def test_toMatrix(self):
q1 = Quaternion()
q1.setByAngleAxis(math.pi / 2, Vector.Unit_Z)
m1 = q1.toMatrix()
m2 = Matrix()
m2.setByRotationAxis(math.pi / 2, Vector.Unit_Z)
self.assertTrue(Float.fuzzyCompare(m1.at(0, 0), m2.at(0, 0), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(0, 1), m2.at(0, 1), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(0, 2), m2.at(0, 2), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(0, 3), m2.at(0, 3), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(1, 0), m2.at(1, 0), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(1, 1), m2.at(1, 1), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(1, 2), m2.at(1, 2), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(1, 3), m2.at(1, 3), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(2, 0), m2.at(2, 0), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(2, 1), m2.at(2, 1), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(2, 2), m2.at(2, 2), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(2, 3), m2.at(2, 3), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(3, 0), m2.at(3, 0), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(3, 1), m2.at(3, 1), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(3, 2), m2.at(3, 2), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(3, 3), m2.at(3, 3), 1e-6))
def __init__(self, parent=None):
super().__init__() # Call super to make multiple inheritence work.
self._children = []
self._mesh_data = None
self._position = Vector()
self._scale = Vector(1.0, 1.0, 1.0)
self._orientation = Quaternion()
self._transformation = None
self._world_transformation = None
self._derived_position = None
self._derived_orientation = None
self._derived_scale = None
self._inherit_orientation = True
self._inherit_scale = True
self._parent = parent
self._enabled = True
self._selectable = False
self._calculate_aabb = True
self._aabb = None
self._aabb_job = None
self._visible = True
self._name = ""
self._decorators = []
self._bounding_box_mesh = None
self.boundingBoxChanged.connect(self.calculateBoundingBoxMesh)
self.parentChanged.connect(self._onParentChanged)
if parent:
parent.addChild(self)
def setZ(self, Z):
if float(Z) != self._Z_angle:
self._angle = ((float(Z) % 360) - (self._Z_angle % 360)) % 360
self._Z_angle = float(Z)
#rotation = Quaternion.fromAngleAxis(math.radians( self._angle ), Vector.Unit_Z)
rotation = Quaternion()
rotation.setByAngleAxis(math.radians(self._angle), Vector.Unit_Z)
# Save the current positions of the node, as we want to rotate around their current centres
self._saved_node_positions = []
for node in Selection.getAllSelectedObjects():
self._saved_node_positions.append((node, node.getPosition()))
node._rotationZ = self._Z_angle
# Rate-limit the angle change notification
# This is done to prevent the UI from being flooded with property change notifications,
# which in turn would trigger constant repaints.
new_time = time.monotonic()
if not self._angle_update_time or new_time - self._angle_update_time > 0.1:
self._angle_update_time = new_time
# Rotate around the saved centeres of all selected nodes
op = GroupedOperation()
for node, position in self._saved_node_positions:
op.addOperation(
RotateOperation(node,
rotation,
rotate_around_point=position))
op.push()
self._angle = 0
self.propertyChanged.emit()
def test_toMatrix(self):
q1 = Quaternion()
q1.setByAngleAxis(math.pi / 2, Vector.Unit_Z)
m1 = q1.toMatrix()
m2 = Matrix()
m2.setByRotationAxis(math.pi / 2, Vector.Unit_Z)
self.assertTrue(Float.fuzzyCompare(m1.at(0, 0), m2.at(0, 0), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(0, 1), m2.at(0, 1), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(0, 2), m2.at(0, 2), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(0, 3), m2.at(0, 3), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(1, 0), m2.at(1, 0), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(1, 1), m2.at(1, 1), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(1, 2), m2.at(1, 2), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(1, 3), m2.at(1, 3), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(2, 0), m2.at(2, 0), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(2, 1), m2.at(2, 1), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(2, 2), m2.at(2, 2), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(2, 3), m2.at(2, 3), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(3, 0), m2.at(3, 0), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(3, 1), m2.at(3, 1), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(3, 2), m2.at(3, 2), 1e-6))
self.assertTrue(Float.fuzzyCompare(m1.at(3, 3), m2.at(3, 3), 1e-6))
def run(self):
for node in self._nodes:
transformed_vertices = node.getMeshDataTransformed().getVertices()
result = Tweak(
transformed_vertices,
extended_mode=self._extended_mode,
verbose=False,
progress_callback=self.updateProgress,
min_volume=CuraApplication.getInstance().getPreferences(
).getValue("OrientationPlugin/min_volume"))
[v, phi] = result.euler_parameter
# Convert the new orientation into quaternion
new_orientation = Quaternion.fromAngleAxis(
phi, Vector(-v[0], -v[1], -v[2]))
# Rotate the axis frame.
rotation = Quaternion.fromAngleAxis(-0.5 * math.pi,
Vector(1, 0, 0))
new_orientation = rotation * new_orientation
# Ensure node gets the new orientation
node.rotate(new_orientation, SceneNode.TransformSpace.World)
Job.yieldThread()
def _updateTransformation(self) -> None:
scale, shear, euler_angles, translation, mirror = self._transformation.decompose(
)
self._position = translation
self._scale = scale
self._shear = shear
self._mirror = mirror
orientation = Quaternion()
euler_angle_matrix = Matrix()
euler_angle_matrix.setByEuler(euler_angles.x, euler_angles.y,
euler_angles.z)
orientation.setByMatrix(euler_angle_matrix)
self._orientation = orientation
if self._parent:
self._world_transformation = self._parent.getWorldTransformation(
).multiply(self._transformation, copy=True)
else:
self._world_transformation = self._transformation
world_scale, world_shear, world_euler_angles, world_translation, world_mirror = self._world_transformation.decompose(
)
self._derived_position = world_translation
self._derived_scale = world_scale
world_euler_angle_matrix = Matrix()
world_euler_angle_matrix.setByEuler(world_euler_angles.x,
world_euler_angles.y,
world_euler_angles.z)
self._derived_orientation.setByMatrix(world_euler_angle_matrix)
def test_getData(self):
q = Quaternion(1, 2, 3, 4)
data = q.getData()
assert data[0] == 1
assert data[1] == 2
assert data[2] == 3
assert data[3] == 4
def process(self):
# Based on https://github.com/daid/Cura/blob/SteamEngine/Cura/util/printableObject.py#L207
# Note: Y & Z axis are swapped
transformed_vertices = self._node.getMeshDataTransformed().getVertices()
min_y_vertex = transformed_vertices[transformed_vertices.argmin(0)[1]]
dot_min = 1.0
dot_v = None
for v in transformed_vertices:
diff = v - min_y_vertex
length = math.sqrt(diff[0] * diff[0] + diff[2] * diff[2] + diff[1] * diff[1])
if length < 5:
continue
dot = (diff[1] / length)
if dot_min > dot:
dot_min = dot
dot_v = diff
self._emitProgress(1)
if dot_v is None:
self._emitProgress(len(transformed_vertices))
return
rad = math.atan2(dot_v[2], dot_v[0])
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_Y), SceneNode.TransformSpace.Parent)
rad = -math.asin(dot_min)
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_Z), SceneNode.TransformSpace.Parent)
transformed_vertices = self._node.getMeshDataTransformed().getVertices()
min_y_vertex = transformed_vertices[transformed_vertices.argmin(0)[1]]
dot_min = 1.0
dot_v = None
for v in transformed_vertices:
diff = v - min_y_vertex
length = math.sqrt(diff[2] * diff[2] + diff[1] * diff[1])
if length < 5:
continue
dot = (diff[1] / length)
if dot_min > dot:
dot_min = dot
dot_v = diff
self._emitProgress(1)
if dot_v is None:
self._node.setOrientation(self._old_orientation)
return
if dot_v[2] < 0:
rad = -math.asin(dot_min)
else:
rad = math.asin(dot_min)
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_X), SceneNode.TransformSpace.Parent)
self._new_orientation = self._node.getOrientation()
def test_setByAxis(self):
q = Quaternion()
q.setByAngleAxis(math.pi / 2, Vector.Unit_Z)
self.assertEqual(q.x, 0.0)
self.assertEqual(q.y, 0.0)
self.assertTrue(Float.fuzzyCompare(q.z, math.sqrt(2.0) / 2.0, 1e-6))
self.assertTrue(Float.fuzzyCompare(q.w, math.sqrt(2.0) / 2.0, 1e-6))
def _updateLocalTransformation(self):
translation, euler_angle_matrix, scale, shear = self._transformation.decompose()
self._position = translation
self._scale = scale
self._shear = shear
orientation = Quaternion()
orientation.setByMatrix(euler_angle_matrix)
self._orientation = orientation
def test_setByAxis(self):
q = Quaternion()
q.setByAngleAxis(math.pi / 2, Vector.Unit_Z)
self.assertEqual(q.x, 0.0)
self.assertEqual(q.y, 0.0)
self.assertTrue(Float.fuzzyCompare(q.z, math.sqrt(2.0) / 2.0, 1e-6))
self.assertTrue(Float.fuzzyCompare(q.w, math.sqrt(2.0) / 2.0, 1e-6))
def _updateLocalTransformation(self):
translation, euler_angle_matrix, scale, shear = self._transformation.decompose()
self._position = translation
self._scale = scale
self._shear = shear
orientation = Quaternion()
orientation.setByMatrix(euler_angle_matrix)
self._orientation = orientation
def test_invert(self):
q1 = Quaternion()
q1.setByAngleAxis(math.pi, Vector.Unit_Z)
q1.invert()
q2 = Quaternion()
q2.setByAngleAxis(math.pi, -Vector.Unit_Z)
self.assertEqual(q1, q2)
def test_rotateVector(self):
q1 = Quaternion()
q1.setByAngleAxis(math.pi / 2, Vector.Unit_Z)
v = Vector(0, 1, 0)
v = q1.rotate(v)
self.assertTrue(Float.fuzzyCompare(v.x, -1.0, 1e-6))
self.assertTrue(Float.fuzzyCompare(v.y, 0.0, 1e-6))
self.assertTrue(Float.fuzzyCompare(v.z, 0.0, 1e-6))
def test_rotateVector(self):
q1 = Quaternion()
q1.setByAngleAxis(math.pi / 2, Vector.Unit_Z)
v = Vector(0, 1, 0)
v = q1.rotate(v)
self.assertTrue(Float.fuzzyCompare(v.x, -1.0, 1e-6))
self.assertTrue(Float.fuzzyCompare(v.y, 0.0, 1e-6))
self.assertTrue(Float.fuzzyCompare(v.z, 0.0, 1e-6))
def __init__(self,
parent: Optional["SceneNode"] = None,
visible: bool = True,
name: str = "") -> None:
super().__init__() # Call super to make multiple inheritance work.
self._children = [] # type: List[SceneNode]
self._mesh_data = None # type: Optional[MeshData]
# Local transformation (from parent to local)
self._transformation = Matrix() # type: Matrix
# Convenience "components" of the transformation
self._position = Vector() # type: Vector
self._scale = Vector(1.0, 1.0, 1.0) # type: Vector
self._shear = Vector(0.0, 0.0, 0.0) # type: Vector
self._mirror = Vector(1.0, 1.0, 1.0) # type: Vector
self._orientation = Quaternion() # type: Quaternion
# World transformation (from root to local)
self._world_transformation = Matrix() # type: Matrix
# Convenience "components" of the world_transformation
self._derived_position = Vector() # type: Vector
self._derived_orientation = Quaternion() # type: Quaternion
self._derived_scale = Vector() # type: Vector
self._parent = parent # type: Optional[SceneNode]
# Can this SceneNode be modified in any way?
self._enabled = True # type: bool
# Can this SceneNode be selected in any way?
self._selectable = False # type: bool
# Should the AxisAlignedBoundingBox be re-calculated?
self._calculate_aabb = False # type: bool
# The AxisAligned bounding box.
self._aabb = None # type: Optional[AxisAlignedBox]
self._bounding_box_mesh = None # type: Optional[MeshData]
self._visible = visible # type: bool
self._name = name # type: str
self._decorators = [] # type: List[SceneNodeDecorator]
# Store custom settings to be compatible with Savitar SceneNode
self._settings = {} #type: Dict[str, Any]
## Signals
self.boundingBoxChanged.connect(self.calculateBoundingBoxMesh)
self.parentChanged.connect(self._onParentChanged)
if parent:
parent.addChild(self)
def test_rotate(self):
node = SceneNode()
self.assertEqual(node.getOrientation(), Quaternion())
node.rotate(Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
self.assertEqual(node.getOrientation(), Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
node.rotate(Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
self.assertEqual(node.getOrientation(), Quaternion.fromAngleAxis(math.pi / 2, Vector.Unit_Z))
def test_rotate(self):
node = SceneNode()
self.assertEqual(node.getOrientation(), Quaternion())
node.rotate(Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
self.assertEqual(node.getOrientation(), Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
node.rotate(Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
self.assertEqual(node.getOrientation(), Quaternion.fromAngleAxis(math.pi / 2, Vector.Unit_Z))
def test_fromMatrix(self):
m = Matrix()
m.setByRotationAxis(math.pi / 2, Vector.Unit_Z)
q1 = Quaternion.fromMatrix(m)
q2 = Quaternion()
q2.setByAngleAxis(math.pi / 2, Vector.Unit_Z)
self.assertTrue(Float.fuzzyCompare(q1.x, q2.x, 1e-6))
self.assertTrue(Float.fuzzyCompare(q1.y, q2.y, 1e-6))
self.assertTrue(Float.fuzzyCompare(q1.z, q2.z, 1e-6))
self.assertTrue(Float.fuzzyCompare(q1.w, q2.w, 1e-6))
def test_fromMatrix(self):
m = Matrix()
m.setByRotationAxis(math.pi / 2, Vector.Unit_Z)
q1 = Quaternion.fromMatrix(m)
q2 = Quaternion()
q2.setByAngleAxis(math.pi / 2, Vector.Unit_Z)
self.assertTrue(Float.fuzzyCompare(q1.x, q2.x, 1e-6))
self.assertTrue(Float.fuzzyCompare(q1.y, q2.y, 1e-6))
self.assertTrue(Float.fuzzyCompare(q1.z, q2.z, 1e-6))
self.assertTrue(Float.fuzzyCompare(q1.w, q2.w, 1e-6))
def __init__(self, parent: Optional["SceneNode"] = None, visible: bool = True, name: str = "") -> None:
super().__init__() # Call super to make multiple inheritance work.
