class SvNativeNurbsCurve(SvNurbsCurve):
def __init__(self,
degree,
knotvector,
control_points,
weights=None,
normalize_knots=False):
self.control_points = np.array(control_points) # (k, 3)
k = len(control_points)
if weights is not None:
self.weights = np.array(weights) # (k, )
else:
self.weights = np.ones((k, ))
self.knotvector = np.array(knotvector)
if normalize_knots:
self.knotvector = sv_knotvector.normalize(self.knotvector)
self.degree = degree
self.basis = SvNurbsBasisFunctions(knotvector)
self.tangent_delta = 0.001
self.u_bounds = None # take from knotvector
self.__description__ = f"Native NURBS (degree={degree}, pts={k})"
@classmethod
def build(cls,
implementation,
degree,
knotvector,
control_points,
weights=None,
normalize_knots=False):
return SvNativeNurbsCurve(degree, knotvector, control_points, weights,
normalize_knots)
def is_rational(self):
w, W = self.weights.min(), self.weights.max()
return w < W
def get_control_points(self):
return self.control_points
def get_weights(self):
return self.weights
def get_knotvector(self):
return self.knotvector
def get_degree(self):
return self.degree
def evaluate(self, t):
#return self.evaluate_array(np.array([t]))[0]
numerator, denominator = self.fraction_single(0, t)
if denominator == 0:
return np.array([0, 0, 0])
else:
return numerator / denominator
def fraction(self, deriv_order, ts):
n = len(ts)
p = self.degree
k = len(self.control_points)
ns = np.array([
self.basis.derivative(i, p, deriv_order)(ts) for i in range(k)
]) # (k, n)
coeffs = ns * self.weights[np.newaxis].T # (k, n)
coeffs_t = coeffs[np.newaxis].T # (n, k, 1)
numerator = (coeffs_t * self.control_points) # (n, k, 3)
numerator = numerator.sum(axis=1) # (n, 3)
denominator = coeffs.sum(axis=0) # (n,)
return numerator, denominator[np.newaxis].T
def fraction_single(self, deriv_order, t):
p = self.degree
k = len(self.control_points)
ts = np.array([t])
ns = np.array([
self.basis.derivative(i, p, deriv_order)(ts)[0] for i in range(k)
]) # (k,)
coeffs = ns * self.weights # (k, )
coeffs_t = coeffs[np.newaxis].T
numerator = (coeffs_t * self.control_points) # (k, 3)
numerator = numerator.sum(axis=0) # (3,)
denominator = coeffs.sum(axis=0) # ()
return numerator, denominator
def evaluate_array(self, ts):
numerator, denominator = self.fraction(0, ts)
# if (denominator == 0).any():
# print("Num:", numerator)
# print("Denom:", denominator)
return nurbs_divide(numerator, denominator)
def tangent(self, t):
return self.tangent_array(np.array([t]))[0]
def tangent_array(self, ts):
# curve = numerator / denominator
# ergo:
# numerator = curve * denominator
# ergo:
# numerator' = curve' * denominator + curve * denominator'
# ergo:
# curve' = (numerator' - curve*denominator') / denominator
numerator, denominator = self.fraction(0, ts)
curve = numerator / denominator
numerator1, denominator1 = self.fraction(1, ts)
curve1 = (numerator1 - curve * denominator1) / denominator
return curve1
def second_derivative(self, t):
return self.second_derivative_array(np.array([t]))[0]
def second_derivative_array(self, ts):
# numerator'' = (curve * denominator)'' =
# = curve'' * denominator + 2 * curve' * denominator' + curve * denominator''
numerator, denominator = self.fraction(0, ts)
curve = numerator / denominator
numerator1, denominator1 = self.fraction(1, ts)
curve1 = (numerator1 - curve * denominator1) / denominator
numerator2, denominator2 = self.fraction(2, ts)
curve2 = (numerator2 - 2 * curve1 * denominator1 -
curve * denominator2) / denominator
return curve2
def third_derivative_array(self, ts):
# numerator''' = (curve * denominator)''' =
# = curve''' * denominator + 3 * curve'' * denominator' + 3 * curve' * denominator'' + denominator'''
numerator, denominator = self.fraction(0, ts)
curve = numerator / denominator
numerator1, denominator1 = self.fraction(1, ts)
curve1 = (numerator1 - curve * denominator1) / denominator
numerator2, denominator2 = self.fraction(2, ts)
curve2 = (numerator2 - 2 * curve1 * denominator1 -
curve * denominator2) / denominator
numerator3, denominator3 = self.fraction(3, ts)
curve3 = (numerator3 - 3 * curve2 * denominator1 - 3 * curve1 *
denominator2 - curve * denominator3) / denominator
return curve3
def derivatives_array(self, n, ts):
result = []
if n >= 1:
numerator, denominator = self.fraction(0, ts)
curve = numerator / denominator
numerator1, denominator1 = self.fraction(1, ts)
curve1 = (numerator1 - curve * denominator1) / denominator
result.append(curve1)
if n >= 2:
numerator2, denominator2 = self.fraction(2, ts)
curve2 = (numerator2 - 2 * curve1 * denominator1 -
curve * denominator2) / denominator
result.append(curve2)
if n >= 3:
numerator3, denominator3 = self.fraction(3, ts)
curve3 = (numerator3 - 3 * curve2 * denominator1 - 3 * curve1 *
denominator2 - curve * denominator3) / denominator
result.append(curve3)
return result
def get_u_bounds(self):
if self.u_bounds is None:
m = self.knotvector.min()
M = self.knotvector.max()
return (m, M)
else:
return self.u_bounds
def extrude_along_vector(self, vector):
vector = np.array(vector)
other_control_points = self.control_points + vector
control_points = np.stack((self.control_points, other_control_points))
