim0 = stage.GetPrimAtPath(wizard_vehicle_path)
prim1 = stage.GetPrimAtPath(curve_path)
if prim0.IsA(UsdGeom.BasisCurves):
# Fix order of selected prims: WizardVehicle should be first
prim0, prim1 = prim1, prim0
wizard_vehicle_path, curve_path = curve_path, wizard_vehicle_path
if prim0.IsA(UsdGeom.Xformable):
key = wizard_vehicle_path + "/Vehicle"
self._vehicle_to_curve_attachments[key] = curve_path
self._dirty = True
def attach_selected_prims(self, selected_prim_paths):
"""
Attaches selected prims paths from a stage to be considered as a
vehicle and path to be tracked correspondingly.
The selected prim paths should include a WizardVehicle Xform that
represents vehicle, and a BasisCurves that represents tracked path.
"""
if len(selected_prim_paths) == 2:
self.attach_vehicle_to_curve(
wizard_vehicle_path=selected_prim_paths[0],
curve_path=selected_prim_paths[1]
)
def attach_preset_metadata(self, metadata):
"""
Does vehicle-to-curve attachment from the metadata dictionary directly.
"""
self.attach_vehicle_to_curve(
wizard_vehicle_path=metadata["WizardVehicle"],
curve_path=metadata["BasisCurve"]
)
def _cleanup_scenario_managers(self):
"""Cleans up scenario managers. Often useful when tracked data becomes obsolete."""
self.stop_scenarios()
for manager in self._scenario_managers:
manager.cleanup()
self._scenario_managers.clear()
self._dirty = True
def clear_attachments(self):
"""
Removes previously added path tracking attachments.
"""
self._cleanup_scenario_managers()
self._vehicle_to_curve_attachments.clear()
def stop_scenarios(self):
"""
Stops path tracking scenarios.
"""
for manager in self._scenario_managers:
manager.stop_scenario()
def load_simulation(self, lookahead_distance):
"""
Load scenarios with vehicle-to-curve attachments.
Note that multiple vehicles could run at the same time.
"""
if self._dirty:
self._cleanup_scenario_managers()
for vehicle_path in self._vehicle_to_curve_attachments:
scenario = PurePursuitScenario(
lookahead_distance,
vehicle_path,
self._vehicle_to_curve_attachments[vehicle_path],
self.METERS_PER_UNIT,
self._closed_trajectory_loop,
self._rear_steering
)
scenario.enable_debug(self._enable_debug)
scenario_manager = ScenarioManager(scenario)
self._scenario_managers.append(scenario_manager)
self._dirty = False
self.recompute_trajectories()
def recompute_trajectories(self):
"""
Update tracked trajectories. Often needed when BasisCurve defining a
trajectory in the scene was updated by a user.
"""
for i in range(len(self._scenario_managers)):
manager = self._scenario_managers[i]
manager.scenario.recompute_trajectory()
def set_enable_debug(self, flag):
"""
Enables/disables debug overlay.
"""
self._enable_debug = flag
for manager in self._scenario_managers:
manager.scenario.enable_debug(flag)
def set_close_trajectory_loop(self, flag):
"""
Enables closed loop path tracking.
"""
self._closed_trajectory_loop = flag
for manager in self._scenario_managers:
manager.scenario.set_close_trajectory_loop(flag)
def set_enable_rear_steering(self, flag):
"""
Enables rear steering for the vehicle.
"""
self._rear_steering = flag
# Mark simulation config as dirty in order to re-create vehicle object.
self._dirty = True
def load_ground_plane(self):
"""
Helper to quickly load a preset ground plane prim.
"""
stage = omni.usd.get_context().get_stage()
path = omni.usd.get_stage_next_free_path(stage, "/GroundPlane", False)
Utils.add_ground_plane(stage, path, self._up_axis)
def get_unit_scale(self, stage):
metersPerUnit = UsdGeom.GetStageMetersPerUnit(stage)
lengthScale = 1.0 / metersPerUnit
kilogramsPerUnit = UsdPhysics.GetStageKilogramsPerUnit(stage)
massScale = 1.0 / kilogramsPerUnit
return UnitScale(lengthScale, massScale)
def load_sample_vehicle(self):
"""
Load a preset vechile from a USD data provider shipped with the extension.
