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
   5 class _objectOrder(object):
   6         def __init__(self, order, todo):
   7                 self.order = order
   8                 self.todo = todo
   9
  10 class _objectOrderFinder(object):
  11         def __init__(self, scene, offset, leftToRight, frontToBack, gantryHeight):
  12                 self._scene = scene
  13                 self._offset = offset - numpy.array([0.1,0.1])
  14                 self._objs = scene.objects()
  15                 self._leftToRight = leftToRight
  16                 self._frontToBack = frontToBack
  17                 initialList = []
  18                 for n in xrange(0, len(self._objs)):
  19                         if scene.checkPlatform(self._objs[n]):
  20                                 initialList.append(n)
  21                 for n in initialList:
  22                         if self._objs[n].getSize()[2] > gantryHeight and len(initialList) > 1:
  23                                 self.order = None
  24                                 return
  25                 if len(initialList) == 0:
  26                         self.order = []
  27                         return
  28
  29
  30                 self._hitMap = [None] * (max(initialList)+1)
  31                 for a in initialList:
  32                         self._hitMap[a] = [False] * (max(initialList)+1)
  33                         for b in initialList:
  34                                 self._hitMap[a][b] = self._checkHit(a, b)
  35
  36                 initialList.sort(self._objIdxCmp)
  37
  38                 n = 0
  39                 self._todo = [_objectOrder([], initialList)]
  40                 while len(self._todo) > 0:
  41                         n += 1
  42                         current = self._todo.pop()
  43                         #print len(self._todo), len(current.order), len(initialList), current.order
  44                         for addIdx in current.todo:
  45                                 if not self._checkHitFor(addIdx, current.order) and not self._checkBlocks(addIdx, current.todo):
  46                                         todoList = current.todo[:]
  47                                         todoList.remove(addIdx)
  48                                         order = current.order[:] + [addIdx]
  49                                         if len(todoList) == 0:
  50                                                 self._todo = None
  51                                                 self.order = order
  52                                                 return
  53                                         self._todo.append(_objectOrder(order, todoList))
  54                 self.order = None
  55
  56         def _objIdxCmp(self, a, b):
  57                 scoreA = sum(self._hitMap[a])
  58                 scoreB = sum(self._hitMap[b])
  59                 return scoreA - scoreB
  60
  61         def _checkHitFor(self, addIdx, others):
  62                 for idx in others:
  63                         if self._hitMap[addIdx][idx]:
  64                                 return True
  65                 return False
  66
  67         def _checkBlocks(self, addIdx, others):
  68                 for idx in others:
  69                         if addIdx != idx and self._hitMap[idx][addIdx]:
  70                                 return True
  71                 return False
  72
  73         def _checkHit(self, addIdx, idx):
  74                 addPos = self._scene._objectList[addIdx].getPosition()
  75                 addSize = self._scene._objectList[addIdx].getSize()
  76                 pos = self._scene._objectList[idx].getPosition()
  77                 size = self._scene._objectList[idx].getSize()
  78
  79                 if self._leftToRight:
  80                         if addPos[0] - addSize[0] / 2 - self._offset[0] >= pos[0] + size[0] / 2:
  81                                 return False
  82                 else:
  83                         if addPos[0] + addSize[0] / 2 + self._offset[0] <= pos[0] - size[0] / 2:
  84                                 return False
  85
  86                 if self._frontToBack:
  87                         if addPos[1] - addSize[1] / 2 - self._offset[1] >= pos[1] + size[1] / 2:
  88                                 return False
  89                 else:
  90                         if addPos[1] + addSize[1] / 2 + self._offset[1] <= pos[1] - size[1] / 2:
  91                                 return False
  92
  93                 return True
  94
  95 class Scene(object):
  96         def __init__(self):
  97                 self._objectList = []
  98                 self._sizeOffsets = numpy.array([0.0,0.0], numpy.float32)
  99                 self._machineSize = numpy.array([100,100,100], numpy.float32)
 100                 self._headOffsets = numpy.array([18.0,18.0], numpy.float32)
 101                 self._leftToRight = False
 102                 self._frontToBack = True
 103                 self._gantryHeight = 60
 104
 105         def setMachineSize(self, machineSize):
 106                 self._machineSize = machineSize
 107
 108         def setSizeOffsets(self, sizeOffsets):
 109                 self._sizeOffsets = sizeOffsets
 110
 111         def setHeadSize(self, xMin, xMax, yMin, yMax, gantryHeight):
 112                 self._leftToRight = xMin < xMax
 113                 self._frontToBack = yMin < yMax
 114                 self._headOffsets[0] = min(xMin, xMax)
 115                 self._headOffsets[1] = min(yMin, yMax)
 116                 self._gantryHeight = gantryHeight
 117
 118         def getObjectExtend(self):
 119                 return self._sizeOffsets + self._headOffsets
 120
 121         def objects(self):
 122                 return self._objectList
 123
 124         def add(self, obj):
 125                 self._findFreePositionFor(obj)
 126                 self._objectList.append(obj)
 127                 self.pushFree()
 128                 if numpy.max(obj.getSize()[0:2]) > numpy.max(self._machineSize[0:2]) * 2.5:
 129                         scale = numpy.max(self._machineSize[0:2]) * 2.5 / numpy.max(obj.getSize()[0:2])
 130                         matrix = [[scale,0,0], [0, scale, 0], [0, 0, scale]]
 131                         obj.applyMatrix(numpy.matrix(matrix, numpy.float64))
 132
 133         def remove(self, obj):
