Cura/util/mesh.py

   1 from __future__ import absolute_import
   2 __copyright__ = "Copyright (C) 2013 David Braam - Released under terms of the AGPLv3 License"
   3
   4 import time
   5 import math
   6 import os
   7
   8 import numpy
   9 numpy.seterr(all='ignore')
  10
  11 class printableObject(object):
  12         def __init__(self, originFilename):
  13                 self._originFilename = originFilename
  14                 if originFilename is None:
  15                         self._name = 'None'
  16                 else:
  17                         self._name = os.path.basename(originFilename)
  18                 if '.' in self._name:
  19                         self._name = os.path.splitext(self._name)[0]
  20                 self._meshList = []
  21                 self._position = numpy.array([0.0, 0.0])
  22                 self._matrix = numpy.matrix([[1,0,0],[0,1,0],[0,0,1]], numpy.float64)
  23                 self._transformedMin = None
  24                 self._transformedMax = None
  25                 self._transformedSize = None
  26                 self._boundaryCircleSize = None
  27                 self._drawOffset = None
  28                 self._loadAnim = None
  29
  30         def copy(self):
  31                 ret = printableObject(self._originFilename)
  32                 ret._matrix = self._matrix.copy()
  33                 ret._transformedMin = self._transformedMin.copy()
  34                 ret._transformedMax = self._transformedMax.copy()
  35                 ret._transformedSize = self._transformedSize.copy()
  36                 ret._boundaryCircleSize = self._boundaryCircleSize
  37                 ret._drawOffset = self._drawOffset.copy()
  38                 for m in self._meshList[:]:
  39                         m2 = ret._addMesh()
  40                         m2.vertexes = m.vertexes
  41                         m2.vertexCount = m.vertexCount
  42                         m2.vbo = m.vbo
  43                         m2.vbo.incRef()
  44                 return ret
  45
  46         def _addMesh(self):
  47                 m = mesh(self)
  48                 self._meshList.append(m)
  49                 return m
  50
  51         def _postProcessAfterLoad(self):
  52                 for m in self._meshList:
  53                         m._calculateNormals()
  54                 self.processMatrix()
  55                 if numpy.max(self.getSize()) > 10000.0:
  56                         for m in self._meshList:
  57                                 m.vertexes /= 1000.0
  58                         self.processMatrix()
  59                 if numpy.max(self.getSize()) < 1.0:
  60                         for m in self._meshList:
  61                                 m.vertexes *= 1000.0
  62                         self.processMatrix()
  63
  64         def applyMatrix(self, m):
  65                 self._matrix *= m
  66                 self.processMatrix()
  67
  68         def processMatrix(self):
  69                 self._transformedMin = numpy.array([999999999999,999999999999,999999999999], numpy.float64)
  70                 self._transformedMax = numpy.array([-999999999999,-999999999999,-999999999999], numpy.float64)
  71                 self._boundaryCircleSize = 0
  72
  73                 for m in self._meshList:
  74                         transformedVertexes = m.getTransformedVertexes()
  75                         transformedMin = transformedVertexes.min(0)
  76                         transformedMax = transformedVertexes.max(0)
  77                         for n in xrange(0, 3):
  78                                 self._transformedMin[n] = min(transformedMin[n], self._transformedMin[n])
  79                                 self._transformedMax[n] = max(transformedMax[n], self._transformedMax[n])
  80
  81                         #Calculate the boundary circle
  82                         transformedSize = transformedMax - transformedMin
  83                         center = transformedMin + transformedSize / 2.0
  84                         boundaryCircleSize = round(math.sqrt(numpy.max(((transformedVertexes[::,0] - center[0]) * (transformedVertexes[::,0] - center[0])) + ((transformedVertexes[::,1] - center[1]) * (transformedVertexes[::,1] - center[1])) + ((transformedVertexes[::,2] - center[2]) * (transformedVertexes[::,2] - center[2])))), 3)
  85                         self._boundaryCircleSize = max(self._boundaryCircleSize, boundaryCircleSize)
  86                 self._transformedSize = self._transformedMax - self._transformedMin
  87                 self._drawOffset = (self._transformedMax + self._transformedMin) / 2
  88                 self._drawOffset[2] = self._transformedMin[2]
  89                 self._transformedMax -= self._drawOffset
  90                 self._transformedMin -= self._drawOffset