"""
usd_context = omni.usd.get_context()
stage = usd_context.get_stage()
vehicleData = VehicleWizard.VehicleData(self.get_unit_scale(stage),
VehicleWizard.VehicleData.AXIS_Y, VehicleWizard.VehicleData.AXIS_Z)
root_vehicle_path = self.ROOT_PATH + VehicleWizard.VEHICLE_ROOT_BASE_PATH
root_vehicle_path = omni.usd.get_stage_next_free_path(stage, root_vehicle_path, True)
root_shared_path = self.ROOT_PATH + VehicleWizard.SHARED_DATA_ROOT_BASE_PATH
root_vehicle_path = omni.usd.get_stage_next_free_path(stage, root_shared_path, True)
vehicleData.rootVehiclePath = root_vehicle_path
vehicleData.rootSharedPath = root_shared_path
(success, (messageList, scenePath)) = PhysXVehicleWizardCreateCommand.execute(vehicleData)
assert (success)
assert (not messageList)
assert (scenePath and scenePath is not None)
return root_vehicle_path
def load_sample_track(self):
"""
Load a sample BasisCurve serialiazed in USD.
"""
usd_context = omni.usd.get_context()
ext_path = omni.kit.app.get_app().get_extension_manager().get_extension_path(self._ext_id)
basis_curve_prim_path = "/BasisCurves"
basis_curve_prim_path = omni.usd.get_stage_next_free_path(
usd_context.get_stage(),
basis_curve_prim_path,
True
)
basis_curve_usd_path = f"{ext_path}/data/usd/curve.usd"
omni.kit.commands.execute(
"CreateReferenceCommand",
path_to=basis_curve_prim_path,
asset_path=basis_curve_usd_path,
usd_context=usd_context,
)
def load_forklift_rig(self):
"""Load a forklift model from USD with already exisitng physx vehicle rig."""
usd_context = omni.usd.get_context()
ext_path = omni.kit.app.get_app().get_extension_manager().get_extension_path(self._ext_id)
forklift_prim_path = "/ForkliftRig"
forklift_prim_path = omni.usd.get_stage_next_free_path(
usd_context.get_stage(),
forklift_prim_path,
True
)
vehicle_usd_path = f"{ext_path}/data/usd/forklift/forklift_rig.usd"
omni.kit.commands.execute(
"CreateReferenceCommand",
path_to=forklift_prim_path,
asset_path=vehicle_usd_path,
usd_context=usd_context,
)
return forklift_prim_path
def load_preset_scene(self):
"""
Loads a preset scene with vehicle template and predefined curve for
path tracking.
"""
default_prim_path = self.ROOT_PATH
stage = omni.usd.get_context().get_stage()
if not stage.GetPrimAtPath(default_prim_path):
omni.kit.commands.execute(
"CreatePrim", prim_path=default_prim_path,
prim_type="Xform", select_new_prim=True, attributes={}
)
stage.SetDefaultPrim(stage.GetPrimAtPath(default_prim_path))
self.load_ground_plane()
vehicle_prim_path = self.load_sample_vehicle()
self.load_sample_track()
metadata_vehicle_to_curve = self.get_attachment_presets(vehicle_prim_path)
self.attach_preset_metadata(metadata_vehicle_to_curve)
def get_attachment_presets(self, vehicle_path):
"""
Prim paths for the preset scene with prim paths for vehicle-to-curve
attachment.
"""
stage = omni.usd.get_context().get_stage()
vehicle_prim = stage.GetPrimAtPath(vehicle_path)
metadata = vehicle_prim.GetCustomData()
# Vehicle-to-Curve attachment of the preset is stored in the metadata.
attachment_preset = metadata.get(self._METADATA_KEY)
if not attachment_preset or attachment_preset is None:
# Fallback to defaults
attachment_preset = {
"WizardVehicle": vehicle_path,
"BasisCurve": "/World/BasisCurves/BasisCurves"
}
return attachment_preset
def get_lookahead_distance(self):
return self._lookahead_distance
def update_lookahead_distance(self, distance):
"""Updates the lookahead distance parameter for pure pursuit"""
clamped_distance = max(
self._min_lookahead_distance,
min(self._max_lookahead_distance, distance)
)
for scenario_manager in self._scenario_managers:
scenario_manager.scenario.set_lookahead_distance(clamped_distance)
return clamped_distance
| 11,903 | Python | 38.287129 | 120 | 0.614971 |
omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/scripts/debug_draw.py | import carb
from omni.debugdraw import get_debug_draw_interface
"""
Note: DebugRenderer relies on `omni.debugdraw` utility to optionally provide
a debug overlay with additional info regarding current state of vehicle,
path tracking destination etc.
