r641@erker: lars | 2010-02-10 03:54:10 +0100

 replace the complex triangle testing with ODE's collision check


git-svn-id: https://pycam.svn.sourceforge.net/svnroot/pycam/trunk@106 bbaffbd6-741e-11dd-a85d-61de82d9cad9

pycam/PathGenerators/DropCutter.py

@@ -5,10 +5,11 @@ from pycam.Geometry.intersection import intersect_lines
 
 class DropCutter:
 
-    def __init__(self, cutter, model, PathProcessor=None):
+    def __init__(self, cutter, model, PathProcessor=None, physics=None):
         self.cutter = cutter
         self.model = model
         self.processor = PathProcessor
+        self.physics = physics
 
     def GenerateToolPath(self, minx, maxx, miny, maxy, z0, z1, dx, dy, direction):
         if self.processor:
@@ -30,42 +31,21 @@ class DropCutter:
                     cl_max = None
                     t_max = None
                     self.cutter.moveto(p)
-                    triangles = self.model.triangles(p.x-self.cutter.radius,p.y-self.cutter.radius,z0,p.x+self.cutter.radius,p.y+self.cutter.radius,+INFINITE)
-                    for t in triangles:
-                        if t.normal().z < 0: continue;
-                        cl = self.cutter.drop(t)
-                        if cl and (cl.z > z_max or cl_max is None):
-                            z_max = cl.z
-                            cl_max = cl
-                            t_max = t
-                    if not cl_max or cl_max.z<z0:
-                        cl_max = Point(x,y,z0)
 
-                    if cl_last and ((t_max and not t_last) or (t_last and not t_max)):
-                        if cl_last.z < z_max:
-                            pa.append(Point(cl_last.x,cl_last.y,cl_max.z))
-                        else:
-                            pa.append(Point(cl_max.x,cl_max.y,cl_last.z))
-                    elif (t_max and t_last and cl_last and cl_max ) and (t_max != t_last):
-                        nxl = -t_last.normal().x
-                        nzl = t_last.normal().z
-                        nxm = -t_max.normal().x
-                        nzm = t_max.normal().z
-                        xl = cl_last.x
-                        zl = cl_last.z
-                        xm = cl_max.x
-                        zm = cl_max.z
-                        (X,Z) = intersect_lines(xl, zl, nxl, nzl, xm, zm, nxm, nzm)
-                        if X and xl < X and X < xm and (Z > zl or Z > zm):
-                            Y = cl_last.y
-                            if Z<z0-10 or Z>z1+10:
-                                print "^", "xl=",xl,", zl=",zl,"nxl=",nxl,", nzl=",nzl,", X=", X, ", Z=",Z,", xm=",xm,",zm=",zm, ", nxm=",nxm,",nzm=",nzm
-                            else:
-                                pa.append(Point(X,Y,Z))
-                    pa.append(cl_max)
+                    z = z1
+                    dz = (z1-z0)/100
+                    collision = False
+                    while (z >= z0) and not collision:
+                        self.physics.set_drill_position((x, y, z))
+                        if self.physics.check_collision():
+                            z_max = z + dz
+                            collision = True
+                        z -= dz
+                    if collision:
+                        pa.append(Point(x, y, z_max))
+                    else:
+                        pa.append(Point(x, y, z0))
 
-                    cl_last = cl_max
-                    t_last = t_max
                     x += dx
 
                 pa.end_scanline()