def lineBetweenTwoPlanes(line, planeInf, planeSup):
"""\
returns a tuple that contains :
- the case encountered (aa, ab, ac, bb, bc, cc)
- the line between the two planes (cases ab-c et bb-c) else None
"""
p1, p2 = (line.p1, line.p2) if line.p1.z <= line.p2.z else (line.p2,
line.p1)
direction = p2.sub(p1)
if p1.z <= planeInf.p.z:
if p2.z <= planeInf.p.z:
return ('aa', None)
elif p2.z < planeSup.p.z:
sec, l = planeInf.intersect_point(direction, p1)
return ('ab', Line(sec, p2))
elif p2.z >= planeSup.p.z:
sec1, l1 = planeInf.intersect_point(direction, p1)
sec2, l2 = planeSup.intersect_point(direction, p2)
return ('ac', Line(sec1, sec2))
elif p1.z < planeSup.p.z:
if p2.z < planeSup.p.z:
return ('bb', line)
elif p2.z >= planeSup.p.z:
sec, l = planeSup.intersect_point(direction, p2)
return ('bc', Line(p2, sec))
elif p1.z >= planeSup.p.z:
return ('cc', None)
def reset_cache(self):
self.minx = min(self.p1[0], self.p2[0], self.p3[0])
self.miny = min(self.p1[1], self.p2[1], self.p3[1])
self.minz = min(self.p1[2], self.p2[2], self.p3[2])
self.maxx = max(self.p1[0], self.p2[0], self.p3[0])
self.maxy = max(self.p1[1], self.p2[1], self.p3[1])
self.maxz = max(self.p1[2], self.p2[2], self.p3[2])
self.e1 = Line(self.p1, self.p2)
self.e2 = Line(self.p2, self.p3)
self.e3 = Line(self.p3, self.p1)
# calculate normal, if p1-p2-pe are in clockwise order
if self.normal is None:
self.normal = pnormalized(
pcross(psub(self.p3, self.p1), psub(self.p2, self.p1)))
if not len(self.normal) > 3:
self.normal = (self.normal[0], self.normal[1], self.normal[2], 'v')
self.center = pdiv(padd(padd(self.p1, self.p2), self.p3), 3)
self.plane = Plane(self.center, self.normal)
# calculate circumcircle (resulting in radius and middle)
denom = pnorm(pcross(psub(self.p2, self.p1), psub(self.p3, self.p2)))
self.radius = (pdist(self.p2, self.p1) * pdist(self.p3, self.p2) *
pdist(self.p3, self.p1)) / (2 * denom)
self.radiussq = self.radius**2
denom2 = 2 * denom * denom
alpha = pdist_sq(self.p3, self.p2) * pdot(psub(
self.p1, self.p2), psub(self.p1, self.p3)) / denom2
beta = pdist_sq(self.p1, self.p3) * pdot(psub(
self.p2, self.p1), psub(self.p2, self.p3)) / denom2
gamma = pdist_sq(self.p1, self.p2) * pdot(psub(
self.p3, self.p1), psub(self.p3, self.p2)) / denom2
self.middle = (self.p1[0] * alpha + self.p2[0] * beta +
self.p3[0] * gamma, self.p1[1] * alpha +
self.p2[1] * beta + self.p3[1] * gamma,
self.p1[2] * alpha + self.p2[2] * beta +
self.p3[2] * gamma)
def test_line(self):
"""Circle->Line collisions"""
func = pycam.Geometry.intersection.intersect_circle_line
func_args = [
self._circle["center"], self._circle["axis"],
self._circle["radius"], self._circle["radius"]**2
]
# additional arguments: direction, edge
"""
edge = Line((-1, -1, 4), (5, 5, 4))
coll = func(*(func_args + [(0, 0, -1)] + [edge]))
# The collision point seems to be the middle of the line.
# This is technically not necessary, but the current algorithm does it this way.
self.assert_collision_equal(((1.5, 1.5, 10), (1.5, 1.5, 4), 6), coll)
"""
"""
# line dips into circle
edge = Line((4, 1, 3), (10, 1, 5))
coll = func(*(func_args + [(0, 0, -1)] + [edge]))
#self.assert_collision_equal(((-1, 1, 10), (-1, 1, 2), 8), coll)
self.assert_collision_equal(((5, 1, 10), (5, 1, 3.3333333333), 6.666666666), coll)
# horizontally skewed line
edge = Line((2, 1, 3), (8, 1, 5))
coll = func(*(func_args + [(0, 0, -1)] + [edge]))
#self.assert_collision_equal(((-1, 1, 10), (-1, 1, 2), 8), coll)
self.assert_collision_equal(((5, 1, 10), (5, 1, 4), 6), coll)
"""
# line touches circle
edge = Line((10, 10, 4), (5, 1, 4))
coll = func(*(func_args + [(0, 0, -1)] + [edge]))
self.assert_collision_equal(((5, 1, 10), (5, 1, 4), 6), coll)
# no collision
edge = Line((10, 10, 4), (5.001, 1, 4))
coll = func(*(func_args + [(0, 0, -1)] + [edge]))
self.assert_collision_equal((None, None, INFINITE), coll)
def get_lines_layer(lines,
z,
last_z=None,
step_width=None,
milling_style=MillingStyle.CONVENTIONAL):
get_proj_point = lambda proj_point: (proj_point[0], proj_point[1], z)
projected_lines = []
for line in lines:
if (last_z is not None) and (last_z < line.minz):
# the line was processed before
continue
elif line.minz < z < line.maxz:
# Split the line at the point at z level and do the calculation
# for both point pairs.
factor = (z - line.p1[2]) / (line.p2[2] - line.p1[2])
plane_point = padd(line.p1, pmul(line.vector, factor))
if line.p1[2] < z:
p1 = get_proj_point(line.p1)
p2 = line.p2
else:
p1 = line.p1
p2 = get_proj_point(line.p2)
projected_lines.append(Line(p1, plane_point))
yield Line(plane_point, p2)
elif line.minz < last_z < line.maxz:
plane = Plane((0, 0, last_z), (0, 0, 1, 'v'))
cp = plane.intersect_point(line.dir, line.p1)[0]
# we can be sure that there is an intersection
if line.p1[2] > last_z:
p1, p2 = cp, line.p2
else:
p1, p2 = line.p1, cp
projected_lines.append(Line(p1, p2))
else:
if line.maxz <= z:
# the line is completely below z
projected_lines.append(
Line(get_proj_point(line.p1), get_proj_point(line.p2)))
elif line.minz >= z:
projected_lines.append(line)
else:
_log.warn(
"Unexpected condition 'get_lines_layer': %s / %s / %s / %s",
line.p1, line.p2, z, last_z)
# process all projected lines
for line in projected_lines:
points = []
if step_width is None:
points.append(line.p1)
points.append(line.p2)
else:
if isiterable(step_width):
steps = step_width
else:
steps = floatrange(0.0, line.len, inc=step_width)
for step in steps:
next_point = padd(line.p1, pmul(line.dir, step))
points.append(next_point)
yield points
def extend_shifted_lines(self):
# TODO: improve the code below to handle "holes" properly (neighbours
# that disappear due to a negative collision distance - use the example
# "SampleScene.stl" as a reference)
def get_right_neighbour(group, ref):
group_len = len(group)
# limit the search for a neighbour for non-closed groups
if self.waterlines[group[0]].p1 == self.waterlines[group[-1]].p2:
index_range = range(ref + 1, ref + group_len)
else:
index_range = range(ref + 1, group_len)
for index in index_range:
line_id = group[index % group_len]
if not self.shifted_lines[line_id] is None:
return line_id
else:
return None
groups = self._get_groups()
for group in groups:
index = 0
while index < len(group):
current = group[index]
current_shifted = self.shifted_lines[current]
if current_shifted is None:
index += 1
continue
neighbour = get_right_neighbour(group, index)
if neighbour is None:
# no right neighbour available
break
neighbour_shifted = self.shifted_lines[neighbour]
if current_shifted.p2 == neighbour_shifted.p1:
index += 1
continue
cp, dist = current_shifted.get_intersection(
neighbour_shifted, infinite_lines=True)
cp2, dist2 = neighbour_shifted.get_intersection(
current_shifted, infinite_lines=True)
# TODO: add an arc (composed of lines) for a soft corner (not
# required, but nicer)
if dist < epsilon:
self.shifted_lines[current] = None
index -= 1
elif dist2 > 1 - epsilon:
self.shifted_lines[neighbour] = None
else:
self.shifted_lines[current] = Line(current_shifted.p1, cp)
self.shifted_lines[neighbour] = Line(
cp, neighbour_shifted.p2)
index += 1
def GenerateToolPathLinePush(self, pa, line, z, previous_z,
draw_callback=None):
if previous_z <= line.minz:
# the line is completely above the previous level
pass
elif line.minz < z < line.maxz:
# Split the line at the point at z level and do the calculation
# for both point pairs.
factor = (z - line.p1.z) / (line.p2.z - line.p1.z)
plane_point = line.p1.add(line.vector.mul(factor))
self.GenerateToolPathLinePush(pa, Line(line.p1, plane_point), z,
previous_z, draw_callback=draw_callback)
self.GenerateToolPathLinePush(pa, Line(plane_point, line.p2), z,
previous_z, draw_callback=draw_callback)
elif line.minz < previous_z < line.maxz:
plane = Plane(Point(0, 0, previous_z), Vector(0, 0, 1))
cp = plane.intersect_point(line.dir, line.p1)[0]
# we can be sure that there is an intersection
if line.p1.z > previous_z:
p1, p2 = cp, line.p2
else:
p1, p2 = line.p1, cp
self.GenerateToolPathLinePush(pa, Line(p1, p2), z, previous_z,
draw_callback=draw_callback)
else:
if line.maxz <= z:
# the line is completely below z
p1 = Point(line.p1.x, line.p1.y, z)
p2 = Point(line.p2.x, line.p2.y, z)
elif line.minz >= z:
p1 = line.p1
p2 = line.p2
else:
log.warn("Unexpected condition EC_GTPLP: %s / %s / %s / %s" % \
(line.p1, line.p2, z, previous_z))
return
# no model -> no possible obstacles
# model is completely below z (e.g. support bridges) -> no obstacles
relevant_models = [m for m in self.models if m.maxz >= z]
if not relevant_models:
points = [p1, p2]
elif self.physics:
points = get_free_paths_ode(self.physics, p1, p2)
else:
points = get_free_paths_triangles(relevant_models, self.cutter,
p1, p2)
if points:
for point in points:
pa.append(point)
if draw_callback:
draw_callback(tool_position=points[-1], toolpath=pa.paths)
def get_lines(self):
""" Caching is necessary to avoid constant recalculation for visualization. """
if self._lines_cache is None:
# recalculate the line cache
lines = []
for index in range(len(self._points) - 1):
lines.append(Line(self._points[index],
self._points[index + 1]))
# Connect the last point with the first only if the polygon is
# closed.
if self.is_closed:
lines.append(Line(self._points[-1], self._points[0]))
self._lines_cache = lines
return self._lines_cache[:]
def test_get_offset_polygons_truncated_square_inside_small_offset():
"""This tests a "truncated square", which is a square with the
corners shaved off, and an inside offset that's small compared to
the corner chamfers."""
