unify min/max properties for geometry objects

calculate all properties during instanciation (not on demand)


git-svn-id: https://pycam.svn.sourceforge.net/svnroot/pycam/trunk@561 bbaffbd6-741e-11dd-a85d-61de82d9cad9

src/pycam/Cutters/BaseCutter.py

@@ -39,10 +39,10 @@ class BaseCutter(object):
         self.id = BaseCutter.id
         BaseCutter.id += 1
         self.radius = radius
-        self.radiussq = radius*radius
+        self.radiussq = radius ** 2
         self.required_distance = 0
         self.distance_radius = self.radius
-        self.distance_radiussq = self.distance_radius * self.distance_radius
+        self.distance_radiussq = self.distance_radius ** 2
         # self.minx, self.maxx, self.miny and self.maxy are defined as
         # properties below
         self.shape = {}
@@ -98,20 +98,20 @@ class BaseCutter(object):
 
     def drop(self, triangle):
         # check bounding box collision
-        if self.minx > triangle.maxx():
+        if self.minx > triangle.maxx:
             return None
-        if self.maxx < triangle.minx():
+        if self.maxx < triangle.minx:
             return None
-        if self.miny > triangle.maxy():
+        if self.miny > triangle.maxy:
             return None
-        if self.maxy < triangle.miny():
+        if self.maxy < triangle.miny:
             return None
 
         # check bounding circle collision
-        c = triangle.center()
+        c = triangle.center
         if (c.x - self.location.x) ** 2 + (c.y - self.location.y) ** 2 \
                 > (self.distance_radiussq + 2 * self.distance_radius \
-                    * triangle.radius() + triangle.radiussq()):
+                    * triangle.radius + triangle.radiussq):
             return None
 
         (cl, d)= self.intersect(BaseCutter.vertical, triangle)
@@ -121,22 +121,22 @@ class BaseCutter(object):
         """ TODO: this function is never used - remove it? """
         # check bounding box collision
         if dx == 0:
-            if self.miny > triangle.maxy():
+            if self.miny > triangle.maxy:
                 return None
-            if self.maxy < triangle.miny():
+            if self.maxy < triangle.miny:
                 return None
         if dy == 0:
-            if self.minx > triangle.maxx():
+            if self.minx > triangle.maxx:
                 return None
-            if self.maxx < triangle.minx():
+            if self.maxx < triangle.minx:
                 return None
-        if triangle.maxz() < self.location.z:
+        if triangle.maxz < self.location.z:
             return None
 
         # check bounding sphere collision
-        c = triangle.center()
+        c = triangle.center
         d = (c.x - self.location.x) * dy -(c.y - self.location.y) * dx
-        t = self.radius + triangle.radius()
+        t = self.radius + triangle.radius
         if abs(d) > t:
             return None
 

src/pycam/Cutters/CylindricalCutter.py

@@ -175,8 +175,8 @@ class CylindricalCutter(BaseCutter):
         (cl, ccp, cp, l) = self.intersect_circle_line(direction, edge)
         if cp:
             # check if the contact point is between the endpoints
-            m = cp.sub(edge.p1).dot(edge.dir())
-            if (m < 0) or (m > edge.len()):
+            m = cp.sub(edge.p1).dot(edge.dir)
+            if (m < 0) or (m > edge.len):
                 return (None, INFINITE)
         return (cl, l)
 
@@ -208,8 +208,8 @@ class CylindricalCutter(BaseCutter):
         (cl, ccp, cp, l) = self.intersect_cylinder_line(direction, edge)
         if not ccp:
             return (None, INFINITE)
-        m = cp.sub(edge.p1).dot(edge.dir())
-        if (m < 0) or (m > edge.len()):
+        m = cp.sub(edge.p1).dot(edge.dir)
+        if (m < 0) or (m > edge.len):
             return (None, INFINITE)
         if ccp.z < self.center.z:
             return (None, INFINITE)

src/pycam/Cutters/SphericalCutter.py

@@ -188,7 +188,7 @@ class SphericalCutter(BaseCutter):
             # check if the contact point is between the endpoints
             d = edge.p2.sub(edge.p1)
             m = cp.sub(edge.p1).dot(d)
-            if (m < 0) or (m > d.normsq()):
+            if (m < 0) or (m > d.normsq):
                 return (None, INFINITE)
         return (cl, l)
 
@@ -220,8 +220,8 @@ class SphericalCutter(BaseCutter):
         (cl, ccp, cp, l) = self.intersect_cylinder_line(direction, edge)
         if not ccp:
             return (None, INFINITE)
-        m = cp.sub(edge.p1).dot(edge.dir())
-        if (m < 0) or (m > edge.len()):
+        m = cp.sub(edge.p1).dot(edge.dir)
+        if (m < 0) or (m > edge.len):
             return (None, INFINITE)
         if ccp.z < self.center.z:
             return (None, INFINITE)
@@ -299,7 +299,7 @@ class SphericalCutter(BaseCutter):
 
     def drop_bis(self, triangle):
         """ TODO: this function is never called - remove it? """
-        n = triangle.normal()
+        n = triangle.normal
         if abs(n.dot(self.axis)) < epsilon:
             d = triangle.p1.sub(self.center).dot(n)
             if abs(d) >= self.radius - epsilon:

src/pycam/Cutters/ToroidalCutter.py

@@ -151,7 +151,7 @@ class ToroidalCutter(BaseCutter):
         min_m = 0
         min_l = INFINITE
         min_cl = None
-        scale = int(edge.len() / self.distance_minorradius * 2)
+        scale = int(edge.len / self.distance_minorradius * 2)
         scale = max(3, scale)
         for i in range(scale + 1):
             m = float(i) / scale
@@ -208,8 +208,8 @@ class ToroidalCutter(BaseCutter):
         if ccp and ccp.z < self.center.z:
             return (None, INFINITE)
         if ccp:
-            m = cp.sub(edge.p1).dot(edge.dir())
-            if (m < 0) or (m > edge.len()):
+            m = cp.sub(edge.p1).dot(edge.dir)
+            if (m < 0) or (m > edge.len):
                 return (None, INFINITE)
         return (cl, l)
 
