forked from cadracks/cadracks-freecad-workbench
/
anchor.py
395 lines (317 loc) · 13.2 KB
/
anchor.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
# coding: utf-8
# Copyright 2018-2019 Guillaume Florent
# This file is part of cadracks-freecad-workbench.
#
# cadracks-freecad-workbench is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# any later version.
#
# cadracks-freecad-workbench is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with cadracks-freecad-workbench. If not, see <https://www.gnu.org/licenses/>.
r"""Anchor Python Feature
Is made of a point and 2 unit and orthogonal vectors
"""
from __future__ import division
import math
from os.path import join, dirname
import numpy as np
from freecad_logging import debug
import FreeCAD as App
from pivy import coin
from transformations import superimposition_matrix, translation_from_matrix, \
rotation_from_matrix
from puv import puv
# def make_anchor_feature(p, u, v):
# r"""makes an anchorable object feature
#
# Returns
# -------
# the new object.
#
# """
# obj = App.ActiveDocument.addObject("Part::FeaturePython",
# "Anchor")
# Anchor(obj, p, u, v)
# ViewProviderAnchor(obj.ViewObject)
# return obj
def anchor_transformation(p0, u0, v0, p1, u1, v1):
r"""Find the 4x4 transformation matrix
that superimposes anchor 0 on anchor 1
Parameters
----------
p0 : tuple
u0 : tuple
v0 : tuple
p1 : tuple
u1 : tuple
v1 : tuple
Returns
-------
4x4 matrix (numpy array)
"""
p0x, p0y, p0z = p0
u0x, u0y, u0z = u0
v0x, v0y, v0z = v0
p1x, p1y, p1z = p1
u1x, u1y, u1z = u1
v1x, v1y, v1z = v1
# compute points to transform
a0 = np.array(
[np.array([p0x, p0y, p0z]),
np.array([p0x + u0x, p0y + u0y, p0z + u0z]),
np.array([p0x + v0x, p0y + v0y, p0z + v0z])])
# v1 = np.array(
# [anchor_1.p, anchor_1.p - anchor_1.u, anchor_1.p + anchor_1.v])
a1 = np.array(
[np.array([p1x, p1y, p1z]),
np.array([p1x - u1x, p1y - u1y, p1z - u1z]),
np.array([p1x + v1x, p1y + v1y, p1z + v1z])])
return superimposition_matrix(a0.T, a1.T, scale=False, usesvd=False)
class Anchor:
def __init__(self, obj, p, u, v, topo_element):
obj.addProperty("App::PropertyLink",
"parent",
"Definition",
"Anchor's parent").parent = topo_element[0]
obj.addProperty("App::PropertyString",
"name_sub_element",
"Definition",
"Anchor's sub element name").name_sub_element = \
topo_element[1]
