814 lines
25 KiB
Python
814 lines
25 KiB
Python
|
"""
|
||
|
|
primitives.py
|
||
|
|
----------------
|
||
|
|
|
||
|
|
Subclasses of Trimesh objects that are parameterized as primitives.
|
||
|
|
|
||
|
|
Useful because you can move boxes and spheres around, and then use
|
||
|
|
trimesh operations on them at any point.
|
||
|
|
"""
|
||
|
|
import numpy as np
|
||
|
|
import pprint
|
||
|
|
import copy
|
||
|
|
|
||
|
|
from . import util
|
||
|
|
from . import sample
|
||
|
|
from . import caching
|
||
|
|
from . import inertia
|
||
|
|
from . import creation
|
||
|
|
from . import triangles
|
||
|
|
from . import transformations as tf
|
||
|
|
|
||
|
|
from .base import Trimesh
|
||
|
|
from .constants import log, tol
|
||
|
|
|
||
|
|
|
||
|
|
class _Primitive(Trimesh):
|
||
|
|
"""
|
||
|
|
Geometric _Primitives which are a subclass of Trimesh.
|
||
|
|
Mesh is generated lazily when vertices or faces are requested.
|
||
|
|
"""
|
||
|
|
|
||
|
|
# ignore superclass copy directives
|
||
|
|
__copy__ = None
|
||
|
|
__deepcopy__ = None
|
||
|
|
|
||
|
|
def __init__(self, *args, **kwargs):
|
||
|
|
super(_Primitive, self).__init__(*args, **kwargs)
|
||
|
|
self._data.clear()
|
||
|
|
self._validate = False
|
||
|
|
|
||
|
|
def __repr__(self):
|
||
|
|
return '<trimesh.primitives.{}>'.format(type(self).__name__)
|
||
|
|
|
||
|
|
@property
|
||
|
|
def faces(self):
|
||
|
|
stored = self._cache['faces']
|
||
|
|
if util.is_shape(stored, (-1, 3)):
|
||
|
|
return stored
|
||
|
|
self._create_mesh()
|
||
|
|
return self._cache['faces']
|
||
|
|
|
||
|
|
@faces.setter
|
||
|
|
def faces(self, values):
|
||
|
|
log.warning('Primitive faces are immutable! Not setting!')
|
||
|
|
|
||
|
|
@property
|
||
|
|
def vertices(self):
|
||
|
|
stored = self._cache['vertices']
|
||
|
|
if util.is_shape(stored, (-1, 3)):
|
||
|
|
return stored
|
||
|
|
|
||
|
|
self._create_mesh()
|
||
|
|
return self._cache['vertices']
|
||
|
|
|
||
|
|
@vertices.setter
|
||
|
|
def vertices(self, values):
|
||
|
|
if values is not None:
|
||
|
|
log.warning('Primitive vertices are immutable! Not setting!')
|
||
|
|
|
||
|
|
@property
|
||
|
|
def face_normals(self):
|
||
|
|
# we need to avoid the logic in the superclass that
|
||
|
|
# is specific to the data model prioritizing faces
|
||
|
|
stored = self._cache['face_normals']
|
||
|
|
if util.is_shape(stored, (-1, 3)):
|
||
|
|
return stored
|
||
|
|
# just calculate if not stored
|
||
|
|
unit, valid = triangles.normals(self.triangles)
|
||
|
|
normals = np.zeros((len(valid), 3))
|
||
|
|
normals[valid] = unit
|
||
|
|
# store and return
|
||
|
|
self._cache['face_normals'] = normals
|
||
|
|
return normals
|
||
|
|
|
||
|
|
@face_normals.setter
|
||
|
|
def face_normals(self, values):
|
||
|
|
if values is not None:
|
||
|
|
log.warning('Primitive face normals are immutable! Not setting!')
|
||
|
|
|
||
|
|
def copy(self, **kwargs):
|
||
|
|
"""
|
||
|
|
Return a copy of the Primitive object.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
-------------
|
||
|
|
copied : object
|
||
|
|
Copy of current primitive
|
||
|
|
"""
|
||
|
|
return copy.deepcopy(self)
|
||
|
|
|
||
|
|
def to_mesh(self):
|
||
|
|
"""
|
||
|
|
Return a copy of the Primitive object as a Trimesh object.
