def test_periodic_split(self):
# non-uniform rational knot vector of a periodic cubic n=7 curve
controlpoints = [[1, 0, 1], [1, 1, .7], [0, 1, .89], [-1, 1, 0.5],
[-1, 0, 1], [-1, -.5, 1], [1, -.5, 1]]
basis = BSplineBasis(4,
[-3, -2, -1, 0, 1, 2, 2.5, 4, 5, 6, 7, 8, 9, 9.5],
2)
crv = Curve(basis, controlpoints, rational=True)
crv2 = crv.split(1) # split at knot value
crv3 = crv.split(6.5) # split outside existing knot
self.assertEqual(len(crv), 7)
self.assertEqual(len(crv2), 10)
self.assertEqual(len(crv3), 11)
self.assertEqual(crv.periodic(), True)
self.assertEqual(crv2.periodic(), False)
self.assertEqual(crv3.periodic(), False)
t = np.linspace(6.5, 8,
13) # domain where all parameter values are the same
pt = crv(t)
pt2 = crv2(t)
pt3 = crv3(t)
self.assertAlmostEqual(np.linalg.norm(pt - pt2), 0.0)
self.assertAlmostEqual(np.linalg.norm(pt - pt3), 0.0)
def test_derivative(self):
# testing the parametrization x(t) = [.5*x^3 / ((1-x)^3+.5*x^3), 0]
cp = [[0, 0, 1], [0, 0, 0], [0, 0, 0], [.5, 0, .5]]
crv = Curve(BSplineBasis(4), cp, rational=True)
def expect_derivative(x):
return 6 * (1 - x)**2 * x**2 / (x**3 - 6 * x**2 + 6 * x - 2)**2
def expect_derivative_2(x):
return -12 * x * (x**5 - 3 * x**4 + 2 * x**3 + 4 * x**2 - 6 * x +
2) / (x**3 - 6 * x**2 + 6 * x - 2)**3
# insert a few more knots to spice things up
crv.insert_knot([.2, .71])
self.assertAlmostEqual(
crv.derivative(0.32, 1)[0], expect_derivative(0.32))
self.assertAlmostEqual(crv.derivative(0.32, 1)[1], 0)
self.assertAlmostEqual(
crv.derivative(0.71, 1)[0], expect_derivative(0.71))
self.assertAlmostEqual(
crv.derivative(0.22, 2)[0], expect_derivative_2(0.22))
self.assertAlmostEqual(crv.derivative(0.22, 2)[1], 0)
self.assertAlmostEqual(
crv.derivative(0.86, 2)[0], expect_derivative_2(0.86))
def test_torsion(self):
# planar curves have zero torsion
controlpoints = [[1, 0, 1], [1, 1, .7], [0, 1, .89], [-1, 1, 0.5],
[-1, 0, 1], [-1, -.5, 1], [1, -.5, 1]]
basis = BSplineBasis(4,
[-3, -2, -1, 0, 1, 2, 2.5, 4, 5, 6, 7, 8, 9, 9.5],
2)
crv = Curve(basis, controlpoints, rational=True)
self.assertAlmostEqual(crv.torsion(.3), 0.0)
# test multiple evaluation points
t = np.linspace(0, 1, 10)
k = crv.torsion(t)
self.assertEqual(len(k.shape), 1) # is vector
self.assertEqual(k.shape[0], 10) # length 10 vector
self.assertTrue(np.allclose(k, 0.0)) # zero torsion for planar curves
# test helix: [a*cos(t), a*sin(t), b*t]
t = np.linspace(0, 6 * pi, 300)
a = 3.0
b = 2.0
x = np.array([a * np.cos(t), a * np.sin(t), b * t])
crv = cf.cubic_curve(x.T, t=t)
t = np.linspace(0, 6 * pi, 10)
k = crv.torsion(t)
# this is a helix approximation, hence atol=1e-3
self.assertTrue(np.allclose(k, b / (a**2 + b**2),
atol=1e-3)) # helix have const. torsion
def test_surface_loft(self):
crv1 = Curve(BSplineBasis(3, range(11), 1), [[1,-1], [1,0], [1,1], [-1,1], [-1,0], [-1,-1]])
crv2 = cf.circle(2) + (0,0,1)
crv3 = Curve(BSplineBasis(4, range(11), 2), [[1,-1,2], [1,1,2], [-1,1,2], [-1,-1,2]])
crv4 = cf.circle(2) + (0,0,3)
surf = sf.loft(crv1, crv2, crv3, crv4)
crv1.set_dimension(3) # for convenience when evaluating
t = np.linspace( 0, 1, 13)
u = np.linspace(crv1.start(0), crv1.end(0), 13)
pt = crv1(u)
pt2 = surf(t,0).reshape(13,3)
self.assertAlmostEqual(np.linalg.norm(pt-pt2), 0.0)
u = np.linspace(crv2.start(0), crv2.end(0), 13)
pt = crv2(u)
pt2 = surf(t,1).reshape(13,3)
self.assertAlmostEqual(np.linalg.norm(pt-pt2), 0.0)
u = np.linspace(crv3.start(0), crv3.end(0), 13)
pt = crv3(u)
pt2 = surf(t,2).reshape(13,3)
self.assertAlmostEqual(np.linalg.norm(pt-pt2), 0.0)
u = np.linspace(crv4.start(0), crv4.end(0), 13)
pt = crv4(u)
pt2 = surf(t,3).reshape(13,3)
self.assertAlmostEqual(np.linalg.norm(pt-pt2), 0.0)
def poisson_patch(bottom, right, top, left):
from nutils import version
if version != '3.0':
raise ImportError('Outdated nutils version detected, only v3.0 supported. Upgrade by \"pip install --upgrade nutils\"')
from nutils import mesh, function as fn
from nutils import _, log
# error test input
if left.rational or right.rational or top.rational or bottom.rational:
raise RuntimeError('poisson_patch not supported for rational splines')
# these are given as a oriented loop, so make all run in positive parametric direction
top.reverse()
left.reverse()
# in order to add spline surfaces, they need identical parametrization
Curve.make_splines_identical(top, bottom)
Curve.make_splines_identical(left, right)
# create computational (nutils) mesh
p1 = bottom.order(0)
p2 = left.order(0)
n1 = len(bottom)
n2 = len(left)
dim= left.dimension
k1 = bottom.knots(0)
k2 = left.knots(0)
m1 = [bottom.order(0) - bottom.continuity(k) - 1 for k in k1]
m2 = [left.order(0) - left.continuity(k) - 1 for k in k2]
domain, geom = mesh.rectilinear([k1, k2])
basis = domain.basis('spline', [p1-1, p2-1], knotmultiplicities=[m1,m2])
# assemble system matrix
grad = basis.grad(geom)
outer = fn.outer(grad,grad)
integrand = outer.sum(-1)
matrix = domain.integrate(integrand, geometry=geom, ischeme='gauss'+str(max(p1,p2)+1))
# initialize variables
controlpoints = np.zeros((n1,n2,dim))
rhs = np.zeros((n1*n2))
constraints = np.array([[np.nan]*n2]*n1)
# treat all dimensions independently
for d in range(dim):
# add boundary conditions
constraints[ 0, :] = left[ :,d]
constraints[-1, :] = right[ :,d]
constraints[ :, 0] = bottom[:,d]
constraints[ :,-1] = top[ :,d]
# solve system
lhs = matrix.solve(rhs, constrain=np.ndarray.flatten(constraints), solver='cg', tol=state.controlpoint_absolute_tolerance)
# wrap results into splipy datastructures
controlpoints[:,:,d] = np.reshape(lhs, (n1,n2), order='C')
return Surface(bottom.bases[0], left.bases[0], controlpoints, bottom.rational, raw=True)
def test_center(self):
# create the geometric mapping x(t) = t, y(t) = t^3, t=[0,1]
cp = [[0, 0], [1.0 / 3, 0], [2.0 / 3, 0], [1.0, 1]]
basis = BSplineBasis(4)
crv = Curve(basis, cp)
center = crv.center()
self.assertAlmostEqual(center[0], .5)
self.assertAlmostEqual(center[1], .25)
def test_center(self):
# create the geometric mapping x(t) = t, y(t) = t^3, t=[0,1]
cp = [[0, 0], [1.0/3, 0], [2.0/3, 0], [1.0, 1]]
basis = BSplineBasis(4)
crv = Curve(basis, cp)
center = crv.center()
self.assertAlmostEqual(center[0], .5)
self.assertAlmostEqual(center[1], .25)
def test_raise_order(self):
# non-uniform knot vector of a squiggly quadratic n=5 curve in 3D
controlpoints = [[0, 0, 0], [1, 1, 1], [2, -1, 0], [3, 0, -1],
[0, 0, -5]]
crv = Curve(BSplineBasis(3, [0, 0, 0, .3, .4, 1, 1, 1]), controlpoints)
evaluation_point1 = crv(0.37)
crv.raise_order(2)
evaluation_point2 = crv(0.37)
# ensure that curve has not chcanged, by comparing evaluation of it
self.assertAlmostEqual(evaluation_point1[0], evaluation_point2[0])
self.assertAlmostEqual(evaluation_point1[1], evaluation_point2[1])
self.assertAlmostEqual(evaluation_point1[2], evaluation_point2[2])
# ensure that curve has the right order
self.assertEqual(crv.order(0), 5)
# check integer type for argument
with self.assertRaises(TypeError):
crv.raise_order(0.5)
# check logic error for negative argument
with self.assertRaises(Exception):
crv.raise_order(-1)
def loft(*curves):
if len(curves) == 1:
curves = curves[0]
# clone input, so we don't change those references
# make sure everything has the same dimension since we need to compute length
curves = [c.clone().set_dimension(3) for c in curves]
if len(curves)==2:
return edge_curves(curves)
elif len(curves)==3:
# can't do cubic spline interpolation, so we'll do quadratic
basis2 = BSplineBasis(3)
dist = basis2.greville()
else:
x = [c.center() for c in curves]
# create knot vector from the euclidian length between the curves
dist = [0]
for (x1,x0) in zip(x[1:],x[:-1]):
dist.append(dist[-1] + np.linalg.norm(x1-x0))
# using "free" boundary condition by setting N'''(u) continuous at second to last and second knot
knot = [dist[0]]*4 + dist[2:-2] + [dist[-1]]*4
basis2 = BSplineBasis(4, knot)
n = len(curves)
for i in range(n):
for j in range(i+1,n):
Curve.make_splines_identical(curves[i], curves[j])