  91
  92         def getName(self):
  93                 return self._name
  94         def getOriginFilename(self):
  95                 return self._originFilename
  96         def getPosition(self):
  97                 return self._position
  98         def setPosition(self, newPos):
  99                 self._position = newPos
 100         def getMatrix(self):
 101                 return self._matrix
 102
 103         def getMaximum(self):
 104                 return self._transformedMax
 105         def getMinimum(self):
 106                 return self._transformedMin
 107         def getSize(self):
 108                 return self._transformedSize
 109         def getDrawOffset(self):
 110                 return self._drawOffset
 111         def getBoundaryCircle(self):
 112                 return self._boundaryCircleSize
 113
 114         def mirror(self, axis):
 115                 matrix = [[1,0,0], [0, 1, 0], [0, 0, 1]]
 116                 matrix[axis][axis] = -1
 117                 self.applyMatrix(numpy.matrix(matrix, numpy.float64))
 118
 119         def getScale(self):
 120                 return numpy.array([
 121                         numpy.linalg.norm(self._matrix[::,0].getA().flatten()),
 122                         numpy.linalg.norm(self._matrix[::,1].getA().flatten()),
 123                         numpy.linalg.norm(self._matrix[::,2].getA().flatten())], numpy.float64);
 124
 125         def setScale(self, scale, axis, uniform):
 126                 currentScale = numpy.linalg.norm(self._matrix[::,axis].getA().flatten())
 127                 scale /= currentScale
 128                 if scale == 0:
 129                         return
 130                 if uniform:
 131                         matrix = [[scale,0,0], [0, scale, 0], [0, 0, scale]]
 132                 else:
 133                         matrix = [[1.0,0,0], [0, 1.0, 0], [0, 0, 1.0]]
 134                         matrix[axis][axis] = scale
 135                 self.applyMatrix(numpy.matrix(matrix, numpy.float64))
 136
 137         def setSize(self, size, axis, uniform):
 138                 scale = self.getSize()[axis]
 139                 scale = size / scale
 140                 if scale == 0:
 141                         return
 142                 if uniform:
 143                         matrix = [[scale,0,0], [0, scale, 0], [0, 0, scale]]
 144                 else:
 145                         matrix = [[1,0,0], [0, 1, 0], [0, 0, 1]]
 146                         matrix[axis][axis] = scale
 147                 self.applyMatrix(numpy.matrix(matrix, numpy.float64))
 148
 149         def resetScale(self):
 150                 x = 1/numpy.linalg.norm(self._matrix[::,0].getA().flatten())
 151                 y = 1/numpy.linalg.norm(self._matrix[::,1].getA().flatten())
 152                 z = 1/numpy.linalg.norm(self._matrix[::,2].getA().flatten())
 153                 self.applyMatrix(numpy.matrix([[x,0,0],[0,y,0],[0,0,z]], numpy.float64))
 154
 155         def resetRotation(self):
 156                 x = numpy.linalg.norm(self._matrix[::,0].getA().flatten())
 157                 y = numpy.linalg.norm(self._matrix[::,1].getA().flatten())
 158                 z = numpy.linalg.norm(self._matrix[::,2].getA().flatten())
 159                 self._matrix = numpy.matrix([[x,0,0],[0,y,0],[0,0,z]], numpy.float64)
 160                 self.processMatrix()
 161
 162         def layFlat(self):
 163                 transformedVertexes = self._meshList[0].getTransformedVertexes()
 164                 minZvertex = transformedVertexes[transformedVertexes.argmin(0)[2]]
 165                 dotMin = 1.0
 166                 dotV = None
 167                 for v in transformedVertexes:
 168                         diff = v - minZvertex
 169                         len = math.sqrt(diff[0] * diff[0] + diff[1] * diff[1] + diff[2] * diff[2])
 170                         if len < 5:
 171                                 continue
 172                         dot = (diff[2] / len)
 173                         if dotMin > dot:
 174                                 dotMin = dot
 175                                 dotV = diff
 176                 if dotV is None:
 177                         return
 178                 rad = -math.atan2(dotV[1], dotV[0])
 179                 self._matrix *= numpy.matrix([[math.cos(rad), math.sin(rad), 0], [-math.sin(rad), math.cos(rad), 0], [0,0,1]], numpy.float64)
 180                 rad = -math.asin(dotMin)
 181                 self._matrix *= numpy.matrix([[math.cos(rad), 0, math.sin(rad)], [0,1,0], [-math.sin(rad), 0, math.cos(rad)]], numpy.float64)
 182
 183
 184                 transformedVertexes = self._meshList[0].getTransformedVertexes()
 185                 minZvertex = transformedVertexes[transformedVertexes.argmin(0)[2]]
 186                 dotMin = 1.0
