def triangulate(vertices):
t = Triangulator()
for i, v in enumerate(vertices):
t.add_vertex(v)
t.add_polygon_vertex(i)
t.triangulate()
# Make sure that the result is consistent by starting each triangle with
# the lowest index value. That makes it easier to use predetermined values
# in the test cases.
result = set()
for n in range(t.get_num_triangles()):
# Switch to lowest matching index value in case of duplicates.
v0 = vertices.index(vertices[t.get_triangle_v0(n)])
v1 = vertices.index(vertices[t.get_triangle_v1(n)])
v2 = vertices.index(vertices[t.get_triangle_v2(n)])
if v1 < v0:
v0, v1, v2 = v1, v2, v0
if v1 < v0:
v0, v1, v2 = v1, v2, v0
result.add((v0, v1, v2))
return result
def getTriangulatorGeomData(pointList, normalVec):
"""
takes a list of points and a normal vector,
gets the corresponding triangulated polygon,
returns a dict with the data of that triangulated polygon :
data = {"prims":[], "vertices" : [], "normals" : [], "texcoords" : []}
"""
data = {"prims":[], "vertices" : [], "normals" : [], "texcoords" : []}
#prim = GeomTriangles(Geom.UHStatic)
trig = Triangulator()
#vdata = GeomVertexData('trig', GeomVertexFormat.getV3n3c4t2(), Geom.UHStatic)
#vwriter = GeomVertexWriter(vdata, 'vertex')
#nvwriter = GeomVertexWriter(vdata, 'normal')
#tvwriter = GeomVertexWriter(vdata, 'texcoord')
for x, y, z in pointList:
vi = trig.addVertex(x, y)
#vwriter.addData3f(x, y, z)
data["vertices"].append(Point3(x, y, z))
#nvwriter.addData3f(normalVec)
data["normals"].append(normalVec)
#tvwriter.addData2f(x,y)
data["texcoords"].append(Point2(x, y))
trig.addPolygonVertex(vi)
#print "added vertex vi = %s" % (vi)
try:
trig.triangulate()
except:
return None
#prim = GeomTriangles(Geom.UHStatic)
for i in range(trig.getNumTriangles()):
A, B, C = trig.getTriangleV0(i), trig.getTriangleV1(i), trig.getTriangleV2(i)
#print "triangle %s : %s, %s, %s" % (i, A, B, C)
if normalVec[2]<0:
#prim.addVertices(A, B, C)
data["prims"].append((A, B, C))
else:
#prim.addVertices(A, C, B)
data["prims"].append((A, C, B))
#prim.closePrimitive()
return data
def makeNode(self, pointmap=(lambda x, y: (x, y, 0))):
vt = tuple(self.vertices)
t = Triangulator()
fmt = GeomVertexFormat.getV3()
vdata = GeomVertexData('name', fmt, Geom.UHStatic)
vertex = GeomVertexWriter(vdata, 'vertex')
for x, y in vt:
t.addPolygonVertex(t.addVertex(x, y))
vertex.addData3f(pointmap(x, y))
t.triangulate()
prim = GeomTriangles(Geom.UHStatic)
for n in xrange(t.getNumTriangles()):
prim.addVertices(t.getTriangleV0(n),t.getTriangleV1(n),t.getTriangleV2(n))
prim.closePrimitive()
geom = Geom(vdata)
geom.addPrimitive(prim)
node = GeomNode('gnode')
node.addGeom(geom)
return node
def create_GeomNode_Simple_Polygon_without_Hole(symbol_geometries):
color_vec4 = Vec4(1., 1., 1., 1.)
outerpolygon_contour_points = 0.1 * symbol_geometries[0][0]
# inner_hole_contour_points = 0.1 * symbol_geometries[0][1]
# outerpolygon_contour_points = (
# np.array([[0, 1], [-1, 0], [0, -1], [1, 0]], dtype=np.float64))
# inner_hole_contour_points = (
# 0.5 * np.array([[0, 1], [-1, 0], [0, -1], [1, 0]], dtype=np.float64))
from panda3d.core import Triangulator, LPoint2d
tr = Triangulator()
for vertex in outerpolygon_contour_points:
vi = tr.addVertex(vertex[0], vertex[1])
tr.addPolygonVertex(vi)
# tr.beginHole()
# for vertex in inner_hole_contour_points:
# vi = tr.addVertex(vertex[0], vertex[1])
# tr.addHoleVertex(vi)
tr.triangulate()
vertices = tr.getVertices()
indices = []
num_triangles = tr.getNumTriangles()
for i in range(num_triangles):
indices.append([tr.getTriangleV0(i), tr.getTriangleV1(i), tr.getTriangleV2(i)])
# Own Geometry
# format = GeomVertexFormat.getV3c4t2()
format = GeomVertexFormat.getV3c4()
vdata = GeomVertexData("colored_polygon", format, Geom.UHStatic)
vdata.setNumRows(4)
# let's also add color to each vertex
colorWriter = GeomVertexWriter(vdata, "color")
vertexPosWriter = GeomVertexWriter(vdata, "vertex")
for v in vertices:
vertexPosWriter.addData3f(v[0], 0, v[1])
colorWriter.addData4f(color_vec4)
# make primitives and assign vertices to them (primitives and primitive
# groups can be made independently from vdata, and are later assigned
# to vdata)
tris = GeomTriangles(Geom.UHStatic)
for index_triple in indices:
tris.addVertices(index_triple[0], index_triple[1], index_triple[2])
tris.closePrimitive()
# make a Geom object to hold the primitives
polygonGeom = Geom(vdata) # vdata contains the vertex position/color/... buffers
polygonGeom.addPrimitive(tris) # tris contains the index buffer
# now put quadGeom in a GeomNode. You can now position your geometry
# in the scene graph.
polygonGeomNode = GeomNode("colored_polygon_node")
polygonGeomNode.addGeom(polygonGeom)
return polygonGeomNode
def create_GeomNode_Simple_Polygon_with_Hole(symbol_geometries):
color_vec4 = Vec4(1., 1., 1., 1.)