control_points = np.transpose(control_points, axes=(1, 0, 2))
weights = np.stack((self.weights, self.weights)).T
knotvector_v = sv_knotvector.generate(1, 2, clamped=True)
surface = SvNativeNurbsSurface(degree_u=self.degree,
degree_v=1,
knotvector_u=self.knotvector,
knotvector_v=knotvector_v,
control_points=control_points,
weights=weights)
return surface
@classmethod
def get_nurbs_implementation(cls):
return SvNurbsCurve.NATIVE
def insert_knot(self, u_bar, count=1):
# "The NURBS book", 2nd edition, p.5.2, eq. 5.11
s = sv_knotvector.find_multiplicity(self.knotvector, u_bar)
#print(f"I: kv {len(self.knotvector)}{self.knotvector}, u_bar {u_bar} => s {s}")
k = np.searchsorted(self.knotvector, u_bar, side='right') - 1
p = self.degree
u = self.knotvector
new_knotvector = sv_knotvector.insert(self.knotvector, u_bar, count)
N = len(self.control_points)
control_points = self.get_homogenous_control_points()
for r in range(1, count + 1):
prev_control_points = control_points
control_points = []
for i in range(N + 1):
#print(f"I: i {i}, k {k}, p {p}, r {r}, s {s}, k-p+r-1 {k-p+r-1}, k-s {k-s}")
if i <= k - p + r - 1:
point = prev_control_points[i]
#print(f"P[{r},{i}] := {i}{prev_control_points[i]}")
elif k - p + r <= i <= k - s:
denominator = u[i + p - r + 1] - u[i]
alpha = (u_bar - u[i]) / denominator
point = alpha * prev_control_points[i] + (
1.0 - alpha) * prev_control_points[i - 1]
#print(f"P[{r},{i}]: alpha {alpha}, pts {i}{prev_control_points[i]}, {i-1}{prev_control_points[i-1]} => {point}")
else:
point = prev_control_points[i - 1]
#print(f"P[{r},{i}] := {i-1}{prev_control_points[i-1]}")
control_points.append(point)
N += 1
control_points, weights = from_homogenous(np.array(control_points))
curve = SvNativeNurbsCurve(self.degree, new_knotvector, control_points,
weights)
return curve
class SvNativeNurbsCurve(SvNurbsCurve):
def __init__(self, degree, knotvector, control_points, weights=None):
self.control_points = np.array(control_points) # (k, 3)
k = len(control_points)
if weights is not None:
self.weights = np.array(weights) # (k, )
else:
self.weights = np.ones((k,))
self.knotvector = np.array(knotvector)
self.degree = degree
self.basis = SvNurbsBasisFunctions(knotvector)
self.tangent_delta = 0.001
self.__description__ = f"Native NURBS (degree={degree}, pts={k})"
def get_control_points(self):
return self.control_points
def get_weights(self):
return self.weights
def get_knotvector(self):
return self.knotvector
def get_degree(self):
return self.degree
def evaluate(self, t):
return self.evaluate_array(np.array([t]))[0]
def fraction(self, deriv_order, ts):
n = len(ts)
p = self.degree
k = len(self.control_points)
ns = np.array([self.basis.derivative(i, p, deriv_order)(ts) for i in range(k)]) # (k, n)
coeffs = ns * self.weights[np.newaxis].T # (k, n)
coeffs_t = coeffs[np.newaxis].T # (n, k, 1)
numerator = (coeffs_t * self.control_points) # (n, k, 3)
numerator = numerator.sum(axis=1) # (n, 3)
denominator = coeffs.sum(axis=0) # (n,)
return numerator, denominator[np.newaxis].T
def evaluate_array(self, ts):
numerator, denominator = self.fraction(0, ts)
# if (denominator == 0).any():
# print("Num:", numerator)
# print("Denom:", denominator)
return nurbs_divide(numerator, denominator)
def tangent(self, t):
return self.tangent_array(np.array([t]))[0]
def tangent_array(self, ts):
# curve = numerator / denominator
# ergo:
# numerator = curve * denominator
# ergo:
# numerator' = curve' * denominator + curve * denominator'
# ergo:
# curve' = (numerator' - curve*denominator') / denominator
numerator, denominator = self.fraction(0, ts)
curve = numerator / denominator
numerator1, denominator1 = self.fraction(1, ts)
curve1 = (numerator1 - curve*denominator1) / denominator
return curve1
def second_derivative(self, t):
return self.second_derivative_array(np.array([t]))[0]
def second_derivative_array(self, ts):
# numerator'' = (curve * denominator)'' =
# = curve'' * denominator + 2 * curve' * denominator' + curve * denominator''
numerator, denominator = self.fraction(0, ts)
curve = numerator / denominator
numerator1, denominator1 = self.fraction(1, ts)
curve1 = (numerator1 - curve*denominator1) / denominator
numerator2, denominator2 = self.fraction(2, ts)
curve2 = (numerator2 - 2*curve1*denominator1 - curve*denominator2) / denominator
return curve2
def third_derivative_array(self, ts):
# numerator''' = (curve * denominator)''' =
# = curve''' * denominator + 3 * curve'' * denominator' + 3 * curve' * denominator'' + denominator'''
numerator, denominator = self.fraction(0, ts)
curve = numerator / denominator
numerator1, denominator1 = self.fraction(1, ts)
curve1 = (numerator1 - curve*denominator1) / denominator
numerator2, denominator2 = self.fraction(2, ts)
curve2 = (numerator2 - 2*curve1*denominator1 - curve*denominator2) / denominator
numerator3, denominator3 = self.fraction(3, ts)
curve3 = (numerator3 - 3*curve2*denominator1 - 3*curve1*denominator2 - curve*denominator3) / denominator
return curve3
def derivatives_array(self, n, ts):
result = []
if n >= 1:
numerator, denominator = self.fraction(0, ts)
curve = numerator / denominator
numerator1, denominator1 = self.fraction(1, ts)
curve1 = (numerator1 - curve*denominator1) / denominator
