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
   7 import numpy
   8 numpy.seterr(all='ignore')
   9
  10 class printableObject(object):
  11         def __init__(self):
  12                 self._meshList = []
  13                 self._position = numpy.array([0.0, 0.0])
  14                 self._matrix = numpy.matrix([[1,0,0],[0,1,0],[0,0,1]], numpy.float64)
  15                 self._transformedMin = None
  16                 self._transformedMax = None
  17                 self._transformedSize = None
  18                 self._boundaryCircleSize = None
  19                 self._drawOffset = None
  20                 self._loadAnim = None
  21
  22         def copy(self):
  23                 ret = printableObject()
  24                 ret._matrix = self._matrix.copy()
  25                 ret._transformedMin = self._transformedMin.copy()
  26                 ret._transformedMax = self._transformedMin.copy()
  27                 ret._transformedSize = self._transformedSize.copy()
  28                 ret._boundaryCircleSize = self._boundaryCircleSize
  29                 ret._drawOffset = self._drawOffset.copy()
  30                 for m in self._meshList[:]:
  31                         m2 = ret._addMesh()
  32                         m2.vertexes = m.vertexes
  33                         m2.vertexCount = m.vertexCount
  34                         m2.vbo = m.vbo
  35                         m2.vbo.incRef()
  36                 return ret
  37
  38         def _addMesh(self):
  39                 m = mesh(self)
  40                 self._meshList.append(m)
  41                 return m
  42
  43         def _postProcessAfterLoad(self):
  44                 for m in self._meshList:
  45                         m._calculateNormals()
  46                 self.processMatrix()
  47
  48         def applyMatrix(self, m):
  49                 self._matrix *= m
  50                 self.processMatrix()
  51
  52         def processMatrix(self):
  53                 self._transformedMin = numpy.array([999999999999,999999999999,999999999999], numpy.float64)
  54                 self._transformedMax = numpy.array([-999999999999,-999999999999,-999999999999], numpy.float64)
  55                 self._boundaryCircleSize = 0
  56
  57                 for m in self._meshList:
  58                         transformedVertexes = m.getTransformedVertexes()
  59                         transformedMin = transformedVertexes.min(0)
  60                         transformedMax = transformedVertexes.max(0)
  61                         for n in xrange(0, 3):
  62                                 self._transformedMin[n] = min(transformedMin[n], self._transformedMin[n])
  63                                 self._transformedMax[n] = max(transformedMax[n], self._transformedMax[n])
  64
  65                         #Calculate the boundary circle
  66                         transformedSize = transformedMax - transformedMin
  67                         center = transformedMin + transformedSize / 2.0
  68                         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)
  69                         self._boundaryCircleSize = max(self._boundaryCircleSize, boundaryCircleSize)
  70                 self._transformedSize = self._transformedMax - self._transformedMin
  71                 self._drawOffset = (self._transformedMax + self._transformedMin) / 2
  72                 self._drawOffset[2] = self._transformedMin[2]
  73                 self._transformedMax -= self._drawOffset
  74                 self._transformedMin -= self._drawOffset
  75
  76         def getPosition(self):
  77                 return self._position
  78         def setPosition(self, newPos):
  79                 self._position = newPos
  80         def getMatrix(self):
  81                 return self._matrix
  82
  83         def getMaximum(self):
  84                 return self._transformedMax
  85         def getMinimum(self):
  86                 return self._transformedMin
  87         def getSize(self):
  88                 return self._transformedSize
  89         def getDrawOffset(self):
  90                 return self._drawOffset
  91         def getBoundaryCircle(self):
  92                 return self._boundaryCircleSize
  93
  94         def mirror(self, axis):
  95                 matrix = [[1,0,0], [0, 1, 0], [0, 0, 1]]
  96                 matrix[axis][axis] = -1
  97                 self.applyMatrix(numpy.matrix(matrix, numpy.float64))
  98
  99         def getScale(self):
 100                 return numpy.array([
 101                         numpy.linalg.norm(self._matrix[::,0].getA().flatten()),
 102                         numpy.linalg.norm(self._matrix[::,1].getA().flatten()),
 103                         numpy.linalg.norm(self._matrix[::,2].getA().flatten())], numpy.float64);
 104
 105         def setScale(self, scale, axis, uniform):
 106                 currentScale = numpy.linalg.norm(self._matrix[::,axis].getA().flatten())
 107                 scale /= currentScale
 108                 if scale == 0:
 109                         return
 110                 if uniform:
 111                         matrix = [[scale,0,0], [0, scale, 0], [0, 0, scale]]
 112                 else:
 113                         matrix = [[1.0,0,0], [0, 1.0, 0], [0, 0, 1.0]]
 114                         matrix[axis][axis] = scale
 115                 self.applyMatrix(numpy.matrix(matrix, numpy.float64))
 116
 117         def setSize(self, size, axis, uniform):
 118                 scale = self.getSize()[axis]
 119                 scale = size / scale