outerpolygon_contour_points = 0.1 * symbol_geometries[0][0]
inner_hole_contour_points = 0.1 * symbol_geometries[0][1]
from itertools import groupby
inner_hole_contour_points = [k for k,g in groupby(inner_hole_contour_points.tolist())]
# inner_hole_contour_points.append(inner_hole_contour_points[0])
inner_hole_contour_points = np.array(inner_hole_contour_points)[:-1]
outerpolygon_contour_points = [k for k,g in groupby(outerpolygon_contour_points.tolist())]
# outerpolygon_contour_points.append(outerpolygon_contour_points[0])
outerpolygon_contour_points = np.array(outerpolygon_contour_points)[:-1]
# remove consecutive doubles in contour
# outerpolygon_contour_points = inner_hole_contour_points
# outerpolygon_contour_points = (
# np.array([[0, 1], [-1, 0], [0, -1], [1, 0]], dtype=np.float64))
# inner_hole_contour_points = (
# 0.5 * np.array([[0, 1], [-1, 0], [0, -1], [1, 0]], dtype=np.float64))
tr = Triangulator()
# very simple triangular hole
# v1 = np.array([
# np.amax(outerpolygon_contour_points[:, 0]),
# np.amax(outerpolygon_contour_points[:, 1]),
# ]) + np.array([-0.2, -0.15])
# v2 = v1 + np.array([-0.05, -0.05])
# v3 = v1 + np.array([0.0, -0.05])
# inner_hole_contour_points = [v1, v2, v3]
for vertex in outerpolygon_contour_points:
vi = tr.addVertex(vertex[0], vertex[1])
tr.addPolygonVertex(vi)
tr.beginHole()
for vertex in inner_hole_contour_points:
vi = tr.addVertex(vertex[0], vertex[1])
tr.addHoleVertex(vi)
tr.triangulate()
vertices = tr.getVertices()
indices = []
num_triangles = tr.getNumTriangles()
for i in range(num_triangles):
indices.append([tr.getTriangleV0(i), tr.getTriangleV1(i), tr.getTriangleV2(i)])
# Own Geometry
# format = GeomVertexFormat.getV3c4t2()
format = GeomVertexFormat.getV3c4()
vdata = GeomVertexData("colored_polygon", format, Geom.UHStatic)
vdata.setNumRows(4)
# let's also add color to each vertex
colorWriter = GeomVertexWriter(vdata, "color")
vertexPosWriter = GeomVertexWriter(vdata, "vertex")
for v in vertices:
vertexPosWriter.addData3f(v[0], 0, v[1])
colorWriter.addData4f(color_vec4)
# make primitives and assign vertices to them (primitives and primitive
# groups can be made independently from vdata, and are later assigned
# to vdata)
tris = GeomTriangles(Geom.UHStatic)
for index_triple in indices:
tris.addVertices(index_triple[0], index_triple[1], index_triple[2])
tris.closePrimitive()
# make a Geom object to hold the primitives
geom = Geom(vdata) # vdata contains the vertex position/color/... buffers
geom.addPrimitive(tris) # tris contains the index buffer
# now put geom in a GeomNode
geom_node = GeomNode("colored_polygon_node")
geom_node.addGeom(geom)
return geom_node
def reconstruct(self):
trianglator = Triangulator()
#Add vertices to the trianglator
for vertex in self.vertices:
trianglator.addPolygonVertex(trianglator.addVertex(vertex))
trianglator.triangulate()
#Prepare to create the primative
self.vdata = GeomVertexData('floor', GeomVertexFormat.getV3n3cpt2(),
Geom.UHStatic)
vertexW = GeomVertexWriter(self.vdata, 'vertex')
normalW = GeomVertexWriter(self.vdata, 'normal')
colorW = GeomVertexWriter(self.vdata, 'color')
texcoordW = GeomVertexWriter(self.vdata, 'texcoord')
#Add vertices to the primative
i = 0
while i < trianglator.getNumVertices():
vertex = trianglator.getVertex(i)
vertexW.addData3f(vertex.x, vertex.y, 0.0)
normalW.addData3f(0, 0, 1)
colorW.addData4f(0.1, 0.1, 0.1, 0.5)
texcoordW.addData2f(0.0, 1.0)
i += 1
self.geom = Geom(self.vdata)
#Add triangles to the primative
i = 0
print(trianglator.getNumTriangles())
while i < trianglator.getNumTriangles():
tri = GeomTriangles(Geom.UHStatic)
tri.addVertices(trianglator.getTriangleV0(i),
trianglator.getTriangleV1(i),
trianglator.getTriangleV2(i))
tri.closePrimitive()
self.geom.addPrimitive(tri)
i += 1
self.addGeom(self.geom)
def create_geom_node(self):
xyzero = False
i = 0
for i, x in enumerate(self.normal):
if x == 1:
xyzero = True
break
# vt=tuple(self.vertices)
t = Triangulator()
fmt = GeomVertexFormat.getV3cp()
vdata = GeomVertexData('name', fmt, Geom.UHStatic)
vertex = GeomVertexWriter(vdata, 'vertex')
_ = GeomVertexWriter(vdata, 'color')
for point in self._vertices:
(x, y, z) = point
v = (x, y)
if not xyzero:
v = (x, y)
elif i == 0:
v = (y, z)
elif i == 1:
v = (x, z)
elif i == 2:
v = (x, y)
t.addPolygonVertex(t.addVertex(*v))
vertex.addData3f(x, y, z)
t.triangulate()
prim = GeomTriangles(Geom.UHStatic)
for n in range(t.getNumTriangles()):
prim.addVertices(t.getTriangleV0(n), t.getTriangleV1(n),
t.getTriangleV2(n))
prim.closePrimitive()
geom = Geom(vdata)
geom.addPrimitive(prim)
node = GeomNode('gnode')
node.addGeom(geom)
return node
def create_plane_mesh(vertices, vertices_floor, textures, texture_floor, texture_ceiling,
delta_height, ignore_ceiling=False):
# create mesh for 3D floorplan visualization
triangles = []
triangle_uvs = []
# the number of vertical walls
num_walls = len(vertices)
# 1. vertical wall (always rectangle)
num_vertices = 0
for i in range(len(vertices)):
# hardcode triangles for each vertical wall
triangle = np.array([[0, 2, 1], [2, 0, 3]])
triangles.append(triangle + num_vertices)
num_vertices += 4
triangle_uv = np.array(
[
[i / (num_walls + 2), 0],
[i / (num_walls + 2), 1],
[(i+1) / (num_walls + 2), 1],
[(i+1) / (num_walls + 2), 0]
],
dtype=np.float32
)
triangle_uvs.append(triangle_uv)