|
||
|
|
"""
|
||
|
|
result = Trimesh(vertices=self.vertices.copy(),
|
||
|
|
faces=self.faces.copy(),
|
||
|
|
face_normals=self.face_normals.copy(),
|
||
|
|
process=False)
|
||
|
|
return result
|
||
|
|
|
||
|
|
def apply_transform(self, matrix):
|
||
|
|
"""
|
||
|
|
Apply a transform to the current primitive by
|
||
|
|
setting self.transform
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
------------
|
||
|
|
matrix: (4,4) float
|
||
|
|
Homogeneous transformation
|
||
|
|
"""
|
||
|
|
matrix = np.asanyarray(matrix, order='C', dtype=np.float64)
|
||
|
|
if matrix.shape != (4, 4):
|
||
|
|
raise ValueError('Transformation matrix must be (4,4)!')
|
||
|
|
|
||
|
|
if util.allclose(matrix, np.eye(4), 1e-8):
|
||
|
|
log.debug('apply_transform received identity matrix')
|
||
|
|
return
|
||
|
|
|
||
|
|
new_transform = np.dot(matrix, self.primitive.transform)
|
||
|
|
self.primitive.transform = new_transform
|
||
|
|
return self
|
||
|
|
|
||
|
|
def _create_mesh(self):
|
||
|
|
raise ValueError('Primitive doesn\'t define mesh creation!')
|
||
|
|
|
||
|
|
|
||
|
|
class _PrimitiveAttributes(object):
|
||
|
|
"""
|
||
|
|
Hold the mutable data which defines a primitive.
|
||
|
|
"""
|
||
|
|
|
||
|
|
def __init__(self, parent, defaults, kwargs):
|
||
|
|
self._data = parent._data
|
||
|
|
self._defaults = defaults
|
||
|
|
self._parent = parent
|
||
|
|
self._data.update(defaults)
|
||
|
|
self._mutable = True
|
||
|
|
for key, value in kwargs.items():
|
||
|
|
if key in defaults:
|
||
|
|
self._data[key] = util.convert_like(
|
||
|
|
value, defaults[key])
|
||
|
|
# if configured as immutable, apply setting after instantiation values
|
||
|
|
# are set
|
||
|
|
if 'mutable' in kwargs:
|
||
|
|
self._mutable = bool(kwargs['mutable'])
|
||
|
|
|
||
|
|
@property
|
||
|
|
def __doc__(self):
|
||
|
|
# this is generated dynamically as the format operation can be surprisingly
|
||
|
|
# slow and if generated in __init__ it is called a lot of times
|
||
|
|
# when we didn't really need to generate it
|
||
|
|
|
||
|
|
doc = (
|
||
|
|
'Store the attributes of a {name} object.\n\n' +
|
||
|
|
'When these values are changed, the mesh geometry will \n' +
|
||
|
|
'automatically be updated to reflect the new values.\n\n' +
|
||
|
|
'Available properties and their default values are:\n {defaults}' +
|
||
|
|
'\n\nExample\n---------------\n' +
|
||
|
|
'p = trimesh.primitives.{name}()\n' +
|
||
|
|
'p.primitive.radius = 10\n' +
|
||
|
|
'\n').format(
|
||
|
|
name=self._parent.__class__.__name__,
|
||
|
|
defaults=pprint.pformat(
|
||
|
|
self._defaults,
|
||
|
|
width=-1)[1:-1])
|
||
|
|
return doc
|
||
|
|
|
||
|
|
def __getattr__(self, key):
|
||
|
|
if '_' in key:
|
||
|
|
return super(_PrimitiveAttributes, self).__getattr__(key)
|
||
|
|
elif key in self._defaults:
|
||
|
|
return util.convert_like(self._data[key], self._defaults[key])
|
||
|
|
return super(_PrimitiveAttributes, self).__getattr__(key)
|
||
|
|
|
||
|
|
def __setattr__(self, key, value):
|
||
|
|
if '_' in key:
|
||
|
|
return super(_PrimitiveAttributes, self).__setattr__(key, value)
|
||
|
|
elif key in self._defaults:
|
||
|
|
if self._mutable:
|
||
|
|
self._data[key] = util.convert_like(value,
|
||
|
|
self._defaults[key])
|
||
|
|
else:
|
||
|
|
raise ValueError(
|
||
|
|
'Primitive is configured as immutable! Cannot set attribute!')