Using omni.ui.scene would be more future proof as it will break
dependency on `omni.debugdraw` which may change or not guaranteed to be
kept in the future in Kit-based apps.
"""
class DebugRenderer():
def __init__(self, vehicle_bbox_size):
self._debug_draw = get_debug_draw_interface()
self._curr_time = 0.0
self._color = 0x60FF0000
self._line_thickness = 2.0
self._size = max(vehicle_bbox_size)
self._enabled = True
# update_stream = omni.kit.app.get_app().get_update_event_stream()
# self._update_sub = update_stream.create_subscription_to_pop(self._on_update, name="omni.physx update")
def _draw_segment(self, start, end, color, thickness):
self._debug_draw.draw_line(
carb.Float3(start[0], start[1], start[2]),
color, thickness,
carb.Float3(end[0], end[1], end[2]),
color, thickness
)
def update_path_tracking(self, front_axle_pos, rear_axle_pos, forward, dest_pos):
if not self._enabled:
return
color = 0xFF222222
thickness = 10.0
self._draw_segment(rear_axle_pos, dest_pos, color, thickness)
color = 0xFF00FA9A
self._draw_segment(rear_axle_pos, front_axle_pos, color, thickness)
def update_vehicle(self, vehicle):
if not self._enabled:
return
curr_vehicle_pos = vehicle.curr_position()
forward = vehicle.forward()
up = vehicle.up()
t = self._line_thickness * 2
x = curr_vehicle_pos[0]
y = curr_vehicle_pos[1]
z = curr_vehicle_pos[2]
s = self._size / 2
# Draw forward
self._debug_draw.draw_line(
carb.Float3(x, y, z),
0xFF0000FF, t,
carb.Float3(x + s * forward[0], y + s * forward[1], z + s * forward[2]),
0xFF0000FF, t
)
# Draw up
self._debug_draw.draw_line(
carb.Float3(x, y, z),
0xFF00FF00, t,
carb.Float3(x + s * up[0], y + s * up[1], z + s * up[2]),
0xFF00FF00, t
)
# /!\ Uncomment additional debug overlay drawing below if needed
# Draw axle axis connecting front to rear
# af = vehicle.axle_front()
# ar = vehicle.axle_rear()
# axle_color = 0xFF8A2BE2
# self._debug_draw.draw_line(
# carb.Float3(af[0], af[1], af[2]),
# axle_color, t*4,
# carb.Float3(ar[0], ar[1], ar[2]),
# axle_color, t*4
# )
# Draw front axle
# fl = vehicle.wheel_pos_front_left()
# fr = vehicle.wheel_pos_front_right()
# front_axle_color = 0xFFFF0000
# self._debug_draw.draw_line(
# carb.Float3(fl[0], fl[1], fl[2]),
# front_axle_color, t*2,
# carb.Float3(fr[0], fr[1], fr[2]),
# front_axle_color, t*2
# )
# Draw rear axle
# rl = vehicle.wheel_pos_rear_left()
# rr = vehicle.wheel_pos_rear_right()
# rear_axle_color = 0xFFAAAAAA
# self._debug_draw.draw_line(
# carb.Float3(rl[0], rl[1], rl[2]),
# rear_axle_color, t*2,
# carb.Float3(rr[0], rr[1], rr[2]),
# rear_axle_color, t*2
# )
def update_path_to_dest(self, vehicle_pos, dest_pos):
if not self._enabled:
return
if dest_pos:
self._debug_draw.draw_line(
carb.Float3(vehicle_pos[0], vehicle_pos[1], vehicle_pos[2]), self._color, self._line_thickness,
carb.Float3(dest_pos[0], dest_pos[1], dest_pos[2]), self._color, self._line_thickness
)
def enable(self, value):
self._enabled = value
| 4,039 | Python | 32.666666 | 112 | 0.549641 |
omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/scripts/ui.py | from ctypes import alignment
import omni.ui as ui
from typing import List
DEFAULT_BTN_HEIGHT = 22
COLLAPSABLE_FRAME_HEIGHT = 32
LINE_HEIGHT = 32
LABEL_WIDTH = 150
LABEL_INNER_WIDTH = 70
ELEM_MARGIN = 4
BTN_WIDTH = 32
VSPACING = ELEM_MARGIN * 2
BORDER_RADIUS = 4
CollapsableFrameStyle = {
"CollapsableFrame": {
"background_color": 0xFF333333,
"secondary_color": 0xFF333333,
"color": 0xFF00b976,
"border_radius": BORDER_RADIUS,
"border_color": 0x0,
"border_width": 0,
"font_size": 14,
"padding": ELEM_MARGIN * 2,
"margin_width": ELEM_MARGIN,
