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 from Cura.util import profile
   6 from Cura.util import polygon
   7
   8 class _objectOrder(object):
   9         def __init__(self, order, todo):
  10                 self.order = order
  11                 self.todo = todo
  12
  13 class _objectOrderFinder(object):
  14         def __init__(self, scene, leftToRight, frontToBack, gantryHeight):
  15                 self._scene = scene
  16                 self._objs = scene.objects()
  17                 self._leftToRight = leftToRight
  18                 self._frontToBack = frontToBack
  19                 initialList = []
  20                 for n in xrange(0, len(self._objs)):
  21                         if scene.checkPlatform(self._objs[n]):
  22                                 initialList.append(n)
  23                 for n in initialList:
  24                         if self._objs[n].getSize()[2] > gantryHeight and len(initialList) > 1:
  25                                 self.order = None
  26                                 return
  27                 if len(initialList) == 0:
  28                         self.order = []
  29                         return
  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                 #Check if we have 2 files that overlap so that they can never be printed one at a time.
  38                 for a in initialList:
  39                         for b in initialList:
  40                                 if a != b and self._hitMap[a][b] and self._hitMap[b][a]:
  41                                         self.order = None
  42                                         return
  43
  44                 initialList.sort(self._objIdxCmp)
  45
  46                 n = 0
  47                 self._todo = [_objectOrder([], initialList)]
  48                 while len(self._todo) > 0:
  49                         n += 1
  50                         current = self._todo.pop()
  51                         #print len(self._todo), len(current.order), len(initialList), current.order
  52                         for addIdx in current.todo:
  53                                 if not self._checkHitFor(addIdx, current.order) and not self._checkBlocks(addIdx, current.todo):
  54                                         todoList = current.todo[:]
  55                                         todoList.remove(addIdx)
  56                                         order = current.order[:] + [addIdx]
  57                                         if len(todoList) == 0:
  58                                                 self._todo = None
  59                                                 self.order = order
  60                                                 return
  61                                         self._todo.append(_objectOrder(order, todoList))
  62                 self.order = None
  63
  64         def _objIdxCmp(self, a, b):
  65                 scoreA = sum(self._hitMap[a])
  66                 scoreB = sum(self._hitMap[b])
  67                 return scoreA - scoreB
  68
  69         def _checkHitFor(self, addIdx, others):
  70                 for idx in others:
  71                         if self._hitMap[addIdx][idx]:
  72                                 return True
  73                 return False
  74
  75         def _checkBlocks(self, addIdx, others):
  76                 for idx in others:
  77                         if addIdx != idx and self._hitMap[idx][addIdx]:
  78                                 return True
  79                 return False
  80
  81         #Check if printing one object will cause printhead colission with other object.
  82         def _checkHit(self, addIdx, idx):
  83                 obj = self._scene._objectList[idx]
  84                 addObj = self._scene._objectList[addIdx]
  85                 return polygon.polygonCollision(obj._boundaryHull + obj.getPosition(), addObj._headAreaHull + addObj.getPosition())
  86
  87 class Scene(object):
  88         def __init__(self):
  89                 self._objectList = []
  90                 self._sizeOffsets = numpy.array([0.0,0.0], numpy.float32)
  91                 self._machineSize = numpy.array([100,100,100], numpy.float32)
  92                 self._headSizeOffsets = numpy.array([18.0,18.0], numpy.float32)
  93                 self._extruderOffset = [numpy.array([0,0], numpy.float32)] * 4
  94
  95                 #Print order variables
  96                 self._leftToRight = False
  97                 self._frontToBack = True
  98                 self._gantryHeight = 60
  99                 self._oneAtATime = True
 100
 101         # Physical (square) machine size.
 102         def setMachineSize(self, machineSize):
 103                 self._machineSize = machineSize
 104
 105         # Size offsets are offsets caused by brim, skirt, etc.
 106         def updateSizeOffsets(self, force=False):
 107                 newOffsets = numpy.array(profile.calculateObjectSizeOffsets(), numpy.float32)
 108                 if not force and numpy.array_equal(self._sizeOffsets, newOffsets):
 109                         return
 110                 self._sizeOffsets = newOffsets
 111
 112                 extends = numpy.array([[-newOffsets[0],-newOffsets[1]],[ newOffsets[0],-newOffsets[1]],[ newOffsets[0], newOffsets[1]],[-newOffsets[0], newOffsets[1]]], numpy.float32)
 113                 for obj in self._objectList:
 114                         obj.setPrintAreaExtends(extends)
 115
 116         #size of the printing head.
