def rapid_to_next(myscreen, prv_tang, nxt_tang, c1, r1, c2, r2, prv, nxt):
# rapid from prev, to nxt
# while staying inside c1(r1) and c2(r)
rad_default = 0.003
rad = min(rad_default, 0.9 * r1, 0.9 * r2)
prv_tang.normalize()
nxt_tang.normalize()
prv_normal = -1 * prv_tang.xy_perp()
nxt_normal = nxt_tang.xy_perp()
cen1 = prv + rad * prv_normal # + rad1*prv_tang
cen2 = nxt - rad * nxt_normal # rapid_tang # + rad1*prv_tang
rapid_tang = cen2 - cen1
rapid_tang.normalize()
trg1 = cen1 + rad * rapid_tang.xy_perp() # prv_tang
src2 = cen2 + rad * rapid_tang.xy_perp()
drawArc(myscreen, prv, trg1, rad, cen1, True, ovdvtk.blue) # lead-out arc
ovdvtk.drawLine(myscreen, trg1, src2, ovdvtk.cyan) # rapid
ngc_writer.xy_line_to(src2.x, src2.y)
drawArc(myscreen, src2, nxt, rad, cen2, True, ovdvtk.lblue) # lead-in arc
def rapid_to_new_branch(myscreen, prv_tang, nxt_tang, c1, r1, c2, r2, prv, nxt):
# rapid from prev, to nxt
# while staying inside c1(r1) and c2(r)
rad_default = 0.003
rad1 = min(rad_default, 0.9 * r1) # wrong? we get the new-branch r1 here, while we would want the old-branch r1
rad2 = min(rad_default, 0.9 * r2)
prv_tang.normalize()
nxt_tang.normalize()
prv_normal = -1 * prv_tang.xy_perp()
nxt_normal = nxt_tang.xy_perp()
cen1 = prv + rad1 * prv_normal # + rad1*prv_tang
cen2 = nxt - rad2 * nxt_normal # rapid_tang # + rad1*prv_tang
rapid_tang = cen2 - cen1
rapid_tang.normalize()
trg1 = cen1 + rad1 * prv_tang
src2 = cen2 - rad2 * nxt_tang
drawArc(myscreen, prv, trg1, rad1, cen1, True, ovdvtk.orange) # lead-out arc
ngc_writer.pen_up()
ovdvtk.drawLine(myscreen, trg1, src2, ovdvtk.magenta) # rapid
ngc_writer.xy_line_to(src2.x, src2.y)
ngc_writer.pen_down()
drawArc(myscreen, src2, nxt, rad2, cen2, True, ovdvtk.mag2) # lead-in arc
def drawArc(myscreen, pt1, pt2, r, cen, cw, arcColor):
# draw arc as many line-segments
start = pt1 - cen
end = pt2 - cen
theta1 = math.atan2(start.x, start.y)
theta2 = math.atan2(end.x, end.y)
alfa = [] # the list of angles
da = 0.1
CIRCLE_FUZZ = 1e-9
# idea from emc2 / cutsim g-code interp G2/G3
if (cw == False):
while ((theta2 - theta1) > -CIRCLE_FUZZ):
theta2 -= 2 * math.pi
else:
while ((theta2 - theta1) < CIRCLE_FUZZ):
theta2 += 2 * math.pi
dtheta = theta2 - theta1
arclength = r * dtheta
dlength = min(0.01, arclength / 10)
steps = int(float(arclength) / float(dlength))
rsteps = float(1) / float(steps)
dc = math.cos(-dtheta * rsteps) # delta-cos
ds = math.sin(-dtheta * rsteps) # delta-sin
previous = pt1
tr = [start.x, start.y]
for i in range(steps):
tr = rotate(tr[0], tr[1], dc, ds) # ; // rotate center-start vector by a small amount
x = cen.x + tr[0]
y = cen.y + tr[1]
current = ovd.Point(x, y)
myscreen.addActor(ovdvtk.Line(p1=(previous.x, previous.y, 0), p2=(current.x, current.y, 0), color=arcColor))
ngc_writer.xy_line_to(current.x, current.y)
previous = current
def printOffsets(ofs):
nloop = 0
for lop in ofs:
n = 0
N = len(lop)
first_point=[]
previous=[]
for p in lop:
# p[0] is the Point
# p[1] is -1 for lines, and r for arcs
if n==0: # don't draw anything on the first iteration
previous=p[0]
ngc_writer.pen_up()
ngc_writer.xy_rapid_to( scale*previous.x, scale*previous.y)
ngc_writer.pen_down()
else:
