Merge pull request #40 from Ipuch/main

feat: meshrt in biomod

examples/biorbd/models/double_pendulum.bioMod

@@ -32,7 +32,7 @@ segment Seg2
     parent Seg1
     rotations	x
     rtinmatrix 0
-    rt 0 0 0 xyz 0 0 -1
+    rt -0.1 0 0 xyz 0 0 -1
     ranges
         -pi/2 pi/2
     mass 1
@@ -42,6 +42,7 @@ segment Seg2
 	    0.0000	-0.0032	0.0090
     com  -0.0005 0.0688 -0.9542
     meshfile mesh/pendulum.STL
+    meshrt 0.1 0 0 xyz 0 0 0
 endsegment
 
     // Marker 3

pyorerun/biorbd_components/model_interface.py

@@ -205,3 +205,14 @@ def meshlines(self) -> list[np.ndarray]:
             meshes += [np.array([segment_mesh.point(i).to_array() for i in range(segment_mesh.nbVertex())])]
 
         return meshes
+
+    def mesh_homogenous_matrices_in_global(self, q: np.ndarray, segment_index: int) -> np.ndarray:
+        """
+        Returns a list of homogeneous matrices of the mesh in the global reference frame
+        """
+        mesh_rt = (
+            super(BiorbdModel, self).segments[segment_index].segment.characteristics().mesh().getRotation().to_array()
+        )
+        # mesh_rt = self.segments[segment_index].segment.characteristics().mesh().getRotation().to_array()
+        segment_rt = self.segment_homogeneous_matrices_in_global(q, segment_index=segment_index)
+        return segment_rt @ mesh_rt

pyorerun/biorbd_components/model_updapter.py

@@ -97,7 +97,11 @@ def create_segments_updater(self):
             )
 
             if segment.has_mesh:
-                mesh = TransformableMeshUpdater.from_file(segment_name, segment.mesh_path, transform_callable)
+                mesh_transform_callable = partial(
+                    self.model.mesh_homogenous_matrices_in_global,
+                    segment_index=segment.id,
+                )
+                mesh = TransformableMeshUpdater.from_file(segment_name, segment.mesh_path, mesh_transform_callable)
                 mesh.set_transparency(self.model.options.transparent_mesh)
                 mesh.set_color(self.model.options.mesh_color)