self._children = [] # type: List[SceneNode]
self._mesh_data = None # type: Optional[MeshData]
# Local transformation (from parent to local)
self._transformation = Matrix() # type: Matrix
# Convenience "components" of the transformation
self._position = Vector() # type: Vector
self._scale = Vector(1.0, 1.0, 1.0) # type: Vector
self._shear = Vector(0.0, 0.0, 0.0) # type: Vector
self._mirror = Vector(1.0, 1.0, 1.0) # type: Vector
self._orientation = Quaternion() # type: Quaternion
# World transformation (from root to local)
self._world_transformation = Matrix() # type: Matrix
# Convenience "components" of the world_transformation
self._derived_position = Vector() # type: Vector
self._derived_orientation = Quaternion() # type: Quaternion
self._derived_scale = Vector() # type: Vector
self._parent = parent # type: Optional[SceneNode]
# Can this SceneNode be modified in any way?
self._enabled = True # type: bool
# Can this SceneNode be selected in any way?
self._selectable = False # type: bool
# Should the AxisAlignedBoundingBox be re-calculated?
self._calculate_aabb = True # type: bool
# The AxisAligned bounding box.
self._aabb = None # type: Optional[AxisAlignedBox]
self._bounding_box_mesh = None # type: Optional[MeshData]
self._visible = visible # type: bool
self._name = name # type: str
self._decorators = [] # type: List[SceneNodeDecorator]
# Store custom settings to be compatible with Savitar SceneNode
self._settings = {} # type: Dict[str, Any]
## Signals
self.parentChanged.connect(self._onParentChanged)
if parent:
parent.addChild(self)
def __init__(self, parent = None, **kwargs):
super().__init__() # Call super to make multiple inheritance work.
self._children = [] # type: List[SceneNode]
self._mesh_data = None # type: MeshData
# Local transformation (from parent to local)
self._transformation = Matrix() # type: Matrix
# Convenience "components" of the transformation
self._position = Vector() # type: Vector
self._scale = Vector(1.0, 1.0, 1.0) # type: Vector
self._shear = Vector(0.0, 0.0, 0.0) # type: Vector
self._mirror = Vector(1.0, 1.0, 1.0) # type: Vector
self._orientation = Quaternion() # type: Quaternion
# World transformation (from root to local)
self._world_transformation = Matrix() # type: Matrix
# Convenience "components" of the world_transformation
self._derived_position = Vector() # type: Vector
self._derived_orientation = Quaternion() # type: Quaternion
self._derived_scale = Vector() # type: Vector
self._parent = parent # type: Optional[SceneNode]
# Can this SceneNode be modified in any way?
self._enabled = True # type: bool
# Can this SceneNode be selected in any way?
self._selectable = False # type: bool
# Should the AxisAlignedBounxingBox be re-calculated?
self._calculate_aabb = True # type: bool
# The AxisAligned bounding box.
self._aabb = None # type: Optional[AxisAlignedBox]
self._bounding_box_mesh = None # type: Optional[MeshData]
self._visible = kwargs.get("visible", True) # type: bool
self._name = kwargs.get("name", "") # type: str
self._decorators = [] # type: List[SceneNodeDecorator]
## Signals
self.boundingBoxChanged.connect(self.calculateBoundingBoxMesh)
self.parentChanged.connect(self._onParentChanged)
if parent:
parent.addChild(self)
def test_multiply(self):
q1 = Quaternion()
q1.setByAngleAxis(math.pi / 2, Vector.Unit_Z)
q2 = Quaternion()
q2.setByAngleAxis(math.pi / 2, Vector.Unit_Z)
q3 = q1 * q2
q4 = Quaternion()
q4.setByAngleAxis(math.pi, Vector.Unit_Z)
self.assertEqual(q3, q4)
def resetAll(self):
nodes = []
for node in DepthFirstIterator(
self.getController().getScene().getRoot()):
if type(node) is not SceneNode:
continue
if not node.getMeshData() and not node.callDecoration("isGroup"):
continue #Node that doesnt have a mesh and is not a group.
if node.getParent() and node.getParent().callDecoration("isGroup"):
continue #Grouped nodes don't need resetting as their parent (the group) is resetted)
nodes.append(node)
if nodes:
op = GroupedOperation()
for node in nodes:
# Ensure that the object is above the build platform
move_distance = node.getBoundingBox().center.y
if move_distance <= 0:
move_distance = -node.getBoundingBox().bottom
op.addOperation(
SetTransformOperation(node, Vector(0, move_distance, 0),
Quaternion(), Vector(1, 1, 1)))
op.push()
def test_rotate(self):
node = SceneNode()
self.assertEqual(node.getOrientation(), Quaternion())
node.rotate(Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
node_orientation = deepcopy(node.getOrientation())
node_orientation.normalize() #For fair comparison.
self.assertEqual(node_orientation, Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
node.rotate(Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
node_orientation = deepcopy(node.getOrientation())
node_orientation.normalize()
self.assertEqual(node_orientation, Quaternion.fromAngleAxis(math.pi / 2, Vector.Unit_Z))
def _updateTransformation(self):
self._transformation = Matrix.fromPositionOrientationScale(
self._position, self._orientation, self._scale)
if self._parent:
parent_orientation = self._parent._getDerivedOrientation()
if self._inherit_orientation:
self._derived_orientation = parent_orientation * self._orientation
else:
self._derived_orientation = self._orientation
# Sometimes the derived orientation can be None.
# I've not been able to locate the cause of this, but this prevents it being an issue.
if not self._derived_orientation:
self._derived_orientation = Quaternion()
parent_scale = self._parent._getDerivedScale()
if self._inherit_scale:
self._derived_scale = parent_scale.scale(self._scale)
else:
self._derived_scale = self._scale
self._derived_position = parent_orientation.rotate(
parent_scale.scale(self._position))
self._derived_position += self._parent._getDerivedPosition()
self._world_transformation = Matrix.fromPositionOrientationScale(
self._derived_position, self._derived_orientation,
self._derived_scale)
else:
self._derived_position = self._position
self._derived_orientation = self._orientation
self._derived_scale = self._scale
self._world_transformation = self._transformation
def __init__(self, parent=None):
super().__init__() # Call super to make multiple inheritence work.
self._children = []
self._mesh_data = None
self._position = Vector()
self._scale = Vector(1.0, 1.0, 1.0)
self._orientation = Quaternion()
self._transformation = None
self._world_transformation = None
self._derived_position = None
self._derived_orientation = None
self._derived_scale = None
self._inherit_orientation = True
self._inherit_scale = True
self._parent = parent
self._enabled = True
self._selectable = False
self._calculate_aabb = True
self._aabb = None
self._aabb_job = None
self._visible = True
self._name = ""
self._decorators = []
self._bounding_box_mesh = None
self.boundingBoxChanged.connect(self.calculateBoundingBoxMesh)
self.parentChanged.connect(self._onParentChanged)
if parent:
parent.addChild(self)
def resetRotation(self):
for node in Selection.getAllSelectedObjects():
node.setMirror(Vector(1, 1, 1))
Selection.applyOperation(SetTransformOperation, None, Quaternion(),
None)
def resetRotation(self):
for node in self._getSelectedObjectsWithoutSelectedAncestors():
node.setMirror(Vector(1, 1, 1))
Selection.applyOperation(SetTransformOperation, None, Quaternion(),
None)
def setOrientation(self,
orientation: Quaternion,
transform_space: int = TransformSpace.Local):
if not self._enabled or orientation == self._orientation:
return
new_transform_matrix = Matrix()
if transform_space == SceneNode.TransformSpace.World:
if self.getWorldOrientation() == orientation:
return
new_orientation = orientation * (
self.getWorldOrientation() *
self._orientation.getInverse()).getInverse()
orientation_matrix = new_orientation.toMatrix()
else: # Local
orientation_matrix = orientation.toMatrix()
euler_angles = orientation_matrix.getEuler()
new_transform_matrix.compose(scale=self._scale,
angles=euler_angles,
translate=self._position,
shear=self._shear)
self._transformation = new_transform_matrix
self._transformChanged()
def resetRotation(self):
"""Reset the orientation of the mesh(es) to their original orientation(s)"""
for node in self._getSelectedObjectsWithoutSelectedAncestors():
node.setMirror(Vector(1, 1, 1))
Selection.applyOperation(SetTransformOperation, None, Quaternion(), None)
def setOrientation(self,
orientation: Quaternion,
transform_space: int = TransformSpace.Local) -> None:
"""Set the local orientation of this scene node.
:param orientation: :type{Quaternion} The new orientation of this scene node.
:param transform_space: The space relative to which to rotate. Can be Local or World from SceneNode::TransformSpace.
"""
if not self._enabled or orientation == self._orientation:
return
if transform_space == SceneNode.TransformSpace.World:
if self.getWorldOrientation() == orientation:
return
new_orientation = orientation * (
self.getWorldOrientation() *
self._orientation.getInverse()).invert()
orientation_matrix = new_orientation.toMatrix()
else: # Local
orientation_matrix = orientation.toMatrix()
euler_angles = orientation_matrix.getEuler()
new_transform_matrix = Matrix()
new_transform_matrix.compose(scale=self._scale,
angles=euler_angles,
translate=self._position,
shear=self._shear)
self._transformation = new_transform_matrix
self._transformChanged()
def resetAll(self):
Logger.log("i", "Resetting all scene transformations")
nodes = []
for node in DepthFirstIterator(
self.getController().getScene().getRoot()):
if type(node) is not SceneNode:
continue
if not node.getMeshData() and not node.callDecoration("isGroup"):
continue # Node that doesnt have a mesh and is not a group.
if node.getParent() and node.getParent().callDecoration("isGroup"):
continue # Grouped nodes don't need resetting as their parent (the group) is resetted)
nodes.append(node)
if nodes:
op = GroupedOperation()
for node in nodes:
# Ensure that the object is above the build platform
node.removeDecorator(ZOffsetDecorator.ZOffsetDecorator)
center_y = 0
if node.callDecoration("isGroup"):
center_y = node.getWorldPosition().y - node.getBoundingBox(
).bottom
else:
center_y = node.getMeshData().getCenterPosition().y
op.addOperation(
SetTransformOperation(node, Vector(0, center_y, 0),
Quaternion(), Vector(1, 1, 1)))
op.push()
def nodePostProcessing(self, node):
# TODO: Investigate how the status is on SolidWorks 2018 (now beta)
if self._revision_major >= 24: # Known problem under SolidWorks 2016 until 2017: Exported models are rotated by -90 degrees. This rotates it back!
rotation = Quaternion.fromAngleAxis(math.radians(90),
Vector.Unit_X)
node.rotate(rotation)
return node
def _onSelectedFaceChanged(self):
self._handle.setEnabled(not Selection.getFaceSelectMode())
selected_face = Selection.getSelectedFace()
if not Selection.getSelectedFace() or not (Selection.hasSelection() and Selection.getFaceSelectMode()):
return
original_node, face_id = selected_face
meshdata = original_node.getMeshDataTransformed()
if not meshdata or face_id < 0:
return
rotation_point, face_normal = meshdata.getFacePlane(face_id)
rotation_point_vector = Vector(rotation_point[0], rotation_point[1], rotation_point[2])
face_normal_vector = Vector(face_normal[0], face_normal[1], face_normal[2])
rotation_quaternion = Quaternion.rotationTo(face_normal_vector.normalized(), Vector(0.0, -1.0, 0.0))
operation = GroupedOperation()
current_node = None # type: Optional[SceneNode]
for node in Selection.getAllSelectedObjects():
current_node = node
parent_node = current_node.getParent()
while parent_node and parent_node.callDecoration("isGroup"):
current_node = parent_node
parent_node = current_node.getParent()
if current_node is None:
return
rotate_operation = RotateOperation(current_node, rotation_quaternion, rotation_point_vector)
operation.addOperation(rotate_operation)
operation.push()
def test_create(self):
q = Quaternion()
self.assertEqual(q.x, 0.0)
self.assertEqual(q.y, 0.0)
self.assertEqual(q.z, 0.0)
self.assertEqual(q.w, 1.0)
def createGroupOperationForArrange(nodes_to_arrange: List["SceneNode"],
build_volume: "BuildVolume",
fixed_nodes: Optional[List["SceneNode"]] = None,
factor = 10000,
add_new_nodes_in_scene: bool = False) -> Tuple[GroupedOperation, int]:
scene_root = Application.getInstance().getController().getScene().getRoot()
found_solution_for_all, node_items = findNodePlacement(nodes_to_arrange, build_volume, fixed_nodes, factor)
not_fit_count = 0
grouped_operation = GroupedOperation()
for node, node_item in zip(nodes_to_arrange, node_items):
if add_new_nodes_in_scene:
grouped_operation.addOperation(AddSceneNodeOperation(node, scene_root))
if node_item.binId() == 0:
# We found a spot for it
rotation_matrix = Matrix()
rotation_matrix.setByRotationAxis(node_item.rotation(), Vector(0, -1, 0))
grouped_operation.addOperation(RotateOperation(node, Quaternion.fromMatrix(rotation_matrix)))
grouped_operation.addOperation(TranslateOperation(node, Vector(node_item.translation().x() / factor, 0,
node_item.translation().y() / factor)))
else:
# We didn't find a spot
grouped_operation.addOperation(
TranslateOperation(node, Vector(200, node.getWorldPosition().y, -not_fit_count * 20), set_position = True))
not_fit_count += 1
return grouped_operation, not_fit_count
def __init__(self, parent = None):
super().__init__() # Call super to make multiple inheritence work.