 120                 if scale == 0:
 121                         return
 122                 if uniform:
 123                         matrix = [[scale,0,0], [0, scale, 0], [0, 0, scale]]
 124                 else:
 125                         matrix = [[1,0,0], [0, 1, 0], [0, 0, 1]]
 126                         matrix[axis][axis] = scale
 127                 self.applyMatrix(numpy.matrix(matrix, numpy.float64))
 128
 129         def resetScale(self):
 130                 x = 1/numpy.linalg.norm(self._matrix[::,0].getA().flatten())
 131                 y = 1/numpy.linalg.norm(self._matrix[::,1].getA().flatten())
 132                 z = 1/numpy.linalg.norm(self._matrix[::,2].getA().flatten())
 133                 self.applyMatrix(numpy.matrix([[x,0,0],[0,y,0],[0,0,z]], numpy.float64))
 134
 135         def resetRotation(self):
 136                 x = numpy.linalg.norm(self._matrix[::,0].getA().flatten())
 137                 y = numpy.linalg.norm(self._matrix[::,1].getA().flatten())
 138                 z = numpy.linalg.norm(self._matrix[::,2].getA().flatten())
 139                 self._matrix = numpy.matrix([[x,0,0],[0,y,0],[0,0,z]], numpy.float64)
 140                 self.processMatrix()
 141
 142         def layFlat(self):
 143                 transformedVertexes = self._meshList[0].getTransformedVertexes()
 144                 minZvertex = transformedVertexes[transformedVertexes.argmin(0)[2]]
 145                 dotMin = 1.0
 146                 dotV = None
 147                 for v in transformedVertexes:
 148                         diff = v - minZvertex
 149                         len = math.sqrt(diff[0] * diff[0] + diff[1] * diff[1] + diff[2] * diff[2])
 150                         if len < 5:
 151                                 continue
 152                         dot = (diff[2] / len)
 153                         if dotMin > dot:
 154                                 dotMin = dot
 155                                 dotV = diff
 156                 if dotV is None:
 157                         return
 158                 rad = -math.atan2(dotV[1], dotV[0])
 159                 self._matrix *= numpy.matrix([[math.cos(rad), math.sin(rad), 0], [-math.sin(rad), math.cos(rad), 0], [0,0,1]], numpy.float64)
 160                 rad = -math.asin(dotMin)
 161                 self._matrix *= numpy.matrix([[math.cos(rad), 0, math.sin(rad)], [0,1,0], [-math.sin(rad), 0, math.cos(rad)]], numpy.float64)
 162
 163
 164                 transformedVertexes = self._meshList[0].getTransformedVertexes()
 165                 minZvertex = transformedVertexes[transformedVertexes.argmin(0)[2]]
 166                 dotMin = 1.0
 167                 dotV = None
 168                 for v in transformedVertexes:
 169                         diff = v - minZvertex
 170                         len = math.sqrt(diff[1] * diff[1] + diff[2] * diff[2])
 171                         if len < 5:
 172                                 continue
 173                         dot = (diff[2] / len)
 174                         if dotMin > dot:
 175                                 dotMin = dot
 176                                 dotV = diff
 177                 if dotV is None:
 178                         return
 179                 if dotV[1] < 0:
 180                         rad = math.asin(dotMin)
 181                 else:
 182                         rad = -math.asin(dotMin)
 183                 self.applyMatrix(numpy.matrix([[1,0,0], [0, math.cos(rad), math.sin(rad)], [0, -math.sin(rad), math.cos(rad)]], numpy.float64))
 184
 185         def scaleUpTo(self, size):
 186                 vMin = self._transformedMin
 187                 vMax = self._transformedMax
 188
 189                 scaleX1 = (size[0] / 2 - self._position[0]) / ((vMax[0] - vMin[0]) / 2)
 190                 scaleY1 = (size[1] / 2 - self._position[1]) / ((vMax[1] - vMin[1]) / 2)
 191                 scaleX2 = (self._position[0] + size[0] / 2) / ((vMax[0] - vMin[0]) / 2)
 192                 scaleY2 = (self._position[1] + size[1] / 2) / ((vMax[1] - vMin[1]) / 2)
 193                 scaleZ = size[2] / (vMax[2] - vMin[2])
 194                 scale = min(scaleX1, scaleY1, scaleX2, scaleY2, scaleZ)
 195                 if scale > 0:
 196                         self.applyMatrix(numpy.matrix([[scale,0,0],[0,scale,0],[0,0,scale]], numpy.float64))
 197
 198         def split(self, callback):
 199                 ret = []
 200                 for oriMesh in self._meshList:
 201                         ret += oriMesh.split(callback)
 202                 return ret
 203
 204 class mesh(object):
 205         def __init__(self, obj):
 206                 self.vertexes = None
 207                 self.vertexCount = 0
 208                 self.vbo = None
 209                 self._obj = obj
 210
 211         def _addFace(self, x0, y0, z0, x1, y1, z1, x2, y2, z2):
 212                 n = self.vertexCount
 213                 self.vertexes[n][0] = x0
 214                 self.vertexes[n][1] = y0
 215                 self.vertexes[n][2] = z0
 216                 n += 1
 217                 self.vertexes[n][0] = x1
 218                 self.vertexes[n][1] = y1
 219                 self.vertexes[n][2] = z1
 220                 n += 1
 221                 self.vertexes[n][0] = x2
 222                 self.vertexes[n][1] = y2
 223                 self.vertexes[n][2] = z2
 224                 self.vertexCount += 3
 225
 226         def _prepareFaceCount(self, faceNumber):
 227                 #Set the amount of faces before loading data in them. This way we can create the numpy arrays before we fill them.
