def getTransformed(self, transformation: Matrix) -> "MeshData":
"""Transform the meshdata, center and zero position by given Matrix
:param transformation: 4x4 homogeneous transformation matrix
"""
if self._vertices is not None:
transformed_vertices = transformVertices(self._vertices,
transformation)
transformed_normals = transformNormals(
self._normals,
transformation) if self._normals is not None else None
transformation_matrix = transformation.getTransposed()
if self._center_position is not None:
center_position = self._center_position.multiply(
transformation_matrix)
else:
center_position = Reuse
zero_position = self._zero_position.multiply(transformation_matrix)
return self.set(vertices=transformed_vertices,
normals=transformed_normals,
center_position=center_position,
zero_position=zero_position)
else:
return MeshData(vertices=self._vertices)
def transformNormals(normals: numpy.ndarray,
transformation: Matrix) -> numpy.ndarray:
"""Transform an array of normals using a matrix
:param normals: :type{numpy.ndarray} array of 3D normals
:param transformation: a 4x4 matrix
:return: :type{numpy.ndarray} the transformed normals
:note This assumes the normals are untranslated unit normals, and returns the same.
"""
data = numpy.pad(normals, ((0, 0), (0, 1)),
"constant",
constant_values=(0.0, 0.0))
# Get the translation from the transformation so we can cancel it later.
translation = transformation.getTranslation()
# Transform the normals so they get the proper rotation
data = data.dot(transformation.getTransposed().getData())
data += transformation.getData()[:, 3]
data = data[:, 0:3]
# Cancel the translation since normals should always go from origin to a point on the unit sphere.
data[:] -= translation.getData()
# Re-normalize the normals, since the transformation can contain scaling.
lengths = numpy.linalg.norm(data, axis=1)
lengths[lengths == 0] = 1
data[:, 0] /= lengths
data[:, 1] /= lengths
data[:, 2] /= lengths
return data
def test_transposed(self):
temp_matrix = Matrix()
temp_matrix.setByTranslation(Vector(10, 10, 10))
temp_matrix = temp_matrix.getTransposed()
numpy.testing.assert_array_almost_equal(
temp_matrix.getData(),
numpy.array([[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0],
[10, 10, 10, 1]]))
def transformVertices(vertices: numpy.ndarray,
transformation: Matrix) -> numpy.ndarray:
data = numpy.pad(vertices, ((0, 0), (0, 1)),
"constant",
constant_values=(0.0, 0.0))
data = data.dot(transformation.getTransposed().getData())
data += transformation.getData()[:, 3]
data = data[:, 0:3]
return data
def transformVertices(vertices: numpy.ndarray, transformation: Matrix) -> numpy.ndarray:
"""Transform an array of vertices using a matrix
:param vertices: :type{numpy.ndarray} array of 3D vertices
:param transformation: a 4x4 matrix
:return: :type{numpy.ndarray} the transformed vertices
"""
data = numpy.pad(vertices, ((0, 0), (0, 1)), "constant", constant_values=(0.0, 0.0))
data = data.dot(transformation.getTransposed().getData())
data += transformation.getData()[:, 3]
data = data[:, 0:3]
return data
def getTransformed(self, transformation: Matrix) -> "MeshData":
if self._vertices is not None:
transformed_vertices = transformVertices(self._vertices, transformation)
transformed_normals = transformNormals(self._normals, transformation) if self._normals is not None else None
transformation_matrix = transformation.getTransposed()
if self._center_position is not None:
center_position = self._center_position.multiply(transformation_matrix)
else:
center_position = Reuse
zero_position = self._zero_position.multiply(transformation_matrix)
return self.set(vertices=transformed_vertices, normals=transformed_normals, center_position=center_position, zero_position=zero_position)
else:
return MeshData(vertices = self._vertices)
def getTransformed(self, transformation: Matrix) -> "MeshData":
if self._vertices is not None:
transformed_vertices = transformVertices(self._vertices, transformation)
transformed_normals = transformNormals(self._normals, transformation) if self._normals is not None else None
transformation_matrix = transformation.getTransposed()
if self._center_position is not None:
center_position = self._center_position.multiply(transformation_matrix)
else:
center_position = Reuse
zero_position = self._zero_position.multiply(transformation_matrix)
return self.set(vertices=transformed_vertices, normals=transformed_normals, center_position=center_position, zero_position=zero_position)
else:
return MeshData(vertices = self._vertices)
def transformNormals(normals: numpy.ndarray, transformation: Matrix) -> numpy.ndarray:
data = numpy.pad(normals, ((0, 0), (0, 1)), "constant", constant_values=(0.0, 0.0))
# Get the translation from the transformation so we can cancel it later.
translation = transformation.getTranslation()
# Transform the normals so they get the proper rotation
data = data.dot(transformation.getTransposed().getData())
data += transformation.getData()[:, 3]
data = data[:, 0:3]