self._children = []
self._mesh_data = None
self._position = Vector()
self._scale = Vector(1.0, 1.0, 1.0)
self._orientation = Quaternion()
self._transformation = None
self._world_transformation = None
self._derived_position = None
self._derived_orientation = None
self._derived_scale = None
self._inherit_orientation = True
self._inherit_scale = True
self._parent = parent
self._enabled = True
self._selectable = False
self._calculate_aabb = True
self._aabb = None
self._aabb_job = None
self._visible = True
self._name = ""
if parent:
parent.addChild(self)
def lookAt(self, target, up=Vector.Unit_Y):
if not self._enabled:
return
eye = self.getWorldPosition()
f = (target - eye).normalize()
up.normalize()
s = f.cross(up).normalize()
u = s.cross(f).normalize()
m = Matrix([[s.x, u.x, -f.x, 0.0], [s.y, u.y, -f.y, 0.0], [s.z, u.z, -f.z, 0.0], [0.0, 0.0, 0.0, 1.0]])
if self._parent:
self._orientation = self._parent._getDerivedOrientation() * Quaternion.fromMatrix(m)
else:
self._orientation = Quaternion.fromMatrix(m)
self._transformChanged()
def test_invert(self):
q1 = Quaternion()
q1.setByAngleAxis(math.pi, Vector.Unit_Z)
q1.invert()
q2 = Quaternion()
q2.setByAngleAxis(math.pi, -Vector.Unit_Z)
self.assertEqual(q1, q2)
def test_rotate(self):
node = SceneNode()
self.assertEqual(node.getOrientation(), Quaternion())
node.rotate(Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
node_orientation = deepcopy(node.getOrientation())
node_orientation.normalize() #For fair comparison.
self.assertEqual(node_orientation,
Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
node.rotate(Quaternion.fromAngleAxis(math.pi / 4, Vector.Unit_Z))
node_orientation = deepcopy(node.getOrientation())
node_orientation.normalize()
self.assertEqual(node_orientation,
Quaternion.fromAngleAxis(math.pi / 2, Vector.Unit_Z))
def _getDerivedOrientation(self):
if not self._derived_orientation:
self._updateTransformation()
# Sometimes the derived orientation can be None.
# I've not been able to locate the cause of this, but this prevents it being an issue.
if not self._derived_orientation:
self._derived_orientation = Quaternion()
return self._derived_orientation
def __init__(self, parent = None, **kwargs):
super().__init__() # Call super to make multiple inheritance work.
self._children = []
self._mesh_data = None
# Local transformation (from parent to local)
self._transformation = Matrix()
# Convenience "components" of the transformation
self._position = Vector()
self._scale = Vector(1.0, 1.0, 1.0)
self._shear = Vector(0.0, 0.0, 0.0)
self._mirror = Vector(1.0, 1.0, 1.0)
self._orientation = Quaternion()
# World transformation (from root to local)
self._world_transformation = Matrix()
# Convenience "components" of the world_transformation
self._derived_position = Vector()
self._derived_orientation = Quaternion()
self._derived_scale = Vector()
self._parent = parent
self._enabled = True # Can this SceneNode be modified in any way?
self._selectable = False # Can this SceneNode be selected in any way?
self._calculate_aabb = True # Should the AxisAlignedBounxingBox be re-calculated?
self._aabb = None # The AxisAligned bounding box.
self._original_aabb = None # The AxisAligned bounding box, without transformations.
self._bounding_box_mesh = None
self._visible = kwargs.get("visible", True)
self._name = kwargs.get("name", "")
self._decorators = []
## Signals
self.boundingBoxChanged.connect(self.calculateBoundingBoxMesh)
self.parentChanged.connect(self._onParentChanged)
if parent:
parent.addChild(self)
def lookAt(self, target, up=Vector.Unit_Y):
if not self._enabled:
return
eye = self.getWorldPosition()
f = (target - eye).normalize()
up.normalize()
s = f.cross(up).normalize()
u = s.cross(f).normalize()
m = Matrix([[s.x, u.x, -f.x, 0.0], [s.y, u.y, -f.y, 0.0],
[s.z, u.z, -f.z, 0.0], [0.0, 0.0, 0.0, 1.0]])
if self._parent:
self._orientation = self._parent._getDerivedOrientation(
) * Quaternion.fromMatrix(m)
else:
self._orientation = Quaternion.fromMatrix(m)
self._transformChanged()
def updateFromODE(self):
self._update_from_ode = True
self.getNode().setPosition(Helpers.fromODE(self._body.getPosition()),
SceneNode.TransformSpace.World)
body_orientation = self._body.getQuaternion()
self.getNode().setOrientation(
Quaternion(body_orientation[3], body_orientation[0],
body_orientation[1], body_orientation[2]))
self._update_from_ode = False
def _updateTransformation(self):
scale, shear, euler_angles, translation, mirror = self._transformation.decompose()
self._position = translation
self._scale = scale
self._shear = shear
self._mirror = mirror
orientation = Quaternion()
euler_angle_matrix = Matrix()
euler_angle_matrix.setByEuler(euler_angles.x, euler_angles.y, euler_angles.z)
orientation.setByMatrix(euler_angle_matrix)
self._orientation = orientation
if self._parent:
self._world_transformation = self._parent.getWorldTransformation().multiply(self._transformation, copy = True)
else:
self._world_transformation = self._transformation
world_scale, world_shear, world_euler_angles, world_translation, world_mirror = self._world_transformation.decompose()
self._derived_position = world_translation
self._derived_scale = world_scale
world_euler_angle_matrix = Matrix()
world_euler_angle_matrix.setByEuler(world_euler_angles.x, world_euler_angles.y, world_euler_angles.z)
self._derived_orientation.setByMatrix(world_euler_angle_matrix)
def rotate(self, rotation: Quaternion, transform_space: int = TransformSpace.Local):
if not self._enabled:
return
orientation_matrix = rotation.toMatrix()
if transform_space == SceneNode.TransformSpace.Local:
self._transformation.multiply(orientation_matrix)
elif transform_space == SceneNode.TransformSpace.Parent:
self._transformation.preMultiply(orientation_matrix)
elif transform_space == SceneNode.TransformSpace.World:
self._transformation.multiply(self._world_transformation.getInverse())
self._transformation.multiply(orientation_matrix)
self._transformation.multiply(self._world_transformation)
self._transformChanged()
def setOrientation(self, orientation: Quaternion, transform_space: int = TransformSpace.Local):
if not self._enabled or orientation == self._orientation:
return
new_transform_matrix = Matrix()
if transform_space == SceneNode.TransformSpace.World:
if self.getWorldOrientation() == orientation:
return
new_orientation = orientation * (self.getWorldOrientation() * self._orientation.getInverse()).getInverse()
orientation_matrix = new_orientation.toMatrix()
else: # Local
orientation_matrix = orientation.toMatrix()
euler_angles = orientation_matrix.getEuler()
new_transform_matrix.compose(scale = self._scale, angles = euler_angles, translate = self._position, shear = self._shear)
self._transformation = new_transform_matrix
self._transformChanged()
def lookAt(self, target: Vector, up: Vector = Vector.Unit_Y):
if not self._enabled:
return
eye = self.getWorldPosition()
f = (target - eye).normalized()
up = up.normalized()
s = f.cross(up).normalized()
u = s.cross(f).normalized()
m = Matrix([
[ s.x, u.x, -f.x, 0.0],
[ s.y, u.y, -f.y, 0.0],
[ s.z, u.z, -f.z, 0.0],
[ 0.0, 0.0, 0.0, 1.0]
])
self.setOrientation(Quaternion.fromMatrix(m))
class SceneNode(SignalEmitter):
class TransformSpace:
Local = 1
Parent = 2
World = 3
def __init__(self, parent = None):
super().__init__() # Call super to make multiple inheritence work.
self._children = []
self._mesh_data = None
self._position = Vector()
self._scale = Vector(1.0, 1.0, 1.0)
self._orientation = Quaternion()
self._transformation = None
self._world_transformation = None
self._derived_position = None
self._derived_orientation = None
self._derived_scale = None
self._inherit_orientation = True
self._inherit_scale = True
self._parent = parent
self._enabled = True
self._selectable = False
self._calculate_aabb = True
self._aabb = None
self._aabb_job = None
self._visible = True
self._name = ""
if parent:
parent.addChild(self)
## \brief Get the parent of this node. If the node has no parent, it is the root node.
# \returns SceneNode if it has a parent and None if it's the root node.
def getParent(self):
return self._parent
def getName(self):
return self._name
def setName(self, name):
self._name = name
## How many nodes is this node removed from the root
def getDepth(self):
if self._parent is None: return 0
return self._parent.getDepth() + 1
## \brief Set the parent of this object
# \param scene_node SceneNode that is the parent of this object.
def setParent(self, scene_node):
if self._parent:
self._parent.removeChild(self)
self._parent = scene_node
if scene_node:
scene_node.addChild(self)
## Emitted whenever the parent changes.
parentChanged = Signal()
## \brief Get the visibility of this node. The parents visibility overrides the visibility.
# TODO: Let renderer actually use the visibility to decide wether to render or not.
def isVisible(self):
if self._parent != None and self._visible:
return self._parent.isVisible()
else:
return self._visible
def setVisible(self, visible):
self._visible = visible
## \brief Get the (original) mesh data from the scene node/object.
# \returns MeshData
def getMeshData(self):
return self._mesh_data
## \brief Get the transformed mesh data from the scene node/object, based on the transformation of scene nodes wrt root.
# \returns MeshData
def getMeshDataTransformed(self):
transformed_mesh = deepcopy(self._mesh_data)
transformed_mesh.transform(self.getWorldTransformation())
return transformed_mesh
## \brief Set the mesh of this node/object
# \param mesh_data MeshData object
def setMeshData(self, mesh_data):
if self._mesh_data:
self._mesh_data.dataChanged.disconnect(self.meshDataChanged)
self._mesh_data = mesh_data
if self._mesh_data is not None:
self._mesh_data.dataChanged.connect(self.meshDataChanged)
self._resetAABB()
self.meshDataChanged.emit(self)
## Emitted whenever the attached mesh data object changes.
meshDataChanged = Signal()
## \brief Add a child to this node and set it's parent as this node.
# \params scene_node SceneNode to add.
def addChild(self, scene_node):
if scene_node not in self._children:
scene_node.transformationChanged.connect(self.transformationChanged)
scene_node.childrenChanged.connect(self.childrenChanged)
scene_node.meshDataChanged.connect(self.meshDataChanged)
self._children.append(scene_node)
self._resetAABB()
self.childrenChanged.emit(self)
if not scene_node._parent is self:
scene_node._parent = self
scene_node.parentChanged.emit(self)
## \brief remove a single child
# \param child Scene node that needs to be removed.
def removeChild(self, child):
if child not in self._children:
return
child.transformationChanged.disconnect(self.transformationChanged)
child.childrenChanged.disconnect(self.childrenChanged)
child.meshDataChanged.disconnect(self.meshDataChanged)
self._children.remove(child)
child._parent = None
child.parentChanged.emit(self)
self.childrenChanged.emit(self)
## \brief Removes all children and its children's children.
def removeAllChildren(self):
for child in self._children:
child.removeAllChildren()
self.removeChild(child)
self.childrenChanged.emit(self)
## \brief Get the list of direct children
# \returns List of children
def getChildren(self):
return self._children
def hasChildren(self):
return True if self._children else False
## \brief Get list of all children (including it's children children children etc.)
# \returns list ALl children in this 'tree'
def getAllChildren(self):
children = []
children.extend(self._children)
for child in self._children:
children.extend(child.getAllChildren())
return children
## \brief Emitted whenever the list of children of this object or any child object changes.
# \param object The object that triggered the change.
childrenChanged = Signal()
## \brief Computes and returns the transformation from world to local space.
# \returns 4x4 transformation matrix
def getWorldTransformation(self):
if self._world_transformation is None:
self._updateTransformation()
return deepcopy(self._world_transformation)
## \brief Returns the local transformation with respect to its parent. (from parent to local)
# \retuns transformation 4x4 (homogenous) matrix
def getLocalTransformation(self):
if self._transformation is None:
self._updateTransformation()
return deepcopy(self._transformation)
## Get the local orientation value.
def getOrientation(self):
return deepcopy(self._orientation)
## \brief Rotate the scene object (and thus its children) by given amount
#
# \param rotation \type{Quaternion} A quaternion indicating the amount of rotation.
# \param transform_space The space relative to which to rotate. Can be any one of the constants in SceneNode::TransformSpace.
