Cura/util/mesh.py

   1 from __future__ import absolute_import
   2 __copyright__ = "Copyright (C) 2013 David Braam - Released under terms of the AGPLv3 License"
   3
   4 import time
   5 import math
   6 import os
   7
   8 import numpy
   9 numpy.seterr(all='ignore')
  10
  11 from Cura.util import polygon
  12
  13 class printableObject(object):
  14         def __init__(self, originFilename):
  15                 self._originFilename = originFilename
  16                 if originFilename is None:
  17                         self._name = 'None'
  18                 else:
  19                         self._name = os.path.basename(originFilename)
  20                 if '.' in self._name:
  21                         self._name = os.path.splitext(self._name)[0]
  22                 self._meshList = []
  23                 self._position = numpy.array([0.0, 0.0])
  24                 self._matrix = numpy.matrix([[1,0,0],[0,1,0],[0,0,1]], numpy.float64)
  25                 self._transformedMin = None
  26                 self._transformedMax = None
  27                 self._transformedSize = None
  28                 self._boundaryCircleSize = None
  29                 self._drawOffset = None
  30                 self._boundaryHull = None
  31                 self._printAreaExtend = numpy.array([[-1,-1],[ 1,-1],[ 1, 1],[-1, 1]], numpy.float32)
  32                 self._headAreaExtend = numpy.array([[-1,-1],[ 1,-1],[ 1, 1],[-1, 1]], numpy.float32)
  33                 self._headMinSize = numpy.array([1, 1], numpy.float32)
  34                 self._printAreaHull = None
  35                 self._headAreaHull = None
  36                 self._headAreaMinHull = None
  37
  38                 self._loadAnim = None
  39
  40         def copy(self):
  41                 ret = printableObject(self._originFilename)
  42                 ret._matrix = self._matrix.copy()
  43                 ret._transformedMin = self._transformedMin.copy()
  44                 ret._transformedMax = self._transformedMax.copy()
  45                 ret._transformedSize = self._transformedSize.copy()
  46                 ret._boundaryCircleSize = self._boundaryCircleSize
  47                 ret._boundaryHull = self._boundaryHull.copy()
  48                 ret._printAreaExtend = self._printAreaExtend.copy()
  49                 ret._printAreaHull = self._printAreaHull.copy()
  50                 ret._drawOffset = self._drawOffset.copy()
  51                 for m in self._meshList[:]:
  52                         m2 = ret._addMesh()
  53                         m2.vertexes = m.vertexes
  54                         m2.vertexCount = m.vertexCount
  55                         m2.vbo = m.vbo
  56                         m2.vbo.incRef()
  57                 return ret
  58
  59         def _addMesh(self):
  60                 m = mesh(self)
  61                 self._meshList.append(m)
  62                 return m
  63
  64         def _postProcessAfterLoad(self):
  65                 for m in self._meshList:
  66                         m._calculateNormals()
  67                 self.processMatrix()
  68                 if numpy.max(self.getSize()) > 10000.0:
  69                         for m in self._meshList:
  70                                 m.vertexes /= 1000.0
  71                         self.processMatrix()
  72                 if numpy.max(self.getSize()) < 1.0:
  73                         for m in self._meshList:
  74                                 m.vertexes *= 1000.0
  75                         self.processMatrix()
  76
  77         def applyMatrix(self, m):
  78                 self._matrix *= m
  79                 self.processMatrix()
  80
  81         def processMatrix(self):
  82                 self._transformedMin = numpy.array([999999999999,999999999999,999999999999], numpy.float64)
  83                 self._transformedMax = numpy.array([-999999999999,-999999999999,-999999999999], numpy.float64)
  84                 self._boundaryCircleSize = 0
  85
  86                 hull = numpy.zeros((0, 2), numpy.int)
  87                 for m in self._meshList:
  88                         transformedVertexes = m.getTransformedVertexes()
  89                         hull = polygon.convexHull(numpy.concatenate((numpy.rint(transformedVertexes[:,0:2]).astype(int), hull), 0))
  90                         transformedMin = transformedVertexes.min(0)
  91                         transformedMax = transformedVertexes.max(0)
  92                         for n in xrange(0, 3):
  93                                 self._transformedMin[n] = min(transformedMin[n], self._transformedMin[n])
