def convertRToCenter(cls, start: QVector3D, end: QVector3D, radius: float,
absoluteIJK: bool, clockwise: bool) -> QVector3D:
R = radius
center = QVector3D()
x = end.x() - start.x()
y = end.y() - start.y()
h_x2_div_d = 4 * R * R - x * x - y * y
if h_x2_div_d < 0:
print("Error computing arc radius.")
h_x2_div_d = (-math.sqrt(h_x2_div_d)) / math.hypot(x, y)
if not clockwise:
h_x2_div_d = -h_x2_div_d
# Special message from gcoder to software for which radius
# should be used.
if R < 0:
h_x2_div_d = -h_x2_div_d
# TODO: Places that use this need to run ABS on radius.
radius = -radius
offsetX = 0.5 * (x - (y * h_x2_div_d))
offsetY = 0.5 * (y + (x * h_x2_div_d))
if not absoluteIJK:
center.setX(start.x() + offsetX)
center.setY(start.y() + offsetY)
else:
center.setX(offsetX)
center.setY(offsetY)
return center
def getAngle(cls, start: QVector3D, end: QVector3D) -> float:
'''
Return the angle in radians when going from start to end.
'''
deltaX = end.x() - start.x()
deltaY = end.y() - start.y()
angle = 0.0
if deltaX != 0: # prevent div by 0
# it helps to know what quadrant you are in
if deltaX > 0 and deltaY >= 0: # 0 - 90
angle = math.atan(deltaY / deltaX)
elif deltaX < 0 and deltaY >= 0: # 90 to 180
angle = cls.M_PI - math.fabs(math.atan(deltaY / deltaX))
elif deltaX < 0 and deltaY < 0: # 180 - 270
angle = cls.M_PI + math.fabs(math.atan(deltaY / deltaX))
elif deltaX > 0 and deltaY < 0: # 270 - 360
angle = cls.M_PI * 2 - math.fabs(math.atan(deltaY / deltaX))
else:
# 90 deg
if deltaY > 0:
angle = cls.M_PI / 2.0
#270 deg
else:
angle = cls.M_PI * 3.0 / 2.0
return angle
def generatePointsAlongArcBDring_Arc(
cls, plane: PointSegment.Plane, start: QVector3D, end: QVector3D,
center: QVector3D, clockwise: bool, R: float, minArcLength: float,
arcPrecision: float, arcDegreeMode: bool) -> List[QVector3D]:
'''
Generates the points along an arc including the start and end points.
'''
radius = R
# Rotate vectors according to plane
m = QMatrix4x4()
m.setToIdentity()
if plane == PointSegment.Plane.XY:
pass
elif plane == PointSegment.Plane.ZX:
m.rotate(90, 1.0, 0.0, 0.0)
elif plane == PointSegment.Plane.YZ:
m.rotate(-90, 0.0, 1.0, 0.0)
start = m * start
end = m * end
center = m * center
# Check center
if qIsNaN(center.length()):
return []
# Calculate radius if necessary.
if radius == 0:
radius = math.sqrt(
math.pow((start.x() - center.x(), 2.0) +
math.pow(end.y() - center.y(), 2.0)))
startAngle = cls.getAngle(center, start)
endAngle = cls.getAngle(center, end)
sweep = cls.calculateSweep(startAngle, endAngle, clockwise)
# Convert units.
arcLength = sweep * radius
numPoints = 0
if arcDegreeMode and arcPrecision > 0:
numPoints = max(1.0, sweep / (cls.M_PI * arcPrecision / 180))
else:
if arcPrecision <= 0 and minArcLength > 0:
arcPrecision = minArcLength
numPoints = math.ceil(arcLength / arcPrecision)
return cls.generatePointsAlongArcBDring_Num(plane, start, end, center,
clockwise, radius,
startAngle, sweep,
numPoints)
def generatePointsAlongArcBDring_Num(cls, plane: PointSegment.Plane,
p1: QVector3D, p2: QVector3D,
center: QVector3D, isCw: bool,
radius: float, startAngle: float,
sweep: float,
numPoints: int) -> List[QVector3D]:
'''
Generates the points along an arc including the start and end points.
