Cura/util/objectScene.py

   1 __copyright__ = "Copyright (C) 2013 David Braam - Released under terms of the AGPLv3 License"
   2 import random
   3 import numpy
   4 from Cura.util import profile
   5
   6 class _objectOrder(object):
   7         def __init__(self, order, todo):
   8                 self.order = order
   9                 self.todo = todo
  10
  11 class _objectOrderFinder(object):
  12         def __init__(self, scene, offset, leftToRight, frontToBack, gantryHeight):
  13                 self._scene = scene
  14                 self._offset = offset - numpy.array([0.1,0.1])
  15                 self._objs = scene.objects()
  16                 self._leftToRight = leftToRight
  17                 self._frontToBack = frontToBack
  18                 initialList = []
  19                 for n in xrange(0, len(self._objs)):
  20                         if scene.checkPlatform(self._objs[n]):
  21                                 initialList.append(n)
  22                 for n in initialList:
  23                         if self._objs[n].getSize()[2] > gantryHeight and len(initialList) > 1:
  24                                 self.order = None
  25                                 return
  26                 if len(initialList) == 0:
  27                         self.order = []
  28                         return
  29
  30
  31                 self._hitMap = [None] * (max(initialList)+1)
  32                 for a in initialList:
  33                         self._hitMap[a] = [False] * (max(initialList)+1)
  34                         for b in initialList:
  35                                 self._hitMap[a][b] = self._checkHit(a, b)
  36
  37                 initialList.sort(self._objIdxCmp)
  38
  39                 n = 0
  40                 self._todo = [_objectOrder([], initialList)]
  41                 while len(self._todo) > 0:
  42                         n += 1
  43                         current = self._todo.pop()
  44                         #print len(self._todo), len(current.order), len(initialList), current.order
  45                         for addIdx in current.todo:
  46                                 if not self._checkHitFor(addIdx, current.order) and not self._checkBlocks(addIdx, current.todo):
  47                                         todoList = current.todo[:]
  48                                         todoList.remove(addIdx)
  49                                         order = current.order[:] + [addIdx]
  50                                         if len(todoList) == 0:
  51                                                 self._todo = None
  52                                                 self.order = order
  53                                                 return
  54                                         self._todo.append(_objectOrder(order, todoList))
  55                 self.order = None
  56
  57         def _objIdxCmp(self, a, b):
  58                 scoreA = sum(self._hitMap[a])
  59                 scoreB = sum(self._hitMap[b])
  60                 return scoreA - scoreB
  61
  62         def _checkHitFor(self, addIdx, others):
  63                 for idx in others:
  64                         if self._hitMap[addIdx][idx]:
  65                                 return True
  66                 return False
  67
  68         def _checkBlocks(self, addIdx, others):
  69                 for idx in others:
  70                         if addIdx != idx and self._hitMap[idx][addIdx]:
  71                                 return True
  72                 return False
  73
  74         #Check if printing one object will cause printhead colission with other object.
  75         def _checkHit(self, addIdx, idx):
  76                 addPos = self._scene._objectList[addIdx].getPosition()
  77                 addSize = self._scene._objectList[addIdx].getSize()
  78                 pos = self._scene._objectList[idx].getPosition()
  79                 size = self._scene._objectList[idx].getSize()
  80
  81                 if self._leftToRight:
  82                         if addPos[0] - addSize[0] / 2 - self._offset[0] >= pos[0] + size[0] / 2:
  83                                 return False
  84                 else:
  85                         if addPos[0] + addSize[0] / 2 + self._offset[0] <= pos[0] - size[0] / 2:
  86                                 return False
  87
  88                 if self._frontToBack:
  89                         if addPos[1] - addSize[1] / 2 - self._offset[1] >= pos[1] + size[1] / 2:
  90                                 return False
  91                 else:
  92                         if addPos[1] + addSize[1] / 2 + self._offset[1] <= pos[1] - size[1] / 2:
  93                                 return False
  94
  95                 return True
  96
  97 class Scene(object):
  98         def __init__(self):
  99                 self._objectList = []
 100                 self._sizeOffsets = numpy.array([0.0,0.0], numpy.float32)
 101                 self._machineSize = numpy.array([100,100,100], numpy.float32)
 102                 self._headSizeOffsets = numpy.array([18.0,18.0], numpy.float32)
 103                 self._extruderOffset = [numpy.array([0,0], numpy.float32)] * 4
 104
 105                 #Print order variables
 106                 self._leftToRight = False
 107                 self._frontToBack = True
 108                 self._gantryHeight = 60
 109         # Physical (square) machine size.