  94                                 self._transformedMax[n] = max(transformedMax[n], self._transformedMax[n])
  95
  96                         #Calculate the boundary circle
  97                         transformedSize = transformedMax - transformedMin
  98                         center = transformedMin + transformedSize / 2.0
  99                         boundaryCircleSize = round(math.sqrt(numpy.max(((transformedVertexes[::,0] - center[0]) * (transformedVertexes[::,0] - center[0])) + ((transformedVertexes[::,1] - center[1]) * (transformedVertexes[::,1] - center[1])) + ((transformedVertexes[::,2] - center[2]) * (transformedVertexes[::,2] - center[2])))), 3)
 100                         self._boundaryCircleSize = max(self._boundaryCircleSize, boundaryCircleSize)
 101                 self._transformedSize = self._transformedMax - self._transformedMin
 102                 self._drawOffset = (self._transformedMax + self._transformedMin) / 2
 103                 self._drawOffset[2] = self._transformedMin[2]
 104                 self._transformedMax -= self._drawOffset
 105                 self._transformedMin -= self._drawOffset
 106
 107                 self._boundaryHull = polygon.minkowskiHull((hull.astype(numpy.float32) - self._drawOffset[0:2]), numpy.array([[-1,-1],[-1,1],[1,1],[1,-1]],numpy.float32))
 108                 self._printAreaHull = polygon.minkowskiHull(self._boundaryHull, self._printAreaExtend)
 109                 self.setHeadArea(self._headAreaExtend, self._headMinSize)
 110
 111         def getName(self):
 112                 return self._name
 113         def getOriginFilename(self):
 114                 return self._originFilename
 115         def getPosition(self):
 116                 return self._position
 117         def setPosition(self, newPos):
 118                 self._position = newPos
 119         def getMatrix(self):
 120                 return self._matrix
 121
 122         def getMaximum(self):
 123                 return self._transformedMax
 124         def getMinimum(self):
 125                 return self._transformedMin
 126         def getSize(self):
 127                 return self._transformedSize
 128         def getDrawOffset(self):
 129                 return self._drawOffset
 130         def getBoundaryCircle(self):
 131                 return self._boundaryCircleSize
 132
 133         def setPrintAreaExtends(self, poly):
 134                 self._printAreaExtend = poly
 135                 self._printAreaHull = polygon.minkowskiHull(self._boundaryHull, self._printAreaExtend)
 136
 137                 self.setHeadArea(self._headAreaExtend, self._headMinSize)
 138
 139         def setHeadArea(self, poly, minSize):
 140                 self._headAreaExtend = poly
 141                 self._headMinSize = minSize
 142                 self._headAreaHull = polygon.minkowskiHull(self._printAreaHull, self._headAreaExtend)
 143                 pMin = numpy.min(self._printAreaHull, 0) - self._headMinSize
 144                 pMax = numpy.max(self._printAreaHull, 0) + self._headMinSize
 145                 square = numpy.array([pMin, [pMin[0], pMax[1]], pMax, [pMax[0], pMin[1]]], numpy.float32)
 146                 self._headAreaMinHull = polygon.clipConvex(self._headAreaHull, square)
 147
 148         def mirror(self, axis):
 149                 matrix = [[1,0,0], [0, 1, 0], [0, 0, 1]]
 150                 matrix[axis][axis] = -1
 151                 self.applyMatrix(numpy.matrix(matrix, numpy.float64))
 152
 153         def getScale(self):
 154                 return numpy.array([
 155                         numpy.linalg.norm(self._matrix[::,0].getA().flatten()),
 156                         numpy.linalg.norm(self._matrix[::,1].getA().flatten()),
 157                         numpy.linalg.norm(self._matrix[::,2].getA().flatten())], numpy.float64);
 158
 159         def setScale(self, scale, axis, uniform):
 160                 currentScale = numpy.linalg.norm(self._matrix[::,axis].getA().flatten())
 161                 scale /= currentScale
 162                 if scale == 0:
 163                         return
 164                 if uniform:
 165                         matrix = [[scale,0,0], [0, scale, 0], [0, 0, scale]]
 166                 else:
 167                         matrix = [[1.0,0,0], [0, 1.0, 0], [0, 0, 1.0]]
 168                         matrix[axis][axis] = scale
 169                 self.applyMatrix(numpy.matrix(matrix, numpy.float64))
 170
 171         def setSize(self, size, axis, uniform):
 172                 scale = self.getSize()[axis]