result.append(curve1)
if n >= 2:
numerator2, denominator2 = self.fraction(2, ts)
curve2 = (numerator2 - 2*curve1*denominator1 - curve*denominator2) / denominator
result.append(curve2)
if n >= 3:
numerator3, denominator3 = self.fraction(3, ts)
curve3 = (numerator3 - 3*curve2*denominator1 - 3*curve1*denominator2 - curve*denominator3) / denominator
result.append(curve3)
return result
def get_u_bounds(self):
m = self.knotvector.min()
M = self.knotvector.max()
return (m, M)
# def concatenate(self, curve2):
# curve1 = self
# curve2 = SvNurbsCurve.to_nurbs(curve2)
# if curve2 is None:
# raise UnsupportedCurveTypeException("second curve is not NURBS")
#
# w1 = curve1.get_weights()[-1]
# w2 = curve1.get_weights()[0]
# if w1 != w2:
# raise UnsupportedCurveTypeException("Weights at endpoints do not match")
#
# p1, p2 = curve1.get_degree(), curve2.get_degree()
# if p1 > p2:
# curve2 = curve2.elevate_degree(delta = p1-p2)
# elif p2 > p1:
# curve1 = curve1.elevate_degree(delta = p2-p1)
#
# #cp1 = curve1.get_control_points()[-1]
# #cp2 = curve2.get_control_points()[0]
#
# knotvector = sv_knotvector.concatenate(curve1.get_knotvector(), curve2.get_knotvector())
# #print("KV:", knotvector)
# weights = np.concatenate((curve1.get_weights(), curve2.get_weights()[1:]))
# control_points = np.concatenate((curve1.get_control_points(), curve2.get_control_points()[1:]))
# return SvNativeNurbsCurve(curve1.degree, knotvector, control_points, weights)
def extrude_along_vector(self, vector):
vector = np.array(vector)
other_control_points = self.control_points + vector
control_points = np.stack((self.control_points, other_control_points))
control_points = np.transpose(control_points, axes=(1,0,2))
weights = np.stack((self.weights, self.weights)).T
knotvector_v = sv_knotvector.generate(1, 2, clamped=True)
surface = SvNativeNurbsSurface(degree_u = self.degree, degree_v = 1,
knotvector_u = self.knotvector, knotvector_v = knotvector_v,
control_points = control_points,
weights = weights)
return surface
def make_ruled_surface(self, curve2, vmin, vmax):
curve = self
curve2 = SvNurbsCurve.to_nurbs(curve2)
if curve2 is None:
raise UnsupportedCurveTypeException("second curve is not NURBS")
if curve.get_degree() != curve2.get_degree():
raise UnsupportedCurveTypeException("curves have different degrees")
#print(f"kv1: {curve.get_knotvector().shape}, kv2: {curve2.get_knotvector().shape}")
kv1, kv2 = curve.get_knotvector(), curve2.get_knotvector()
if kv1.shape != kv2.shape or (kv1 != kv2).any():
curve, curve2 = unify_curves(curve, curve2)
#raise UnsupportedCurveTypeException("curves have different knot vectors")
my_control_points = curve.control_points
other_control_points = curve2.get_control_points()
if len(my_control_points) != len(other_control_points):
raise UnsupportedCurveTypeException("curves have different number of control points")
if vmin != 0:
my_control_points = (1 - vmin) * my_control_points + vmin * other_control_points
if vmax != 0:
other_control_points = (1 - vmax) * my_control_points + vmax * other_control_points
control_points = np.stack((my_control_points, other_control_points))
control_points = np.transpose(control_points, axes=(1,0,2))
weights = np.stack((curve.weights, curve2.get_weights())).T
knotvector_v = sv_knotvector.generate(1, 2, clamped=True)
surface = SvNativeNurbsSurface(degree_u = curve.degree, degree_v = 1,
knotvector_u = curve.knotvector, knotvector_v = knotvector_v,
control_points = control_points,
weights = weights)
return surface
def get_nurbs_implementation(self):
return SvNurbsCurve.NATIVE
def insert_knot(self, u_bar, count=1):
# "The NURBS book", 2nd edition, p.5.2, eq. 5.11
s = sv_knotvector.find_multiplicity(self.knotvector, u_bar)
#print(f"I: kv {self.knotvector}, u_bar {u_bar} => s {s}")
k = np.searchsorted(self.knotvector, u_bar, side='right')-1
p = self.degree
u = self.knotvector
new_knotvector = sv_knotvector.insert(self.knotvector, u_bar, count)
N = len(self.control_points)
control_points = self.get_homogenous_control_points()
for r in range(1, count+1):
prev_control_points = control_points
control_points = []
for i in range(N+1):
#print(f"I: i {i}, k {k}, p {p}, r {r}, s {s}, k-p+r-1 {k-p+r-1}, k-s {k-s}")
if i <= k-p+r-1:
point = prev_control_points[i]
#print(f"P[{r},{i}] := {i}{prev_control_points[i]}")
elif k - p + r <= i <= k - s:
denominator = u[i+p-r+1] - u[i]
alpha = (u_bar - u[i]) / denominator
point = alpha * prev_control_points[i] + (1.0 - alpha) * prev_control_points[i-1]
#print(f"P[{r},{i}]: alpha {alpha}, pts {i}{prev_control_points[i]}, {i-1}{prev_control_points[i-1]} => {point}")
else:
point = prev_control_points[i-1]
#print(f"P[{r},{i}] := {i-1}{prev_control_points[i-1]}")
control_points.append(point)
N += 1
control_points, weights = from_homogenous(np.array(control_points))
curve = SvNativeNurbsCurve(self.degree, new_knotvector,
control_points, weights)
return curve
def split_at(self, t):
current_multiplicity = sv_knotvector.find_multiplicity(self.knotvector, t)
to_add = self.degree - current_multiplicity # + 1
curve = self.insert_knot(t, count=to_add)
knot_span = np.searchsorted(curve.knotvector, t)
ts = np.full((self.degree+1,), t)
