Added no render option and fixed colors. (#302)

BerkeleyLearnVerify · Aug 25, 2024 · 0abbbcd · 0abbbcd
1 parent e6b5f26
commit 0abbbcd
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Showing 2 changed files with 11 additions and 2 deletions.
diff --git a/src/scenic/core/object_types.py b/src/scenic/core/object_types.py
@@ -1037,6 +1037,7 @@ class Object(OrientedPoint):
         "occluding": True,
         "showVisibleRegion": False,
         "color": None,
+        "render": True,
         "velocity": PropertyDefault((), {"dynamic"}, lambda self: Vector(0, 0, 0)),
         "speed": PropertyDefault((), {"dynamic"}, lambda self: 0),
         "angularVelocity": PropertyDefault((), {"dynamic"}, lambda self: Vector(0, 0, 0)),
@@ -1550,6 +1551,9 @@ def show3D(self, viewer, highlight=False):
         if needsSampling(self):
             raise RuntimeError("tried to show() symbolic Object")
 
+        if not self.render:
+            return
+
         # Render the object
         object_mesh = self.occupiedSpace.mesh.copy()
 
@@ -1564,7 +1568,12 @@ def show3D(self, viewer, highlight=False):
             else:
                 assert False
 
-            object_mesh.visual.face_colors = [255 * r, 255 * g, 255 * b, 255 * a]
+            object_mesh.visual.face_colors = [
+                int(255 * r),
+                int(255 * g),
+                int(255 * b),
+                int(255 * a),
+            ]
 
         viewer.add_geometry(object_mesh)
 

diff --git a/src/scenic/simulators/webots/model.scenic b/src/scenic/simulators/webots/model.scenic
@@ -303,7 +303,7 @@ class Hill(Terrain):
 
     height: 1
     spread: 0.25
-    color: (0,0,0,0)
+    render: False
 
     def heightAtOffset(self, offset):
         dx, dy, _ = offset