"margin_height": ELEM_MARGIN,
},
"CollapsableFrame:hovered": {"secondary_color": 0xFF3C3C3C},
"CollapsableFrame:pressed": {"secondary_color": 0xFF333333},
"Button": {"margin_height": 0, "margin_width": ELEM_MARGIN, "border_radius": BORDER_RADIUS},
"Button:selected": {"background_color": 0xFF666666},
"Button.Label:disabled": {"color": 0xFF888888},
"Slider": {"margin_height": 0, "margin_width": ELEM_MARGIN, "border_radius": BORDER_RADIUS},
"Slider:disabled": {"color": 0xFF888888},
"ComboBox": {"margin_height": 0, "margin_width": ELEM_MARGIN, "border_radius": BORDER_RADIUS},
"Label": {"margin_height": 0, "margin_width": ELEM_MARGIN},
"Label:disabled": {"color": 0xFF888888},
}
TREE_VIEW_STYLE = {
"TreeView:selected": {"background_color": 0x66FFFFFF},
"TreeView.Item": {"color": 0xFFCCCCCC},
"TreeView.Item:selected": {"color": 0xFFCCCCCC},
"TreeView.Header": {"background_color": 0xFF000000},
}
IMPORTANT_BUTTON_STYLE = {
"Button": {
"background_color": 0x7000b976
}
}
class AttachedItem(ui.AbstractItem):
"""Single item of the model"""
def __init__(self, text):
super().__init__()
self.name_model = ui.SimpleStringModel(text)
class AttachmentModel(ui.AbstractItemModel):
"""
Represents the list active vehicle-to-curve attachments.
It is used to make a single level tree appear like a simple list.
"""
def __init__(self, items: List[object]):
super().__init__()
self.attachments_changed(items)
def get_item_children(self, item):
"""Returns all the children when the widget asks it."""
if item is not None:
# Since we are doing a flat list, we return the children of root only.
# If it's not root we return.
return []
return self._attachments
def get_item_value_model_count(self, item):
"""The number of columns"""
return 1
def get_item_value_model(self, item, column_id):
"""
Return value model.
It's the object that tracks the specific value.
In our case we use ui.SimpleStringModel.
"""
if item and isinstance(item, AttachedItem):
return item.name_model
def attachments_changed(self, attachments):
self._attachments = []
i = 1
for attachment in attachments:
self._attachments.append(AttachedItem(f"[{i}] {attachment}"))
i = i + 1
self._item_changed(None)
class ExtensionUI():
def __init__(self, controller):
self._controller = controller
def build_ui(self, lookahead_distance, attachments):
self._window = ui.Window("Vehicle Path Tracking Extension (Beta)", width=300, height=300)
with self._window.frame:
with ui.HStack():
# Column #1
with ui.VStack():
self._settings_frame = ui.CollapsableFrame(
"SETTINGS", collapsed=False,
height=COLLAPSABLE_FRAME_HEIGHT,
style=CollapsableFrameStyle
)
with self._settings_frame:
with ui.VStack():
width = 64
height = 16
with ui.HStack(width=width, height=height):
ui.Label("Enable debug: ")
enable_debug_checkbox = ui.CheckBox()
enable_debug_checkbox.model.add_value_changed_fn(
self._controller._changed_enable_debug
)
ui.Spacer(height=LINE_HEIGHT/4)
ui.Label("REFERENCE COORDINATE SYSTEM: Up-axis: Y-axis (fixed)")
ui.Spacer(height=LINE_HEIGHT/4)
with ui.HStack(width=width, height=height):
ui.Label("Pure Pursuit look ahead distance: ")
self._lookahead_field = ui.FloatField(width=64.0)
self._lookahead_field.model.set_value(lookahead_distance)
self._lookahead_field.model.add_end_edit_fn(self._notify_lookahead_distance_changed)
with ui.HStack(width=width, height=height):
ui.Label("Trajectory Loop:")
self._checkbox_trajectory_loop = ui.CheckBox(name="TracjectoryLoop")
self._checkbox_trajectory_loop.model.set_value(False)
self._checkbox_trajectory_loop.model.add_value_changed_fn(
self._controller._on_trajectory_loop_value_changed
)