@@ -254,8 +254,8 @@ class ToroidalCutter(BaseCutter):
         (cl, ccp, cp, l) = self.intersect_circle_line(direction, edge)
         if cp:
             # check if the contact point is between the endpoints
-            m = cp.sub(edge.p1).dot(edge.dir())
-            if (m < 0) or (m > edge.len()):
+            m = cp.sub(edge.p1).dot(edge.dir)
+            if (m < 0) or (m > edge.len):
                 return (None, INFINITE)
         return (cl, l)
 

src/pycam/Exporters/STLExporter.py

@@ -51,7 +51,7 @@ class STLExporter:
             for line in self.comment.split(self.linesep):
                 yield(";%s" % line)
         for tr in self.model.triangles():
-            norm = tr.normal().normalize()
+            norm = tr.normal.normalized()
             yield "facet normal %f %f %f" % (norm.x, norm.y, norm.z)
             yield "  outer loop"
             for p in (tr.p1, tr.p2, tr.p3):

src/pycam/Geometry/Line.py

@@ -43,8 +43,7 @@ class Line(TransformableContainer):
         Line.id += 1
         self.p1 = p1
         self.p2 = p2
-        self._dir = None
-        self._len = None
+        self.reset_cache()
 
     def __repr__(self):
         return "Line<%g,%g,%g>-<%g,%g,%g>" % (self.p1.x, self.p1.y, self.p1.z,
@@ -75,54 +74,31 @@ class Line(TransformableContainer):
         return 2
 
     def reset_cache(self):
-        self._dir = None
-        self._len = None
-
-    def dir(self):
-        if self._dir is None:
-            self._dir = self.p2.sub(self.p1)
-            self._dir.normalize()
-        return self._dir
-
-    def len(self):
-        if self._len is None:
-            self._len = self.p2.sub(self.p1).norm()
-        return self._len
+        self.dir = self.p2.sub(self.p1).normalized()
+        self.len = self.p2.sub(self.p1).norm
+        self.minx = min(self.p1.x, self.p2.x)
+        self.miny = min(self.p1.y, self.p2.y)
+        self.minz = min(self.p1.z, self.p2.z)
+        self.maxx = max(self.p1.x, self.p2.x)
+        self.maxy = max(self.p1.y, self.p2.y)
+        self.maxz = max(self.p1.z, self.p2.z)
 
     def point(self, l):
-        return self.p1.add(self.dir().mul(l*self.len()))
+        return self.p1.add(self.dir.mul(l*self.len))
 
     def closest_point(self, p):
-        v = self.dir()
+        v = self.dir
         l = self.p1.dot(v) - p.dot(v)
         return self.p1.sub(v.mul(l))
 
     def dist_to_point_sq(self, p):
-        return p.sub(self.closest_point(p)).normsq()
+        return p.sub(self.closest_point(p)).normsq
 
     def dist_to_point(self, p):
         return math.sqrt(self.dist_to_point_sq(p))
     
     def is_point_in_line(self, p):
-        return abs(p.sub(self.p1).norm() + p.sub(self.p2).norm() - self.len()) < epsilon
-
-    def minx(self):
-        return min(self.p1.x, self.p2.x)
-
-    def miny(self):
-        return min(self.p1.y, self.p2.y)
-
-    def minz(self):
-        return min(self.p1.z, self.p2.z)
-
-    def maxx(self):
-        return max(self.p1.x, self.p2.x)
-
-    def maxy(self):
-        return max(self.p1.y, self.p2.y)
-
-    def maxz(self):
-        return max(self.p1.z, self.p2.z)
+        return abs(p.sub(self.p1).norm + p.sub(self.p2).norm - self.len) < epsilon
 
     def to_OpenGL(self):
         if GL_enabled:
@@ -130,7 +106,7 @@ class Line(TransformableContainer):
             GL.glVertex3f(self.p1.x, self.p1.y, self.p1.z)
             GL.glVertex3f(self.p2.x, self.p2.y, self.p2.z)
             # (optional) draw arrows for visualizing the direction of each line
-            if True:
+            if False:
                 line = (self.p2.x - self.p1.x, self.p2.y - self.p1.y)
                 if line[0] == 0:
                     ortho = (1.0, 0.0)
@@ -155,9 +131,6 @@ class Line(TransformableContainer):
                 GL.glVertex3f(self.p2.x, self.p2.y, self.p2.z)
             GL.glEnd()
 
-    def get_points(self):
-        return (self.p1, self.p2)
-
     def get_intersection(self, line, infinite_lines=False):
         """ Get the point of intersection between two lines. Intersections
         outside the length of these lines are ignored.
@@ -171,18 +144,18 @@ class Line(TransformableContainer):
         c = x3.sub(x1)
         # see http://mathworld.wolfram.com/Line-LineIntersection.html (24)
         try:
-            factor = c.cross(b).dot(a.cross(b)) / a.cross(b).normsq()
+            factor = c.cross(b).dot(a.cross(b)) / a.cross(b).normsq
         except ZeroDivisionError:
             # lines are parallel
             # check if they are _one_ line
-            if a.cross(c).normsq() != 0:
+            if a.cross(c).norm != 0:
                 # the lines are parallel with a distance
                 return None, None
             # the lines are on one straight
             if self.is_point_in_line(x3):
-                return x3, a.len() / c.len()
+                return x3, a.len / c.len
             elif self.is_point_in_line(x4):
-                return x4, a.len() / line.p2.sub(self.p1).len()
+                return x4, a.len / line.p2.sub(self.p1).len
             elif line.is_point_in_line(x1):
                 return x1, 0
             elif line.is_point_in_line(x2):
@@ -206,13 +179,13 @@ class Line(TransformableContainer):
             return None, None
 