# 2. floor and ceiling
# Since the floor and ceiling may not be a rectangle, triangulate the polygon first.
tri = Triangulator()
for i in range(len(vertices_floor)):
tri.add_vertex(vertices_floor[i, 0], vertices_floor[i, 1])
for i in range(len(vertices_floor)):
tri.add_polygon_vertex(i)
tri.triangulate()
# polygon triangulation
triangle = []
for i in range(tri.getNumTriangles()):
triangle.append([tri.get_triangle_v0(i), tri.get_triangle_v1(i), tri.get_triangle_v2(i)])
triangle = np.array(triangle)
# add triangles for floor and ceiling
triangles.append(triangle + num_vertices)
num_vertices += len(np.unique(triangle))
if not ignore_ceiling:
triangles.append(triangle + num_vertices)
# texture for floor and ceiling
vertices_floor_min = np.min(vertices_floor[:, :2], axis=0)
vertices_floor_max = np.max(vertices_floor[:, :2], axis=0)
# normalize to [0, 1]
triangle_uv = (vertices_floor[:, :2] - vertices_floor_min) / (vertices_floor_max - vertices_floor_min)
triangle_uv[:, 0] = (triangle_uv[:, 0] + num_walls) / (num_walls + 2)
triangle_uvs.append(triangle_uv)
# normalize to [0, 1]
triangle_uv = (vertices_floor[:, :2] - vertices_floor_min) / (vertices_floor_max - vertices_floor_min)
triangle_uv[:, 0] = (triangle_uv[:, 0] + num_walls + 1) / (num_walls + 2)
triangle_uvs.append(triangle_uv)
# 3. Merge wall, floor, and ceiling
vertices.append(vertices_floor)
vertices.append(vertices_floor + delta_height)
vertices = np.concatenate(vertices, axis=0)
triangles = np.concatenate(triangles, axis=0)
textures.append(texture_floor)
textures.append(texture_ceiling)
textures = np.concatenate(textures, axis=1)
triangle_uvs = np.concatenate(triangle_uvs, axis=0)
mesh = open3d.geometry.TriangleMesh(
vertices=open3d.utility.Vector3dVector(vertices),
triangles=open3d.utility.Vector3iVector(triangles)
)
mesh.compute_vertex_normals()
mesh.texture = open3d.geometry.Image(textures)
mesh.triangle_uvs = np.array(triangle_uvs[triangles.reshape(-1), :], dtype=np.float64)
return mesh
def reconstruct(self):
trianglator = Triangulator()
#Add vertices to the trianglator
for vertex in self.vertices:
trianglator.addPolygonVertex(trianglator.addVertex(vertex))
trianglator.triangulate()
#Prepare to create the primative
self.vdata = GeomVertexData('floor', GeomVertexFormat.getV3n3cpt2(), Geom.UHStatic)
vertexW = GeomVertexWriter(self.vdata, 'vertex')
normalW = GeomVertexWriter(self.vdata, 'normal')
colorW = GeomVertexWriter(self.vdata, 'color')
texcoordW = GeomVertexWriter(self.vdata, 'texcoord')
#Add vertices to the primative
i = 0
while i < trianglator.getNumVertices():
vertex = trianglator.getVertex(i)
vertexW.addData3f(vertex.x,vertex.y,0.0)
normalW.addData3f(0,0,1)
colorW.addData4f(0.1,0.1,0.1,0.5)
texcoordW.addData2f(0.0, 1.0)
i+=1
self.geom = Geom(self.vdata)
#Add triangles to the primative
i = 0
print(trianglator.getNumTriangles())
while i < trianglator.getNumTriangles():
tri = GeomTriangles(Geom.UHStatic)
tri.addVertices(trianglator.getTriangleV0(i),trianglator.getTriangleV1(i),trianglator.getTriangleV2(i))
tri.closePrimitive()
self.geom.addPrimitive(tri)
i+=1
self.addGeom(self.geom)
def triangulate_outer_polygon_with_hole_polygons(
outerPolygonWithInnerHolePolygons):
# TODO: this needs to be all changed, and support for holes needs to be
# integrated
tr = Triangulator()
for vertex in outerPolygonWithInnerHolePolygons.outer_polygon.getVertices(
):
vi = tr.addVertex(vertex[0], vertex[1])
tr.addPolygonVertex(vi)
for inner_hole_polygon in outerPolygonWithInnerHolePolygons.inner_hole_polygons:
tr.beginHole() # finish the last hole, and add to the next
for vertex in inner_hole_polygon.getVertices():
vi = tr.addVertex(vertex[0], vertex[1])
tr.addHoleVertex(vi)