def rotate(self, rotation, transform_space = TransformSpace.Local):
if not self._enabled:
return
if transform_space == SceneNode.TransformSpace.Local:
self._orientation = self._orientation * rotation
elif transform_space == SceneNode.TransformSpace.Parent:
self._orientation = rotation * self._orientation
elif transform_space == SceneNode.TransformSpace.World:
self._orientation = self._orientation * self._getDerivedOrientation().getInverse() * rotation * self._getDerivedOrientation()
else:
raise ValueError("Unknown transform space {0}".format(transform_space))
self._orientation.normalize()
self._transformChanged()
## Set the local orientation of this scene node.
#
# \param orientation \type{Quaternion} The new orientation of this scene node.
def setOrientation(self, orientation):
if not self._enabled or orientation == self._orientation:
return
self._orientation = orientation
self._orientation.normalize()
self._transformChanged()
## Get the local scaling value.
def getScale(self):
return deepcopy(self._scale)
## Scale the scene object (and thus its children) by given amount
#
# \param scale \type{Vector} A Vector with three scale values
# \param transform_space The space relative to which to scale. Can be any one of the constants in SceneNode::TransformSpace.
def scale(self, scale, transform_space = TransformSpace.Local):
if not self._enabled:
return
if transform_space == SceneNode.TransformSpace.Local:
self._scale = self._scale.scale(scale)
elif transform_space == SceneNode.TransformSpace.Parent:
raise NotImplementedError()
elif transform_space == SceneNode.TransformSpace.World:
raise NotImplementedError()
else:
raise ValueError("Unknown transform space {0}".format(transform_space))
self._transformChanged()
## Set the local scale value.
#
# \param scale \type{Vector} The new scale value of the scene node.
def setScale(self, scale):
if not self._enabled or scale == self._scale:
return
self._scale = scale
self._transformChanged()
## Get the local position.
def getPosition(self):
return deepcopy(self._position)
## Get the position of this scene node relative to the world.
def getWorldPosition(self):
if not self._derived_position:
self._updateTransformation()
return deepcopy(self._derived_position)
## Translate the scene object (and thus its children) by given amount.
#
# \param translation \type{Vector} The amount to translate by.
# \param transform_space The space relative to which to translate. Can be any one of the constants in SceneNode::TransformSpace.
def translate(self, translation, transform_space = TransformSpace.Local):
if not self._enabled:
return
if transform_space == SceneNode.TransformSpace.Local:
self._position += self._orientation.rotate(translation)
elif transform_space == SceneNode.TransformSpace.Parent:
self._position += translation
elif transform_space == SceneNode.TransformSpace.World:
if self._parent:
self._position += (1.0 / self._parent._getDerivedScale()).scale(self._parent._getDerivedOrientation().getInverse().rotate(translation))
else:
self._position += translation
self._transformChanged()
## Set the local position value.
#
# \param position The new position value of the SceneNode.
def setPosition(self, position):
if not self._enabled or position == self._position:
return
self._position = position
self._transformChanged()
## Signal. Emitted whenever the transformation of this object or any child object changes.
# \param object The object that caused the change.
transformationChanged = Signal()
## Rotate this scene node in such a way that it is looking at target.
#
# \param target \type{Vector} The target to look at.
# \param up \type{Vector} The vector to consider up. Defaults to Vector.Unit_Y, i.e. (0, 1, 0).
def lookAt(self, target, up = Vector.Unit_Y):
if not self._enabled:
return
eye = self.getWorldPosition()
f = (target - eye).normalize()
up.normalize()
s = f.cross(up).normalize()
u = s.cross(f).normalize()
m = Matrix([
[ s.x, u.x, -f.x, 0.0],
[ s.y, u.y, -f.y, 0.0],
[ s.z, u.z, -f.z, 0.0],
[ 0.0, 0.0, 0.0, 1.0]
])
if self._parent:
self._orientation = self._parent._getDerivedOrientation() * Quaternion.fromMatrix(m)
else:
self._orientation = Quaternion.fromMatrix(m)
self._transformChanged()
## Can be overridden by child nodes if they need to perform special rendering.
# If you need to handle rendering in a special way, for example for tool handles,
# you can override this method and render the node. Return True to prevent the
# view from rendering any attached mesh data.
#
# \param renderer The renderer object to use for rendering.
#
# \return False if the view should render this node, True if we handle our own rendering.
def render(self, renderer):
return False
## Get whether this SceneNode is enabled, that is, it can be modified in any way.
def isEnabled(self):
if self._parent != None and self._enabled:
return self._parent.isEnabled()
else:
return self._enabled
## Set whether this SceneNode is enabled.
# \param enable True if this object should be enabled, False if not.
# \sa isEnabled
def setEnabled(self, enable):
self._enabled = enable
## Get whether this SceneNode can be selected.
#
# \note This will return false if isEnabled() returns false.
def isSelectable(self):
return self._enabled and self._selectable
## Set whether this SceneNode can be selected.
#
# \param select True if this SceneNode should be selectable, False if not.
def setSelectable(self, select):
self._selectable = select
## Get the bounding box of this node and its children.
#
# Note that the AABB is calculated in a separate thread. This method will return an invalid (size 0) AABB
# while the calculation happens.
def getBoundingBox(self):
if self._aabb:
return self._aabb
if not self._aabb_job:
self._resetAABB()
return AxisAlignedBox()
## Set whether or not to calculate the bounding box for this node.
#
# \param calculate True if the bounding box should be calculated, False if not.
def setCalculateBoundingBox(self, calculate):
self._calculate_aabb = calculate
## private:
def _getDerivedPosition(self):
if not self._derived_position:
self._updateTransformation()
return self._derived_position
def _getDerivedOrientation(self):
if not self._derived_orientation:
self._updateTransformation()
return self._derived_orientation
def _getDerivedScale(self):
if not self._derived_scale:
self._updateTransformation()
return self._derived_scale
def _transformChanged(self):
self._resetAABB()
self._transformation = None
self._world_transformation = None
self._derived_position = None
self._derived_orientation = None
self._derived_scale = None
self.transformationChanged.emit(self)
for child in self._children:
child._transformChanged()
def _updateTransformation(self):
self._transformation = Matrix.fromPositionOrientationScale(self._position, self._orientation, self._scale)
if self._parent:
parent_orientation = self._parent._getDerivedOrientation()
if self._inherit_orientation:
self._derived_orientation = parent_orientation * self._orientation
else:
self._derived_orientation = self._orientation
parent_scale = self._parent._getDerivedScale()
if self._inherit_scale:
self._derived_scale = parent_scale.scale(self._scale)
else:
self._derived_scale = self._scale
self._derived_position = parent_orientation.rotate(parent_scale.scale(self._position))
self._derived_position += self._parent._getDerivedPosition()
self._world_transformation = Matrix.fromPositionOrientationScale(self._derived_position, self._derived_orientation, self._derived_scale)
else:
self._derived_position = self._position
self._derived_orientation = self._orientation
self._derived_scale = self._scale
self._world_transformation = self._transformation
def _resetAABB(self):
if not self._calculate_aabb:
return
self._aabb = None
if self._aabb_job:
self._aabb_job.cancel()
self._aabb_job = _CalculateAABBJob(self)
self._aabb_job.start()
def test_slerp(self):
q1 = Quaternion()
q1.setByAngleAxis(0, Vector.Unit_Z)
q2 = Quaternion()
q2.setByAngleAxis(math.pi / 2, Vector.Unit_Z)
c = Quaternion(0.0, 0.0, 0.0, 1.0)
self.assertEqual(c, Quaternion.slerp(q1, q2, 0.0))
c = Quaternion(0.0, 0.0, 0.19509033858776093, 0.9807853102684021)
self.assertEqual(c, Quaternion.slerp(q1, q2, 0.25))
c = Quaternion(0.0, 0.0, 0.38268348574638367, 0.9238795638084412)
self.assertEqual(c, Quaternion.slerp(q1, q2, 0.5))
c = Quaternion(0.0, 0.0, 0.5555703043937683, 0.8314696550369263)
self.assertEqual(c, Quaternion.slerp(q1, q2, 0.75))
c = Quaternion(0.0, 0.0, 0.7071068286895752, 0.7071068286895752)
self.assertEqual(c, Quaternion.slerp(q1, q2, 1.0))
class SceneNode():
class TransformSpace:
Local = 1
Parent = 2
World = 3
## Construct a scene node.
# \param parent The parent of this node (if any). Only a root node should have None as a parent.
# \param kwargs Keyword arguments.
# Possible keywords:
# - visible \type{bool} Is the SceneNode (and thus, all it's children) visible? Defaults to True
# - name \type{string} Name of the SceneNode. Defaults to empty string.
def __init__(self, parent = None, **kwargs):
super().__init__() # Call super to make multiple inheritance work.
self._children = [] # type: List[SceneNode]
self._mesh_data = None # type: MeshData
# Local transformation (from parent to local)
self._transformation = Matrix() # type: Matrix
# Convenience "components" of the transformation
self._position = Vector() # type: Vector
self._scale = Vector(1.0, 1.0, 1.0) # type: Vector
self._shear = Vector(0.0, 0.0, 0.0) # type: Vector
self._mirror = Vector(1.0, 1.0, 1.0) # type: Vector
self._orientation = Quaternion() # type: Quaternion
# World transformation (from root to local)
self._world_transformation = Matrix() # type: Matrix
# Convenience "components" of the world_transformation
self._derived_position = Vector() # type: Vector
self._derived_orientation = Quaternion() # type: Quaternion
self._derived_scale = Vector() # type: Vector
self._parent = parent # type: Optional[SceneNode]
# Can this SceneNode be modified in any way?
self._enabled = True # type: bool
# Can this SceneNode be selected in any way?
self._selectable = False # type: bool
# Should the AxisAlignedBounxingBox be re-calculated?
self._calculate_aabb = True # type: bool
# The AxisAligned bounding box.
self._aabb = None # type: Optional[AxisAlignedBox]
self._bounding_box_mesh = None # type: Optional[MeshData]
self._visible = kwargs.get("visible", True) # type: bool
self._name = kwargs.get("name", "") # type: str
self._decorators = [] # type: List[SceneNodeDecorator]
## Signals
self.boundingBoxChanged.connect(self.calculateBoundingBoxMesh)
self.parentChanged.connect(self._onParentChanged)
if parent:
parent.addChild(self)
def __deepcopy__(self, memo):
copy = SceneNode()
copy.setTransformation(self.getLocalTransformation())
copy.setMeshData(self._mesh_data)
copy.setVisible(deepcopy(self._visible, memo))
copy._selectable = deepcopy(self._selectable, memo)
copy._name = deepcopy(self._name, memo)
for decorator in self._decorators:
copy.addDecorator(deepcopy(decorator, memo))
for child in self._children:
copy.addChild(deepcopy(child, memo))
self.calculateBoundingBoxMesh()
return copy
## Set the center position of this node.
# This is used to modify it's mesh data (and it's children) in such a way that they are centered.
# In most cases this means that we use the center of mass as center (which most objects don't use)
def setCenterPosition(self, center: Vector):
if self._mesh_data:
m = Matrix()
m.setByTranslation(-center)
self._mesh_data = self._mesh_data.getTransformed(m).set(center_position=center)
for child in self._children:
child.setCenterPosition(center)
## \brief Get the parent of this node. If the node has no parent, it is the root node.
# \returns SceneNode if it has a parent and None if it's the root node.
def getParent(self) -> Optional["SceneNode"]:
return self._parent
def getMirror(self) -> Vector:
return self._mirror
## Get the MeshData of the bounding box
# \returns \type{MeshData} Bounding box mesh.
def getBoundingBoxMesh(self) -> Optional[MeshData]:
return self._bounding_box_mesh
## (re)Calculate the bounding box mesh.
def calculateBoundingBoxMesh(self):
aabb = self.getBoundingBox()
if aabb:
bounding_box_mesh = MeshBuilder()
rtf = aabb.maximum
lbb = aabb.minimum
bounding_box_mesh.addVertex(rtf.x, rtf.y, rtf.z) # Right - Top - Front
bounding_box_mesh.addVertex(lbb.x, rtf.y, rtf.z) # Left - Top - Front
bounding_box_mesh.addVertex(lbb.x, rtf.y, rtf.z) # Left - Top - Front
bounding_box_mesh.addVertex(lbb.x, lbb.y, rtf.z) # Left - Bottom - Front
bounding_box_mesh.addVertex(lbb.x, lbb.y, rtf.z) # Left - Bottom - Front
bounding_box_mesh.addVertex(rtf.x, lbb.y, rtf.z) # Right - Bottom - Front
bounding_box_mesh.addVertex(rtf.x, lbb.y, rtf.z) # Right - Bottom - Front
bounding_box_mesh.addVertex(rtf.x, rtf.y, rtf.z) # Right - Top - Front
bounding_box_mesh.addVertex(rtf.x, rtf.y, lbb.z) # Right - Top - Back
bounding_box_mesh.addVertex(lbb.x, rtf.y, lbb.z) # Left - Top - Back
bounding_box_mesh.addVertex(lbb.x, rtf.y, lbb.z) # Left - Top - Back
bounding_box_mesh.addVertex(lbb.x, lbb.y, lbb.z) # Left - Bottom - Back
bounding_box_mesh.addVertex(lbb.x, lbb.y, lbb.z) # Left - Bottom - Back
bounding_box_mesh.addVertex(rtf.x, lbb.y, lbb.z) # Right - Bottom - Back
bounding_box_mesh.addVertex(rtf.x, lbb.y, lbb.z) # Right - Bottom - Back
bounding_box_mesh.addVertex(rtf.x, rtf.y, lbb.z) # Right - Top - Back
bounding_box_mesh.addVertex(rtf.x, rtf.y, rtf.z) # Right - Top - Front
bounding_box_mesh.addVertex(rtf.x, rtf.y, lbb.z) # Right - Top - Back
bounding_box_mesh.addVertex(lbb.x, rtf.y, rtf.z) # Left - Top - Front
bounding_box_mesh.addVertex(lbb.x, rtf.y, lbb.z) # Left - Top - Back
bounding_box_mesh.addVertex(lbb.x, lbb.y, rtf.z) # Left - Bottom - Front
bounding_box_mesh.addVertex(lbb.x, lbb.y, lbb.z) # Left - Bottom - Back
bounding_box_mesh.addVertex(rtf.x, lbb.y, rtf.z) # Right - Bottom - Front
bounding_box_mesh.addVertex(rtf.x, lbb.y, lbb.z) # Right - Bottom - Back
self._bounding_box_mesh = bounding_box_mesh.build()
## Handler for the ParentChanged signal
# \param node Node from which this event was triggered.
def _onParentChanged(self, node: Optional["SceneNode"]):
for child in self.getChildren():
child.parentChanged.emit(self)
## Signal for when a \type{SceneNodeDecorator} is added / removed.
decoratorsChanged = Signal()
## Add a SceneNodeDecorator to this SceneNode.
# \param \type{SceneNodeDecorator} decorator The decorator to add.
def addDecorator(self, decorator: SceneNodeDecorator):
if type(decorator) in [type(dec) for dec in self._decorators]:
Logger.log("w", "Unable to add the same decorator type (%s) to a SceneNode twice.", type(decorator))
return
try:
decorator.setNode(self)
except AttributeError:
Logger.logException("e", "Unable to add decorator.")