# Cancel the translation since normals should always go from origin to a point on the unit sphere.
data[:] -= translation.getData()
# Re-normalize the normals, since the transformation can contain scaling.
lengths = numpy.linalg.norm(data, axis = 1)
data[:, 0] /= lengths
data[:, 1] /= lengths
data[:, 2] /= lengths
return data
def transformNormals(normals: numpy.ndarray, transformation: Matrix) -> numpy.ndarray:
data = numpy.pad(normals, ((0, 0), (0, 1)), "constant", constant_values=(0.0, 0.0))
# Get the translation from the transformation so we can cancel it later.
translation = transformation.getTranslation()
# Transform the normals so they get the proper rotation
data = data.dot(transformation.getTransposed().getData())
data += transformation.getData()[:, 3]
data = data[:, 0:3]
# Cancel the translation since normals should always go from origin to a point on the unit sphere.
data[:] -= translation.getData()
# Re-normalize the normals, since the transformation can contain scaling.
lengths = numpy.linalg.norm(data, axis = 1)
data[:, 0] /= lengths
data[:, 1] /= lengths
data[:, 2] /= lengths
return data
def read(self, file_name):
result = None
extension = os.path.splitext(file_name)[1]
if extension.lower() == self._supported_extension:
result = SceneNode()
# The base object of 3mf is a zipped archive.
archive = zipfile.ZipFile(file_name, 'r')
try:
root = ET.parse(archive.open("3D/3dmodel.model"))
# There can be multiple objects, try to load all of them.
objects = root.findall("./3mf:resources/3mf:object", self._namespaces)
for object in objects:
mesh = MeshData()
node = SceneNode()
vertex_list = []
#for vertex in object.mesh.vertices.vertex:
for vertex in object.findall(".//3mf:vertex", self._namespaces):
vertex_list.append([vertex.get("x"), vertex.get("y"), vertex.get("z")])
triangles = object.findall(".//3mf:triangle", self._namespaces)
mesh.reserveFaceCount(len(triangles))
#for triangle in object.mesh.triangles.triangle:
for triangle in triangles:
v1 = int(triangle.get("v1"))
v2 = int(triangle.get("v2"))
v3 = int(triangle.get("v3"))
mesh.addFace(vertex_list[v1][0],vertex_list[v1][1],vertex_list[v1][2],vertex_list[v2][0],vertex_list[v2][1],vertex_list[v2][2],vertex_list[v3][0],vertex_list[v3][1],vertex_list[v3][2])
#TODO: We currently do not check for normals and simply recalculate them.
mesh.calculateNormals()
node.setMeshData(mesh)
node.setSelectable(True)
transformation = root.findall("./3mf:build/3mf:item[@objectid='{0}']".format(object.get("id")), self._namespaces)
if transformation:
transformation = transformation[0]
if transformation.get("transform"):
splitted_transformation = transformation.get("transform").split()
## Transformation is saved as:
## M00 M01 M02 0.0
## M10 M11 M12 0.0
## M20 M21 M22 0.0
## M30 M31 M32 1.0
## We switch the row & cols as that is how everyone else uses matrices!
temp_mat = Matrix()
# Rotation & Scale
temp_mat._data[0,0] = splitted_transformation[0]
temp_mat._data[1,0] = splitted_transformation[1]
temp_mat._data[2,0] = splitted_transformation[2]
temp_mat._data[0,1] = splitted_transformation[3]
temp_mat._data[1,1] = splitted_transformation[4]
temp_mat._data[2,1] = splitted_transformation[5]
temp_mat._data[0,2] = splitted_transformation[6]
temp_mat._data[1,2] = splitted_transformation[7]
temp_mat._data[2,2] = splitted_transformation[8]
# Translation
temp_mat._data[0,3] = splitted_transformation[9]
temp_mat._data[1,3] = splitted_transformation[10]
temp_mat._data[2,3] = splitted_transformation[11]
node.setPosition(Vector(temp_mat.at(0,3), temp_mat.at(1,3), temp_mat.at(2,3)))
temp_quaternion = Quaternion()
temp_quaternion.setByMatrix(temp_mat)
node.setOrientation(temp_quaternion)
# Magical scale extraction
S2 = temp_mat.getTransposed().multiply(temp_mat)
scale_x = math.sqrt(S2.at(0,0))
scale_y = math.sqrt(S2.at(1,1))
scale_z = math.sqrt(S2.at(2,2))
node.setScale(Vector(scale_x,scale_y,scale_z))
# We use a different coordinate frame, so rotate.
rotation = Quaternion.fromAngleAxis(-0.5 * math.pi, Vector(1,0,0))
node.rotate(rotation)
result.addChild(node)
#If there is more then one object, group them.
