def get_max_height_triangles(model, cutter, x, y, minz, maxz):
if model is None:
return Point(x, y, minz)
p = Point(x, y, maxz)
height_max = None
box_x_min = cutter.get_minx(p)
box_x_max = cutter.get_maxx(p)
box_y_min = cutter.get_miny(p)
box_y_max = cutter.get_maxy(p)
box_z_min = minz
box_z_max = maxz
triangles = model.triangles(box_x_min, box_y_min, box_z_min, box_x_max,
box_y_max, box_z_max)
for t in triangles:
cut = cutter.drop(t, start=p)
if cut and ((height_max is None) or (cut.z > height_max)):
height_max = cut.z
# don't do a complete boundary check for the height
# this avoids zero-cuts for models that exceed the bounding box height
if (height_max is None) or (height_max < minz + epsilon):
height_max = minz
if height_max > maxz + epsilon:
return None
else:
return Point(x, y, height_max)
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(Point(*a), Point(*b))
def calculate_point_height(self, x, y, func):
point = Point(x, y, self.outer.minz)
if not self.outer.is_point_inside(point):
return None
for poly in self.inner:
if poly.is_point_inside(point):
return None
point = Point(x, y, self.outer.minz)
line_distances = []
for line in self.lines:
cross_product = line.dir.cross(point.sub(line.p1))
if cross_product.z > 0:
close_points = []
close_point = line.closest_point(point)
if not line.is_point_inside(close_point):
close_points.append(line.p1)
close_points.append(line.p2)
else:
close_points.append(close_point)
for p in close_points:
direction = point.sub(p)
dist = direction.norm
line_distances.append(dist)
elif cross_product.z == 0:
# the point is on the line
line_distances.append(0.0)
# no other line can get closer than this
break
else:
# the point is in the left of this line
pass
line_distances.sort()
return self.z_level + func(line_distances[0])
def render(self,
text,
origin=None,
skew=0,
line_spacing=1.0,
pitch=1.0,
align=None):
result = ContourModel()
if origin is None:
origin = Point(0, 0, 0)
if align is None:
align = TEXT_ALIGN_LEFT
base = origin
letter_spacing = self.letterspacing * pitch
word_spacing = self.wordspacing * pitch
line_factor = self.default_linespacing * self.linespacingfactor \
* line_spacing
for line in text.splitlines():
current_line = ContourModel()
line_height = self.default_height
for character in line:
if character == " ":
base = base.add(Point(word_spacing, 0, 0))
elif character in self.letters.keys():
charset_letter = self.letters[character]
new_model = ContourModel()
for line in charset_letter.get_positioned_lines(base,
skew=skew):
new_model.append(line, allow_reverse=True)
for polygon in new_model.get_polygons():
# add polygons instead of lines -> more efficient
current_line.append(polygon)
# update line height
line_height = max(line_height, charset_letter.maxy())
# shift the base position
base = base.add(
Point(charset_letter.maxx() + letter_spacing, 0, 0))
else:
# unknown character - add a small whitespace
base = base.add(Point(letter_spacing, 0, 0))
# go to the next line
base = Point(origin.x, base.y - line_height * line_factor,
origin.z)
if not current_line.maxx is None:
if align == TEXT_ALIGN_CENTER:
current_line.shift(-current_line.maxx / 2, 0, 0)
elif align == TEXT_ALIGN_RIGHT:
current_line.shift(-current_line.maxx, 0, 0)
else:
# left align
if current_line.minx != 0:
current_line.shift(-current_line.minx, 0, 0)
for polygon in current_line.get_polygons():
result.append(polygon)
# the text should be just above the x axis
if result.miny:
# don't shift, if result.miny is None (e.g.: no content) or zero
result.shift(0, -result.miny, 0)
return result
def get_lines_layer(lines, z, last_z=None, step_width=None,
milling_style=MILLING_STYLE_CONVENTIONAL):
get_proj_point = lambda proj_point: Point(proj_point.x, proj_point.y, z)
projected_lines = []
for line in lines:
if (not last_z is 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.z) / (line.p2.z - line.p1.z)
plane_point = line.p1.add(line.vector.mul(factor))
if line.p1.z < 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(Point(0, 0, last_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 > 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 = line.p1.add(line.dir.mul(step))
points.append(next_point)
yield points
def intersect_torus_point(center, axis, majorradius, minorradius,
majorradiussq, minorradiussq, direction, point):
dist = 0
if (direction.x == 0) and (direction.y == 0):
# drop
minlsq = (majorradius - minorradius)**2
maxlsq = (majorradius + minorradius)**2
l_sq = (point.x - center.x)**2 + (point.y - center.y)**2
if (l_sq < minlsq + epsilon) or (l_sq > maxlsq - epsilon):
return (None, None, INFINITE)
l = sqrt(l_sq)
z_sq = minorradiussq - (majorradius - l)**2
if z_sq < 0:
return (None, None, INFINITE)
z = sqrt(z_sq)
ccp = Point(point.x, point.y, center.z - z)
dist = ccp.z - point.z
elif direction.z == 0:
# push
z = point.z - center.z
if abs(z) > minorradius - epsilon:
return (None, None, INFINITE)
l = majorradius + sqrt(minorradiussq - z * z)
n = axis.cross(direction)
d = n.dot(point) - n.dot(center)
if abs(d) > l - epsilon:
return (None, None, INFINITE)
a = sqrt(l * l - d * d)
ccp = center.add(n.mul(d).add(direction.mul(a)))
ccp.z = point.z
dist = point.sub(ccp).dot(direction)
else:
# general case
x = point.sub(center)
v = direction.mul(-1)
x_x = x.dot(x)
x_v = x.dot(v)
x1 = Point(x.x, x.y, 0)
v1 = Point(v.x, v.y, 0)
x1_x1 = x1.dot(x1)
x1_v1 = x1.dot(v1)
v1_v1 = v1.dot(v1)
R2 = majorradiussq
r2 = minorradiussq
a = 1.0
b = 4 * x_v
c = 2 * (x_x + 2 * x_v**2 + (R2 - r2) - 2 * R2 * v1_v1)
d = 4 * (x_x * x_v + x_v * (R2 - r2) - 2 * R2 * x1_v1)
e = (x_x)**2 + 2 * x_x * (R2 - r2) + (R2 - r2)**2 - 4 * R2 * x1_x1
r = poly4_roots(a, b, c, d, e)
if not r:
return (None, None, INFINITE)
else:
l = min(r)
ccp = point.add(direction.mul(-l))
dist = l
return (ccp, point, dist)
def _get_axes_vectors(self):
"""calculate the model vectors along the screen's x and y axes"""