return
self._decorators.append(decorator)
self.decoratorsChanged.emit(self)
## Get all SceneNodeDecorators that decorate this SceneNode.
# \return list of all SceneNodeDecorators.
def getDecorators(self) -> List[SceneNodeDecorator]:
return self._decorators
## Get SceneNodeDecorators by type.
# \param dec_type type of decorator to return.
def getDecorator(self, dec_type) -> Optional[SceneNodeDecorator]:
for decorator in self._decorators:
if type(decorator) == dec_type:
return decorator
## Remove all decorators
def removeDecorators(self):
for decorator in self._decorators:
decorator.clear()
self._decorators = []
self.decoratorsChanged.emit(self)
## Remove decorator by type.
# \param dec_type type of the decorator to remove.
def removeDecorator(self, dec_type: SceneNodeDecorator):
for decorator in self._decorators:
if type(decorator) == dec_type:
decorator.clear()
self._decorators.remove(decorator)
self.decoratorsChanged.emit(self)
break
## Call a decoration of this SceneNode.
# SceneNodeDecorators add Decorations, which are callable functions.
# \param \type{string} function The function to be called.
# \param *args
# \param **kwargs
def callDecoration(self, function: str, *args, **kwargs):
for decorator in self._decorators:
if hasattr(decorator, function):
try:
return getattr(decorator, function)(*args, **kwargs)
except Exception as e:
Logger.log("e", "Exception calling decoration %s: %s", str(function), str(e))
return None
## Does this SceneNode have a certain Decoration (as defined by a Decorator)
# \param \type{string} function the function to check for.
def hasDecoration(self, function: str) -> bool:
for decorator in self._decorators:
if hasattr(decorator, function):
return True
return False
def getName(self) -> str:
return self._name
def setName(self, name: str):
self._name = name
## How many nodes is this node removed from the root?
# \return |tupe{int} Steps from root (0 means it -is- the root).
def getDepth(self) -> int:
if self._parent is None:
return 0
return self._parent.getDepth() + 1
## \brief Set the parent of this object
# \param scene_node SceneNode that is the parent of this object.
def setParent(self, scene_node: Optional["SceneNode"]):
if self._parent:
self._parent.removeChild(self)
if scene_node:
scene_node.addChild(self)
## Emitted whenever the parent changes.
parentChanged = Signal()
## \brief Get the visibility of this node. The parents visibility overrides the visibility.
# TODO: Let renderer actually use the visibility to decide whether to render or not.
def isVisible(self) -> bool:
if self._parent is not None and self._visible:
return self._parent.isVisible()
else:
return self._visible
## Set the visibility of this SceneNode.
def setVisible(self, visible: bool):
self._visible = visible
## \brief Get the (original) mesh data from the scene node/object.
# \returns MeshData
def getMeshData(self) -> Optional[MeshData]:
return self._mesh_data
## \brief Get the transformed mesh data from the scene node/object, based on the transformation of scene nodes wrt root.
# \returns MeshData
def getMeshDataTransformed(self) -> Optional[MeshData]:
if self._mesh_data:
return self._mesh_data.getTransformed(self.getWorldTransformation())
return self._mesh_data
## \brief Set the mesh of this node/object
# \param mesh_data MeshData object
def setMeshData(self, mesh_data: Optional[MeshData]):
self._mesh_data = mesh_data
self._resetAABB()
self.meshDataChanged.emit(self)
## Emitted whenever the attached mesh data object changes.
meshDataChanged = Signal()
def _onMeshDataChanged(self):
self.meshDataChanged.emit(self)
## \brief Add a child to this node and set it's parent as this node.
# \params scene_node SceneNode to add.
def addChild(self, scene_node: "SceneNode"):
if scene_node not in self._children:
scene_node.transformationChanged.connect(self.transformationChanged)
scene_node.childrenChanged.connect(self.childrenChanged)
scene_node.meshDataChanged.connect(self.meshDataChanged)
self._children.append(scene_node)
self._resetAABB()
self.childrenChanged.emit(self)
if not scene_node._parent is self:
scene_node._parent = self
scene_node._transformChanged()
scene_node.parentChanged.emit(self)
## \brief remove a single child
# \param child Scene node that needs to be removed.
def removeChild(self, child: "SceneNode"):
if child not in self._children:
return
child.transformationChanged.disconnect(self.transformationChanged)
child.childrenChanged.disconnect(self.childrenChanged)
child.meshDataChanged.disconnect(self.meshDataChanged)
self._children.remove(child)
child._parent = None
child._transformChanged()
child.parentChanged.emit(self)
self._resetAABB()
self.childrenChanged.emit(self)
## \brief Removes all children and its children's children.
def removeAllChildren(self):
for child in self._children:
child.removeAllChildren()
self.removeChild(child)
self.childrenChanged.emit(self)
## \brief Get the list of direct children
# \returns List of children
def getChildren(self) -> List["SceneNode"]:
return self._children
def hasChildren(self) -> bool:
return True if self._children else False
## \brief Get list of all children (including it's children children children etc.)
# \returns list ALl children in this 'tree'
def getAllChildren(self) -> List["SceneNode"]:
children = []
children.extend(self._children)
for child in self._children:
children.extend(child.getAllChildren())
return children
## \brief Emitted whenever the list of children of this object or any child object changes.
# \param object The object that triggered the change.
childrenChanged = Signal()
## \brief Computes and returns the transformation from world to local space.
# \returns 4x4 transformation matrix
def getWorldTransformation(self) -> Matrix:
if self._world_transformation is None:
self._updateTransformation()
return deepcopy(self._world_transformation)
## \brief Returns the local transformation with respect to its parent. (from parent to local)
# \retuns transformation 4x4 (homogenous) matrix
def getLocalTransformation(self) -> Matrix:
if self._transformation is None:
self._updateTransformation()
return deepcopy(self._transformation)
def setTransformation(self, transformation: Matrix):
self._transformation = deepcopy(transformation) # Make a copy to ensure we never change the given transformation
self._transformChanged()
## Get the local orientation value.
def getOrientation(self) -> Quaternion:
return deepcopy(self._orientation)
def getWorldOrientation(self) -> Quaternion:
return deepcopy(self._derived_orientation)
## \brief Rotate the scene object (and thus its children) by given amount
#
# \param rotation \type{Quaternion} A quaternion indicating the amount of rotation.
# \param transform_space The space relative to which to rotate. Can be any one of the constants in SceneNode::TransformSpace.
def rotate(self, rotation: Quaternion, transform_space: int = TransformSpace.Local):
if not self._enabled:
return
orientation_matrix = rotation.toMatrix()
if transform_space == SceneNode.TransformSpace.Local:
self._transformation.multiply(orientation_matrix)
elif transform_space == SceneNode.TransformSpace.Parent:
self._transformation.preMultiply(orientation_matrix)
elif transform_space == SceneNode.TransformSpace.World:
self._transformation.multiply(self._world_transformation.getInverse())
self._transformation.multiply(orientation_matrix)
self._transformation.multiply(self._world_transformation)
self._transformChanged()
## Set the local orientation of this scene node.
#
# \param orientation \type{Quaternion} The new orientation of this scene node.
# \param transform_space The space relative to which to rotate. Can be Local or World from SceneNode::TransformSpace.
def setOrientation(self, orientation: Quaternion, transform_space: int = TransformSpace.Local):
if not self._enabled or orientation == self._orientation:
return
new_transform_matrix = Matrix()
if transform_space == SceneNode.TransformSpace.World:
if self.getWorldOrientation() == orientation:
return
new_orientation = orientation * (self.getWorldOrientation() * self._orientation.getInverse()).getInverse()
orientation_matrix = new_orientation.toMatrix()
else: # Local
orientation_matrix = orientation.toMatrix()
euler_angles = orientation_matrix.getEuler()
new_transform_matrix.compose(scale = self._scale, angles = euler_angles, translate = self._position, shear = self._shear)
self._transformation = new_transform_matrix
self._transformChanged()
## Get the local scaling value.
def getScale(self) -> Vector:
return self._scale
def getWorldScale(self) -> Vector:
return self._derived_scale
## Scale the scene object (and thus its children) by given amount
#
# \param scale \type{Vector} A Vector with three scale values
# \param transform_space The space relative to which to scale. Can be any one of the constants in SceneNode::TransformSpace.
def scale(self, scale: Vector, transform_space: int = TransformSpace.Local):
if not self._enabled:
return
scale_matrix = Matrix()
scale_matrix.setByScaleVector(scale)
if transform_space == SceneNode.TransformSpace.Local:
self._transformation.multiply(scale_matrix)
elif transform_space == SceneNode.TransformSpace.Parent:
self._transformation.preMultiply(scale_matrix)
elif transform_space == SceneNode.TransformSpace.World:
self._transformation.multiply(self._world_transformation.getInverse())
self._transformation.multiply(scale_matrix)
self._transformation.multiply(self._world_transformation)
self._transformChanged()
## Set the local scale value.
#
# \param scale \type{Vector} The new scale value of the scene node.
# \param transform_space The space relative to which to rotate. Can be Local or World from SceneNode::TransformSpace.
def setScale(self, scale: Vector, transform_space: int = TransformSpace.Local):
if not self._enabled or scale == self._scale:
return
if transform_space == SceneNode.TransformSpace.Local:
self.scale(scale / self._scale, SceneNode.TransformSpace.Local)
return
if transform_space == SceneNode.TransformSpace.World:
if self.getWorldScale() == scale:
return
self.scale(scale / self._scale, SceneNode.TransformSpace.World)
## Get the local position.
def getPosition(self) -> Vector:
return self._position
## Get the position of this scene node relative to the world.
def getWorldPosition(self) -> Vector:
return self._derived_position
## Translate the scene object (and thus its children) by given amount.
#
# \param translation \type{Vector} The amount to translate by.
# \param transform_space The space relative to which to translate. Can be any one of the constants in SceneNode::TransformSpace.