# 'expected_inside_p' is the expected offset polygon with a *negative*
# offset, so it's inside the input polygon.
lines = (Line((1.4142135623730951, 1.0, 0.0),
(8.585786437626904, 1.0, 0.0)),
Line((8.585786437626904, 1.0, 0.0),
(9.0, 1.4142135623730951, 0.0)),
Line((9.0, 1.4142135623730951, 0.0),
(9.0, 8.585786437626904, 0.0)),
Line((9.0, 8.585786437626904, 0.0),
(8.585786437626904, 9.0, 0.0)),
Line((8.585786437626904, 9.0, 0.0),
(1.4142135623730951, 9.0, 0.0)),
Line((1.4142135623730951, 9.0, 0.0),
(1.0, 8.585786437626904, 0.0)),
Line((1.0, 8.585786437626904, 0.0),
(1.0, 1.4142135623730951, 0.0)),
Line((1.0, 1.4142135623730951, 0.0),
(1.4142135623730951, 1.0, 0.0)))
expected_inside_p = Polygon()
for line in lines:
expected_inside_p.append(line)
output_p = truncated_square_p.get_offset_polygons(-1)
print("get_offset_polygons() returned:")
for p in output_p:
print(str(p))
assert (len(output_p) == 1)
assert_polygons_are_identical(output_p[0], expected_inside_p)
def filter_toolpath(self, toolpath):
new_path = []
last_pos = None
optional_moves = []
for move_type, args in toolpath:
if move_type in (MOVE_STRAIGHT, MOVE_STRAIGHT_RAPID):
if last_pos:
# find all remaining pieces of this line
inner_lines = []
for polygon in self.settings["polygons"]:
inner, outer = polygon.split_line(Line(last_pos, args))
inner_lines.extend(inner)
# turn these lines into moves
for line in inner_lines:
if pdist(line.p1, last_pos) > epsilon:
new_path.append((MOVE_SAFETY, None))
new_path.append((move_type, line.p1))
else:
# we continue were we left
if optional_moves:
new_path.extend(optional_moves)
optional_moves = []
new_path.append((move_type, line.p2))
last_pos = line.p2
optional_moves = []
# finish the line by moving to its end (if necessary)
if pdist(last_pos, args) > epsilon:
optional_moves.append((MOVE_SAFETY, None))
optional_moves.append((move_type, args))
last_pos = args
elif move_type == MOVE_SAFETY:
optional_moves = []
else:
new_path.append((move_type, args))
return new_path
def mergeRiddanceLines(lines):
"""\
returns not-layered part of the lines
lines must be aligned
"""
if len(lines) <= 1: return lines
points = {}
for line in lines:
if line.p1 > line.p2: line.p1, line.p2 = line.p2, line.p1
if line.p1 not in points:
points[line.p1] = 1
else:
points[line.p1] += 1
if line.p2 not in points:
points[line.p2] = -1
else:
points[line.p2] -= 1
order = sorted(points.keys())
counter = 0
start = None
uniques = []
for point in order:
counter += points[point]
if counter == 1 and start is None:
start = point
elif counter != 1 and start is not None:
if cmp(start, point):
uniques.append(Line(start, point))
start = None
return uniques
def get_outside_lines(poly1, poly2):
result = []
for line in poly1.get_lines():
collisions = []
for o_line in poly2.get_lines():
cp, dist = o_line.get_intersection(line)
if (cp is not None) and (0 < dist < 1):
collisions.append((cp, dist))
# sort the collisions according to the distance
collisions.append((line.p1, 0))
collisions.append((line.p2, 1))
collisions.sort(key=lambda collision: collision[1])
for index in range(len(collisions) - 1):
p1 = collisions[index][0]
p2 = collisions[index + 1][0]
if pdist(p1, p2) < epsilon:
# ignore zero-length lines
continue
# Use the middle between p1 and p2 to check the
# inner/outer state.
p_middle = pdiv(padd(p1, p2), 2)
p_inside = (poly2.is_point_inside(p_middle)
and not poly2.is_point_on_outline(p_middle))
if not p_inside:
result.append(Line(p1, p2))
return result
def inside(self) :
p1 = self.get_center()
p2 = Point(Box.grid.minx-1, p1.y, p1.z) # TODO: implement algo to find nearest border
escaping_line = Line(p1, p2)
cuts = 0
box = self
lines = set()
while box.x != 0 :
box = box.get_neighbour(-1, 0, 0)
for line in box.lines :
if line.id not in lines :
cut, d = escaping_line.get_intersection(line)
if cut is not None :
cuts += 1
lines.add(line.id)
return cuts%2
def test_get_offset_polygons_square_inside():