# https://forum.freecadweb.org/viewtopic.php?t=8224
# -> The property editor doesn't support App::PropertyLinkSub
# at the moment. This will come sometime in the future...
obj.addProperty("App::PropertyLinkSub",
"topo_element",
"Definition",
"Anchor's topo element").topo_element = topo_element
obj.addProperty("App::PropertyVector",
"p",
"Definition",
"Anchor's origin").p = App.Vector(p[0], p[1], p[2])
obj.addProperty("App::PropertyVector",
"u",
"Definition",
"Anchor's u vector").u = App.Vector(u[0], u[1], u[2])
obj.addProperty("App::PropertyVector",
"v",
"Definition",
"Anchor's v vector").v = App.Vector(v[0], v[1], v[2])
obj.Proxy = self
def onChanged(self, fp, prop):
r"""Do something when a property has changed"""
debug("Change property of Anchor: " + str(prop) + "\n")
def execute(self, fp):
r"""Do something when doing a recomputation, this method is mandatory"""
debug("Recompute Anchor feature\n")
p, u, v = puv(fp.parent.Shape.getElement(fp.name_sub_element))
fp.p = App.Vector(p[0], p[1], p[2])
fp.u = App.Vector(u[0], u[1], u[2])
fp.v = App.Vector(v[0], v[1], v[2])
class ViewProviderAnchor:
def __init__(self, vobj):
r"""Set this object to the proxy object of the actual view provider"""
vobj.addProperty("App::PropertyColor",
"ColorU",
"Anchor",
"Color of the u vector").ColorU = (1.0, 0.0, 0.0)
vobj.addProperty("App::PropertyColor",
"ColorV",
"Anchor",
"Color of the v vector").ColorV = (0.5, 0.5, 0.5)
vobj.Proxy = self
def attach(self, vobj):
r"""Setup the scene sub-graph of the view provider,
this method is mandatory
See Also
--------
https://www.freecadweb.org/wiki/Scripted_objects
"""
debug("AnchorViewProvider/attach")
self.shaded = coin.SoSeparator()
self.wireframe = coin.SoSeparator()
# group u cone and cylinder
self.group_u = coin.SoSeparator()
self.color_u = coin.SoBaseColor()
self.group_cyl_u = coin.SoSeparator()
self.transform_cyl_u = coin.SoTransform()
self.group_cone_u = coin.SoSeparator()
self.transform_cone_u = coin.SoTransform()
# group v cone and cylinder
self.group_v = coin.SoSeparator()
self.transform_v = coin.SoTransform()
self.color_v = coin.SoBaseColor()
self.group_cyl_v = coin.SoSeparator()
self.transform_cyl_v = coin.SoTransform()
self.group_cone_v = coin.SoSeparator()
self.transform_cone_v = coin.SoTransform()
# global
self.scale = coin.SoScale()
self.scale.scaleFactor.setValue(1., 1., 1.)
self.transform = coin.SoTransform()
# arrow dimensions
self.arrow_length = 1
cone_cyl_ratio = 0.2
cyl_radius_ratio = 0.05
cone_base_radius_ratio = 0.1
# The cylinder is created from its middle at the origin
# -> compensation
self.transform_cyl_u.translation.setValue(
(0.,
self.arrow_length * (1 - cone_cyl_ratio) / 2,
0.))
self.transform_cone_u.translation.setValue(
(0.,
self.arrow_length * (1 - cone_cyl_ratio) + self.arrow_length * cone_cyl_ratio / 2,
0.))
self.transform_cyl_v.translation.setValue(
(0.,
self.arrow_length * (1 - cone_cyl_ratio) / 2,
0.))
self.transform_cone_v.translation.setValue(
(0.,
self.arrow_length * (1 - cone_cyl_ratio) + self.arrow_length * cone_cyl_ratio / 2,
0.))
# put v at 90 degrees
self.transform_v.center.setValue((0, 0, 0))
self.transform_v.rotation.setValue(coin.SbVec3f((1, 0, 0)), math.pi/2)
# Cone and cylinder creation from dimensions
cone_u = coin.SoCone()
cone_u.height.setValue(self.arrow_length * cone_cyl_ratio)
cone_u.bottomRadius.setValue(self.arrow_length * cone_base_radius_ratio)
cylinder_u = coin.SoCylinder()
cylinder_u.radius.setValue(self.arrow_length * cyl_radius_ratio)
cylinder_u.height.setValue(self.arrow_length * (1 - cone_cyl_ratio))
cone_v = coin.SoCone()
cone_v.height.setValue(self.arrow_length * cone_cyl_ratio)
cone_v.bottomRadius.setValue(self.arrow_length * cone_base_radius_ratio)
cylinder_v = coin.SoCylinder()
cylinder_v.radius.setValue(self.arrow_length * cyl_radius_ratio)
cylinder_v.height.setValue(self.arrow_length * (1 - cone_cyl_ratio))
# group_cyl_u
self.group_cyl_u.addChild(self.transform_cyl_u)
self.group_cyl_u.addChild(cylinder_u)
# group_cone_u
self.group_cone_u.addChild(self.transform_cone_u)