def translate(self, translation: Vector, transform_space: int = TransformSpace.Local):
if not self._enabled:
return
translation_matrix = Matrix()
translation_matrix.setByTranslation(translation)
if transform_space == SceneNode.TransformSpace.Local:
self._transformation.multiply(translation_matrix)
elif transform_space == SceneNode.TransformSpace.Parent:
self._transformation.preMultiply(translation_matrix)
elif transform_space == SceneNode.TransformSpace.World:
world_transformation = deepcopy(self._world_transformation)
self._transformation.multiply(self._world_transformation.getInverse())
self._transformation.multiply(translation_matrix)
self._transformation.multiply(world_transformation)
self._transformChanged()
## Set the local position value.
#
# \param position The new position value of the SceneNode.
# \param transform_space The space relative to which to rotate. Can be Local or World from SceneNode::TransformSpace.
def setPosition(self, position: Vector, transform_space: int = TransformSpace.Local):
if not self._enabled or position == self._position:
return
if transform_space == SceneNode.TransformSpace.Local:
self.translate(position - self._position, SceneNode.TransformSpace.Parent)
if transform_space == SceneNode.TransformSpace.World:
if self.getWorldPosition() == position:
return
self.translate(position - self._derived_position, SceneNode.TransformSpace.World)
## Signal. Emitted whenever the transformation of this object or any child object changes.
# \param object The object that caused the change.
transformationChanged = Signal()
## Rotate this scene node in such a way that it is looking at target.
#
# \param target \type{Vector} The target to look at.
# \param up \type{Vector} The vector to consider up. Defaults to Vector.Unit_Y, i.e. (0, 1, 0).
def lookAt(self, target: Vector, up: Vector = Vector.Unit_Y):
if not self._enabled:
return
eye = self.getWorldPosition()
f = (target - eye).normalized()
up = up.normalized()
s = f.cross(up).normalized()
u = s.cross(f).normalized()
m = Matrix([
[ s.x, u.x, -f.x, 0.0],
[ s.y, u.y, -f.y, 0.0],
[ s.z, u.z, -f.z, 0.0],
[ 0.0, 0.0, 0.0, 1.0]
])
self.setOrientation(Quaternion.fromMatrix(m))
## Can be overridden by child nodes if they need to perform special rendering.
# If you need to handle rendering in a special way, for example for tool handles,
# you can override this method and render the node. Return True to prevent the
# view from rendering any attached mesh data.
#
# \param renderer The renderer object to use for rendering.
#
# \return False if the view should render this node, True if we handle our own rendering.
def render(self, renderer) -> bool:
return False
## Get whether this SceneNode is enabled, that is, it can be modified in any way.
def isEnabled(self) -> bool:
return self._enabled
## Set whether this SceneNode is enabled.
# \param enable True if this object should be enabled, False if not.
# \sa isEnabled
def setEnabled(self, enable: bool):
self._enabled = enable
## Get whether this SceneNode can be selected.
#
# \note This will return false if isEnabled() returns false.
def isSelectable(self) -> bool:
return self._enabled and self._selectable
## Set whether this SceneNode can be selected.
#
# \param select True if this SceneNode should be selectable, False if not.
def setSelectable(self, select: bool):
self._selectable = select
## Get the bounding box of this node and its children.
def getBoundingBox(self) -> Optional[AxisAlignedBox]:
if not self._calculate_aabb:
return None
if self._aabb is None:
self._calculateAABB()
return self._aabb
## Set whether or not to calculate the bounding box for this node.
#
# \param calculate True if the bounding box should be calculated, False if not.
def setCalculateBoundingBox(self, calculate: bool):
self._calculate_aabb = calculate
boundingBoxChanged = Signal()
def getShear(self) -> Vector:
return self._shear
## private:
def _transformChanged(self):
self._updateTransformation()
self._resetAABB()
self.transformationChanged.emit(self)
for child in self._children:
child._transformChanged()
def _updateTransformation(self):
scale, shear, euler_angles, translation, mirror = self._transformation.decompose()
self._position = translation
self._scale = scale
self._shear = shear
self._mirror = mirror
orientation = Quaternion()
euler_angle_matrix = Matrix()
euler_angle_matrix.setByEuler(euler_angles.x, euler_angles.y, euler_angles.z)
orientation.setByMatrix(euler_angle_matrix)
self._orientation = orientation
if self._parent:
self._world_transformation = self._parent.getWorldTransformation().multiply(self._transformation, copy = True)
else:
self._world_transformation = self._transformation
world_scale, world_shear, world_euler_angles, world_translation, world_mirror = self._world_transformation.decompose()
self._derived_position = world_translation
self._derived_scale = world_scale
world_euler_angle_matrix = Matrix()
world_euler_angle_matrix.setByEuler(world_euler_angles.x, world_euler_angles.y, world_euler_angles.z)
self._derived_orientation.setByMatrix(world_euler_angle_matrix)
def _resetAABB(self):
if not self._calculate_aabb:
return
self._aabb = None
if self.getParent():
self.getParent()._resetAABB()
self.boundingBoxChanged.emit()
def _calculateAABB(self):
aabb = None
if self._mesh_data:
aabb = self._mesh_data.getExtents(self.getWorldTransformation())
else: # If there is no mesh_data, use a boundingbox that encompasses the local (0,0,0)
position = self.getWorldPosition()
aabb = AxisAlignedBox(minimum = position, maximum = position)
for child in self._children:
if aabb is None:
aabb = child.getBoundingBox()
else:
aabb = aabb + child.getBoundingBox()
self._aabb = aabb
def event(self, event):
super().event(event)
if event.type == Event.KeyPressEvent and event.key == KeyEvent.ShiftKey:
self._snap_rotation = (not self._snap_rotation)
self.propertyChanged.emit()
if event.type == Event.KeyReleaseEvent and event.key == KeyEvent.ShiftKey:
self._snap_rotation = (not self._snap_rotation)
self.propertyChanged.emit()
if event.type == Event.MousePressEvent:
if MouseEvent.LeftButton not in event.buttons:
return False
id = self._selection_pass.getIdAtPosition(event.x, event.y)
if not id:
return
if ToolHandle.isAxis(id):
self.setLockedAxis(id)
handle_position = self._handle.getWorldPosition()
if id == ToolHandle.XAxis:
self.setDragPlane(Plane(Vector(1, 0, 0), handle_position.x))
elif id == ToolHandle.YAxis:
self.setDragPlane(Plane(Vector(0, 1, 0), handle_position.y))
elif self._locked_axis == ToolHandle.ZAxis:
self.setDragPlane(Plane(Vector(0, 0, 1), handle_position.z))
self.setDragStart(event.x, event.y)
self._angle = 0
self.operationStarted.emit(self)
if event.type == Event.MouseMoveEvent:
if not self.getDragPlane():
return False
if not self.getDragStart():
self.setDragStart(event.x, event.y)
handle_position = self._handle.getWorldPosition()
drag_start = (self.getDragStart() - handle_position).normalize()
drag_position = self.getDragPosition(event.x, event.y)
if not drag_position:
return
drag_end = (drag_position - handle_position).normalize()
try:
angle = math.acos(drag_start.dot(drag_end))
except ValueError:
angle = 0
if self._snap_rotation:
angle = int(angle / self._snap_angle) * self._snap_angle
if angle == 0:
return
rotation = None
if self.getLockedAxis() == ToolHandle.XAxis:
direction = 1 if Vector.Unit_X.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_X)
elif self.getLockedAxis() == ToolHandle.YAxis:
direction = 1 if Vector.Unit_Y.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_Y)
elif self.getLockedAxis() == ToolHandle.ZAxis:
direction = 1 if Vector.Unit_Z.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_Z)
self._angle += direction * angle
# Rate-limit the angle change notification
# This is done to prevent the UI from being flooded with property change notifications,
# which in turn would trigger constant repaints.
new_time = time.monotonic()
if not self._angle_update_time or new_time - self._angle_update_time > 0.01:
self.propertyChanged.emit()
self._angle_update_time = new_time
Selection.applyOperation(RotateOperation, rotation)
self.setDragStart(event.x, event.y)
if event.type == Event.MouseReleaseEvent:
if self.getDragPlane():
self.setDragPlane(None)
self.setLockedAxis(None)
self._angle = None
self.propertyChanged.emit()
self.operationStopped.emit(self)
return True
def process(self):
# Based on https://github.com/daid/Cura/blob/SteamEngine/Cura/util/printableObject.py#L207
# Note: Y & Z axis are swapped
#Transform mesh first to get the current positions of the vertices.
transformed_vertices = None
if not self._node.callDecoration("isGroup"):
transformed_vertices = self._node.getMeshDataTransformed().getVertices()
else:
#For groups, get the vertices of all children and process them as a single mesh
for child in self._node.getChildren():
if transformed_vertices is None:
transformed_vertices = child.getMeshDataTransformed().getVertices()
else:
transformed_vertices = numpy.concatenate((transformed_vertices, child.getMeshDataTransformed().getVertices()), axis = 0)
min_y_vertex = transformed_vertices[transformed_vertices.argmin(0)[1]]
dot_min = 1.0 #Minimum y-component of direction vector.
dot_v = None
#Find the second-lowest vertex.
for v in transformed_vertices:
diff = v - min_y_vertex #From this vertex to the lowest vertex.
length = math.sqrt(diff[0] * diff[0] + diff[1] * diff[1] + diff[2] * diff[2])
if length < 5: #Ignore lines smaller than half a centimetre. It's unreliable at such small distances.
continue
dot = (diff[1] / length) #Y-component of direction vector.
if dot_min > dot:
dot_min = dot
dot_v = diff
self._emitProgress(1)
if dot_v is None: #Couldn't find any vertex further than 5mm from the lowest vertex.
self._emitProgress(len(transformed_vertices))
return
#Rotate the mesh such that the second-lowest vertex is just as low as the lowest vertex.
rad = math.atan2(dot_v[2], dot_v[0])
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_Y), SceneNode.TransformSpace.Parent)
rad = -math.asin(dot_min)
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_Z), SceneNode.TransformSpace.Parent)
#Apply the transformation so we get new vertex coordinates.
transformed_vertices = None
if not self._node.callDecoration("isGroup"):
transformed_vertices = self._node.getMeshDataTransformed().getVertices()
else:
#For groups, get the vertices of all children and process them as a single mesh
for child in self._node.getChildren():
if transformed_vertices is None:
transformed_vertices = child.getMeshDataTransformed().getVertices()
else:
transformed_vertices = numpy.concatenate((transformed_vertices, child.getMeshDataTransformed().getVertices()), axis = 0)
min_y_vertex = transformed_vertices[transformed_vertices.argmin(0)[1]]
dot_min = 1.0
dot_v = None
#Find the second-lowest vertex again.
for v in transformed_vertices:
diff = v - min_y_vertex #From this vertex to the lowest vertex.
length = math.sqrt(diff[2] * diff[2] + diff[1] * diff[1])
if length < 5: #Ignore lines smaller than half a centimetre. It's unreliable at such small distances.
continue
dot = (diff[1] / length) #Y-component of direction vector.
if dot_min > dot:
dot_min = dot
dot_v = diff
self._emitProgress(1)
if dot_v is None: #Couldn't find any vertex further than 5mm from the lowest vertex.
self._node.setOrientation(self._old_orientation)
return
#Rotate the mesh such that the second-lowest vertex gets the same height as the lowest vertex.
if dot_v[2] < 0:
rad = -math.asin(dot_min)
else:
rad = math.asin(dot_min)
self._node.rotate(Quaternion.fromAngleAxis(rad, Vector.Unit_X), SceneNode.TransformSpace.Parent)
self._new_orientation = self._node.getOrientation() #Save the resulting orientation.
def event(self, event):
super().event(event)
if event.type == Event.KeyPressEvent and event.key == KeyEvent.ShiftKey:
# Snap is toggled when pressing the shift button
self._snap_rotation = (not self._snap_rotation)
self.propertyChanged.emit()
if event.type == Event.KeyReleaseEvent and event.key == KeyEvent.ShiftKey:
# Snap is "toggled back" when releasing the shift button
self._snap_rotation = (not self._snap_rotation)
self.propertyChanged.emit()
if event.type == Event.MousePressEvent and self._controller.getToolsEnabled():
# Start a rotate operation
if MouseEvent.LeftButton not in event.buttons:
return False
id = self._selection_pass.getIdAtPosition(event.x, event.y)
if not id:
return
if ToolHandle.isAxis(id):
self.setLockedAxis(id)
handle_position = self._handle.getWorldPosition()
# Save the current positions of the node, as we want to rotate around their current centres
self._saved_node_positions = []
for node in Selection.getAllSelectedObjects():
self._saved_node_positions.append((node, node.getWorldPosition()))
if id == ToolHandle.XAxis:
self.setDragPlane(Plane(Vector(1, 0, 0), handle_position.x))
elif id == ToolHandle.YAxis:
self.setDragPlane(Plane(Vector(0, 1, 0), handle_position.y))
elif self._locked_axis == ToolHandle.ZAxis:
self.setDragPlane(Plane(Vector(0, 0, 1), handle_position.z))
self.setDragStart(event.x, event.y)
self._angle = 0
self.operationStarted.emit(self)
if event.type == Event.MouseMoveEvent:
# Perform a rotate operation
if not self.getDragPlane():
return False
if not self.getDragStart():
self.setDragStart(event.x, event.y)
handle_position = self._handle.getWorldPosition()
drag_start = (self.getDragStart() - handle_position).normalized()
drag_position = self.getDragPosition(event.x, event.y)
if not drag_position:
return
drag_end = (drag_position - handle_position).normalized()
try:
angle = math.acos(drag_start.dot(drag_end))
except ValueError:
angle = 0
if self._snap_rotation:
angle = int(angle / self._snap_angle) * self._snap_angle
if angle == 0:
return
rotation = None
if self.getLockedAxis() == ToolHandle.XAxis:
direction = 1 if Vector.Unit_X.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_X)
elif self.getLockedAxis() == ToolHandle.YAxis:
direction = 1 if Vector.Unit_Y.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_Y)
elif self.getLockedAxis() == ToolHandle.ZAxis:
direction = 1 if Vector.Unit_Z.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_Z)
# Rate-limit the angle change notification
# This is done to prevent the UI from being flooded with property change notifications,
# which in turn would trigger constant repaints.
new_time = time.monotonic()
if not self._angle_update_time or new_time - self._angle_update_time > 0.1:
self._angle_update_time = new_time
self._angle += direction * angle
self.propertyChanged.emit()
# Rotate around the saved centeres of all selected nodes
op = GroupedOperation()
for node, position in self._saved_node_positions:
op.addOperation(RotateOperation(node, rotation, rotate_around_point = position))
op.push()
self.setDragStart(event.x, event.y)
if event.type == Event.MouseReleaseEvent:
# Finish a rotate operation
if self.getDragPlane():
self.setDragPlane(None)
self.setLockedAxis(None)
self._angle = None
self.propertyChanged.emit()
self.operationStopped.emit(self)
return True
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
class SceneNode(SignalEmitter):
class TransformSpace:
Local = 1
Parent = 2
World = 3
def __init__(self, parent = None, name = ""):
super().__init__() # Call super to make multiple inheritence work.