 134                 self._objectList.remove(obj)
 135
 136         def merge(self, obj1, obj2):
 137                 self.remove(obj2)
 138                 obj1._meshList += obj2._meshList
 139                 for m in obj2._meshList:
 140                         m._obj = obj1
 141                 obj1.processMatrix()
 142                 obj1.setPosition((obj1.getPosition() + obj2.getPosition()) / 2)
 143                 self.pushFree()
 144
 145         def pushFree(self):
 146                 n = 1000
 147                 while self._pushFree():
 148                         n -= 1
 149                         if n < 0:
 150                                 return
 151
 152         def arrangeAll(self):
 153                 oldList = self._objectList
 154                 self._objectList = []
 155                 for obj in oldList:
 156                         obj.setPosition(numpy.array([0,0], numpy.float32))
 157                         self.add(obj)
 158
 159         def centerAll(self):
 160                 minPos = numpy.array([9999999,9999999], numpy.float32)
 161                 maxPos = numpy.array([-9999999,-9999999], numpy.float32)
 162                 for obj in self._objectList:
 163                         pos = obj.getPosition()
 164                         size = obj.getSize()
 165                         minPos[0] = min(minPos[0], pos[0] - size[0] / 2)
 166                         minPos[1] = min(minPos[1], pos[1] - size[1] / 2)
 167                         maxPos[0] = max(maxPos[0], pos[0] + size[0] / 2)
 168                         maxPos[1] = max(maxPos[1], pos[1] + size[1] / 2)
 169                 offset = -(maxPos + minPos) / 2
 170                 for obj in self._objectList:
 171                         obj.setPosition(obj.getPosition() + offset)
 172
 173         def printOrder(self):
 174                 order = _objectOrderFinder(self, self._headOffsets + self._sizeOffsets, self._leftToRight, self._frontToBack, self._gantryHeight).order
 175                 return order
 176
 177         def _pushFree(self):
 178                 for a in self._objectList:
 179                         for b in self._objectList:
 180                                 if not self._checkHit(a, b):
 181                                         continue
 182                                 posDiff = a.getPosition() - b.getPosition()
 183                                 if posDiff[0] == 0.0 and posDiff[1] == 0.0:
 184                                         posDiff[1] = 1.0
 185                                 if abs(posDiff[0]) > abs(posDiff[1]):
 186                                         axis = 0
 187                                 else:
 188                                         axis = 1
 189                                 aPos = a.getPosition()
 190                                 bPos = b.getPosition()
 191                                 center = (aPos[axis] + bPos[axis]) / 2
 192                                 distance = (a.getSize()[axis] + b.getSize()[axis]) / 2 + 0.1 + self._sizeOffsets[axis] + self._headOffsets[axis]
 193                                 if posDiff[axis] < 0:
 194                                         distance = -distance
 195                                 aPos[axis] = center + distance / 2
 196                                 bPos[axis] = center - distance / 2
 197                                 a.setPosition(aPos)
 198                                 b.setPosition(bPos)
 199                                 return True
 200                 return False
 201
 202         def _checkHit(self, a, b):
 203                 if a == b:
 204                         return False
 205                 posDiff = a.getPosition() - b.getPosition()
 206                 if abs(posDiff[0]) < (a.getSize()[0] + b.getSize()[0]) / 2 + self._sizeOffsets[0] + self._headOffsets[0]:
 207                         if abs(posDiff[1]) < (a.getSize()[1] + b.getSize()[1]) / 2 + self._sizeOffsets[1] + self._headOffsets[1]:
 208                                 return True
 209                 return False
 210
 211         def checkPlatform(self, obj):
 212                 p = obj.getPosition()
 213                 s = obj.getSize()[0:2] / 2 + self._sizeOffsets
 214                 if p[0] - s[0] < -self._machineSize[0] / 2:
 215                         return False
 216                 if p[0] + s[0] > self._machineSize[0] / 2:
 217                         return False
 218                 if p[1] - s[1] < -self._machineSize[1] / 2:
 219                         return False
 220                 if p[1] + s[1] > self._machineSize[1] / 2:
 221                         return False
 222                 return True
 223
 224         def _findFreePositionFor(self, obj):
 225                 posList = []
 226                 for a in self._objectList:
 227                         p = a.getPosition()
 228                         s = (a.getSize()[0:2] + obj.getSize()[0:2]) / 2 + self._sizeOffsets + self._headOffsets
 229                         posList.append(p + s * ( 1.0, 1.0))
 230                         posList.append(p + s * ( 0.0, 1.0))
 231                         posList.append(p + s * (-1.0, 1.0))
 232                         posList.append(p + s * ( 1.0, 0.0))
 233                         posList.append(p + s * (-1.0, 0.0))
 234                         posList.append(p + s * ( 1.0,-1.0))
 235                         posList.append(p + s * ( 0.0,-1.0))
 236                         posList.append(p + s * (-1.0,-1.0))
 237
 238                 best = None
 239                 bestDist = None
 240                 for p in posList:
 241                         obj.setPosition(p)
 242                         ok = True
 243                         for a in self._objectList:
 244                                 if self._checkHit(a, obj):
 245                                         ok = False
 246                                         break
 247                         if not ok:
 248                                 continue
 249                         dist = numpy.linalg.norm(p)
 250                         if not self.checkPlatform(obj):
 251                                 dist *= 3
 252                         if best is None or dist < bestDist:
 253                                 best = p
 254                                 bestDist = dist
 255                 if best is not None:
 256                         obj.setPosition(best)