|
||
|
|
else:
|
||
|
|
keys = list(self._defaults.keys())
|
||
|
|
raise ValueError(
|
||
|
|
'Only default attributes {} can be set!'.format(keys))
|
||
|
|
|
||
|
|
def to_kwargs(self):
|
||
|
|
"""
|
||
|
|
Return a dict with copies of kwargs for the current
|
||
|
|
Primitive.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
------------
|
||
|
|
kwargs : dict
|
||
|
|
Arguments to reconstruct current PrimitiveAttributes
|
||
|
|
"""
|
||
|
|
return {k: copy.deepcopy(self._data[k])
|
||
|
|
for k in self._defaults.keys()}
|
||
|
|
|
||
|
|
def __dir__(self):
|
||
|
|
result = sorted(dir(type(self)) +
|
||
|
|
list(self._defaults.keys()))
|
||
|
|
return result
|
||
|
|
|
||
|
|
|
||
|
|
class Cylinder(_Primitive):
|
||
|
|
|
||
|
|
def __init__(self, *args, **kwargs):
|
||
|
|
"""
|
||
|
|
Create a Cylinder Primitive, a subclass of Trimesh.
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
-------------
|
||
|
|
radius : float
|
||
|
|
Radius of cylinder
|
||
|
|
height : float
|
||
|
|
Height of cylinder
|
||
|
|
transform : (4, 4) float
|
||
|
|
Homogeneous transformation matrix
|
||
|
|
sections : int
|
||
|
|
Number of facets in circle
|
||
|
|
"""
|
||
|
|
super(Cylinder, self).__init__(*args, **kwargs)
|
||
|
|
|
||
|
|
defaults = {'height': 10.0,
|
||
|
|
'radius': 1.0,
|
||
|
|
'transform': np.eye(4),
|
||
|
|
'sections': 32}
|
||
|
|
self.primitive = _PrimitiveAttributes(self,
|
||
|
|
defaults,
|
||
|
|
kwargs)
|
||
|
|
|
||
|
|
@caching.cache_decorator
|
||
|
|
def volume(self):
|
||
|
|
"""
|
||
|
|
The analytic volume of the cylinder primitive.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
---------
|
||
|
|
volume : float
|
||
|
|
Volume of the cylinder
|
||
|
|
"""
|
||
|
|
volume = ((np.pi * self.primitive.radius ** 2) *
|
||
|
|
self.primitive.height)
|
||
|
|
return volume
|
||
|
|
|
||
|
|
@caching.cache_decorator
|
||
|
|
def moment_inertia(self):
|
||
|
|
"""
|
||
|
|
The analytic inertia tensor of the cylinder primitive.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
----------
|
||
|
|
tensor: (3,3) float, 3D inertia tensor
|
||
|
|
"""
|
||
|
|
|
||
|
|
tensor = inertia.cylinder_inertia(
|
||
|
|
mass=self.volume,
|
||
|
|
radius=self.primitive.radius,
|
||
|
|
height=self.primitive.height,
|
||
|
|
transform=self.primitive.transform)
|
||
|
|
return tensor
|
||
|
|
|
||
|
|
@caching.cache_decorator
|
||
|
|
def direction(self):
|
||
|
|
"""
|
||
|
|
The direction of the cylinder's axis.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
--------
|
||
|
|
axis: (3,) float, vector along the cylinder axis
|
||
|
|
"""
|
||
|
|
axis = np.dot(self.primitive.transform, [0, 0, 1, 0])[:3]
|
||
|
|
return axis
|
||
|
|
|
||
|
|
@property
|
||
|
|
def segment(self):
|
||
|
|
"""
|
||
|
|
A line segment which if inflated by cylinder radius
|
||
|
|
would represent the cylinder primitive.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
-------------
|
||
|
|
segment : (2, 3) float
|
||
|
|
Points representing a single line segment
|
||
|
|
"""
|
||
|
|
# half the height
|
||
|
|
half = self.primitive.height / 2.0
|
||
|
|
# apply the transform to the Z- aligned segment
|
||
|
|
points = np.dot(
|
||
|
|
self.primitive.transform,
|
||
|
|
np.transpose([[0, 0, -half, 1], [0, 0, half, 1]])).T[:, :3]
|
||
|
|
return points
|
||
|
|
|
||
|
|
def buffer(self, distance):
|
||
|
|
"""
|
||
|
|
Return a cylinder primitive which covers the source cylinder
|
||
|
|
by distance: radius is inflated by distance, height by twice
|
||
|
|
the distance.
