def process(self):
# Based on https://github.com/daid/Cura/blob/SteamEngine/Cura/util/printableObject.py#L207
# Note: Y & Z axis are swapped
transformed_vertices = self._node.getMeshDataTransformed().getVertices()
min_y_vertex = transformed_vertices[transformed_vertices.argmin(0)[1]]
dot_min = 1.0
dot_v = None
for v in transformed_vertices:
diff = v - min_y_vertex
length = math.sqrt(diff[0] * diff[0] + diff[2] * diff[2] + diff[1] * diff[1])
if length < 5:
continue
dot = (diff[1] / length)
if dot_min > dot:
dot_min = dot
dot_v = diff
self._emitProgress(1)
if dot_v is None:
self._emitProgress(len(transformed_vertices))
return
rad = math.atan2(dot_v[2], dot_v[0])
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_Y), SceneNode.TransformSpace.Parent)
rad = -math.asin(dot_min)
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_Z), SceneNode.TransformSpace.Parent)
transformed_vertices = self._node.getMeshDataTransformed().getVertices()
min_y_vertex = transformed_vertices[transformed_vertices.argmin(0)[1]]
dot_min = 1.0
dot_v = None
for v in transformed_vertices:
diff = v - min_y_vertex
length = math.sqrt(diff[2] * diff[2] + diff[1] * diff[1])
if length < 5:
continue
dot = (diff[1] / length)
if dot_min > dot:
dot_min = dot
dot_v = diff
self._emitProgress(1)
if dot_v is None:
self._node.setOrientation(self._old_orientation)
return
if dot_v[2] < 0:
rad = -math.asin(dot_min)
else:
rad = math.asin(dot_min)
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_X), SceneNode.TransformSpace.Parent)
self._new_orientation = self._node.getOrientation()
def test_rotate(self):
node = SceneNode()
self.assertEqual(node.getOrientation(), Quaternion())
node.rotate(Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
self.assertEqual(node.getOrientation(), Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
node.rotate(Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
self.assertEqual(node.getOrientation(), Quaternion.fromAngleAxis(math.pi / 2, Vector.Unit_Z))
def test_rotate(self):
node = SceneNode()
self.assertEqual(node.getOrientation(), Quaternion())
node.rotate(Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
node_orientation = deepcopy(node.getOrientation())
node_orientation.normalize() #For fair comparison.
self.assertEqual(node_orientation, Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
node.rotate(Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
node_orientation = deepcopy(node.getOrientation())
node_orientation.normalize()
self.assertEqual(node_orientation, Quaternion.fromAngleAxis(math.pi / 2, Vector.Unit_Z))
def test_translateWorld(self):
node1 = SceneNode()
node2 = SceneNode(node1)
self.assertEqual(node2.getWorldPosition(), Vector(0, 0, 0))
node1.translate(Vector(0, 0, 10))
self.assertEqual(node1.getWorldPosition(), Vector(0, 0, 10))
self.assertEqual(node2.getWorldPosition(), Vector(0, 0, 10))
node2.translate(Vector(0, 0, 10))
self.assertEqual(node1.getWorldPosition(), Vector(0, 0, 10))
self.assertEqual(node2.getWorldPosition(), Vector(0, 0, 20))
node1.rotate(Quaternion.fromAngleAxis(math.pi / 2, Vector.Unit_Y))
self.assertEqual(node1.getWorldPosition(), Vector(0, 0, 10))
self.assertEqual(node2.getWorldPosition(), Vector(10, 0, 10))
node2.translate(Vector(0, 0, 10))
# Local translation on Z with a parent rotated 90 degrees results in movement on X axis
pos = node2.getWorldPosition()
#Using fuzzyCompare due to accumulation of floating point error
self.assertTrue(Float.fuzzyCompare(pos.x, 20, 1e-5), "{0} does not equal {1}".format(pos, Vector(20, 0, 10)))
self.assertTrue(Float.fuzzyCompare(pos.y, 0, 1e-5), "{0} does not equal {1}".format(pos, Vector(20, 0, 10)))
self.assertTrue(Float.fuzzyCompare(pos.z, 10, 1e-5), "{0} does not equal {1}".format(pos, Vector(20, 0, 10)))
node2.translate(Vector(0, 0, 10), SceneNode.TransformSpace.World)
# World translation on Z with a parent rotated 90 degrees results in movement on Z axis
pos = node2.getWorldPosition()
self.assertTrue(Float.fuzzyCompare(pos.x, 20, 1e-5), "{0} does not equal {1}".format(pos, Vector(20, 0, 20)))
self.assertTrue(Float.fuzzyCompare(pos.y, 0, 1e-5), "{0} does not equal {1}".format(pos, Vector(20, 0, 20)))
self.assertTrue(Float.fuzzyCompare(pos.z, 20, 1e-5), "{0} does not equal {1}".format(pos, Vector(20, 0, 20)))
node1.translate(Vector(0, 0, 10))
self.assertEqual(node1.getWorldPosition(), Vector(10, 0, 10))
pos = node2.getWorldPosition()
self.assertTrue(Float.fuzzyCompare(pos.x, 30, 1e-5), "{0} does not equal {1}".format(pos, Vector(30, 0, 20)))
self.assertTrue(Float.fuzzyCompare(pos.y, 0, 1e-5), "{0} does not equal {1}".format(pos, Vector(30, 0, 20)))
