def surface_normal(self, ray, acute=True):
"""
Returns surface normal in point where ray hits CSGint surface
"""
"""
Ensure surface_point on CSGint surface
"""
invtransform = tf.inverse_matrix(self.transform)
localray = Ray()
localray.position = transform_point(ray.position, invtransform)
localray.direction = transform_direction(ray.direction, invtransform)
bool1 = self.INTone.on_surface(localray.position)
bool2 = self.INTtwo.on_surface(localray.position)
assertbool = False
if bool1 == True and self.INTtwo.contains(localray.position) == True:
assertbool = True
if bool2 == True and self.INTone.contains(localray.position) == True:
assertbool = True
if bool1 == bool2 == True:
assertbool = True
assert assertbool == True
if bool1 == True:
return self.INTone.surface_normal(ray, acute)
else:
return self.INTtwo.surface_normal(ray, acute)
def surface_normal(self, ray, acute=True):
"""
Return the surface normal for a ray arriving on the CSGsub surface.
"""
invtransform = tf.inverse_matrix(self.transform)
localray = Ray()
localray.position = transform_point(ray.position, invtransform)
localray.direction = transform_direction(ray.direction, invtransform)
bool1 = self.SUBplus.on_surface(localray.position)
bool2 = self.SUBminus.on_surface(localray.position)
assertbool = False
if bool1 == True and self.SUBminus.contains(localray.position) == False:
assertbool = True
if bool2 == True and self.SUBplus.contains(localray.position) == True:
assertbool = True
assert assertbool == True
if bool1 == True and self.SUBminus.contains(localray.position) == False:
return self.SUBplus.surface_normal(ray, acute)
if bool2 == True and self.SUBplus.contains(localray.position) == True:
if acute:
return self.SUBminus.surface_normal(ray,acute)
else:
normal = -1 * self.SUBminus.surface_normal(ray, acute=True)
# Remove signed zeros
for i in range(0,3):
if normal[i] == 0.0:
normal[i] = 0.0
return normal
def intersection(self, ray):
"""
Returns the intersection points of ray with CSGadd in global frame
"""
# We will need the invtransform later when we return the results..."
invtransform = tf.inverse_matrix(self.transform)
localray = Ray()
localray.position = transform_point(ray.position, invtransform)
localray.direction = transform_direction(ray.direction, invtransform)
ADDone__intersections = self.ADDone.intersection(localray)
ADDtwo__intersections = self.ADDtwo.intersection(localray)
"""
Cover the simpler cases
"""
if ADDone__intersections == None and ADDtwo__intersections == None:
return None
"""
Change ..._intersections into tuples
"""
if ADDone__intersections != None:
for i in range(0,len(ADDone__intersections)):
point = ADDone__intersections[i]
new_point = (point[0], point[1], point[2])
ADDone__intersections[i] = new_point
if ADDtwo__intersections != None:
for i in range(0,len(ADDtwo__intersections)):
point = ADDtwo__intersections[i]
new_point = (point[0],point[1],point[2])
ADDtwo__intersections[i] = new_point
"""
Only intersection points NOT containted in resp. other structure relevant
"""
ADDone_intersections = []
ADDtwo_intersections = []
if ADDone__intersections != None:
for i in range(0,len(ADDone__intersections)):
if self.ADDtwo.contains(ADDone__intersections[i]) == False:
ADDone_intersections.append(ADDone__intersections[i])
if ADDtwo__intersections != None:
for j in range(0,len(ADDtwo__intersections)):
if self.ADDone.contains(ADDtwo__intersections[j]) == False:
ADDtwo_intersections.append(ADDtwo__intersections[j])
"""
=> Convert to list
"""
ADDone_set = set(ADDone_intersections[:])
ADDtwo_set = set(ADDtwo_intersections[:])
combined_set = ADDone_set | ADDtwo_set
combined_intersections = list(combined_set)
"""
Just in case...
"""
if len(combined_intersections) == 0:
return None
"""
Sort by separation from ray origin
"""
intersection_separations = []
for point in combined_intersections:
intersection_separations.append(separation(ray.position, point))
"""
Convert into Numpy arrays in order to sort
"""
intersection_separations = np.array(intersection_separations)
sorted_indices = intersection_separations.argsort()
sorted_combined_intersections = []
for index in sorted_indices:
sorted_combined_intersections.append(np.array(combined_intersections[index]))
global_frame_intersections = []
for point in sorted_combined_intersections:
global_frame_intersections.append(transform_point(point, self.transform))
global_frame_intersections_cleared = []
for point in global_frame_intersections:
if self.on_surface(point) == True:
"""
This is only necessary if the two objects have an entire surface region in common,
for example consider two boxes joined at one face.