self._children = []
self._mesh_data = None
self._position = Vector()
self._scale = Vector(1.0, 1.0, 1.0)
self._mirror = Vector(1.0, 1.0, 1.0)
self._orientation = Quaternion()
self._transformation = None
self._world_transformation = None
self._derived_position = None
self._derived_orientation = None
self._derived_scale = None
self._inherit_orientation = True
self._inherit_scale = True
self._parent = parent
self._enabled = True
self._selectable = False
self._calculate_aabb = True
self._aabb = None
self._aabb_job = None
self._visible = True
self._name = name
self._decorators = []
self._bounding_box_mesh = None
self.boundingBoxChanged.connect(self.calculateBoundingBoxMesh)
self.parentChanged.connect(self._onParentChanged)
if parent:
parent.addChild(self)
def __deepcopy__(self, memo):
copy = SceneNode()
copy.translate(self.getPosition())
copy.setOrientation(self.getOrientation())
copy.setScale(self.getScale())
copy.setMeshData(deepcopy(self._mesh_data, memo))
copy.setVisible(deepcopy(self._visible, memo))
copy._selectable = deepcopy(self._selectable, memo)
for decorator in self._decorators:
copy.addDecorator(deepcopy(decorator, memo))
for child in self._children:
copy.addChild(deepcopy(child, memo))
self.calculateBoundingBoxMesh()
return copy
def setCenterPosition(self, center):
if self._mesh_data:
m = Matrix()
m.setByTranslation(-center)
self._mesh_data = self._mesh_data.getTransformed(m)
self._mesh_data.setCenterPosition(center)
for child in self._children:
child.setCenterPosition(center)
## \brief Get the parent of this node. If the node has no parent, it is the root node.
# \returns SceneNode if it has a parent and None if it's the root node.
def getParent(self):
return self._parent
def getBoundingBoxMesh(self):
return self._bounding_box_mesh
def calculateBoundingBoxMesh(self):
if self._aabb:
self._bounding_box_mesh = MeshData()
rtf = self._aabb.maximum
lbb = self._aabb.minimum
self._bounding_box_mesh.addVertex(rtf.x, rtf.y, rtf.z) #Right - Top - Front
self._bounding_box_mesh.addVertex(lbb.x, rtf.y, rtf.z) #Left - Top - Front
self._bounding_box_mesh.addVertex(lbb.x, rtf.y, rtf.z) #Left - Top - Front
self._bounding_box_mesh.addVertex(lbb.x, lbb.y, rtf.z) #Left - Bottom - Front
self._bounding_box_mesh.addVertex(lbb.x, lbb.y, rtf.z) #Left - Bottom - Front
self._bounding_box_mesh.addVertex(rtf.x, lbb.y, rtf.z) #Right - Bottom - Front
self._bounding_box_mesh.addVertex(rtf.x, lbb.y, rtf.z) #Right - Bottom - Front
self._bounding_box_mesh.addVertex(rtf.x, rtf.y, rtf.z) #Right - Top - Front
self._bounding_box_mesh.addVertex(rtf.x, rtf.y, lbb.z) #Right - Top - Back
self._bounding_box_mesh.addVertex(lbb.x, rtf.y, lbb.z) #Left - Top - Back
self._bounding_box_mesh.addVertex(lbb.x, rtf.y, lbb.z) #Left - Top - Back
self._bounding_box_mesh.addVertex(lbb.x, lbb.y, lbb.z) #Left - Bottom - Back
self._bounding_box_mesh.addVertex(lbb.x, lbb.y, lbb.z) #Left - Bottom - Back
self._bounding_box_mesh.addVertex(rtf.x, lbb.y, lbb.z) #Right - Bottom - Back
self._bounding_box_mesh.addVertex(rtf.x, lbb.y, lbb.z) #Right - Bottom - Back
self._bounding_box_mesh.addVertex(rtf.x, rtf.y, lbb.z) #Right - Top - Back
self._bounding_box_mesh.addVertex(rtf.x, rtf.y, rtf.z) #Right - Top - Front
self._bounding_box_mesh.addVertex(rtf.x, rtf.y, lbb.z) #Right - Top - Back
self._bounding_box_mesh.addVertex(lbb.x, rtf.y, rtf.z) #Left - Top - Front
self._bounding_box_mesh.addVertex(lbb.x, rtf.y, lbb.z) #Left - Top - Back
self._bounding_box_mesh.addVertex(lbb.x, lbb.y, rtf.z) #Left - Bottom - Front
self._bounding_box_mesh.addVertex(lbb.x, lbb.y, lbb.z) #Left - Bottom - Back
self._bounding_box_mesh.addVertex(rtf.x, lbb.y, rtf.z) #Right - Bottom - Front
self._bounding_box_mesh.addVertex(rtf.x, lbb.y, lbb.z) #Right - Bottom - Back
else:
self._resetAABB()
def _onParentChanged(self, node):
for child in self.getChildren():
child.parentChanged.emit(self)
decoratorsChanged = Signal()
def addDecorator(self, decorator):
decorator.setNode(self)
self._decorators.append(decorator)
self.decoratorsChanged.emit(self)
def getDecorators(self):
return self._decorators
def getDecorator(self, dec_type):
for decorator in self._decorators:
if type(decorator) == dec_type:
return decorator
def removeDecorators(self):
self._decorators = []
self.decoratorsChanged.emit(self)
def removeDecorator(self, dec_type):
for decorator in self._decorators:
if type(decorator) == dec_type:
self._decorators.remove(decorator)
self.decoratorsChanged.emit(self)
break
def callDecoration(self, function, *args, **kwargs):
for decorator in self._decorators:
if hasattr(decorator, function):
try:
return getattr(decorator, function)(*args, **kwargs)
except Exception as e:
Logger.log("e", "Exception calling decoration %s: %s", str(function), str(e))
return None
def hasDecoration(self, function):
for decorator in self._decorators:
if hasattr(decorator, function):
return True
return False
def getName(self):
return self._name
def setName(self, name):
self._name = name
## How many nodes is this node removed from the root
def getDepth(self):
if self._parent is None:
return 0
return self._parent.getDepth() + 1
## \brief Set the parent of this object
# \param scene_node SceneNode that is the parent of this object.
def setParent(self, scene_node):
if self._parent:
self._parent.removeChild(self)
#self._parent = scene_node
if scene_node:
scene_node.addChild(self)
## Emitted whenever the parent changes.
parentChanged = Signal()
## \brief Get the visibility of this node. The parents visibility overrides the visibility.
# TODO: Let renderer actually use the visibility to decide wether to render or not.
def isVisible(self):
if self._parent != None and self._visible:
return self._parent.isVisible()
else:
return self._visible
def setVisible(self, visible):
self._visible = visible
## \brief Get the (original) mesh data from the scene node/object.
# \returns MeshData
def getMeshData(self):
return self._mesh_data
## \brief Get the transformed mesh data from the scene node/object, based on the transformation of scene nodes wrt root.
# \returns MeshData
def getMeshDataTransformed(self):
#transformed_mesh = deepcopy(self._mesh_data)
#transformed_mesh.transform(self.getWorldTransformation())
return self._mesh_data.getTransformed(self.getWorldTransformation())
## \brief Set the mesh of this node/object
# \param mesh_data MeshData object
def setMeshData(self, mesh_data):
if self._mesh_data:
self._mesh_data.dataChanged.disconnect(self._onMeshDataChanged)
self._mesh_data = mesh_data
if self._mesh_data is not None:
self._mesh_data.dataChanged.connect(self._onMeshDataChanged)
self._resetAABB()
self.meshDataChanged.emit(self)
## Emitted whenever the attached mesh data object changes.
meshDataChanged = Signal()
def _onMeshDataChanged(self):
self.meshDataChanged.emit(self)
## \brief Add a child to this node and set it's parent as this node.
# \params scene_node SceneNode to add.
def addChild(self, scene_node):
if scene_node not in self._children:
scene_node.transformationChanged.connect(self.transformationChanged)
scene_node.childrenChanged.connect(self.childrenChanged)
scene_node.meshDataChanged.connect(self.meshDataChanged)
self._children.append(scene_node)
self._resetAABB()
self.childrenChanged.emit(self)
if not scene_node._parent is self:
scene_node._parent = self
scene_node._transformChanged()
scene_node.parentChanged.emit(self)
## \brief remove a single child
# \param child Scene node that needs to be removed.
def removeChild(self, child):
if child not in self._children:
return
child.transformationChanged.disconnect(self.transformationChanged)
child.childrenChanged.disconnect(self.childrenChanged)
child.meshDataChanged.disconnect(self.meshDataChanged)
self._children.remove(child)
child._parent = None
child._transformChanged()
child.parentChanged.emit(self)
self.childrenChanged.emit(self)
## \brief Removes all children and its children's children.
def removeAllChildren(self):
for child in self._children:
child.removeAllChildren()
self.removeChild(child)
self.childrenChanged.emit(self)
## \brief Get the list of direct children
# \returns List of children
def getChildren(self):
return self._children
def hasChildren(self):
return True if self._children else False
## \brief Get list of all children (including it's children children children etc.)
# \returns list ALl children in this 'tree'
def getAllChildren(self):
children = []
children.extend(self._children)
for child in self._children:
children.extend(child.getAllChildren())
return children
## \brief Emitted whenever the list of children of this object or any child object changes.
# \param object The object that triggered the change.
childrenChanged = Signal()
## \brief Computes and returns the transformation from world to local space.
# \returns 4x4 transformation matrix
def getWorldTransformation(self):
if self._world_transformation is None:
self._updateTransformation()
return deepcopy(self._world_transformation)
## \brief Returns the local transformation with respect to its parent. (from parent to local)
# \retuns transformation 4x4 (homogenous) matrix
def getLocalTransformation(self):
if self._transformation is None:
self._updateTransformation()
return deepcopy(self._transformation)
## Get the local orientation value.
def getOrientation(self):
return deepcopy(self._orientation)
## \brief Rotate the scene object (and thus its children) by given amount
#
# \param rotation \type{Quaternion} A quaternion indicating the amount of rotation.
# \param transform_space The space relative to which to rotate. Can be any one of the constants in SceneNode::TransformSpace.
def rotate(self, rotation, transform_space = TransformSpace.Local):
if not self._enabled:
return
if transform_space == SceneNode.TransformSpace.Local:
self._orientation = self._orientation * rotation
elif transform_space == SceneNode.TransformSpace.Parent:
self._orientation = rotation * self._orientation
elif transform_space == SceneNode.TransformSpace.World:
self._orientation = self._orientation * self._getDerivedOrientation().getInverse() * rotation * self._getDerivedOrientation()
else:
raise ValueError("Unknown transform space {0}".format(transform_space))
self._orientation.normalize()
self._transformChanged()
## Set the local orientation of this scene node.
#
# \param orientation \type{Quaternion} The new orientation of this scene node.
def setOrientation(self, orientation):
if not self._enabled or orientation == self._orientation:
return
self._orientation = orientation
self._orientation.normalize()
self._transformChanged()
## Get the local scaling value.
def getScale(self):
return deepcopy(self._scale)
## Scale the scene object (and thus its children) by given amount
#
# \param scale \type{Vector} A Vector with three scale values
# \param transform_space The space relative to which to scale. Can be any one of the constants in SceneNode::TransformSpace.
def scale(self, scale, transform_space = TransformSpace.Local):
if not self._enabled:
return
if transform_space == SceneNode.TransformSpace.Local:
self._scale = self._scale.scale(scale)
elif transform_space == SceneNode.TransformSpace.Parent:
raise NotImplementedError()
elif transform_space == SceneNode.TransformSpace.World:
if self._parent:
scale_change = Vector(1,1,1) - scale
if scale_change.x < 0 or scale_change.y < 0 or scale_change.z < 0:
direction = -1
else:
direction = 1
# Hackish way to do this, but this seems to correctly scale the object.
change_vector = self._scale.scale(self._getDerivedOrientation().getInverse().rotate(scale_change))
if change_vector.x < 0 and direction == 1:
change_vector.setX(-change_vector.x)
if change_vector.x > 0 and direction == -1:
change_vector.setX(-change_vector.x)
if change_vector.y < 0 and direction == 1:
change_vector.setY(-change_vector.y)
if change_vector.y > 0 and direction == -1:
change_vector.setY(-change_vector.y)
if change_vector.z < 0 and direction == 1:
change_vector.setZ(-change_vector.z)
if change_vector.z > 0 and direction == -1:
change_vector.setZ(-change_vector.z)
self._scale -= self._scale.scale(change_vector)
else:
raise ValueError("Unknown transform space {0}".format(transform_space))
self._transformChanged()
## Set the local scale value.
#
# \param scale \type{Vector} The new scale value of the scene node.
def setScale(self, scale):
if not self._enabled or scale == self._scale:
return
self._scale = scale
self._transformChanged()
## Get the local mirror values.
#
# \return The mirror values as vector of scaling values.
def getMirror(self):
return deepcopy(self._mirror)
## Mirror the scene object (and thus its children) in the given directions.
#
# \param mirror \type{Vector} A vector of three scale values that is used
# to mirror the node.
# \param transform_space The space relative to which to scale. Can be any
# one of the constants in SceneNode::TransformSpace.
def mirror(self, mirror, transform_space = TransformSpace.Local):
if not self._enabled:
return
if transform_space == SceneNode.TransformSpace.Local:
self._mirror *= mirror
elif transform_space == SceneNode.TransformSpace.Parent:
self._mirror *= mirror
elif transform_space == SceneNode.TransformSpace.World:
self._mirror *= mirror
else:
raise ValueError("Unknown transform space {0}".format(transform_space))
self._transformChanged()
## Set the local mirror values.
#
# \param mirror \type{Vector} The new mirror values as scale multipliers.
def setMirror(self, mirror):
if not self._enabled or mirror == self._mirror:
return
self._mirror = mirror
self._transformChanged()
## Get the local position.
def getPosition(self):
return deepcopy(self._position)
## Get the position of this scene node relative to the world.
def getWorldPosition(self):
if not self._derived_position:
self._updateTransformation()
return deepcopy(self._derived_position)
## Translate the scene object (and thus its children) by given amount.
#
# \param translation \type{Vector} The amount to translate by.
# \param transform_space The space relative to which to translate. Can be any one of the constants in SceneNode::TransformSpace.