# 'expected_inside_p' is the expected offset polygon with a *negative*
# offset, so it's inside the input polygon.
lines = (Line((1, 1, 0), (9, 1, 0)), Line(
(9, 1, 0), (9, 9, 0)), Line((9, 9, 0),
(1, 9, 0)), Line((1, 9, 0), (1, 1, 0)))
expected_inside_p = Polygon()
for line in lines:
expected_inside_p.append(line)
output_p = square_p.get_offset_polygons(-1)
print("get_offset_polygons() returned:")
for p in output_p:
print(str(p))
assert (len(output_p) == 1)
assert_polygons_are_identical(output_p[0], expected_inside_p)
def split_line(self, line):
outer = []
inner = []
# project the line onto the polygon's plane
proj_line = self.plane.get_line_projection(line)
intersections = []
for pline in self.get_lines():
cp, d = proj_line.get_intersection(pline)
if cp:
intersections.append((cp, d))
# sort the intersections by distance
intersections.sort(key=lambda collision: collision[1])
intersections.insert(0, (proj_line.p1, 0))
intersections.append((proj_line.p2, 1))
def get_original_point(d):
return padd(line.p1, pmul(line.vector, d))
for index in range(len(intersections) - 1):
p1, d1 = intersections[index]
p2, d2 = intersections[index + 1]
if p1 != p2:
middle = pdiv(padd(p1, p2), 2)
new_line = Line(get_original_point(d1), get_original_point(d2))
if self.is_point_inside(middle):
inner.append(new_line)
else:
outer.append(new_line)
return (inner, outer)
def get_line(i1, i2):
a = list(coords[i1 % 4])
b = list(coords[i2 % 4])
# the contour points of the model will always be at level zero
a[2] = self.z_level
b[2] = self.z_level
return Line(a, b)
def discretise_line(
self, line
): # TODO: OPTIMISER !!!!! (pas de boucle, un seul cas avec 2 passages, calcul de l'intervale sans list.index)
# on discrétise les deux extrémités du segment
c1, c2 = self.discretiser_point(ligne.p1), self.discretiser_point(
ligne.p2)
c1.lignes.append(ligne)
c2.lignes.append(ligne)
if ligne.p1.x == ligne.p2.x and ligne.p1.x in self.rangex: # la ligne appartient au pavage vertical
# alors on va ajouter toutes les paires de cases qu'elle rencontre
x = self.rangex.index(ligne.p1.x)
if c1.y > c2.y: c1, c2 = c2, c1
for y in range(c1.y, c2.y + 1):
self.get_case(c1.z, x, y).lignes.append(ligne)
elif ligne.p1.y == ligne.p2.y and ligne.p1.y in self.rangey: # la ligne appartient au pavage horizontal
y = self.rangey.index(ligne.p1.y)
if c1.x > c2.x: c1, c2 = c2, c1
for x in range(c1.x, c2.x + 1):
self.get_case(c1.z, x, y).lignes.append(ligne)
else: # sinon la ligne est simplement verticale, horizontale ou oblique
# alors on va discrétiser toutes les cases traversées
# d'abord les intersections verticales
ordx = 1
if c1.x > c2.x: c1, c2 = c2, c1 # pour itérer dans le bon sens
for x in self.rangex[c1.x + 1:c2.x]:
# pour cela on calcule l'intersection de la ligne avec la grille des X
sec, d = ligne.get_intersection(Line(Point(x, self.miny, ligne.p1.z), \
Point(x, self.maxy, ligne.p1.z)))
if sec is None: # il n'y a pas intersection : les deux lignes sont parallèles et distinctes
break # la ligne sera traitée par l'itération verticale
# puis on trouve à quelle colonne l'intersection appartient
dsec = self.Case.get_emplacement(0, sec.y, 0)
# et on discrétise alors la case correspondante
self.get_case(c1.z, c1.x + ordx, dsec[1]).lignes.append(ligne)
# le [1] correspond à la composante Y de la coordonnée
ordx += 1
# puis celles horizontales de la même manière
ordy = 1
if c1.y > c2.y: c1, c2 = c2, c1
for y in self.rangey[c1.y + 1:c2.y]:
sec, d = ligne.get_intersection(Line(Point(self.minx, y, ligne.p1.z), \
Point(self.maxx, y, ligne.p1.z)))
if sec is None:
break # la ligne est horizontale, et donc déjà traitée
dsec = self.Case.get_emplacement(sec.x, 0, 0)
self.get_case(c1.z, dsec[0], c1.y + ordy).lignes.append(ligne)
ordy += 1
def intersect_triangle(self, triangle, counter_clockwise=False):
""" Returns the line of intersection of a triangle with a plane.
"None" is returned, if:
- the triangle does not intersect with the plane
- all vertices of the triangle are on the plane
The line always runs clockwise through the triangle.
"""
# don't import Line in the header -> circular import
from pycam.Geometry.Line import Line
collisions = []
for edge, point in ((triangle.e1, triangle.p1),
(triangle.e2, triangle.p2), (triangle.e3,
triangle.p3)):
cp, l = self.intersect_point(edge.dir, point)
# filter all real collisions
# We don't want to count vertices double -> thus we only accept
# a distance that is lower than the length of the edge.
if (not cp is None) and (-epsilon < l < edge.len - epsilon):
collisions.append(cp)
elif (cp is None) and (pdot(self.n, edge.dir) == 0):
cp, dist = self.intersect_point(self.n, point)
if abs(dist) < epsilon:
# the edge is on the plane
collisions.append(point)
if len(collisions) == 3:
# All points of the triangle are on the plane.
# We don't return a waterline, as there should be another non-flat
# triangle with the same waterline.
return None
if len(collisions) == 2:
collision_line = Line(collisions[0], collisions[1])
# no further calculation, if the line is zero-sized
if collision_line.len == 0:
return collision_line
cross = pcross(self.n, collision_line.dir)
if (pdot(cross, triangle.normal) <
0) == bool(not counter_clockwise):
# anti-clockwise direction -> revert the direction of the line
collision_line = Line(collision_line.p2, collision_line.p1)
return collision_line
elif len(collisions) == 1:
# only one point is on the plane
# This waterline (with zero length) should be of no use.
return None
else:
return None
def inside(self):
p1 = self.get_center()
p2 = Point(Box.grid.minx - 1, p1.y,
p1.z) # TODO: implement algo to find nearest border
escaping_line = Line(p1, p2)
cuts = 0
box = self
lines = set()
while box.x != 0:
box = box.get_neighbour(-1, 0, 0)
for line in box.lines:
if line.id not in lines:
cut, d = escaping_line.get_intersection(line)
if cut is not None:
cuts += 1
lines.add(line.id)
return cuts % 2
def _offset_loops_to_polygons(offset_loops):
model = pycam.Geometry.Model.ContourModel()
before = None
for n_loop, loop in enumerate(offset_loops):
lines = []
_log.info("loop #%d has %d lines/arcs", n_loop, len(loop))
for n_segment, item in enumerate(loop):
_log.info("%d -> %s", n_segment, item)
point, radius = item[:2]
point = (point.x, point.y, 0.0)
if before is not None:
if radius == -1:
lines.append(Line(before, point))
_log.info("%d line %s to %s", n_segment, before, point)
else:
_log.info("%d arc %s to %s r=%f", n_segment, before, point,
radius)
center, clock_wise = item[2:4]
center = (center.x, center.y, 0.0)
direction_before = (before[0] - center[0],
before[1] - center[1], 0.0)
direction_end = (point[0] - center[0],
point[1] - center[1], 0.0)
angles = [
180.0 * get_angle_pi((1.0, 0.0, 0.0), (0, 0.0, 0.0),
direction, (0.0, 0.0, 1.0),
pi_factor=True)
for direction in (direction_before, direction_end)
]
if clock_wise:
angles.reverse()
points = get_points_of_arc(center, radius, angles[0],
angles[1])
last_p = before
for p in points:
lines.append(Line(last_p, p))
last_p = p
before = point
for line in lines:
if line.len > epsilon:
model.append(line)
return model.get_polygons()
def parse_polyline(self, init):
params = self._open_sequence_params
if init:
self._open_sequence = "POLYLINE"
self._open_sequence_items = []
key, value = self._read_key_value()
while (key is not None) and (key != self.KEYS["MARKER"]):
if key == self.KEYS["CURVE_TYPE"]:
if value == 8:
params["CURVE_TYPE"] = "BEZIER"
elif key == self.KEYS["ENTITY_FLAGS"]:
if value == 1:
if "ENTITY_FLAGS" not in params:
params["ENTITY_FLAGS"] = set()
params["ENTITY_FLAGS"].add("IS_CLOSED")
key, value = self._read_key_value()
if key is not None:
self._push_on_stack(key, value)
else:
# closing
if ("CURVE_TYPE" in params) and (params["CURVE_TYPE"] == "BEZIER"):
self.lines.extend(get_bezier_lines(self._open_sequence_items))
if ("ENTITY_FLAGS" in params) and ("IS_CLOSED"
in params["ENTITY_FLAGS"]):
# repeat the same polyline on the other side
self._open_sequence_items.reverse()
self.lines.extend(
get_bezier_lines(self._open_sequence_items))
else:
points = [p for p, bulge in self._open_sequence_items]
for index in range(len(points) - 1):
point = points[index]
next_point = points[index + 1]
if point != next_point:
self.lines.append(Line(point, next_point))
if ("ENTITY_FLAGS" in params) and ("IS_CLOSED"
in params["ENTITY_FLAGS"]):
# repeat the same polyline on the other side
self.lines.append(Line(points[-1], points[0]))
self._open_sequence_items = []
self._open_sequence_params = {}
self._open_sequence = None
def parse_polyline(self, init):
start_line = self.line_number
params = self._open_sequence_params
if init:
self._open_sequence = "POLYLINE"
self._open_sequence_items = []
key, value = self._read_key_value()
while (not key is None) and (key != self.KEYS["MARKER"]):
if key == self.KEYS["CURVE_TYPE"]:
if value == 8:
params["CURVE_TYPE"] = "BEZIER"
elif key == self.KEYS["VERTEX_FLAGS"]:
if value == 1:
params["VERTEX_FLAGS"] = "EXTRA_VERTEX"
key, value = self._read_key_value()
if not key is None:
self._push_on_stack(key, value)
else:
# closing
if ("CURVE_TYPE" in params) and (params["CURVE_TYPE"] == "BEZIER"):
self.lines.extend(
pycam.Geometry.get_bezier_lines(self._open_sequence_items))
if ("VERTEX_FLAGS" in params) and \
(params["VERTEX_FLAGS"] == "EXTRA_VERTEX"):
# repeat the same polyline on the other side
self._open_sequence_items.reverse()
self.lines.extend(
pycam.Geometry.get_bezier_lines(
self._open_sequence_items))
else:
points = [p for p, bulge in self._open_sequence_items]
for index in range(len(points) - 1):
point = points[index]
next_point = points[index + 1]
if point != next_point:
self.lines.append(Line(point, next_point))
if ("VERTEX_FLAGS" in params) and (params["VERTEX_FLAGS"]
== "EXTRA_VERTEX"):
self.lines.append(Line(points[-1], points[0]))
self._open_sequence_items = []
self._open_sequence_params = {}
self._open_sequence = None
def get_positioned_lines(self, base_point, skew=None):
result = []
get_skewed_point = lambda p: (base_point[0] + p[0] + (p[1] * skew / 100.0), base_point[1] + p[1], base_point[2])
for line in self.lines:
skewed_p1 = get_skewed_point(line.p1)
skewed_p2 = get_skewed_point(line.p2)