knotvector1 = np.concatenate((curve.knotvector[:knot_span], ts))
knotvector2 = np.insert(curve.knotvector[knot_span:], 0, t)
control_points_1 = curve.control_points[:knot_span]
control_points_2 = curve.control_points[knot_span-1:]
weights_1 = curve.weights[:knot_span]
weights_2 = curve.weights[knot_span-1:]
kv_error = sv_knotvector.check(curve.degree, knotvector1, len(control_points_1))
if kv_error is not None:
raise Exception(kv_error)
kv_error = sv_knotvector.check(curve.degree, knotvector2, len(control_points_2))
if kv_error is not None:
raise Exception(kv_error)
curve1 = SvNativeNurbsCurve(curve.degree, knotvector1,
control_points_1, weights_1)
curve2 = SvNativeNurbsCurve(curve.degree, knotvector2,
control_points_2, weights_2)
return curve1, curve2
class SvNativeNurbsCurve(SvNurbsCurve):
def __init__(self,
degree,
knotvector,
control_points,
weights=None,
normalize_knots=False):
self.control_points = np.array(control_points) # (k, 3)
k = len(control_points)
if weights is not None:
self.weights = np.array(weights) # (k, )
else:
self.weights = np.ones((k, ))
self.knotvector = np.array(knotvector)
if normalize_knots:
self.knotvector = sv_knotvector.normalize(self.knotvector)
self.degree = degree
self.basis = SvNurbsBasisFunctions(knotvector)
self.tangent_delta = 0.001
self.u_bounds = None # take from knotvector
self.__description__ = f"Native NURBS (degree={degree}, pts={k})"
@classmethod
def build(cls,
implementation,
degree,
knotvector,
control_points,
weights=None,
normalize_knots=False):
return SvNativeNurbsCurve(degree, knotvector, control_points, weights,
normalize_knots)
def is_rational(self, tolerance=1e-6):
w, W = self.weights.min(), self.weights.max()
return (W - w) > tolerance
def get_control_points(self):
return self.control_points
def get_weights(self):
return self.weights
def get_knotvector(self):
return self.knotvector
def get_degree(self):
return self.degree
def evaluate(self, t):
#return self.evaluate_array(np.array([t]))[0]
numerator, denominator = self.fraction_single(0, t)
if denominator == 0:
return np.array([0, 0, 0])
else:
return numerator / denominator
def fraction(self, deriv_order, ts):
n = len(ts)
p = self.degree
k = len(self.control_points)
ns = np.array([
self.basis.derivative(i, p, deriv_order)(ts) for i in range(k)
]) # (k, n)
coeffs = ns * self.weights[np.newaxis].T # (k, n)
coeffs_t = coeffs[np.newaxis].T # (n, k, 1)
numerator = (coeffs_t * self.control_points) # (n, k, 3)
numerator = numerator.sum(axis=1) # (n, 3)
denominator = coeffs.sum(axis=0) # (n,)
return numerator, denominator[np.newaxis].T
def fraction_single(self, deriv_order, t):
p = self.degree
k = len(self.control_points)
ts = np.array([t])
ns = np.array([
self.basis.derivative(i, p, deriv_order)(ts)[0] for i in range(k)
]) # (k,)
coeffs = ns * self.weights # (k, )
coeffs_t = coeffs[np.newaxis].T
numerator = (coeffs_t * self.control_points) # (k, 3)
numerator = numerator.sum(axis=0) # (3,)
denominator = coeffs.sum(axis=0) # ()
return numerator, denominator
def evaluate_array(self, ts):
numerator, denominator = self.fraction(0, ts)
# if (denominator == 0).any():
# print("Num:", numerator)
# print("Denom:", denominator)
return nurbs_divide(numerator, denominator)
def tangent(self, t):
return self.tangent_array(np.array([t]))[0]
def tangent_array(self, ts):
# curve = numerator / denominator
# ergo:
# numerator = curve * denominator
# ergo:
# numerator' = curve' * denominator + curve * denominator'
# ergo:
# curve' = (numerator' - curve*denominator') / denominator
numerator, denominator = self.fraction(0, ts)
curve = numerator / denominator
numerator1, denominator1 = self.fraction(1, ts)
curve1 = (numerator1 - curve * denominator1) / denominator
return curve1
def second_derivative(self, t):
return self.second_derivative_array(np.array([t]))[0]
def second_derivative_array(self, ts):
# numerator'' = (curve * denominator)'' =
# = curve'' * denominator + 2 * curve' * denominator' + curve * denominator''
numerator, denominator = self.fraction(0, ts)
curve = numerator / denominator
numerator1, denominator1 = self.fraction(1, ts)
curve1 = (numerator1 - curve * denominator1) / denominator
numerator2, denominator2 = self.fraction(2, ts)
curve2 = (numerator2 - 2 * curve1 * denominator1 -
curve * denominator2) / denominator
return curve2
def third_derivative_array(self, ts):
# numerator''' = (curve * denominator)''' =
# = curve''' * denominator + 3 * curve'' * denominator' + 3 * curve' * denominator'' + denominator'''
numerator, denominator = self.fraction(0, ts)
curve = numerator / denominator
numerator1, denominator1 = self.fraction(1, ts)
curve1 = (numerator1 - curve * denominator1) / denominator
numerator2, denominator2 = self.fraction(2, ts)
curve2 = (numerator2 - 2 * curve1 * denominator1 -
curve * denominator2) / denominator
numerator3, denominator3 = self.fraction(3, ts)
curve3 = (numerator3 - 3 * curve2 * denominator1 - 3 * curve1 *
denominator2 - curve * denominator3) / denominator
return curve3
def derivatives_array(self, n, ts):
result = []
if n >= 1:
numerator, denominator = self.fraction(0, ts)
curve = numerator / denominator
numerator1, denominator1 = self.fraction(1, ts)
curve1 = (numerator1 - curve * denominator1) / denominator
