Cura/util/objectScene.py

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