"""
global_frame_intersections_cleared.append(point)
if len(global_frame_intersections_cleared) == 0:
return None
return global_frame_intersections_cleared
def intersection(self, ray):
"""
Returns the intersection points of ray with CSGint in global frame
"""
# We will need the invtransform later when we return the results..."
invtransform = tf.inverse_matrix(self.transform)
localray = Ray()
localray.position = transform_point(ray.position, invtransform)
localray.direction = transform_direction(ray.direction, invtransform)
INTone__intersections = self.INTone.intersection(localray)
INTtwo__intersections = self.INTtwo.intersection(localray)
"""
Cover the simpler cases
"""
if INTone__intersections == None and INTtwo__intersections == None:
return None
"""
Change ..._intersections into tuples
"""
if INTone__intersections != None:
for i in range(0,len(INTone__intersections)):
point = INTone__intersections[i]
new_point = (point[0], point[1], point[2])
INTone__intersections[i] = new_point
if INTtwo__intersections != None:
for i in range(0,len(INTtwo__intersections)):
point = INTtwo__intersections[i]
new_point = (point[0], point[1], point[2])
INTtwo__intersections[i] = new_point
"""
Only intersection points contained in resp. other structure relevant
"""
INTone_intersections = []
INTtwo_intersections = []
if INTone__intersections != None:
for i in range(0,len(INTone__intersections)):
if self.INTtwo.contains(INTone__intersections[i]) == True:
INTone_intersections.append(INTone__intersections[i])
if INTtwo__intersections != None:
for j in range(0,len(INTtwo__intersections)):
if self.INTone.contains(INTtwo__intersections[j]) == True:
INTtwo_intersections.append(INTtwo__intersections[j])
"""
=> Convert to list
"""
INTone_set = set(INTone_intersections[:])
INTtwo_set = set(INTtwo_intersections[:])
combined_set = INTone_set | INTtwo_set
combined_intersections = list(combined_set)
"""
Just in case...
"""
if len(combined_intersections) == 0:
return None
"""
Sort by separation from ray origin
"""
intersection_separations = []
for point in combined_intersections:
intersection_separations.append(separation(ray.position, point))
"""
Convert into Numpy arrays in order to sort
"""
intersection_separations = np.array(intersection_separations)
sorted_indices = intersection_separations.argsort()
sorted_combined_intersections = []
for index in sorted_indices:
sorted_combined_intersections.append(np.array(combined_intersections[index]))
global_frame_intersections = []
for point in sorted_combined_intersections:
global_frame_intersections.append(transform_point(point, self.transform))
return global_frame_intersections
def intersection(self, ray):
"""
Returns the intersection points of ray with CSGsub in global frame
"""
# We will need the invtransform later when we return the results..."
invtransform = tf.inverse_matrix(self.transform)
localray = Ray()
localray.position = transform_point(ray.position, invtransform)
localray.direction = transform_direction(ray.direction, invtransform)
SUBplus__intersections = self.SUBplus.intersection(localray)
SUBminus__intersections = self.SUBminus.intersection(localray)
"""
Cover the simpler cases
"""
if SUBplus__intersections == None and SUBminus__intersections == None:
return None
"""
Change ..._intersections into tuples
"""
if SUBplus__intersections != None:
for i in range(0,len(SUBplus__intersections)):
point = SUBplus__intersections[i]
new_point = (point[0], point[1], point[2])
SUBplus__intersections[i] = new_point
if SUBminus__intersections != None:
for i in range(0,len(SUBminus__intersections)):
point = SUBminus__intersections[i]
new_point = (point[0], point[1], point[2])
SUBminus__intersections[i] = new_point
"""
Valid intersection points:
SUBplus intersections must lie outside SUBminus
SUBminus intersections must lie inside SUBplus
"""
SUBplus_intersections = []
SUBminus_intersections = []
if SUBplus__intersections != None:
for intersection in SUBplus__intersections:
if not self.SUBminus.contains(intersection):
SUBplus_intersections.append(intersection)
if SUBminus__intersections != None:
for intersection in SUBminus__intersections:
if self.SUBplus.contains(intersection):
SUBminus_intersections.append(intersection)
# SUBplus_set = set(SUBplus_intersections[:])
# SUBminus_set = set(SUBminus_intersections[:])
# combined_set = SUBplus_set ^ SUBminus_set
# combined_intersections = list(combined_set)
combined_intersections = np.array(list(set(SUBplus_intersections+SUBminus_intersections)))
# intersection_separations = combined_intersections[0]**2+combined_intersections[1]**2+combined_intersections[2]**2
"""
Just in case...
"""
if len(combined_intersections) == 0:
return None
transposed_intersections = combined_intersections.transpose()
intersection_vectors = transposed_intersections[0]-ray.position[0], transposed_intersections[1]-ray.position[1], transposed_intersections[2]-ray.position[2]
# intersection_separations= []
# print combined_intersections, point, intersection_vectors
intersection_separations = intersection_vectors[0]**2+intersection_vectors[1]**2+intersection_vectors[2]**2
# for point in combined_intersections:
# intersection_separations.append(separation(ray.position, point))
# for i in range(len(intersection_separations)):
# print intersection_separations[i], intersection_separations2[i]
"""
Sort by distance from ray origin => Use Numpy arrays
"""
# intersection_separations = np.array(intersection_separations)
sorted_combined_intersections = combined_intersections[intersection_separations.argsort()]
# sorted_combined_intersections = []
# for index in sorted_indices:
# sorted_combined_intersections.append(np.array(combined_intersections[index]))
# global_frame_intersections = []
# for point in sorted_combined_intersections:
# global_frame_intersections.append(transform_point(point, self.transform))
global_frame_intersections = [transform_point(point, self.transform) for point in sorted_combined_intersections]
return global_frame_intersections