result.append(curve1)
if n >= 2:
numerator2, denominator2 = self.fraction(2, ts)
curve2 = (numerator2 - 2 * curve1 * denominator1 -
curve * denominator2) / denominator
result.append(curve2)
if n >= 3:
numerator3, denominator3 = self.fraction(3, ts)
curve3 = (numerator3 - 3 * curve2 * denominator1 - 3 * curve1 *
denominator2 - curve * denominator3) / denominator
result.append(curve3)
return result
def get_u_bounds(self):
if self.u_bounds is None:
m = self.knotvector.min()
M = self.knotvector.max()
return (m, M)
else:
return self.u_bounds
def extrude_along_vector(self, vector):
vector = np.array(vector)
other_control_points = self.control_points + vector
control_points = np.stack((self.control_points, other_control_points))
control_points = np.transpose(control_points, axes=(1, 0, 2))
weights = np.stack((self.weights, self.weights)).T
knotvector_v = sv_knotvector.generate(1, 2, clamped=True)
surface = SvNativeNurbsSurface(degree_u=self.degree,
degree_v=1,
knotvector_u=self.knotvector,
knotvector_v=knotvector_v,
control_points=control_points,
weights=weights)
return surface
@classmethod
def get_nurbs_implementation(cls):
return SvNurbsCurve.NATIVE
def insert_knot(self, u_bar, count=1, if_possible=False):
# "The NURBS book", 2nd edition, p.5.2, eq. 5.11
N = len(self.control_points)
u = self.get_knotvector()
s = sv_knotvector.find_multiplicity(u, u_bar)
#print(f"I: kv {len(u)}{u}, u_bar {u_bar} => s {s}")
#k = np.searchsorted(u, u_bar, side='right')-1
k = sv_knotvector.find_span(u, N, u_bar)
p = self.get_degree()
new_knotvector = sv_knotvector.insert(u, u_bar, count)
control_points = self.get_homogenous_control_points()
if (u_bar == u[0] or u_bar == u[-1]):
if s + count > p + 1:
if if_possible:
count = (p + 1) - s
else:
raise CantInsertKnotException(
f"Can't insert first/last knot t={u_bar} for {count} times"
)
else:
if s + count > p:
if if_possible:
count = p - s
else:
raise CantInsertKnotException(
f"Can't insert knot t={u_bar} for {count} times")
for r in range(1, count + 1):
prev_control_points = control_points
control_points = []
for i in range(N + 1):
#print(f"I: i {i}, k {k}, p {p}, r {r}, s {s}, k-p+r-1 {k-p+r-1}, k-s {k-s}")
if i <= k - p + r - 1:
point = prev_control_points[i]
#print(f"P[{r},{i}] := {i}{prev_control_points[i]}")
elif k - p + r <= i <= k - s:
denominator = u[i + p - r + 1] - u[i]
if abs(denominator) < 1e-6:
raise Exception(
f"Can't insert the knot t={u_bar} for {i}th time: u[i+p-r+1]={u[i+p-r+1]}, u[i]={u[i]}, denom={denominator}"
)
alpha = (u_bar - u[i]) / denominator
point = alpha * prev_control_points[i] + (
1.0 - alpha) * prev_control_points[i - 1]
#print(f"P[{r},{i}]: alpha {alpha}, pts {i}{prev_control_points[i]}, {i-1}{prev_control_points[i-1]} => {point}")
else:
point = prev_control_points[i - 1]
#print(f"P[{r},{i}] := {i-1}{prev_control_points[i-1]}")
control_points.append(point)
N += 1
control_points, weights = from_homogenous(np.array(control_points))
curve = SvNativeNurbsCurve(self.degree, new_knotvector, control_points,
weights)
return curve
def remove_knot(self,
u,
count=1,
target=None,
tolerance=1e-6,
if_possible=False):
# Implementation adapted from Geomdl
logger = getLogger()
if (count is None) == (target is None):
raise Exception("Either count or target must be specified")
orig_multiplicity = sv_knotvector.find_multiplicity(
self.get_knotvector(), u)
if count == SvNurbsCurve.ALL:
count = orig_multiplicity
elif count == SvNurbsCurve.ALL_BUT_ONE:
count = orig_multiplicity - 1
elif count is None:
count = orig_multiplicity - target
degree = self.get_degree()
order = degree + 1
if not if_possible and (count > orig_multiplicity):
raise CantRemoveKnotException(
f"Asked to remove knot t={u} for {count} times, but it's multiplicity is only {orig_multiplicity}"
)
# Edge case
if count < 1:
return self
def knot_removal_alpha_i(u, knotvector, idx):
return (u - knotvector[idx]) / (knotvector[idx + order] -
knotvector[idx])
def knot_removal_alpha_j(u, knotvector, idx):
return (u - knotvector[idx]) / (knotvector[idx + order] -
knotvector[idx])
def point_distance(p1, p2):
return np.linalg.norm(p1 - p2)
#return np.linalg.norm(np.array(p1) - np.array(p2))
def remove_one_knot(curve):
ctrlpts = curve.get_homogenous_control_points()
N = len(ctrlpts)
knotvector = curve.get_knotvector()
orig_multiplicity = sv_knotvector.find_multiplicity(knotvector, u)
knot_span = sv_knotvector.find_span(knotvector, N, u)
# Initialize variables
first = knot_span - degree
last = knot_span - orig_multiplicity
# Don't change input variables, prepare new ones for updating
ctrlpts_new = deepcopy(ctrlpts)
# Initialize temp array for storing new control points
temp_i = np.zeros((2 * degree + 1, 4))
temp_j = np.zeros((2 * degree + 1, 4))
removed_count = 0
# Loop for Eqs 5.28 & 5.29
t = 0
offset = first - 1 # difference in index between `temp` and ctrlpts
temp_i[0] = ctrlpts[offset]
temp_j[last + 1 - offset] = ctrlpts[last + 1]
i = first
j = last
ii = 1
jj = last - offset
can_remove = False
# Compute control points for one removal step
while j - i > t:
alpha_i = knot_removal_alpha_i(u, knotvector, i)
alpha_j = knot_removal_alpha_j(u, knotvector, j)
temp_i[ii] = (ctrlpts[i] -