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
------------
|
||
|
|
distance : float
|
||
|
|
Distance to inflate cylinder radius and height
|
||
|
|
|
||
|
|
Returns
|
||
|
|
-------------
|
||
|
|
buffered : Cylinder
|
||
|
|
Cylinder primitive inflated by distance
|
||
|
|
"""
|
||
|
|
distance = float(distance)
|
||
|
|
|
||
|
|
buffered = Cylinder(
|
||
|
|
height=self.primitive.height + distance * 2,
|
||
|
|
radius=self.primitive.radius + distance,
|
||
|
|
transform=self.primitive.transform.copy())
|
||
|
|
return buffered
|
||
|
|
|
||
|
|
def _create_mesh(self):
|
||
|
|
log.debug('creating mesh for Cylinder primitive')
|
||
|
|
mesh = creation.cylinder(radius=self.primitive.radius,
|
||
|
|
height=self.primitive.height,
|
||
|
|
sections=self.primitive.sections,
|
||
|
|
transform=self.primitive.transform)
|
||
|
|
|
||
|
|
self._cache['vertices'] = mesh.vertices
|
||
|
|
self._cache['faces'] = mesh.faces
|
||
|
|
self._cache['face_normals'] = mesh.face_normals
|
||
|
|
|
||
|
|
|
||
|
|
class Capsule(_Primitive):
|
||
|
|
|
||
|
|
def __init__(self, *args, **kwargs):
|
||
|
|
"""
|
||
|
|
Create a Capsule Primitive, a subclass of Trimesh.
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
----------
|
||
|
|
radius: float, radius of cylinder
|
||
|
|
height: float, height of cylinder
|
||
|
|
transform: (4,4) float, transformation matrix
|
||
|
|
sections: int, number of facets in circle
|
||
|
|
"""
|
||
|
|
super(Capsule, self).__init__(*args, **kwargs)
|
||
|
|
|
||
|
|
defaults = {'height': 1.0,
|
||
|
|
'radius': 1.0,
|
||
|
|
'transform': np.eye(4),
|
||
|
|
'sections': 32}
|
||
|
|
self.primitive = _PrimitiveAttributes(self,
|
||
|
|
defaults,
|
||
|
|
kwargs)
|
||
|
|
|
||
|
|
@caching.cache_decorator
|
||
|
|
def direction(self):
|
||
|
|
"""
|
||
|
|
The direction of the capsule's axis.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
--------
|
||
|
|
axis: (3,) float, vector along the cylinder axis
|
||
|
|
"""
|
||
|
|
axis = np.dot(self.primitive.transform, [0, 0, 1, 0])[:3]
|
||
|
|
return axis
|
||
|
|
|
||
|
|
def _create_mesh(self):
|
||
|
|
log.debug('creating mesh for Capsule primitive')
|
||
|
|
|
||
|
|
mesh = creation.capsule(radius=self.primitive.radius,
|
||
|
|
height=self.primitive.height)
|
||
|
|
mesh.apply_transform(self.primitive.transform)
|
||
|
|
|
||
|
|
self._cache['vertices'] = mesh.vertices
|
||
|
|
self._cache['faces'] = mesh.faces
|
||
|
|
self._cache['face_normals'] = mesh.face_normals
|
||
|
|
|
||
|
|
|
||
|
|
class Sphere(_Primitive):
|
||
|
|
|
||
|
|
def __init__(self, *args, **kwargs):
|
||
|
|
"""
|
||
|
|
Create a Sphere Primitive, a subclass of Trimesh.
