def __init__(self, *args):
T = gp_Trsf()
if len(args) == 0:
pass
elif len(args) == 1:
t = args[0]
if isinstance(t, Vector):
T.SetTranslationPart(t.wrapped)
elif isinstance(t, Plane):
cs = gp_Ax3(t.origin.toPnt(), t.zDir.toDir(), t.xDir.toDir())
T.SetTransformation(cs)
T.Invert()
elif isinstance(t, TopLoc_Location):
self.wrapped = t
return
elif isinstance(t, gp_Trsf):
T = t
elif len(args) == 2:
t, v = args
cs = gp_Ax3(v.toPnt(), t.zDir.toDir(), t.xDir.toDir())
T.SetTransformation(cs)
T.Invert()
else:
t, ax, angle = args
T.SetRotation(gp_Ax1(Vector().toPnt(), ax.toDir()),
angle * math.pi / 180.0)
T.SetTranslationPart(t.wrapped)
self.wrapped = TopLoc_Location(T)
def tessellate(self):
self.vertices = []
self.triangles = []
self.normals = []
# global buffers
p_buf = gp_Pnt()
n_buf = gp_Vec()
loc_buf = TopLoc_Location()
offset = -1
# every line below is selected for performance. Do not introduce functions to "beautify" the code
for face in get_faces(self.shape):
if face.Orientation() == TopAbs_Orientation.TopAbs_REVERSED:
i1, i2 = 2, 1
else:
i1, i2 = 1, 2
internal = face.Orientation() == TopAbs_Orientation.TopAbs_INTERNAL
poly = BRep_Tool.Triangulation_s(face, loc_buf)
if poly is not None:
Trsf = loc_buf.Transformation()
# add vertices
flat = []
for i in range(1, poly.NbNodes() + 1):
flat.extend(poly.Node(i).Transformed(Trsf).Coord())
self.vertices.extend(flat)
# add triangles
flat = []
for i in range(1, poly.NbTriangles() + 1):
coord = poly.Triangle(i).Get()
flat.extend((coord[0] + offset, coord[i1] + offset,
coord[i2] + offset))
self.triangles.extend(flat)
# add normals
if poly.HasUVNodes():
prop = BRepGProp_Face(face)
flat = []
for i in range(1, poly.NbNodes() + 1):
u, v = poly.UVNode(i).Coord()
prop.Normal(u, v, p_buf, n_buf)
if n_buf.SquareMagnitude() > 0:
n_buf.Normalize()
flat.extend(n_buf.Reverse().Coord(
) if internal else n_buf.Coord())
self.normals.extend(flat)
offset += poly.NbNodes()
def compute_edges(self):
edge_map = TopTools_IndexedMapOfShape()
face_map = TopTools_IndexedDataMapOfShapeListOfShape()
TopExp.MapShapes_s(self.shape, TopAbs_EDGE, edge_map)
TopExp.MapShapesAndAncestors_s(self.shape, TopAbs_EDGE, TopAbs_FACE, face_map)
for i in range(1, edge_map.Extent() + 1):
edge = TopoDS.Edge_s(edge_map.FindKey(i))
face_list = face_map.FindFromKey(edge)
if face_list.Extent() == 0:
# print("no faces")
continue
loc = TopLoc_Location()
poly = BRep_Tool.Polygon3D_s(edge, loc)
if poly is not None:
# print("Polygon3D successful")
nodes = poly.Nodes()
transf = loc.Transformation()
v1 = None
for j in range(1, poly.NbNodes() + 1):
v2 = nodes.Value(j)
v2.Transform(transf)
v2 = v2.Coord()
if v1 is not None:
self.edges.append((v1, v2))
v1 = v2
else:
face = TopoDS.Face_s(face_list.First())
triang = BRep_Tool.Triangulation_s(face, loc)
poly = BRep_Tool.PolygonOnTriangulation_s(edge, triang, loc)
if poly is None:
continue
indices = poly.Nodes()
nodes = triang.Nodes()
transf = loc.Transformation()
v1 = None
for j in range(indices.Lower(), indices.Upper() + 1):
v2 = nodes.Value(indices.Value(j))
v2.Transform(transf)
v2 = v2.Coord()
if v1 is not None:
self.edges.append((v1, v2))
v1 = v2
def toCAF(assy: AssemblyProtocol,
coloredSTEP: bool = False) -> Tuple[TDF_Label, TDocStd_Document]:
# prepare a doc
app = XCAFApp_Application.GetApplication_s()
doc = TDocStd_Document(TCollection_ExtendedString("XmlOcaf"))
app.InitDocument(doc)
tool = XCAFDoc_DocumentTool.ShapeTool_s(doc.Main())