# tr.beginHole() # finish the last hole?
tr.triangulate()
# --- BEGIN getting the triangles vertices and indices ----
def get_vertices_and_indices_from_p3d_triangulated_object(tr):
# first linear array of triangle points
triangles_indices = np.array([])
num_triangles = tr.getNumTriangles()
for i in range(num_triangles):
triangle = np.array([])
# 2d vertices
triangle = np.append(triangle, tr.getTriangleV0(i))
triangle = np.append(triangle, tr.getTriangleV1(i))
triangles_indices = np.append(triangles_indices, triangle)
# reshape it
triangles_indices = np.reshape(triangles_indices, (-1, 2))
triangles_indices = np.array(triangles_indices, np.int32)
# print(tr.isLeftWinding())
# print(tr.getNumTriangles())
# print(tr.getNumVertices())
# return all vertices and indices needed to create a GeomPrimitive
vertices = tr.getVertices()
return vertices, triangles_indices
return get_vertices_and_indices_from_p3d_triangulated_object(tr)
def makeTriMesh( verts, holeVerts=[[]]):
pointmap = (lambda x, y: (x, y, 0))
if not hasattr(holeVerts[0], '__iter__'):
holeVerts = [holeVerts]
frmt = GeomVertexFormat.getV3n3cp()
vdata = GeomVertexData('triangle', frmt, Geom.UHDynamic)
vertex = GeomVertexWriter(vdata, 'vertex')
normal = GeomVertexWriter(vdata, 'normal')
color = GeomVertexWriter(vdata, 'color')
bl = Vec4(50, 50, 50, 255)
gr = Vec4(256/2 - 1, 256/2 - 1, 256/2 - 1, 255)
trilator = Triangulator()
zUp = Vec3(0, 0, 1)
for i in verts:
#print "verts", verts
trilator.addPolygonVertex(trilator.addVertex(i.x, i.y))
vertex.addData3f(pointmap(i.x, i.y))
normal.addData3f(zUp)
color.addData4f(bl)
#if len(holeVerts) != 1 and holeVerts[0] != []:
for w in holeVerts:
trilator.beginHole()
print "new hole"
for j in w:
# print(j) # ###################### PRINT #######################
trilator.addHoleVertex(trilator.addVertex(j.x, j.y))
vertex.addData3f(pointmap(j.x, j.y))
normal.addData3f(zUp)
color.addData4f(gr)
# try:
trilator.triangulate()
triVerts = trilator.getVertices()
p = trilator.getTriangleV0(0)
print "trilator return", p
# except AssertionError:
# pass
# TODO:re-triangulate here and change AdjacencyList to expect a list of triangles rather than call Triangulator funcs
trilator = makeDelaunayTriangulation(trilator)
prim = GeomTriangles(Geom.UHStatic)
if isinstance(trilator, Triangulator):
# HACK just to switch back and forth from the non-Delaunay to the Delaunay for school
for n in xrange(trilator.getNumTriangles()):
prim.addVertices(trilator.getTriangleV0(n),
trilator.getTriangleV1(n),
trilator.getTriangleV2(n))
else: # it's an adjacency list
for n in xrange(len(trilator.adjLst)):
for v in range(0, len(triVerts)):
print "\ncurr", triVerts[v], "\nv0", Point2D(trilator.adjLst[n].tri[0].x, trilator.adjLst[n].tri[0].y),\
"\nv1", Point2D(trilator.adjLst[n].tri[1].x, trilator.adjLst[n].tri[1].y),\
"\nv2", Point2D(trilator.adjLst[n].tri[2].x, trilator.adjLst[n].tri[2].y)
# trilator.adjLst[n].tri[0].getXy(),\
# "\nv1", trilator.adjLst[n].tri[1].getXy(),\
# "\nv2", trilator.adjLst[n].tri[2].getXy()
# v0 = v1 = v2 = -1
if Point2D(trilator.adjLst[n].tri[0].x, trilator.adjLst[n].tri[0].y) == triVerts[v]:
v0 = v # we need indices into the vertex pool
print "found v0", v0
if Point2D(trilator.adjLst[n].tri[1].x, trilator.adjLst[n].tri[1].y) == triVerts[v]:
v1 = v
print "found v1", v1
if Point2D(trilator.adjLst[n].tri[2].x, trilator.adjLst[n].tri[2].y) == triVerts[v]:
v2 = v
print "found v2", v2
# if v0 == -1 or v1 == -1 or v2 == -1:
# print "pass", v0, v1, v2
# pass
# else:
# print "add"
# i = triVerts[v0]
# vertex.addData3f(pointmap(i.x, i.y))
# normal.addData3f(zUp)
# color.addData4f(bl)
# i = triVerts[v1]
# vertex.addData3f(pointmap(i.x, i.y))
# normal.addData3f(zUp)
# color.addData4f(bl)
# i = triVerts[v2]
# vertex.addData3f(pointmap(i.x, i.y))
# normal.addData3f(zUp)
# color.addData4f(bl)
print "v 1 2 3", v0, v1, v2
prim.addVertices(v0, v1, v2)
prim.closePrimitive()
geom = Geom(vdata)
geom.addPrimitive(prim)
node = GeomNode('gnode')
node.addGeom(geom)
# print trilator.isLeftWinding()
# HACK just for school
if hasattr(trilator, "adLst"):
return tuple((node, trilator.adjLst))
else:
return tuple((node, trilator))
def getTriangulatorGeomData(pointList,
normalVec,
texScale=(1, 1),
color=(1, 1, 1, 1)):
"""
takes a list of points and a normal vector,
gets the corresponding triangulated polygon,
returns a dict with the data of that triangulated polygon :
data = {"prims":[], "vertices" : [], "normals" : [], "texcoords" : []}
"""
data = {
"prims": [],
"vertices": [],
"normals": [],
"texcoords": [],
"colors": []
}
normalVec = Vec3(normalVec)
normalVec.normalize()
u, v = texScale
trig = Triangulator()
for x, y, z in pointList:
if normalVec[2] > 0:
vi = trig.addVertex(x, y)
data["texcoords"].append(Point2(x * u, y * u))
elif normalVec[1] > 0:
vi = trig.addVertex(x, z)
data["texcoords"].append(Point2(x * u, z * u))
else:
vi = trig.addVertex(y, z)
data["texcoords"].append(Point2(y * u, z * u))
data["vertices"].append(Point3(x, y, z))
data["normals"].append(normalVec)
data["colors"].append(color)
trig.addPolygonVertex(vi)
trig.triangulate()
for i in xrange(trig.getNumTriangles()):
A, B, C = trig.getTriangleV0(i), trig.getTriangleV1(
i), trig.getTriangleV2(i)