try:
if len(objects) > 1:
group_decorator = GroupDecorator()
result.addDecorator(group_decorator)
except:
pass
except Exception as e:
Logger.log("e" ,"exception occured in 3mf reader: %s" , e)
return result
def test_transposed(self):
temp_matrix = Matrix()
temp_matrix.setByTranslation(Vector(10,10,10))
temp_matrix = temp_matrix.getTransposed()
numpy.testing.assert_array_almost_equal(temp_matrix.getData(), numpy.array([[1,0,0,0],[0,1,0,0],[0,0,1,0],[10,10,10,1]]))
def read(self, file_name):
result = None
extension = os.path.splitext(file_name)[1]
if extension.lower() == self._supported_extension:
result = SceneNode()
# The base object of 3mf is a zipped archive.
archive = zipfile.ZipFile(file_name, "r")
try:
root = ET.parse(archive.open("3D/3dmodel.model"))
# There can be multiple objects, try to load all of them.
objects = root.findall("./3mf:resources/3mf:object",
self._namespaces)
if len(objects) == 0:
Logger.log(
"w",
"No objects found in 3MF file %s, either the file is corrupt or you are using an outdated format",
file_name)
return None
for object in objects:
mesh = MeshData()
node = SceneNode()
vertex_list = []
#for vertex in object.mesh.vertices.vertex:
for vertex in object.findall(".//3mf:vertex",
self._namespaces):
vertex_list.append([
vertex.get("x"),
vertex.get("y"),
vertex.get("z")
])
Job.yieldThread()
triangles = object.findall(".//3mf:triangle",
self._namespaces)
mesh.reserveFaceCount(len(triangles))
#for triangle in object.mesh.triangles.triangle:
for triangle in triangles:
v1 = int(triangle.get("v1"))
v2 = int(triangle.get("v2"))
v3 = int(triangle.get("v3"))
mesh.addFace(vertex_list[v1][0], vertex_list[v1][1],
vertex_list[v1][2], vertex_list[v2][0],
vertex_list[v2][1], vertex_list[v2][2],
vertex_list[v3][0], vertex_list[v3][1],
vertex_list[v3][2])
Job.yieldThread()
#TODO: We currently do not check for normals and simply recalculate them.
mesh.calculateNormals()
node.setMeshData(mesh)
node.setSelectable(True)
transformation = root.findall(
"./3mf:build/3mf:item[@objectid='{0}']".format(
object.get("id")), self._namespaces)
if transformation:
transformation = transformation[0]
if transformation.get("transform"):
splitted_transformation = transformation.get(
"transform").split()
## Transformation is saved as:
## M00 M01 M02 0.0
## M10 M11 M12 0.0
## M20 M21 M22 0.0
## M30 M31 M32 1.0
## We switch the row & cols as that is how everyone else uses matrices!
temp_mat = Matrix()
# Rotation & Scale
temp_mat._data[0, 0] = splitted_transformation[0]
temp_mat._data[1, 0] = splitted_transformation[1]
temp_mat._data[2, 0] = splitted_transformation[2]
temp_mat._data[0, 1] = splitted_transformation[3]
temp_mat._data[1, 1] = splitted_transformation[4]
temp_mat._data[2, 1] = splitted_transformation[5]
temp_mat._data[0, 2] = splitted_transformation[6]
temp_mat._data[1, 2] = splitted_transformation[7]
temp_mat._data[2, 2] = splitted_transformation[8]
# Translation
temp_mat._data[0, 3] = splitted_transformation[9]
temp_mat._data[1, 3] = splitted_transformation[10]
temp_mat._data[2, 3] = splitted_transformation[11]
node.setPosition(
Vector(temp_mat.at(0, 3), temp_mat.at(1, 3),
temp_mat.at(2, 3)))
temp_quaternion = Quaternion()
temp_quaternion.setByMatrix(temp_mat)
node.setOrientation(temp_quaternion)
# Magical scale extraction
scale = temp_mat.getTransposed().multiply(temp_mat)
scale_x = math.sqrt(scale.at(0, 0))
scale_y = math.sqrt(scale.at(1, 1))
scale_z = math.sqrt(scale.at(2, 2))
node.setScale(Vector(scale_x, scale_y, scale_z))
# We use a different coordinate frame, so rotate.
#rotation = Quaternion.fromAngleAxis(-0.5 * math.pi, Vector(1,0,0))
#node.rotate(rotation)
result.addChild(node)
Job.yieldThread()
#If there is more then one object, group them.
try:
if len(objects) > 1:
group_decorator = GroupDecorator()
result.addDecorator(group_decorator)
except:
pass
except Exception as e:
Logger.log("e", "exception occured in 3mf reader: %s", e)
return result
def transformVertices(vertices: numpy.ndarray, transformation: Matrix) -> numpy.ndarray:
data = numpy.pad(vertices, ((0, 0), (0, 1)), "constant", constant_values=(0.0, 0.0))
data = data.dot(transformation.getTransposed().getData())
data += transformation.getData()[:, 3]
data = data[:, 0:3]
return data