tool.SetAutoNaming_s(False)
ctool = XCAFDoc_DocumentTool.ColorTool_s(doc.Main())
# add root
top = tool.NewShape()
TDataStd_Name.Set_s(top, TCollection_ExtendedString("CQ assembly"))
# add leafs and subassemblies
subassys: Dict[str, Tuple[TDF_Label, Location]] = {}
for k, v in assy.traverse():
# leaf part
lab = tool.NewShape()
tool.SetShape(lab, Compound.makeCompound(v.shapes).wrapped)
setName(lab, f"{k}_part", tool)
# assy part
subassy = tool.NewShape()
tool.AddComponent(subassy, lab, TopLoc_Location())
setName(subassy, k, tool)
# handle colors - this logic is needed for proper STEP export
color = v.color
tmp = v
if coloredSTEP:
while not color and tmp.parent:
tmp = tmp.parent
color = tmp.color
if color:
setColor(lab, color, ctool)
else:
if color:
setColor(subassy, color, ctool)
subassys[k] = (subassy, v.loc)
for ch in v.children:
tool.AddComponent(subassy, subassys[ch.name][0],
subassys[ch.name][1].wrapped)
tool.AddComponent(top, subassys[assy.name][0], assy.loc.wrapped)
tool.UpdateAssemblies()
return top, doc
def compute_edges(self):
edge_map = TopTools_IndexedMapOfShape()
face_map = TopTools_IndexedDataMapOfShapeListOfShape()
TopExp.MapShapes_s(self.shape, TopAbs_EDGE, edge_map)
TopExp.MapShapesAndAncestors_s(self.shape, TopAbs_EDGE, TopAbs_FACE,
face_map)
for i in range(1, edge_map.Extent() + 1):
edge = TopoDS.Edge_s(edge_map.FindKey(i))
face_list = face_map.FindFromKey(edge)
if face_list.Extent() == 0:
# print("no faces")
continue
loc = TopLoc_Location()
face = TopoDS.Face_s(face_list.First())
triangle = BRep_Tool.Triangulation_s(face, loc)
poly = BRep_Tool.PolygonOnTriangulation_s(edge, triangle, loc)
if poly is None:
continue
if hasattr(poly, "Node"): # OCCT > 7.5
nrange = range(1, poly.NbNodes() + 1)
index = poly.Node
else: # OCCT == 7.5
indices = poly.Nodes()
nrange = range(indices.Lower(), indices.Upper() + 1)
index = indices.Value
transf = loc.Transformation()
v1 = None
for j in nrange:
v2 = triangle.Node(index(j)).Transformed(transf).Coord()
if v1 is not None:
self.edges.append((v1, v2))
v1 = v2
def __init__(self, *args):
T = gp_Trsf()
if len(args) == 0:
pass
elif len(args) == 1:
t = args[0]
if isinstance(t, Vector):
T.SetTranslationPart(t.wrapped)
elif isinstance(t, Plane):
cs = gp_Ax3(t.origin.toPnt(), t.zDir.toDir(), t.xDir.toDir())
T.SetTransformation(cs)
T.Invert()
elif isinstance(t, TopLoc_Location):
self.wrapped = t
return
elif isinstance(t, gp_Trsf):
T = t
elif isinstance(t, (tuple, list)):
raise TypeError(
"A tuple or list is not a valid parameter, use a Vector instead."
)
else:
raise TypeError("Unexpected parameters")
elif len(args) == 2:
t, v = args
cs = gp_Ax3(v.toPnt(), t.zDir.toDir(), t.xDir.toDir())
T.SetTransformation(cs)
T.Invert()
else:
t, ax, angle = args
T.SetRotation(gp_Ax1(Vector().toPnt(), ax.toDir()),
angle * math.pi / 180.0)
T.SetTranslationPart(t.wrapped)
self.wrapped = TopLoc_Location(T)
class Location(object):
"""Location in 3D space. Depending on usage can be absolute or relative.
This class wraps the TopLoc_Location class from OCCT. It can be used to move Shape
objects in both relative and absolute manner. It is the preferred type to locate objects
in CQ.
"""
wrapped: TopLoc_Location
@overload
def __init__(self) -> None:
"""Empty location with not rotation or translation with respect to the original location."""
...
@overload
def __init__(self, t: Vector) -> None:
"""Location with translation t with respect to the orignal location."""
