def render_ground()

in fairmotion/viz/pyrender_visualizer.py [0:0]

• 52 lines of code
• 11 McCabe index (conditional complexity)

    def render_ground(self, size=[20.0, 20.0],
                      dsize=[1.0, 1.0],
                      color=[0.0, 0.0, 0.0, 1.0],
                      line_width=1.0,
                      axis="y",
                      origin=True,
                      use_arrow=False,
                      lighting=False):
        if self.ground_node is None:
            lx = size[0]
            lz = size[1]
            dx = dsize[0]
            dz = dsize[1]
            nx = int(lx / dx) + 1
            nz = int(lz / dz) + 1

            grid_pts = np.zeros((2 * nx + 2 * nz, 3))
            colors = np.zeros((2 * nx + 2 * nz, 4))
            colors[:] = np.array(color)

            if axis is "x":
                linei = 0
                for i in np.linspace(-0.5 * lx, 0.5 * lx, nx):
                    grid_pts[2 * linei] = [0, i, -0.5 * lz]
                    grid_pts[2 * linei + 1] = [0, i, 0.5 * lz]
                    linei += 1
                for i in np.linspace(-0.5 * lz, 0.5 * lz, nz):
                    grid_pts[2 * linei] = [0, -0.5 * lx, i]
                    grid_pts[2 * linei + 1] = [0, 0.5 * lx, i]
                    linei += 1
            elif axis is "y":
                linei = 0
                for i in np.linspace(-0.5 * lx, 0.5 * lx, nx):
                    grid_pts[2 * linei] = [i, 0, -0.5 * lz]
                    grid_pts[2 * linei + 1] = [i, 0, 0.5 * lz]
                    linei += 1
                for i in np.linspace(-0.5 * lz, 0.5 * lz, nz):
                    grid_pts[2 * linei] = [-0.5 * lx, 0, i]
                    grid_pts[2 * linei + 1] = [0.5 * lx, 0, i]
                    linei += 1
            elif axis is "z":
                linei = 0
                for i in np.linspace(-0.5 * lx, 0.5 * lx, nx):
                    grid_pts[2 * linei] = [i, -0.5 * lz, 0.]
                    grid_pts[2 * linei + 1] = [i, 0.5 * lz, 0.]
                    linei += 1
                for j, i in enumerate(np.linspace(-0.5 * lz, 0.5 * lz, nz)):
                    grid_pts[2 * linei] = [-0.5 * lx, i, 0.]
                    grid_pts[2 * linei + 1] = [0.5 * lx, i, 0.]
                    linei += 1
            grid = pyrender.Primitive(grid_pts, color_0=colors, mode=1)  # 1->LINES
            grid = pyrender.Mesh([grid])
            self.ground_node = Node(mesh=grid, name="ground_plane")
            self.scene.add_node(self.ground_node)