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