     def get_cropped_line(self, minx, maxx, miny, maxy, minz, maxz):
-        if (minx <= self.minx() <= self.maxx() <= maxx) \
-                and (miny <= self.miny() <= self.maxy() <= maxy) \
-                and (minz <= self.minz() <= self.maxz() <= maxz):
+        if (minx <= self.minx <= self.maxx <= maxx) \
+                and (miny <= self.miny <= self.maxy <= maxy) \
+                and (minz <= self.minz <= self.maxz <= maxz):
             return Line(line.p1, line.p2)
-        elif (maxx < self.minx()) or (self.maxx() < minx) \
-                or (maxy < self.miny()) or (self.maxy() < miny) \
-                or (maxz < self.minz()) or (self.maxz() < minz):
+        elif (maxx < self.minx) or (self.maxx < minx) \
+                or (maxy < self.miny) or (self.maxy < miny) \
+                or (maxz < self.minz) or (self.maxz < minz):
             return None
         else:
             # the line needs to be cropped
@@ -228,11 +201,11 @@ class Line(TransformableContainer):
                     Plane(maxp, Point(0, 0, 1)),
             ]
             # calculate all intersections
-            intersections = [plane.intersect_point(self.dir(), self.p1)
+            intersections = [plane.intersect_point(self.dir, self.p1)
                     for plane in planes]
             # remove all intersections outside the box and outside the line
             valid_intersections = [(cp, dist) for cp, dist in intersections
-                    if cp and (0 <= dist <= self.len()) \
+                    if cp and (0 <= dist <= self.len) \
                             and (minx <= cp.x <= maxx) \
                             and (miny <= cp.y <= maxy) \
                             and (minz <= cp.z <= maxz)]
@@ -317,7 +290,7 @@ class LineGroup(TransformableContainer):
             offset_matrix = self.get_offset_matrix()
             # initialize all offset vectors (if necessary)
             for line in self._lines:
-                line_dir = line.dir()
+                line_dir = line.dir
                 vector = (line_dir.x, line_dir.y, line_dir.z)
                 offset_vector = Matrix.multiply_vector_matrix(vector,
                         offset_matrix)
@@ -409,21 +382,21 @@ class LineGroup(TransformableContainer):
             offset_matrix = None
             # check if all lines are in one specific layer (z/y/x)
             # return the respective axis rotation matrix
-            z_start_value = self._lines[0].minz()
+            z_start_value = self._lines[0].minz
             on_z_level = [True for line in self._lines
-                    if line.minz() == line.maxz() == z_start_value]
+                    if line.minz == line.maxz == z_start_value]
             if len(on_z_level) == len(self._lines):
                 offset_matrix = Matrix.TRANSFORMATIONS["z"]
             else:
                 y_start_value = self._lines[0].y
                 on_y_level = [True for line in self._lines
-                        if line.miny() == line.maxy() == y_start_value]
+                        if line.miny == line.maxy == y_start_value]
                 if len(on_y_level) == len(self._lines):
                     offset_matrix = Matrix.TRANSFORMATIONS["y"]
                 else:
                     x_start_value = self._lines[0].x
                     on_x_level = [True for line in self._lines
-                            if line.minx() == line.maxx() == x_start_value]
+                            if line.minx == line.maxx == x_start_value]
                     if len(on_x_level) == len(self._lines):
                         offset_matrix = Matrix.TRANSFORMATIONS["x"]
             # store the result to avoid re-calculation
@@ -432,19 +405,19 @@ class LineGroup(TransformableContainer):
 
     def _update_limits(self, line):
         if self.minx is None:
-            self.minx = line.minx()
-            self.maxx = line.maxx()
-            self.miny = line.miny()
-            self.maxy = line.maxy()
-            self.minz = line.minz()
-            self.maxz = line.maxz()
-        else:
-            self.minx = min(self.minx, line.minx())
-            self.maxx = max(self.maxx, line.maxx())
-            self.miny = min(self.miny, line.miny())
-            self.maxy = max(self.maxy, line.maxy())
-            self.minz = min(self.minz, line.minz())
-            self.maxz = max(self.maxz, line.maxz())
+            self.minx = line.minx
+            self.maxx = line.maxx
+            self.miny = line.miny
+            self.maxy = line.maxy
+            self.minz = line.minz
+            self.maxz = line.maxz
+        else:
+            self.minx = min(self.minx, line.minx)
+            self.maxx = max(self.maxx, line.maxx)
+            self.miny = min(self.miny, line.miny)
+            self.maxy = max(self.maxy, line.maxy)
+            self.minz = min(self.minz, line.minz)
+            self.maxz = max(self.maxz, line.maxz)
 
     def reset_cache(self):
         if not self._lines:
@@ -453,12 +426,12 @@ class LineGroup(TransformableContainer):
         else:
             first = self._lines[0]
             # initialize the start limit with valid values
-            self.minx = first.minx()
-            self.maxx = first.maxx()
-            self.miny = first.miny()
-            self.maxy = first.maxy()
-            self.minz = first.minz()
-            self.maxz = first.maxz()
+            self.minx = first.minx
+            self.maxx = first.maxx
+            self.miny = first.miny
+            self.maxy = first.maxy
+            self.minz = first.minz
+            self.maxz = first.maxz
             # update the limit for each line
             for line in self._lines:
                 self._update_limits(line)
@@ -471,17 +444,15 @@ class LineGroup(TransformableContainer):
             l2 = self._lines[index]
             skel_p = Point((l1.p1.x + l2.p2.x) / 2.0, (l1.p1.y + l2.p2.y) / 2.0,
                     (l1.p1.z + l2.p2.z) / 2.0)
-            skel_dir = skel_p.sub(l1.p2)
-            skel_up_vector = skel_dir.cross(l1.dir())
+            skel_dir = skel_p.sub(l1.p2).normalized()
+            skel_up_vector = skel_dir.cross(l1.dir)
             offset_line = self._line_offsets[index - 1]
-            offset_up_vector = offset_line.cross(l1.dir())
+            offset_up_vector = offset_line.cross(l1.dir)
             # TODO: check for other axis as well
             if offset_up_vector.z * skel_up_vector.z < 0:
                 # reverse the skeleton vector to point outwards
                 skel_dir = skel_dir.mul(-1)
-            skel_dir.normalize()
             skeletion.append(skel_dir)
-
         return skeleton
 