# FIXME: Fix regression in rear steering behaviour.
# (Issue #13)
# with ui.HStack(width=width, height=height):
# ui.Label("Enable rear steering:")
# self._checkbox_rear_steering = ui.CheckBox(name="RearSteering")
# self._checkbox_rear_steering.model.set_value(False)
# self._checkbox_rear_steering.model.add_value_changed_fn(
# self._controller._on_steering_changed
# )
self._controls_frame = ui.CollapsableFrame("CONTROLS",
collapsed=False,
height=COLLAPSABLE_FRAME_HEIGHT,
style=CollapsableFrameStyle
)
with self._controls_frame:
with ui.HStack():
with ui.VStack():
ui.Button(
"Start Scenario",
clicked_fn=self._controller._on_click_start_scenario,
height=DEFAULT_BTN_HEIGHT,
style=IMPORTANT_BUTTON_STYLE
)
ui.Spacer(height=LINE_HEIGHT/8)
ui.Button(
"Stop Scenario",
clicked_fn=self._controller._on_click_stop_scenario,
height=DEFAULT_BTN_HEIGHT,
style=IMPORTANT_BUTTON_STYLE
)
ui.Line(height=LINE_HEIGHT/2)
ui.Button(
"Load a preset scene",
clicked_fn=self._controller._on_click_load_preset_scene,
height=DEFAULT_BTN_HEIGHT
)
ui.Line(height=LINE_HEIGHT/2)
ui.Button(
"Load a ground plane",
clicked_fn=self._controller._on_click_load_ground_plane,
height=DEFAULT_BTN_HEIGHT
)
ui.Spacer(height=LINE_HEIGHT/8)
ui.Button(
"Load a sample vehicle template",
clicked_fn=self._controller._on_click_load_sample_vehicle,
height=DEFAULT_BTN_HEIGHT
)
ui.Spacer(height=LINE_HEIGHT/8)
ui.Button(
"Load a sample BasisCurve",
clicked_fn=self._controller._on_click_load_basis_curve,
height=DEFAULT_BTN_HEIGHT
)
# FIXME: re-enable Forklift once the new updated
# meta-data for it will be provided.
# ui.Spacer(height=LINE_HEIGHT/8)
# ui.Button(
# "Load a Forklift",
# clicked_fn=self._controller._on_click_load_forklift,
# height=DEFAULT_BTN_HEIGHT
# )
self._atachments_frame = ui.CollapsableFrame(
"VEHICLE-TO-CURVE ATTACHMENTS",
collapsed=False, height=COLLAPSABLE_FRAME_HEIGHT,
style=CollapsableFrameStyle
)
with self._atachments_frame:
with ui.VStack():
ui.Label(
"(1) Select WizardVehicle Xform and corresponding BasisCurve;\n(2) Click 'Attach Selected'",
width=32
)
ui.Spacer(height=LINE_HEIGHT/8)
ui.Button(
"Attach Selected",
clicked_fn=self._controller._on_click_attach_selected,
height=DEFAULT_BTN_HEIGHT,
style=IMPORTANT_BUTTON_STYLE
)
ui.Spacer(height=LINE_HEIGHT/8)
ui.Button(
"Clear All Attachments",
clicked_fn=self._controller._on_click_clear_attachments
)
# Column #2
self._attachments_frame = ui.CollapsableFrame(
"VEHICLE-TO-CURVE attachments", collapsed=False,
height=COLLAPSABLE_FRAME_HEIGHT,
style=CollapsableFrameStyle
)
with self._attachments_frame:
with ui.VStack(direction=ui.Direction.TOP_TO_BOTTOM, height=20, style=CollapsableFrameStyle):
if attachments is not None and len(attachments) > 0:
self._attachment_label = ui.Label(
"Active vehicle-to-curve attachments:",
alignment=ui.Alignment.TOP
)
else:
self._attachment_label = ui.Label("No active vehicle-to-curve attachments")
self._attachment_model = AttachmentModel(attachments)
tree_view = ui.TreeView(
self._attachment_model, root_visible=False,
header_visible=False,
style={"TreeView.Item": {"margin": 4}}
)
