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GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
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LICENSE.TXT 0 → 100755
View file @ a8a1f8d3
pycam - CNC Toolpath Generation in python
=========================================
Copyright (C) 2008 Lode Leroy
-----------------------------
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
See COPYING
README.TXT
View file @ a8a1f8d3
...@@ -48,6 +48,9 @@ For visualization, install ...@@ -48,6 +48,9 @@ For visualization, install
TODO: TODO:
* Python code
** clean up module/package use, being all "import" statements
* Geometry * Geometry
** intersect_torus_line ** intersect_torus_line
-> try to find a better implementation -> try to find a better implementation
......
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Samples/STL/TestModel.stl 0 → 100755
View file @ a8a1f8d3
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Tests/CylindricalCutterTest.py 0 → 100755
View file @ a8a1f8d3
#!/usr/bin/python
import sys
sys.path.insert(0,'.')
from pycam.Geometry import *
from pycam.Cutters.CylindricalCutter import *
from pycam.Gui.Visualization import ShowTestScene
if __name__ == "__main__":
dir = Point(0,0,-1)
#c = CylindricalCutter(1, Point(0,0,6))
c = CylindricalCutter(1, Point(2,0,6))
#c = CylindricalCutter(1, Point(-2.2,0.2,6))
#c = CylindricalCutter(1, Point(-1.7,-0.2,6))
print "c=", c
#t = Triangle(Point(-3,0,2), Point(2,2,3), Point(2,-2,4))
#t = Triangle(Point(-2,0,2), Point(2,-1,4), Point(2,1,3))
#t = Triangle(Point(2,0,4), Point(2,-1,2), Point(2,1,2))
#t = Triangle(Point(2,0,4), Point(2,1,2), Point(2,-1,2))
#t = Triangle(Point(-3,0,4), Point(2,2,2), Point(2,-2,2))
t = Triangle(Point(-3,0,2.5), Point(3,0,2.5), Point(0,1,1.5))
print "t=", t
if False:
print "plane:"
(cl_p,ccp_p,cp_p,d_p) = c.intersect_circle_plane(dir,t)
print "ccp=", ccp_p
print "cp=", cp_p
print "cl=", cl_p
print "d=", d_p
print "triangle:"
(cl_t,d_t) = c.intersect_circle_triangle(dir,t)
print "cl=", cl_t
print "d=", d_t
print "point:"
(cl_v,ccp_v,cp_v,d_v) = c.intersect_circle_point(dir,t.p1)
print "ccp=", ccp_v
print "cp=", cp_v
print "cl=", cl_v
print "d=", d_v
l = Line(t.p2,t.p3)
print "line:", l
(cl_l,ccp_l,cp_l,d_l) = c.intersect_circle_line(dir,l)
print "ccp=", ccp_l
print "cp=", cp_l
print "cl=", cl_l
print "d=", d_l
print "edge:", l
(cl_e,d_e) = c.intersect_circle_edge(dir,l)
print "cl=", cl_e
print "d=", d_e
print "piece:"
(cl,d) = c.intersect(dir,t)
print "cl=", cl
if False:
samples = 50
x0 = -5.0
x1 = +5.0
y0 = -5.0
y1 = +5.0
z = 10
dir = Point(0,0,-1)
pathlist = []
for i in range(0,samples):
x = x0 + i * ((x1-x0) / samples)
p = Path()
for j in range(0,samples):
y = y0 + j * ((y1-y0) / samples)
c.moveto(Point(x,y,z))
cl = c.drop(t)
if cl:
p.append(cl)
else:
p.append(Point(x,y,0))
pathlist.append(p)
c.moveto(Point(x0,y0,z))
ShowTestScene(t, c, pathlist)
if True:
samples = 50
layers = 10
x0 = -5.0
x1 = +5.0
y0 = -5.0
y1 = +5.0
z0 = 0
z1 = 4
dir = Point(1,0,0)
pathlist = []
for i in range(0, layers):
z = z1-i*float(z1-z0)/layers
for j in range(0,samples):
y = y0 + j * ((y1-y0) / samples)
p = Point(x0,y,z)
c.moveto(p)
(cl,l) = c.intersect(dir,t)
if cl:
p = Path()
#p.append(c.center)
#p.append(ccp)
#p.append(cp)
p.append(cl)
p.append(cl.sub(dir.mul(l)))
pathlist.append(p)
c.moveto(Point(x0,y0,z1))
ShowTestScene(t, c, pathlist)
Tests/DropCutterTest.py 0 → 100755
View file @ a8a1f8d3
#!/usr/bin/python
import sys
sys.path.insert(0,'.')