 110         def setMachineSize(self, machineSize):
 111                 self._machineSize = machineSize
 112
 113         # Size offsets are offsets caused by brim, skirt, etc.
 114         def setSizeOffsets(self, sizeOffsets):
 115                 self._sizeOffsets = sizeOffsets
 116
 117         #size of the printing head.
 118         def setHeadSize(self, xMin, xMax, yMin, yMax, gantryHeight):
 119                 self._leftToRight = xMin < xMax
 120                 self._frontToBack = yMin < yMax
 121                 self._headSizeOffsets[0] = min(xMin, xMax)
 122                 self._headSizeOffsets[1] = min(yMin, yMax)
 123                 self._gantryHeight = gantryHeight
 124
 125         def setExtruderOffset(self, extruderNr, offsetX, offsetY):
 126                 self._extruderOffset[extruderNr] = numpy.array([offsetX, offsetY], numpy.float32)
 127
 128         def getObjectExtend(self):
 129                 return self._sizeOffsets + self._headSizeOffsets
 130
 131         def objects(self):
 132                 return self._objectList
 133
 134         #Add new object to print area
 135         def add(self, obj):
 136                 self._findFreePositionFor(obj)
 137                 self._objectList.append(obj)
 138                 self.pushFree()
 139                 if numpy.max(obj.getSize()[0:2]) > numpy.max(self._machineSize[0:2]) * 2.5:
 140                         scale = numpy.max(self._machineSize[0:2]) * 2.5 / numpy.max(obj.getSize()[0:2])
 141                         matrix = [[scale,0,0], [0, scale, 0], [0, 0, scale]]
 142                         obj.applyMatrix(numpy.matrix(matrix, numpy.float64))
 143
 144         def remove(self, obj):
 145                 self._objectList.remove(obj)
 146
 147         #Dual(multiple) extrusion merge
 148         def merge(self, obj1, obj2):
 149                 self.remove(obj2)
 150                 obj1._meshList += obj2._meshList
 151                 for m in obj2._meshList:
 152                         m._obj = obj1
 153                 obj1.processMatrix()
 154                 obj1.setPosition((obj1.getPosition() + obj2.getPosition()) / 2)
 155                 self.pushFree()
 156
 157         def pushFree(self):
 158                 n = 1000
 159                 while self._pushFree():
 160                         n -= 1
 161                         if n < 0:
 162                                 return
 163
 164         def arrangeAll(self):
 165                 oldList = self._objectList
 166                 self._objectList = []
 167                 for obj in oldList:
 168                         obj.setPosition(numpy.array([0,0], numpy.float32))
 169                         self.add(obj)
 170
 171         def centerAll(self):
 172                 minPos = numpy.array([9999999,9999999], numpy.float32)
 173                 maxPos = numpy.array([-9999999,-9999999], numpy.float32)
 174                 for obj in self._objectList:
 175                         pos = obj.getPosition()
 176                         size = obj.getSize()
 177                         minPos[0] = min(minPos[0], pos[0] - size[0] / 2)
 178                         minPos[1] = min(minPos[1], pos[1] - size[1] / 2)
 179                         maxPos[0] = max(maxPos[0], pos[0] + size[0] / 2)
 180                         maxPos[1] = max(maxPos[1], pos[1] + size[1] / 2)
 181                 offset = -(maxPos + minPos) / 2
 182                 for obj in self._objectList:
 183                         obj.setPosition(obj.getPosition() + offset)
 184
 185         def printOrder(self):
 186                 order = _objectOrderFinder(self, self._headSizeOffsets + self._sizeOffsets, self._leftToRight, self._frontToBack, self._gantryHeight).order
 187                 return order
 188
 189         def _pushFree(self):
 190                 for a in self._objectList:
 191                         for b in self._objectList:
 192                                 if not self._checkHit(a, b):
 193                                         continue
 194                                 posDiff = a.getPosition() - b.getPosition()
 195                                 if posDiff[0] == 0.0 and posDiff[1] == 0.0:
 196                                         posDiff[1] = 1.0
 197                                 if abs(posDiff[0]) > abs(posDiff[1]):
 198                                         axis = 0
 199                                 else:
 200                                         axis = 1
 201                                 aPos = a.getPosition()
 202                                 bPos = b.getPosition()
 203                                 center = (aPos[axis] + bPos[axis]) / 2
 204                                 distance = (a.getSize()[axis] + b.getSize()[axis]) / 2 + 0.1 + self._sizeOffsets[axis] + self._headSizeOffsets[axis]
 205                                 if posDiff[axis] < 0:
 206                                         distance = -distance
 207                                 aPos[axis] = center + distance / 2
 208                                 bPos[axis] = center - distance / 2
 209                                 a.setPosition(aPos)
 210                                 b.setPosition(bPos)
 211                                 return True
 212                 return False
 213
 214         #Check if two objects are hitting each-other (+ head space).