# The "up" vector defines, in what proportion each axis of the model is
# in line with the screen's y axis.
v_up = self.view["up"]
factors_y = (number(v_up[0]), number(v_up[1]), number(v_up[2]))
# Calculate the proportion of each model axis according to the x axis of
# the screen.
distv = self.view["distance"]
distv = Point(distv[0], distv[1], distv[2]).normalized()
factors_x = distv.cross(Point(v_up[0], v_up[1], v_up[2])).normalized()
factors_x = (factors_x.x, factors_x.y, factors_x.z)
return (factors_x, factors_y)
def _get_axes_vectors(self):
"""calculate the model vectors along the screen's x and y axes"""
# The "up" vector defines, in what proportion each axis of the model is
# in line with the screen's y axis.
v_up = self.view["up"]
factors_y = (number(v_up[0]), number(v_up[1]), number(v_up[2]))
# Calculate the proportion of each model axis according to the x axis of
# the screen.
distv = self.view["distance"]
distv = Point(distv[0], distv[1], distv[2]).normalized()
factors_x = distv.cross(Point(v_up[0], v_up[1], v_up[2])).normalized()
factors_x = (factors_x.x, factors_x.y, factors_x.z)
return (factors_x, factors_y)
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 _add_aligned_cuboid_to_model(minx, maxx, miny, maxy, minz, maxz):
points = (
Point(minx, miny, minz),
Point(maxx, miny, minz),
Point(maxx, maxy, minz),
Point(minx, maxy, minz),
Point(minx, miny, maxz),
Point(maxx, miny, maxz),
Point(maxx, maxy, maxz),
Point(minx, maxy, maxz))
triangles = []
# lower face
triangles.extend(_get_triangles_for_face(
(points[0], points[1], points[2], points[3])))
# upper face
triangles.extend(_get_triangles_for_face(
(points[7], points[6], points[5], points[4])))
# front face
triangles.extend(_get_triangles_for_face(
(points[0], points[4], points[5], points[1])))
# back face
triangles.extend(_get_triangles_for_face(
(points[2], points[6], points[7], points[3])))
# right face
triangles.extend(_get_triangles_for_face(
(points[1], points[5], points[6], points[2])))
# left face
triangles.extend(_get_triangles_for_face(
(points[3], points[7], points[4], points[0])))
# add all triangles to the model
model = Model()
for t in triangles:
model.append(t)
return model
def get_test_model():
points = []
points.append(Point(-2, 1, 4))
points.append(Point(2, 1, 4))
points.append(Point(0, -2, 4))
points.append(Point(-5, 2, 2))
points.append(Point(-1, 3, 2))
points.append(Point(5, 2, 2))
points.append(Point(4, -1, 2))
points.append(Point(2, -4, 2))
points.append(Point(-2, -4, 2))
points.append(Point(-3, -2, 2))
lines = []
lines.append(Line(points[0], points[1]))
lines.append(Line(points[1], points[2]))
lines.append(Line(points[2], points[0]))
lines.append(Line(points[0], points[3]))
lines.append(Line(points[3], points[4]))
lines.append(Line(points[4], points[0]))
lines.append(Line(points[4], points[1]))
lines.append(Line(points[4], points[5]))
lines.append(Line(points[5], points[1]))
lines.append(Line(points[5], points[6]))
lines.append(Line(points[6], points[1]))
lines.append(Line(points[6], points[2]))
lines.append(Line(points[6], points[7]))
lines.append(Line(points[7], points[2]))
lines.append(Line(points[7], points[8]))
lines.append(Line(points[8], points[2]))
lines.append(Line(points[8], points[9]))
lines.append(Line(points[9], points[2]))
lines.append(Line(points[9], points[0]))
lines.append(Line(points[9], points[3]))
model = Model()
for p1, p2, p3, l1, l2, l3 in (
(0, 1, 2, 0, 1, 2),
(0, 3, 4, 3, 4, 5),
(0, 4, 1, 5, 6, 0),
(1, 4, 5, 6, 7, 8),
(1, 5, 6, 8, 9, 10),
(1, 6, 2, 10, 11, 1),
(2, 6, 7, 11, 12, 13),
(2, 7, 8, 13, 14, 15),
(2, 8, 9, 15, 16, 17),
(2, 9, 0, 17, 18, 2),
(0, 9, 3, 18, 19, 3)):
model.append(Triangle(points[p1], points[p2], points[p3]))
return model
def GenerateToolPath(self, callback=None):
triangles = self.model.triangles()
equations = {}
# patching Point
Point.__hash__ = lambda self: hash(' '.join(
[str(self.x), str(self.y), str(self.z)]))
Point.__eq__ = lambda self, other : _is_near(self.x, other.x) \
and _is_near(self.y, other.y) \
and _is_near(self.z, other.z)
#patching Line
def equation2D(x1, y1, x2, y2):
if abs(x1 - x2) < epsilon: # care of floating-point imprecision
return "x=%s" % x1
else:
a = (y2 - y1) / (x2 - x1)
return "y=%sx+%s" % (a, y2 - a * x2)
Line.__hash__ = lambda self : hash(' '.join([
equation2D(self.p1.x, self.p1.y, self.p2.x, self.p2.y), \
equation2D(self.p1.x, self.p1.z, self.p2.x, self.p2.z), \
equation2D(self.p1.y, self.p1.z, self.p2.y, self.p2.z)]))
Line.__eq__ = lambda self, other: hash(self) == hash(other)
for height in self.grid.iterate_on_layers():