 117         def setHeadSize(self, xMin, xMax, yMin, yMax, gantryHeight):
 118                 self._leftToRight = xMin < xMax
 119                 self._frontToBack = yMin < yMax
 120                 self._headSizeOffsets[0] = min(xMin, xMax)
 121                 self._headSizeOffsets[1] = min(yMin, yMax)
 122                 self._gantryHeight = gantryHeight
 123                 self._oneAtATime = self._gantryHeight > 0
 124
 125                 headArea = numpy.array([[-xMin,-yMin],[ xMax,-yMin],[ xMax, yMax],[-xMin, yMax]], numpy.float32)
 126                 for obj in self._objectList:
 127                         obj.setHeadArea(headArea, self._headSizeOffsets)
 128
 129         def setExtruderOffset(self, extruderNr, offsetX, offsetY):
 130                 self._extruderOffset[extruderNr] = numpy.array([offsetX, offsetY], numpy.float32)
 131
 132         def objects(self):
 133                 return self._objectList
 134
 135         #Add new object to print area
 136         def add(self, obj):
 137                 self._findFreePositionFor(obj)
 138                 self._objectList.append(obj)
 139                 self.pushFree()
 140                 if numpy.max(obj.getSize()[0:2]) > numpy.max(self._machineSize[0:2]) * 2.5:
 141                         scale = numpy.max(self._machineSize[0:2]) * 2.5 / numpy.max(obj.getSize()[0:2])
 142                         matrix = [[scale,0,0], [0, scale, 0], [0, 0, scale]]
 143                         obj.applyMatrix(numpy.matrix(matrix, numpy.float64))
 144                 self.updateSizeOffsets(True)
 145
 146         def remove(self, obj):
 147                 self._objectList.remove(obj)
 148
 149         #Dual(multiple) extrusion merge
 150         def merge(self, obj1, obj2):
 151                 self.remove(obj2)
 152                 obj1._meshList += obj2._meshList
 153                 for m in obj2._meshList:
 154                         m._obj = obj1
 155                 obj1.processMatrix()
 156                 obj1.setPosition((obj1.getPosition() + obj2.getPosition()) / 2)
 157                 self.pushFree()
 158
 159         def pushFree(self):
 160                 n = 1000
 161                 while self._pushFree():
 162                         n -= 1
 163                         if n < 0:
 164                                 return
 165
 166         def arrangeAll(self):
 167                 oldList = self._objectList
 168                 self._objectList = []
 169                 for obj in oldList:
 170                         obj.setPosition(numpy.array([0,0], numpy.float32))
 171                         self.add(obj)
 172
 173         def centerAll(self):
 174                 minPos = numpy.array([9999999,9999999], numpy.float32)
 175                 maxPos = numpy.array([-9999999,-9999999], numpy.float32)
 176                 for obj in self._objectList:
 177                         pos = obj.getPosition()
 178                         size = obj.getSize()
 179                         minPos[0] = min(minPos[0], pos[0] - size[0] / 2)
 180                         minPos[1] = min(minPos[1], pos[1] - size[1] / 2)
 181                         maxPos[0] = max(maxPos[0], pos[0] + size[0] / 2)
 182                         maxPos[1] = max(maxPos[1], pos[1] + size[1] / 2)
 183                 offset = -(maxPos + minPos) / 2
 184                 for obj in self._objectList:
 185                         obj.setPosition(obj.getPosition() + offset)
 186
 187         def printOrder(self):
 188                 if self._oneAtATime:
 189                         order = _objectOrderFinder(self, self._leftToRight, self._frontToBack, self._gantryHeight).order
 190                 else:
 191                         order = None
 192                 return order
 193
 194         def _pushFree(self):
 195                 for a in self._objectList:
 196                         for b in self._objectList:
 197                                 if a == b:
 198                                         continue
 199                                 if self._oneAtATime:
 200                                         v = polygon.polygonCollisionPushVector(a._headAreaMinHull + a.getPosition(), b._boundaryHull + b.getPosition())
 201                                 else:
 202                                         v = polygon.polygonCollisionPushVector(a._boundaryHull + a.getPosition(), b._boundaryHull + b.getPosition())
 203                                 if type(v) is bool:
 204                                         continue
 205                                 a.setPosition(a.getPosition() + v / 2.0)
 206                                 b.setPosition(b.getPosition() - v / 2.0)
 207                                 return True
 208                 return False
 209
 210         #Check if two objects are hitting each-other (+ head space).