data["prims"].append((A, B, C))
#if normalVec[2]>0:
# data["prims"].append((A, B, C))
#else:
# data["prims"].append((A, C, B))
return data
def getTriangulatorGeomData(pointList, normalVec):
"""
takes a list of points and a normal vector,
gets the corresponding triangulated polygon,
returns a dict with the data of that triangulated polygon :
data = {"prims":[], "vertices" : [], "normals" : [], "texcoords" : []}
"""
data = {"prims": [], "vertices": [], "normals": [], "texcoords": []}
#prim = GeomTriangles(Geom.UHStatic)
trig = Triangulator()
#vdata = GeomVertexData('trig', GeomVertexFormat.getV3n3c4t2(), Geom.UHStatic)
#vwriter = GeomVertexWriter(vdata, 'vertex')
#nvwriter = GeomVertexWriter(vdata, 'normal')
#tvwriter = GeomVertexWriter(vdata, 'texcoord')
for x, y, z in pointList:
vi = trig.addVertex(x, y)
#vwriter.addData3f(x, y, z)
data["vertices"].append(Point3(x, y, z))
#nvwriter.addData3f(normalVec)
data["normals"].append(normalVec)
#tvwriter.addData2f(x,y)
data["texcoords"].append(Point2(x, y))
trig.addPolygonVertex(vi)
#print "added vertex vi = %s" % (vi)
try:
trig.triangulate()
except:
return None
#prim = GeomTriangles(Geom.UHStatic)
for i in range(trig.getNumTriangles()):
A, B, C = trig.getTriangleV0(i), trig.getTriangleV1(
i), trig.getTriangleV2(i)
#print "triangle %s : %s, %s, %s" % (i, A, B, C)
if normalVec[2] < 0:
#prim.addVertices(A, B, C)
data["prims"].append((A, B, C))
else:
#prim.addVertices(A, C, B)
data["prims"].append((A, C, B))
#prim.closePrimitive()
return data
def getTriangulatorGeomData(pointList, normalVec, texScale=(1,1), color=(1,1,1,1)):
"""
takes a list of points and a normal vector,
gets the corresponding triangulated polygon,
returns a dict with the data of that triangulated polygon :
data = {"prims":[], "vertices" : [], "normals" : [], "texcoords" : []}
"""
data = {"prims":[], "vertices" : [], "normals" : [], "texcoords" : [], "colors" : []}
normalVec = Vec3(normalVec)
normalVec.normalize()
u, v = texScale
trig = Triangulator()
for x, y, z in pointList:
if normalVec[2]>0:
vi = trig.addVertex(x, y)
data["texcoords"].append(Point2(x*u, y*u))
elif normalVec[1]>0:
vi = trig.addVertex(x, z)
data["texcoords"].append(Point2(x*u, z*u))
else:
vi = trig.addVertex(y, z)
data["texcoords"].append(Point2(y*u, z*u))
data["vertices"].append(Point3(x, y, z))
data["normals"].append(normalVec)
data["colors"].append(color)
trig.addPolygonVertex(vi)
trig.triangulate()
for i in xrange(trig.getNumTriangles()):
A, B, C = trig.getTriangleV0(i), trig.getTriangleV1(i), trig.getTriangleV2(i)
data["prims"].append((A, B, C))
#if normalVec[2]>0:
# data["prims"].append((A, B, C))
#else:
# data["prims"].append((A, C, B))
return data
def __init__(self,
items,
parent=None,
buttonThrower=None,
onDestroy=None,
font=None,
baselineOffset=.0,
scale=.05,
itemHeight=1.,
leftPad=.0,
separatorHeight=.5,
underscoreThickness=1,
BGColor=(0, 0, 0, .7),
BGBorderColor=(1, .85, .4, 1),
separatorColor=(1, 1, 1, 1),
frameColorHover=(1, .85, .4, 1),
frameColorPress=(0, 1, 0, 1),
textColorReady=(1, 1, 1, 1),
textColorHover=(0, 0, 0, 1),
textColorPress=(0, 0, 0, 1),
textColorDisabled=(.5, .5, .5, 1),
minZ=None,
useMouseZ=True):
'''
items : a collection of menu items
Item format :
( 'Item text', 'path/to/image', command )
OR
( 'Item text', 'path/to/image', command, arg1,arg2,.... )
If you don't want to use an image, pass 0.
To create disabled item, pass 0 for the command :
( 'Item text', 'path/to/image', 0 )
so, you can easily switch between enabled or disabled :
( 'Item text', 'path/to/image', command if commandEnabled else 0 )
OR
( 'Item text', 'path/to/image', (0,command)[commandEnabled] )
To create submenu, pass a sequence of submenu items for the command.
To create disabled submenu, pass an empty sequence for the command.
To enable hotkey, insert an underscore before the character,
e.g. hotkey of 'Item te_xt' is 'x' key.
To add shortcut key text at the right side of the item, append it at the end of
the item text, separated by "more than" sign, e.g. 'Item text>Ctrl-T'.
To insert separator line, pass 0 for the whole item.
parent : where to attach the menu, defaults to aspect2d
buttonThrower : button thrower whose thrown events are blocked temporarily
when the menu is displayed. If not given, the default
button thrower is used
onDestroy : user function which will be called after the menu is fully destroyed
font : text font
baselineOffset : text's baseline Z offset
scale : text scale
itemHeight : spacing between items, defaults to 1
leftPad : blank space width before text
separatorHeight : separator line height, relative to itemHeight
underscoreThickness : underscore line thickness
BGColor, BGBorderColor, separatorColor, frameColorHover, frameColorPress,
textColorReady, textColorHover, textColorPress, textColorDisabled
are some of the menu components' color
minZ : minimum Z position to restrain menu's bottom from going offscreen (-1..1).
If it's None, it will be set a little above the screen's bottom.
'''
self.parent = parent if parent else aspect2d
self.onDestroy = onDestroy
self.BT = buttonThrower if buttonThrower else base.buttonThrowers[
0].node()
self.menu = NodePath('menu-%s' % id(self))
self.parentMenu = None
self.submenu = None