 187                 dotV = None
 188                 for v in transformedVertexes:
 189                         diff = v - minZvertex
 190                         len = math.sqrt(diff[1] * diff[1] + diff[2] * diff[2])
 191                         if len < 5:
 192                                 continue
 193                         dot = (diff[2] / len)
 194                         if dotMin > dot:
 195                                 dotMin = dot
 196                                 dotV = diff
 197                 if dotV is None:
 198                         return
 199                 if dotV[1] < 0:
 200                         rad = math.asin(dotMin)
 201                 else:
 202                         rad = -math.asin(dotMin)
 203                 self.applyMatrix(numpy.matrix([[1,0,0], [0, math.cos(rad), math.sin(rad)], [0, -math.sin(rad), math.cos(rad)]], numpy.float64))
 204
 205         def scaleUpTo(self, size):
 206                 vMin = self._transformedMin
 207                 vMax = self._transformedMax
 208
 209                 scaleX1 = (size[0] / 2 - self._position[0]) / ((vMax[0] - vMin[0]) / 2)
 210                 scaleY1 = (size[1] / 2 - self._position[1]) / ((vMax[1] - vMin[1]) / 2)
 211                 scaleX2 = (self._position[0] + size[0] / 2) / ((vMax[0] - vMin[0]) / 2)
 212                 scaleY2 = (self._position[1] + size[1] / 2) / ((vMax[1] - vMin[1]) / 2)
 213                 scaleZ = size[2] / (vMax[2] - vMin[2])
 214                 scale = min(scaleX1, scaleY1, scaleX2, scaleY2, scaleZ)
 215                 if scale > 0:
 216                         self.applyMatrix(numpy.matrix([[scale,0,0],[0,scale,0],[0,0,scale]], numpy.float64))
 217
 218         #Split splits an object with multiple meshes into different objects, where each object is a part of the original mesh that has
 219         # connected faces. This is useful to split up plate STL files.
 220         def split(self, callback):
 221                 ret = []
 222                 for oriMesh in self._meshList:
 223                         ret += oriMesh.split(callback)
 224                 return ret
 225
 226         def canStoreAsSTL(self):
 227                 return len(self._meshList) < 2
 228
 229         #getVertexIndexList returns an array of vertexes, and an integer array for each mesh in this object.
 230         # the integer arrays are indexes into the vertex array for each triangle in the model.
 231         def getVertexIndexList(self):
 232                 vertexMap = {}
 233                 vertexList = []
 234                 meshList = []
 235                 for m in self._meshList:
 236                         verts = m.getTransformedVertexes(True)
 237                         meshIdxList = []
 238                         for idx in xrange(0, len(verts)):
 239                                 v = verts[idx]
 240                                 hashNr = int(v[0] * 100) | int(v[1] * 100) << 10 | int(v[2] * 100) << 20
 241                                 vIdx = None
 242                                 if hashNr in vertexMap:
 243                                         for idx2 in vertexMap[hashNr]:
 244                                                 if numpy.linalg.norm(v - vertexList[idx2]) < 0.001:
 245                                                         vIdx = idx2
 246                                 if vIdx is None:
 247                                         vIdx = len(vertexList)
 248                                         vertexMap[hashNr] = [vIdx]
 249                                         vertexList.append(v)
 250                                 meshIdxList.append(vIdx)
 251                         meshList.append(numpy.array(meshIdxList, numpy.int32))
 252                 return numpy.array(vertexList, numpy.float32), meshList
 253
 254 class mesh(object):
 255         def __init__(self, obj):
 256                 self.vertexes = None
 257                 self.vertexCount = 0
 258                 self.vbo = None
 259                 self._obj = obj
 260
 261         def _addFace(self, x0, y0, z0, x1, y1, z1, x2, y2, z2):
 262                 n = self.vertexCount
 263                 self.vertexes[n][0] = x0
 264                 self.vertexes[n][1] = y0
 265                 self.vertexes[n][2] = z0
 266                 n += 1
 267                 self.vertexes[n][0] = x1
 268                 self.vertexes[n][1] = y1
 269                 self.vertexes[n][2] = z1
 270                 n += 1
 271                 self.vertexes[n][0] = x2
 272                 self.vertexes[n][1] = y2
 273                 self.vertexes[n][2] = z2
 274                 self.vertexCount += 3
 275
 276         def _prepareFaceCount(self, faceNumber):
 277                 #Set the amount of faces before loading data in them. This way we can create the numpy arrays before we fill them.