...
@overload
def __init__(self, t: Plane) -> None:
"""Location corresponding to the location of the Plane t."""
...
@overload
def __init__(self, t: Plane, v: Vector) -> None:
"""Location corresponding to the angular location of the Plane t with translation v."""
...
@overload
def __init__(self, t: TopLoc_Location) -> None:
"""Location wrapping the low-level TopLoc_Location object t"""
...
@overload
def __init__(self, t: gp_Trsf) -> None:
"""Location wrapping the low-level gp_Trsf object t"""
...
@overload
def __init__(self, t: Vector, ax: Vector, angle: float) -> None:
"""Location with translation t and rotation around ax by angle
with respect to the original location."""
...
def __init__(self, *args):
T = gp_Trsf()
if len(args) == 0:
pass
elif len(args) == 1:
t = args[0]
if isinstance(t, Vector):
T.SetTranslationPart(t.wrapped)
elif isinstance(t, Plane):
cs = gp_Ax3(t.origin.toPnt(), t.zDir.toDir(), t.xDir.toDir())
T.SetTransformation(cs)
T.Invert()
elif isinstance(t, TopLoc_Location):
self.wrapped = t
return
elif isinstance(t, gp_Trsf):
T = t
elif len(args) == 2:
t, v = args
cs = gp_Ax3(v.toPnt(), t.zDir.toDir(), t.xDir.toDir())
T.SetTransformation(cs)
T.Invert()
else:
t, ax, angle = args
T.SetRotation(gp_Ax1(Vector().toPnt(), ax.toDir()),
angle * math.pi / 180.0)
T.SetTranslationPart(t.wrapped)
self.wrapped = TopLoc_Location(T)
@property
def inverse(self) -> "Location":
return Location(self.wrapped.Inverted())
def __mul__(self, other: "Location") -> "Location":
return Location(self.wrapped * other.wrapped)
def tessellate(self):
self.vertices = array("f")
self.triangles = array("f")
self.normals = array("f")
# global buffers
p_buf = gp_Pnt()
n_buf = gp_Vec()
loc_buf = TopLoc_Location()
offset = -1
# every line below is selected for performance. Do not introduce functions to "beautify" the code
for face in get_faces(self.shape):
if face.Orientation() == TopAbs_Orientation.TopAbs_REVERSED:
i1, i2 = 2, 1
else:
i1, i2 = 1, 2
internal = face.Orientation() == TopAbs_Orientation.TopAbs_INTERNAL
poly = BRep_Tool.Triangulation_s(face, loc_buf)
if poly is not None:
Trsf = loc_buf.Transformation()
# add vertices
# [node.Transformed(Trsf).Coord() for node in poly.Nodes()] is 5-8 times slower!
items = poly.Nodes()
coords = [items.Value(i).Transformed(Trsf).Coord() for i in range(items.Lower(), items.Upper() + 1)]
flat = []
for coord in coords:
flat += coord
self.vertices.extend(flat)
# add triangles
items = poly.Triangles()
coords = [items.Value(i).Get() for i in range(items.Lower(), items.Upper() + 1)]
flat = []
for coord in coords:
flat += (coord[0] + offset, coord[i1] + offset, coord[i2] + offset)
self.triangles.extend(flat)
# add normals
if poly.HasUVNodes():
def extract(uv0, uv1):
prop.Normal(uv0, uv1, p_buf, n_buf)
if n_buf.SquareMagnitude() > 0:
n_buf.Normalize()
return n_buf.Reverse().Coord() if internal else n_buf.Coord()
prop = BRepGProp_Face(face)
items = poly.UVNodes()
uvs = [items.Value(i).Coord() for i in range(items.Lower(), items.Upper() + 1)]
flat = []
for uv1, uv2 in uvs:
flat += extract(uv1, uv2)
self.normals.extend(flat)
offset += poly.NbNodes()
def tq_to_loc(t, q):
T = gp_Trsf()
Q = gp_Quaternion(*q)
V = gp_Vec(*t)
T.SetTransformation(Q, V)
return TopLoc_Location(T)
class Location(object):
"""Location in 3D space. Depending on usage can be absolute or relative.
This class wraps the TopLoc_Location class from OCCT. It can be used to move Shape
objects in both relative and absolute manner. It is the preferred type to locate objects
in CQ.
"""
wrapped: TopLoc_Location
@overload
def __init__(self) -> None:
"""Empty location with not rotation or translation with respect to the original location."""
...
