Nits

examples/12_click_meshes.py

@@ -4,10 +4,9 @@
 """
 
 import time
+from typing import Literal
 
 import matplotlib
-import numpy as onp
-import trimesh.creation
 
 import viser
 
@@ -41,47 +40,35 @@ def add_swappable_mesh(i: int, j: int) -> None:
 
         colormap = matplotlib.colormaps["tab20"]
 
-        def create_mesh(counter: int) -> None:
-            adding_mesh = "unknown"
-
-            if counter == 0 or counter == 1:
-                adding_mesh = "box"
+        def create_mesh(counter: Literal[0, 1, 2]) -> None:
+            if counter == 0:
+                color = (0.8, 0.8, 0.8)
             else:
-                adding_mesh = "icosphere"
-
-            colors = (0.5, 0.5, 0.5)
-
-            if counter != 0:
                 index = (i * grid_shape[1] + j) / (grid_shape[0] * grid_shape[1])
-                colors = colormap(index)
-
-            handle = None
+                color = colormap(index)[:3]
 
-            if adding_mesh == "box":
+            if counter in (0, 1):
                 handle = server.add_box(
                     name=f"/sphere_{i}_{j}",
                     position=(i, j, 0.0),
-                    colors=colors,
+                    color=color,
                     dimensions=(0.5, 0.5, 0.5),
                 )
-            elif adding_mesh == "icosphere":
+            else:
                 handle = server.add_icosphere(
                     name=f"/sphere_{i}_{j}",
-                    position=(i, j, 0.0),
-                    colors=colors,
                     radius=0.4,
-                    subdivisions=2,
+                    color=color,
+                    position=(i, j, 0.0),
                 )
 
-            assert handle is not None
-
             @handle.on_click
             def _(_) -> None:
                 x_value.value = i
                 y_value.value = j
 
-                # The new mesh will replace the old one because the names (/sphere_{i}_{j}) are
-                # the same.
+                # The new mesh will replace the old one because the names
+                # /sphere_{i}_{j} are the same.
                 create_mesh((counter + 1) % 3)
 
         create_mesh(0)

src/viser/_message_api.py

@@ -33,6 +33,7 @@
 import numpy as onp
 import numpy.typing as onpt
 import trimesh
+import trimesh.creation
 import trimesh.exchange
 import trimesh.visual
 from typing_extensions import Literal, ParamSpec, TypeAlias, assert_never
@@ -632,6 +633,7 @@ def add_mesh_simple(
         wireframe: bool = False,
         opacity: Optional[float] = None,
         material: Literal["standard", "toon3", "toon5"] = "standard",
+        flat_shading: bool = True,
         side: Literal["front", "back", "double"] = "front",
         wxyz: Tuple[float, float, float, float] | onp.ndarray = (1.0, 0.0, 0.0, 0.0),
         position: Tuple[float, float, float] | onp.ndarray = (0.0, 0.0, 0.0),
@@ -649,6 +651,8 @@ def add_mesh_simple(
             wireframe: Boolean indicating if the mesh should be rendered as a wireframe.
             opacity: Opacity of the mesh. None means opaque.
             material: Material type of the mesh ('standard', 'toon3', 'toon5').
+            flat_shading: Whether to do flat shading. Set to False to apply smooth
+                shading.
             side: Side of the surface to render ('front', 'back', 'double').
             wxyz: Quaternion rotation to parent frame from local frame (R_pl).
             position: Translation from parent frame to local frame (t_pl).
@@ -668,6 +672,7 @@ def add_mesh_simple(
                 vertex_colors=None,
                 wireframe=wireframe,
                 opacity=opacity,
+                flat_shading=flat_shading,
                 side=side,
                 material=material,
             )
@@ -714,25 +719,35 @@ def add_mesh_trimesh(
     def add_box(
         self,
         name: str,
+        color: RgbTupleOrArray,
         dimensions: Tuple[float, float, float] | onp.ndarray = (1.0, 1.0, 1.0),
-        colors: Tuple[float, float, float] | onp.ndarray = (-1.0, -1.0, -1.0),
-        scale: float = 1.0,
         wxyz: Tuple[float, float, float, float] | onp.ndarray = (1.0, 0.0, 0.0, 0.0),
         position: Tuple[float, float, float] | onp.ndarray = (0.0, 0.0, 0.0),
         visible: bool = True,
-    ) -> GlbHandle:
-        """Add a box to the scene."""
+    ) -> MeshHandle:
+        """Add a box to the scene.
 
-        mesh = trimesh.creation.box(dimensions)
+        Args:
+            name: A scene tree name. Names in the format of /parent/child can be used to
+                define a kinematic tree.
+            color: Color of the box as an RGB tuple.
+            dimensions: Dimensions of the box (x, y, z).
+            wxyz: Quaternion rotation to parent frame from local frame (R_pl).
+            position: Translation from parent frame to local frame (t_pl).
+            visible: Whether or not this box is initially visible.
 