 228                 self.vertexes = numpy.zeros((faceNumber*3, 3), numpy.float32)
 229                 self.normal = numpy.zeros((faceNumber*3, 3), numpy.float32)
 230                 self.vertexCount = 0
 231
 232         def _calculateNormals(self):
 233                 #Calculate the normals
 234                 tris = self.vertexes.reshape(self.vertexCount / 3, 3, 3)
 235                 normals = numpy.cross( tris[::,1 ] - tris[::,0]  , tris[::,2 ] - tris[::,0] )
 236                 lens = numpy.sqrt( normals[:,0]**2 + normals[:,1]**2 + normals[:,2]**2 )
 237                 normals[:,0] /= lens
 238                 normals[:,1] /= lens
 239                 normals[:,2] /= lens
 240
 241                 n = numpy.zeros((self.vertexCount / 3, 9), numpy.float32)
 242                 n[:,0:3] = normals
 243                 n[:,3:6] = normals
 244                 n[:,6:9] = normals
 245                 self.normal = n.reshape(self.vertexCount, 3)
 246                 self.invNormal = -self.normal
 247
 248         def _vertexHash(self, idx):
 249                 v = self.vertexes[idx]
 250                 return int(v[0] * 100) | int(v[1] * 100) << 10 | int(v[2] * 100) << 20
 251
 252         def _idxFromHash(self, map, idx):
 253                 vHash = self._vertexHash(idx)
 254                 for i in map[vHash]:
 255                         if numpy.linalg.norm(self.vertexes[i] - self.vertexes[idx]) < 0.001:
 256                                 return i
 257
 258         def getTransformedVertexes(self, applyOffsets = False):
 259                 if applyOffsets:
 260                         pos = self._obj._position.copy()
 261                         pos.resize((3))
 262                         pos[2] = self._obj.getSize()[2] / 2
 263                         offset = self._obj._drawOffset.copy()
 264                         offset[2] += self._obj.getSize()[2] / 2
 265                         return (numpy.matrix(self.vertexes, copy = False) * numpy.matrix(self._obj._matrix, numpy.float32)).getA() - offset + pos
 266                 return (numpy.matrix(self.vertexes, copy = False) * numpy.matrix(self._obj._matrix, numpy.float32)).getA()
 267
 268         def split(self, callback):
 269                 vertexMap = {}
 270
 271                 vertexToFace = []
 272                 for idx in xrange(0, self.vertexCount):
 273                         if (idx % 100) == 0:
 274                                 callback(idx * 100 / self.vertexCount)
 275                         vHash = self._vertexHash(idx)
 276                         if vHash not in vertexMap:
 277                                 vertexMap[vHash] = []
 278                         vertexMap[vHash].append(idx)
 279                         vertexToFace.append([])
 280
 281                 faceList = []
 282                 for idx in xrange(0, self.vertexCount, 3):
 283                         if (idx % 100) == 0:
 284                                 callback(idx * 100 / self.vertexCount)
 285                         f = [self._idxFromHash(vertexMap, idx), self._idxFromHash(vertexMap, idx+1), self._idxFromHash(vertexMap, idx+2)]
 286                         vertexToFace[f[0]].append(idx / 3)
 287                         vertexToFace[f[1]].append(idx / 3)
 288                         vertexToFace[f[2]].append(idx / 3)
 289                         faceList.append(f)
 290
 291                 ret = []
 292                 doneSet = set()
 293                 for idx in xrange(0, len(faceList)):
 294                         if idx in doneSet:
 295                                 continue
 296                         doneSet.add(idx)
 297                         todoList = [idx]
 298                         meshFaceList = []
 299                         while len(todoList) > 0:
 300                                 idx = todoList.pop()
 301                                 meshFaceList.append(idx)
 302                                 for n in xrange(0, 3):
 303                                         for i in vertexToFace[faceList[idx][n]]:
 304                                                 if not i in doneSet:
 305                                                         doneSet.add(i)
 306                                                         todoList.append(i)
 307
 308                         obj = printableObject()
 309                         obj._matrix = self._obj._matrix.copy()
 310                         m = obj._addMesh()
 311                         m._prepareFaceCount(len(meshFaceList))
 312                         for idx in meshFaceList:
 313                                 m.vertexes[m.vertexCount] = self.vertexes[faceList[idx][0]]
 314                                 m.vertexCount += 1
 315                                 m.vertexes[m.vertexCount] = self.vertexes[faceList[idx][1]]
 316                                 m.vertexCount += 1
 317                                 m.vertexes[m.vertexCount] = self.vertexes[faceList[idx][2]]
 318                                 m.vertexCount += 1
 319                         obj._postProcessAfterLoad()
 320                         ret.append(obj)
 321                 return ret