self.BTprefix = self.menu.getName() + '>'
self.submenuCreationTaskName = 'createSubMenu-' + self.BTprefix
self.submenuRemovalTaskName = 'removeSubMenu-' + self.BTprefix
self.font = font if font else TextNode.getDefaultFont()
self.baselineOffset = baselineOffset
if isinstance(scale, (float, int)):
scale = (scale, 1.0, scale)
self.scale = scale
self.itemHeight = itemHeight
self.leftPad = leftPad
self.separatorHeight = separatorHeight
self.underscoreThickness = underscoreThickness
self.BGColor = BGColor
self.BGBorderColor = BGBorderColor
self.separatorColor = separatorColor
self.frameColorHover = frameColorHover
self.frameColorPress = frameColorPress
self.textColorReady = textColorReady
self.textColorHover = textColorHover
self.textColorPress = textColorPress
self.textColorDisabled = textColorDisabled
self.minZ = minZ
self.mpos = Point2(base.mouseWatcherNode.getMouse())
self.itemCommand = []
self.hotkeys = {}
self.numItems = 0
self.sel = -1
self.selByKey = False
bgPad = self.bgPad = .0125
texMargin = self.font.getTextureMargin() * self.scale[0] * .25
b = DirectButton(parent=NodePath(''),
text='^|g_',
text_font=self.font,
scale=self.scale)
fr = b.node().getFrame()
b.getParent().removeNode()
baselineToCenter = (fr[2] + fr[3]) * self.scale[0]
LH = (fr[3] - fr[2]) * self.itemHeight * self.scale[2]
imageHalfHeight = .5 * (fr[3] - fr[2]) * self.itemHeight * .85
arrowHalfHeight = .5 * (fr[3] - fr[2]) * self.itemHeight * .5
baselineToTop = (fr[3] * self.itemHeight * self.scale[2] /
LH) / (1. + self.baselineOffset)
baselineToBot = LH / self.scale[2] - baselineToTop
itemZcenter = (baselineToTop - baselineToBot) * .5
separatorHalfHeight = .5 * separatorHeight * LH
LSseparator = LineSegs()
LSseparator.setColor(.5, .5, .5, .2)
arrowVtx = [
(0, itemZcenter),
(-2 * arrowHalfHeight, itemZcenter + arrowHalfHeight),
(-arrowHalfHeight, itemZcenter),
(-2 * arrowHalfHeight, itemZcenter - arrowHalfHeight),
]
tri = Triangulator()
vdata = GeomVertexData('trig', GeomVertexFormat.getV3(), Geom.UHStatic)
vwriter = GeomVertexWriter(vdata, 'vertex')
for x, z in arrowVtx:
vi = tri.addVertex(x, z)
vwriter.addData3f(x, 0, z)
tri.addPolygonVertex(vi)
tri.triangulate()
prim = GeomTriangles(Geom.UHStatic)
for i in range(tri.getNumTriangles()):
prim.addVertices(tri.getTriangleV0(i), tri.getTriangleV1(i),
tri.getTriangleV2(i))
prim.closePrimitive()
geom = Geom(vdata)
geom.addPrimitive(prim)
geomNode = GeomNode('arrow')
geomNode.addGeom(geom)
realArrow = NodePath(geomNode)
z = -baselineToTop * self.scale[2] - bgPad
maxWidth = .1 / self.scale[0]
shortcutTextMaxWidth = 0
anyImage = False
anyArrow = False
anyShortcut = False
arrows = []
shortcutTexts = []
loadPrcFileData('', 'text-flatten 0')
for item in items:
if item:
t, imgPath, f = item[:3]
haveSubmenu = type(f) in SEQUENCE_TYPES
anyArrow |= haveSubmenu
anyImage |= isinstance(imgPath, bool) or bool(imgPath)
disabled = not len(f) if haveSubmenu else not callable(f)
args = item[3:]
underlinePos = t.find('_')
t = t.replace('_', '')
shortcutSepPos = t.find('>')
if shortcutSepPos > -1:
if haveSubmenu:
print(
"\nA SHORTCUT KEY POINTING TO A SUBMENU IS NON-SENSE, DON'T YOU AGREE ?"
)
else:
shortcutText = NodePath(
OnscreenText(
parent=self.menu,
text=t[shortcutSepPos + 1:],
font=self.font,
scale=1,
fg=(1, 1, 1, 1),
align=TextNode.ARight,
))
shortcutTextMaxWidth = max(
shortcutTextMaxWidth,
abs(shortcutText.getTightBounds()[0][0]))
anyShortcut = True
t = t[:shortcutSepPos]
else:
shortcutText = ''
EoLcount = t.count('\n')
arrowZpos = -self.font.getLineHeight() * EoLcount * .5
if disabled:
b = NodePath(
OnscreenText(
parent=self.menu,
text=t,
font=self.font,
scale=1,
fg=textColorDisabled,
align=TextNode.ALeft,
))
# don't pass the scale and position to OnscreenText constructor,
# to maintain correctness between the OnscreenText and DirectButton items
# due to the new text generation implementation
b.setScale(self.scale)
b.setZ(z)
maxWidth = max(maxWidth,
b.getTightBounds()[1][0] / self.scale[0])
if shortcutText:
shortcutText.reparentTo(b)
shortcutText.setColor(Vec4(*textColorDisabled), 1)
shortcutText.setZ(arrowZpos)
shortcutTexts.append(shortcutText)
else:
b = DirectButton(
parent=self.menu,
text=t,
text_font=self.font,
scale=self.scale,
pos=(0, 0, z),
text_fg=textColorReady,
# text color when mouse over
text2_fg=textColorHover,
# text color when pressed
text1_fg=textColorHover
if haveSubmenu else textColorPress,
# framecolor when pressed
frameColor=frameColorHover
if haveSubmenu else frameColorPress,
commandButtons=[DGG.LMB, DGG.RMB],
command=(lambda: 0)
if haveSubmenu else self.__runCommand,
extraArgs=[] if haveSubmenu else [f, args],
text_align=TextNode.ALeft,
relief=DGG.FLAT,
rolloverSound=0,
clickSound=0,
pressEffect=0)
b.stateNodePath[2].setColor(
*frameColorHover) # framecolor when mouse over
b.stateNodePath[0].setColor(0, 0, 0,
0) # framecolor when ready
bframe = Vec4(b.node().getFrame())
if EoLcount:
bframe.setZ(EoLcount * 10)
b['frameSize'] = bframe
maxWidth = max(maxWidth, bframe[1])
if shortcutText:
for snpi, col in ((0, textColorReady),
(1, textColorPress),
(2, textColorHover)):
sct = shortcutText.copyTo(b.stateNodePath[snpi],
sort=10)
sct.setColor(Vec4(*col), 1)
sct.setZ(arrowZpos)
shortcutTexts.append(sct)