equations.clear()
planeInf = Plane(Point(0, 0, height), self.grid.up_vector)
planeSup = Plane(Point(0, 0, INFINITE), self.grid.up_vector)
lines = [ligne for triangle in triangles for ligne in \
self.triangleBetweenTwoPlanes(triangle, planeInf, planeSup)]
for line in lines:
if line not in equations:
equations[line] = [line]
else:
equations[line].append(line)
to_project = []
for equation in iter(equations):
lines = equations[equation]
uniques = self.mergeRiddanceLines(lines)
to_project.extend(uniques)
for line in to_project:
projection = planeInf.get_line_projection(line)
self.grid.discretise_line(projection)
#self.grid.display_complete_layer(height)
#self.grid.draw_contour_PBM()
self.pa.initialise(self.grid)
self.pa.do_path()
self.grid.free()
del self.grid
return self.pa.paths
def __init__(self, plane=None):
super(ContourModel, self).__init__()
self.name = "contourmodel%d" % self.id
if plane is None:
# the default plane points upwards along the z axis
plane = Plane(Point(0, 0, 0), Point(0, 0, 1))
self._plane = plane
self._line_groups = []
self._item_groups.append(self._line_groups)
# there is always just one plane
self._plane_groups = [self._plane]
self._item_groups.append(self._plane_groups)
self._cached_offset_models = {}
self._export_function = \
pycam.Exporters.SVGExporter.SVGExporterContourModel
def get_fixed_grid_line(start, end, line_pos, z, step_width=None,
grid_direction=GRID_DIRECTION_X):
if step_width is None:
# useful for PushCutter operations
steps = (start, end)
elif isiterable(step_width):
steps = step_width
else:
steps = floatrange(start, end, inc=step_width)
if grid_direction == GRID_DIRECTION_X:
get_point = lambda pos: Point(pos, line_pos, z)
else:
get_point = lambda pos: Point(line_pos, pos, z)
for pos in steps:
yield get_point(pos)
def auto_adjust_distance(self):
s = self.settings
v = self.view
# adjust the distance to get a view of the whole object
dimx = s.get("maxx") - s.get("minx")
dimy = s.get("maxy") - s.get("miny")
dimz = s.get("maxz") - s.get("minz")
max_dim = max(max(dimx, dimy), dimz)
distv = Point(v["distance"][0], v["distance"][1], v["distance"][2]).normalized()
# The multiplier "1.25" is based on experiments. 1.414 (sqrt(2)) should
# be roughly sufficient for showing the diagonal of any model.
distv = distv.mul((max_dim * 1.25) / number(math.sin(v["fovy"] / 2)))
self.view["distance"] = (distv.x, distv.y, distv.z)
# Adjust the "far" distance for the camera to make sure, that huge
# models (e.g. x=1000) are still visible.
self.view["zfar"] = 100 * max_dim
def parse_vertex(self):
start_line = self.line_number
point = [None, None, 0]
color = None
key, value = self._read_key_value()
while (not key is None) and (key != self.KEYS["MARKER"]):
if key == self.KEYS["P1_X"]:
point[0] = value
elif key == self.KEYS["P1_Y"]:
point[1] = value
elif key == self.KEYS["P1_Z"]:
point[2] = value
elif key == self.KEYS["COLOR"]:
color = value
else:
pass
key, value = self._read_key_value()
end_line = self.line_number
if not key is None:
self._push_on_stack(key, value)
if self._color_as_height and (not color is None):
# use the color code as the z coordinate
point[2] = float(color) / 255
if None in point:
log.warn("DXFImporter: Missing attribute of VERTEX item" + \
"between line %d and %d" % (start_line, end_line))
else:
self._open_sequence_items.append(
Point(point[0], point[1], point[2]))
def shrink_box_avoiding_collision(self, box_index, collision_func):
box = self.boxes[box_index]
aabb = box.getAABB()
end_height, start_height = aabb[-2:]
height_half = (start_height - end_height) / 2.0
x_pos = box.position.x
y_pos = box.position.y
new_z = end_height
box.setPosition((x_pos, y_pos, end_height - height_half))
loops_left = 12
upper_limit = start_height
lower_limit = end_height
if collision_func(box):
# the cutter goes down to zero (end_height) - we can skip the rest
loops_left = 0
while loops_left > 0:
new_z = (upper_limit + lower_limit) / 2.0
box.setPosition((x_pos, y_pos, new_z - height_half))
if collision_func(box):
upper_limit = new_z
else:
lower_limit = new_z
loops_left -= 1
del self.boxes[box_index]
# The height should never be zero - otherwise ODE will throw a
# "bNormalizationResult" assertion.
new_height = max(new_z - end_height, 0.1)
z_pos = new_z - new_height / 2.0
new_box = ode.GeomBox(self.space, (aabb[1] - aabb[0], aabb[3] - aabb[2],
new_height))
new_box.position = Point(x_pos, y_pos, z_pos)
new_box.setBody(box.getBody())
new_box.setPosition((x_pos, y_pos, z_pos))
self.boxes.insert(box_index, new_box)
def get_max_height_ode(physics, x, y, minz, maxz):