(1.0 - alpha_i) * temp_i[ii - 1]) / alpha_i
temp_j[jj] = (ctrlpts[j] -
alpha_j * temp_j[jj + 1]) / (1.0 - alpha_j)
i += 1
j -= 1
ii += 1
jj -= 1
# Check if the knot is removable
if j - i < t:
dist = point_distance(temp_i[ii - 1], temp_j[jj + 1])
if dist <= tolerance:
can_remove = True
else:
logger.debug(f"remove_knot: stop, distance={dist}")
else:
alpha_i = knot_removal_alpha_i(u, knotvector, i)
ptn = alpha_i * temp_j[ii + t + 1] + (1.0 -
alpha_i) * temp_i[ii - 1]
dist = point_distance(ctrlpts[i], ptn)
if dist <= tolerance:
can_remove = True
else:
logger.debug(f"remove_knot: stop, distance={dist}")
# Check if we can remove the knot and update new control points array
if can_remove:
i = first
j = last
while j - i > t:
ctrlpts_new[i] = temp_i[i - offset]
ctrlpts_new[j] = temp_j[j - offset]
i += 1
j -= 1
# Update indices
first -= 1
last += 1
removed_count += 1
else:
raise CantRemoveKnotException()
new_kv = np.copy(curve.get_knotvector())
if removed_count > 0:
m = N + degree + 1
for k in range(knot_span + 1, m):
new_kv[k - removed_count] = new_kv[k]
new_kv = new_kv[:m - removed_count]
#new_kv = np.delete(curve.get_knotvector(), np.s_[(r-t+1):(r+1)])
# Shift control points (refer to p.183 of The NURBS Book, 2nd Edition)
j = int((2 * knot_span - orig_multiplicity - degree) /
2) # first control point out
i = j
for k in range(1, removed_count):
if k % 2 == 1:
i += 1
else:
j -= 1
for k in range(i + 1, N):
ctrlpts_new[j] = ctrlpts_new[k]
j += 1
# Slice to get the new control points
ctrlpts_new = ctrlpts_new[0:-removed_count]
ctrlpts_new = np.array(ctrlpts_new)
control_points, weights = from_homogenous(ctrlpts_new)
return curve.copy(knotvector=new_kv,
control_points=control_points,
weights=weights)
curve = self
removed_count = 0
for i in range(count):
try:
curve = remove_one_knot(curve)
removed_count += 1
except CantRemoveKnotException as e:
break
if not if_possible and (removed_count < count):
raise CantRemoveKnotException(
f"Asked to remove knot t={u} for {count} times, but could remove it only {removed_count} times"
)
#print(f"Removed knot t={u} for {removed_count} times")
return curve
class SvNativeNurbsSurface(SvNurbsSurface):
def __init__(self, degree_u, degree_v, knotvector_u, knotvector_v,
control_points, weights):
self.degree_u = degree_u
self.degree_v = degree_v
self.knotvector_u = np.array(knotvector_u)
self.knotvector_v = np.array(knotvector_v)
self.control_points = np.array(control_points)
self.weights = np.array(weights)
c_ku, c_kv, _ = self.control_points.shape
w_ku, w_kv = self.weights.shape
if c_ku != w_ku or c_kv != w_kv:
raise Exception(
f"Shape of control_points ({c_ku}, {c_kv}) does not match to shape of weights ({w_ku}, {w_kv})"
)
self.basis_u = SvNurbsBasisFunctions(knotvector_u)
self.basis_v = SvNurbsBasisFunctions(knotvector_v)
self.u_bounds = (self.knotvector_u.min(), self.knotvector_u.max())
self.v_bounds = (self.knotvector_v.min(), self.knotvector_v.max())
self.normal_delta = 0.0001
def get_degree_u(self):
return self.degree_u
def get_degree_v(self):
return self.degree_v
def get_knotvector_u(self):
return self.knotvector_u
def get_knotvector_v(self):
return self.knotvector_v
def get_control_points(self):
return self.control_points
def get_weights(self):
return self.weights
def get_u_min(self):
return self.u_bounds[0]
def get_u_max(self):
return self.u_bounds[1]
def get_v_min(self):
return self.v_bounds[0]
def get_v_max(self):
return self.v_bounds[1]
def evaluate(self, u, v):
return self.evaluate_array(np.array([u]), np.array([v]))[0]
def fraction(self, deriv_order_u, deriv_order_v, us, vs):
pu = self.degree_u
pv = self.degree_v
ku, kv, _ = self.control_points.shape
nsu = np.array([
self.basis_u.derivative(i, pu, deriv_order_u)(us)
for i in range(ku)
]) # (ku, n)
nsv = np.array([
self.basis_v.derivative(i, pv, deriv_order_v)(vs)
for i in range(kv)
]) # (kv, n)
nsu = np.transpose(nsu[np.newaxis], axes=(1, 0, 2)) # (ku, 1, n)
nsv = nsv[np.newaxis] # (1, kv, n)
ns = nsu * nsv # (ku, kv, n)
weights = np.transpose(self.weights[np.newaxis],
axes=(1, 2, 0)) # (ku, kv, 1)
coeffs = ns * weights # (ku, kv, n)
coeffs = np.transpose(coeffs[np.newaxis],
axes=(3, 1, 2, 0)) # (n,ku,kv,1)
controls = self.control_points # (ku,kv,3)
numerator = coeffs * controls # (n,ku,kv,3)
numerator = numerator.sum(axis=1).sum(axis=1) # (n,3)
denominator = coeffs.sum(axis=1).sum(axis=1)
return numerator, denominator
def evaluate_array(self, us, vs):
numerator, denominator = self.fraction(0, 0, us, vs)
return numerator / denominator
def normal(self, u, v):
return self.normal_array(np.array([u]), np.array([v]))[0]
def normal_array(self, us, vs):
numerator, denominator = self.fraction(0, 0, us, vs)
surface = numerator / denominator
numerator_u, denominator_u = self.fraction(1, 0, us, vs)
numerator_v, denominator_v = self.fraction(0, 1, us, vs)
surface_u = (numerator_u - surface * denominator_u) / denominator
surface_v = (numerator_v - surface * denominator_v) / denominator
normal = np.cross(surface_u, surface_v)
n = np.linalg.norm(normal, axis=1, keepdims=True)
normal = normal / n
return normal
def derivatives_data_array(self, us, vs):
numerator, denominator = self.fraction(0, 0, us, vs)
surface = numerator / denominator