 215         def _checkHit(self, a, b):
 216                 if a == b:
 217                         return False
 218                 posDiff = a.getPosition() - b.getPosition()
 219                 if abs(posDiff[0]) < (a.getSize()[0] + b.getSize()[0]) / 2 + self._sizeOffsets[0] + self._headSizeOffsets[0]:
 220                         if abs(posDiff[1]) < (a.getSize()[1] + b.getSize()[1]) / 2 + self._sizeOffsets[1] + self._headSizeOffsets[1]:
 221                                 return True
 222                 return False
 223
 224         def checkPlatform(self, obj):
 225                 p = obj.getPosition()
 226                 s = obj.getSize()[0:2] / 2 + self._sizeOffsets
 227                 offsetLeft = 0.0
 228                 offsetRight = 0.0
 229                 offsetBack = 0.0
 230                 offsetFront = 0.0
 231                 extruderCount = len(obj._meshList)
 232                 if profile.getProfileSetting('support_dual_extrusion') == 'Second extruder' and profile.getProfileSetting('support') != 'None':
 233                         extruderCount = max(extruderCount, 2)
 234                 for n in xrange(1, extruderCount):
 235                         if offsetLeft < self._extruderOffset[n][0]:
 236                                 offsetLeft = self._extruderOffset[n][0]
 237                         if offsetRight > self._extruderOffset[n][0]:
 238                                 offsetRight = self._extruderOffset[n][0]
 239                         if offsetFront < self._extruderOffset[n][1]:
 240                                 offsetFront = self._extruderOffset[n][1]
 241                         if offsetBack > self._extruderOffset[n][1]:
 242                                 offsetBack = self._extruderOffset[n][1]
 243                 boundLeft = -self._machineSize[0] / 2 + offsetLeft
 244                 boundRight = self._machineSize[0] / 2 + offsetRight
 245                 boundFront = -self._machineSize[1] / 2 + offsetFront
 246                 boundBack = self._machineSize[1] / 2 + offsetBack
 247                 if p[0] - s[0] < boundLeft:
 248                         return False
 249                 if p[0] + s[0] > boundRight:
 250                         return False
 251                 if p[1] - s[1] < boundFront:
 252                         return False
 253                 if p[1] + s[1] > boundBack:
 254                         return False
 255
 256                 #Do clip Check for UM2.
 257                 machine = profile.getMachineSetting('machine_type')
 258                 if machine == "ultimaker2":
 259                         #lowerRight clip check
 260                         if p[0] - s[0] < boundLeft + 25 and p[1] - s[1] < boundFront + 10:
 261                                 return False
 262                         #UpperRight
 263                         if p[0] - s[0] < boundLeft + 25 and p[1] + s[1] > boundBack - 10:
 264                                 return False
 265                         #LowerLeft
 266                         if p[0] + s[0] > boundRight - 25 and p[1] - s[1] < boundFront + 10:
 267                                 return False
 268                         #UpperLeft
 269                         if p[0] + s[0] > boundRight - 25 and p[1] + s[1] > boundBack - 10:
 270                                 return False
 271                 return True
 272
 273         def _findFreePositionFor(self, obj):
 274                 posList = []
 275                 for a in self._objectList:
 276                         p = a.getPosition()
 277                         s = (a.getSize()[0:2] + obj.getSize()[0:2]) / 2 + self._sizeOffsets + self._headSizeOffsets
 278                         posList.append(p + s * ( 1.0, 1.0))
 279                         posList.append(p + s * ( 0.0, 1.0))
 280                         posList.append(p + s * (-1.0, 1.0))
 281                         posList.append(p + s * ( 1.0, 0.0))
 282                         posList.append(p + s * (-1.0, 0.0))
 283                         posList.append(p + s * ( 1.0,-1.0))
 284                         posList.append(p + s * ( 0.0,-1.0))
 285                         posList.append(p + s * (-1.0,-1.0))
 286
 287                 best = None
 288                 bestDist = None
 289                 for p in posList:
 290                         obj.setPosition(p)
 291                         ok = True
 292                         for a in self._objectList:
 293                                 if self._checkHit(a, obj):
 294                                         ok = False
 295                                         break
 296                         if not ok:
 297                                 continue
 298                         dist = numpy.linalg.norm(p)
 299                         if not self.checkPlatform(obj):
 300                                 dist *= 3
 301                         if best is None or dist < bestDist:
 302                                 best = p
 303                                 bestDist = dist
 304                 if best is not None:
 305                         obj.setPosition(best)