self.assertTrue(Float.fuzzyCompare(pos.z, 20, 1e-5), "{0} does not equal {1}".format(pos, Vector(30, 0, 20)))
node1.scale(Vector(2, 2, 2))
pos = node2.getWorldPosition()
self.assertTrue(Float.fuzzyCompare(pos.x, 50, 1e-4), "{0} does not equal {1}".format(pos, Vector(50, 0, 30)))
self.assertTrue(Float.fuzzyCompare(pos.y, 0, 1e-4), "{0} does not equal {1}".format(pos, Vector(50, 0, 30)))
self.assertTrue(Float.fuzzyCompare(pos.z, 30, 1e-4), "{0} does not equal {1}".format(pos, Vector(50, 0, 30)))
node2.translate(Vector(0, 0, 10))
pos = node2.getWorldPosition()
self.assertTrue(Float.fuzzyCompare(pos.x, 70, 1e-4), "{0} does not equal {1}".format(pos, Vector(70, 0, 30)))
self.assertTrue(Float.fuzzyCompare(pos.y, 0, 1e-4), "{0} does not equal {1}".format(pos, Vector(70, 0, 30)))
self.assertTrue(Float.fuzzyCompare(pos.z, 30, 1e-4), "{0} does not equal {1}".format(pos, Vector(70, 0, 30)))
# World space set position
node1 = SceneNode()
node2 = SceneNode(node1)
node1.setPosition(Vector(15,15,15))
node2.setPosition(Vector(10,10,10))
self.assertEqual(node2.getWorldPosition(), Vector(25, 25, 25))
node2.setPosition(Vector(15,15,15), SceneNode.TransformSpace.World)
self.assertEqual(node2.getWorldPosition(), Vector(15, 15, 15))
self.assertEqual(node2.getPosition(), Vector(0,0,0))
node1.setPosition(Vector(15,15,15))
node2.setPosition(Vector(0,0,0))
node2.rotate(Quaternion.fromAngleAxis(-math.pi / 2, Vector.Unit_Y))
node2.translate(Vector(10,0,0))
self.assertEqual(node2.getWorldPosition(), Vector(15,15,25))
node2.setPosition(Vector(15,15,25), SceneNode.TransformSpace.World)
self.assertEqual(node2.getWorldPosition(), Vector(15,15,25))
self.assertEqual(node2.getPosition(), Vector(0,0,10))
def event(self, event):
super().event(event)
if event.type == Event.KeyPressEvent and event.key == KeyEvent.ShiftKey:
self._snap_rotation = (not self._snap_rotation)
self.propertyChanged.emit()
if event.type == Event.KeyReleaseEvent and event.key == KeyEvent.ShiftKey:
self._snap_rotation = (not self._snap_rotation)
self.propertyChanged.emit()
if event.type == Event.MousePressEvent:
if MouseEvent.LeftButton not in event.buttons:
return False
id = self._selection_pass.getIdAtPosition(event.x, event.y)
if not id:
return
if ToolHandle.isAxis(id):
self.setLockedAxis(id)
handle_position = self._handle.getWorldPosition()
if id == ToolHandle.XAxis:
self.setDragPlane(Plane(Vector(1, 0, 0), handle_position.x))
elif id == ToolHandle.YAxis:
self.setDragPlane(Plane(Vector(0, 1, 0), handle_position.y))
elif self._locked_axis == ToolHandle.ZAxis:
self.setDragPlane(Plane(Vector(0, 0, 1), handle_position.z))
self.setDragStart(event.x, event.y)
self._angle = 0
self.operationStarted.emit(self)
if event.type == Event.MouseMoveEvent:
if not self.getDragPlane():
return False
if not self.getDragStart():
self.setDragStart(event.x, event.y)
handle_position = self._handle.getWorldPosition()
drag_start = (self.getDragStart() - handle_position).normalize()
drag_position = self.getDragPosition(event.x, event.y)
if not drag_position:
return
drag_end = (drag_position - handle_position).normalize()
try:
angle = math.acos(drag_start.dot(drag_end))
except ValueError:
angle = 0
if self._snap_rotation:
angle = int(angle / self._snap_angle) * self._snap_angle
if angle == 0:
return
rotation = None
if self.getLockedAxis() == ToolHandle.XAxis:
direction = 1 if Vector.Unit_X.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_X)
elif self.getLockedAxis() == ToolHandle.YAxis:
direction = 1 if Vector.Unit_Y.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_Y)
elif self.getLockedAxis() == ToolHandle.ZAxis:
direction = 1 if Vector.Unit_Z.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_Z)
self._angle += direction * angle
# Rate-limit the angle change notification
# This is done to prevent the UI from being flooded with property change notifications,
# which in turn would trigger constant repaints.
new_time = time.monotonic()
if not self._angle_update_time or new_time - self._angle_update_time > 0.01:
self.propertyChanged.emit()
self._angle_update_time = new_time
Selection.applyOperation(RotateOperation, rotation)
self.setDragStart(event.x, event.y)
if event.type == Event.MouseReleaseEvent:
if self.getDragPlane():
self.setDragPlane(None)
self.setLockedAxis(None)
self._angle = None
self.propertyChanged.emit()
self.operationStopped.emit(self)
return True
def process(self):
# Based on https://github.com/daid/Cura/blob/SteamEngine/Cura/util/printableObject.py#L207
# Note: Y & Z axis are swapped
#Transform mesh first to get the current positions of the vertices.