basis1 = curves[0].bases[0]
m = basis1.num_functions()
u = basis1.greville() # parametric interpolation points
v = dist # parametric interpolation points
# compute matrices
Nu = basis1(u)
Nv = basis2(v)
Nu_inv = np.linalg.inv(Nu)
Nv_inv = np.linalg.inv(Nv)
# compute interpolation points in physical space
x = np.zeros((m,n, curves[0][0].size))
for i in range(n):
x[:,i,:] = Nu * curves[i].controlpoints
# solve interpolation problem
cp = np.tensordot(Nv_inv, x, axes=(1,1))
cp = np.tensordot(Nu_inv, cp, axes=(1,1))
# re-order controlpoints so they match up with Surface constructor
cp = cp.transpose((1, 0, 2))
cp = cp.reshape(n*m, cp.shape[2])
return Surface(basis1, basis2, cp, curves[0].rational)
def loft(*curves):
if len(curves) == 1:
curves = curves[0]
# clone input, so we don't change those references
# make sure everything has the same dimension since we need to compute length
curves = [c.clone().set_dimension(3) for c in curves]
if len(curves)==2:
return edge_curves(curves)
elif len(curves)==3:
# can't do cubic spline interpolation, so we'll do quadratic
basis2 = BSplineBasis(3)
dist = basis2.greville()
else:
x = [c.center() for c in curves]
# create knot vector from the euclidian length between the curves
dist = [0]
for (x1,x0) in zip(x[1:],x[:-1]):
dist.append(dist[-1] + np.linalg.norm(x1-x0))
# using "free" boundary condition by setting N'''(u) continuous at second to last and second knot
knot = [dist[0]]*4 + dist[2:-2] + [dist[-1]]*4
basis2 = BSplineBasis(4, knot)
n = len(curves)
for i in range(n):
for j in range(i+1,n):
Curve.make_splines_identical(curves[i], curves[j])
basis1 = curves[0].bases[0]
m = basis1.num_functions()
u = basis1.greville() # parametric interpolation points
v = dist # parametric interpolation points
# compute matrices
Nu = basis1(u)
Nv = basis2(v)
Nu_inv = np.linalg.inv(Nu)
Nv_inv = np.linalg.inv(Nv)
# compute interpolation points in physical space
x = np.zeros((m,n, curves[0][0].size))
for i in range(n):
x[:,i,:] = Nu * curves[i].controlpoints
# solve interpolation problem
cp = np.tensordot(Nv_inv, x, axes=(1,1))
cp = np.tensordot(Nu_inv, cp, axes=(1,1))
# re-order controlpoints so they match up with Surface constructor
cp = cp.transpose((1, 0, 2))
cp = cp.reshape(n*m, cp.shape[2])
return Surface(basis1, basis2, cp, curves[0].rational)
def edge_curves(*curves):
"""edge_curves(curves...)
Create the surface defined by the region between the input curves.
In case of four input curves, these must be given in an ordered directional
closed loop around the resulting surface.
:param [Curve] curves: Two or four edge curves
:return: The enclosed surface
:rtype: Surface
:raises ValueError: If the length of *curves* is not two or four
"""
if len(curves) == 1: # probably gives input as a list-like single variable
curves = curves[0]
if len(curves) == 2:
crv1 = curves[0].clone()
crv2 = curves[1].clone()
Curve.make_splines_identical(crv1, crv2)
(n, d) = crv1.controlpoints.shape # d = dimension + rational
controlpoints = np.zeros((2 * n, d))
controlpoints[:n, :] = crv1.controlpoints
controlpoints[n:, :] = crv2.controlpoints
linear = BSplineBasis(2)
return Surface(crv1.bases[0], linear, controlpoints, crv1.rational)
elif len(curves) == 4:
# coons patch (https://en.wikipedia.org/wiki/Coons_patch)
bottom = curves[0]
right = curves[1]
top = curves[2].clone()
left = curves[3].clone() # gonna change these two, so make copies
top.reverse()
left.reverse()
# create linear interpolation between opposing sides
s1 = edge_curves(bottom, top)
s2 = edge_curves(left, right)
s2.swap()
# create (linear,linear) corner parametrization
linear = BSplineBasis(2)
rat = s1.rational # using control-points from top/bottom, so need to know if these are rational
s3 = Surface(linear, linear, [bottom[0], bottom[-1], top[0], top[-1]], rat)
# in order to add spline surfaces, they need identical parametrization
Surface.make_splines_identical(s1, s2)
Surface.make_splines_identical(s1, s3)
Surface.make_splines_identical(s2, s3)
result = s1
result.controlpoints += s2.controlpoints
result.controlpoints -= s3.controlpoints
return result
else:
raise ValueError('Requires two or four input curves')
def test_flip_parametrization(self):
# non-uniform knot vector of a squiggly quadratic n=4 curve
controlpoints = [[0, 0, 0], [1, 1, 0], [2, -1, 0], [3, 0, 0]]
crv = Curve(BSplineBasis(3, [0, 0, 0, .3, 1, 1, 1]), controlpoints)
p1 = crv(0.23)
crv.reverse()
p2 = crv(0.77)
self.assertAlmostEqual(p1[0], p2[0])
self.assertAlmostEqual(p1[1], p2[1])
self.assertAlmostEqual(p1[2], p2[2])
def test_flip_parametrization(self):
# non-uniform knot vector of a squiggly quadratic n=4 curve
controlpoints = [[0, 0, 0], [1, 1, 0], [2, -1, 0], [3, 0, 0]]
crv = Curve(BSplineBasis(3, [0, 0, 0, .3, 1, 1, 1]), controlpoints)
p1 = crv(0.23)
crv.reverse()
p2 = crv(0.77)
self.assertAlmostEqual(p1[0], p2[0])
self.assertAlmostEqual(p1[1], p2[1])
self.assertAlmostEqual(p1[2], p2[2])
def test_make_periodic_reconstruct(self):
orig = Curve(
BSplineBasis(4, [-3, -2, -1, 0, 1, 2, 3, 4, 5, 6, 7], 2),
[[1, 1], [2, 2], [3, 3], [4, 4]],
rational=True,
)
recons = orig.split(0).make_periodic(2)
self.assertAlmostEqual(
np.linalg.norm(orig.controlpoints - recons.controlpoints), 0.0)
self.assertAlmostEqual(
np.linalg.norm(orig.bases[0].knots - recons.bases[0].knots), 0.0)
def test_constructor(self):
# test 3D constructor
crv = Curve(controlpoints=[[0.0, 0.0, 0.0], [1.0, 0.0, 0.0]])
val = crv(0.5)
self.assertEqual(val[0], 0.5)
self.assertEqual(crv.dimension, 3)
# test 2D constructor
crv2 = Curve()
val = crv(0.5)
self.assertEqual(val[0], 0.5)
self.assertEqual(crv2.dimension, 2)
def test_surface_loft(self):
crv1 = Curve(BSplineBasis(3, range(11), 1), [[1,-1], [1,0], [1,1], [-1,1], [-1,0], [-1,-1]])
crv2 = CurveFactory.circle(2) + (0,0,1)
crv3 = Curve(BSplineBasis(4, range(11), 2), [[1,-1,2], [1,1,2], [-1,1,2], [-1,-1,2]])
crv4 = CurveFactory.circle(2) + (0,0,3)
surf = SurfaceFactory.loft(crv1, crv2, crv3, crv4)
crv1.set_dimension(3) # for convenience when evaluating
t = np.linspace( 0, 1, 13)
u = np.linspace(crv1.start(0), crv1.end(0), 13)
pt = crv1(u)
pt2 = surf(t,0).reshape(13,3)
self.assertAlmostEqual(np.linalg.norm(pt-pt2), 0.0)
u = np.linspace(crv2.start(0), crv2.end(0), 13)
pt = crv2(u)
pt2 = surf(t,1).reshape(13,3)
self.assertAlmostEqual(np.linalg.norm(pt-pt2), 0.0)
u = np.linspace(crv3.start(0), crv3.end(0), 13)
pt = crv3(u)
pt2 = surf(t,2).reshape(13,3)
self.assertAlmostEqual(np.linalg.norm(pt-pt2), 0.0)
u = np.linspace(crv4.start(0), crv4.end(0), 13)
pt = crv4(u)
pt2 = surf(t,3).reshape(13,3)
self.assertAlmostEqual(np.linalg.norm(pt-pt2), 0.0)
def test_edge_curves(self):
# create an arrow-like 2D geometry with the pointy end at (-1,1) towards up and left
# mixes rational and non-rational curves with different parametrization spaces
c1 = CurveFactory.circle_segment(pi / 2)
c2 = Curve(BSplineBasis(2, [0, 0, 1, 2, 2]), [[0, 1], [-1, 1], [-1, 0]])
c3 = CurveFactory.circle_segment(pi / 2)
c3.rotate(pi)
c4 = Curve(BSplineBasis(2), [[0, -1], [1, 0]])
surf = SurfaceFactory.edge_curves(c1, c2, c3, c4)
# srf spits out parametric space (0,1)^2, so we sync these up to input curves
c3.reverse()
c4.reverse()
c1.reparam()
c2.reparam()
c3.reparam()
c4.reparam()
for u in np.linspace(0, 1, 7):
self.assertAlmostEqual(surf(u, 0)[0], c1(u)[0]) # x-coord, bottom crv
self.assertAlmostEqual(surf(u, 0)[1], c1(u)[1]) # y-coord, bottom crv
for u in np.linspace(0, 1, 7):
self.assertAlmostEqual(surf(u, 1)[0], c3(u)[0]) # x-coord, top crv
self.assertAlmostEqual(surf(u, 1)[1], c3(u)[1]) # y-coord, top crv
for v in np.linspace(0, 1, 7):
self.assertAlmostEqual(surf(0, v)[0], c4(v)[0]) # x-coord, left crv
self.assertAlmostEqual(surf(0, v)[1], c4(v)[1]) # y-coord, left crv
for v in np.linspace(0, 1, 7):
self.assertAlmostEqual(surf(1, v)[0], c2(v)[0]) # x-coord, right crv
self.assertAlmostEqual(surf(1, v)[1], c2(v)[1]) # y-coord, right crv
def polygon(*points, **keywords):
""" Create a linear interpolation between input points.