     def get_offset_line_groups(self, offset):
@@ -489,13 +460,13 @@ class LineGroup(TransformableContainer):
             if offset == 0:
                 return Line(line.p1, line.p2)
             else:
-                cross_offset = line_offset.dir().mul(offset)
+                cross_offset = line_offset.dir.mul(offset)
                 # Prolong the line at the beginning and at the end - to allow
                 # overlaps. Use factor "2" to take care for star-like structure
                 # where a complete convex triangle would get cropped (two lines
                 # get lost instead of just one). Use the "abs" value to
                 # compensate negative offsets.
-                in_line = line.dir().mul(2 * abs(offset))
+                in_line = line.dir.mul(2 * abs(offset))
                 return Line(line.p1.add(cross_offset).sub(in_line),
                         line.p2.add(cross_offset).add(in_line))
         def do_lines_intersection(l1, l2):
@@ -514,7 +485,7 @@ class LineGroup(TransformableContainer):
             c = x3.sub(x1)
             # see http://mathworld.wolfram.com/Line-LineIntersection.html (24)
             try:
-                factor = c.cross(b).dot(a.cross(b)) / a.cross(b).normsq()
+                factor = c.cross(b).dot(a.cross(b)) / a.cross(b).normsq
             except ZeroDivisionError:
                 l2.p1 = None
                 return
@@ -523,13 +494,13 @@ class LineGroup(TransformableContainer):
                 l2.p1 = None
             else:
                 intersection = x1.add(a.mul(factor))
-                if Line(l1.p1, intersection).dir() != l1.dir():
+                if Line(l1.p1, intersection).dir != l1.dir:
                     # Remove lines that would change their direction due to the
                     # new intersection. These are usually lines that become
                     # obsolete due to a more favourable intersection of the two
                     # neighbouring lines. This appears at small corners.
                     l1.p1 = None
-                elif Line(intersection, l2.p2).dir() != l2.dir():
+                elif Line(intersection, l2.p2).dir != l2.dir:
                     # see comment above
                     l2.p1 = None
                 elif l1.p1 == intersection:
@@ -687,9 +658,9 @@ class LineGroup(TransformableContainer):
         new_groups = []
         for line in self._lines:
             new_line = None
-            if (minx <= line.minx() <= line.maxx() <= maxx) \
-                    and (miny <= line.miny() <= line.maxy() <= maxy) \
-                    and (minz <= line.minz() <= line.maxz() <= maxz):
+            if (minx <= line.minx <= line.maxx <= maxx) \
+                    and (miny <= line.miny <= line.maxy <= maxy) \
+                    and (minz <= line.minz <= line.maxz <= maxz):
                 new_line = line
             else:
                 cropped_line = line.get_cropped_line(minx, maxx, miny, maxy,

src/pycam/Geometry/Matrix.py

@@ -121,8 +121,7 @@ def get_rotation_matrix_from_to(v_orig, v_dest):
     # destination vectors.
     rot_axis = Point(v_orig[1] * v_dest[2] - v_orig[2] * v_dest[1],
             v_orig[2] * v_dest[0] - v_orig[0] * v_dest[2],
-            v_orig[0] * v_dest[1] - v_orig[1] * v_dest[0])
-    rot_axis.normalize()
+            v_orig[0] * v_dest[1] - v_orig[1] * v_dest[0]).normalized()
     # get the rotation matrix
     # see http://www.fastgraph.com/makegames/3drotation/
     c = math.cos(rot_angle)

src/pycam/Geometry/Model.py

@@ -92,26 +92,20 @@ class BaseModel(TransformableContainer):
                     + "support the 'export' function.") % str(type(self)))
 
     def _update_limits(self, item):
-        if callable(item.minx):
-            minx, miny, minz = item.minx(), item.miny(), item.minz()
-            maxx, maxy, maxz = item.maxx(), item.maxy(), item.maxz()
-        else:
-            minx, miny, minz = item.minx, item.miny, item.minz
-            maxx, maxy, maxz = item.maxx, item.maxy, item.maxz
         if self.minx is None:
-            self.minx = minx
-            self.miny = miny
-            self.minz = minz
-            self.maxx = maxx
-            self.maxy = maxy
-            self.maxz = maxz
+            self.minx = item.minx
+            self.miny = item.miny
+            self.minz = item.minz
+            self.maxx = item.maxx
+            self.maxy = item.maxy
+            self.maxz = item.maxz
         else:
-            self.minx = min(self.minx, minx)
-            self.miny = min(self.miny, miny)
-            self.minz = min(self.minz, minz)
-            self.maxx = max(self.maxx, maxx)
-            self.maxy = max(self.maxy, maxy)
-            self.maxz = max(self.maxz, maxz)
+            self.minx = min(self.minx, item.minx)
+            self.miny = min(self.miny, item.miny)
+            self.minz = min(self.minz, item.minz)
+            self.maxx = max(self.maxx, item.maxx)
+            self.maxy = max(self.maxy, item.maxy)
+            self.maxz = max(self.maxz, item.maxz)
 
     def append(self, item):
         self._update_limits(item)

src/pycam/Geometry/Plane.py

@@ -35,9 +35,9 @@ class Plane:
         return "Plane<%s,%s>" % (self.p, self.n)
 
     def intersect_point(self, direction, point):
-        if direction.norm() != 1:
+        if direction.norm != 1:
             # calculations will go wrong, if the direction is not a unit vector
-            direction = Point(direction.x, direction.y, direction.z).normalize()
+            direction = Point(direction.x, direction.y, direction.z).normalized()
         denom = self.n.dot(direction)
         if denom == 0:
             return (None, INFINITE)

src/pycam/Geometry/Point.py

@@ -36,8 +36,7 @@ class Point:
         self.x = float(x)
         self.y = float(y)
         self.z = float(z)
-        self._norm = None
-        self._normsq = None
+        self.reset_cache()
 
     def __repr__(self):
         return "Point%d<%g,%g,%g>" % (self.id, self.x, self.y, self.z)
@@ -74,13 +73,14 @@ class Point:
         self.reset_cache()
 
     def reset_cache(self):
-        self._norm = None
-        self._normsq = None
+        self.normsq = self.dot(self)
+        self.norm = math.sqrt(self.normsq)
         
     def mul(self, c):
         return Point(self.x * c, self.y * c, self.z * c)
 
     def div(self, c):
+        c = float(c)
         return Point(self.x / c, self.y / c, self.z / c)
 
     def add(self, p):
@@ -96,23 +96,10 @@ class Point:
         return Point(self.y * p.z - p.y * self.z, p.x * self.z - self.x * p.z,
                 self.x * p.y - p.x * self.y)
 