transformed_vertices = None
if not self._node.callDecoration("isGroup"):
transformed_vertices = self._node.getMeshDataTransformed().getVertices()
else:
#For groups, get the vertices of all children and process them as a single mesh
for child in self._node.getChildren():
if transformed_vertices is None:
transformed_vertices = child.getMeshDataTransformed().getVertices()
else:
transformed_vertices = numpy.concatenate((transformed_vertices, child.getMeshDataTransformed().getVertices()), axis = 0)
min_y_vertex = transformed_vertices[transformed_vertices.argmin(0)[1]]
dot_min = 1.0 #Minimum y-component of direction vector.
dot_v = None
#Find the second-lowest vertex.
for v in transformed_vertices:
diff = v - min_y_vertex #From this vertex to the lowest vertex.
length = math.sqrt(diff[0] * diff[0] + diff[1] * diff[1] + diff[2] * diff[2])
if length < 5: #Ignore lines smaller than half a centimetre. It's unreliable at such small distances.
continue
dot = (diff[1] / length) #Y-component of direction vector.
if dot_min > dot:
dot_min = dot
dot_v = diff
self._emitProgress(1)
if dot_v is None: #Couldn't find any vertex further than 5mm from the lowest vertex.
self._emitProgress(len(transformed_vertices))
return
#Rotate the mesh such that the second-lowest vertex is just as low as the lowest vertex.
rad = math.atan2(dot_v[2], dot_v[0])
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_Y), SceneNode.TransformSpace.Parent)
rad = -math.asin(dot_min)
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_Z), SceneNode.TransformSpace.Parent)
#Apply the transformation so we get new vertex coordinates.
transformed_vertices = None
if not self._node.callDecoration("isGroup"):
transformed_vertices = self._node.getMeshDataTransformed().getVertices()
else:
#For groups, get the vertices of all children and process them as a single mesh
for child in self._node.getChildren():
if transformed_vertices is None:
transformed_vertices = child.getMeshDataTransformed().getVertices()
else:
transformed_vertices = numpy.concatenate((transformed_vertices, child.getMeshDataTransformed().getVertices()), axis = 0)
min_y_vertex = transformed_vertices[transformed_vertices.argmin(0)[1]]
dot_min = 1.0
dot_v = None
#Find the second-lowest vertex again.
for v in transformed_vertices:
diff = v - min_y_vertex #From this vertex to the lowest vertex.
length = math.sqrt(diff[2] * diff[2] + diff[1] * diff[1])
if length < 5: #Ignore lines smaller than half a centimetre. It's unreliable at such small distances.
continue
dot = (diff[1] / length) #Y-component of direction vector.
if dot_min > dot:
dot_min = dot
dot_v = diff
self._emitProgress(1)
if dot_v is None: #Couldn't find any vertex further than 5mm from the lowest vertex.
self._node.setOrientation(self._old_orientation)
return
#Rotate the mesh such that the second-lowest vertex gets the same height as the lowest vertex.
if dot_v[2] < 0:
rad = -math.asin(dot_min)
else:
rad = math.asin(dot_min)
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_X), SceneNode.TransformSpace.Parent)
self._new_orientation = self._node.getOrientation() #Save the resulting orientation.
def event(self, event):
super().event(event)
if event.type == Event.KeyPressEvent and event.key == KeyEvent.ShiftKey:
# Snap is toggled when pressing the shift button
self._snap_rotation = (not self._snap_rotation)
self.propertyChanged.emit()
if event.type == Event.KeyReleaseEvent and event.key == KeyEvent.ShiftKey:
# Snap is "toggled back" when releasing the shift button
self._snap_rotation = (not self._snap_rotation)
self.propertyChanged.emit()
if event.type == Event.MousePressEvent and self._controller.getToolsEnabled():
# Start a rotate operation
if MouseEvent.LeftButton not in event.buttons:
return False
id = self._selection_pass.getIdAtPosition(event.x, event.y)
if not id:
return
if ToolHandle.isAxis(id):
self.setLockedAxis(id)
handle_position = self._handle.getWorldPosition()
# Save the current positions of the node, as we want to rotate around their current centres
self._saved_node_positions = []
for node in Selection.getAllSelectedObjects():
self._saved_node_positions.append((node, node.getWorldPosition()))
if id == ToolHandle.XAxis:
self.setDragPlane(Plane(Vector(1, 0, 0), handle_position.x))
elif id == ToolHandle.YAxis:
self.setDragPlane(Plane(Vector(0, 1, 0), handle_position.y))
elif self._locked_axis == ToolHandle.ZAxis:
self.setDragPlane(Plane(Vector(0, 0, 1), handle_position.z))
self.setDragStart(event.x, event.y)
self._angle = 0
self.operationStarted.emit(self)
if event.type == Event.MouseMoveEvent:
# Perform a rotate operation
if not self.getDragPlane():
return False
if not self.getDragStart():
self.setDragStart(event.x, event.y)
handle_position = self._handle.getWorldPosition()
drag_start = (self.getDragStart() - handle_position).normalized()
drag_position = self.getDragPosition(event.x, event.y)
if not drag_position:
return
drag_end = (drag_position - handle_position).normalized()
try:
angle = math.acos(drag_start.dot(drag_end))
except ValueError:
angle = 0
if self._snap_rotation:
angle = int(angle / self._snap_angle) * self._snap_angle
if angle == 0:
return
rotation = None
if self.getLockedAxis() == ToolHandle.XAxis:
direction = 1 if Vector.Unit_X.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_X)
elif self.getLockedAxis() == ToolHandle.YAxis:
direction = 1 if Vector.Unit_Y.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_Y)
elif self.getLockedAxis() == ToolHandle.ZAxis:
direction = 1 if Vector.Unit_Z.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_Z)