cw=p[3] # cw or ccw arc
cen=p[2] # center of arc
r=p[1] # radius of arc
p=p[0] # target position
if r==-1: # -1 means line
ngc_writer.xy_line_to( scale*p.x, scale*p.y )
else:
ngc_writer.xy_arc_to( scale*p.x, scale*p.y, scale*r, scale*cen.x, scale*cen.y, cw )
previous=p
n=n+1
nloop = nloop+1
def rapid_to_new_branch(myscreen, prv_tang, nxt_tang, c1, r1, c2, r2, prv,
nxt):
# rapid from prev, to nxt
# while staying inside c1(r1) and c2(r)
rad_default = 0.003
rad1 = min(
rad_default, 0.9 * r1
) # wrong? we get the new-branch r1 here, while we would want the old-branch r1
rad2 = min(rad_default, 0.9 * r2)
prv_tang.normalize()
nxt_tang.normalize()
prv_normal = -1 * prv_tang.xy_perp()
nxt_normal = nxt_tang.xy_perp()
cen1 = prv + rad1 * prv_normal # + rad1*prv_tang
cen2 = nxt - rad2 * nxt_normal #rapid_tang # + rad1*prv_tang
rapid_tang = cen2 - cen1
rapid_tang.normalize()
trg1 = cen1 + rad1 * prv_tang
src2 = cen2 - rad2 * nxt_tang
drawArc(myscreen, prv, trg1, rad1, cen1, True,
ovdvtk.orange) # lead-out arc
ngc_writer.pen_up()
ovdvtk.drawLine(myscreen, trg1, src2, ovdvtk.magenta) # rapid
ngc_writer.xy_line_to(src2.x, src2.y)
ngc_writer.pen_down()
drawArc(myscreen, src2, nxt, rad2, cen2, True, ovdvtk.mag2) # lead-in arc
def rapid_to_next(myscreen, prv_tang, nxt_tang, c1, r1, c2, r2, prv, nxt):
# rapid from prev, to nxt
# while staying inside c1(r1) and c2(r)
rad_default = 0.03
rad = min(rad_default, 0.9 * r1, 0.9 * r2)
prv_tang.normalize()
nxt_tang.normalize()
prv_normal = -1 * prv_tang.xy_perp()
nxt_normal = nxt_tang.xy_perp()
cen1 = prv + rad * prv_normal # + rad1*prv_tang
cen2 = nxt - rad * nxt_normal #rapid_tang # + rad1*prv_tang
rapid_tang = cen2 - cen1
rapid_tang.normalize()
trg1 = cen1 + rad * rapid_tang.xy_perp() #prv_tang
src2 = cen2 + rad * rapid_tang.xy_perp()
drawArc(myscreen, prv, trg1, rad, cen1, True, ovdvtk.blue) # lead-out arc
ovdvtk.drawLine(myscreen, trg1, src2, ovdvtk.cyan) # rapid
ngc_writer.xy_line_to(src2.x, src2.y)
drawArc(myscreen, src2, nxt, rad, cen2, True, ovdvtk.lblue) # lead-in arc
def drawToolPath(myscreen, mic_list, cut_width):
maxmic = mic_list[0]
previous_center = maxmic[0]
previous_radius = maxmic[1]
nframe = 0
first = True
previous_out1 = ovd.Point()
out_tangent = ovd.Point()
in_tangent = ovd.Point()
for n in range(1, len(mic_list)):
mic = mic_list[n]
cen2 = mic[0]
r2 = mic[1]
previous_center = mic[6]
previous_radius = mic[7]
new_branch = mic[8] # true/false indicates if we are starting on new branch
prev_branch_center = mic[9]
prev_branch_radius = mic[10] # old branch MIC radius
in1 = mic[3]
in2 = mic[5]
out2 = mic[4]
out1 = mic[2]
in_tangent = in2 - in1
# rapid traverse to in1
if not first:
if new_branch:
# new branch re-position move
rapid_to_new_branch(myscreen, out_tangent, in_tangent, prev_branch_center, prev_branch_radius, cen2, r2,
previous_out1, in1)
else:
# normal arc-rapid-arc to next MIC
rapid_to_next(myscreen, out_tangent, in_tangent, previous_center, previous_radius, cen2, r2,
previous_out1, in1)
else:
# spiral-clear the start-MIC. The spiral should end at in1
spiral_clear(myscreen, cut_width, out_tangent, in_tangent, previous_center, previous_radius, cen2, r2,
previous_out1, in1)