:param [array-like] points: The points to interpolate
:param bool relative: If controlpoints are interpreted as relative to the
previous one
:param [float] t: specify parametric interpolation points (the knot vector)
:return: Linear curve through the input points
:rtype: Curve
"""
if len(points) == 1:
points = points[0]
knot = keywords.get('t', [])
if len(knot) == 0: # establish knot vector based on eucledian length between points
knot = [0, 0]
prevPt = points[0]
for pt in points[1:]:
dist = 0
for (x0, x1) in zip(prevPt, pt): # loop over (x,y) and maybe z-coordinate
dist += (x1 - x0)**2
knot.append(knot[-1] + sqrt(dist))
prevPt = pt
knot.append(knot[-1])
else: # use knot vector given as input argument
knot = [knot[0]] + list(knot) + [knot[-1]]
relative = keywords.get('relative', False)
if relative:
points = list(points)
for i in range(1, len(points)):
points[i] = [x0 + x1 for (x0,x1) in zip(points[i-1], points[i])]
return Curve(BSplineBasis(2, knot), points)
def const_par_curve(self, knot, direction):
""" Get a Curve representation of the parametric line of some constant
knot value.
:param float knot: The constant knot value to sample the surface
:param int direction: The parametric direction for the constant value
:return: curve on this surface
:rtype: Curve
"""
direction = check_direction(direction, 2)
# clone basis since we need to augment this by knot insertion
b = self.bases[direction].clone()
# compute mapping matrix C which is the knotinsertion operator
mult = min(b.continuity(knot), b.order - 1)
C = np.identity(self.shape[direction])
for i in range(mult):
C = b.insert_knot(knot) @ C
# at this point we have a C0 basis, find the right interpolating index
i = max(bisect_left(b.knots, knot) - 1, 0)
# compute the controlpoints and return Curve
cp = np.tensordot(C[i, :], self.controlpoints, axes=(0, direction))
return Curve(self.bases[1 - direction], cp, self.rational)
def n_gon(n=5, r=1, center=(0,0,0), normal=(0,0,1)):
""" Create a regular polygon of *n* equal sides centered at the origin.
:param int n: Number of sides and vertices
:param float r: Radius
:param array-like center: local origin
:param array-like normal: local normal
:return: A linear, periodic, 2D curve
:rtype: Curve
:raises ValueError: If radius is not positive
:raises ValueError: If *n* < 3
"""
if r <= 0:
raise ValueError('radius needs to be positive')
if n < 3:
raise ValueError('regular polygons need at least 3 sides')
cp = []
dt = 2 * pi / n
knot = [-1]
for i in range(n):
cp.append([r * cos(i * dt), r * sin(i * dt)])
knot.append(i)
knot += [n, n+1]
basis = BSplineBasis(2, knot, 0)
result = Curve(basis, cp)
return flip_and_move_plane_geometry(result, center, normal)
def bezier(pts, quadratic=False, relative=False):
""" Generate a cubic or quadratic bezier curve from a set of control points
:param [array-like] pts: list of control-points. In addition to a starting
point we need three points per bezier interval for cubic splines and
two points for quadratic splines
:param bool quadratic: True if a quadratic spline is to be returned, False
if a cubic spline is to be returned
:param bool relative: If controlpoints are interpreted as relative to the
previous one
:return: Bezier curve
:rtype: Curve
"""
if quadratic:
p = 3
else:
p = 4
# compute number of intervals
n = int((len(pts)-1)/(p-1))
# generate uniform knot vector of repeated integers
knot = list(range(n+1)) * (p-1) + [0, n]
knot.sort()
if relative:
pts = copy.deepcopy(pts)
for i in range(1, len(pts)):
pts[i] = [x0 + x1 for (x0,x1) in zip(pts[i-1], pts[i])]
return Curve(BSplineBasis(p, knot), pts)
def read(self):
lines = self.lines()
version = next(lines).split()
assert version[0] == 'C'
assert version[3] == '0' # No support for rational SPL yet
pardim = int(version[1])
physdim = int(version[2])
orders = [int(k) for k in islice(lines, pardim)]
ncoeffs = [int(k) for k in islice(lines, pardim)]
totcoeffs = int(np.prod(ncoeffs))
nknots = [a + b for a, b in zip(orders, ncoeffs)]
next(lines) # Skip spline accuracy
knots = [[float(k) for k in islice(lines, nkts)] for nkts in nknots]
bases = [BSplineBasis(p, kts, -1) for p, kts in zip(orders, knots)]
cpts = np.array([float(k) for k in islice(lines, totcoeffs * physdim)])
cpts = cpts.reshape(physdim, *(ncoeffs[::-1])).transpose()
if pardim == 1:
patch = Curve(*bases, controlpoints=cpts, raw=True)
elif pardim == 2:
patch = Surface(*bases, controlpoints=cpts, raw=True)
elif pardim == 3:
patch = Volume(*bases, controlpoints=cpts, raw=True)
else:
patch = SplineObject(bases, controlpoints=cpts, raw=True)
return [patch]
def test_edge_curves_elasticity(self):
# create an arrow-like 2D geometry with the pointy end at (-1,1) towards up and left
# rebuild to avoid rational representations
c1 = CurveFactory.circle_segment(pi / 2).rebuild(3,11)
c2 = Curve(BSplineBasis(2, [0, 0, 1, 2, 2]), [[0, 1], [-1, 1], [-1, 0]])
c3 = CurveFactory.circle_segment(pi / 2).rebuild(3,11)
c3.rotate(pi)
c4 = Curve(BSplineBasis(2), [[0, -1], [1, 0]]).rebuild(3,10)
c4 = c4.rebuild(4,11)
surf = SurfaceFactory.edge_curves([c1, c2, c3, c4], type='elasticity')
# check right dimensions of output
self.assertEqual(surf.shape[0], 11) # 11 controlpoints in the circle segment
self.assertEqual(surf.shape[1], 13) # 11 controlpoints in c4, +2 for C0-knot in c1
self.assertEqual(surf.order(0), 3)
self.assertEqual(surf.order(1), 4)
# check that c1 edge conforms to surface edge
u = np.linspace(0,1,7)
c1.reparam()
pts_surf = surf(u,0.0)
pts_c1 = c1(u)
for (xs,xc) in zip(pts_surf[:,0,:], pts_c1):
self.assertTrue(np.allclose(xs, xc))
# check that c2 edge conforms to surface edge
v = np.linspace(0,1,7)
c2.reparam()
pts_surf = surf(1.0,v)
pts_c2 = c2(v)
for (xs,xc) in zip(pts_surf[:,0,:], pts_c2):
self.assertTrue(np.allclose(xs, xc))
def get_spline(spline, n, p, rational=False):
basis = BSplineBasis(p, [0]*(p-1) + list(range(n-p+2)) + [n-p+1]*(p-1))
if spline == 'curve':
return Curve(basis, rational=rational)
elif spline == 'surface':
return Surface(basis, basis, rational=rational)
elif spline == 'volume':
return Volume(basis, basis, basis, rational=rational)
return None
def test_edge_curves(self):
# create an arrow-like 2D geometry with the pointy end at (-1,1) towards up and left
# mixes rational and non-rational curves with different parametrization spaces
c1 = CurveFactory.circle_segment(pi / 2)
c2 = Curve(BSplineBasis(2, [0, 0, 1, 2, 2]), [[0, 1], [-1, 1], [-1, 0]])
c3 = CurveFactory.circle_segment(pi / 2)