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
----------
|
||
|
|
radius: float, radius of sphere
|
||
|
|
center: (3,) float, center of sphere
|
||
|
|
subdivisions: int, number of subdivisions for icosphere. Default is 3
|
||
|
|
"""
|
||
|
|
|
||
|
|
super(Sphere, self).__init__(*args, **kwargs)
|
||
|
|
|
||
|
|
defaults = {'radius': 1.0,
|
||
|
|
'center': np.zeros(3, dtype=np.float64),
|
||
|
|
'subdivisions': 3}
|
||
|
|
|
||
|
|
self.primitive = _PrimitiveAttributes(self,
|
||
|
|
defaults,
|
||
|
|
kwargs)
|
||
|
|
|
||
|
|
def apply_transform(self, matrix):
|
||
|
|
"""
|
||
|
|
Apply a transform to the sphere primitive
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
------------
|
||
|
|
matrix: (4,4) float, homogeneous transformation
|
||
|
|
"""
|
||
|
|
matrix = np.asanyarray(matrix, dtype=np.float64)
|
||
|
|
if matrix.shape != (4, 4):
|
||
|
|
raise ValueError('shape must be 4,4')
|
||
|
|
|
||
|
|
center = np.dot(matrix,
|
||
|
|
np.append(self.primitive.center, 1.0))[:3]
|
||
|
|
self.primitive.center = center
|
||
|
|
|
||
|
|
@property
|
||
|
|
def bounds(self):
|
||
|
|
# no docstring so will inherit Trimesh docstring
|
||
|
|
# return exact bounds from primitive center and radius (rather than faces)
|
||
|
|
# self.extents will also use this information
|
||
|
|
bounds = np.array([self.primitive.center - self.primitive.radius,
|
||
|
|
self.primitive.center + self.primitive.radius])
|
||
|
|
return bounds
|
||
|
|
|
||
|
|
@property
|
||
|
|
def bounding_box_oriented(self):
|
||
|
|
# for a sphere the oriented bounding box is the same as the axis aligned
|
||
|
|
# bounding box, and a sphere is the absolute slowest case for the OBB calculation
|
||
|
|
# as it is a convex surface with a ton of face normals that all need to
|
||
|
|
# be checked
|
||
|
|
return self.bounding_box
|
||
|
|
|
||
|
|
@caching.cache_decorator
|
||
|
|
def area(self):
|
||
|
|
"""
|
||
|
|
Surface area of the current sphere primitive.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
--------
|
||
|
|
area: float, surface area of the sphere Primitive
|
||
|
|
"""
|
||
|
|
|
||
|
|
area = 4.0 * np.pi * (self.primitive.radius ** 2)
|
||
|
|
return area
|
||
|
|
|
||
|
|
@caching.cache_decorator
|
||
|
|
def volume(self):
|
||
|
|
"""
|
||
|
|
Volume of the current sphere primitive.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
--------
|
||
|
|
volume: float, volume of the sphere Primitive
|
||
|
|
"""
|
||
|
|
|
||
|
|
volume = (4.0 * np.pi * (self.primitive.radius ** 3)) / 3.0
|
||
|
|
return volume
|
||
|
|
|
||
|
|
@caching.cache_decorator
|
||
|
|
def moment_inertia(self):
|
||
|
|
"""
|
||
|
|
The analytic inertia tensor of the sphere primitive.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
----------
|
||
|
|
tensor: (3,3) float, 3D inertia tensor
|
||
|
|
"""
|
||
|
|
tensor = inertia.sphere_inertia(mass=self.volume,
|
||
|
|
radius=self.primitive.radius)
|
||
|
|
return tensor
|
||
|
|
|
||
|
|
def _create_mesh(self):
|
||
|
|
log.debug('creating mesh for Sphere primitive')
|
||
|
|
unit = creation.icosphere(subdivisions=self.primitive.subdivisions)
|
||
|
|
unit.vertices *= self.primitive.radius
|
||
|
|
unit.vertices += self.primitive.center
|
||
|
|
|
||
|
|
self._cache['vertices'] = unit.vertices
|
||
|
|
self._cache['faces'] = unit.faces
|
||
|
|
self._cache['face_normals'] = unit.face_normals
|
||
|
|
|
||
|
|
|
||
|
|
class Box(_Primitive):
|
||
|
|
|
||
|
|
def __init__(self, *args, **kwargs):
|
||
|
|
"""
|
||
|
|
Create a Box Primitive, a subclass of Trimesh
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
----------
|
||
|
|
extents: (3,) float, size of box
|
||
|
|
transform: (4,4) float, transformation matrix for box center
|
||
|
|
"""
|
||
|
|
super(Box, self).__init__(*args, **kwargs)
|
||
|
|
|
||
|
|
defaults = {'transform': np.eye(4),
|
||
|
|
'extents': np.ones(3)}
|
||
|
|
self.primitive = _PrimitiveAttributes(self,
|
||
|
|
defaults,
|
||
|
|
kwargs)
|
||
|
|
|
||
|
|
def sample_volume(self, count):
|
||
|
|
"""
|
||
|
|
Return random samples from inside the volume of the box.
