479 lines
16 KiB
Python
479 lines
16 KiB
Python
"""
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Polyhedron module
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SPDX - License - Identifier: LGPL - 3.0 - or -later
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Copyright © 2020 Project Author Guille Gutierrez guillermo.gutierrezmorote@concordia.ca
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Contributors Pilar Monsalvete pilar_monsalvete@yahoo.es
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"""
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import sys
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import numpy as np
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from trimesh import Trimesh
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from helpers.geometry_helper import GeometryHelper
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from helpers.configuration_helper import ConfigurationHelper
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from city_model_structure.attributes.polygon import Polygon
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from helpers.geometry_helper import GeometryHelper as gh
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class Polyhedron:
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"""
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Polyhedron class
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"""
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def __init__(self, polygons):
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self._polygons = polygons
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self._polyhedron = None
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self._triangulated_polyhedron = None
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self._volume = None
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self._faces = None
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self._vertices = None
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self._trimesh = None
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self._centroid = None
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self._max_z = None
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self._max_y = None
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self._max_x = None
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self._min_z = None
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self._min_y = None
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self._min_x = None
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self._geometry = GeometryHelper()
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def _position_of(self, point, face):
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vertices = self.vertices
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for i in range(len(vertices)):
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# ensure not duplicated vertex
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if i not in face and GeometryHelper.distance_between_points(vertices[i], point) == 0:
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return i
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return -1
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@property
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def vertices(self) -> np.ndarray:
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"""
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Polyhedron vertices
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:return: np.ndarray(int)
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"""
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if self._vertices is None:
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vertices, self._vertices = [], []
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_ = [vertices.extend(s.points) for s in self._polygons]
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for vertex_1 in vertices:
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found = False
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for vertex_2 in self._vertices:
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found = False
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if GeometryHelper.distance_between_points(vertex_1, vertex_2) == 0:
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found = True
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break
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if not found:
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self._vertices.append(vertex_1)
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self._vertices = np.asarray(self._vertices)
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return self._vertices
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def _triangulate(self, polygon) -> [Polygon]:
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"""
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triangulates a polygon following the ear clipping methodology
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:param polygon: polygon
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:return: list[triangles]
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"""
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points_list = polygon.points_list
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normal = polygon.normal
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# are points concave or convex?
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total_points_list, concave_points, convex_points = self._starting_lists(points_list, normal)
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# list of ears
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ears = []
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while len(concave_points) > 3 or len(convex_points) != 0:
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for i in range(0, len(concave_points)):
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ear = self._triangle(points_list, total_points_list, concave_points[i])
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rest_points = []
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for p in total_points_list:
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rest_points.append(list(polygon.points[p]))
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if self._is_ear(ear, rest_points):
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ears.append(ear)
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point_to_remove = concave_points[i]
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previous_point_in_list, next_point_in_list = self._enveloping_points(point_to_remove, total_points_list)
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total_points_list.remove(point_to_remove)
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concave_points.remove(point_to_remove)
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# Was any of the adjacent points convex? -> check if changed status to concave
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# for j in range(0, len(convex_points)):
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for convex_point in convex_points:
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if convex_point == previous_point_in_list:
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concave_points, convex_points, end_loop = self._if_concave_change_status(normal, points_list,
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convex_point, total_points_list,
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concave_points, convex_points,
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previous_point_in_list)
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if end_loop:
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break
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continue
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if convex_point == next_point_in_list:
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concave_points, convex_points, end_loop = self._if_concave_change_status(normal, points_list,
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convex_point, total_points_list,
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concave_points, convex_points,
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next_point_in_list)
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if end_loop:
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break
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continue
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break
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if len(total_points_list) <= 3 and len(convex_points) > 0:
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sys.stderr.write(f'Not able to triangulate polygon\n')
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return [polygon]
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last_ear = self._triangle(points_list, total_points_list, concave_points[1])
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ears.append(last_ear)
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return ears
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def _if_concave_change_status(self, normal, points_list, convex_point, total_points_list,
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concave_points, convex_points, point_in_list):
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"""
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checks whether an convex specific point change its status to concave after removing one ear in the polygon
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returning the new convex and concave points lists together with a flag advising that the list of total points
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already 3 and, therefore, the triangulation must be finished.