c3.rotate(pi)
c4 = Curve(BSplineBasis(2), [[0, -1], [1, 0]])
surf = SurfaceFactory.edge_curves(c1, c2, c3, c4)
# srf spits out parametric space (0,1)^2, so we sync these up to input curves
c3.reverse()
c4.reverse()
c1.reparam()
c2.reparam()
c3.reparam()
c4.reparam()
for u in np.linspace(0, 1, 7):
self.assertAlmostEqual(surf(u, 0)[0], c1(u)[0]) # x-coord, bottom crv
self.assertAlmostEqual(surf(u, 0)[1], c1(u)[1]) # y-coord, bottom crv
for u in np.linspace(0, 1, 7):
self.assertAlmostEqual(surf(u, 1)[0], c3(u)[0]) # x-coord, top crv
self.assertAlmostEqual(surf(u, 1)[1], c3(u)[1]) # y-coord, top crv
for v in np.linspace(0, 1, 7):
self.assertAlmostEqual(surf(0, v)[0], c4(v)[0]) # x-coord, left crv
self.assertAlmostEqual(surf(0, v)[1], c4(v)[1]) # y-coord, left crv
for v in np.linspace(0, 1, 7):
self.assertAlmostEqual(surf(1, v)[0], c2(v)[0]) # x-coord, right crv
self.assertAlmostEqual(surf(1, v)[1], c2(v)[1]) # y-coord, right crv
# add a case where opposing sites have mis-matching rationality
crvs = Surface().edges() # returned in order umin, umax, vmin, vmax
crvs[0].force_rational()
crvs[1].reverse()
crvs[2].reverse()
# input curves should be clockwise oriented closed loop
srf = SurfaceFactory.edge_curves(crvs[0], crvs[3], crvs[1], crvs[2])
crvs[1].reverse()
u = np.linspace(0,1,7)
self.assertTrue(np.allclose(srf(u,0).reshape((7,2)), crvs[0](u)))
self.assertTrue(np.allclose(srf(u,1).reshape((7,2)), crvs[1](u)))
# test self-organizing curve ordering when they are not sequential
srf = SurfaceFactory.edge_curves(crvs[0], crvs[2].reverse(), crvs[3], crvs[1])
u = np.linspace(0,1,7)
self.assertTrue(np.allclose(srf(u,0).reshape((7,2)), crvs[0](u)))
self.assertTrue(np.allclose(srf(u,1).reshape((7,2)), crvs[1](u)))
# test error handling
with self.assertRaises(ValueError):
srf = SurfaceFactory.edge_curves(crvs + (Curve(),)) # 5 input curves
def test_force_rational(self):
# non-uniform knot vector of a squiggly quadratic n=4 curve
controlpoints = [[0, 0, 0], [1, 1, 0], [2, -1, 0], [3, 0, 0]]
crv = Curve(BSplineBasis(3, [0, 0, 0, .3, 1, 1, 1]), controlpoints)
evaluation_point1 = crv(0.23)
control_point1 = crv[0]
crv.force_rational()
evaluation_point2 = crv(0.23)
control_point2 = crv[0]
# ensure that curve has not chcanged, by comparing evaluation of it
self.assertAlmostEqual(evaluation_point1[0], evaluation_point2[0])
self.assertAlmostEqual(evaluation_point1[1], evaluation_point2[1])
self.assertAlmostEqual(evaluation_point1[2], evaluation_point2[2])
# ensure that we include rational weights of 1
self.assertEqual(len(control_point1), 3)
self.assertEqual(len(control_point2), 4)
self.assertEqual(control_point2[3], 1)
self.assertEqual(crv.rational, True)
def test_volume_loft(self):
crv1 = Curve(BSplineBasis(3, range(11), 1),
[[1, -1], [1, 0], [1, 1], [-1, 1], [-1, 0], [-1, -1]])
crv2 = CurveFactory.circle(2) + (0, 0, 1)
crv3 = Curve(BSplineBasis(4, range(11), 2),
[[1, -1, 2], [1, 1, 2], [-1, 1, 2], [-1, -1, 2]])
crv4 = CurveFactory.circle(2) + (0, 0, 3)
surf = []
for c in [crv1, crv2, crv3, crv4]:
c2 = c.clone()
c2.project('z')
surf.append(SurfaceFactory.edge_curves(c, c2))
vol = VolumeFactory.loft(surf)
surf[0].set_dimension(3) # for convenience when evaluating
t = np.linspace(0, 1, 9)
s = np.linspace(0, 1, 9)
u = np.linspace(surf[0].start(0), surf[0].end(0), 9)
v = np.linspace(surf[0].start(1), surf[0].end(1), 9)
pt = surf[0](u, v)
pt2 = vol(s, t, 0).reshape(9, 9, 3)
self.assertAlmostEqual(np.linalg.norm(pt - pt2), 0.0)
u = np.linspace(surf[1].start(0), surf[1].end(0), 9)
u = np.linspace(surf[1].start(1), surf[1].end(1), 9)
pt = surf[1](u, v)
pt2 = vol(s, t, 1).reshape(9, 9, 3)
self.assertAlmostEqual(np.linalg.norm(pt - pt2), 0.0)
u = np.linspace(surf[2].start(0), surf[2].end(0), 9)
v = np.linspace(surf[2].start(1), surf[2].end(1), 9)
pt = surf[2](u, v)
pt2 = vol(s, t, 2).reshape(9, 9, 3)
self.assertAlmostEqual(np.linalg.norm(pt - pt2), 0.0)
u = np.linspace(surf[3].start(0), surf[3].end(0), 9)
v = np.linspace(surf[3].start(1), surf[3].end(1), 9)
pt = surf[3](u, v)
pt2 = vol(s, t, 3).reshape(9, 9, 3)
self.assertAlmostEqual(np.linalg.norm(pt - pt2), 0.0)
def test_force_rational(self):
# non-uniform knot vector of a squiggly quadratic n=4 curve
controlpoints = [[0, 0, 0], [1, 1, 0], [2, -1, 0], [3, 0, 0]]
crv = Curve(BSplineBasis(3, [0, 0, 0, .3, 1, 1, 1]), controlpoints)
evaluation_point1 = crv(0.23)
control_point1 = crv[0]
crv.force_rational()
evaluation_point2 = crv(0.23)
control_point2 = crv[0]
# ensure that curve has not chcanged, by comparing evaluation of it
self.assertAlmostEqual(evaluation_point1[0], evaluation_point2[0])
self.assertAlmostEqual(evaluation_point1[1], evaluation_point2[1])
self.assertAlmostEqual(evaluation_point1[2], evaluation_point2[2])
# ensure that we include rational weights of 1
self.assertEqual(len(control_point1), 3)
self.assertEqual(len(control_point2), 4)
self.assertEqual(control_point2[3], 1)
self.assertEqual(crv.rational, True)
def test_thicken(self):
c = Curve() # 2D curve from (0,0) to (1,0)
s = sf.thicken(c, .5) # extend to y=[-.5, .5]
self.assertTupleEqual(s.order(), (2, 2))
self.assertTupleEqual(s.start(), (0, 0))
self.assertTupleEqual(s.end(), (1, 1))
self.assertTupleEqual(s.bounding_box()[0], (0.0, 1.0))
self.assertTupleEqual(s.bounding_box()[1], (-.5, .5))
# test a case with vanishing velocity. x'(t)=0, y'(t)=0 for t=0
c = Curve(BSplineBasis(3),
[[0, 0], [0, 0], [1, 0]]) # x(t)=t^2, y(t)=0
s = sf.thicken(c, .5)
self.assertTupleEqual(s.order(), (3, 2))
self.assertTupleEqual(s.start(), (0, 0))
self.assertTupleEqual(s.end(), (1, 1))
self.assertTupleEqual(s.bounding_box()[0], (0.0, 1.0))
self.assertTupleEqual(s.bounding_box()[1], (-.5, .5))
def myThickness(t):
return t**2
c = Curve(BSplineBasis(3))
s = sf.thicken(c, myThickness)
self.assertTupleEqual(s.order(), (3, 2))
self.assertTupleEqual(s.start(), (0, 0))
self.assertTupleEqual(s.end(), (1, 1))
self.assertTupleEqual(s.bounding_box()[0], (0.0, 1.0))
self.assertTupleEqual(s.bounding_box()[1], (-1.0, 1.0))
# test 3D geometry
c = Curve()
c.set_dimension(3)
s = sf.thicken(c, 1) # cylinder along x-axis with h=1, r=1
for u in np.linspace(s.start(0), s.end(0), 5):
for v in np.linspace(s.start(1), s.end(1), 5):
x = s(u, v)
self.assertAlmostEqual(x[1]**2 + x[2]**2,
1.0**2) # distance to x-axis
self.assertAlmostEqual(x[0],
u) # x coordinate should be linear
def line(a, b, relative=False):
""" Create a line between two points.