numerator_u, denominator_u = self.fraction(1, 0, us, vs)
numerator_v, denominator_v = self.fraction(0, 1, us, vs)
surface_u = (numerator_u - surface * denominator_u) / denominator
surface_v = (numerator_v - surface * denominator_v) / denominator
return SurfaceDerivativesData(surface, surface_u, surface_v)
def curvature_calculator(self, us, vs, order=True):
numerator, denominator = self.fraction(0, 0, us, vs)
surface = numerator / denominator
numerator_u, denominator_u = self.fraction(1, 0, us, vs)
numerator_v, denominator_v = self.fraction(0, 1, us, vs)
surface_u = (numerator_u - surface * denominator_u) / denominator
surface_v = (numerator_v - surface * denominator_v) / denominator
normal = np.cross(surface_u, surface_v)
n = np.linalg.norm(normal, axis=1, keepdims=True)
normal = normal / n
numerator_uu, denominator_uu = self.fraction(2, 0, us, vs)
surface_uu = (numerator_uu - 2 * surface_u * denominator_u -
surface * denominator_uu) / denominator
numerator_vv, denominator_vv = self.fraction(0, 2, us, vs)
surface_vv = (numerator_vv - 2 * surface_v * denominator_v -
surface * denominator_vv) / denominator
numerator_uv, denominator_uv = self.fraction(1, 1, us, vs)
surface_uv = (numerator_uv - surface_v * denominator_u - surface_u *
denominator_v - surface * denominator_uv) / denominator
nuu = (surface_uu * normal).sum(axis=1)
nvv = (surface_vv * normal).sum(axis=1)
nuv = (surface_uv * normal).sum(axis=1)
duu = np.linalg.norm(surface_u, axis=1)**2
dvv = np.linalg.norm(surface_v, axis=1)**2
duv = (surface_u * surface_v).sum(axis=1)
calc = SurfaceCurvatureCalculator(us, vs, order=order)
calc.set(surface, normal, surface_u, surface_v, duu, dvv, duv, nuu,
nvv, nuv)
return calc
class SvNativeNurbsSurface(SvNurbsSurface):
def __init__(self,
degree_u,
degree_v,
knotvector_u,
knotvector_v,
control_points,
weights,
normalize_knots=False):
self.degree_u = degree_u
self.degree_v = degree_v
self.knotvector_u = np.array(knotvector_u)
self.knotvector_v = np.array(knotvector_v)
if normalize_knots:
self.knotvector_u = sv_knotvector.normalize(self.knotvector_u)
self.knotvector_v = sv_knotvector.normalize(self.knotvector_v)
self.control_points = np.array(control_points)
c_ku, c_kv, _ = self.control_points.shape
if weights is None:
self.weights = weights = np.ones((c_ku, c_kv))
else:
self.weights = np.array(weights)
w_ku, w_kv = self.weights.shape
if c_ku != w_ku or c_kv != w_kv:
raise Exception(
f"Shape of control_points ({c_ku}, {c_kv}) does not match to shape of weights ({w_ku}, {w_kv})"
)
self.basis_u = SvNurbsBasisFunctions(knotvector_u)
self.basis_v = SvNurbsBasisFunctions(knotvector_v)
self.u_bounds = (self.knotvector_u.min(), self.knotvector_u.max())
self.v_bounds = (self.knotvector_v.min(), self.knotvector_v.max())
self.normal_delta = 0.0001
self.__description__ = f"Native NURBS (degree={degree_u}x{degree_v}, pts={self.control_points.shape[0]}x{self.control_points.shape[1]})"
@classmethod
def build(cls,
implementation,
degree_u,
degree_v,
knotvector_u,
knotvector_v,
control_points,
weights=None,
normalize_knots=False):
return SvNativeNurbsSurface(degree_u, degree_v, knotvector_u,
knotvector_v, control_points, weights,
normalize_knots)
@classmethod
def get_nurbs_implementation(cls):
return SvNurbsSurface.NATIVE
def insert_knot(self, direction, parameter, count=1):
if direction == SvNurbsSurface.U:
new_points = []
new_weights = []
new_u_degree = None
for i in range(self.get_control_points().shape[1]):
fixed_v_points = self.get_control_points()[:, i]
fixed_v_weights = self.get_weights()[:, i]
fixed_v_curve = SvNurbsMaths.build_curve(
SvNurbsMaths.NATIVE, self.degree_u, self.knotvector_u,
fixed_v_points, fixed_v_weights)
fixed_v_curve = fixed_v_curve.insert_knot(parameter, count)
fixed_v_knotvector = fixed_v_curve.get_knotvector()
new_u_degree = fixed_v_curve.get_degree()
fixed_v_points = fixed_v_curve.get_control_points()
fixed_v_weights = fixed_v_curve.get_weights()
new_points.append(fixed_v_points)
new_weights.append(fixed_v_weights)
new_points = np.transpose(np.array(new_points), axes=(1, 0, 2))
new_weights = np.array(new_weights).T
return SvNativeNurbsSurface(new_u_degree, self.degree_v,
fixed_v_knotvector, self.knotvector_v,
new_points, new_weights)
elif direction == SvNurbsSurface.V:
new_points = []
new_weights = []
new_v_degree = None
for i in range(self.get_control_points().shape[0]):
fixed_u_points = self.get_control_points()[i, :]
fixed_u_weights = self.get_weights()[i, :]
fixed_u_curve = SvNurbsMaths.build_curve(
SvNurbsMaths.NATIVE, self.degree_v, self.knotvector_v,
fixed_u_points, fixed_u_weights)
fixed_u_curve = fixed_u_curve.insert_knot(parameter, count)
fixed_u_knotvector = fixed_u_curve.get_knotvector()
new_v_degree = fixed_u_curve.get_degree()
fixed_u_points = fixed_u_curve.get_control_points()
fixed_u_weights = fixed_u_curve.get_weights()
new_points.append(fixed_u_points)
new_weights.append(fixed_u_weights)
new_points = np.array(new_points)
new_weights = np.array(new_weights)
return SvNativeNurbsSurface(self.degree_u, new_v_degree,
self.knotvector_u, fixed_u_knotvector,
new_points, new_weights)
else:
raise Exception("Unsupported direction")
def get_degree_u(self):
return self.degree_u