# viewport = ui.Workspace.get_window("Viewport")
# self._window.dock_in(viewport, ui.DockPosition.BOTTOM)
# Dock extension window alongside 'Property' extension.
self._window.deferred_dock_in("Property")
# dock_in_window is deprecated unfortunatelly
# self._window.dock_in_window("Viewport", ui.DockPosition.RIGHT, ratio=0.1)
def teardown(self):
self._controller = None
self._settings_frame = None
self._controls_frame = None
self._atachments_frame = None
self._window = None
def get_lookahead_distance(self):
return self._lookahead_field.model.as_float
def set_lookahead_distance(self, distance):
self._lookahead_field.model.set_value(distance)
def _notify_lookahead_distance_changed(self, model):
self._controller._on_lookahead_distance_changed(model.as_float)
def update_attachment_info(self, attachments):
self._attachment_model.attachments_changed(attachments)
if len(attachments) > 0:
self._attachment_label.text = "Active vehicle-to-curve attachments:"
else:
self._attachment_label.text = "No active vehicle-to-curve attachments"
| 13,127 | Python | 45.553191 | 124 | 0.475585 |
omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/tests/test_extension_model.py | from email.policy import default
import omni.kit.app
import omni.kit.commands
import omni.usd
from omni.kit.test import AsyncTestCaseFailOnLogError
# from omni.kit.test_suite.helpers import wait_stage_loading
from ..scripts.model import ExtensionModel
# ======================================================================================================================
class TestExtensionModel(AsyncTestCaseFailOnLogError):
async def setUp(self):
usd_context = omni.usd.get_context()
await usd_context.new_stage_async()
ext_manager = omni.kit.app.get_app().get_extension_manager()
self._ext_id = ext_manager.get_enabled_extension_id("ext.path.tracking")
self._DEFAULT_LOOKAHEAD = 550.0
self._MAX_LOOKAHEAD = 1200.0
self._MIN_LOOKAHEAD = 300.0
async def tearDown(self):
self._ext_id = None
async def test_load_preset(self):
ext_model = ExtensionModel(self._ext_id,
default_lookahead_distance=self._DEFAULT_LOOKAHEAD,
max_lookahed_distance=self._MAX_LOOKAHEAD,
min_lookahed_distance=self._MIN_LOOKAHEAD
)
ext_model.load_preset_scene()
stage = omni.usd.get_context().get_stage()
ground_plane = stage.GetPrimAtPath("/World/GroundPlane")
vehicle_template = stage.GetPrimAtPath("/World/VehicleTemplate")
curve = stage.GetPrimAtPath("/World/BasisCurves")
self.assertTrue(ground_plane is not None)
self.assertTrue(vehicle_template is not None)
self.assertTrue(curve is not None)
async def test_hello(self):
ext_model = ExtensionModel(self._ext_id,
default_lookahead_distance=self._DEFAULT_LOOKAHEAD,
max_lookahed_distance=self._MAX_LOOKAHEAD,
min_lookahed_distance=self._MIN_LOOKAHEAD
)
async def test_attachments_preset(self):
# TODO: provide impl
self.assertTrue(True) | 2,139 | Python | 37.90909 | 120 | 0.57223 |
omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/tests/__init__.py | try:
from .test_extension_model import *
except:
import carb
carb.log_error("No tests for this module, check extension settings")
| 142 | Python | 22.83333 | 72 | 0.711268 |
omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/config/extension.toml | [package]
version = "1.0.2-beta"
title = "Vehicle Path Tracking Extension"
description="Allows omni.physxvehicle to move along a user-defined trajectory via path tracking 'pure pursuit' inspired algorithm."
readme = "docs/index.rst"
changelog="docs/CHANGELOG.md"
repository = ""
icon = "data/icon.png"
preview_image="data/preview.png"
keywords = ["kit", "omni.physxvehicle", "animation", "path", "tracking", "vehicle"]
[dependencies]
"omni.usd" = {}
"omni.kit.uiapp" = {}
"omni.physx" = {}
"omni.physx.ui" = {}
"omni.physx.vehicle" = {}
"omni.usdphysics" = {}
"omni.physx.commands" = {}
"omni.kit.test_suite.helpers" = {}
[[python.module]]
name = "ext.path.tracking"
[[test]]
args = [
"--/renderer/enabled=pxr",
"--/renderer/active=pxr",
"--/app/window/dpiScaleOverride=1.0",
"--/app/window/scaleToMonitor=false",
"--no-window"
]
dependencies = [
"omni.hydra.pxr",
"omni.kit.mainwindow",
"omni.kit.widget.stage",
"omni.kit.window.viewport",
"omni.kit.window.stage",
"omni.kit.window.console",
"omni.kit.test_suite.helpers",
] | 1,079 | TOML | 24.714285 | 131 | 0.658017 |
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