-    def normsq(self):
-        if self._normsq is None:
-            self._normsq = self.dot(self)
-        return self._normsq
-
-    def norm(self):
-        if self._norm is None:
-            self._norm = math.sqrt(self.normsq())
-        return self._norm
-
-    def normalize(self):
-        n = self.norm()
-        if n != 0:
-            self.x /= n
-            self.y /= n
-            self.z /= n
-            self._norm = 1.0
-            self._normsq = 1.0
-        return self
+    def normalized(self):
+        n = self.norm
+        if n == 0:
+            return None
+        else:
+            return Point(self.x / n, self.y / n, self.z / n)
 

src/pycam/Geometry/Triangle.py

@@ -59,18 +59,48 @@ class Triangle(TransformableContainer):
             self.e3 = Line(p3, p1)
         else:
             self.e3 = e3
-        self._normal = n
-        self._minx = None
-        self._miny = None
-        self._minz = None
-        self._maxx = None
-        self._maxy = None
-        self._maxz = None
-        self._center = None
-        self._middle = None
-        self._radius = None
-        self._radiussq = None
-        self._plane = None
+        self.normal = n
+        self.reset_cache()
+
+    def reset_cache(self):
+        self.minx = min(self.p1.x, self.p2.x, self.p3.x)
+        self.miny = min(self.p1.y, self.p2.y, self.p3.y)
+        self.minz = min(self.p1.z, self.p2.z, self.p3.z)
+        self.maxx = max(self.p1.x, self.p2.x, self.p3.x)
+        self.maxy = max(self.p1.y, self.p2.y, self.p3.y)
+        self.maxz = max(self.p1.z, self.p2.z, self.p3.z)
+        # calculate normal, if p1-p2-pe are in clockwise order
+        if self.normal is None:
+            self.normal = self.p3.sub(self.p1).cross(self.p2.sub( \
+                    self.p1)).normalized()
+        self.center = self.p1.add(self.p2).add(self.p3).div(3)
+        self.plane = Plane(self.center, self.normal)
+        # calculate circumcircle (resulting in radius and middle)
+        denom = self.p2.sub(self.p1).cross(self.p3.sub(self.p2)).norm
+        self.radius = (self.p2.sub(self.p1).norm \
+                * self.p3.sub(self.p2).norm * self.p3.sub(self.p1).norm) \
+                / (2 * denom)
+        self.radiussq = self.radius ** 2
+
+    def get_middle(self):
+        """ this function is only used for a special debug case of "to_OpenGL".
+        Thus we don't need to calculate this value for every triangle.
+        """
+        if hasattr(self, "_middle"):
+            return self._middle
+        denom = self.p2.sub(self.p1).cross(self.p3.sub(self.p2)).norm
+        denom2 = 2 * denom * denom
+        alpha = self.p3.sub(self.p2).normsq \
+                * self.p1.sub(self.p2).dot(self.p1.sub(self.p3)) / denom2
+        beta  = self.p1.sub(self.p3).normsq \
+                * self.p2.sub(self.p1).dot(self.p2.sub(self.p3)) / denom2
+        gamma = self.p1.sub(self.p2).normsq \
+                * self.p3.sub(self.p1).dot(self.p3.sub(self.p2)) / denom2
+        self._middle = Point(
+                self.p1.x * alpha + self.p2.x * beta + self.p3.x * gamma,
+                self.p1.y * alpha + self.p2.y * beta + self.p3.y * gamma,
+                self.p1.z * alpha + self.p2.z * beta + self.p3.z * gamma)
+        return self._middle
 
     def __repr__(self):
         return "Triangle%d<%s,%s,%s>" % (self.id, self.p1, self.p2, self.p3)
@@ -85,55 +115,53 @@ class Triangle(TransformableContainer):
         return 3
 
     def transform_by_matrix(self, matrix, transformed_list=None, **kwargs):
-        previous_normal = self._normal
+        previous_normal = self.normal
         super(Triangle, self).transform_by_matrix(matrix, transformed_list,
                 **kwargs)
         # try to keep the original normal vector (transform it manually)
         if not previous_normal is None:
             previous_normal.transform_by_matrix(matrix, **kwargs)
-            self._normal = previous_normal
-
-    def name(self):
-        return "triangle%d" % self.id
+            self.normal = previous_normal
 
     def to_OpenGL(self):
         if not GL_enabled:
             return
         GL.glBegin(GL.GL_TRIANGLES)
         # use normals to improve lighting (contributed by imyrek)
-        normal_t = self.normal()
+        normal_t = self.normal
         GL.glNormal3f(normal_t.x, normal_t.y, normal_t.z)
         GL.glVertex3f(self.p1.x, self.p1.y, self.p1.z)
         GL.glVertex3f(self.p2.x, self.p2.y, self.p2.z)
         GL.glVertex3f(self.p3.x, self.p3.y, self.p3.z)
         GL.glEnd()
         if False: # display surface normals
-            n = self.normal()
-            c = self.center()
+            n = self.normal
+            c = self.center
             d = 0.5
             GL.glBegin(GL.GL_LINES)
             GL.glVertex3f(c.x, c.y, c.z)
             GL.glVertex3f(c.x+n.x*d, c.y+n.y*d, c.z+n.z*d)
             GL.glEnd()
-        if False and hasattr(self, "_middle"): # display bounding sphere
+        if False: # display bounding sphere
             GL.glPushMatrix()
-            GL.glTranslate(self._middle.x, self._middle.y, self._middle.z)
+            middle = self.get_middle()
+            GL.glTranslate(middle.x, middle.y, middle.z)
             if not hasattr(self, "_sphere"):
                 self._sphere = GLU.gluNewQuadric()
-            GLU.gluSphere(self._sphere, self._radius, 10, 10)
+            GLU.gluSphere(self._sphere, self.radius, 10, 10)
             GL.glPopMatrix()
         if False: # draw triangle id on triangle face
             GL.glPushMatrix()
             cc = GL.glGetFloatv(GL.GL_CURRENT_COLOR)
-            c = self.center()
+            c = self.center
             GL.glTranslate(c.x, c.y, c.z)
             p12 = self.p1.add(self.p2).mul(0.5)
-            p3_12 = self.p3.sub(p12).normalize()
-            p2_1 = self.p1.sub(self.p2).normalize()
+            p3_12 = self.p3.sub(p12).normalized()
+            p2_1 = self.p1.sub(self.p2).normalized()
             pn = p2_1.cross(p3_12)
             GL.glMultMatrixf((p2_1.x, p2_1.y, p2_1.z, 0, p3_12.x, p3_12.y,
                     p3_12.z, 0, pn.x, pn.y, pn.z, 0, 0, 0, 0, 1))
-            n = self.normal().mul(0.01)
+            n = self.normal.mul(0.01)
             GL.glTranslatef(n.x, n.y, n.z)
             GL.glScalef(0.003, 0.003, 0.003)
             w = 0
@@ -145,15 +173,14 @@ class Triangle(TransformableContainer):
                 GLUT.glutStrokeCharacter(GLUT.GLUT_STROKE_ROMAN, ord(ch))
             GL.glPopMatrix()
             GL.glColor4f(cc[0], cc[1], cc[2], cc[3])
-
         if False: # draw point id on triangle face
             cc = GL.glGetFloatv(GL.GL_CURRENT_COLOR)
-            c = self.center()
+            c = self.center
             p12 = self.p1.add(self.p2).mul(0.5)
-            p3_12 = self.p3.sub(p12).normalize()
-            p2_1 = self.p1.sub(self.p2).normalize()
+            p3_12 = self.p3.sub(p12).normalized()
+            p2_1 = self.p1.sub(self.p2).normalized()
             pn = p2_1.cross(p3_12)
-            n = self.normal().mul(0.01)
+            n = self.normal.mul(0.01)
             for p in (self.p1, self.p2, self.p3):
                 GL.glPushMatrix()
                 pp = p.sub(p.sub(c).mul(0.3))
@@ -172,34 +199,18 @@ class Triangle(TransformableContainer):
                 GL.glPopMatrix()
             GL.glColor4f(cc[0], cc[1], cc[2], cc[3])
 