def get_degree_v(self):
return self.degree_v
def get_knotvector_u(self):
return self.knotvector_u
def get_knotvector_v(self):
return self.knotvector_v
def get_control_points(self):
return self.control_points
def get_weights(self):
return self.weights
def get_u_min(self):
return self.u_bounds[0]
def get_u_max(self):
return self.u_bounds[1]
def get_v_min(self):
return self.v_bounds[0]
def get_v_max(self):
return self.v_bounds[1]
def evaluate(self, u, v):
return self.evaluate_array(np.array([u]), np.array([v]))[0]
def fraction(self, deriv_order_u, deriv_order_v, us, vs):
pu = self.degree_u
pv = self.degree_v
ku, kv, _ = self.control_points.shape
nsu = np.array([
self.basis_u.derivative(i, pu, deriv_order_u)(us)
for i in range(ku)
]) # (ku, n)
nsv = np.array([
self.basis_v.derivative(i, pv, deriv_order_v)(vs)
for i in range(kv)
]) # (kv, n)
nsu = np.transpose(nsu[np.newaxis], axes=(1, 0, 2)) # (ku, 1, n)
nsv = nsv[np.newaxis] # (1, kv, n)
ns = nsu * nsv # (ku, kv, n)
weights = np.transpose(self.weights[np.newaxis],
axes=(1, 2, 0)) # (ku, kv, 1)
coeffs = ns * weights # (ku, kv, n)
coeffs = np.transpose(coeffs[np.newaxis],
axes=(3, 1, 2, 0)) # (n,ku,kv,1)
controls = self.control_points # (ku,kv,3)
numerator = coeffs * controls # (n,ku,kv,3)
numerator = numerator.sum(axis=1).sum(axis=1) # (n,3)
denominator = coeffs.sum(axis=1).sum(axis=1)
return numerator, denominator
def evaluate_array(self, us, vs):
numerator, denominator = self.fraction(0, 0, us, vs)
return nurbs_divide(numerator, denominator)
def normal(self, u, v):
return self.normal_array(np.array([u]), np.array([v]))[0]
def normal_array(self, us, vs):
numerator, denominator = self.fraction(0, 0, us, vs)
surface = nurbs_divide(numerator, denominator)
numerator_u, denominator_u = self.fraction(1, 0, us, vs)
numerator_v, denominator_v = self.fraction(0, 1, us, vs)
surface_u = (numerator_u - surface * denominator_u) / denominator
surface_v = (numerator_v - surface * denominator_v) / denominator
normal = np.cross(surface_u, surface_v)
n = np.linalg.norm(normal, axis=1, keepdims=True)
normal = normal / n
return normal
def iso_curve(self, fixed_direction, param, flip=False):
controls = self.get_control_points()
weights = self.get_weights()
k_u, k_v = weights.shape
if fixed_direction == SvNurbsSurface.U:
q_curves = [
SvNurbsMaths.build_curve(self.get_nurbs_implementation(),
self.get_degree_u(),
self.get_knotvector_u(),
controls[:, j], weights[:, j])
for j in range(k_v)
]
q_controls = [q_curve.evaluate(param) for q_curve in q_curves]
q_weights = [
q_curve.fraction_single(0, param)[1] for q_curve in q_curves
]
curve = SvNurbsMaths.build_curve(self.get_nurbs_implementation(),
self.get_degree_v(),
self.get_knotvector_v(),
q_controls, q_weights)
if flip:
return curve.reverse()
else:
return curve
elif fixed_direction == SvNurbsSurface.V:
q_curves = [
SvNurbsMaths.build_curve(self.get_nurbs_implementation(),
self.get_degree_v(),
self.get_knotvector_v(),
controls[i, :], weights[i, :])
for i in range(k_u)
]
q_controls = [q_curve.evaluate(param) for q_curve in q_curves]
q_weights = [
q_curve.fraction_single(0, param)[1] for q_curve in q_curves
]
curve = SvNurbsMaths.build_curve(self.get_nurbs_implementation(),
self.get_degree_u(),
self.get_knotvector_u(),
q_controls, q_weights)
if flip:
return curve.reverse()
else:
return curve
def derivatives_data_array(self, us, vs):
numerator, denominator = self.fraction(0, 0, us, vs)
surface = nurbs_divide(numerator, denominator)
numerator_u, denominator_u = self.fraction(1, 0, us, vs)
numerator_v, denominator_v = self.fraction(0, 1, us, vs)
surface_u = (numerator_u - surface * denominator_u) / denominator
surface_v = (numerator_v - surface * denominator_v) / denominator
return SurfaceDerivativesData(surface, surface_u, surface_v)
def curvature_calculator(self, us, vs, order=True):
numerator, denominator = self.fraction(0, 0, us, vs)
surface = nurbs_divide(numerator, denominator)
numerator_u, denominator_u = self.fraction(1, 0, us, vs)
numerator_v, denominator_v = self.fraction(0, 1, us, vs)
surface_u = (numerator_u - surface * denominator_u) / denominator
surface_v = (numerator_v - surface * denominator_v) / denominator
normal = np.cross(surface_u, surface_v)
n = np.linalg.norm(normal, axis=1, keepdims=True)
normal = normal / n
numerator_uu, denominator_uu = self.fraction(2, 0, us, vs)
surface_uu = (numerator_uu - 2 * surface_u * denominator_u -
surface * denominator_uu) / denominator
numerator_vv, denominator_vv = self.fraction(0, 2, us, vs)
surface_vv = (numerator_vv - 2 * surface_v * denominator_v -
surface * denominator_vv) / denominator
numerator_uv, denominator_uv = self.fraction(1, 1, us, vs)
surface_uv = (numerator_uv - surface_v * denominator_u - surface_u *
denominator_v - surface * denominator_uv) / denominator
nuu = (surface_uu * normal).sum(axis=1)
nvv = (surface_vv * normal).sum(axis=1)
nuv = (surface_uv * normal).sum(axis=1)
duu = np.linalg.norm(surface_u, axis=1)**2
dvv = np.linalg.norm(surface_v, axis=1)**2
duv = (surface_u * surface_v).sum(axis=1)
calc = SurfaceCurvatureCalculator(us, vs, order=order)
calc.set(surface, normal, surface_u, surface_v, duu, dvv, duv, nuu,
nvv, nuv)
return calc