# print "No rapid-move on first-iteration."
first = False
# in bi-tangent
ovdvtk.drawLine(myscreen, in1, in2, ovdvtk.green)
ngc_writer.xy_line_to(in2.x, in2.y)
# cut-arc
drawArc(myscreen, in2, out2, r2, cen2, True, ovdvtk.green)
# out bi-tangent
ovdvtk.drawLine(myscreen, out2, out1, ovdvtk.green)
ngc_writer.xy_line_to(out1.x, out1.y)
previous_out1 = out1 # this is used as the start-point for the rapid on the next iteration
out_tangent = out1 - out2
if n == len(mic_list) - 1:
# end of operation. do a final lead-out arc.
final_lead_out(myscreen, out_tangent, in_tangent, previous_center, previous_radius, cen2, r2, previous_out1,
in1)
nframe = nframe + 1
def drawToolPath(myscreen, mic_list, cut_width):
maxmic = mic_list[0]
previous_center = maxmic[0]
previous_radius = maxmic[1]
nframe = 0
first = True
previous_out1 = ovd.Point()
out_tangent = ovd.Point()
in_tangent = ovd.Point()
for n in range(1, len(mic_list)):
mic = mic_list[n]
cen2 = mic[0]
r2 = mic[1]
previous_center = mic[6]
previous_radius = mic[7]
new_branch = mic[8] # true/false indicates if we are starting on new branch
prev_branch_center = mic[9]
prev_branch_radius = mic[10] # old branch MIC radius
in1 = mic[3]
in2 = mic[5]
out2 = mic[4]
out1 = mic[2]
in_tangent = in2 - in1
# rapid traverse to in1
if not first:
if new_branch:
# new branch re-position move
rapid_to_new_branch(myscreen, out_tangent, in_tangent, prev_branch_center, prev_branch_radius, cen2, r2,
previous_out1, in1)
else:
# normal arc-rapid-arc to next MIC
rapid_to_next(myscreen, out_tangent, in_tangent, previous_center, previous_radius, cen2, r2,
previous_out1, in1)
else:
# spiral-clear the start-MIC. The spiral should end at in1
spiral_clear(myscreen, cut_width, out_tangent, in_tangent, previous_center, previous_radius, cen2, r2,
previous_out1, in1)
# print "No rapid-move on first-iteration."
first = False
# in bi-tangent
ovdvtk.drawLine(myscreen, in1, in2, ovdvtk.green)
ngc_writer.xy_line_to(in2.x, in2.y)
# cut-arc
drawArc(myscreen, in2, out2, r2, cen2, True, ovdvtk.green)
# out bi-tangent
ovdvtk.drawLine(myscreen, out2, out1, ovdvtk.green)
ngc_writer.xy_line_to(out1.x, out1.y)
previous_out1 = out1 # this is used as the start-point for the rapid on the next iteration
out_tangent = out1 - out2
if n == len(mic_list) - 1:
# end of operation. do a final lead-out arc.
final_lead_out(myscreen, out_tangent, in_tangent, previous_center, previous_radius, cen2, r2, previous_out1,
in1)
nframe = nframe + 1
def drawArc(myscreen, pt1, pt2, r, cen, cw, arcColor):
# draw arc as many line-segments
start = pt1 - cen
end = pt2 - cen
theta1 = math.atan2(start.x, start.y)
theta2 = math.atan2(end.x, end.y)
alfa = [] # the list of angles
da = 0.1
CIRCLE_FUZZ = 1e-9
# idea from emc2 / cutsim g-code interp G2/G3
if (cw == False):
while ((theta2 - theta1) > -CIRCLE_FUZZ):
theta2 -= 2 * math.pi
else:
while ((theta2 - theta1) < CIRCLE_FUZZ):
theta2 += 2 * math.pi
dtheta = theta2 - theta1
arclength = r * dtheta
dlength = max(0.001, arclength / 10)
steps = int(float(arclength) / float(dlength))
if steps == 0: steps = 1
rsteps = float(1) / float(steps)
dc = math.cos(-dtheta * rsteps) # delta-cos
ds = math.sin(-dtheta * rsteps) # delta-sin
previous = pt1
tr = [start.x, start.y]
for i in range(steps):
tr = rotate(tr[0], tr[1], dc,
ds) # ; // rotate center-start vector by a small amount
x = cen.x + tr[0]
y = cen.y + tr[1]
current = ovd.Point(x, y)
myscreen.addActor(
ovdvtk.Line(p1=(previous.x, previous.y, 0),
p2=(current.x, current.y, 0),
color=arcColor))
ngc_writer.xy_line_to(current.x, current.y)
previous = current
def spiral_clear(myscreen, cutwidth, out_tangent, in_tangent, c1, r1, c2, r2,
out1, in1):
print "( spiral clear! )"
ngc_writer.pen_up()
# end spiral at in1
# archimedean spiral
# r = a + b theta
in1_dir = in1 - c1
in1_theta = math.atan2(in1_dir.y, in1_dir.x)
# in1_theta = in1_theta
# print "c1 =", c1
# print "in1 = ",in1
# print " end theta = ",in1_theta
drawPoint(myscreen, c1, ovdvtk.red)
# drawPoint( myscreen, in1, ovdvtk.blue, 0.006 )
# width = 2*pi*b
# => b = width/(2*pi)
b = cutwidth / (2 * math.pi)
# r = a + b in1_theta = r_max
# =>
# a = r_max-b*in1_theta
a = r1 - b * in1_theta
# figure out the start-angle
theta_min = in1_theta
theta_max = in1_theta
dtheta = 0.1
min_r = 0.001
while True:
r = a + b * theta_min
if r < min_r:
break
else:
theta_min = theta_min - dtheta
# print "start_theta = ", theta_min
Npts = (theta_max - theta_min) / dtheta
Npts = int(Npts)
# print "spiral has ",Npts," points"
p = ovd.Point(c1)
ngc_writer.xy_rapid_to(p.x, p.y)
ngc_writer.pen_down()
theta_end = 0
for n in range(Npts + 1):
theta = theta_min + n * dtheta
r = a + b * theta
theta = theta - 2 * abs(in1_theta - math.pi / 2)
trg = c1 + r * ovd.Point(-math.cos(theta), math.sin(theta))
ovdvtk.drawLine(myscreen, p, trg, ovdvtk.pink)
ngc_writer.xy_line_to(trg.x, trg.y)
p = trg
theta_end = theta
# add a complete circle after the spiral.
print "( spiral-clear: final circle )"
Npts = (2 * math.pi) / dtheta
Npts = int(Npts)
for n in range(Npts + 2):
theta = theta_end + (n + 1) * dtheta
# theta = theta_min + n*dtheta
r = r1 # a + b*theta
# theta = theta - 2* abs(in1_theta - math.pi/2 )
trg = c1 + r * ovd.Point(-math.cos(theta), math.sin(theta))
ovdvtk.drawLine(myscreen, p, trg, ovdvtk.pink)
ngc_writer.xy_line_to(trg.x, trg.y)
# if n != Npts+1:
# drawPoint(myscreen, trg, ovdvtk.orange)
# else:
# drawPoint(myscreen, trg, ovdvtk.orange,0.004)
p = trg
cen2, r2, previous_out1, in1)
else:
# normal arc-rapid-arc to next MIC
rapid_to_next(myscreen, out_tangent, in_tangent,
previous_center, previous_radius, cen2, r2,
previous_out1, in1)
else:
# spiral-clear the start-MIC. The spiral should end at in1
spiral_clear(myscreen, out_tangent, in_tangent, previous_center,
previous_radius, cen2, r2, previous_out1, in1)
# print "No rapid-move on first-iteration."
first = False
# in bi-tangent
ovdvtk.drawLine(myscreen, in1, in2, ovdvtk.green)
ngc_writer.xy_line_to(in2.x, in2.y)
# draw arc
drawArc(myscreen, in2, out2, r2, cen2, True, ovdvtk.green)
# out bi-tangent
ovdvtk.drawLine(myscreen, out2, out1, ovdvtk.green)
ngc_writer.xy_line_to(out1.x, out1.y)
previous_out1 = out1 # this is used as the start-point for the rapid on the next iteration
out_tangent = out1 - out2
if n == len(mic_list) - 1:
# end of operation. do a final lead-out arc.
final_lead_out(myscreen, out_tangent, in_tangent, previous_center,
previous_radius, cen2, r2, previous_out1, in1)
# print "Final lead-out arc"
def spiral_clear(myscreen, out_tangent, in_tangent, c1, r1, c2, r2, out1, in1):
print "( spiral clear! )"
ngc_writer.pen_up()
# end spiral at in1
# archimedean spiral
# r = a + b theta
in1_dir = in1 - c1
in1_theta = math.atan2(in1_dir.y, in1_dir.x)
# in1_theta = in1_theta
# print "c1 =", c1
# print "in1 = ",in1
# print " end theta = ",in1_theta
drawPoint(myscreen, c1, ovdvtk.red)
# drawPoint( myscreen, in1, ovdvtk.blue, 0.006 )
# width = 2*pi*b
# => b = width/(2*pi)
b = 0.01 / (2 * math.pi)
# r = a + b in1_theta = r_max
# =>
# a = r_max-b*in1_theta
a = r1 - b * in1_theta
# figure out the start-angle
theta_min = in1_theta
theta_max = in1_theta
dtheta = 0.1
min_r = 0.001
while True:
r = a + b * theta_min
if r < min_r:
break
else:
theta_min = theta_min - dtheta
# print "start_theta = ", theta_min
Npts = (theta_max - theta_min) / dtheta
Npts = int(Npts)
# print "spiral has ",Npts," points"
p = ovd.Point(c1)
ngc_writer.xy_rapid_to(p.x, p.y)
ngc_writer.pen_down()
theta_end = 0
for n in range(Npts + 1):
theta = theta_min + n * dtheta
r = a + b * theta
theta = theta - 2 * abs(in1_theta - math.pi / 2)
trg = c1 + r * ovd.Point(-math.cos(theta), math.sin(theta))
ovdvtk.drawLine(myscreen, p, trg, ovdvtk.pink)
ngc_writer.xy_line_to(trg.x, trg.y)
p = trg
theta_end = theta
# add a complete circle after the spiral.
print "( spiral-clear: final circle )"
Npts = (2 * math.pi) / dtheta
Npts = int(Npts)
for n in range(Npts + 2):
theta = theta_end + (n + 1) * dtheta
# theta = theta_min + n*dtheta
r = r1 # a + b*theta
# theta = theta - 2* abs(in1_theta - math.pi/2 )
trg = c1 + r * ovd.Point(-math.cos(theta), math.sin(theta))
ovdvtk.drawLine(myscreen, p, trg, ovdvtk.pink)
ngc_writer.xy_line_to(trg.x, trg.y)
# if n != Npts+1:
# drawPoint(myscreen, trg, ovdvtk.orange)
# else:
# drawPoint(myscreen, trg, ovdvtk.orange,0.004)
p = trg
# new branch re-position move
rapid_to_new_branch(myscreen, out_tangent, in_tangent, prev_branch_center, prev_branch_radius, cen2, r2,
previous_out1, in1)
else:
# normal arc-rapid-arc to next MIC
rapid_to_next(myscreen, out_tangent, in_tangent, previous_center, previous_radius, cen2, r2,
previous_out1, in1)
else:
# spiral-clear the start-MIC. The spiral should end at in1
# spiral_clear(myscreen, out_tangent, in_tangent, previous_center, previous_radius, cen2, r2, previous_out1, in1)
# print "No rapid-move on first-iteration."
first = False
# in bi-tangent
ovdvtk.drawLine(myscreen, in1, in2, ovdvtk.green)
ngc_writer.xy_line_to(in2.x, in2.y)
# draw arc
drawArc(myscreen, in2, out2, r2, cen2, True, ovdvtk.green)
# out bi-tangent
ovdvtk.drawLine(myscreen, out2, out1, ovdvtk.green)
ngc_writer.xy_line_to(out1.x, out1.y)
previous_out1 = out1 # this is used as the start-point for the rapid on the next iteration
out_tangent = out1 - out2
if n == len(mic_list) - 1:
# end of operation. do a final lead-out arc.
final_lead_out(myscreen, out_tangent, in_tangent, previous_center, previous_radius, cen2, r2, previous_out1,
in1)
# print "Final lead-out arc"