-    def normal(self):
-        if self._normal is None:
-            # calculate normal, if p1-p2-pe are in clockwise order
-            vector = self.p3.sub(self.p1).cross(self.p2.sub(self.p1))
-            denom = vector.norm()
-            self._normal = vector.div(denom)
-        return self._normal
-
-    def plane(self):
-        if self._plane is None:
-            self._plane = Plane(self.center(), self.normal())
-        return self._plane
-
     def point_inside(self, p):
         # http://www.blackpawn.com/texts/pointinpoly/default.html
-
         # Compute vectors
         v0 = self.p3.sub(self.p1)
         v1 = self.p2.sub(self.p1)
         v2 = p.sub(self.p1)
-
         # Compute dot products
         dot00 = v0.dot(v0)
         dot01 = v0.dot(v1)
         dot02 = v0.dot(v2)
         dot11 = v1.dot(v1)
         dot12 = v1.dot(v2)
-
         # Compute barycentric coordinates
         denom = dot00 * dot11 - dot01 * dot01
         # Originally, "u" and "v" are multiplied with "1/denom".
@@ -207,81 +218,8 @@ class Triangle(TransformableContainer):
         # "almost" invalid).
         u = dot11 * dot02 - dot01 * dot12
         v = dot00 * dot12 - dot01 * dot02
-
         # Check if point is in triangle
         return ((u * denom) >= 0) and ((v * denom) >= 0) and (u + v <= denom)
-
-    def minx(self):
-        if self._minx is None:
-            self._minx = min(self.p1.x, self.p2.x, self.p3.x)
-        return self._minx
-
-    def miny(self):
-        if self._miny is None:
-            self._miny = min(self.p1.y, self.p2.y, self.p3.y)
-        return self._miny
-
-    def minz(self):
-        if self._minz is None:
-            self._minz = min(self.p1.z, self.p2.z, self.p3.z)
-        return self._minz
-
-    def maxx(self):
-        if self._maxx is None:
-            self._maxx = max(self.p1.x, self.p2.x, self.p3.x)
-        return self._maxx
-
-    def maxy(self):
-        if self._maxy is None:
-            self._maxy = max(self.p1.y, self.p2.y, self.p3.y)
-        return self._maxy
-
-    def maxz(self):
-        if self._maxz is None:
-            self._maxz = max(self.p1.z, self.p2.z, self.p3.z)
-        return self._maxz
-
-    def center(self):
-        if self._center is None:
-            self._center = self.p1.add(self.p2).add(self.p3).mul(1.0/3)
-        return self._center
-
-    def middle(self):
-        if self._middle is None:
-            self.calc_circumcircle()
-        return self._middle
-
-    def radius(self):
-        if self._radius is None:
-            self.calc_circumcircle()
-        return self._radius
-
-    def radiussq(self):
-        if self._radiussq is None:
-            self.calc_circumcircle()
-        return self._radiussq
-
-    def calc_circumcircle(self):
-        # We can't use the cached value of "normal", since we don't want the
-        # normalized value.
-        normal = self.p2.sub(self.p1).cross(self.p3.sub(self.p2))
-        denom = normal.norm()
-        self._radius = (self.p2.sub(self.p1).norm() \
-                * self.p3.sub(self.p2).norm() * self.p3.sub(self.p1).norm()) \
-                / (2 * denom)
-        self._radiussq = self._radius*self._radius
-        denom2 = 2*denom*denom
-        alpha = self.p3.sub(self.p2).normsq() \
-                * self.p1.sub(self.p2).dot(self.p1.sub(self.p3)) / denom2
-        beta  = self.p1.sub(self.p3).normsq() \
-                * self.p2.sub(self.p1).dot(self.p2.sub(self.p3)) / denom2
-        gamma = self.p1.sub(self.p2).normsq() \
-                * self.p3.sub(self.p1).dot(self.p3.sub(self.p2)) / denom2
-        self._middle = Point(
-                self.p1.x * alpha + self.p2.x * beta + self.p3.x * gamma,
-                self.p1.y * alpha + self.p2.y * beta + self.p3.y * gamma,
-                self.p1.z * alpha + self.p2.z * beta + self.p3.z * gamma)
-
     def subdivide(self, depth):
         sub = []
         if depth == 0:
@@ -296,20 +234,3 @@ class Triangle(TransformableContainer):
             sub += Triangle(p4, self.p2, p5).subdivide(depth - 1)
         return sub
 
-    def reset_cache(self):
-        self._minx = None
-        self._miny = None
-        self._minz = None
-        self._maxx = None
-        self._maxy = None
-        self._maxz = None
-        self._center = None
-        self._middle = None
-        self._radius = None
-        self._radiussq = None
-        self._normal = None
-        self._plane = None
-
-    def get_points(self):
-        return (self.p1, self.p2, self.p3)
-

src/pycam/Geometry/intersection.py

@@ -61,8 +61,7 @@ def intersect_lines(xl, zl, nxl, nzl, xm, zm, nxm, nzm):
 
 def intersect_cylinder_point(center, axis, radius, radiussq, direction, point):
     # take a plane along direction and axis
-    n = direction.cross(axis)
-    n.normalize()
+    n = direction.cross(axis).normalized()
     # distance of the point to this plane
     d = n.dot(point) - n.dot(center)
     if abs(d) > radius:
@@ -77,14 +76,14 @@ def intersect_cylinder_point(center, axis, radius, radiussq, direction, point):
     return (ccp, point, -l)
 