def translate(self, translation, transform_space = TransformSpace.Local):
if not self._enabled:
return
if transform_space == SceneNode.TransformSpace.Local:
self._position += self._orientation.rotate(translation)
elif transform_space == SceneNode.TransformSpace.Parent:
self._position += translation
elif transform_space == SceneNode.TransformSpace.World:
if self._parent:
self._position += (1.0 / self._parent._getDerivedScale()).scale(self._parent._getDerivedOrientation().getInverse().rotate(translation))
else:
self._position += translation
self._transformChanged()
## Set the local position value.
#
# \param position The new position value of the SceneNode.
def setPosition(self, position):
if not self._enabled or position == self._position:
return
self._position = position
self._transformChanged()
## Signal. Emitted whenever the transformation of this object or any child object changes.
# \param object The object that caused the change.
transformationChanged = Signal()
## Rotate this scene node in such a way that it is looking at target.
#
# \param target \type{Vector} The target to look at.
# \param up \type{Vector} The vector to consider up. Defaults to Vector.Unit_Y, i.e. (0, 1, 0).
def lookAt(self, target, up = Vector.Unit_Y):
if not self._enabled:
return
eye = self.getWorldPosition()
f = (target - eye).normalize()
up.normalize()
s = f.cross(up).normalize()
u = s.cross(f).normalize()
m = Matrix([
[ s.x, u.x, -f.x, 0.0],
[ s.y, u.y, -f.y, 0.0],
[ s.z, u.z, -f.z, 0.0],
[ 0.0, 0.0, 0.0, 1.0]
])
if self._parent:
self._orientation = self._parent._getDerivedOrientation() * Quaternion.fromMatrix(m)
else:
self._orientation = Quaternion.fromMatrix(m)
self._transformChanged()
## Can be overridden by child nodes if they need to perform special rendering.
# If you need to handle rendering in a special way, for example for tool handles,
# you can override this method and render the node. Return True to prevent the
# view from rendering any attached mesh data.
#
# \param renderer The renderer object to use for rendering.
#
# \return False if the view should render this node, True if we handle our own rendering.
def render(self, renderer):
return False
## Get whether this SceneNode is enabled, that is, it can be modified in any way.
def isEnabled(self):
if self._parent != None and self._enabled:
return self._parent.isEnabled()
else:
return self._enabled
## Set whether this SceneNode is enabled.
# \param enable True if this object should be enabled, False if not.
# \sa isEnabled
def setEnabled(self, enable):
self._enabled = enable
## Get whether this SceneNode can be selected.
#
# \note This will return false if isEnabled() returns false.
def isSelectable(self):
return self._enabled and self._selectable
## Set whether this SceneNode can be selected.
#
# \param select True if this SceneNode should be selectable, False if not.
def setSelectable(self, select):
self._selectable = select
## Get the bounding box of this node and its children.
#
# Note that the AABB is calculated in a separate thread. This method will return an invalid (size 0) AABB
# while the calculation happens.
def getBoundingBox(self):
if self._aabb:
return self._aabb
if not self._aabb_job:
self._resetAABB()
return AxisAlignedBox()
## Set whether or not to calculate the bounding box for this node.
#
# \param calculate True if the bounding box should be calculated, False if not.
def setCalculateBoundingBox(self, calculate):
self._calculate_aabb = calculate
boundingBoxChanged = Signal()
## private:
def _getDerivedPosition(self):
if not self._derived_position:
self._updateTransformation()
return self._derived_position
def _getDerivedOrientation(self):
if not self._derived_orientation:
self._updateTransformation()
# Sometimes the derived orientation can be None.
# I've not been able to locate the cause of this, but this prevents it being an issue.
if not self._derived_orientation:
self._derived_orientation = Quaternion()
return self._derived_orientation
def _getDerivedScale(self):
if not self._derived_scale:
self._updateTransformation()
return self._derived_scale
def _transformChanged(self):
self._resetAABB()
self._transformation = None
self._world_transformation = None
self._derived_position = None
self._derived_orientation = None
self._derived_scale = None
self.transformationChanged.emit(self)
for child in self._children:
child._transformChanged()
def _updateTransformation(self):
scale_and_mirror = self._scale * self._mirror
self._transformation = Matrix.fromPositionOrientationScale(self._position, self._orientation, scale_and_mirror)
if self._parent:
parent_orientation = self._parent._getDerivedOrientation()
if self._inherit_orientation:
self._derived_orientation = parent_orientation * self._orientation
else:
self._derived_orientation = self._orientation
# Sometimes the derived orientation can be None.
# I've not been able to locate the cause of this, but this prevents it being an issue.
if not self._derived_orientation:
self._derived_orientation = Quaternion()
parent_scale = self._parent._getDerivedScale()
if self._inherit_scale:
self._derived_scale = parent_scale.scale(scale_and_mirror)
else:
self._derived_scale = scale_and_mirror
self._derived_position = parent_orientation.rotate(parent_scale.scale(self._position))
self._derived_position += self._parent._getDerivedPosition()
self._world_transformation = Matrix.fromPositionOrientationScale(self._derived_position, self._derived_orientation, self._derived_scale)
else:
self._derived_position = self._position
self._derived_orientation = self._orientation
self._derived_scale = scale_and_mirror
self._world_transformation = self._transformation
def _resetAABB(self):
if not self._calculate_aabb:
return
self._aabb = None
if self._aabb_job:
self._aabb_job.cancel()
self._aabb_job = _CalculateAABBJob(self)
self._aabb_job.start()
def test_translateWorld(self):
node1 = SceneNode()
node2 = SceneNode(node1)
self.assertEqual(node2.getWorldPosition(), Vector(0, 0, 0))
node1.translate(Vector(0, 0, 10))
self.assertEqual(node1.getWorldPosition(), Vector(0, 0, 10))
self.assertEqual(node2.getWorldPosition(), Vector(0, 0, 10))
node2.translate(Vector(0, 0, 10))
self.assertEqual(node1.getWorldPosition(), Vector(0, 0, 10))
self.assertEqual(node2.getWorldPosition(), Vector(0, 0, 20))
node1.rotate(Quaternion.fromAngleAxis(math.pi / 2, Vector.Unit_Y))
self.assertEqual(node1.getWorldPosition(), Vector(0, 0, 10))
self.assertEqual(node2.getWorldPosition(), Vector(10, 0, 10))
node2.translate(Vector(0, 0, 10))
# Local translation on Z with a parent rotated 90 degrees results in movement on X axis
pos = node2.getWorldPosition()
#Using fuzzyCompare due to accumulation of floating point error
self.assertTrue(Float.fuzzyCompare(pos.x, 20, 1e-5), "{0} does not equal {1}".format(pos, Vector(20, 0, 10)))
self.assertTrue(Float.fuzzyCompare(pos.y, 0, 1e-5), "{0} does not equal {1}".format(pos, Vector(20, 0, 10)))
self.assertTrue(Float.fuzzyCompare(pos.z, 10, 1e-5), "{0} does not equal {1}".format(pos, Vector(20, 0, 10)))
node2.translate(Vector(0, 0, 10), SceneNode.TransformSpace.World)
# World translation on Z with a parent rotated 90 degrees results in movement on Z axis
pos = node2.getWorldPosition()
self.assertTrue(Float.fuzzyCompare(pos.x, 20, 1e-5), "{0} does not equal {1}".format(pos, Vector(20, 0, 20)))
self.assertTrue(Float.fuzzyCompare(pos.y, 0, 1e-5), "{0} does not equal {1}".format(pos, Vector(20, 0, 20)))
self.assertTrue(Float.fuzzyCompare(pos.z, 20, 1e-5), "{0} does not equal {1}".format(pos, Vector(20, 0, 20)))
node1.translate(Vector(0, 0, 10))
self.assertEqual(node1.getWorldPosition(), Vector(10, 0, 10))
pos = node2.getWorldPosition()
self.assertTrue(Float.fuzzyCompare(pos.x, 30, 1e-5), "{0} does not equal {1}".format(pos, Vector(30, 0, 20)))
self.assertTrue(Float.fuzzyCompare(pos.y, 0, 1e-5), "{0} does not equal {1}".format(pos, Vector(30, 0, 20)))
self.assertTrue(Float.fuzzyCompare(pos.z, 20, 1e-5), "{0} does not equal {1}".format(pos, Vector(30, 0, 20)))
node1.scale(Vector(2, 2, 2))
pos = node2.getWorldPosition()
self.assertTrue(Float.fuzzyCompare(pos.x, 50, 1e-4), "{0} does not equal {1}".format(pos, Vector(50, 0, 30)))
self.assertTrue(Float.fuzzyCompare(pos.y, 0, 1e-4), "{0} does not equal {1}".format(pos, Vector(50, 0, 30)))
self.assertTrue(Float.fuzzyCompare(pos.z, 30, 1e-4), "{0} does not equal {1}".format(pos, Vector(50, 0, 30)))
node2.translate(Vector(0, 0, 10))
pos = node2.getWorldPosition()
self.assertTrue(Float.fuzzyCompare(pos.x, 70, 1e-4), "{0} does not equal {1}".format(pos, Vector(70, 0, 30)))
self.assertTrue(Float.fuzzyCompare(pos.y, 0, 1e-4), "{0} does not equal {1}".format(pos, Vector(70, 0, 30)))
self.assertTrue(Float.fuzzyCompare(pos.z, 30, 1e-4), "{0} does not equal {1}".format(pos, Vector(70, 0, 30)))
# World space set position
node1 = SceneNode()
node2 = SceneNode(node1)
node1.setPosition(Vector(15,15,15))
node2.setPosition(Vector(10,10,10))
self.assertEqual(node2.getWorldPosition(), Vector(25, 25, 25))
node2.setPosition(Vector(15,15,15), SceneNode.TransformSpace.World)
self.assertEqual(node2.getWorldPosition(), Vector(15, 15, 15))
self.assertEqual(node2.getPosition(), Vector(0,0,0))
node1.setPosition(Vector(15,15,15))
node2.setPosition(Vector(0,0,0))
node2.rotate(Quaternion.fromAngleAxis(-math.pi / 2, Vector.Unit_Y))
node2.translate(Vector(10,0,0))
self.assertEqual(node2.getWorldPosition(), Vector(15,15,25))
node2.setPosition(Vector(15,15,25), SceneNode.TransformSpace.World)
self.assertEqual(node2.getWorldPosition(), Vector(15,15,25))
self.assertEqual(node2.getPosition(), Vector(0,0,10))
def event(self, event):
super().event(event)
if event.type == Event.KeyPressEvent and event.key == KeyEvent.ShiftKey:
self._snap_rotation = (not self._snap_rotation)
if event.type == Event.KeyReleaseEvent and event.key == KeyEvent.ShiftKey:
self._snap_rotation = (not self._snap_rotation)
if event.type == Event.MousePressEvent:
if MouseEvent.LeftButton not in event.buttons:
return False
id = self._renderer.getIdAtCoordinate(event.x, event.y)
if not id:
return
if ToolHandle.isAxis(id):
self.setLockedAxis(id)
handle_position = self._handle.getWorldPosition()
if id == ToolHandle.XAxis:
self.setDragPlane(Plane(Vector(1, 0, 0), handle_position.x))
elif id == ToolHandle.YAxis:
self.setDragPlane(Plane(Vector(0, 1, 0), handle_position.y))
elif self._locked_axis == ToolHandle.ZAxis:
self.setDragPlane(Plane(Vector(0, 0, 1), handle_position.z))
self.setDragStart(event.x, event.y)
if event.type == Event.MouseMoveEvent:
if not self.getDragPlane():
return False
handle_position = self._handle.getWorldPosition()
drag_start = (self.getDragStart() - handle_position).normalize()
drag_position = self.getDragPosition(event.x, event.y)
if not drag_position:
return
drag_end = (drag_position - handle_position).normalize()
angle = math.acos(drag_start.dot(drag_end))
if self._snap_rotation:
angle = int(angle / self._snap_angle) * self._snap_angle
if angle == 0:
return
rotation = None
if self.getLockedAxis() == ToolHandle.XAxis:
direction = 1 if Vector.Unit_X.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_X)
elif self.getLockedAxis() == ToolHandle.YAxis:
direction = 1 if Vector.Unit_Y.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_Y)
elif self.getLockedAxis() == ToolHandle.ZAxis:
direction = 1 if Vector.Unit_Z.dot(drag_start.cross(drag_end)) > 0 else -1
rotation = Quaternion.fromAngleAxis(direction * angle, Vector.Unit_Z)
Selection.applyOperation(RotateOperation, rotation)
self.setDragStart(event.x, event.y)
self.updateHandlePosition()
if event.type == Event.MouseReleaseEvent:
if self.getDragPlane():
self.setDragPlane(None)
self.setLockedAxis(None)
return True