Graphics in Julia: Difference between revisions

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===MeshCat===
===MeshCat===
MeshCat is a Julia wrapper around three.js. It creates its own server and opens a webpage to access the server.
MeshCat.jl is a Julia wrapper around three.js. It creates its own server and opens a webpage to access the server.




Line 11: Line 11:


===Geometry===
===Geometry===
MeshCat.jl and GeometryTypes.jl both come with a variety of basic geometries such as <code>HyperRectangle</code> and <code>PointCloud</code>.<br>
You can also create your own geometry by calling the HomogenousMesh function with your own vertices, normals, triangles/faces, and uvs/texturecoordinates.<br>
====Creating Geometry====
Example of how to create a quad:
<syntaxhighlight lang="julia>
<syntaxhighlight lang="julia>
using GeometryTypes
using GeometryTypes
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# Set the position
# Set the position
settransform!(vis["myquad"], Translation(0.5, -0.5, 0.5))
settransform!(vis["myquad"], Translation(0.5, -0.5, 0.5))
</syntaxhighlight>
====Loading Geometry====
<syntaxhighlight lang="julia>
using GeometryTypes: GLUVMesh # we need a mesh type that stores texture coordinates
image = PngImage(joinpath(@__DIR__, "..", "data", "HeadTextureMultisense.png"))
texture = Texture(image=image)
material = MeshLambertMaterial(map=texture)
geometry = load(joinpath(MeshCat.VIEWER_ROOT, "..", "data", "head_multisense.obj"), GLUVMesh)
setobject!(vis["robots", "valkyrie", "head"], geometry, material)
settransform!(vis["robots", "valkyrie"], Translation(0.5, -0.5, 0.5))
</syntaxhighlight>
</syntaxhighlight>

Revision as of 12:57, 10 September 2019

A guide on making graphics visualizations in Julia

MeshCat

MeshCat.jl is a Julia wrapper around three.js. It creates its own server and opens a webpage to access the server.


Getting Started

  • Install Julia
  • Make a new project


Geometry

MeshCat.jl and GeometryTypes.jl both come with a variety of basic geometries such as HyperRectangle and PointCloud.
You can also create your own geometry by calling the HomogenousMesh function with your own vertices, normals, triangles/faces, and uvs/texturecoordinates.

Creating Geometry

Example of how to create a quad:

using GeometryTypes

# Load the texture
image = PngImage(joinpath(@__DIR__, "circuit_pattern.png"))
texture = Texture(image=image)

# Make the material from the texture
# TODO: Figure out how to set `mat.transparent = true` from within Julia
material = MeshLambertMaterial(map=texture)

# Make the geometry
quadGeometry = HomogenousMesh(
  vertices = [Point(0,0,0), Point(0,1,0), Point(0, 0, 1), Point(0, 1, 1)],
  normals = [Point(1,0,0),Point(1,0,0),Point(1,0,0),Point(1,0,0)],
  faces = [Triangle(1,2,3), Triangle(2,3,4)],
  texturecoordinates = [Point(0.0f0,0), Point(1.0f0,0), Point(0.0f0,1), Point(1.0f0,1)]
);

# Add the object to the scene
setobject!(vis["myquad"], quadGeometry , material)

# Set the position
settransform!(vis["myquad"], Translation(0.5, -0.5, 0.5))


Loading Geometry

using GeometryTypes: GLUVMesh # we need a mesh type that stores texture coordinates
image = PngImage(joinpath(@__DIR__, "..", "data", "HeadTextureMultisense.png"))
texture = Texture(image=image)
material = MeshLambertMaterial(map=texture)
geometry = load(joinpath(MeshCat.VIEWER_ROOT, "..", "data", "head_multisense.obj"), GLUVMesh)
setobject!(vis["robots", "valkyrie", "head"], geometry, material)
settransform!(vis["robots", "valkyrie"], Translation(0.5, -0.5, 0.5))