# Take a small float inaccuracy for the upper limit into account.
# Otherwise an upper bound at maxz of the model will not return
# a valid surface. That's why we add 'epsilon'.
low, high = minz, maxz + epsilon
trip_start = 20
safe_z = None
# check if the full step-down would be ok
physics.set_drill_position((x, y, minz))
if physics.check_collision():
# there is an object between z1 and z0 - we need more=None loops
trips = trip_start
else:
# No need for further collision detection - we can go down the whole
# range z1..z0.
trips = 0
safe_z = minz
while trips > 0:
current_z = (low + high) / 2
physics.set_drill_position((x, y, current_z))
if physics.check_collision():
low = current_z
else:
high = current_z
safe_z = current_z
trips -= 1
if safe_z is None:
# skip this point (by going up to safety height)
return None
else:
return Point(x, y, safe_z)
def _projection(self, widget=None):
models = self._get_projectable_models()
if not models:
return
progress = self.core.get("progress")
progress.update(text="Calculating 2D projection")
progress.set_multiple(len(models), "Model")
for model_dict in models:
model = model_dict.model
for objname, z_level in (
("ProjectionModelTop", model.maxz),
("ProjectionModelMiddle", (model.minz + model.maxz) / 2.0),
("ProjectionModelBottom", model.minz),
("ProjectionModelCustom",
self.gui.get_object("ProjectionZLevel").get_value())):
if self.gui.get_object(objname).get_active():
plane = Plane(Point(0, 0, z_level), Vector(0, 0, 1))
self.log.info("Projecting 3D model at level z=%g" %
plane.p.z)
new_model = model.get_waterline_contour(
plane, callback=progress.update)
if new_model:
self.core.get("models").add_model(
new_model, name_template="Projected model #%d")
else:
self.log.warn("The 2D projection at z=%g is empty. Aborted." % \
plane.p.z)
break
progress.update_multiple()
progress.finish()
def extend_shape(diff_x, diff_y, diff_z):
reset_shape()
# see http://mathworld.wolfram.com/RotationMatrix.html
hypotenuse = sqrt(diff_x * diff_x + diff_y * diff_y)
# Some paths contain two identical points (e.g. a "touch" of the
# PushCutter). We don't need any extension for these.
if hypotenuse == 0:
return
cosinus = diff_x / hypotenuse
sinus = diff_y / hypotenuse
# create the cyclinder at the other end
geom_end_transform = ode.GeomTransform(geom.space)
geom_end_transform.setBody(geom.getBody())
geom_end = ode.GeomCapsule(None, radius, self.height)
geom_end.setPosition((diff_x, diff_y, diff_z + center_height))
geom_end_transform.setGeom(geom_end)
# create the block that connects the two cylinders at the end
rot_matrix_box = (cosinus, sinus, 0.0, -sinus, cosinus, 0.0,
0.0, 0.0, 1.0)
geom_connect_transform = ode.GeomTransform(geom.space)
geom_connect_transform.setBody(geom.getBody())
geom_connect = ode_physics.get_parallelepiped_geom(
(Point(-hypotenuse / 2, radius, -diff_z / 2),
Point(hypotenuse / 2, radius, diff_z / 2),
Point(hypotenuse / 2, -radius, diff_z / 2),
Point(-hypotenuse / 2, -radius, -diff_z / 2)),
(Point(-hypotenuse / 2, radius, self.height - diff_z / 2),
Point(hypotenuse / 2, radius, self.height + diff_z / 2),
Point(hypotenuse / 2, -radius, self.height + diff_z / 2),
Point(-hypotenuse / 2, -radius,
self.height - diff_z / 2)))
geom_connect.setRotation(rot_matrix_box)
geom_connect.setPosition((hypotenuse / 2, 0, radius))
geom_connect_transform.setGeom(geom_connect)
# Create a cylinder, that connects the two half spheres at the
# lower end of both drills.
geom_cyl_transform = ode.GeomTransform(geom.space)
geom_cyl_transform.setBody(geom.getBody())
hypotenuse_3d = Matrix.get_length((diff_x, diff_y, diff_z))
geom_cyl = ode.GeomCylinder(None, radius, hypotenuse_3d)
# rotate cylinder vector
cyl_original_vector = (0, 0, hypotenuse_3d)
cyl_destination_vector = (diff_x, diff_y, diff_z)
matrix = Matrix.get_rotation_matrix_from_to(
cyl_original_vector, cyl_destination_vector)
flat_matrix = matrix[0] + matrix[1] + matrix[2]
geom_cyl.setRotation(flat_matrix)