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:param normal: normal
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:param points_list: points_list
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:param convex_point: int
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:param total_points_list: [point]
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:param concave_points: [point]
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:param convex_points: [point]
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:param point_in_list: int
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:return: list[points], list[points], boolean
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"""
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end_loop = False
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point = points_list[point_in_list * 3:(point_in_list + 1) * 3]
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pointer = total_points_list.index(point_in_list) - 1
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if pointer < 0:
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pointer = len(total_points_list) - 1
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previous_point = points_list[total_points_list[pointer] * 3:total_points_list[pointer] * 3 + 3]
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pointer = total_points_list.index(point_in_list) + 1
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if pointer >= len(total_points_list):
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pointer = 0
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next_point = points_list[total_points_list[pointer] * 3:total_points_list[pointer] * 3 + 3]
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if self._point_is_concave(normal, point, previous_point, next_point):
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if concave_points[0] > convex_point:
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concave_points.insert(0, convex_point)
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elif concave_points[len(concave_points) - 1] < convex_point:
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concave_points.append(convex_point)
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else:
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for p in range(0, len(concave_points) - 1):
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if concave_points[p] < convex_point < concave_points[p + 1]:
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concave_points.insert(p + 1, convex_point)
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convex_points.remove(convex_point)
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end_loop = True
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return concave_points, convex_points, end_loop
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def _starting_lists(self, points_list, normal):
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"""
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creates the list of vertices (points) that define the polygon (total_points_list), together with other two lists
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separating points between convex and concave
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:param points_list: points_list
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:param normal: normal
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:return: list[point], list[point], list[point]
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"""
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concave_points = []
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convex_points = []
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# lists of concave and convex points
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# case 1: first point
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point = points_list[0:3]
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previous_point = points_list[len(points_list) - 3:]
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next_point = points_list[3:6]
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index = 0
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total_points_list = [index]
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if self._point_is_concave(normal, point, previous_point, next_point):
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concave_points.append(index)
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else:
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convex_points.append(index)
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# case 2: all points except first and last
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for i in range(0, int((len(points_list)-6)/3)):
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point = points_list[(i+1)*3:(i+2)*3]
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previous_point = points_list[i*3:(i+1)*3]
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next_point = points_list[(i+2)*3:(i+3)*3]
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index = i+1
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total_points_list.append(index)
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if self._point_is_concave(normal, point, previous_point, next_point):
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concave_points.append(index)
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else:
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convex_points.append(index)
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# case 3: last point
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point = points_list[len(points_list) - 3:]
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previous_point = points_list[len(points_list) - 6:len(points_list) - 3]
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next_point = points_list[0:3]
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index = int(len(points_list)/3) - 1
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total_points_list.append(index)
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if self._point_is_concave(normal, point, previous_point, next_point):
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concave_points.append(index)
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else:
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convex_points.append(index)
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return total_points_list, concave_points, convex_points
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@staticmethod
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def _point_is_concave(normal, point, previous_point, next_point) -> bool:
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"""
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returns whether a point is concave
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:param normal: normal
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:param point: point
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:param previous_point: point
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:param next_point: point
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:return: boolean
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"""
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is_concave = False
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accepted_error = 0.1
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points = np.append(previous_point, point)
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points = np.append(points, next_point)
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points = gh.to_points_matrix(points)
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triangle = Polygon(points)
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error_sum = 0
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for i in range(0, len(normal)):
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error_sum += triangle.normal[i] - normal[i]
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if np.abs(error_sum) < accepted_error:
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is_concave = True
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return is_concave
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def _triangle(self, points_list, total_points_list, point_position) -> Polygon:
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"""
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creates a triangular polygon out of three points
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:param points_list: points_list
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:param total_points_list: [point]
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:param point_position: int
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:return: polygon
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"""
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index = point_position * 3
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previous_point_index, next_point_index = self._enveloping_points_indices(point_position, total_points_list)
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points = points_list[previous_point_index:previous_point_index + 3]
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points = np.append(points, points_list[index:index + 3])
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points = np.append(points, points_list[next_point_index:next_point_index + 3])
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points = gh.to_points_matrix(points)
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triangle = Polygon(points)
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return triangle
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@staticmethod
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def _enveloping_points_indices(point_position, total_points_list):
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"""
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due to the fact that the lists are not circular, a method to find the previous and next points
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of an specific one is needed
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:param point_position: int
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:param total_points_list: [point]
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:return: int, int
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"""
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previous_point_index = None
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next_point_index = None
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if point_position == total_points_list[0]:
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previous_point_index = total_points_list[len(total_points_list) - 1] * 3
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next_point_index = total_points_list[1] * 3
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if point_position == total_points_list[len(total_points_list) - 1]:
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previous_point_index = total_points_list[len(total_points_list) - 2] * 3
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next_point_index = total_points_list[0] * 3
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for i in range(1, len(total_points_list)-1):
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if point_position == total_points_list[i]:
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previous_point_index = total_points_list[i - 1] * 3
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next_point_index = total_points_list[i + 1] * 3
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return previous_point_index, next_point_index
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@staticmethod
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def _enveloping_points(point_to_remove, total_points_list):
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"""
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due to the fact that the lists are not circular, a method to find the previous and next points
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of an specific one is needed
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:param point_to_remove: point
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:param total_points_list: [point]
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:return: point, point
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"""
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index = total_points_list.index(point_to_remove)
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if index == 0:
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previous_point_in_list = total_points_list[len(total_points_list) - 1]
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next_point_in_list = total_points_list[1]
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elif index == len(total_points_list) - 1:
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previous_point_in_list = total_points_list[len(total_points_list) - 2]
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next_point_in_list = total_points_list[0]
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else:
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previous_point_in_list = total_points_list[index - 1]