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
-------------
|
||
|
|
count : int
|
||
|
|
Number of samples to return
|
||
|
|
|
||
|
|
Returns
|
||
|
|
----------
|
||
|
|
samples : (count, 3) float
|
||
|
|
Points inside the volume
|
||
|
|
"""
|
||
|
|
samples = sample.volume_rectangular(
|
||
|
|
extents=self.primitive.extents,
|
||
|
|
count=count,
|
||
|
|
transform=self.primitive.transform)
|
||
|
|
return samples
|
||
|
|
|
||
|
|
def sample_grid(self, count=None, step=None):
|
||
|
|
"""
|
||
|
|
Return a 3D grid which is contained by the box.
|
||
|
|
Samples are either 'step' distance apart, or there are
|
||
|
|
'count' samples per box side.
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
-----------
|
||
|
|
count : int or (3,) int
|
||
|
|
If specified samples are spaced with np.linspace
|
||
|
|
step : float or (3,) float
|
||
|
|
If specified samples are spaced with np.arange
|
||
|
|
|
||
|
|
Returns
|
||
|
|
-----------
|
||
|
|
grid : (n, 3) float
|
||
|
|
Points inside the box
|
||
|
|
"""
|
||
|
|
|
||
|
|
if (count is not None and
|
||
|
|
step is not None):
|
||
|
|
raise ValueError('only step OR count can be specified!')
|
||
|
|
|
||
|
|
# create pre- transform bounds from extents
|
||
|
|
bounds = np.array([-self.primitive.extents,
|
||
|
|
self.primitive.extents]) * .5
|
||
|
|
|
||
|
|
if step is not None:
|
||
|
|
grid = util.grid_arange(bounds, step=step)
|
||
|
|
elif count is not None:
|
||
|
|
grid = util.grid_linspace(bounds, count=count)
|
||
|
|
else:
|
||
|
|
raise ValueError('either count or step must be specified!')
|
||
|
|
|
||
|
|
transformed = tf.transform_points(
|
||
|
|
grid, matrix=self.primitive.transform)
|
||
|
|
return transformed
|
||
|
|
|
||
|
|
@property
|
||
|
|
def is_oriented(self):
|
||
|
|
"""
|
||
|
|
Returns whether or not the current box is rotated at all.
|
||
|
|
"""
|
||
|
|
if util.is_shape(self.primitive.transform, (4, 4)):
|
||
|
|
return not np.allclose(self.primitive.transform[
|
||
|
|
0:3, 0:3], np.eye(3))
|
||
|
|
else:
|
||
|
|
return False
|
||
|
|
|
||
|
|
@caching.cache_decorator
|
||
|
|
def volume(self):
|
||
|
|
"""
|
||
|
|
Volume of the box Primitive.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
--------
|
||
|
|
volume: float, volume of box
|
||
|
|
"""
|
||
|
|
volume = float(np.product(self.primitive.extents))
|
||
|
|
return volume
|
||
|
|
|
||
|
|
def _create_mesh(self):
|
||
|
|
log.debug('creating mesh for Box primitive')
|
||
|
|
box = creation.box(extents=self.primitive.extents,
|
||
|
|
transform=self.primitive.transform)
|
||
|
|
|
||
|
|
self._cache['vertices'] = box.vertices
|
||
|
|
self._cache['faces'] = box.faces
|
||
|
|
self._cache['face_normals'] = box.face_normals
|
||
|
|
|
||
|
|
def as_outline(self):
|
||
|
|
"""
|
||
|
|
Return a Path3D containing the outline of the box.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
-----------
|
||
|
|
outline : trimesh.path.Path3D
|
||
|
|
Outline of box primitive
|
||
|
|
"""
|
||
|
|
# do the import in function to keep soft dependency
|
||
|
|
from .path.creation import box_outline
|
||
|
|
# return outline with same size as primitive
|
||
|
|
return box_outline(
|
||
|
|
extents=self.primitive.extents,
|
||
|
|
transform=self.primitive.transform)
|
||
|
|
|
||
|
|
|
||
|
|
class Extrusion(_Primitive):
|
||
|
|
|
||
|
|
def __init__(self, triangle_args=None, *args, **kwargs):
|
||
|
|
"""
|
||
|
|
Create an Extrusion primitive, which
|
||
|
|
is a subclass of Trimesh.