-        if colors != (-1.0, -1.0, -1.0):
-            mesh.visual.vertex_colors = colors
+        Returns:
+            Handle for manipulating scene node.
+        """
+        mesh = trimesh.creation.box(dimensions)
 
-        return self.add_mesh_trimesh(
+        return self.add_mesh_simple(
             name=name,
-            mesh=mesh,
+            vertices=mesh.vertices,
+            faces=mesh.faces,
+            color=color,
+            flat_shading=True,
             position=position,
-            scale=scale,
             wxyz=wxyz,
             visible=visible,
         )
@@ -741,25 +756,38 @@ def add_icosphere(
         self,
         name: str,
         radius: float,
-        subdivisions: int,
-        colors: Tuple[float, float, float] | onp.ndarray = (-1.0, -1.0, -1.0),
-        scale: float = 1.0,
+        color: RgbTupleOrArray,
+        subdivisions: int = 3,
         wxyz: Tuple[float, float, float, float] | onp.ndarray = (1.0, 0.0, 0.0, 0.0),
         position: Tuple[float, float, float] | onp.ndarray = (0.0, 0.0, 0.0),
         visible: bool = True,
-    ) -> GlbHandle:
-        """Add an icosphere to the scene."""
+    ) -> MeshHandle:
+        """Add an icosphere to the scene.
 
-        mesh = trimesh.creation.icosphere(subdivisions=2, radius=0.4)
+        Args:
+            name: A scene tree name. Names in the format of /parent/child can be used to
+                define a kinematic tree.
+            radius: Radius of the icosphere.
+            color: Color of the icosphere as an RGB tuple.
+            subdivisions: Number of subdivisions to use when creating the icosphere.
+            wxyz: Quaternion rotation to parent frame from local frame (R_pl).
+            position: Translation from parent frame to local frame (t_pl).
+            visible: Whether or not this icosphere is initially visible.
 
-        if colors != (-1.0, -1.0, -1.0):
-            mesh.visual.vertex_colors = colors
+        Returns:
+            Handle for manipulating scene node.
+        """
+        mesh = trimesh.creation.icosphere(subdivisions=subdivisions, radius=radius)
 
-        return self.add_mesh_trimesh(
+        # We use add_mesh_simple() because it lets us do smooth shading;
+        # add_mesh_trimesh() currently does not.
+        return self.add_mesh_simple(
             name=name,
-            mesh=mesh,
+            vertices=mesh.vertices,
+            faces=mesh.faces,
+            color=color,
+            flat_shading=False,
             position=position,
-            scale=scale,
             wxyz=wxyz,
             visible=visible,
         )

src/viser/_messages.py

@@ -185,6 +185,7 @@ class MeshMessage(Message):
 
     wireframe: bool
     opacity: Optional[float]
+    flat_shading: bool
     side: Literal["front", "back", "double"]
     material: Literal["standard", "toon3", "toon5"]
 

src/viser/client/src/WebsocketInterface.tsx

@@ -261,6 +261,7 @@ function useMessageHandler() {
           wireframe: message.wireframe,
           transparent: message.opacity !== null,
           opacity: message.opacity ?? 1.0,
+          flatShading: message.flat_shading,
           side: {
             front: THREE.FrontSide,
             back: THREE.BackSide,

src/viser/client/src/WebsocketMessages.tsx

@@ -144,6 +144,7 @@ export interface MeshMessage {
   vertex_colors: Uint8Array | null;
   wireframe: boolean;
   opacity: number | null;
+  flat_shading: boolean;
   side: "front" | "back" | "double";
   material: "standard" | "toon3" | "toon5";
 }
@@ -346,7 +347,7 @@ export interface _GuiAddInputBase {
   hint: string | null;
   initial_value: any;
 }
-/** GuiAddButtonMessage(order: 'float', id: 'str', label: 'str', container_id: 'str', hint: 'Optional[str]', initial_value: 'bool', color: "Optional[Literal[('dark', 'gray', 'red', 'pink', 'grape', 'violet', 'indigo', 'blue', 'cyan', 'green', 'lime', 'yellow', 'orange', 'teal')]]", icon_base64: 'Optional[str]')
+/** GuiAddButtonMessage(order: 'float', id: 'str', label: 'str', container_id: 'str', hint: 'Optional[str]', initial_value: 'bool', color: "Optional[Literal['dark', 'gray', 'red', 'pink', 'grape', 'violet', 'indigo', 'blue', 'cyan', 'green', 'lime', 'yellow', 'orange', 'teal']]", icon_base64: 'Optional[str]')
  *
  * (automatically generated)
  */