# Some triplex fonts contain zero-length lines
# (e.g. "/" in italict.cxf). Ignore these.
if skewed_p1 != skewed_p2:
new_line = Line(skewed_p1, skewed_p2)
result.append(new_line)
return result
def reset_cache(self):
self.minx = min(self.p1.x, self.p2.x, self.p3.x)
self.miny = min(self.p1.y, self.p2.y, self.p3.y)
self.minz = min(self.p1.z, self.p2.z, self.p3.z)
self.maxx = max(self.p1.x, self.p2.x, self.p3.x)
self.maxy = max(self.p1.y, self.p2.y, self.p3.y)
self.maxz = max(self.p1.z, self.p2.z, self.p3.z)
self.e1 = Line(self.p1, self.p2)
self.e2 = Line(self.p2, self.p3)
self.e3 = Line(self.p3, self.p1)
# calculate normal, if p1-p2-pe are in clockwise order
if self.normal is None:
self.normal = self.p3.sub(self.p1).cross(self.p2.sub( \
self.p1)).normalized()
if not isinstance(self.normal, Vector):
self.normal = self.normal.get_vector()
# make sure that the normal has always a unit length
self.normal = self.normal.normalized()
self.center = self.p1.add(self.p2).add(self.p3).div(3)
self.plane = Plane(self.center, self.normal)
# calculate circumcircle (resulting in radius and middle)
denom = self.p2.sub(self.p1).cross(self.p3.sub(self.p2)).norm
self.radius = (self.p2.sub(self.p1).norm \
* self.p3.sub(self.p2).norm * self.p3.sub(self.p1).norm) \
/ (2 * denom)
self.radiussq = self.radius**2
denom2 = 2 * denom * denom
alpha = self.p3.sub(self.p2).normsq \
* self.p1.sub(self.p2).dot(self.p1.sub(self.p3)) / denom2
beta = self.p1.sub(self.p3).normsq \
* self.p2.sub(self.p1).dot(self.p2.sub(self.p3)) / denom2
gamma = self.p1.sub(self.p2).normsq \
* self.p3.sub(self.p1).dot(self.p3.sub(self.p2)) / denom2
self.middle = Point(
self.p1.x * alpha + self.p2.x * beta + self.p3.x * gamma,
self.p1.y * alpha + self.p2.y * beta + self.p3.y * gamma,
self.p1.z * alpha + self.p2.z * beta + self.p3.z * gamma)
def get_plane_projection(self, plane):
if plane == self.plane:
return self
elif pdot(plane.n, self.plane.n) == 0:
log.warn("Polygon projection onto plane: orthogonal projection is not possible")
return None
else:
result = Polygon(plane)
for line in self.get_lines():
p1 = plane.get_point_projection(line.p1)
p2 = plane.get_point_projection(line.p2)
result.append(Line(p1, p2))
# check if the projection would revert the direction of the polygon
if pdot(plane.n, self.plane.n) < 0:
result.reverse_direction()
return result
def get_shifted_waterline(up_vector, waterline, cutter_location):
# Project the waterline and the cutter location down to the slice plane.
# This is necessary for calculating the horizontal distance between the
# cutter and the triangle waterline.
plane = Plane(cutter_location, up_vector)
wl_proj = plane.get_line_projection(waterline)
if wl_proj.len < epsilon:
return None
offset = wl_proj.dist_to_point(cutter_location)
if offset < epsilon:
return wl_proj
# shift both ends of the waterline towards the cutter location
shift = cutter_location.sub(wl_proj.closest_point(cutter_location))
# increase the shift width slightly to avoid "touch" collisions
shift = shift.mul(1.0 + epsilon)
shifted_waterline = Line(wl_proj.p1.add(shift), wl_proj.p2.add(shift))
return shifted_waterline
def crop(self, polygons, callback=None):
# collect all existing toolpath lines
open_lines = []
for path in self.paths:
if path:
for index in range(len(path.points) - 1):
open_lines.append(
Line(path.points[index], path.points[index + 1]))
# go through all polygons and add "inner" lines (or parts thereof) to
# the final list of remaining lines
inner_lines = []
for polygon in polygons:
new_open_lines = []
for line in open_lines:
if callback and callback():
return
inner, outer = polygon.split_line(line)
inner_lines.extend(inner)
new_open_lines.extend(outer)
open_lines = new_open_lines
# turn all "inner_lines" into toolpath moves
new_paths = []
current_path = Path()
if inner_lines:
line = inner_lines.pop(0)
current_path.append(line.p1)
current_path.append(line.p2)
while inner_lines:
if callback and callback():
return
end = current_path.points[-1]
# look for the next connected point
for line in inner_lines:
if line.p1 == end:
inner_lines.remove(line)
current_path.append(line.p2)
break
else:
new_paths.append(current_path)
current_path = Path()
line = inner_lines.pop(0)
current_path.append(line.p1)
current_path.append(line.p2)
if current_path.points:
new_paths.append(current_path)
self.paths = new_paths
def parse_line(self):
start_line = self.line_number
# the z-level defaults to zero (for 2D models)
p1 = [None, None, 0]
p2 = [None, None, 0]
color = None
key, value = self._read_key_value()
while (key is not None) and (key != self.KEYS["MARKER"]):
if key == self.KEYS["P1_X"]:
p1[0] = value
elif key == self.KEYS["P1_Y"]:
p1[1] = value
elif key == self.KEYS["P1_Z"]:
p1[2] = value
elif key == self.KEYS["P2_X"]:
p2[0] = value
elif key == self.KEYS["P2_Y"]:
p2[1] = value
elif key == self.KEYS["P2_Z"]:
p2[2] = value
elif key == self.KEYS["COLOR"]:
color = value
else:
pass
key, value = self._read_key_value()