# Rate-limit the angle change notification
# This is done to prevent the UI from being flooded with property change notifications,
# which in turn would trigger constant repaints.
new_time = time.monotonic()
if not self._angle_update_time or new_time - self._angle_update_time > 0.1:
self._angle_update_time = new_time
self._angle += direction * angle
self.propertyChanged.emit()
# Rotate around the saved centeres of all selected nodes
op = GroupedOperation()
for node, position in self._saved_node_positions:
op.addOperation(RotateOperation(node, rotation, rotate_around_point = position))
op.push()
self.setDragStart(event.x, event.y)
if event.type == Event.MouseReleaseEvent:
# Finish a rotate operation
if self.getDragPlane():
self.setDragPlane(None)
self.setLockedAxis(None)
self._angle = None
self.propertyChanged.emit()
self.operationStopped.emit(self)
return True
def read(self, file_name):
result = None
extension = os.path.splitext(file_name)[1]
if extension.lower() == self._supported_extension:
result = SceneNode()
# The base object of 3mf is a zipped archive.
archive = zipfile.ZipFile(file_name, 'r')
try:
root = ET.parse(archive.open("3D/3dmodel.model"))
# There can be multiple objects, try to load all of them.
objects = root.findall("./3mf:resources/3mf:object", self._namespaces)
for object in objects:
mesh = MeshData()
node = SceneNode()
vertex_list = []
#for vertex in object.mesh.vertices.vertex:
for vertex in object.findall(".//3mf:vertex", self._namespaces):
vertex_list.append([vertex.get("x"), vertex.get("y"), vertex.get("z")])
triangles = object.findall(".//3mf:triangle", self._namespaces)
mesh.reserveFaceCount(len(triangles))
#for triangle in object.mesh.triangles.triangle:
for triangle in triangles:
v1 = int(triangle.get("v1"))
v2 = int(triangle.get("v2"))
v3 = int(triangle.get("v3"))
mesh.addFace(vertex_list[v1][0],vertex_list[v1][1],vertex_list[v1][2],vertex_list[v2][0],vertex_list[v2][1],vertex_list[v2][2],vertex_list[v3][0],vertex_list[v3][1],vertex_list[v3][2])
#TODO: We currently do not check for normals and simply recalculate them.
mesh.calculateNormals()
node.setMeshData(mesh)
node.setSelectable(True)
transformation = root.findall("./3mf:build/3mf:item[@objectid='{0}']".format(object.get("id")), self._namespaces)
if transformation:
transformation = transformation[0]
if transformation.get("transform"):
splitted_transformation = transformation.get("transform").split()
## Transformation is saved as:
## M00 M01 M02 0.0
## M10 M11 M12 0.0
## M20 M21 M22 0.0
## M30 M31 M32 1.0
## We switch the row & cols as that is how everyone else uses matrices!
temp_mat = Matrix()
# Rotation & Scale
temp_mat._data[0,0] = splitted_transformation[0]
temp_mat._data[1,0] = splitted_transformation[1]
temp_mat._data[2,0] = splitted_transformation[2]
temp_mat._data[0,1] = splitted_transformation[3]
temp_mat._data[1,1] = splitted_transformation[4]
temp_mat._data[2,1] = splitted_transformation[5]
temp_mat._data[0,2] = splitted_transformation[6]
temp_mat._data[1,2] = splitted_transformation[7]
temp_mat._data[2,2] = splitted_transformation[8]
# Translation
temp_mat._data[0,3] = splitted_transformation[9]
temp_mat._data[1,3] = splitted_transformation[10]
temp_mat._data[2,3] = splitted_transformation[11]
node.setPosition(Vector(temp_mat.at(0,3), temp_mat.at(1,3), temp_mat.at(2,3)))
temp_quaternion = Quaternion()
temp_quaternion.setByMatrix(temp_mat)
node.setOrientation(temp_quaternion)
# Magical scale extraction
S2 = temp_mat.getTransposed().multiply(temp_mat)
scale_x = math.sqrt(S2.at(0,0))
scale_y = math.sqrt(S2.at(1,1))
scale_z = math.sqrt(S2.at(2,2))
node.setScale(Vector(scale_x,scale_y,scale_z))
# We use a different coordinate frame, so rotate.
rotation = Quaternion.fromAngleAxis(-0.5 * math.pi, Vector(1,0,0))
node.rotate(rotation)
result.addChild(node)
#If there is more then one object, group them.
try:
if len(objects) > 1:
group_decorator = GroupDecorator()
result.addDecorator(group_decorator)
except:
pass
except Exception as e:
Logger.log("e" ,"exception occured in 3mf reader: %s" , e)
return result
def event(self, event):
super().event(event)
if event.type == Event.KeyPressEvent and event.key == KeyEvent.ShiftKey:
# Snap is toggled when pressing the shift button
self.setRotationSnap(not self._snap_rotation)
if event.type == Event.KeyReleaseEvent and event.key == KeyEvent.ShiftKey:
# Snap is "toggled back" when releasing the shift button
self.setRotationSnap(not self._snap_rotation)
if event.type == Event.MousePressEvent and self._controller.getToolsEnabled(
):
# Start a rotate operation
if MouseEvent.LeftButton not in event.buttons:
return False
id = self._selection_pass.getIdAtPosition(event.x, event.y)
if not id:
return False
if self._handle.isAxis(id):
self.setLockedAxis(id)
else:
# Not clicked on an axis: do nothing.
return False
handle_position = self._handle.getWorldPosition()
# Save the current positions of the node, as we want to rotate around their current centres
self._saved_node_positions = []
for node in self._getSelectedObjectsWithoutSelectedAncestors():
self._saved_node_positions.append((node, node.getPosition()))
if id == ToolHandle.XAxis:
self.setDragPlane(Plane(Vector(1, 0, 0), handle_position.x))
elif id == ToolHandle.YAxis:
self.setDragPlane(Plane(Vector(0, 1, 0), handle_position.y))
elif self._locked_axis == ToolHandle.ZAxis:
self.setDragPlane(Plane(Vector(0, 0, 1), handle_position.z))
else:
self.setDragPlane(Plane(Vector(0, 1, 0), handle_position.y))
self.setDragStart(event.x, event.y)
self._rotating = False
self._angle = 0
return True
if event.type == Event.MouseMoveEvent:
# Perform a rotate operation
if not self.getDragPlane():
return False
if not self.getDragStart():
self.setDragStart(event.x, event.y)
if not self.getDragStart(): #May have set it to None.
return False
if not self._rotating:
self._rotating = True
self.operationStarted.emit(self)
handle_position = self._handle.getWorldPosition()
drag_start = (self.getDragStart() - handle_position).normalized()
drag_position = self.getDragPosition(event.x, event.y)
if not drag_position:
return False
drag_end = (drag_position - handle_position).normalized()
try:
angle = math.acos(drag_start.dot(drag_end))
except ValueError:
angle = 0
if self._snap_rotation:
angle = int(angle / self._snap_angle) * self._snap_angle
if angle == 0:
return False
rotation = None
if self.getLockedAxis() == ToolHandle.XAxis:
direction = 1 if Vector.Unit_X.dot(
drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle,
Vector.Unit_X)
elif self.getLockedAxis() == ToolHandle.YAxis:
direction = 1 if Vector.Unit_Y.dot(
drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle,
Vector.Unit_Y)
elif self.getLockedAxis() == ToolHandle.ZAxis:
direction = 1 if Vector.Unit_Z.dot(
drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle,
Vector.Unit_Z)
else:
direction = -1
# Rate-limit the angle change notification
# This is done to prevent the UI from being flooded with property change notifications,
# which in turn would trigger constant repaints.
new_time = time.monotonic()
if not self._angle_update_time or new_time - self._angle_update_time > 0.1:
self._angle_update_time = new_time
self._angle += direction * angle
self.propertyChanged.emit()
# Rotate around the saved centeres of all selected nodes
if len(self._saved_node_positions) > 1:
op = GroupedOperation()
for node, position in self._saved_node_positions:
op.addOperation(
RotateOperation(node,
rotation,
rotate_around_point=position))
op.push()
else:
for node, position in self._saved_node_positions:
RotateOperation(node,
rotation,
rotate_around_point=position).push()
self.setDragStart(event.x, event.y)
return True
if event.type == Event.MouseReleaseEvent:
# Finish a rotate operation
if self.getDragPlane():
self.setDragPlane(None)
self.setLockedAxis(ToolHandle.NoAxis)
self._angle = None
self.propertyChanged.emit()
if self._rotating:
self.operationStopped.emit(self)
return True
def process(self):
"""Computes some orientation to hopefully lay the object flat.
No promises! This algorithm finds the lowest three vertices and lays
them flat. This is a rather naive heuristic, but fast and practical.
"""
# Based on https://github.com/daid/Cura/blob/SteamEngine/Cura/util/printableObject.py#L207
# Note: Y & Z axis are swapped
#Transform mesh first to get the current positions of the vertices.
transformed_vertices = self._node.getMeshDataTransformedVertices()
min_y_vertex = transformed_vertices[transformed_vertices.argmin(0)[1]]
dot_min = 1.0 #Minimum y-component of direction vector.
dot_v = None
#Find the second-lowest vertex.
for v in transformed_vertices:
diff = v - min_y_vertex #From this vertex to the lowest vertex.
length = math.sqrt(diff[0] * diff[0] + diff[1] * diff[1] + diff[2] * diff[2])
if length < 5: #Ignore lines smaller than half a centimetre. It's unreliable at such small distances.
continue
dot = (diff[1] / length) #Y-component of direction vector.
if dot_min > dot:
dot_min = dot
dot_v = diff
self._emitProgress(1)
if dot_v is None: #Couldn't find any vertex further than 5mm from the lowest vertex.
self._emitProgress(len(transformed_vertices))
return
#Rotate the mesh such that the second-lowest vertex is just as low as the lowest vertex.
rad = math.atan2(dot_v[2], dot_v[0])
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_Y), SceneNode.TransformSpace.Parent)
rad = -math.asin(dot_min)
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_Z), SceneNode.TransformSpace.Parent)
#Apply the transformation so we get new vertex coordinates.
transformed_vertices = self._node.getMeshDataTransformedVertices()
min_y_vertex = transformed_vertices[transformed_vertices.argmin(0)[1]]
dot_min = 1.0
dot_v = None
#Find the second-lowest vertex again.
for v in transformed_vertices:
diff = v - min_y_vertex #From this vertex to the lowest vertex.
length = math.sqrt(diff[2] * diff[2] + diff[1] * diff[1])
if length < 5: #Ignore lines smaller than half a centimetre. It's unreliable at such small distances.