 def intersect_cylinder_line(center, axis, radius, radiussq, direction, edge):
-    d = edge.dir()
+    d = edge.dir
     # take a plane throught the line and along the cylinder axis (1)
     n = d.cross(axis)
-    if n.normsq() == 0:
+    if n.norm == 0:
         # no contact point, but should check here if cylinder *always*
         # intersects line...
         return (None, None, INFINITE)
-    n.normalize()
+    n = n.normalized()
     # the contact line between the cylinder and this plane (1)
     # is where the surface normal is perpendicular to the plane
     # so line := ccl + \lambda * axis
@@ -94,11 +93,11 @@ def intersect_cylinder_line(center, axis, radius, radiussq, direction, edge):
         ccl = center.add(n.mul(radius))
     # now extrude the contact line along the direction, this is a plane (2)
     n2 = direction.cross(axis)
-    if n2.normsq() == 0:
+    if n2.norm == 0:
         # no contact point, but should check here if cylinder *always*
         # intersects line...
         return (None, None, INFINITE)
-    n2.normalize()
+    n2 = n2.normalized()
     plane1 = Plane(ccl, n2)
     # intersect this plane with the line, this gives us the contact point
     (cp, l) = plane1.intersect_point(d, edge.p1)
@@ -115,20 +114,20 @@ def intersect_cylinder_line(center, axis, radius, radiussq, direction, edge):
 
 def intersect_circle_plane(center, radius, direction, triangle):
     # let n be the normal to the plane
-    n = triangle.normal()
+    n = triangle.normal
     if n.dot(direction) == 0:
         return (None, None, INFINITE)
     # project onto z=0
     n2 = Point(n.x, n.y, 0)
-    if n2.normsq() == 0:
-        (cp, d) = triangle.plane().intersect_point(direction, center)
+    if n2.norm == 0:
+        (cp, d) = triangle.plane.intersect_point(direction, center)
         ccp = cp.sub(direction.mul(d))
         return (ccp, cp, d)
-    n2.normalize()
+    n2 = n2.normalized()
     # the cutter contact point is on the circle, where the surface normal is n
     ccp = center.add(n2.mul(-radius))
     # intersect the plane with a line through the contact point
-    (cp, d) = triangle.plane().intersect_point(direction, ccp)
+    (cp, d) = triangle.plane.intersect_point(direction, ccp)
     return (ccp, cp, d)
 
 def intersect_circle_point(center, axis, radius, radiussq, direction, point):
@@ -137,13 +136,13 @@ def intersect_circle_point(center, axis, radius, radiussq, direction, point):
     # intersect with line gives ccp
     (ccp, l) = plane.intersect_point(direction, point)
     # check if inside circle
-    if ccp and (center.sub(ccp).normsq() <= radiussq):
+    if ccp and (center.sub(ccp).normsq <= radiussq):
         return (ccp, point, -l)
     return (None, None, INFINITE)
 
 def intersect_circle_line(center, axis, radius, radiussq, direction, edge):
     # make a plane by sliding the line along the direction (1)
-    d = edge.dir()
+    d = edge.dir
     if d.dot(axis) == 0:
         if direction.dot(axis) == 0:
             return (None, None, INFINITE)
@@ -151,7 +150,7 @@ def intersect_circle_line(center, axis, radius, radiussq, direction, edge):
         (p1, l) = plane.intersect_point(direction, edge.p1)
         (p2, l) = plane.intersect_point(direction, edge.p2)
         pc = Line(p1, p2).closest_point(center)
-        d_sq = pc.sub(center).normsq()
+        d_sq = pc.sub(center).normsq
         if d_sq > radiussq:
             return (None, None, INFINITE)
         a = sqrt(radiussq - d_sq)
@@ -170,11 +169,11 @@ def intersect_circle_line(center, axis, radius, radiussq, direction, edge):
             cp = pc.sub(direction.mul(l))
         return (ccp, cp, -l)
     n = d.cross(direction)
-    if n.normsq() == 0:
+    if n.norm == 0:
         # no contact point, but should check here if circle *always* intersects
         # line...
         return (None, None, INFINITE)
-    n.normalize()
+    n = n.normalized()
     # take a plane through the base
     plane = Plane(center, axis)
     # intersect base with line
@@ -183,14 +182,14 @@ def intersect_circle_line(center, axis, radius, radiussq, direction, edge):
         return (None, None, INFINITE)
     # intersection of 2 planes: lp + \lambda v
     v = axis.cross(n)
-    if v.normsq() == 0:
+    if v.norm == 0:
         return (None, None, INFINITE)
-    v.normalize()
+    v = v.normalized()
     # take plane through intersection line and parallel to axis
     n2 = v.cross(axis)
-    if n2.normsq() == 0:
+    if n2.norm == 0:
         return (None, None, INFINITE)
-    n2.normalize()
+    n2 = n2.normalized()
     # distance from center to this plane
     dist = n2.dot(center) - n2.dot(lp)
     distsq = dist * dist
@@ -207,7 +206,7 @@ def intersect_circle_line(center, axis, radius, radiussq, direction, edge):
 
 def intersect_sphere_plane(center, radius, direction, triangle):
     # let n be the normal to the plane
-    n = triangle.normal()
+    n = triangle.normal
     if n.dot(direction) == 0:
         return (None, None, INFINITE)
     # the cutter contact point is on the sphere, where the surface normal is n
@@ -216,7 +215,7 @@ def intersect_sphere_plane(center, radius, direction, triangle):
     else:
         ccp = center.add(n.mul(radius))
     # intersect the plane with a line through the contact point
-    (cp, d) = triangle.plane().intersect_point(direction, ccp)
+    (cp, d) = triangle.plane.intersect_point(direction, ccp)
     return (ccp, cp, d)
 
 def intersect_sphere_point(center, radius, radiussq, direction, point):
@@ -226,9 +225,9 @@ def intersect_sphere_point(center, radius, radiussq, direction, point):
     # (2) (x-x_0)^2 = R^2
     # (1) in (2) gives a quadratic in \lambda
     p0_x0 = center.sub(point)
-    a = direction.normsq()
+    a = direction.normsq
     b = 2 * p0_x0.dot(direction)
-    c = p0_x0.normsq() - radiussq
+    c = p0_x0.normsq - radiussq
     d = b * b - 4 * a * c
     if d < 0:
         return (None, None, INFINITE)
@@ -242,13 +241,13 @@ def intersect_sphere_point(center, radius, radiussq, direction, point):
 
 def intersect_sphere_line(center, radius, radiussq, direction, edge):
     # make a plane by sliding the line along the direction (1)
-    d = edge.dir()
+    d = edge.dir
     n = d.cross(direction)
-    if n.normsq() == 0:
+    if n.norm == 0:
         # no contact point, but should check here if sphere *always* intersects
         # line...
         return (None, None, INFINITE)
-    n.normalize()
+    n = n.normalized()
 
