Cura/util/mesh.py

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