continue
dot = (diff[1] / length) #Y-component of direction vector.
if dot_min > dot:
dot_min = dot
dot_v = diff
self._emitProgress(1)
if dot_v is None: #Couldn't find any vertex further than 5mm from the lowest vertex.
self._node.setOrientation(self._old_orientation)
return
#Rotate the mesh such that the second-lowest vertex gets the same height as the lowest vertex.
if dot_v[2] < 0:
rad = -math.asin(dot_min)
else:
rad = math.asin(dot_min)
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_X), SceneNode.TransformSpace.Parent)
self._new_orientation = self._node.getOrientation() #Save the resulting orientation.
def test_translateWorld(self):
node1 = SceneNode()
node2 = SceneNode(node1)
self.assertEqual(node2.getWorldPosition(), Vector(0, 0, 0))
node1.translate(Vector(0, 0, 10))
self.assertEqual(node1.getWorldPosition(), Vector(0, 0, 10))
self.assertEqual(node2.getWorldPosition(), Vector(0, 0, 10))
node2.translate(Vector(0, 0, 10))
self.assertEqual(node1.getWorldPosition(), Vector(0, 0, 10))
self.assertEqual(node2.getWorldPosition(), Vector(0, 0, 20))
node1.rotate(Quaternion.fromAngleAxis(math.pi / 2, Vector.Unit_Y))
self.assertEqual(node1.getWorldPosition(), Vector(0, 0, 10))
self.assertEqual(node2.getWorldPosition(), Vector(10, 0, 10))
node2.translate(Vector(0, 0, 10))
# Local translation on Z with a parent rotated 90 degrees results in movement on X axis
pos = node2.getWorldPosition()
#Using fuzzyCompare due to accumulation of floating point error
self.assertTrue(
Float.fuzzyCompare(pos.x, 20, 1e-5),
"{0} does not equal {1}".format(pos, Vector(20, 0, 10)))
self.assertTrue(
Float.fuzzyCompare(pos.y, 0, 1e-5),
"{0} does not equal {1}".format(pos, Vector(20, 0, 10)))
self.assertTrue(
Float.fuzzyCompare(pos.z, 10, 1e-5),
"{0} does not equal {1}".format(pos, Vector(20, 0, 10)))
node2.translate(Vector(0, 0, 10), SceneNode.TransformSpace.World)
# World translation on Z with a parent rotated 90 degrees results in movement on Z axis
pos = node2.getWorldPosition()
self.assertTrue(
Float.fuzzyCompare(pos.x, 20, 1e-5),
"{0} does not equal {1}".format(pos, Vector(20, 0, 20)))
self.assertTrue(
Float.fuzzyCompare(pos.y, 0, 1e-5),
"{0} does not equal {1}".format(pos, Vector(20, 0, 20)))
self.assertTrue(
Float.fuzzyCompare(pos.z, 20, 1e-5),
"{0} does not equal {1}".format(pos, Vector(20, 0, 20)))
node1.translate(Vector(0, 0, 10))
self.assertEqual(node1.getWorldPosition(), Vector(10, 0, 10))
pos = node2.getWorldPosition()
self.assertTrue(
Float.fuzzyCompare(pos.x, 30, 1e-5),
"{0} does not equal {1}".format(pos, Vector(30, 0, 20)))
self.assertTrue(
Float.fuzzyCompare(pos.y, 0, 1e-5),
"{0} does not equal {1}".format(pos, Vector(30, 0, 20)))
self.assertTrue(
Float.fuzzyCompare(pos.z, 20, 1e-5),
"{0} does not equal {1}".format(pos, Vector(30, 0, 20)))
node1.scale(Vector(2, 2, 2))
pos = node2.getWorldPosition()
self.assertTrue(
Float.fuzzyCompare(pos.x, 50, 1e-4),
"{0} does not equal {1}".format(pos, Vector(50, 0, 30)))
self.assertTrue(
Float.fuzzyCompare(pos.y, 0, 1e-4),
"{0} does not equal {1}".format(pos, Vector(50, 0, 30)))
self.assertTrue(
Float.fuzzyCompare(pos.z, 30, 1e-4),
"{0} does not equal {1}".format(pos, Vector(50, 0, 30)))
node2.translate(Vector(0, 0, 10))
pos = node2.getWorldPosition()
self.assertTrue(
Float.fuzzyCompare(pos.x, 70, 1e-4),
"{0} does not equal {1}".format(pos, Vector(70, 0, 30)))
self.assertTrue(
Float.fuzzyCompare(pos.y, 0, 1e-4),
"{0} does not equal {1}".format(pos, Vector(70, 0, 30)))
self.assertTrue(
Float.fuzzyCompare(pos.z, 30, 1e-4),
"{0} does not equal {1}".format(pos, Vector(70, 0, 30)))
# World space set position
node1 = SceneNode()
node2 = SceneNode(node1)
node1.setPosition(Vector(15, 15, 15))
node2.setPosition(Vector(10, 10, 10))
self.assertEqual(node2.getWorldPosition(), Vector(25, 25, 25))
#node2.setPosition(Vector(15,15,15), SceneNode.TransformSpace.World)
#self.assertEqual(node2.getWorldPosition(), Vector(15, 15, 15))
#self.assertEqual(node2.getPosition(), Vector(0,0,0))
node1.setPosition(Vector(15, 15, 15))
node2.setPosition(Vector(0, 0, 0))
node2.rotate(Quaternion.fromAngleAxis(-math.pi / 2, Vector.Unit_Y))
node2.translate(Vector(10, 0, 0))
self.assertEqual(node2.getWorldPosition(), Vector(15, 15, 25))
node2.setPosition(Vector(15, 15, 25), SceneNode.TransformSpace.World)
self.assertEqual(node2.getWorldPosition(), Vector(15, 15, 25))
self.assertEqual(node2.getPosition(), Vector(0, 0, 10))
def process(self):
# Based on https://github.com/daid/Cura/blob/SteamEngine/Cura/util/printableObject.py#L207
# Note: Y & Z axis are swapped
#Transform mesh first to get the current positions of the vertices.