 211         def _checkHit(self, a, b):
 212                 if a == b:
 213                         return False
 214                 if self._oneAtATime:
 215                         return polygon.polygonCollision(a._headAreaMinHull + a.getPosition(), b._boundaryHull + b.getPosition())
 216                 else:
 217                         return polygon.polygonCollision(a._boundaryHull + a.getPosition(), b._boundaryHull + b.getPosition())
 218
 219         def checkPlatform(self, obj):
 220                 p = obj.getPosition()
 221                 s = obj.getSize()[0:2] / 2 + self._sizeOffsets
 222                 offsetLeft = 0.0
 223                 offsetRight = 0.0
 224                 offsetBack = 0.0
 225                 offsetFront = 0.0
 226                 extruderCount = len(obj._meshList)
 227                 if profile.getProfileSetting('support_dual_extrusion') == 'Second extruder' and profile.getProfileSetting('support') != 'None':
 228                         extruderCount = max(extruderCount, 2)
 229                 for n in xrange(1, extruderCount):
 230                         if offsetLeft < self._extruderOffset[n][0]:
 231                                 offsetLeft = self._extruderOffset[n][0]
 232                         if offsetRight > self._extruderOffset[n][0]:
 233                                 offsetRight = self._extruderOffset[n][0]
 234                         if offsetFront < self._extruderOffset[n][1]:
 235                                 offsetFront = self._extruderOffset[n][1]
 236                         if offsetBack > self._extruderOffset[n][1]:
 237                                 offsetBack = self._extruderOffset[n][1]
 238                 boundLeft = -self._machineSize[0] / 2 + offsetLeft
 239                 boundRight = self._machineSize[0] / 2 + offsetRight
 240                 boundFront = -self._machineSize[1] / 2 + offsetFront
 241                 boundBack = self._machineSize[1] / 2 + offsetBack
 242                 if p[0] - s[0] < boundLeft:
 243                         return False
 244                 if p[0] + s[0] > boundRight:
 245                         return False
 246                 if p[1] - s[1] < boundFront:
 247                         return False
 248                 if p[1] + s[1] > boundBack:
 249                         return False
 250
 251                 #Do clip Check for UM2.
 252                 machine = profile.getMachineSetting('machine_type')
 253                 if machine == "ultimaker2":
 254                         #lowerRight clip check
 255                         if p[0] - s[0] < boundLeft + 25 and p[1] - s[1] < boundFront + 10:
 256                                 return False
 257                         #UpperRight
 258                         if p[0] - s[0] < boundLeft + 25 and p[1] + s[1] > boundBack - 10:
 259                                 return False
 260                         #LowerLeft
 261                         if p[0] + s[0] > boundRight - 25 and p[1] - s[1] < boundFront + 10:
 262                                 return False
 263                         #UpperLeft
 264                         if p[0] + s[0] > boundRight - 25 and p[1] + s[1] > boundBack - 10:
 265                                 return False
 266                 return True
 267
 268         def _findFreePositionFor(self, obj):
 269                 posList = []
 270                 for a in self._objectList:
 271                         p = a.getPosition()
 272                         s = (a.getSize()[0:2] + obj.getSize()[0:2]) / 2 + self._sizeOffsets + self._headSizeOffsets
 273                         posList.append(p + s * ( 1.0, 1.0))
 274                         posList.append(p + s * ( 0.0, 1.0))
 275                         posList.append(p + s * (-1.0, 1.0))
 276                         posList.append(p + s * ( 1.0, 0.0))
 277                         posList.append(p + s * (-1.0, 0.0))
 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
 282                 best = None
 283                 bestDist = None
 284                 for p in posList:
 285                         obj.setPosition(p)
 286                         ok = True
 287                         for a in self._objectList:
 288                                 if self._checkHit(a, obj):
 289                                         ok = False
 290                                         break
 291                         if not ok:
 292                                 continue
 293                         dist = numpy.linalg.norm(p)
 294                         if not self.checkPlatform(obj):
 295                                 dist *= 3
 296                         if best is None or dist < bestDist:
 297                                 best = p
 298                                 bestDist = dist
 299                 if best is not None:
 300                         obj.setPosition(best)