255 lines
6.4 KiB
Python
255 lines
6.4 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 © 2022 Concordia CERC group
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Project Coder Guille Gutierrez guillermo.gutierrezmorote@concordia.ca
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Code contributors: Pilar Monsalvete Alvarez de Uribarri pilar.monsalvete@concordia.ca
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"""
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from typing import List, Union
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import sys
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import math
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import numpy as np
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from trimesh import Trimesh
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from hub.helpers.configuration_helper import ConfigurationHelper
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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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def _position_of(self, point, face):
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"""
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position of a specific point in the list of points that define a face
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:return: int
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"""
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vertices = self.vertices
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for i, vertex in enumerate(vertices):
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# ensure not duplicated vertex
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power = 0
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vertex2 = vertex
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for dimension in range(0, 3):
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power += math.pow(vertex2[dimension] - point[dimension], 2)
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distance = math.sqrt(power)
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if i not in face and distance == 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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Get 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.coordinates) 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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power = 0
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for dimension in range(0, 3):
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power += math.pow(vertex_2[dimension] - vertex_1[dimension], 2)
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distance = math.sqrt(power)
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if distance == 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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@property
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def faces(self) -> List[List[int]]:
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"""
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Get polyhedron triangular faces
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:return: [face]
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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.coordinates
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if len(points) != 3:
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sub_polygons = polygon.triangles
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if len(sub_polygons) < 1:
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continue
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for sub_polygon in sub_polygons:
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face = []
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points = sub_polygon.coordinates
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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) -> Union[Trimesh, None]:
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"""
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Get polyhedron trimesh
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:return: Trimesh
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"""
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if self._trimesh is None:
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for face in self.faces:
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if len(face) != 3:
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sys.stderr.write('Not able to generate trimesh\n')
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return 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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Get 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 self.trimesh is None:
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self._volume = np.inf
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elif 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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Get polyhedron maximal z value in meters
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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.coordinates:
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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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Get polyhedron maximal y value in meters
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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.coordinates:
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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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Get polyhedron maximal x value in meters
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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.coordinates:
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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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Get polyhedron minimal z value in meters
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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.coordinates:
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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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Get polyhedron minimal y value in meters
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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.coordinates:
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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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Get polyhedron minimal x value in meters
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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.coordinates:
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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) -> Union[None, List[float]]:
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"""
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Get 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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trimesh = self.trimesh
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if trimesh is None:
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return 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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"""
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Auxiliary function to render the polyhedron
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:return: None
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"""
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self.trimesh.show()
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