def shapeFromVTKPolyData(self, pdata, min_cell_area=1.e-8):
"""
Create a shape from a VTK PolyData object
@param pdata vtkPolyData instance
@param min_cell_area tolerance for cell areas
@return shape
@note field data will get lost
"""
# Store the cell connectivity as CSG polygons.
numCells = pdata.GetNumberOfPolys()
cells = pdata.GetPolys()
cells.InitTraversal()
ptIds = vtk.vtkIdList()
polygons = []
for i in range(numCells):
cells.GetNextCell(ptIds)
npts = ptIds.GetNumberOfIds()
verts = []
for j in range(npts):
pointIndex = ptIds.GetId(j)
pt = pdata.GetPoint(pointIndex)
v = Vertex(Vector(pt[0], pt[1], pt[2]))
verts.append(v)
self.cleanPolygon(verts, min_cell_area)
if len(verts) >= 3:
polygons.append(Polygon(verts))
# Instantiate the shape.
return CSG.fromPolygons(polygons)
def to_csg(self):
points = self.points
polygons = [
CSGPolygon([CSGVertex(pos=points[:, i]) for i in face])
for face in self.faces_idxs
]
return CSG.fromPolygons(polygons)
def sequence_union(fov_polyhedrons):
n = len(fov_polyhedrons)
if n == 0: return CSG.fromPolygons([])
if n == 1: return fov_polyhedrons[0]
unified_fov_polyhedron = fov_polyhedrons[0]
for i in range(1, n):
unified_fov_polyhedron = unified_fov_polyhedron.union(fov_polyhedrons[i])
return unified_fov_polyhedron
def form_mesh(vertices, faces):
polygons = []
for face in faces:
newvertices = []
for ind in face:
newvertices.append(
Vertex(
Vector(vertices[ind][0], vertices[ind][1],
vertices[ind][2])))
polygons.append(Polygon(newvertices))
return CSG.fromPolygons(polygons)
def get_fov_polyhedron_from_pts(pts):
pts = [Vertex(p) for p in pts]
face_index = [[0, 1, 2], [3, 0, 2], [4, 3, 2], [1, 4, 2], [1, 0, 4], [4, 0, 3]] # order is changed by pycsg
faces = []
for face in face_index:
faces.append(Polygon([pts[i].clone() for i in face]))
polyhedron = CSG.fromPolygons(faces)
return polyhedron
def cascaded_union(fov_polyhedrons):
# using divide and conquer to get union
n = len(fov_polyhedrons)
if n == 0: return CSG.fromPolygons([])
if n == 1: return fov_polyhedrons[0]
left = cascaded_union(fov_polyhedrons[:n // 2])
right = cascaded_union(fov_polyhedrons[n // 2:])
unified_fov_polyhedron = left.union(right)
return unified_fov_polyhedron
def getBoundarySurfaceInsideShape(self, shape, other):
"""
Return the portion of the surface that is inside another shape
@param shape
@param other other shape
@return shape
"""
a = BSPNode(shape.clone().polygons)
b = BSPNode(other.clone().polygons)
b.invert()
a.clipTo(b)
return CSG.fromPolygons(a.allPolygons())
from __future__ import print_function from icqsol.shapes.icqShapeManager import ShapeManager from csg.core import CSG from icqsol import util """ Test conversion from a shape to a list of polygons @author [email protected] """ shape_mgr = ShapeManager(file_format=util.VTK_FORMAT, vtk_dataset_type=util.POLYDATA) shp = shape_mgr.createShape('box', origin=[0., 0., 0.], lengths=[1., 1., 1.],) # check whether one can convert to a list of polygons polys = shape_mgr.shapeToPolygons(shp) # check whether each polygon can be cloned map(lambda p: p.clone(), polys) # check that we can load the polygons a = CSG.fromPolygons(polys) shp2 = shape_mgr.createShape('sphere', radius=1.0, origin=(0., 0., 0.), n_theta=5, n_phi=2) polys2 = shape_mgr.shapeToPolygons(shp2) a2 = CSG.fromPolygons(polys2)
def get_fov_polyhedron(pos, theta, alpha=45, R=0.1):
# get polyhedron from pos and theta
pts = [Vertex([0, 0, 0])]
dx = [-1, 1]
dz = [-1, 1]
for i in range(2):
for j in range(2):
pts.append(Vertex([
dz[j] * R * np.sin(alpha / 2 * np.pi / 180),
dx[i] * R * np.sin(alpha / 2 * np.pi / 180),
R * np.cos(alpha / 2 * np.pi / 180),
]))
face_index = [[2, 1, 0],
[4, 2, 0],
[3, 4, 0],
[1, 3, 0],
[1, 2, 3],
[3, 2, 4]]
faces = []
for face in face_index:
faces.append(Polygon([pts[i].clone() for i in face]))
polyhedron = CSG.fromPolygons(faces)
# finish creating a polyhedron before rotation and translation
r = Rotation.from_euler('ZYX', theta, degrees=False)
rotvec = r.as_rotvec()
angle = np.linalg.norm(rotvec)
if angle == 0:
rotvec = [0, 0, 1]
else:
rotvec /= angle
# rotation and translation
polyhedron.rotate(rotvec, angle * 180 / np.pi)
polyhedron.rotate([0, 0, 1], 90)
polyhedron.rotate([0, 1, 0], 180)
polyhedron.translate(pos)
# f = open("fovs.csv", "a")
# polygons = polygon.toPolygons()
# f.write(str(polygons[0].vertices[2].pos[0]) + ','
# + str(polygons[0].vertices[2].pos[1]) + ','
# + str(polygons[0].vertices[2].pos[2]) + ',')
# f.write(str(polygons[0].vertices[1].pos[0]) + ','
# + str(polygons[0].vertices[1].pos[1]) + ','
# + str(polygons[0].vertices[1].pos[2]) + ',')
# f.write(str(polygons[0].vertices[0].pos[0]) + ','
# + str(polygons[0].vertices[0].pos[1]) + ','
# + str(polygons[0].vertices[0].pos[2]) + ',')
# f.write(str(polygons[2].vertices[0].pos[0]) + ','
# + str(polygons[2].vertices[0].pos[1]) + ','
# + str(polygons[2].vertices[0].pos[2]) + ',')
# f.write(str(polygons[2].vertices[1].pos[0]) + ','
# + str(polygons[2].vertices[1].pos[1]) + ','
# + str(polygons[2].vertices[1].pos[2]) + '\n')
return polyhedron
def shapeFromPolygons(self, polys):
return CSG.fromPolygons(polys)