 173                 scale = size / scale
 174                 if scale == 0:
 175                         return
 176                 if uniform:
 177                         matrix = [[scale,0,0], [0, scale, 0], [0, 0, scale]]
 178                 else:
 179                         matrix = [[1,0,0], [0, 1, 0], [0, 0, 1]]
 180                         matrix[axis][axis] = scale
 181                 self.applyMatrix(numpy.matrix(matrix, numpy.float64))
 182
 183         def resetScale(self):
 184                 x = 1/numpy.linalg.norm(self._matrix[::,0].getA().flatten())
 185                 y = 1/numpy.linalg.norm(self._matrix[::,1].getA().flatten())
 186                 z = 1/numpy.linalg.norm(self._matrix[::,2].getA().flatten())
 187                 self.applyMatrix(numpy.matrix([[x,0,0],[0,y,0],[0,0,z]], numpy.float64))
 188
 189         def resetRotation(self):
 190                 x = numpy.linalg.norm(self._matrix[::,0].getA().flatten())
 191                 y = numpy.linalg.norm(self._matrix[::,1].getA().flatten())
 192                 z = numpy.linalg.norm(self._matrix[::,2].getA().flatten())
 193                 self._matrix = numpy.matrix([[x,0,0],[0,y,0],[0,0,z]], numpy.float64)
 194                 self.processMatrix()
 195
 196         def layFlat(self):
 197                 transformedVertexes = self._meshList[0].getTransformedVertexes()
 198                 minZvertex = transformedVertexes[transformedVertexes.argmin(0)[2]]
 199                 dotMin = 1.0
 200                 dotV = None
 201                 for v in transformedVertexes:
 202                         diff = v - minZvertex
 203                         len = math.sqrt(diff[0] * diff[0] + diff[1] * diff[1] + diff[2] * diff[2])
 204                         if len < 5:
 205                                 continue
 206                         dot = (diff[2] / len)
 207                         if dotMin > dot:
 208                                 dotMin = dot
 209                                 dotV = diff
 210                 if dotV is None:
 211                         return
 212                 rad = -math.atan2(dotV[1], dotV[0])
 213                 self._matrix *= numpy.matrix([[math.cos(rad), math.sin(rad), 0], [-math.sin(rad), math.cos(rad), 0], [0,0,1]], numpy.float64)
 214                 rad = -math.asin(dotMin)
 215                 self._matrix *= numpy.matrix([[math.cos(rad), 0, math.sin(rad)], [0,1,0], [-math.sin(rad), 0, math.cos(rad)]], numpy.float64)
 216
 217
 218                 transformedVertexes = self._meshList[0].getTransformedVertexes()
 219                 minZvertex = transformedVertexes[transformedVertexes.argmin(0)[2]]
 220                 dotMin = 1.0
 221                 dotV = None
 222                 for v in transformedVertexes:
 223                         diff = v - minZvertex
 224                         len = math.sqrt(diff[1] * diff[1] + diff[2] * diff[2])
 225                         if len < 5:
 226                                 continue
 227                         dot = (diff[2] / len)
 228                         if dotMin > dot:
 229                                 dotMin = dot
 230                                 dotV = diff
 231                 if dotV is None:
 232                         return
 233                 if dotV[1] < 0:
 234                         rad = math.asin(dotMin)
 235                 else:
 236                         rad = -math.asin(dotMin)
 237                 self.applyMatrix(numpy.matrix([[1,0,0], [0, math.cos(rad), math.sin(rad)], [0, -math.sin(rad), math.cos(rad)]], numpy.float64))
 238
 239         def scaleUpTo(self, size):
 240                 vMin = self._transformedMin
 241                 vMax = self._transformedMax
 242
 243                 scaleX1 = (size[0] / 2 - self._position[0]) / ((vMax[0] - vMin[0]) / 2)
 244                 scaleY1 = (size[1] / 2 - self._position[1]) / ((vMax[1] - vMin[1]) / 2)
 245                 scaleX2 = (self._position[0] + size[0] / 2) / ((vMax[0] - vMin[0]) / 2)
 246                 scaleY2 = (self._position[1] + size[1] / 2) / ((vMax[1] - vMin[1]) / 2)
 247                 scaleZ = size[2] / (vMax[2] - vMin[2])
 248                 scale = min(scaleX1, scaleY1, scaleX2, scaleY2, scaleZ)
 249                 if scale > 0:
 250                         self.applyMatrix(numpy.matrix([[scale,0,0],[0,scale,0],[0,0,scale]], numpy.float64))
 251
 252         #Split splits an object with multiple meshes into different objects, where each object is a part of the original mesh that has
 253         # connected faces. This is useful to split up plate STL files.
