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Added No Render Option and Fixed Internal Visualizer Colors #302

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Aug 25, 2024
Merged

Added No Render Option and Fixed Internal Visualizer Colors #302

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11 changes: 10 additions & 1 deletion src/scenic/core/object_types.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1037,6 +1037,7 @@
"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)),
Expand Down Expand Up @@ -1550,6 +1551,9 @@
if needsSampling(self):
raise RuntimeError("tried to show() symbolic Object")

if not self.render:
return

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src/scenic/core/object_types.py#L1554-L1555 

Added lines #L1554 - L1555 were not covered by tests

# Render the object
object_mesh = self.occupiedSpace.mesh.copy()

Expand All @@ -1564,7 +1568,12 @@
else:
assert False

object_mesh.visual.face_colors = [255 * r, 255 * g, 255 * b, 255 * a]
object_mesh.visual.face_colors = [

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int(255 * r),
int(255 * g),
int(255 * b),
int(255 * a),
]

viewer.add_geometry(object_mesh)

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2 changes: 1 addition & 1 deletion src/scenic/simulators/webots/model.scenic
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Expand Up @@ -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
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