:param array-like a: Start point
:param array-like b: End point
:param bool relative: Whether *b* is relative to *a*
:return: Linear curve from *a* to *b*
:rtype: Curve
"""
if relative:
b = tuple(ai + bi for ai, bi in zip(a, b))
return Curve(controlpoints=[a, b])
def test_append(self):
crv = Curve(BSplineBasis(3), [[0,0], [1,0], [0,1]])
crv2 = Curve(BSplineBasis(4), [[0,1,0], [0,1,1], [0,2,1], [0,2,2]])
crv2.insert_knot(0.5)
crv3 = crv.clone()
crv3.append(crv2)
expected_knot = [0,0,0,0,1,1,1,1.5,2,2,2,2]
self.assertEqual(crv3.order(direction=0), 4)
self.assertEqual(crv3.rational, False)
self.assertEqual(np.linalg.norm(crv3.knots(0, True)-expected_knot), 0.0)
t = np.linspace(0,1,11)
pt = np.zeros((11,3))
pt[:,:-1] = crv(t)
pt2 = crv3(t)
self.assertAlmostEqual(np.linalg.norm(pt-pt2), 0.0)
pt = crv2(t)
pt2 = crv3(t+1.0)
self.assertAlmostEqual(np.linalg.norm(pt-pt2), 0.0)
def test_periodic_split(self):
# non-uniform rational knot vector of a periodic cubic n=7 curve
controlpoints = [[1, 0, 1], [1, 1, .7], [0, 1, .89], [-1, 1, 0.5], [-1, 0, 1], [-1,-.5,1], [1, -.5, 1]]
basis = BSplineBasis(4, [-3, -2, -1, 0, 1, 2, 2.5, 4, 5, 6, 7, 8, 9, 9.5], 2)
crv = Curve(basis, controlpoints, rational=True)
crv2 = crv.split(1) # split at knot value
crv3 = crv.split(6.5) # split outside existing knot
self.assertEqual(len(crv), 7)
self.assertEqual(len(crv2), 10)
self.assertEqual(len(crv3), 11)
self.assertEqual(crv.periodic(), True)
self.assertEqual(crv2.periodic(), False)
self.assertEqual(crv3.periodic(), False)
t = np.linspace(6.5, 8, 13) # domain where all parameter values are the same
pt = crv( t)
pt2 = crv2(t)
pt3 = crv3(t)
self.assertAlmostEqual(np.linalg.norm(pt-pt2), 0.0)
self.assertAlmostEqual(np.linalg.norm(pt-pt3), 0.0)
def circle_segment(theta,
r=1,
center=(0, 0, 0),
normal=(0, 0, 1),
xaxis=(1, 0, 0)):
""" Create a circle segment starting parallel to the rotated x-axis.
:param float theta: Angle in radians
:param float r: Radius
:param array-like center: circle segment center
:param array-like normal: normal vector to the plane that contains circle
:param array-like xaxis: direction of the parametric start point t=0
:return: A quadratic rational curve
:rtype: Curve
:raises ValueError: If radius is not positive
:raises ValueError: If theta is not in the range *[-2pi, 2pi]*
"""
# error test input
if abs(theta) > 2 * pi:
raise ValueError('theta needs to be in range [-2pi,2pi]')
if r <= 0:
raise ValueError('radius needs to be positive')
if theta == 2 * pi:
return circle(r, center, normal)
# build knot vector
knot_spans = int(ceil(abs(theta) / (2 * pi / 3)))
knot = [0]
for i in range(knot_spans + 1):
knot += [i] * 2
knot += [knot_spans] # knot vector [0,0,0,1,1,2,2,..,n,n,n]
knot = np.array(knot) / float(
knot[-1]) * theta # set parametric space to [0,theta]
n = (knot_spans - 1) * 2 + 3 # number of control points needed
cp = []
t = 0 # current angle
dt = float(theta) / knot_spans / 2 # angle step
# build control points
for i in range(n):
w = 1 - (i % 2) * (1 - cos(dt)
) # weights = 1 and cos(dt) every other i
x = r * cos(t)
y = r * sin(t)
cp += [[x, y, w]]
t += dt
if theta < 0:
cp.reverse()
result = Curve(BSplineBasis(3, np.flip(knot, 0)), cp, True)
else:
result = Curve(BSplineBasis(3, knot), cp, True)
result.rotate(rotate_local_x_axis(xaxis, normal))
return flip_and_move_plane_geometry(result, center, normal)
def test_evaluate(self):
# create the mapping
# x(t) = 2t + 1
# y(t) = 2t(1-t)
# z(t) = 0
controlpoints = [[1, 0, 0], [2, 1, 0], [3, 0, 0]]
crv = Curve(BSplineBasis(3), controlpoints)
# startpoint evaluation
val = crv(0.0)
self.assertAlmostEqual(val[0], 1.0)
self.assertAlmostEqual(val[1], 0.0)
self.assertAlmostEqual(val[2], 0.0)
# inner evaluation
val = crv(0.4)
self.assertAlmostEqual(val[0], 1.8)
self.assertAlmostEqual(val[1], 0.48)
self.assertAlmostEqual(val[2], 0.0)
# endpoint evaluation
val = crv(1.0)
self.assertAlmostEqual(val[0], 3.0)
self.assertAlmostEqual(val[1], 0.0)
self.assertAlmostEqual(val[2], 0.0)
# test evaluation at multiple points
val = crv([0.0, 0.4, 0.8, 1.0])
self.assertEqual(len(val.shape), 2) # return matrix
self.assertEqual(val.shape[0], 4) # 4 evaluation points
self.assertEqual(val.shape[1], 3) # (x,y,z) results
self.assertAlmostEqual(val[0, 0], 1.0)
self.assertAlmostEqual(val[0, 1], 0.0)
self.assertAlmostEqual(val[0, 2], 0.0) # startpt evaluation
self.assertAlmostEqual(val[1, 0], 1.8)
self.assertAlmostEqual(val[1, 1], 0.48)
self.assertAlmostEqual(val[1, 2], 0.0) # inner evaluation
self.assertAlmostEqual(val[3, 0], 3.0)
self.assertAlmostEqual(val[3, 1], 0.0)
self.assertAlmostEqual(val[3, 2], 0.0) # endpt evaluation
# test errors and exceptions
with self.assertRaises(ValueError):
val = crv(-10) # evalaute outside parametric domain
with self.assertRaises(ValueError):
val = crv(+10) # evalaute outside parametric domain
def test_curvature(self):
# linear curves have zero curvature
crv = Curve()
self.assertAlmostEqual(crv.curvature(.3), 0.0)
# test multiple evaluation points
t = np.linspace(0, 1, 10)
k = crv.curvature(t)
self.assertTrue(np.allclose(k, 0.0))
# test circle
crv = cf.circle(r=3) + [1, 1]
t = np.linspace(0, 2 * pi, 10)
k = crv.curvature(t)
self.assertTrue(np.allclose(k, 1.0 / 3.0)) # circles: k = 1/r
# test 3D (np.cross has different behaviour in 2D/3D)
crv.set_dimension(3)
k = crv.curvature(t)
self.assertTrue(np.allclose(k, 1.0 / 3.0)) # circles: k = 1/r
def circle(r=1, center=(0,0,0), normal=(0,0,1), type='p2C0', xaxis=(1,0,0)):
""" Create a circle.
:param float r: Radius
:param array-like center: local origin
:param array-like normal: local normal
:param string type: The type of parametrization ('p2C0' or 'p4C1')
:param array-like xaxis: direction of sem, i.e. parametric start point t=0
:return: A periodic, quadratic rational curve
:rtype: Curve
:raises ValueError: If radius is not positive
"""
if r <= 0:
raise ValueError('radius needs to be positive')
if type == 'p2C0' or type == 'C0p2':
w = 1.0 / sqrt(2)
controlpoints = [[1, 0, 1],
[w, w, w],
[0, 1, 1],
[-w, w, w],
[-1, 0, 1],
[-w, -w, w],
[0, -1, 1],
[w, -w, w]]
knot = np.array([-1, 0, 0, 1, 1, 2, 2, 3, 3, 4, 4, 5]) / 4.0 * 2 * pi
result = Curve(BSplineBasis(3, knot, 0), controlpoints, True)
elif type.lower() == 'p4c1' or type.lower() == 'c1p4':
w = 2*sqrt(2)/3
a = 1.0/2/sqrt(2)
b = 1.0/6 * (4*sqrt(2)-1)
controlpoints = [[ 1,-a, 1],
[ 1, a, 1],
[ b, b, w],
[ a, 1, 1],
[-a, 1, 1],
[-b, b, w],
[-1, a, 1],
[-1,-a, 1],
[-b,-b, w],
[-a,-1, 1],
[ a,-1, 1],
[ b,-b, w]]
knot = np.array([ -1, -1, 0, 0, 0, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 4, 5, 5]) / 4.0 * 2 * pi
result = Curve(BSplineBasis(5, knot, 1), controlpoints, True)
else:
raise ValueError('Unkown type: %s' %(type))
result *= r
result.rotate(rotate_local_x_axis(xaxis, normal))
return flip_and_move_plane_geometry(result, center, normal)
def least_square_fit(x, basis, t):
""" Perform a least-square fit of a point cloud onto a spline basis
:param matrix-like x: Matrix *X[i,j]* of interpolation points *xi* with
components *j*. The number of points must be equal to or larger than
the number of basis functions in *basis*
:param BSplineBasis basis: Basis on which to interpolate
:param array-like t: parametric values at evaluation points
:return: Approximated curve
:rtype: Curve
"""
# evaluate all basis functions at evaluation points
N = basis.evaluate(t)
# solve interpolation problem
controlpoints, _, _, _ = np.linalg.lstsq(N, x, rcond=None)
return Curve(basis, controlpoints)
def read_curve(self, ncrv):
knots = [0]
for i in ncrv.Knots:
knots.append(i)
knots[0] = knots[1]
knots.append(knots[len(knots) - 1])
basis = BSplineBasis(ncrv.Order, knots, -1)
cpts = []
cpts = np.ndarray((len(ncrv.Points), ncrv.Dimension + ncrv.IsRational))
for u in range(0, len(ncrv.Points)):
cpts[u, 0] = ncrv.Points[u].X
cpts[u, 1] = ncrv.Points[u].Y
if ncrv.Dimension > 2:
cpts[u, 2] = ncrv.Points[u].Z
if ncrv.IsRational:
cpts[u, 3] = ncrv.Points[u].W
return Curve(basis, cpts, ncrv.IsRational)
def camber(M, P, order=5):
""" Create the NACA centerline used for wing profiles. This is given as
an exact quadratic piecewise polynomial y(x),
see http://airfoiltools.com/airfoil/naca4digit. The method will produce
one of two representations: For order<5 it will create x(t)=t and
for order>4 it will create x(t) as qudratic in t and stretched towards the
endpointspoints creating a more optimized parametrization.