# The rotation is around the center - thus we ignore negative
# diff values.
geom_cyl.setPosition((abs(diff_x / 2), abs(diff_y / 2),
radius - additional_distance))
geom_cyl_transform.setGeom(geom_cyl)
# sort the geoms in order of collision probability
geom.children.extend([
geom_connect_transform, geom_cyl_transform,
geom_end_transform
])
def add_cutter(self, c):
cx = c.location.x
cy = c.location.y
rsq = c.radiussq
minx = int((c.minx - self.minx) / (self.maxx - self.minx) * self.xres) \
- 1
maxx = int((c.maxx - self.minx) / (self.maxx - self.minx) * self.xres) \
+ 1
miny = int((c.miny - self.miny) / (self.maxy - self.miny) * self.yres) \
- 1
maxy = int((c.maxy - self.miny) / (self.maxy - self.miny) * self.yres) \
+ 1
if minx < 0:
minx = 0
if maxx < 0:
maxx = 0
if minx > self.xres - 1:
minx = self.xres - 1
if maxx > self.xres - 1:
maxx = self.xres - 1
if miny < 0:
miny = 0
if maxy < 0:
maxy = 0
if maxy > self.yres - 1:
maxy = self.yres - 1
if miny > self.yres - 1:
miny = self.yres - 1
p = Point(0, 0, 0)
zaxis = Point(0, 0, -1)
for y in range(miny, maxy):
p.y = py = self.y[y]
for x in range(minx, maxx):
p.x = px = self.x[x]
if (px - cx) * (px - cx) + (py - cy) * (py - cy) \
<= rsq + EPSILON:
(cl, ccp, cp, l) = c.intersect_point(zaxis, p)
if ccp:
pz = l
if pz < self.buf[y][x].z:
self.buf[y][x].z = pz
self.buf[y + 0][x + 0].changed = True
self.buf[y + 0][x + 1].changed = True
self.buf[y + 1][x + 0].changed = True
self.buf[y + 1][x + 1].changed = True
self.changed = True
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_circle_plane(center, radius, direction, triangle):
# let n be the normal to the plane
n = triangle.normal
if n.dot(direction) == 0:
return (None, None, INFINITE)
# project onto z=0
n2 = Point(n.x, n.y, 0)
if n2.norm == 0:
(cp, d) = triangle.plane.intersect_point(direction, center)
ccp = cp.sub(direction.mul(d))
return (ccp, cp, d)
n2 = n2.normalized()
# the cutter contact point is on the circle, where the surface normal is n
ccp = center.add(n2.mul(-radius))
# intersect the plane with a line through the contact point
(cp, d) = triangle.plane.intersect_point(direction, ccp)
return (ccp, cp, d)
def __init__(self, reverse=False):
super(ContourCutter, self).__init__()
self.curr_path = None
self.scanline = None
self.polygon_extractor = None
self.points = []
self.reverse = reverse
self.__forward = Point(1, 1, 0)
def auto_adjust_distance(self):
s = self.core
v = self.view
# adjust the distance to get a view of the whole object
low_high = zip(*self._get_low_high_dims())
if (None, None) in low_high:
return
max_dim = max([high - low for low, high in low_high])
distv = Point(v["distance"][0], v["distance"][1],
v["distance"][2]).normalized()
# The multiplier "1.25" is based on experiments. 1.414 (sqrt(2)) should
# be roughly sufficient for showing the diagonal of any model.
distv = distv.mul((max_dim * 1.25) / number(math.sin(v["fovy"] / 2)))
self.view["distance"] = (distv.x, distv.y, distv.z)
# Adjust the "far" distance for the camera to make sure, that huge
# models (e.g. x=1000) are still visible.
self.view["zfar"] = 100 * max_dim
def intersect_circle_plane(center, radius, direction, triangle):
# let n be the normal to the plane
n = triangle.normal
if n.dot(direction) == 0:
return (None, None, INFINITE)
# project onto z=0
n2 = Point(n.x, n.y, 0)
if n2.norm == 0:
(cp, d) = triangle.plane.intersect_point(direction, center)
ccp = cp.sub(direction.mul(d))
return (ccp, cp, d)
n2 = n2.normalized()
# the cutter contact point is on the circle, where the surface normal is n
ccp = center.add(n2.mul(-radius))
# intersect the plane with a line through the contact point
(cp, d) = triangle.plane.intersect_point(direction, ccp)
return (ccp, cp, d)
def auto_adjust_distance(self):
s = self.core
v = self.view
# adjust the distance to get a view of the whole object
low_high = zip(*self._get_low_high_dims())
if (None, None) in low_high:
return
max_dim = max([high - low for low, high in low_high])
distv = Point(v["distance"][0], v["distance"][1],
v["distance"][2]).normalized()
# The multiplier "1.25" is based on experiments. 1.414 (sqrt(2)) should
# be roughly sufficient for showing the diagonal of any model.
distv = distv.mul((max_dim * 1.25) / number(math.sin(v["fovy"] / 2)))
self.view["distance"] = (distv.x, distv.y, distv.z)
# Adjust the "far" distance for the camera to make sure, that huge
# models (e.g. x=1000) are still visible.
self.view["zfar"] = 100 * max_dim
def auto_adjust_distance(self):
s = self.settings
v = self.view
# adjust the distance to get a view of the whole object
dimx = s.get("maxx") - s.get("minx")
dimy = s.get("maxy") - s.get("miny")
dimz = s.get("maxz") - s.get("minz")
max_dim = max(max(dimx, dimy), dimz)
distv = Point(v["distance"][0], v["distance"][1],
v["distance"][2]).normalized()
# The multiplier "1.25" is based on experiments. 1.414 (sqrt(2)) should
# be roughly sufficient for showing the diagonal of any model.
distv = distv.mul((max_dim * 1.25) / number(math.sin(v["fovy"] / 2)))
self.view["distance"] = (distv.x, distv.y, distv.z)
# Adjust the "far" distance for the camera to make sure, that huge
# models (e.g. x=1000) are still visible.
self.view["zfar"] = 100 * max_dim
def get_free_paths_ode(physics, p1, p2, depth=8):
""" Recursive function for splitting a line (usually along x or y) into
small pieces to gather connected paths for the PushCutter.