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
----------
|
||
|
|
polygon : shapely.geometry.Polygon
|
||
|
|
Polygon to extrude
|
||
|
|
transform : (4,4) float
|
||
|
|
Transform to apply after extrusion
|
||
|
|
height : float
|
||
|
|
Height to extrude polygon by
|
||
|
|
triangle_args : str
|
||
|
|
Arguments to pass to triangle
|
||
|
|
"""
|
||
|
|
# do the import here, fail early if Shapely isn't installed
|
||
|
|
from shapely.geometry import Point
|
||
|
|
super(Extrusion, self).__init__(*args, **kwargs)
|
||
|
|
# save arguments for triangulation
|
||
|
|
self.triangle_args = triangle_args
|
||
|
|
# set default values
|
||
|
|
defaults = {'polygon': Point([0, 0]).buffer(1.0),
|
||
|
|
'transform': np.eye(4),
|
||
|
|
'height': 1.0}
|
||
|
|
self.primitive = _PrimitiveAttributes(self,
|
||
|
|
defaults,
|
||
|
|
kwargs)
|
||
|
|
|
||
|
|
@caching.cache_decorator
|
||
|
|
def area(self):
|
||
|
|
"""
|
||
|
|
The surface area of the primitive extrusion.
|
||
|
|
|
||
|
|
Calculated from polygon and height to avoid mesh creation.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
----------
|
||
|
|
area: float
|
||
|
|
Surface area of 3D extrusion
|
||
|
|
"""
|
||
|
|
# area of the sides of the extrusion
|
||
|
|
area = abs(self.primitive.height *
|
||
|
|
self.primitive.polygon.length)
|
||
|
|
# area of the two caps of the extrusion
|
||
|
|
area += self.primitive.polygon.area * 2
|
||
|
|
return area
|
||
|
|
|
||
|
|
@caching.cache_decorator
|
||
|
|
def volume(self):
|
||
|
|
"""
|
||
|
|
The volume of the Extrusion primitive.
|
||
|
|
Calculated from polygon and height to avoid mesh creation.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
----------
|
||
|
|
volume : float
|
||
|
|
Volume of 3D extrusion
|
||
|
|
"""
|
||
|
|
# height may be negative
|
||
|
|
volume = abs(self.primitive.polygon.area *
|
||
|
|
self.primitive.height)
|
||
|
|
return volume
|
||
|
|
|
||
|
|
@caching.cache_decorator
|
||
|
|
def direction(self):
|
||
|
|
"""
|
||
|
|
Based on the extrudes transform what is the
|
||
|
|
vector along which the polygon will be extruded.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
---------
|
||
|
|
direction : (3,) float
|
||
|
|
Unit direction vector
|
||
|
|
"""
|
||
|
|
# only consider rotation and signed height
|
||
|
|
direction = np.dot(
|
||
|
|
self.primitive.transform[:3, :3],
|
||
|
|
[0.0, 0.0, np.sign(self.primitive.height)])
|
||
|
|
return direction
|
||
|
|
|
||
|
|
@property
|
||
|
|
def origin(self):
|
||
|
|
"""
|
||
|
|
Based on the extrude transform what is the
|
||
|
|
origin of the plane it is extruded from.