 254         def split(self, callback):
 255                 ret = []
 256                 for oriMesh in self._meshList:
 257                         ret += oriMesh.split(callback)
 258                 return ret
 259
 260         def canStoreAsSTL(self):
 261                 return len(self._meshList) < 2
 262
 263         #getVertexIndexList returns an array of vertexes, and an integer array for each mesh in this object.
 264         # the integer arrays are indexes into the vertex array for each triangle in the model.
 265         def getVertexIndexList(self):
 266                 vertexMap = {}
 267                 vertexList = []
 268                 meshList = []
 269                 for m in self._meshList:
 270                         verts = m.getTransformedVertexes(True)
 271                         meshIdxList = []
 272                         for idx in xrange(0, len(verts)):
 273                                 v = verts[idx]
 274                                 hashNr = int(v[0] * 100) | int(v[1] * 100) << 10 | int(v[2] * 100) << 20
 275                                 vIdx = None
 276                                 if hashNr in vertexMap:
 277                                         for idx2 in vertexMap[hashNr]:
 278                                                 if numpy.linalg.norm(v - vertexList[idx2]) < 0.001:
 279                                                         vIdx = idx2
 280                                 if vIdx is None:
 281                                         vIdx = len(vertexList)
 282                                         vertexMap[hashNr] = [vIdx]
 283                                         vertexList.append(v)
 284                                 meshIdxList.append(vIdx)
 285                         meshList.append(numpy.array(meshIdxList, numpy.int32))
 286                 return numpy.array(vertexList, numpy.float32), meshList
 287
 288 class mesh(object):
 289         def __init__(self, obj):
 290                 self.vertexes = None
 291                 self.vertexCount = 0
 292                 self.vbo = None
 293                 self._obj = obj
 294
 295         def _addFace(self, x0, y0, z0, x1, y1, z1, x2, y2, z2):
 296                 n = self.vertexCount
 297                 self.vertexes[n][0] = x0
 298                 self.vertexes[n][1] = y0
 299                 self.vertexes[n][2] = z0
 300                 n += 1
 301                 self.vertexes[n][0] = x1
 302                 self.vertexes[n][1] = y1
 303                 self.vertexes[n][2] = z1
 304                 n += 1
 305                 self.vertexes[n][0] = x2
 306                 self.vertexes[n][1] = y2
 307                 self.vertexes[n][2] = z2
 308                 self.vertexCount += 3
 309
 310         def _prepareFaceCount(self, faceNumber):
 311                 #Set the amount of faces before loading data in them. This way we can create the numpy arrays before we fill them.