Strategy: check if the whole line is free (without collisions). Do a
recursive call (for the first and second half), if there was a
collision.
Usually either minx/maxx or miny/maxy should be equal, unless you want
to do a diagonal cut.
@param minx: lower limit of x
@type minx: float
@param maxx: upper limit of x; should equal minx for a cut along the x axis
@type maxx: float
@param miny: lower limit of y
@type miny: float
@param maxy: upper limit of y; should equal miny for a cut along the y axis
@type maxy: float
@param z: the fixed z level
@type z: float
@param depth: number of splits to be calculated via recursive calls; the
accuracy can be calculated as (maxx-minx)/(2^depth)
@type depth: int
@returns: a list of points that describe the tool path of the PushCutter;
each pair of points defines a collision-free path
@rtype: list(pycam.Geometry.Point.Point)
"""
points = []
# "resize" the drill along the while x/y range and check for a collision
physics.extend_drill(p2.x - p1.x, p2.y - p1.y, p2.z - p1.z)
physics.set_drill_position((p1.x, p1.y, p1.z))
if physics.check_collision():
# collision detected
if depth > 0:
middle_x = (p1.x + p2.x) / 2
middle_y = (p1.y + p2.y) / 2
middle_z = (p1.z + p2.z) / 2
p_middle = Point(middle_x, middle_y, middle_z)
group1 = get_free_paths_ode(physics, p1, p_middle, depth - 1)
group2 = get_free_paths_ode(physics, p_middle, p2, depth - 1)
if group1 and group2 and (group1[-1] == group2[0]):
# The last pair of the first group ends where the first pair of
# the second group starts.
# We will combine them into a single pair.
points.extend(group1[:-1])
points.extend(group2[1:])
else:
# the two groups are not connected - just add both
points.extend(group1)
points.extend(group2)
else:
# no points to be added
pass
else:
# no collision - the line is free
points.append(p1)
points.append(p2)
physics.reset_drill()
return points
def get_rotation_matrix_from_to(v_orig, v_dest):
""" calculate the rotation matrix used to transform one vector into another
The result is useful for modifying the rotation matrix of a 3d object.
See the "extend_shape" code in each of the cutter classes (for ODE).
The simplest example is the following with the original vector pointing
along the x axis, while the destination vectors goes along the y axis:
get_rotation_matrix((1, 0, 0), (0, 1, 0))
Basically this describes a rotation around the z axis by 90 degrees.
The resulting 3x3 matrix (tuple of tuple of floats) can be multiplied with
any other vector to rotate it in the same way around the z axis.
@type v_orig: tuple(float) | list(float) | pycam.Geometry.Point
@value v_orig: the original 3d vector
@type v_dest: tuple(float) | list(float) | pycam.Geometry.Point
@value v_dest: the destination 3d vector
@rtype: tuple(tuple(float))
@return: the roation matrix (3x3)
"""
if isinstance(v_orig, Point):
v_orig = (v_orig.x, v_orig.y, v_orig.z)
if isinstance(v_dest, Point):
v_dest = (v_dest.x, v_dest.y, v_dest.z)
v_orig_length = get_length(v_orig)
v_dest_length = get_length(v_dest)
cross_product = get_length(get_cross_product(v_orig, v_dest))
try:
arcsin = cross_product / (v_orig_length * v_dest_length)
except ZeroDivisionError:
return None
# prevent float inaccuracies to crash the calculation (within limits)
if 1 < arcsin < 1 + epsilon:
arcsin = 1.0
elif -1 - epsilon < arcsin < -1:
arcsin = -1.0
rot_angle = math.asin(arcsin)