transformed_vertices = None
if not self._node.callDecoration("isGroup"):
transformed_vertices = self._node.getMeshDataTransformed(
).getVertices()
else:
#For groups, get the vertices of all children and process them as a single mesh
for child in self._node.getChildren():
if transformed_vertices is None:
transformed_vertices = child.getMeshDataTransformed(
).getVertices()
else:
transformed_vertices = numpy.concatenate(
(transformed_vertices,
child.getMeshDataTransformed().getVertices()),
axis=0)
min_y_vertex = transformed_vertices[transformed_vertices.argmin(0)[1]]
dot_min = 1.0 #Minimum y-component of direction vector.
dot_v = None
#Find the second-lowest vertex.
for v in transformed_vertices:
diff = v - min_y_vertex #From this vertex to the lowest vertex.
length = math.sqrt(diff[0] * diff[0] + diff[1] * diff[1] +
diff[2] * diff[2])
if length < 5: #Ignore lines smaller than half a centimetre. It's unreliable at such small distances.
continue
dot = (diff[1] / length) #Y-component of direction vector.
if dot_min > dot:
dot_min = dot
dot_v = diff
self._emitProgress(1)
if dot_v is None: #Couldn't find any vertex further than 5mm from the lowest vertex.
self._emitProgress(len(transformed_vertices))
return
#Rotate the mesh such that the second-lowest vertex is just as low as the lowest vertex.
rad = math.atan2(dot_v[2], dot_v[0])
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_Y),
SceneNode.TransformSpace.Parent)
rad = -math.asin(dot_min)
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_Z),
SceneNode.TransformSpace.Parent)
#Apply the transformation so we get new vertex coordinates.
transformed_vertices = None
if not self._node.callDecoration("isGroup"):
transformed_vertices = self._node.getMeshDataTransformed(
).getVertices()
else:
#For groups, get the vertices of all children and process them as a single mesh
for child in self._node.getChildren():
if transformed_vertices is None:
transformed_vertices = child.getMeshDataTransformed(
).getVertices()
else:
transformed_vertices = numpy.concatenate(
(transformed_vertices,
child.getMeshDataTransformed().getVertices()),
axis=0)
min_y_vertex = transformed_vertices[transformed_vertices.argmin(0)[1]]
dot_min = 1.0
dot_v = None
#Find the second-lowest vertex again.
for v in transformed_vertices:
diff = v - min_y_vertex #From this vertex to the lowest vertex.
length = math.sqrt(diff[2] * diff[2] + diff[1] * diff[1])
if length < 5: #Ignore lines smaller than half a centimetre. It's unreliable at such small distances.
continue
dot = (diff[1] / length) #Y-component of direction vector.
if dot_min > dot:
dot_min = dot
dot_v = diff
self._emitProgress(1)
if dot_v is None: #Couldn't find any vertex further than 5mm from the lowest vertex.
self._node.setOrientation(self._old_orientation)
return
#Rotate the mesh such that the second-lowest vertex gets the same height as the lowest vertex.
if dot_v[2] < 0:
rad = -math.asin(dot_min)
else:
rad = math.asin(dot_min)
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_X),
SceneNode.TransformSpace.Parent)
self._new_orientation = self._node.getOrientation(
) #Save the resulting orientation.