|
||
|
|
|
||
|
|
Returns
|
||
|
|
-----------
|
||
|
|
origin : (3,) float
|
||
|
|
Origin of extrusion plane
|
||
|
|
"""
|
||
|
|
return self.primitive.transform[:3, 3]
|
||
|
|
|
||
|
|
@caching.cache_decorator
|
||
|
|
def bounding_box_oriented(self):
|
||
|
|
# no docstring for inheritance
|
||
|
|
# calculate OBB using 2D polygon and known axis
|
||
|
|
from . import bounds
|
||
|
|
# find the 2D bounding box using the polygon
|
||
|
|
to_origin, box = bounds.oriented_bounds_2D(
|
||
|
|
self.primitive.polygon.exterior.coords)
|
||
|
|
# 3D extents
|
||
|
|
extents = np.append(box, abs(self.primitive.height))
|
||
|
|
# calculate to_3D transform from 2D obb
|
||
|
|
rotation_Z = np.linalg.inv(tf.planar_matrix_to_3D(to_origin))
|
||
|
|
rotation_Z[2, 3] = self.primitive.height / 2.0
|
||
|
|
# combine the 2D OBB transformation with the 2D projection transform
|
||
|
|
to_3D = np.dot(self.primitive.transform, rotation_Z)
|
||
|
|
obb = Box(transform=to_3D,
|
||
|
|
extents=extents,
|
||
|
|
mutable=False)
|
||
|
|
return obb
|
||
|
|
|
||
|
|
def slide(self, distance):
|
||
|
|
"""
|
||
|
|
Alter the transform of the current extrusion to slide it
|
||
|
|
along its extrude_direction vector
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
-----------
|
||
|
|
distance : float
|
||
|
|
Distance along self.extrude_direction to move
|
||
|
|
"""
|
||
|
|
distance = float(distance)
|
||
|
|
translation = np.eye(4)
|
||
|
|
translation[2, 3] = distance
|
||
|
|
new_transform = np.dot(self.primitive.transform.copy(),
|
||
|
|
translation.copy())
|
||
|
|
self.primitive.transform = new_transform
|
||
|
|
|
||
|
|
def buffer(self, distance, distance_height=None, **kwargs):
|
||
|
|
"""
|
||
|
|
Return a new Extrusion object which is expanded in profile
|
||
|
|
and in height by a specified distance.
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
--------------
|
||
|
|
distance : float
|
||
|
|
Distance to buffer polygon
|
||
|
|
distance_height : float
|
||
|
|
Distance to buffer above and below extrusion
|
||
|
|
kwargs : dict
|
||
|
|
Passed to Extrusion constructor
|
||
|
|
|
||
|
|
Returns
|
||
|
|
----------
|
||
|
|
buffered : primitives.Extrusion
|
||
|
|
Extrusion object with new values
|
||
|
|
"""
|
||
|
|
distance = float(distance)
|
||
|
|
# if not specified use same distance for everything
|
||
|
|
if distance_height is None:
|
||
|
|
distance_height = distance
|
||
|
|
|
||
|
|
# start with current height
|
||
|
|
height = self.primitive.height
|
||
|
|
# if current height is negative offset by negative amount
|
||
|
|
height += np.sign(height) * 2.0 * distance_height
|
||
|
|
|
||
|
|
# create a new extrusion with a buffered polygon
|
||
|
|
# use type(self) vs Extrusion to handle subclasses
|
||
|
|
buffered = type(self)(
|
||
|
|
transform=self.primitive.transform.copy(),
|
||
|
|
polygon=self.primitive.polygon.buffer(distance),
|
||
|
|
height=height,
|
||
|
|
**kwargs)
|
||
|
|
|
||
|
|
# slide the stock along the axis
|
||
|
|
buffered.slide(-np.sign(height) * distance_height)
|
||
|
|
|
||
|
|
return buffered
|
||
|
|
|
||
|
|
def _create_mesh(self):
|
||
|
|
log.debug('creating mesh for Extrusion primitive')
|
||
|
|
# extrude the polygon along Z
|
||
|
|
mesh = creation.extrude_polygon(
|
||
|
|
polygon=self.primitive.polygon,
|
||
|
|
height=self.primitive.height,
|
||
|
|
transform=self.primitive.transform,
|
||
|
|
triangle_args=self.triangle_args)
|
||
|
|
|
||
|
|
# check volume here in unit tests
|
||
|
|
if tol.strict and mesh.volume < 0.0:
|
||
|
|
raise ValueError('matrix inverted mesh!')
|
||
|
|
|
||
|
|
# cache mesh geometry in the primitive
|
||
|
|
self._cache['vertices'] = mesh.vertices
|
||
|
|
self._cache['faces'] = mesh.faces
|