shortcutText.removeNode()
if isinstance(imgPath, bool):
if imgPath:
if disabled:
fg = textColorDisabled
else:
fg = textColorReady
tick = NodePath(
OnscreenText(
parent=b,
text=u"\u2714",
font=self.font,
scale=1,
fg=fg,
align=TextNode.ALeft,
))
tick.setX(-2 * imageHalfHeight - leftPad)
elif imgPath:
img = loader.loadTexture(imgPath, okMissing=True)
if img is not None:
if disabled:
if imgPath in PopupMenu.grayImages:
img = PopupMenu.grayImages[imgPath]
else:
pnm = PNMImage()
img.store(pnm)
pnm.makeGrayscale(.2, .2, .2)
img = Texture()
img.load(pnm)
PopupMenu.grayImages[imgPath] = img
img.setMinfilter(Texture.FTLinearMipmapLinear)
img.setWrapU(Texture.WMClamp)
img.setWrapV(Texture.WMClamp)
CM = CardMaker('')
CM.setFrame(-2 * imageHalfHeight - leftPad, -leftPad,
itemZcenter - imageHalfHeight,
itemZcenter + imageHalfHeight)
imgCard = b.attachNewNode(CM.generate())
imgCard.setTexture(img)
if underlinePos > -1:
oneLineText = t[:underlinePos + 1]
oneLineText = oneLineText[oneLineText.rfind('\n') + 1:]
tn = TextNode('')
tn.setFont(self.font)
tn.setText(oneLineText)
tnp = NodePath(tn.getInternalGeom())
underlineXend = tnp.getTightBounds()[1][0]
tnp.removeNode()
tn.setText(t[underlinePos])
tnp = NodePath(tn.getInternalGeom())
b3 = tnp.getTightBounds()
underlineXstart = underlineXend - (b3[1] - b3[0])[0]
tnp.removeNode()
underlineZpos = -.7 * baselineToBot - self.font.getLineHeight(
) * t[:underlinePos].count('\n')
LSunder = LineSegs()
LSunder.setThickness(underscoreThickness)
LSunder.moveTo(underlineXstart + texMargin, 0,
underlineZpos)
LSunder.drawTo(underlineXend - texMargin, 0, underlineZpos)
if disabled:
underline = b.attachNewNode(LSunder.create())
underline.setColor(Vec4(*textColorDisabled), 1)
else:
underline = b.stateNodePath[0].attachNewNode(
LSunder.create())
underline.setColor(Vec4(*textColorReady), 1)
underline.copyTo(b.stateNodePath[1], 10).setColor(
Vec4(*textColorHover
if haveSubmenu else textColorPress), 1)
underline.copyTo(b.stateNodePath[2],
10).setColor(Vec4(*textColorHover), 1)
hotkey = t[underlinePos].lower()
if hotkey in self.hotkeys:
self.hotkeys[hotkey].append(self.numItems)
else:
self.hotkeys[hotkey] = [self.numItems]
self.accept(self.BTprefix + hotkey,
self.__processHotkey, [hotkey])
self.accept(self.BTprefix + 'alt-' + hotkey,
self.__processHotkey, [hotkey])
if haveSubmenu:
if disabled:
arrow = realArrow.instanceUnderNode(b, '')
arrow.setColor(Vec4(*textColorDisabled), 1)
arrow.setZ(arrowZpos)
else:
arrow = realArrow.instanceUnderNode(
b.stateNodePath[0], 'r')
arrow.setColor(Vec4(*textColorReady), 1)
arrow.setZ(arrowZpos)
arrPress = realArrow.instanceUnderNode(
b.stateNodePath[1], 'p')
arrPress.setColor(Vec4(*textColorHover), 1)
arrPress.setZ(arrowZpos)
arrHover = realArrow.instanceUnderNode(
b.stateNodePath[2], 'h')
arrHover.setColor(Vec4(*textColorHover), 1)
arrHover.setZ(arrowZpos)
# weird, if sort order is 0, it's obscured by the frame
for a in (arrPress, arrHover):
a.reparentTo(a.getParent(), sort=10)
if not disabled:
extraArgs = [self.numItems, f if haveSubmenu else 0]
self.accept(DGG.ENTER + b.guiId, self.__hoverOnItem,
extraArgs)
self.accept(DGG.EXIT + b.guiId, self.__offItem)
#~ self.itemCommand.append((None,0) if haveSubmenu else (f,args))
self.itemCommand.append((f, args))
if self.numItems == 0:
self.firstButtonIdx = int(b.guiId[2:])
self.numItems += 1
z -= LH + self.font.getLineHeight() * self.scale[2] * EoLcount
else: # SEPARATOR LINE
z += LH - separatorHalfHeight - baselineToBot * self.scale[2]
LSseparator.moveTo(0, 0, z)
LSseparator.drawTo(self.scale[0] * .5, 0, z)
LSseparator.drawTo(self.scale[0], 0, z)
z -= separatorHalfHeight + baselineToTop * self.scale[2]
maxWidth += 7 * arrowHalfHeight * (
anyArrow or anyShortcut) + .2 + shortcutTextMaxWidth
arrowXpos = maxWidth - arrowHalfHeight
realArrow.setX(arrowXpos)
if anyImage:
leftPad += 2 * imageHalfHeight + leftPad
for sct in shortcutTexts:
sct.setX(maxWidth - 2 * (arrowHalfHeight * anyArrow + .2))
for c in asList(self.menu.findAllMatches('**/DirectButton*')):
numLines = c.node().getFrame()[2]
c.node().setFrame(
Vec4(
-leftPad, maxWidth, -baselineToBot -
(numLines * .1 * self.itemHeight if numLines >= 10 else 0),
baselineToTop))
loadPrcFileData('', 'text-flatten 1')
try:
minZ = self.menu.getChild(0).getRelativePoint(
b, Point3(0, 0,
b.node().getFrame()[2]))[2]
except:
minZ = self.menu.getChild(0).getRelativePoint(
self.menu, Point3(
0, 0,
b.getTightBounds()[0][2]))[2] - baselineToBot * .5
try:
top = self.menu.getChild(0).node().getFrame()[3]
except:
top = self.menu.getChild(0).getZ() + baselineToTop
l, r, b, t = -leftPad - bgPad / self.scale[
0], maxWidth + bgPad / self.scale[0], minZ - bgPad / self.scale[
2], top + bgPad / self.scale[2]
menuBG = DirectFrame(parent=self.menu.getChild(0),
frameSize=(l, r, b, t),
frameColor=BGColor,
state=DGG.NORMAL,
suppressMouse=1)
menuBorder = self.menu.getChild(0).attachNewNode('border')
borderVtx = (
(l, 0, b),
(l, 0, .5 * (b + t)),
(l, 0, t),
(.5 * (l + r), 0, t),
(r, 0, t),
(r, 0, .5 * (b + t)),
(r, 0, b),
(.5 * (l + r), 0, b),
(l, 0, b),
)
LSborderBG = LineSegs()
LSborderBG.setThickness(4)
LSborderBG.setColor(0, 0, 0, .7)
LSborderBG.moveTo(*(borderVtx[0]))
for v in borderVtx[1:]:
LSborderBG.drawTo(*v)