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next_point_in_list = total_points_list[index + 1]
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return previous_point_in_list, next_point_in_list
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@staticmethod
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def _is_ear(ear, points) -> bool:
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"""
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finds whether a triangle is an ear of the polygon
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:param ear: polygon
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:param points: [point]
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:return: boolean
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"""
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area_ear = ear.area
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for point in points:
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area_points = 0
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point_is_not_vertex = True
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for i in range(0, 3):
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if abs(np.linalg.norm(point) - np.linalg.norm(ear.points[i])) < 0.0001:
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point_is_not_vertex = False
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break
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if point_is_not_vertex:
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for i in range(0, 3):
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if i != 2:
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new_points = ear.points[i][:]
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new_points = np.append(new_points, ear.points[i + 1][:])
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new_points = np.append(new_points, point[:])
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else:
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new_points = ear.points[i][:]
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new_points = np.append(new_points, point[:])
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new_points = np.append(new_points, ear.points[0][:])
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new_points = gh.to_points_matrix(new_points)
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new_triangle = Polygon(new_points)
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area_points += new_triangle.area
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if abs(area_points - area_ear) < 1e-6:
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# point_inside_ear = True
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return False
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return True
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@property
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def faces(self) -> [[int]]:
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"""
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Polyhedron triangular faces
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:return: [[int]]
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"""
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if self._faces is None:
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self._faces = []
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for polygon in self._polygons:
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face = []
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points = polygon.points
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if len(points) != 3:
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sub_polygons = self._triangulate(polygon)
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# todo: I modified this! To be checked @Guille
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if len(sub_polygons) >= 1:
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for sub_polygon in sub_polygons:
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face = []
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points = sub_polygon.points
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for point in points:
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face.append(self._position_of(point, face))
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self._faces.append(face)
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else:
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for point in points:
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face.append(self._position_of(point, face))
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self._faces.append(face)
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return self._faces
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@property
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def trimesh(self) -> Trimesh:
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if self._trimesh is None:
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self._trimesh = Trimesh(vertices=self.vertices, faces=self.faces)
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return self._trimesh
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@property
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def volume(self):
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"""
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Polyhedron volume in cubic meters
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:return: float
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"""
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if self._volume is None:
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if not self.trimesh.is_volume:
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self._volume = np.inf
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else:
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self._volume = self.trimesh.volume
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return self._volume
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@property
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def max_z(self):
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"""
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Polyhedron maximal z value
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:return: float
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"""
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if self._max_z is None:
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self._max_z = ConfigurationHelper().min_coordinate
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for polygon in self._polygons:
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for point in polygon.points:
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self._max_z = max(self._max_z, point[2])
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return self._max_z
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@property
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def max_y(self):
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"""
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Polyhedron maximal y value
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:return: float
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"""
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if self._max_y is None:
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self._max_y = ConfigurationHelper().min_coordinate
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for polygon in self._polygons:
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for point in polygon.points:
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if self._max_y < point[1]:
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self._max_y = point[1]
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return self._max_y
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@property
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def max_x(self):
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"""
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Polyhedron maximal x value
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:return: float
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"""
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if self._max_x is None:
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self._max_x = ConfigurationHelper().min_coordinate
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for polygon in self._polygons:
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for point in polygon.points:
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self._max_x = max(self._max_x, point[0])
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return self._max_x
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@property
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def min_z(self):
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"""
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Polyhedron minimal z value
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:return: float
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"""
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if self._min_z is None:
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self._min_z = self.max_z
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for polygon in self._polygons:
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for point in polygon.points:
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if self._min_z > point[2]:
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self._min_z = point[2]
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return self._min_z
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@property
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def min_y(self):
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"""
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Polyhedron minimal y value
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:return: float
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"""
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if self._min_y is None:
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self._min_y = self.max_y
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for polygon in self._polygons:
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for point in polygon.points:
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if self._min_y > point[1]:
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self._min_y = point[1]
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return self._min_y
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@property
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def min_x(self):
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"""
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Polyhedron minimal x value
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:return: float
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"""
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if self._min_x is None:
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self._min_x = self.max_x
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for polygon in self._polygons:
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for point in polygon.points:
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if self._min_x > point[0]:
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self._min_x = point[0]
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return self._min_x
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@property
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def centroid(self):
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"""
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Polyhedron centroid
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:return: [x,y,z]
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"""
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if self._centroid is None:
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self._centroid = self.trimesh.centroid
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return self._centroid
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def stl_export(self, full_path):
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"""
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Export the polyhedron to stl given file
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:param full_path: str
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:return: None
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"""
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self.trimesh.export(full_path, 'stl_ascii')
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def obj_export(self, full_path):
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"""
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Export the polyhedron to obj given file
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:param full_path: str
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:return: None
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"""
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self.trimesh.export(full_path, 'obj')
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def show(self):
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self.trimesh.show()
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