 278                 self.vertexes = numpy.zeros((faceNumber*3, 3), numpy.float32)
 279                 self.normal = numpy.zeros((faceNumber*3, 3), numpy.float32)
 280                 self.vertexCount = 0
 281
 282         def _calculateNormals(self):
 283                 #Calculate the normals
 284                 tris = self.vertexes.reshape(self.vertexCount / 3, 3, 3)
 285                 normals = numpy.cross( tris[::,1 ] - tris[::,0]  , tris[::,2 ] - tris[::,0] )
 286                 lens = numpy.sqrt( normals[:,0]**2 + normals[:,1]**2 + normals[:,2]**2 )
 287                 normals[:,0] /= lens
 288                 normals[:,1] /= lens
 289                 normals[:,2] /= lens
 290
 291                 n = numpy.zeros((self.vertexCount / 3, 9), numpy.float32)
 292                 n[:,0:3] = normals
 293                 n[:,3:6] = normals
 294                 n[:,6:9] = normals
 295                 self.normal = n.reshape(self.vertexCount, 3)
 296                 self.invNormal = -self.normal
 297
 298         def _vertexHash(self, idx):
 299                 v = self.vertexes[idx]
 300                 return int(v[0] * 100) | int(v[1] * 100) << 10 | int(v[2] * 100) << 20
 301
 302         def _idxFromHash(self, map, idx):
 303                 vHash = self._vertexHash(idx)
 304                 for i in map[vHash]:
 305                         if numpy.linalg.norm(self.vertexes[i] - self.vertexes[idx]) < 0.001:
 306                                 return i
 307
 308         def getTransformedVertexes(self, applyOffsets = False):
 309                 if applyOffsets:
 310                         pos = self._obj._position.copy()
 311                         pos.resize((3))
 312                         pos[2] = self._obj.getSize()[2] / 2
 313                         offset = self._obj._drawOffset.copy()
 314                         offset[2] += self._obj.getSize()[2] / 2
 315                         return (numpy.matrix(self.vertexes, copy = False) * numpy.matrix(self._obj._matrix, numpy.float32)).getA() - offset + pos
 316                 return (numpy.matrix(self.vertexes, copy = False) * numpy.matrix(self._obj._matrix, numpy.float32)).getA()
 317
 318         def split(self, callback):
 319                 vertexMap = {}
 320
 321                 vertexToFace = []
 322                 for idx in xrange(0, self.vertexCount):
 323                         if (idx % 100) == 0:
 324                                 callback(idx * 100 / self.vertexCount)
 325                         vHash = self._vertexHash(idx)
 326                         if vHash not in vertexMap:
 327                                 vertexMap[vHash] = []
 328                         vertexMap[vHash].append(idx)
 329                         vertexToFace.append([])
 330
 331                 faceList = []
 332                 for idx in xrange(0, self.vertexCount, 3):
 333                         if (idx % 100) == 0:
 334                                 callback(idx * 100 / self.vertexCount)
 335                         f = [self._idxFromHash(vertexMap, idx), self._idxFromHash(vertexMap, idx+1), self._idxFromHash(vertexMap, idx+2)]
 336                         vertexToFace[f[0]].append(idx / 3)
 337                         vertexToFace[f[1]].append(idx / 3)
 338                         vertexToFace[f[2]].append(idx / 3)
 339                         faceList.append(f)
 340
 341                 ret = []
 342                 doneSet = set()
 343                 for idx in xrange(0, len(faceList)):
 344                         if idx in doneSet:
 345                                 continue
 346                         doneSet.add(idx)
 347                         todoList = [idx]
 348                         meshFaceList = []
 349                         while len(todoList) > 0:
 350                                 idx = todoList.pop()
 351                                 meshFaceList.append(idx)
 352                                 for n in xrange(0, 3):
 353                                         for i in vertexToFace[faceList[idx][n]]:
 354                                                 if not i in doneSet:
 355                                                         doneSet.add(i)
 356                                                         todoList.append(i)
 357
 358                         obj = printableObject(self._obj.getOriginFilename())
 359                         obj._matrix = self._obj._matrix.copy()
 360                         m = obj._addMesh()
 361                         m._prepareFaceCount(len(meshFaceList))
 362                         for idx in meshFaceList:
 363                                 m.vertexes[m.vertexCount] = self.vertexes[faceList[idx][0]]
 364                                 m.vertexCount += 1
 365                                 m.vertexes[m.vertexCount] = self.vertexes[faceList[idx][1]]
 366                                 m.vertexCount += 1
 367                                 m.vertexes[m.vertexCount] = self.vertexes[faceList[idx][2]]
 368                                 m.vertexCount += 1
 369                         obj._postProcessAfterLoad()
 370                         ret.append(obj)
 371                 return ret