end_line = self.line_number
# The last lines were not used - they are just the marker for the next
# item.
if key is not None:
self._push_on_stack(key, value)
if (None in p1) or (None in p2):
log.warn(
"DXFImporter: Incomplete LINE definition between line %d and %d",
start_line, end_line)
else:
if self._color_as_height and (color is not None):
# use the color code as the z coordinate
p1[2] = float(color) / 255
p2[2] = float(color) / 255
line = Line((p1[0], p1[1], p1[2]), (p2[0], p2[1], p2[2]))
if line.p1 != line.p2:
self.lines.append(line)
else:
log.warn(
"DXFImporter: Ignoring zero-length LINE (between input line %d and %d): "
"%s", start_line, end_line, line)
def parse_polyline(self, init):
start_line = self.line_number
if init:
self._open_sequence = "POLYLINE"
self._open_sequence_items = []
key, value = self._read_key_value()
while (not key is None) and (key != self.KEYS["MARKER"]):
key, value = self._read_key_value()
if not key is None:
self._push_on_stack(key, value)
else:
# closing
points = self._open_sequence_items
for index in range(len(points) - 1):
point = points[index]
next_point = points[index + 1]
if point != next_point:
self.lines.append(Line(point, next_point))
self._open_sequence_items = []
self._open_sequence = None
def filter_toolpath(self, toolpath):
new_path = []
last_pos = None
optional_moves = []
for step in toolpath:
if step.action in MOVES_LIST:
if last_pos:
# find all remaining pieces of this line
inner_lines = []
for polygon in self.settings["polygons"]:
inner, outer = polygon.split_line(
Line(last_pos, step.position))
inner_lines.extend(inner)
# turn these lines into moves
for line in inner_lines:
if pdist(line.p1, last_pos) > epsilon:
new_path.append(ToolpathSteps.MoveSafety())
new_path.append(
ToolpathSteps.get_step_class_by_action(
step.action)(line.p1))
else:
# we continue where we left
if optional_moves:
new_path.extend(optional_moves)
optional_moves = []
new_path.append(
ToolpathSteps.get_step_class_by_action(
step.action)(line.p2))
last_pos = line.p2
optional_moves = []
# finish the line by moving to its end (if necessary)
if pdist(last_pos, step.position) > epsilon:
optional_moves.append(ToolpathSteps.MoveSafety())
optional_moves.append(step)
last_pos = step.position
elif step.action == MOVE_SAFETY:
optional_moves = []
else:
new_path.append(step)
return new_path
def get_collision_waterline_of_triangle(model, cutter, up_vector, triangle, z):
# TODO: there are problems with "material allowance > 0"
plane = Plane(Point(0, 0, z), up_vector)
if triangle.minz >= z:
# no point of the triangle is below z
# try all edges
# Case (4)
proj_points = []
for p in triangle.get_points():
proj_p = plane.get_point_projection(p)
if not proj_p in proj_points:
proj_points.append(proj_p)
if len(proj_points) == 3:
edges = []
for index in range(3):
edge = Line(proj_points[index - 1], proj_points[index])
# the edge should be clockwise around the model
if edge.dir.cross(triangle.normal).dot(up_vector) < 0:
edge = Line(edge.p2, edge.p1)
edges.append((edge, proj_points[index - 2]))
outer_edges = []
for edge, other_point in edges:
# pick only edges, where the other point is on the right side
if other_point.sub(edge.p1).cross(edge.dir).dot(up_vector) > 0:
outer_edges.append(edge)
if len(outer_edges) == 0:
# the points seem to be an one line
# pick the longest edge
long_edge = edges[0][0]
for edge, other_point in edges[1:]:
if edge.len > long_edge.len:
long_edge = edge
outer_edges = [long_edge]
else:
edge = Line(proj_points[0], proj_points[1])
if edge.dir.cross(triangle.normal).dot(up_vector) < 0:
edge = Line(edge.p2, edge.p1)
outer_edges = [edge]
else:
# some parts of the triangle are above and some below the cutter level
# Cases (2a), (2b), (3a) and (3b)
points_above = [plane.get_point_projection(p)
for p in triangle.get_points() if p.z > z]
waterline = plane.intersect_triangle(triangle)
if waterline is None:
if len(points_above) == 0:
# the highest point of the triangle is at z
outer_edges = []
else:
if abs(triangle.minz - z) < epsilon:
# This is just an accuracy issue (see the
# "triangle.minz >= z" statement above).
outer_edges = []
elif not [p for p in triangle.get_points()
if p.z > z + epsilon]:
# same as above: fix for inaccurate floating calculations
outer_edges = []
else:
# this should not happen
raise ValueError(("Could not find a waterline, but " \
+ "there are points above z level (%f): " \
+ "%s / %s") % (z, triangle, points_above))
else:
# remove points that are not part of the waterline
points_above = [p for p in points_above
if (p != waterline.p1) and (p != waterline.p2)]
if len(points_above) == 0:
# part of case (2a)
outer_edges = [waterline]
elif len(points_above) == 1:
other_point = points_above[0]
dot = other_point.sub(waterline.p1).cross(waterline.dir).dot(
up_vector)
if dot > 0:
# Case (2b)
outer_edges = [waterline]
elif dot < 0:
# Case (3b)
edges = []
edges.append(Line(waterline.p1, other_point))
edges.append(Line(waterline.p2, other_point))
outer_edges = []
for edge in edges:
if edge.dir.cross(triangle.normal).dot(up_vector) < 0:
outer_edges.append(Line(edge.p2, edge.p1))
else:
outer_edges.append(edge)
else:
# the three points are on one line
# part of case (2a)
edges = []
edges.append(waterline)
edges.append(Line(waterline.p1, other_point))
edges.append(Line(waterline.p2, other_point))
edges.sort(key=lambda x: x.len)
edge = edges[-1]
if edge.dir.cross(triangle.normal).dot(up_vector) < 0:
outer_edges = [Line(edge.p2, edge.p1)]
else:
outer_edges = [edge]
else:
# two points above
other_point = points_above[0]
dot = other_point.sub(waterline.p1).cross(waterline.dir).dot(
up_vector)
if dot > 0:
# Case (2b)
# the other two points are on the right side
outer_edges = [waterline]
elif dot < 0:
# Case (3a)
edge = Line(points_above[0], points_above[1])
if edge.dir.cross(triangle.normal).dot(up_vector) < 0:
outer_edges = [Line(edge.p2, edge.p1)]
else:
outer_edges = [edge]
else:
edges = []