# fills the gap at corners
for v in range(0, 7, 2):
LSborderBG.moveTo(*(borderVtx[v]))
menuBorder.attachNewNode(LSborderBG.create())
LSborder = LineSegs()
LSborder.setThickness(2)
LSborder.setColor(*BGBorderColor)
LSborder.moveTo(*(borderVtx[0]))
for v in borderVtx[1:]:
LSborder.drawTo(*v)
menuBorder.attachNewNode(LSborder.create())
for v in range(1, 8, 2):
LSborderBG.setVertexColor(v, Vec4(0, 0, 0, .1))
LSborder.setVertexColor(v, Vec4(.3, .3, .3, .5))
menuBorderB3 = menuBorder.getTightBounds()
menuBorderDims = menuBorderB3[1] - menuBorderB3[0]
menuBG.wrtReparentTo(self.menu, sort=-1)
self.menu.reparentTo(self.parent)
x = -menuBorderB3[0][0] * self.scale[0]
for c in asList(self.menu.getChildren()):
c.setX(x)
self.maxWidth = maxWidth = menuBorderDims[0]
self.height = menuBorderDims[2]
maxWidthR2D = maxWidth * self.menu.getChild(0).getSx(render2d)
separatorLines = self.menu.attachNewNode(LSseparator.create(), 10)
separatorLines.setSx(maxWidth)
for v in range(1, LSseparator.getNumVertices(), 3):
LSseparator.setVertexColor(v, Vec4(*separatorColor))
x = clamp(-.98, .98 - maxWidthR2D, self.mpos[0] - maxWidthR2D * .5)
minZ = (-.98 if self.minZ is None else self.minZ)
z = clamp(
minZ +
menuBorderDims[2] * self.scale[2] * self.parent.getSz(render2d),
.98, self.mpos[1] if useMouseZ else -1000)
self.menu.setPos(render2d, x, 0, z)
self.menu.setTransparency(1)
self.origBTprefix = self.BT.getPrefix()
self.BT.setPrefix(self.BTprefix)
self.accept(self.BTprefix + 'escape', self.destroy)
for e in ('mouse1', 'mouse3'):
self.accept(self.BTprefix + e, self.destroy, [True])
self.accept(self.BTprefix + 'arrow_down', self.__nextItem)
self.accept(self.BTprefix + 'arrow_down-repeat', self.__nextItem)
self.accept(self.BTprefix + 'arrow_up', self.__prevItem)
self.accept(self.BTprefix + 'arrow_up-repeat', self.__prevItem)
self.accept(self.BTprefix + 'enter', self.__runSelItemCommand)
self.accept(self.BTprefix + 'space', self.__runSelItemCommand)
def makeTriMesh( verts, holeVerts=[[]]):
pointmap = (lambda x, y: (x, y, 0))
if not holeVerts:
holeVerts = [[]]
if not hasattr(holeVerts[0], '__iter__'):
holeVerts = [holeVerts]
frmt = GeomVertexFormat.getV3n3cp()
vdata = GeomVertexData('triangle', frmt, Geom.UHDynamic)
vertex = GeomVertexWriter(vdata, 'vertex')
normal = GeomVertexWriter(vdata, 'normal')
color = GeomVertexWriter(vdata, 'color')
bl = Vec4(50, 50, 50, 255)
gr = Vec4(256/2 - 1, 256/2 - 1, 256/2 - 1, 255)
trilator = Triangulator()
zUp = Vec3(0, 0, 1)
for i in verts:
#print "verts", verts
trilator.addPolygonVertex(trilator.addVertex(i.x, i.y))
vertex.addData3f(pointmap(i.x, i.y))
normal.addData3f(zUp)
color.addData4f(bl)
#if len(holeVerts) != 1 and holeVerts[0] != []:
for w in holeVerts:
trilator.beginHole()
print "new hole"
for j in w:
# print(j) # ###################### PRINT #######################
trilator.addHoleVertex(trilator.addVertex(j.x, j.y))
vertex.addData3f(pointmap(j.x, j.y))
normal.addData3f(zUp)
color.addData4f(gr)
# try:
trilator.triangulate()
triVerts = trilator.getVertices()
p = trilator.getTriangleV0(0)
print "trilator return", p
# except AssertionError:
# pass
# TODO:re-triangulate here and change AdjacencyList to expect a list of triangles rather than call Triangulator funcs
trilator = makeDelaunayTriangulation(trilator)
prim = GeomTriangles(Geom.UHStatic)
if isinstance(trilator, Triangulator):
# HACK just to switch back and forth from the non-Delaunay to the Delaunay for school
for n in xrange(trilator.getNumTriangles()):
prim.addVertices(trilator.getTriangleV0(n),
trilator.getTriangleV1(n),
trilator.getTriangleV2(n))
else: # it's an adjacency list
for n in xrange(len(trilator.adjLst)):
for v in range(0, len(triVerts)):
print "\ncurr", triVerts[v], "\nv0", Point2D(trilator.adjLst[n].tri[0].x, trilator.adjLst[n].tri[0].y),\
"\nv1", Point2D(trilator.adjLst[n].tri[1].x, trilator.adjLst[n].tri[1].y),\
"\nv2", Point2D(trilator.adjLst[n].tri[2].x, trilator.adjLst[n].tri[2].y)
# trilator.adjLst[n].tri[0].getXy(),\
# "\nv1", trilator.adjLst[n].tri[1].getXy(),\
# "\nv2", trilator.adjLst[n].tri[2].getXy()
# v0 = v1 = v2 = -1
if Point2D(trilator.adjLst[n].tri[0].x, trilator.adjLst[n].tri[0].y) == triVerts[v]:
v0 = v # we need indices into the vertex pool
print "found v0", v0
if Point2D(trilator.adjLst[n].tri[1].x, trilator.adjLst[n].tri[1].y) == triVerts[v]:
v1 = v
print "found v1", v1
if Point2D(trilator.adjLst[n].tri[2].x, trilator.adjLst[n].tri[2].y) == triVerts[v]:
v2 = v
print "found v2", v2
# if v0 == -1 or v1 == -1 or v2 == -1:
# print "pass", v0, v1, v2
# pass
# else:
# print "add"
# i = triVerts[v0]
# vertex.addData3f(pointmap(i.x, i.y))
# normal.addData3f(zUp)
# color.addData4f(bl)
# i = triVerts[v1]
# vertex.addData3f(pointmap(i.x, i.y))
# normal.addData3f(zUp)
# color.addData4f(bl)
# i = triVerts[v2]
# vertex.addData3f(pointmap(i.x, i.y))
# normal.addData3f(zUp)
# color.addData4f(bl)
print "v 1 2 3", v0, v1, v2
prim.addVertices(v0, v1, v2)
prim.closePrimitive()
geom = Geom(vdata)
geom.addPrimitive(prim)
node = GeomNode('gnode')
node.addGeom(geom)
# print trilator.isLeftWinding()
# HACK just for school
if hasattr(trilator, "adLst"):
return tuple((node, trilator.adjLst))
else:
return tuple((node, trilator))