 312                 self.vertexes = numpy.zeros((faceNumber*3, 3), numpy.float32)
 313                 self.normal = numpy.zeros((faceNumber*3, 3), numpy.float32)
 314                 self.vertexCount = 0
 315
 316         def _calculateNormals(self):
 317                 #Calculate the normals
 318                 tris = self.vertexes.reshape(self.vertexCount / 3, 3, 3)
 319                 normals = numpy.cross( tris[::,1 ] - tris[::,0]  , tris[::,2 ] - tris[::,0] )
 320                 lens = numpy.sqrt( normals[:,0]**2 + normals[:,1]**2 + normals[:,2]**2 )
 321                 normals[:,0] /= lens
 322                 normals[:,1] /= lens
 323                 normals[:,2] /= lens
 324
 325                 n = numpy.zeros((self.vertexCount / 3, 9), numpy.float32)
 326                 n[:,0:3] = normals
 327                 n[:,3:6] = normals
 328                 n[:,6:9] = normals
 329                 self.normal = n.reshape(self.vertexCount, 3)
 330                 self.invNormal = -self.normal
 331
 332         def _vertexHash(self, idx):
 333                 v = self.vertexes[idx]
 334                 return int(v[0] * 100) | int(v[1] * 100) << 10 | int(v[2] * 100) << 20
 335
 336         def _idxFromHash(self, map, idx):
 337                 vHash = self._vertexHash(idx)
 338                 for i in map[vHash]:
 339                         if numpy.linalg.norm(self.vertexes[i] - self.vertexes[idx]) < 0.001:
 340                                 return i
 341
 342         def getTransformedVertexes(self, applyOffsets = False):
 343                 if applyOffsets:
 344                         pos = self._obj._position.copy()
 345                         pos.resize((3))
 346                         pos[2] = self._obj.getSize()[2] / 2
 347                         offset = self._obj._drawOffset.copy()
 348                         offset[2] += self._obj.getSize()[2] / 2
 349                         return (numpy.matrix(self.vertexes, copy = False) * numpy.matrix(self._obj._matrix, numpy.float32)).getA() - offset + pos
 350                 return (numpy.matrix(self.vertexes, copy = False) * numpy.matrix(self._obj._matrix, numpy.float32)).getA()
 351
 352         def split(self, callback):
 353                 vertexMap = {}
 354
 355                 vertexToFace = []
 356                 for idx in xrange(0, self.vertexCount):
 357                         if (idx % 100) == 0:
 358                                 callback(idx * 100 / self.vertexCount)
 359                         vHash = self._vertexHash(idx)
 360                         if vHash not in vertexMap:
 361                                 vertexMap[vHash] = []
 362                         vertexMap[vHash].append(idx)
 363                         vertexToFace.append([])
 364
 365                 faceList = []
 366                 for idx in xrange(0, self.vertexCount, 3):
 367                         if (idx % 100) == 0:
 368                                 callback(idx * 100 / self.vertexCount)
 369                         f = [self._idxFromHash(vertexMap, idx), self._idxFromHash(vertexMap, idx+1), self._idxFromHash(vertexMap, idx+2)]
 370                         vertexToFace[f[0]].append(idx / 3)
 371                         vertexToFace[f[1]].append(idx / 3)
 372                         vertexToFace[f[2]].append(idx / 3)
 373                         faceList.append(f)
 374
 375                 ret = []
 376                 doneSet = set()
 377                 for idx in xrange(0, len(faceList)):
 378                         if idx in doneSet:
 379                                 continue
 380                         doneSet.add(idx)
 381                         todoList = [idx]
 382                         meshFaceList = []
 383                         while len(todoList) > 0:
 384                                 idx = todoList.pop()
 385                                 meshFaceList.append(idx)
 386                                 for n in xrange(0, 3):
 387                                         for i in vertexToFace[faceList[idx][n]]:
 388                                                 if not i in doneSet:
 389                                                         doneSet.add(i)
 390                                                         todoList.append(i)
 391
 392                         obj = printableObject(self._obj.getOriginFilename())
 393                         obj._matrix = self._obj._matrix.copy()
 394                         m = obj._addMesh()
 395                         m._prepareFaceCount(len(meshFaceList))
 396                         for idx in meshFaceList:
 397                                 m.vertexes[m.vertexCount] = self.vertexes[faceList[idx][0]]
 398                                 m.vertexCount += 1
 399                                 m.vertexes[m.vertexCount] = self.vertexes[faceList[idx][1]]
 400                                 m.vertexCount += 1
 401                                 m.vertexes[m.vertexCount] = self.vertexes[faceList[idx][2]]
 402                                 m.vertexCount += 1
 403                         obj._postProcessAfterLoad()
 404                         ret.append(obj)
 405                 return ret