1 __copyright__ = "Copyright (C) 2013 David Braam - Released under terms of the AGPLv3 License"
5 class _objectOrder(object):
6 def __init__(self, order, todo):
10 class _objectOrderFinder(object):
11 def __init__(self, scene, offset, leftToRight, frontToBack, gantryHeight):
13 self._offset = offset - numpy.array([0.1,0.1])
14 self._objs = scene.objects()
15 self._leftToRight = leftToRight
16 self._frontToBack = frontToBack
18 for n in xrange(0, len(self._objs)):
19 if scene.checkPlatform(self._objs[n]):
22 if self._objs[n].getSize()[2] > gantryHeight and len(initialList) > 1:
25 if len(initialList) == 0:
30 self._hitMap = [None] * (max(initialList)+1)
32 self._hitMap[a] = [False] * (max(initialList)+1)
34 self._hitMap[a][b] = self._checkHit(a, b)
36 initialList.sort(self._objIdxCmp)
39 self._todo = [_objectOrder([], initialList)]
40 while len(self._todo) > 0:
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:
53 self._todo.append(_objectOrder(order, todoList))
56 def _objIdxCmp(self, a, b):
57 scoreA = sum(self._hitMap[a])
58 scoreB = sum(self._hitMap[b])
59 return scoreA - scoreB
61 def _checkHitFor(self, addIdx, others):
63 if self._hitMap[addIdx][idx]:
67 def _checkBlocks(self, addIdx, others):
69 if addIdx != idx and self._hitMap[idx][addIdx]:
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()
80 if addPos[0] - addSize[0] / 2 - self._offset[0] >= pos[0] + size[0] / 2:
83 if addPos[0] + addSize[0] / 2 + self._offset[0] <= pos[0] - size[0] / 2:
87 if addPos[1] - addSize[1] / 2 - self._offset[1] >= pos[1] + size[1] / 2:
90 if addPos[1] + addSize[1] / 2 + self._offset[1] <= pos[1] - size[1] / 2:
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
105 def setMachineSize(self, machineSize):
106 self._machineSize = machineSize
108 def setSizeOffsets(self, sizeOffsets):
109 self._sizeOffsets = sizeOffsets
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
118 def getObjectExtend(self):
119 return self._sizeOffsets + self._headOffsets
122 return self._objectList
125 self._findFreePositionFor(obj)
126 self._objectList.append(obj)
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))
133 def remove(self, obj):
134 self._objectList.remove(obj)
136 def merge(self, obj1, obj2):
138 obj1._meshList += obj2._meshList
139 for m in obj2._meshList:
142 obj1.setPosition((obj1.getPosition() + obj2.getPosition()) / 2)
147 while self._pushFree():
152 def arrangeAll(self):
153 oldList = self._objectList
154 self._objectList = []
156 obj.setPosition(numpy.array([0,0], numpy.float32))
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()
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)
173 def printOrder(self):
174 order = _objectOrderFinder(self, self._headOffsets + self._sizeOffsets, self._leftToRight, self._frontToBack, self._gantryHeight).order
178 for a in self._objectList:
179 for b in self._objectList:
180 if not self._checkHit(a, b):
182 posDiff = a.getPosition() - b.getPosition()
183 if posDiff[0] == 0.0 and posDiff[1] == 0.0:
185 if abs(posDiff[0]) > abs(posDiff[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:
195 aPos[axis] = center + distance / 2
196 bPos[axis] = center - distance / 2
202 def _checkHit(self, a, b):
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]:
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:
216 if p[0] + s[0] > self._machineSize[0] / 2:
218 if p[1] - s[1] < -self._machineSize[1] / 2:
220 if p[1] + s[1] > self._machineSize[1] / 2:
224 def _findFreePositionFor(self, obj):
226 for a in self._objectList:
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))
243 for a in self._objectList:
244 if self._checkHit(a, obj):
249 dist = numpy.linalg.norm(p)
250 if not self.checkPlatform(obj):
252 if best is None or dist < bestDist:
256 obj.setPosition(best)