self.group_cone_u.addChild(cone_u)
# group_u
self.group_u.addChild(self.color_u)
self.group_u.addChild(self.group_cyl_u)
self.group_u.addChild(self.group_cone_u)
# group_cyl_v
self.group_cyl_v.addChild(self.transform_cyl_v)
self.group_cyl_v.addChild(cylinder_v)
# group_cone_v
self.group_cone_v.addChild(self.transform_cone_v)
self.group_cone_v.addChild(cone_v)
# group_v
self.group_v.addChild(self.transform_v)
self.group_v.addChild(self.color_v)
self.group_v.addChild(self.group_cyl_v)
self.group_v.addChild(self.group_cone_v)
# ** shaded **
self.shaded.addChild(self.transform)
self.shaded.addChild(self.scale)
self.shaded.addChild(self.group_u)
self.shaded.addChild(self.group_v)
vobj.addDisplayMode(self.shaded, "Shaded")
# ** wireframe **
style = coin.SoDrawStyle()
style.style = coin.SoDrawStyle.LINES
self.wireframe.addChild(style)
self.wireframe.addChild(self.transform)
self.wireframe.addChild(self.scale)
self.wireframe.addChild(self.group_u)
self.wireframe.addChild(self.group_v)
vobj.addDisplayMode(self.wireframe, "Wireframe")
self.onChanged(vobj, "ColorU")
self.onChanged(vobj, "ColorV")
def updateData(self, feature, prop):
r"""If a property of the handled feature has changed,
we have the chance to handle this here
See Also
--------
https://www.freecadweb.org/wiki/Scripted_objects
"""
debug("ViewProviderAnchor/updateData")
p = feature.getPropertyByName("p")
u = feature.getPropertyByName("u")
v = feature.getPropertyByName("v")
self.transform.translation.setValue((p[0], p[1], p[2]))
at = anchor_transformation(p0=(0, 0, 0),
u0=(0, -1, 0),
v0=(0, 0, 1),
p1=(p[0], p[1], p[2]),
u1=(u[0], u[1], u[2]),
v1=(v[0], v[1], v[2]))
t = translation_from_matrix(at)
self.transform.translation.setValue((t[0], t[1], t[2]))
angle, direction, point = rotation_from_matrix(at)
# print("angle : %f" % angle)
# print("direction : %s" % str(direction))
# print("point : %s" % str(point))
self.transform.rotation.setValue(coin.SbVec3f(direction), angle)
# mat = coin.SoSFMatrix()
# mat.setValue(at[0][0], at[0][1], at[0][2], at[0][3],
# at[1][0], at[1][1], at[1][2], at[1][3],
# at[2][0], at[2][1], at[2][2], at[2][3],
# at[3][0], at[3][1], at[3][2], at[3][3])
#
# self.transform = mat
# feature is the handled feature,
# prop is the name of the property that has changed
# l = feature.getPropertyByName("Length")
# w = feature.getPropertyByName("Width")
# h = feature.getPropertyByName("Height")
# self.scale.scaleFactor.setValue(float(l), float(w), float(h))
def getDisplayModes(self, obj):
r"""Return a list of display modes"""
modes = ["Shaded", "Wireframe"]
return modes
def getDefaultDisplayMode(self):
r"""Return the name of the default display mode.
It must be defined in getDisplayModes."""
return "Shaded"
def setDisplayMode(self, mode):
r"""Map the display mode defined in attach with those
defined in getDisplayModes.
Since they have the same names nothing needs to be done.
This method is optional
"""
return mode
def onChanged(self, vp, prop):
r"""Here we can do something when a single property got changed"""
debug("Change property of ViewProvideAnchor: " + str(prop) + "\n")
if prop == "ColorU":
cu = vp.getPropertyByName("ColorU")
self.color_u.rgb.setValue(cu[0], cu[1], cu[2])
if prop == "ColorV":
cv = vp.getPropertyByName("ColorV")
self.color_v.rgb.setValue(cv[0], cv[1], cv[2])
def getIcon(self):
r"""Return the icon in XPM format which will appear in the tree view.
This method is\ optional and if not defined a default icon is shown.
"""
return join(dirname(__file__),
"resources",
"freecad_workbench_anchors_anchor.svg")
def __getstate__(self):
r"""When saving the document this object gets stored using
Python's json module.
Since we have some un-serializable parts here -- the Coin stuff --
we must define this method to return a tuple of all serializable objects
or None
"""
return None
def __setstate__(self, state):
r"""When restoring the serialized object from document we have
the chance to set some internals here.
Since no data were serialized nothing needs to be done here.
"""
return None