# calculate the rotation axis
# The rotation axis is equal to the cross product of the original and
# destination vectors.
rot_axis = Point(v_orig[1] * v_dest[2] - v_orig[2] * v_dest[1],
v_orig[2] * v_dest[0] - v_orig[0] * v_dest[2],
v_orig[0] * v_dest[1] -
v_orig[1] * v_dest[0]).normalized()
if not rot_axis:
return None
# get the rotation matrix
# see http://www.fastgraph.com/makegames/3drotation/
c = math.cos(rot_angle)
s = math.sin(rot_angle)
t = 1 - c
return ((t * rot_axis.x * rot_axis.x + c,
t * rot_axis.x * rot_axis.y - s * rot_axis.z,
t * rot_axis.x * rot_axis.z + s * rot_axis.y),
(t * rot_axis.x * rot_axis.y + s * rot_axis.z,
t * rot_axis.y * rot_axis.y + c,
t * rot_axis.y * rot_axis.z - s * rot_axis.x),
(t * rot_axis.x * rot_axis.z - s * rot_axis.y,
t * rot_axis.y * rot_axis.z + s * rot_axis.x,
t * rot_axis.z * rot_axis.z + c))
def _get_edge_bridges(polygon, z_plane, min_bridges, average_distance,
avoid_distance):
def is_near_list(point_list, point, distance):
for p in point_list:
if p.sub(point).norm <= distance:
return True
return False
lines = polygon.get_lines()
poly_lengths = polygon.get_lengths()
num_of_bridges = max(min_bridges,
int(round(sum(poly_lengths) / average_distance)))
real_average_distance = sum(poly_lengths) / num_of_bridges
max_line_index = poly_lengths.index(max(poly_lengths))
positions = []
current_line_index = max_line_index
distance_processed = poly_lengths[current_line_index] / 2
positions.append(current_line_index)
while len(positions) < num_of_bridges:
current_line_index += 1
current_line_index %= len(poly_lengths)
# skip lines that are not at least twice as long as the grid width
while (distance_processed + poly_lengths[current_line_index] \
< real_average_distance):
distance_processed += poly_lengths[current_line_index]
current_line_index += 1
current_line_index %= len(poly_lengths)
positions.append(current_line_index)
distance_processed += poly_lengths[current_line_index]
distance_processed %= real_average_distance
result = []
bridge_positions = []
for line_index in positions:
position = polygon.get_middle_of_line(line_index)
# skip bridges that are close to another existing bridge
if is_near_list(bridge_positions, position, avoid_distance):
line = polygon.get_lines()[line_index]
# calculate two alternative points on the same line
position1 = position.add(line.p1).div(2)
position2 = position.add(line.p2).div(2)
if is_near_list(bridge_positions, position1, avoid_distance):
if is_near_list(bridge_positions, position2,
avoid_distance):
# no valid alternative - we skip this bridge
continue
else:
# position2 is OK
position = position2
else:
# position1 is OK
position = position1
# append the original position (ignoring z_plane)
bridge_positions.append(position)
# move the point to z_plane
position = Point(position.x, position.y, z_plane)
bridge_dir = lines[line_index].dir.cross(
polygon.plane.n).normalized()
result.append((position, bridge_dir))
return result
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 (not key is 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 not key is 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 (not color is None):
# use the color code as the z coordinate
p1[2] = float(color) / 255
p2[2] = float(color) / 255
line = Line(Point(p1[0], p1[1], p1[2]), Point(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 get_box_height_points(x, y):
""" Get the positions and heights of the the four top corners of a
height box.
The result is a tuple of four Points (pycam.Geometry.Point) in the
following order:
- left below
- right below
- right above
- left above
("above": greater x value; "right": greater y value)
The height of each corner point is calculated as the average of the
four neighbouring boxes. Thus a set of 3x3 adjacent boxes is used
for calculating the heights of the four corners.
"""
points = []
# Go through a set of box index combinations (sharing a common
# corner). The "offsets" tuple is used for indicating the relative
# position of each corner.
for offsets, index_list in (
((-1, -1), ((x - 1, y - 1), (x, y - 1), (x, y), (x - 1, y))),
((+1, -1), ((x, y - 1), (x, y), (x + 1, y), (x + 1, y - 1))),
((+1, +1), ((x, y), (x + 1, y), (x + 1, y + 1), (x, y + 1))),
((-1, +1), ((x - 1, y), (x, y), (x, y + 1), (x - 1, y + 1)))):
divisor = 0
height_sum = 0
x_positions = []
y_positions = []
for ix, iy in index_list:
if (0 <= ix < len(height_field)) \
and (0 <= iy < len(height_field[ix])):
point = height_field[ix][iy]
height_sum += point.z
x_positions.append(point.x)
y_positions.append(point.y)
divisor += 1
# Use the middle between the x positions of two adjacent boxes,
# _if_ there is a neighbour attached to that corner.
if (min(x_positions) < height_field[x][y].x) \
or (max(x_positions) > height_field[x][y].x):
x_value = (min(x_positions) + max(x_positions)) / 2.0
else:
# There is no adjacent box in x direction. Use the step size
# to calculate the x value of this edge.
x_value = height_field[x][y].x \
+ offsets[0] * self.x_step_width / 2.0
# same as above for y instead of x
if (min(y_positions) < height_field[x][y].y) \
or (max(y_positions) > height_field[x][y].y):
y_value = (min(y_positions) + max(y_positions)) / 2.0
else:
y_value = height_field[x][y].y \
+ offsets[1] * self.y_step_width / 2.0
# Create a Point instance describing the position and the
# average height.
points.append(Point(x_value, y_value, height_sum / divisor))
return points
def _get_position(minx, maxx, miny, maxy, z, position):
if position & START_X > 0:
x = minx
else:
x = maxx
if position & START_Y > 0:
y = miny
else:
y = maxy
return Point(x, y, z)
def add_point(p_array):
# fill all "None" values with zero
for index in range(len(p_array)):
if p_array[index] is None:
if (index == 0) or (index == 1):
log.debug("DXFImporter: weird LWPOLYLINE input " + \
"date in line %d: %s" % \
(self.line_number, p_array))
p_array[index] = 0
points.append(Point(p_array[0], p_array[1], p_array[2]))
def draw_direction_cone(p1, p2, position=0.5, precision=12, size=0.1):
# convert p1 and p2 from list/tuple to Point
if not hasattr(p1, "sub"):
p1 = Point(*p1)
if not hasattr(p2, "sub"):
p2 = Point(*p2)
distance = p2.sub(p1)
length = distance.norm
direction = distance.normalized()
if direction is None:
# zero-length line
return
cone_length = length * size
cone_radius = cone_length / 3.0
# move the cone to the middle of the line
GL.glTranslatef((p1.x + p2.x) * position,
(p1.y + p2.y) * position, (p1.z + p2.z) * position)
# rotate the cone according to the line direction
# The cross product is a good rotation axis.
cross = direction.cross(Point(0, 0, -1))
if cross.norm != 0:
# The line direction is not in line with the z axis.
try:
angle = math.asin(sqrt(direction.x ** 2 + direction.y ** 2))
except ValueError:
# invalid angle - just ignore this cone
return
# convert from radians to degree
angle = angle / math.pi * 180
if direction.z < 0:
angle = 180 - angle
GL.glRotatef(angle, cross.x, cross.y, cross.z)
elif direction.z == -1:
# The line goes down the z axis - turn it around.
GL.glRotatef(180, 1, 0, 0)
else:
# The line goes up the z axis - nothing to be done.
pass
# center the cone
GL.glTranslatef(0, 0, -cone_length * position)
# draw the cone
GLUT.glutSolidCone(cone_radius, cone_length, precision, 1)
def intersect_torus_point(center, axis, majorradius, minorradius, majorradiussq,
minorradiussq, direction, point):
dist = 0
if (direction.x == 0) and (direction.y == 0):
# drop
minlsq = (majorradius - minorradius) ** 2
maxlsq = (majorradius + minorradius) ** 2
l_sq = (point.x-center.x) ** 2 + (point.y - center.y) ** 2
if (l_sq < minlsq + epsilon) or (l_sq > maxlsq - epsilon):
return (None, None, INFINITE)
l = sqrt(l_sq)
z_sq = minorradiussq - (majorradius - l) ** 2
if z_sq < 0:
return (None, None, INFINITE)
z = sqrt(z_sq)
ccp = Point(point.x, point.y, center.z - z)
dist = ccp.z - point.z
elif direction.z == 0:
# push
z = point.z - center.z
if abs(z) > minorradius - epsilon:
return (None, None, INFINITE)
l = majorradius + sqrt(minorradiussq - z * z)
n = axis.cross(direction)
d = n.dot(point) - n.dot(center)
if abs(d) > l - epsilon:
return (None, None, INFINITE)
a = sqrt(l * l - d * d)
ccp = center.add(n.mul(d).add(direction.mul(a)))
ccp.z = point.z
dist = point.sub(ccp).dot(direction)
else:
# general case
x = point.sub(center)
v = direction.mul(-1)
x_x = x.dot(x)
x_v = x.dot(v)
x1 = Point(x.x, x.y, 0)
v1 = Point(v.x, v.y, 0)
x1_x1 = x1.dot(x1)
x1_v1 = x1.dot(v1)
v1_v1 = v1.dot(v1)
R2 = majorradiussq
r2 = minorradiussq
a = 1.0
b = 4 * x_v
c = 2 * (x_x + 2 * x_v ** 2 + (R2 - r2) - 2 * R2 * v1_v1)
d = 4 * (x_x * x_v + x_v * (R2 - r2) - 2 * R2 * x1_v1)
e = (x_x) ** 2 + 2 * x_x * (R2 - r2) + (R2 - r2) ** 2 - 4 * R2 * x1_x1
r = poly4_roots(a, b, c, d, e)
if not r:
return (None, None, INFINITE)
else:
l = min(r)
ccp = point.add(direction.mul(-l))
dist = l
return (ccp, point, dist)
def get_moves(self, safety_height, max_movement=None):
class MoveContainer(object):
def __init__(self, max_movement):
self.max_movement = max_movement
self.moved_distance = 0
self.moves = []
self.last_pos = None
if max_movement is None:
self.append = self.append_without_movement_limit
else:
self.append = self.append_with_movement_limit
def append_with_movement_limit(self, new_position, rapid):
if self.last_pos is None:
# first move with unknown start position - ignore it
self.moves.append((new_position, rapid))
self.last_pos = new_position
return True
else:
distance = new_position.sub(self.last_pos).norm
if self.moved_distance + distance > self.max_movement:
partial = (self.max_movement - self.moved_distance) / \
distance
partial_dest = self.last_pos.add(new_position.sub(
self.last_pos).mul(partial))
self.moves.append((partial_dest, rapid))
self.last_pos = partial_dest
# we are finished
return False
else:
self.moves.append((new_position, rapid))
self.moved_distance += distance
self.last_pos = new_position
return True
def append_without_movement_limit(self, new_position, rapid):
self.moves.append((new_position, rapid))
return True
p_last = None
max_safe_distance = 2 * self.toolpath_settings.get_tool().radius \
+ epsilon
result = MoveContainer(max_movement)
for path in self.get_paths():
if not path:
# ignore empty paths
continue
p_next = path.points[0]
if p_last is None:
p_last = Point(p_next.x, p_next.y, safety_height)
if not result.append(p_last, True):
return result.moves
if ((abs(p_last.x - p_next.x) > epsilon) \
or (abs(p_last.y - p_next.y) > epsilon)):
# Draw the connection between the last and the next path.
# Respect the safety height.
if (abs(p_last.z - p_next.z) > epsilon) \
or (p_last.sub(p_next).norm > max_safe_distance):
# The distance between these two points is too far.
# This condition helps to prevent moves up/down for
# adjacent lines.
safety_last = Point(p_last.x, p_last.y, safety_height)
safety_next = Point(p_next.x, p_next.y, safety_height)
if not result.append(safety_last, True):
return result.moves
if not result.append(safety_next, True):
return result.moves
for p in path.points:
if not result.append(p, False):
return result.moves
p_last = path.points[-1]
if not p_last is None:
p_last_safety = Point(p_last.x, p_last.y, safety_height)
result.append(p_last_safety, True)
return result.moves