def process(self):
# Based on https://github.com/daid/Cura/blob/SteamEngine/Cura/util/printableObject.py#L207
# Note: Y & Z axis are swapped
transformed_vertices = self._node.getMeshDataTransformed().getVertices(
)
min_y_vertex = transformed_vertices[transformed_vertices.argmin(0)[1]]
dot_min = 1.0
dot_v = None
for v in transformed_vertices:
diff = v - min_y_vertex
length = math.sqrt(diff[0] * diff[0] + diff[2] * diff[2] +
diff[1] * diff[1])
if length < 5:
continue
dot = (diff[1] / length)
if dot_min > dot:
dot_min = dot
dot_v = diff
self._emitProgress(1)
if dot_v is None:
self._emitProgress(len(transformed_vertices))
return
rad = math.atan2(dot_v[2], dot_v[0])
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_Y),
SceneNode.TransformSpace.Parent)
rad = -math.asin(dot_min)
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_Z),
SceneNode.TransformSpace.Parent)
transformed_vertices = self._node.getMeshDataTransformed().getVertices(
)
min_y_vertex = transformed_vertices[transformed_vertices.argmin(0)[1]]
dot_min = 1.0
dot_v = None
for v in transformed_vertices:
diff = v - min_y_vertex
length = math.sqrt(diff[2] * diff[2] + diff[1] * diff[1])
if length < 5:
continue
dot = (diff[1] / length)
if dot_min > dot:
dot_min = dot
dot_v = diff
self._emitProgress(1)
if dot_v is None:
self._node.setOrientation(self._old_orientation)
return
if dot_v[2] < 0:
rad = -math.asin(dot_min)
else:
rad = math.asin(dot_min)
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_X),
SceneNode.TransformSpace.Parent)
self._new_orientation = self._node.getOrientation()
def event(self, event):
super().event(event)
if event.type == Event.KeyPressEvent and event.key == KeyEvent.ShiftKey:
self._snap_rotation = (not self._snap_rotation)
if event.type == Event.KeyReleaseEvent and event.key == KeyEvent.ShiftKey:
self._snap_rotation = (not self._snap_rotation)
if event.type == Event.MousePressEvent:
if MouseEvent.LeftButton not in event.buttons:
return False
id = self._renderer.getIdAtCoordinate(event.x, event.y)
if not id:
return
if ToolHandle.isAxis(id):
self.setLockedAxis(id)
handle_position = self._handle.getWorldPosition()
if id == ToolHandle.XAxis:
self.setDragPlane(Plane(Vector(1, 0, 0), handle_position.x))
elif id == ToolHandle.YAxis:
self.setDragPlane(Plane(Vector(0, 1, 0), handle_position.y))
elif self._locked_axis == ToolHandle.ZAxis:
self.setDragPlane(Plane(Vector(0, 0, 1), handle_position.z))
self.setDragStart(event.x, event.y)
if event.type == Event.MouseMoveEvent:
if not self.getDragPlane():
return False
handle_position = self._handle.getWorldPosition()
drag_start = (self.getDragStart() - handle_position).normalize()
drag_position = self.getDragPosition(event.x, event.y)
if not drag_position:
return
drag_end = (drag_position - handle_position).normalize()
angle = math.acos(drag_start.dot(drag_end))
if self._snap_rotation:
angle = int(angle / self._snap_angle) * self._snap_angle
if angle == 0:
return
rotation = None
if self.getLockedAxis() == ToolHandle.XAxis:
direction = 1 if Vector.Unit_X.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_X)
elif self.getLockedAxis() == ToolHandle.YAxis:
direction = 1 if Vector.Unit_Y.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_Y)
elif self.getLockedAxis() == ToolHandle.ZAxis:
direction = 1 if Vector.Unit_Z.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_Z)
Selection.applyOperation(RotateOperation, rotation)
self.setDragStart(event.x, event.y)
self.updateHandlePosition()
if event.type == Event.MouseReleaseEvent:
if self.getDragPlane():
self.setDragPlane(None)
self.setLockedAxis(None)
return True
def event(self, event):
super().event(event)
if event.type == Event.KeyPressEvent and event.key == KeyEvent.ShiftKey:
self._snap_rotation = (not self._snap_rotation)
self.propertyChanged.emit()
if event.type == Event.KeyReleaseEvent and event.key == KeyEvent.ShiftKey:
self._snap_rotation = (not self._snap_rotation)
self.propertyChanged.emit()
if event.type == Event.MousePressEvent:
if MouseEvent.LeftButton not in event.buttons:
return False
id = self._renderer.getIdAtCoordinate(event.x, event.y)
if not id:
return
if ToolHandle.isAxis(id):
self.setLockedAxis(id)
handle_position = self._handle.getWorldPosition()
if id == ToolHandle.XAxis:
self.setDragPlane(Plane(Vector(1, 0, 0),
handle_position.x))
elif id == ToolHandle.YAxis:
self.setDragPlane(Plane(Vector(0, 1, 0),
handle_position.y))
elif self._locked_axis == ToolHandle.ZAxis:
self.setDragPlane(Plane(Vector(0, 0, 1),
handle_position.z))
self.setDragStart(event.x, event.y)
self._angle = 0
self.operationStarted.emit(self)
if event.type == Event.MouseMoveEvent:
if not self.getDragPlane():
return False
if not self.getDragStart():
self.setDragStart(event.x, event.y)
handle_position = self._handle.getWorldPosition()
drag_start = (self.getDragStart() - handle_position).normalize()
drag_position = self.getDragPosition(event.x, event.y)
if not drag_position:
return
drag_end = (drag_position - handle_position).normalize()
try:
angle = math.acos(drag_start.dot(drag_end))
except ValueError:
angle = 0
if self._snap_rotation:
angle = int(angle / self._snap_angle) * self._snap_angle
if angle == 0:
return
rotation = None
if self.getLockedAxis() == ToolHandle.XAxis:
direction = 1 if Vector.Unit_X.dot(
drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle,
Vector.Unit_X)
elif self.getLockedAxis() == ToolHandle.YAxis:
direction = 1 if Vector.Unit_Y.dot(
drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle,
Vector.Unit_Y)
elif self.getLockedAxis() == ToolHandle.ZAxis:
direction = 1 if Vector.Unit_Z.dot(
drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle,
Vector.Unit_Z)
self._angle += direction * angle
# Rate-limit the angle change notification
# This is done to prevent the UI from being flooded with property change notifications,
# which in turn would trigger constant repaints.
new_time = time.monotonic()
if not self._angle_update_time or new_time - self._angle_update_time > 0.01:
self.propertyChanged.emit()
self._angle_update_time = new_time
Selection.applyOperation(RotateOperation, rotation)
self.setDragStart(event.x, event.y)
if event.type == Event.MouseReleaseEvent:
if self.getDragPlane():
self.setDragPlane(None)
self.setLockedAxis(None)
self._angle = None
self.propertyChanged.emit()
self.operationStopped.emit(self)
return True
