def intersection(self, ray):
"""
Returns the intersection points of ray with CSGadd in global frame
"""
# We will need the invtransform later when we return the results..."
invtransform = tf.inverse_matrix(self.transform)
localray = Ray()
localray.position = transform_point(ray.position, invtransform)
localray.direction = transform_direction(ray.direction, invtransform)
ADDone__intersections = self.ADDone.intersection(localray)
ADDtwo__intersections = self.ADDtwo.intersection(localray)
"""
Cover the simpler cases
"""
if ADDone__intersections == None and ADDtwo__intersections == None:
return None
"""
Change ..._intersections into tuples
"""
if ADDone__intersections != None:
for i in range(0,len(ADDone__intersections)):
point = ADDone__intersections[i]
new_point = (point[0], point[1], point[2])
ADDone__intersections[i] = new_point
if ADDtwo__intersections != None:
for i in range(0,len(ADDtwo__intersections)):
point = ADDtwo__intersections[i]
new_point = (point[0],point[1],point[2])
ADDtwo__intersections[i] = new_point
"""
Only intersection points NOT containted in resp. other structure relevant
"""
ADDone_intersections = []
ADDtwo_intersections = []
if ADDone__intersections != None:
for i in range(0,len(ADDone__intersections)):
if self.ADDtwo.contains(ADDone__intersections[i]) == False:
ADDone_intersections.append(ADDone__intersections[i])
if ADDtwo__intersections != None:
for j in range(0,len(ADDtwo__intersections)):
if self.ADDone.contains(ADDtwo__intersections[j]) == False:
ADDtwo_intersections.append(ADDtwo__intersections[j])
"""
=> Convert to list
"""
ADDone_set = set(ADDone_intersections[:])
ADDtwo_set = set(ADDtwo_intersections[:])
combined_set = ADDone_set | ADDtwo_set
combined_intersections = list(combined_set)
"""
Just in case...
"""
if len(combined_intersections) == 0:
return None
"""
Sort by separation from ray origin
"""
intersection_separations = []
for point in combined_intersections:
intersection_separations.append(separation(ray.position, point))
"""
Convert into Numpy arrays in order to sort
"""
intersection_separations = np.array(intersection_separations)
sorted_indices = intersection_separations.argsort()
sorted_combined_intersections = []
for index in sorted_indices:
sorted_combined_intersections.append(np.array(combined_intersections[index]))
global_frame_intersections = []
for point in sorted_combined_intersections:
global_frame_intersections.append(transform_point(point, self.transform))
global_frame_intersections_cleared = []
for point in global_frame_intersections:
if self.on_surface(point) == True:
"""
This is only necessary if the two objects have an entire surface region in common,
for example consider two boxes joined at one face.
"""
global_frame_intersections_cleared.append(point)
if len(global_frame_intersections_cleared) == 0:
return None
return global_frame_intersections_cleared
def intersection(self, ray):
"""
Returns the intersection points of ray with CSGint in global frame
"""
# We will need the invtransform later when we return the results..."
invtransform = tf.inverse_matrix(self.transform)
localray = Ray()
localray.position = transform_point(ray.position, invtransform)
localray.direction = transform_direction(ray.direction, invtransform)
INTone__intersections = self.INTone.intersection(localray)
INTtwo__intersections = self.INTtwo.intersection(localray)
"""
Cover the simpler cases
"""
if INTone__intersections == None and INTtwo__intersections == None:
return None
"""
Change ..._intersections into tuples
"""
if INTone__intersections != None:
for i in range(0,len(INTone__intersections)):
point = INTone__intersections[i]
new_point = (point[0], point[1], point[2])
INTone__intersections[i] = new_point
if INTtwo__intersections != None:
for i in range(0,len(INTtwo__intersections)):
point = INTtwo__intersections[i]
new_point = (point[0], point[1], point[2])
INTtwo__intersections[i] = new_point
"""
Only intersection points contained in resp. other structure relevant
"""
INTone_intersections = []
INTtwo_intersections = []
if INTone__intersections != None:
for i in range(0,len(INTone__intersections)):
if self.INTtwo.contains(INTone__intersections[i]) == True:
INTone_intersections.append(INTone__intersections[i])
if INTtwo__intersections != None:
for j in range(0,len(INTtwo__intersections)):
if self.INTone.contains(INTtwo__intersections[j]) == True:
INTtwo_intersections.append(INTtwo__intersections[j])
"""
=> Convert to list
"""
INTone_set = set(INTone_intersections[:])
INTtwo_set = set(INTtwo_intersections[:])
combined_set = INTone_set | INTtwo_set
combined_intersections = list(combined_set)
"""
Just in case...
"""
if len(combined_intersections) == 0:
return None
"""
Sort by separation from ray origin
"""
intersection_separations = []
for point in combined_intersections:
intersection_separations.append(separation(ray.position, point))
"""
Convert into Numpy arrays in order to sort
"""
intersection_separations = np.array(intersection_separations)
sorted_indices = intersection_separations.argsort()
sorted_combined_intersections = []
for index in sorted_indices:
sorted_combined_intersections.append(np.array(combined_intersections[index]))
global_frame_intersections = []
for point in sorted_combined_intersections:
global_frame_intersections.append(transform_point(point, self.transform))
return global_frame_intersections