'''
# Prepare rotation matrix to restore plane
m = QMatrix4x4()
m.setToIdentity()
if plane == PointSegment.plane.XY:
pass
elif plane == PointSegment.plane.ZX:
m.rotate(-90, 1.0, 0.0, 0.0)
elif plane == PointSegment.plane.YZ:
m.rotate(90, 0.0, 1.0, 0.0)
lineEnd = QVector3D(p2.x(), p2.y(), p1.z())
segments = []
angle = 0.0
# Calculate radius if necessary.
if radius == 0:
radius = math.sqrt(
math.pow((p1.x() - center.x()), 2.0) +
math.pow((p1.y() - center.y()), 2.0))
zIncrement = (p2.z() - p1.z()) / numPoints
for i in range(numPoints):
if isCw:
angle = (startAngle - i * sweep / numPoints)
else:
angle = (startAngle + i * sweep / numPoints)
if angle >= cls.M_PI * 2:
angle = angle - cls.M_PI * 2
lineEnd.setX(math.cos(angle) * radius + center.x())
lineEnd.setY(math.sin(angle) * radius + center.y())
lineEnd.setZ(lineEnd.z() + zIncrement)
segments.append(m * lineEnd)
segments.append(m * p2)
return segments
def addLinearPointSegment(self, nextPoint: QVector3D, fastTraverse: bool) -> PointSegment:
ps = PointSegment.PointSegment_FromQVector3D(nextPoint, self.m_commandNumber)
self.m_commandNumber += 1
zOnly = False
# Check for z-only
if (self.m_currentPoint.x() == nextPoint.x()) and \
(self.m_currentPoint.y() == nextPoint.y()) and \
(self.m_currentPoint.z() != nextPoint.z()) : \
zOnly = True
ps.setIsMetric(self.m_isMetric)
ps.setIsZMovement(zOnly)
ps.setIsFastTraverse(fastTraverse)
ps.setIsAbsolute(self.m_inAbsoluteMode)
ps.setSpeed(self.m_traverseSpeed if fastTraverse else self.m_lastSpeed)
ps.setSpindleSpeed(self.m_lastSpindleSpeed)
self.m_points.append(ps)
# Save off the endpoint.
self.m_currentPoint = nextPoint
return ps
def createCircle(self, center: QVector3D, radius: float, arcs: int,
color: QVector3D) -> List[VertexData]:
# Vertices
circle: List[VertexData] = []
# Prepare vertex
vertex = VertexData()
vertex.color = color
vertex.start = QVector3D(sNaN, sNaN, sNaN)
# Create line loop
for i in range(self.arcs + 1):
angle = 2 * M_PI * i / self.arcs
x = center.x() + radius * math.cos(angle)
y = center.y() + radius * math.sin(angle)
if i > 1:
circle.append(VertexData.clone(circle[-1]))
elif i == self.arcs:
circle.append(VertexData.clone(circle[0]))
vertex.position = QVector3D(x, y, center.z())
circle.append(VertexData.clone(vertex))
return circle
def generateG1FromPoints(cls, start: QVector3D, end: QVector3D,
absoluteMode: bool, precision: int) -> str:
sb = "G1"
if absoluteMode:
if not qIsNaN(end.x()):
sb.append("X" + "%.*f" % (precision, end.x()))
if not qIsNaN(end.y()):
sb.append("Y" + "%.*f" % (precision, end.y()))
if not qIsNaN(end.z()):
sb.append("Z" + "%.*f" % (precision, end.z()))
else:
if not qIsNaN(end.x()):
sb.append("X" + "%.*f" % (precision, end.x() - start.x()))
if not qIsNaN(end.y()):
sb.append("Y" + "%.*f" % (precision, end.y() - start.y()))
if not qIsNaN(end.z()):
sb.append("Z" + "%.*f" % (precision, end.z() - start.z()))
return sb
def PointSegment_FromVectorQVector3DQVector3D(cls, point: QVector3D,
num: int, center: QVector3D,
radius: float,
clockwise: bool):
this = PointSegment(point, num)
this.m_isArc = True
this.m_arcProperties = ArcProperties()
this.m_arcProperties.center = QVector3D(center.x(), center.y(),
center.z())
this.m_arcProperties.radius = radius
this.m_arcProperties.isClockwise = clockwise
def updatePointWithCommand_FromVector3D(cls, initial: QVector3D, x: float,
y: float, z: float,
absoluteMode: bool) -> QVector3D:
'''
Update a point given the new coordinates.
'''
newPoint = QVector3D(initial.x(), initial.y(), initial.z())
if absoluteMode:
if not qIsNaN(x): newPoint.setX(x)
if not qIsNaN(y): newPoint.setY(y)
if not qIsNaN(z): newPoint.setZ(z)
else:
if not qIsNaN(x): newPoint.setX(newPoint.x() + x)
if not qIsNaN(y): newPoint.setY(newPoint.y() + y)
if not qIsNaN(z): newPoint.setZ(newPoint.z() + z)
return newPoint
def calculateVolume(self, size: QtGui.QVector3D) -> float:
return size.x() * size.y() * size.z()
def PointSegment_FromQVector3D(cls, b: QVector3D, num: int):
this = PointSegment()
this.m_point = QVector3D(b.x(), b.y(), b.z())
this.m_lineNumber = num
return this
def _(self, p3d: QVector3D):
self.testExtremes(p3d.x(), p3d.y(), p3d.z())
def cloneQVector3D(cls, v: QVector3D) -> QVector3D:
''' faster as deepcopy '''
return QVector3D(v.x(), v.y(), v.z())