     # calculate the distance from the sphere center to the plane
     dist = - center.dot(n) - edge.p1.dot(n)
@@ -260,8 +259,7 @@ def intersect_sphere_line(center, radius, radiussq, direction, edge):
     # find the center on the circle closest to this plane
 
     # which means the other component is perpendicular to this plane (2)
-    n2 = n.cross(d)
-    n2.normalize()
+    n2 = n.cross(d).normalized()
 
     # the contact point is on a big circle through the sphere...
     dist2 = sqrt(radiussq - dist * dist)
@@ -277,7 +275,7 @@ def intersect_sphere_line(center, radius, radiussq, direction, edge):
 def intersect_torus_plane(center, axis, majorradius, minorradius, direction,
         triangle):
     # take normal to the plane
-    n = triangle.normal()
+    n = triangle.normal
     if n.dot(direction) == 0:
         return (None, None, INFINITE)
     if n.dot(axis) == 1:
@@ -286,14 +284,13 @@ def intersect_torus_plane(center, axis, majorradius, minorradius, direction,
     b = n.mul(-1)
     z = axis
     a = b.sub(z.mul(z.dot(b)))
-    a_sq = a.normsq()
+    a_sq = a.normsq
     if a_sq <= 0:
         return (None, None, INFINITE)
     a = a.div(sqrt(a_sq))
     ccp = center.add(a.mul(majorradius)).add(b.mul(minorradius))
     # find intersection with plane
-    plane = triangle.plane()
-    (cp, l) = plane.intersect_point(direction, ccp)
+    (cp, l) = triangle.plane.intersect_point(direction, ccp)
     return (ccp, cp, l)
 
 def intersect_torus_point(center, axis, majorradius, minorradius, majorradiussq,

src/pycam/Gui/OpenGLTools.py

@@ -91,7 +91,7 @@ class Camera:
         dimz = s.get("maxz") - s.get("minz")
         max_dim = max(max(dimx, dimy), dimz)
         distv = Point(v["distance"][0], v["distance"][1],
-                v["distance"][2]).normalize()
+                v["distance"][2]).normalized()
         # The multiplier "2.0" is based on: sqrt(2) + margin  -- the squre root
         # makes sure, that the the diagonal fits.
         distv = distv.mul((max_dim * 2.0) / math.sin(v["fovy"]/2))
@@ -216,8 +216,8 @@ class Camera:
         # Calculate the proportion of each model axis according to the x axis of
         # the screen.
         distv = self.view["distance"]
-        distv = Point(distv[0], distv[1], distv[2]).normalize()
-        factors_x = distv.cross(Point(v_up[0], v_up[1], v_up[2])).normalize()
+        distv = Point(distv[0], distv[1], distv[2]).normalized()
+        factors_x = distv.cross(Point(v_up[0], v_up[1], v_up[2])).normalized()
         factors_x = (factors_x.x, factors_x.y, factors_x.z)
         return (factors_x, factors_y)
 

src/pycam/Importers/DXFImporter.py

@@ -79,8 +79,8 @@ class DXFParser:
                     current_group = []
                     groups.append(current_group)
         def get_distance_between_groups(group1, group2):
-            forward = group1[-1].p2.sub(group2[0].p1).norm()
-            backward = group2[-1].p2.sub(group1[0].p1).norm()
+            forward = group1[-1].p2.sub(group2[0].p1).norm
+            backward = group2[-1].p2.sub(group1[0].p1).norm
             return min(forward, backward)
         remaining_groups = groups[:]
         ordered_groups = []

src/pycam/Importers/STLImporter.py

@@ -232,8 +232,7 @@ def ImportModel(filename, use_kdtree=True, program_locations=None):
             m = endfacet.match(line)
             if m:
                 if not n:
-                    n = p3.sub(p1).cross(p2.sub(p1))
-                    n.normalize()
+                    n = p3.sub(p1).cross(p2.sub(p1)).normalized()
 
                 # make sure the points are in ClockWise order
                 dotcross = n.dot(p3.sub(p1).cross(p2.sub(p1)))

src/pycam/Simulation/ZBuffer.py

@@ -106,13 +106,13 @@ class ZBuffer:
             self.add_triangle(t)
 
     def add_triangle(self, t):
-        minx = int((t.minx() - self.minx) / (self.maxx - self.minx) \
+        minx = int((t.minx - self.minx) / (self.maxx - self.minx) \
                 * self.xres) - 1
-        maxx = int((t.maxx() - self.minx) / (self.maxx - self.minx) \
+        maxx = int((t.maxx - self.minx) / (self.maxx - self.minx) \
                 * self.xres) + 1
-        miny = int((t.miny() - self.miny) / (self.maxy - self.miny) \
+        miny = int((t.miny - self.miny) / (self.maxy - self.miny) \
                 * self.yres) - 1
-        maxy = int((t.maxy() - self.miny) / (self.maxy - self.miny) \
+        maxy = int((t.maxy - self.miny) / (self.maxy - self.miny) \
                 * self.yres) + 2
         if minx < 0: 
             minx = 0

src/pycam/Toolpath/__init__.py

@@ -31,10 +31,8 @@ log = pycam.Utils.log.get_logger()
 
 
 def _check_colinearity(p1, p2, p3):
-    v1 = p2.sub(p1)
-    v2 = p3.sub(p2)
-    v1.normalize()
-    v2.normalize()
+    v1 = p2.sub(p1).normalized()
+    v2 = p3.sub(p2).normalized()
     # compare if the normalized distances between p1-p2 and p2-p3 are equal
     return v1 == v2
 
@@ -120,7 +118,7 @@ class ToolPath:
         result["time"] = 0
         result["position"] = start_position
         def move(new_pos):
-            result["time"] += new_pos.sub(result["position"]).norm() / feedrate
+            result["time"] += new_pos.sub(result["position"]).norm / feedrate
             result["position"] = new_pos
         # move to safey height at the starting position
         safety_height = settings.get_process_settings()["safety_height"]