@overload
def __init__(self, t: Vector) -> None:
"""Location with translation t with respect to the original location."""
...
@overload
def __init__(self, t: Plane) -> None:
"""Location corresponding to the location of the Plane t."""
...
@overload
def __init__(self, t: Plane, v: Vector) -> None:
"""Location corresponding to the angular location of the Plane t with translation v."""
...
@overload
def __init__(self, t: TopLoc_Location) -> None:
"""Location wrapping the low-level TopLoc_Location object t"""
...
@overload
def __init__(self, t: gp_Trsf) -> None:
"""Location wrapping the low-level gp_Trsf object t"""
...
@overload
def __init__(self, t: Vector, ax: Vector, angle: float) -> None:
"""Location with translation t and rotation around ax by angle
with respect to the original location."""
...
def __init__(self, *args):
T = gp_Trsf()
if len(args) == 0:
pass
elif len(args) == 1:
t = args[0]
if isinstance(t, Vector):
T.SetTranslationPart(t.wrapped)
elif isinstance(t, Plane):
cs = gp_Ax3(t.origin.toPnt(), t.zDir.toDir(), t.xDir.toDir())
T.SetTransformation(cs)
T.Invert()
elif isinstance(t, TopLoc_Location):
self.wrapped = t
return
elif isinstance(t, gp_Trsf):
T = t
elif isinstance(t, (tuple, list)):
raise TypeError(
"A tuple or list is not a valid parameter, use a Vector instead."
)
else:
raise TypeError("Unexpected parameters")
elif len(args) == 2:
t, v = args
cs = gp_Ax3(v.toPnt(), t.zDir.toDir(), t.xDir.toDir())
T.SetTransformation(cs)
T.Invert()
else:
t, ax, angle = args
T.SetRotation(gp_Ax1(Vector().toPnt(), ax.toDir()),
angle * math.pi / 180.0)
T.SetTranslationPart(t.wrapped)
self.wrapped = TopLoc_Location(T)
@property
def inverse(self) -> "Location":
return Location(self.wrapped.Inverted())
def __mul__(self, other: "Location") -> "Location":
return Location(self.wrapped * other.wrapped)
def toTuple(
self
) -> Tuple[Tuple[float, float, float], Tuple[float, float, float]]:
"""Convert the location to a translation, rotation tuple."""
T = self.wrapped.Transformation()
trans = T.TranslationPart()
rot = T.GetRotation()
rv_trans = (trans.X(), trans.Y(), trans.Z())
rv_rot = rot.GetEulerAngles(gp_EulerSequence.gp_Extrinsic_XYZ)
return rv_trans, rv_rot
def tessellate(shape, tolerance: float, angularTolerance: float = 0.1):
# Remove previous mesh data
BRepTools.Clean_s(shape)
triangulated = BRepTools.Triangulation_s(shape, tolerance)
if not triangulated:
# this will add mesh data to the shape and prevent calculating an exact bounding box after this call
BRepMesh_IncrementalMesh(shape, tolerance, True, angularTolerance)
vertices = []
triangles = []
normals = []
offset = 0
for face in get_faces(shape):
loc = TopLoc_Location()
poly = BRep_Tool.Triangulation_s(face, loc)
Trsf = loc.Transformation()
reverse = face.Orientation() == TopAbs_Orientation.TopAbs_REVERSED
internal = face.Orientation() == TopAbs_Orientation.TopAbs_INTERNAL
# add vertices
if poly is not None:
vertices += [(v.X(), v.Y(), v.Z())
for v in (v.Transformed(Trsf) for v in poly.Nodes())]
# add triangles
triangles += [(
t.Value(1) + offset - 1,
t.Value(3 if reverse else 2) + offset - 1,
t.Value(2 if reverse else 3) + offset - 1,
) for t in poly.Triangles()]
# add normals
if poly.HasUVNodes():
prop = BRepGProp_Face(face)
uvnodes = poly.UVNodes()
for uvnode in uvnodes:
p = gp_Pnt()
n = gp_Vec()
prop.Normal(uvnode.X(), uvnode.Y(), p, n)
if n.SquareMagnitude() > 0:
n.Normalize()
if internal:
n.Reverse()
normals.append((n.X(), n.Y(), n.Z()))
offset += poly.NbNodes()
if not triangulated:
# Remove the mesh data again
BRepTools.Clean_s(shape)
return (
np.asarray(vertices, dtype=np.float32),
np.asarray(triangles, dtype=np.uint32),
np.asarray(normals, dtype=np.float32),
)