:param M: Max camber height (y) given as percentage 0% to 9% of length
:type M: Int 0<M<10
:param P: Max camber position (x) given as percentage 0% to 90% of length
:type P: Int 0<P<10
:return : Exact centerline representation
:rtype : Curve
"""
# parametrized by x=t or x="t^2" if order>4
M = M / 100.0
P = P / 10.0
basis = BSplineBasis(order)
# basis.insert_knot([P]*(order-2)) # insert a C1-knot
for i in range(order - 2):
basis.insert_knot(P)
t = basis.greville()
n = len(t)
x = np.zeros((n, 2))
for i in range(n):
if t[i] <= P:
if order > 4:
x[i, 0] = t[i]**2 / P
else:
x[i, 0] = t[i]
x[i, 1] = M / P / P * (2 * P * x[i, 0] - x[i, 0] * x[i, 0])
else:
if order > 4:
x[i, 0] = (t[i]**2 - 2 * t[i] + P) / (P - 1)
else:
x[i, 0] = t[i]
x[i, 1] = M / (1 - P) / (1 - P) * (1 - 2 * P + 2 * P * x[i, 0] - x[i, 0] * x[i, 0])
N = basis.evaluate(t)
controlpoints = np.linalg.solve(N, x)
return Curve(basis, controlpoints)
def test_derivative(self):
# testing the parametrization x(t) = [.5*x^3 / ((1-x)^3+.5*x^3), 0]
cp = [[0,0,1], [0,0,0], [0,0,0], [.5,0,.5]]
crv = Curve(BSplineBasis(4), cp, rational=True)
def expect_derivative(x):
return 6*(1-x)**2*x**2/(x**3 - 6*x**2 + 6*x - 2)**2
def expect_derivative_2(x):
return -12*x*(x**5 - 3*x**4 + 2*x**3 + 4*x**2 - 6*x + 2)/(x**3 - 6*x**2 + 6*x - 2)**3
# insert a few more knots to spice things up
crv.insert_knot([.2, .71])
self.assertAlmostEqual(crv.tangent(0.32)[0], expect_derivative(0.32))
self.assertAlmostEqual(crv.tangent(0.32)[1], 0)
self.assertAlmostEqual(crv.tangent(0.71)[0], expect_derivative(0.71))
self.assertAlmostEqual(crv.derivative(0.22, 2)[0], expect_derivative_2(0.22))
self.assertAlmostEqual(crv.derivative(0.22, 2)[1], 0)
self.assertAlmostEqual(crv.derivative(0.86, 2)[0], expect_derivative_2(0.86))
def test_raise_order(self):
# non-uniform knot vector of a squiggly quadratic n=5 curve in 3D
controlpoints = [[0, 0, 0], [1, 1, 1], [2, -1, 0], [3, 0, -1], [0, 0, -5]]
crv = Curve(BSplineBasis(3, [0, 0, 0, .3, .4, 1, 1, 1]), controlpoints)
evaluation_point1 = crv(0.37)
crv.raise_order(2)
evaluation_point2 = crv(0.37)
# ensure that curve has not chcanged, by comparing evaluation of it
self.assertAlmostEqual(evaluation_point1[0], evaluation_point2[0])
self.assertAlmostEqual(evaluation_point1[1], evaluation_point2[1])
self.assertAlmostEqual(evaluation_point1[2], evaluation_point2[2])
# ensure that curve has the right order
self.assertEqual(crv.order(0), 5)
# check integer type for argument
with self.assertRaises(TypeError):
crv.raise_order(0.5)
# check logic error for negative argument
with self.assertRaises(Exception):
crv.raise_order(-1)
def interpolate(x, basis, t=None):
""" Perform general spline interpolation on a provided basis.
:param matrix-like x: Matrix *X[i,j]* of interpolation points *xi* with
components *j*
:param BSplineBasis basis: Basis on which to interpolate
:param array-like t: parametric values at interpolation points; defaults to
Greville points if not provided
:return: Interpolated curve
:rtype: Curve
"""
# wrap x into a numpy matrix
x = np.matrix(x)
# evaluate all basis functions in the interpolation points
if t is None:
t = basis.greville()
N = basis.evaluate(t, sparse=True)
# solve interpolation problem
controlpoints = splinalg.spsolve(N, x)
return Curve(basis, controlpoints)
def test_thicken(self):
c = Curve() # 2D curve from (0,0) to (1,0)
s = SurfaceFactory.thicken(c, .5) # extend to y=[-.5, .5]
self.assertTupleEqual(s.order(), (2,2))
self.assertTupleEqual(s.start(), (0,0))
self.assertTupleEqual(s.end(), (1,1))
self.assertTupleEqual(s.bounding_box()[0], (0.0,1.0))
self.assertTupleEqual(s.bounding_box()[1], (-.5, .5))
# test a case with vanishing velocity. x'(t)=0, y'(t)=0 for t=0
c = Curve(BSplineBasis(3), [[0,0],[0,0],[1,0]]) # x(t)=t^2, y(t)=0
s = SurfaceFactory.thicken(c, .5)
self.assertTupleEqual(s.order(), (3,2))
self.assertTupleEqual(s.start(), (0,0))
self.assertTupleEqual(s.end(), (1,1))
self.assertTupleEqual(s.bounding_box()[0], (0.0,1.0))
self.assertTupleEqual(s.bounding_box()[1], (-.5, .5))
def myThickness(t):
return t**2
c = Curve(BSplineBasis(3))
s = SurfaceFactory.thicken(c, myThickness)
self.assertTupleEqual(s.order(), (3,2))
self.assertTupleEqual(s.start(), (0,0))
self.assertTupleEqual(s.end(), (1,1))
self.assertTupleEqual(s.bounding_box()[0], ( 0.0, 1.0))
self.assertTupleEqual(s.bounding_box()[1], (-1.0, 1.0))
# test 3D geometry
c = Curve()
c.set_dimension(3)
s = SurfaceFactory.thicken(c, 1) # cylinder along x-axis with h=1, r=1
for u in np.linspace(s.start(0), s.end(0), 5):
for v in np.linspace(s.start(1), s.end(1), 5):
x = s(u, v)
self.assertAlmostEqual(x[1]**2+x[2]**2, 1.0**2) # distance to x-axis
self.assertAlmostEqual(x[0], u) # x coordinate should be linear
def curves_from_path(self, path):
# see https://www.w3schools.com/graphics/svg_path.asp for documentation
# and also https://www.w3.org/TR/SVG/paths.html
# figure out the largest polynomial order of this path
if re.search('[cCsS]', path):
order = 4
elif re.search('[qQtTaA]', path):
order = 3
else:
order = 2
last_curve = None
result = []
# each 'piece' is an operator (M,C,Q,L etc) and accomponying list of argument points
for piece in re.findall('[a-zA-Z][^a-zA-Z]*', path):
# if not single-letter command (i.e. 'z')
if len(piece)>1:
# points is a (string-)list of (x,y)-coordinates for the given operator
points = re.findall('-?\d+\.?\d*', piece[1:])
if piece[0].lower() != 'a' and piece[0].lower() != 'v' and piece[0].lower() != 'h':
# convert string-list to a list of numpy arrays (of size 2)
np_pts = np.reshape(np.array(points).astype('float'), (int(len(points)/2),2))
if piece[0] == 'm' or piece[0] == 'M':
# I really hope it always start with a move command (think it does)
startpoint = np_pts[0]
if len(np_pts) > 1:
if piece[0] == 'M':
knot = [0] + list(range(len(np_pts))) + [len(np_pts)-1]
curve_piece = Curve(BSplineBasis(2, knot), np_pts)
elif piece[0] == 'm':
knot = [0] + list(range(len(np_pts))) + [len(np_pts)-1]
controlpoints = [startpoint]
for cp in np_pts[1:]:
controlpoints.append(cp + controlpoints[-1])
curve_piece = Curve(BSplineBasis(2, knot), controlpoints)
else:
continue
elif piece[0] == 'c':
# cubic spline, relatively positioned
controlpoints = [startpoint]
knot = list(range(int(len(np_pts)/3)+1)) * 3
knot += [knot[0], knot[-1]]
knot.sort()
for cp in np_pts:
startpoint = controlpoints[int((len(controlpoints)-1)/3)*3]
controlpoints.append(cp + startpoint)
curve_piece = Curve(BSplineBasis(4, knot), controlpoints)
elif piece[0] == 'C':
# cubic spline, absolute position
controlpoints = [startpoint]
knot = list(range(int(len(np_pts)/3)+1)) * 3
knot += [knot[0], knot[-1]]
knot.sort()
for cp in np_pts:
controlpoints.append(cp)
curve_piece = Curve(BSplineBasis(4, knot), controlpoints)
elif piece[0] == 's':
# smooth cubic spline, relative position
controlpoints = [startpoint]
