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