# pick the longest combination of two of these points
# part of case (2a)
# TODO: maybe we should use the waterline instead?
# (otherweise the line could be too long and thus
# connections to the adjacent waterlines are not discovered?
# Test this with an appropriate test model.)
points = [waterline.p1, waterline.p2] + points_above
for p1 in points:
for p2 in points:
if not p1 is p2:
edges.append(Line(p1, p2))
edges.sort(key=lambda x: x.len)
edge = edges[-1]
if edge.dir.cross(triangle.normal).dot(up_vector) < 0:
outer_edges = [Line(edge.p2, edge.p1)]
else:
outer_edges = [edge]
# calculate the maximum diagonal length within the model
x_dim = abs(model.maxx - model.minx)
y_dim = abs(model.maxy - model.miny)
z_dim = abs(model.maxz - model.minz)
max_length = sqrt(x_dim ** 2 + y_dim ** 2 + z_dim ** 2)
result = []
for edge in outer_edges:
direction = up_vector.cross(edge.dir).normalized()
if direction is None:
continue
direction = direction.mul(max_length)
edge_dir = edge.p2.sub(edge.p1)
# TODO: Adapt the number of potential starting positions to the length
# of the line. Don't use 0.0 and 1.0 - this could result in ambiguous
# collisions with triangles sharing these vertices.
for factor in (0.5, epsilon, 1.0 - epsilon, 0.25, 0.75):
start = edge.p1.add(edge_dir.mul(factor))
# We need to use the triangle collision algorithm here - because we
# need the point of collision in the triangle.
collisions = get_free_paths_triangles([model], cutter, start,
start.add(direction), return_triangles=True)
for index, coll in enumerate(collisions):
if (index % 2 == 0) and (not coll[1] is None) \
and (not coll[2] is None) \
and (coll[0].sub(start).dot(direction) > 0):
cl, hit_t, cp = coll
break
else:
log.debug("Failed to detect any collision: " \
+ "%s / %s -> %s" % (edge, start, direction))
continue
proj_cp = plane.get_point_projection(cp)
# e.g. the Spherical Cutter often does not collide exactly above
# the potential collision line.
# TODO: maybe an "is cp inside of the triangle" check would be good?
if (triangle is hit_t) or (edge.is_point_inside(proj_cp)):
result.append((cl, edge))
# continue with the next outer_edge
break
# Don't check triangles again that are completely above the z level and
# did not return any collisions.
if (len(result) == 0) and (triangle.minz > z):
# None indicates that the triangle needs no further evaluation
return None
return result
if __name__ == "__main__":
import sys
if len(sys.argv) > 1:
import pycam.Importers.DXFImporter as importer
model = importer.import_model(sys.argv[1])
else:
model = pycam.Geometry.Model.ContourModel()
# convert some points to a 2D model
points = ((0.0, 0.0, 0.0), (0.5, 0.0, 0.0), (0.5, 0.5, 0.0), (0.0, 0.0,
0.0))
print("original points: ", points)
before = None
for p in points:
if before:
model.append(Line(before, p))
before = p
if len(sys.argv) > 2:
offset = float(sys.argv[2])
else:
offset = 0.4
# scale model within a range of -1..1
maxdim = max(model.maxx - model.minx, model.maxy - model.miny)
# stay well below sqrt(2)/2 in all directions
scale_value = 1.4 / maxdim
print("Scaling factor: %f" % scale_value)
model.scale(scale_value)
shift_x = -(model.minx + (model.maxx - model.minx) / 2.0)
shift_y = -(model.miny + (model.maxy - model.miny) / 2.0)
print("Shifting x: ", shift_x)
print("Shifting y: ", shift_y)
def intersect_circle_line(center, axis, radius, radiussq, direction, edge):
# make a plane by sliding the line along the direction (1)
d = edge.dir
if d.dot(axis) == 0:
if direction.dot(axis) == 0:
return (None, None, INFINITE)
plane = Plane(center, axis)
(p1, l) = plane.intersect_point(direction, edge.p1)
(p2, l) = plane.intersect_point(direction, edge.p2)
pc = Line(p1, p2).closest_point(center)
d_sq = pc.sub(center).normsq
if d_sq >= radiussq:
return (None, None, INFINITE)
a = sqrt(radiussq - d_sq)
d1 = p1.sub(pc).dot(d)
d2 = p2.sub(pc).dot(d)
ccp = None
cp = None
if abs(d1) < a - epsilon:
ccp = p1
cp = p1.sub(direction.mul(l))
elif abs(d2) < a - epsilon:
ccp = p2
cp = p2.sub(direction.mul(l))
elif ((d1 < -a + epsilon) and (d2 > a - epsilon)) \
or ((d2 < -a + epsilon) and (d1 > a - epsilon)):
ccp = pc
cp = pc.sub(direction.mul(l))
return (ccp, cp, -l)
n = d.cross(direction)
if n.norm == 0:
# no contact point, but should check here if circle *always* intersects
# line...
return (None, None, INFINITE)
n = n.normalized()
# take a plane through the base
plane = Plane(center, axis)
# intersect base with line
(lp, l) = plane.intersect_point(d, edge.p1)
if not lp:
return (None, None, INFINITE)
# intersection of 2 planes: lp + \lambda v
v = axis.cross(n)
if v.norm == 0:
return (None, None, INFINITE)
v = v.normalized()
# take plane through intersection line and parallel to axis
n2 = v.cross(axis)
if n2.norm == 0:
return (None, None, INFINITE)
n2 = n2.normalized()
# distance from center to this plane
dist = n2.dot(center) - n2.dot(lp)
distsq = dist * dist
if distsq > radiussq - epsilon:
return (None, None, INFINITE)
# must be on circle
dist2 = sqrt(radiussq - distsq)
if d.dot(axis) < 0:
dist2 = -dist2
ccp = center.sub(n2.mul(dist)).sub(v.mul(dist2))
plane = Plane(edge.p1, d.cross(direction).cross(d))
(cp, l) = plane.intersect_point(direction, ccp)
return (ccp, cp, l)