knot = list(range(int(len(np_pts)/2)+1)) * 3
knot += [knot[0], knot[-1]]
knot.sort()
x0 = np.array(last_curve[-1])
xn1 = np.array(last_curve[-2])
controlpoints.append(2*x0 -xn1)
startpoint = controlpoints[-1]
for i, cp in enumerate(np_pts):
if i % 2 == 0 and i>0:
startpoint = controlpoints[-1]
controlpoints.append(2*controlpoints[-1] - controlpoints[-2])
controlpoints.append(cp + startpoint)
curve_piece = Curve(BSplineBasis(4, knot), controlpoints)
elif piece[0] == 'S':
# smooth cubic spline, absolute position
controlpoints = [startpoint]
knot = list(range(int(len(np_pts)/2)+1)) * 3
knot += [knot[0], knot[-1]]
knot.sort()
x0 = np.array(last_curve[-1])
xn1 = np.array(last_curve[-2])
controlpoints.append(2*x0 -xn1)
for i,cp in enumerate(np_pts):
if i % 2 == 0 and i>0:
controlpoints.append(2*controlpoints[-1] - controlpoints[-2])
controlpoints.append(cp)
curve_piece = Curve(BSplineBasis(4, knot), controlpoints)
elif piece[0] == 'q':
# quadratic spline, relatively positioned
controlpoints = [startpoint]
knot = list(range(int(len(np_pts)/2)+1)) * 2
knot += [knot[0], knot[-1]]
knot.sort()
for cp in np_pts:
startpoint = controlpoints[int((len(controlpoints)-1)/2)*2]
controlpoints.append(cp + startpoint)
curve_piece = Curve(BSplineBasis(3, knot), controlpoints)
elif piece[0] == 'Q':
# quadratic spline, absolute position
controlpoints = [startpoint]
knot = list(range(len(np_pts)/2+1)) * 2
knot += [knot[0], knot[-1]]
knot.sort()
for cp in np_pts:
controlpoints.append(cp)
curve_piece = Curve(BSplineBasis(3, knot), controlpoints)
elif piece[0] == 'l':
# linear spline, relatively positioned
controlpoints = [startpoint]
knot = list(range(len(np_pts)+1))
knot += [knot[0], knot[-1]]
knot.sort()
for cp in np_pts:
startpoint = controlpoints[-1]
controlpoints.append(cp + startpoint)
curve_piece = Curve(BSplineBasis(2, knot), controlpoints)
elif piece[0] == 'L':
# linear spline, absolute position
controlpoints = [startpoint]
knot = list(range(len(np_pts)+1))
knot += [knot[0], knot[-1]]
knot.sort()
for cp in np_pts:
controlpoints.append(cp)
curve_piece = Curve(BSplineBasis(2, knot), controlpoints)
elif piece[0] == 'h':
# horizontal piece, relatively positioned
np_pts = np.array(points).astype('float')
controlpoints = [startpoint]
knot = list(range(len(np_pts)+1))
knot += [knot[0], knot[-1]]
knot.sort()
for cp in np_pts:
startpoint = controlpoints[-1]
controlpoints.append(np.array([cp, 0]) + startpoint)
curve_piece = Curve(BSplineBasis(2, knot), controlpoints)
elif piece[0] == 'H':
# horizontal piece, absolute position
np_pts = np.array(points).astype('float')
controlpoints = [startpoint]
knot = list(range(len(np_pts)+1))
knot += [knot[0], knot[-1]]
knot.sort()
for cp in np_pts:
controlpoints.append([cp, startpoint[1]])
curve_piece = Curve(BSplineBasis(2, knot), controlpoints)
elif piece[0] == 'v':
# vertical piece, relatively positioned
np_pts = np.array(points).astype('float')
controlpoints = [startpoint]
knot = list(range(len(np_pts)+1))
knot += [knot[0], knot[-1]]
knot.sort()
for cp in np_pts:
startpoint = controlpoints[-1]
controlpoints.append(np.array([0, cp]) + startpoint)
curve_piece = Curve(BSplineBasis(2, knot), controlpoints)
elif piece[0] == 'V':
# vertical piece, absolute position
np_pts = np.array(points).astype('float')
controlpoints = [startpoint]
knot = list(range(len(np_pts)+1))
knot += [knot[0], knot[-1]]
knot.sort()
for cp in np_pts:
controlpoints.append([startpoint[0], cp])
curve_piece = Curve(BSplineBasis(2, knot), controlpoints)
elif piece[0] == 'A' or piece[0] == 'a':
np_pts = np.reshape(np.array(points).astype('float'), (int(len(points))))
rx = float(points[0])
ry = float(points[1])
x_axis_rotation = float(points[2])
large_arc_flag = (points[3] != '0')
sweep_flag = (points[4] != '0')
xend = np.array([float(points[5]), float(points[6]) ])
if piece[0] == 'a':
xend += startpoint
R = np.array([[ np.cos(x_axis_rotation), np.sin(x_axis_rotation)],
[-np.sin(x_axis_rotation), np.cos(x_axis_rotation)]])
xp = np.linalg.solve(R, (startpoint - xend)/2)
if sweep_flag == large_arc_flag:
cprime = -(np.sqrt(abs(rx**2*ry**2 - rx**2*xp[1]**2 - ry**2*xp[0]**2) /
(rx**2*xp[1]**2 + ry**2*xp[0]**2)) *
np.array([rx*xp[1]/ry, -ry*xp[0]/rx]))
else:
cprime = +(np.sqrt(abs(rx**2*ry**2 - rx**2*xp[1]**2 - ry**2*xp[0]**2) /
(rx**2*xp[1]**2 + ry**2*xp[0]**2)) *
np.array([rx*xp[1]/ry, -ry*xp[0]/rx]))
center = np.linalg.solve(R.T, cprime) + (startpoint+xend)/2
def arccos(vec1, vec2):
return (np.sign(vec1[0]*vec2[1] - vec1[1]*vec2[0]) *
np.arccos(vec1.dot(vec2)/np.linalg.norm(vec1)/np.linalg.norm(vec2)))
tmp1 = np.divide( xp - cprime, [rx,ry])
tmp2 = np.divide(-xp - cprime, [rx,ry])
theta1 = arccos(np.array([1,0]), tmp1)
delta_t= arccos(tmp1, tmp2) % (2*np.pi)
if not sweep_flag and delta_t > 0:
delta_t -= 2*np.pi
elif sweep_flag and delta_t < 0:
delta_t += 2*np.pi
curve_piece = (curve_factory.circle_segment(delta_t)*[rx,ry]).rotate(theta1) + center
# curve_piece = curve_factory.circle_segment(delta_t)
elif piece[0] == 'z' or piece[0] == 'Z':
# periodic curve
# curve_piece = Curve(BSplineBasis(2), [startpoint, last_curve[0]])
# curve_piece.reparam([0, curve_piece.length()])
# last_curve.append(curve_piece).make_periodic(0)
last_curve.make_periodic(0)
result.append(last_curve)
last_curve = None
continue
else:
raise RuntimeError('Unknown path parameter:' + piece)
if(curve_piece.length()>state.controlpoint_absolute_tolerance):
curve_piece.reparam([0, curve_piece.length()])
if last_curve is None:
last_curve = curve_piece
else:
last_curve.append(curve_piece)
startpoint = last_curve[-1,:2] # disregard rational weight (if any)
if last_curve is not None:
result.append(last_curve)
return result
def test_length(self):
crv = Curve()
self.assertAlmostEqual(crv.length(), 1.0)
crv = Curve(BSplineBasis(2, [-1,-1,1,2,3,3]), [[0,0,0], [1,0,0], [1,0,3],[1,10,3]])
self.assertAlmostEqual(crv.length(), 14.0)
def test_split(self):
# non-uniform knot vector of a squiggly quadratic n=4 curve
controlpoints = [[0, 0, 1], [1, 1, 0], [2, -1, 0], [3, 0, 0]]
crv = Curve(BSplineBasis(3, [0, 0, 0, .7, 1, 1, 1]), controlpoints)
# get some info on the initial curve
evaluation_point1 = crv(0.50)
evaluation_point2 = crv(0.70)
evaluation_point3 = crv(0.33)
# split curves away from knot
new_curves_050 = crv.split(0.50)
self.assertEqual(len(new_curves_050), 2)
self.assertEqual(
len(new_curves_050[0].knots(0, with_multiplicities=True)), 6) # open knot vector [0,0,0,.5,.5,.5]
self.assertEqual(
len(new_curves_050[1].knots(0, with_multiplicities=True)), 7) # open knot vector [.5,.5,.5,.7,1,1,1]
# split curves at existing knot
new_curves_070 = crv.split(0.70)
self.assertEqual(len(new_curves_070), 2)
self.assertEqual(
len(new_curves_070[0].knots(0, with_multiplicities=True)), 6) # open knot vector [0,0,0,.7,.7,.7]
self.assertEqual(
len(new_curves_070[1].knots(0, with_multiplicities=True)), 6) # open knot vector [.7,.7,.7,1,1,1]
# split curves multiple points
new_curves_all = crv.split([0.50, 0.70])
self.assertEqual(len(new_curves_all), 3)
self.assertEqual(
len(new_curves_all[0].knots(0, with_multiplicities=True)), 6) # open knot vector [0,0,0,.5,.5,.5]
self.assertEqual(
len(new_curves_all[1].knots(0, with_multiplicities=True)), 6) # open knot vector [.5,.5,.5,.7,.7,.7]
self.assertEqual(
len(new_curves_all[2].knots(0, with_multiplicities=True)), 6) # open knot vector [.7,.7,.7,1,1,1]
# compare all curves which exist at parametric point 0.5
for c in new_curves_050 + [new_curves_070[0]] + new_curves_all[0:2]:
new_curve_evaluation = c(0.50)
self.assertAlmostEqual(evaluation_point1[0], new_curve_evaluation[0])
self.assertAlmostEqual(evaluation_point1[1], new_curve_evaluation[1])
self.assertAlmostEqual(evaluation_point1[2], new_curve_evaluation[2])
# compare all curves which exist at parametric point 0.33
for c in [new_curves_050[0]] + [new_curves_070[0]] + [new_curves_all[0]]:
new_curve_evaluation = c(0.33)
self.assertAlmostEqual(evaluation_point3[0], new_curve_evaluation[0])
self.assertAlmostEqual(evaluation_point3[1], new_curve_evaluation[1])
self.assertAlmostEqual(evaluation_point3[2], new_curve_evaluation[2])
# compare all curves which exist at parametric point 0.7
for c in [new_curves_050[1]] + new_curves_070 + new_curves_all[1:3]:
new_curve_evaluation = c(0.70)
self.assertAlmostEqual(evaluation_point2[0], new_curve_evaluation[0])
self.assertAlmostEqual(evaluation_point2[1], new_curve_evaluation[1])
self.assertAlmostEqual(evaluation_point2[2], new_curve_evaluation[2])
# test errors and exceptions
with self.assertRaises(TypeError):
crv.split(.1, .2, .3) # too many arguments
with self.assertRaises(Exception):
crv.split(-0.2) # GoTools returns error on outside-domain errors
with self.assertRaises(Exception):
crv.split(1.4) # GoTools returns error on outside-domain errors
def test_reparam(self):
# non-uniform knot vector of a squiggly quadratic n=4 curve
controlpoints = [[0, 0, 0], [1, 1, 0], [2, -1, 0], [3, 0, 0]]
crv = Curve(BSplineBasis(3, [0, 0, 0, 1.32, 3, 3, 3]), controlpoints)
# get some info on the initial curve
knots1 = crv.knots(0)
evaluation_point1 = crv(1.20)
self.assertEqual(knots1[0], 0)
self.assertEqual(knots1[-1], 3)
# reparametrize
crv.reparam((6.0, 9.0))
# get some info on the reparametrized curve
knots2 = crv.knots(0)
evaluation_point2 = crv(7.20)
self.assertEqual(knots2[0], 6)
self.assertEqual(knots2[-1], 9)
# ensure that curve has not chcanged, by comparing evaluation of it
self.assertAlmostEqual(evaluation_point1[0], evaluation_point2[0])
self.assertAlmostEqual(evaluation_point1[1], evaluation_point2[1])
self.assertAlmostEqual(evaluation_point1[2], evaluation_point2[2])
# normalize, i.e. set domain to [0,1]
crv.reparam()
# get some info on the normalized curve
knots3 = crv.knots(0)
evaluation_point3 = crv(0.40)
self.assertEqual(knots3[0], 0)
self.assertEqual(knots3[-1], 1)
# ensure that curve has not chcanged, by comparing evaluation of it
self.assertAlmostEqual(evaluation_point1[0], evaluation_point3[0])
self.assertAlmostEqual(evaluation_point1[1], evaluation_point3[1])
self.assertAlmostEqual(evaluation_point1[2], evaluation_point3[2])
# test errors and exceptions
with self.assertRaises(ValueError):
crv.reparam((9, 3))
with self.assertRaises(TypeError):
crv.reparam(("one", "two"))
def test_insert_knot(self):
# non-uniform knot vector of a squiggly quadratic n=5 curve in 3D
controlpoints = [[0, 0, 0], [1, 1, 1], [2, -1, 0], [3, 0, -1], [0, 0, -5]]
crv = Curve(BSplineBasis(3, [0, 0, 0, .3, .4, 1, 1, 1]), controlpoints)
evaluation_point1 = crv(0.37)
crv.insert_knot(.2)
crv.insert_knot(.3)
crv.insert_knot(.9)
evaluation_point2 = crv(0.37)
# ensure that curve has not chcanged, by comparing evaluation of it
self.assertAlmostEqual(evaluation_point1[0], evaluation_point2[0])
self.assertAlmostEqual(evaluation_point1[1], evaluation_point2[1])
self.assertAlmostEqual(evaluation_point1[2], evaluation_point2[2])
self.assertEqual(len(crv.knots(0, with_multiplicities=True)), 11)
# test knot insertion on single knot span
crv = Curve(BSplineBasis(5), [[0, 0, 0], [1, 1, 1], [2, -1, 0], [3, 0, -1], [0, 0, -5]])
evaluation_point1 = crv(0.27)
crv.insert_knot(.2)
evaluation_point2 = crv(0.27)
self.assertAlmostEqual(evaluation_point1[0], evaluation_point2[0])
self.assertAlmostEqual(evaluation_point1[1], evaluation_point2[1])
self.assertAlmostEqual(evaluation_point1[2], evaluation_point2[2])
# test knot insertion on first of two-knot span
crv = Curve(
BSplineBasis(3, [0, 0, 0, .5, 1, 1, 1]), [[0, 0, 0], [2, -1, 0], [3, 0, -1], [0, 0, -5]
])
evaluation_point1 = crv(0.27)
crv.insert_knot(.2)
evaluation_point2 = crv(0.27)
self.assertAlmostEqual(evaluation_point1[0], evaluation_point2[0])
self.assertAlmostEqual(evaluation_point1[1], evaluation_point2[1])
self.assertAlmostEqual(evaluation_point1[2], evaluation_point2[2])
# test knot insertion on last of two-knot span
crv = Curve(
BSplineBasis(3, [0, 0, 0, .5, 1, 1, 1]), [[0, 0, 0], [2, -1, 0], [3, 0, -1], [0, 0, -5]
])
evaluation_point1 = crv(0.27)
crv.insert_knot(.9)
evaluation_point2 = crv(0.27)
self.assertAlmostEqual(evaluation_point1[0], evaluation_point2[0])
self.assertAlmostEqual(evaluation_point1[1], evaluation_point2[1])
self.assertAlmostEqual(evaluation_point1[2], evaluation_point2[2])
# test knot insertion down to C0 basis
crv = Curve(BSplineBasis(3), [[0, 0, 0], [2, -1, 0], [0, 0, -5]])
evaluation_point1 = crv(0.27)
crv.insert_knot(.4)
crv.insert_knot(.4)
evaluation_point2 = crv(0.27)
self.assertAlmostEqual(evaluation_point1[0], evaluation_point2[0])
self.assertAlmostEqual(evaluation_point1[1], evaluation_point2[1])
self.assertAlmostEqual(evaluation_point1[2], evaluation_point2[2])
# test rational curves, here a perfect circle represented as n=9, p=2-curve
s = 1.0 / sqrt(2)
controlpoints = [[1, 0, 1], [s, s, s], [0, 1, 1], [-s, s, s], [-1, 0, 1], [-s, -s, s],
[0, -1, 1], [s, -s, s], [1, 0, 1]]
crv = Curve(BSplineBasis(3, [-1, 0, 0, 1, 1, 2, 2, 3, 3, 4, 4, 5]), controlpoints, True)
evaluation_point1 = crv(0.37)
crv.insert_knot(.2)
crv.insert_knot(.3)
crv.insert_knot(.9)
evaluation_point2 = crv(0.37)
self.assertAlmostEqual(evaluation_point1[0], evaluation_point2[0])
self.assertAlmostEqual(evaluation_point1[1], evaluation_point2[1])
self.assertEqual(len(crv.knots(0, with_multiplicities=True)), 15)
# test errors and exceptions
with self.assertRaises(TypeError):
crv.insert_knot(1, 2, 3) # too many arguments
with self.assertRaises(ValueError):
crv.insert_knot(1, 2) # direction=2 is illegal for curves
with self.assertRaises(TypeError):
crv.insert_knot() # too few arguments
with self.assertRaises(ValueError):
crv.insert_knot(-0.2) # Outside-domain error
with self.assertRaises(ValueError):
crv.insert_knot(4.4) # Outside-domain error