from pycam.Geometry import *
from pycam.Cutters.SphericalCutter import *
from pycam.Cutters.CylindricalCutter import *
from pycam.Cutters.ToroidalCutter import *
from pycam.Gui.Visualization import ShowTestScene
from pycam.Importers.TestModel import TestModel
from pycam.PathGenerators.DropCutter import DropCutter
from pycam.Exporters.SimpleGCodeExporter import SimpleGCodeExporter
if __name__ == "__main__":
c = SphericalCutter(1, Point(0,0,7))
#c = CylindricalCutter(1, Point(0,0,7))
#c = ToroidalCutter(1, 0.25, Point(0,0,7))
print "c=", c
model = TestModel()
if True:
samples = 20
lines = 20
x0 = -7.0
x1 = +7.0
y0 = -7.0
y1 = +7.0
z0 = 0
z1 = 4
dx = (x1-x0)/samples
dy = (y1-y0)/lines
pg = DropCutter(c, model)
pathlist = pg.GenerateToolPath(x0, x1, y0, y1, z0, z1, dx, dy)
g = SimpleGCodeExporter("cutter2.nc", z1)
g.AddPathList(pathlist)
g.close()
ShowTestScene(model, c, pathlist)
Tests/MGEDExporterTest.py 0 → 100755
View file @ a8a1f8d3
#!/usr/bin/python
import sys
sys.path.insert(0,'.')
from pycam.Exporters.MGEDExporter import MGEDExporter
from pycam.Importers.TestModel import TestModel
model = TestModel()
file = MGEDExporter("TestModel.txt")
file.AddModel(model)
file.close()
Tests/PolygonExtractorTest.py 0 → 100755
View file @ a8a1f8d3
#!/usr/bin/python
import sys
sys.path.insert(0,'.')
from pycam.Geometry.PolygonExtractor import *
import sys
print ""
col = [ 0xff0000, 0x00ff00, 0x0000ff, 0x00ffff, 0xff00ff, 0xffff00,
0x007f3f, 0x3f007f, 0x7f3f00, 0x3f7f00, 0x003f7f, 0x7f003f ]
def r(x):
return ((col[(x)%12]>>16)&0xff)
def g(x):
return ((col[(x)%12]>> 8)&0xff)
def b(x):
return ((col[(x)%12]>> 0)&0xff)
def test_image(image):
pe = PolygonExtractor(policy=PolygonExtractor.CONTOUR)
h = len(image)
w = len(image[0])
for dir in [0, 1]:
pe.new_direction(dir)
imax = 0
jmax = 0
if dir==0:
imax=w
jmax=h
else:
imax=h
jmax=w
for j in range(0,jmax):
pe.new_scanline()
x=0
y=0
if (dir==0):
x = 0
y = j
else:
x = j
y = 0
c = image[y][x]
for i in range(0,imax):
if dir==0:
x = i
else:
y = i
if image[y][x] != c:
if dir==0:
pe.append(Point(x-0.5,y, 0))
else:
pe.append(Point(x,y-0.5, 0))
c = image[y][x]
pe.end_scanline()
pe.end_direction()
pe.finish()
# w = int(w*1.5)
# h = int(h*2)
fg = 0xae
bg = 0xfe
for dir in [0,1,2]:
screen = []
for i in range(0,h):
screen.append([])
for j in range(0,w):
screen[i].append([bg,bg,bg])
path_list = None
if dir == 0:
path_list = pe.hor_path_list
elif dir == 1:
path_list = pe.ver_path_list
else:
if hasattr(pe, "merge_path_list"):
path_list = pe.merge_path_list
else:
path_list = []
for curr_path in path_list:
for point in curr_path.points:
x = (int)(point.x)
y = (int)(point.y)
screen[y][x][0] = r(curr_path.id);
screen[y][x][1] = g(curr_path.id);
screen[y][x][2] = b(curr_path.id);
if dir==0:
for i in range(x+1, w):
if screen[y][i][0] == bg:
screen[y][i][0] = fg
screen[y][i][1] = fg
screen[y][i][2] = fg
elif screen[y][i][0] == fg:
screen[y][i][0] = bg
screen[y][i][1] = bg
screen[y][i][2] = bg
else:
for i in range(y+1,h):
if screen[i][x][0] == bg:
screen[i][x][0] = fg
screen[i][x][1] = fg
screen[i][x][2] = fg
elif screen[i][x][0] == fg:
screen[i][x][0] = bg
screen[i][x][1] = bg
screen[i][x][2] = bg
l = "+"
for i in range(0, w):
l += "-"
l += "+"
print l
for j in range(0, h):
l = "|"
for i in range(0, w):
if (screen[j][i][0] == bg):
l += " "
elif (screen[j][i][0] == fg):
l += "."
else:
l += "*"
l += "|"
print l
l = "+"
for i in range(0,w):
l += "-"
l += "+"
print l
filename = None
if dir==0:
filename = "polygon_h.svg"
elif dir==1:
filename = "polygon_v.svg"
else:
filename = "polygon.svg"
f = open(filename,"w")
f.write("<?xml version='1.0'?>\n")
f.write("<svg")
f.write(" xmlns='http://www.w3.org/2000/svg'")
f.write(" width='%f'" % (10+(w)*30))
f.write(" height='%f'" % (10+(h)*30))
f.write(">\n")
f.write("<g transform='translate(10,10)'>\n")
f.write("<g transform='scale(20)'>\n")
for winding in range(0,10):
f.write("<g ")
if (pe.policy == PolygonExtractor.CONTOUR) and (winding&1)==0:
f.write(" fill='#ffffff'")
else:
f.write(" fill='#e0e0e0'")
f.write(" stroke-width='0.1'")
f.write(">\n")
s = ""
for path in path_list:
if path.winding!=winding:
continue
f.write("<path")
f.write(" stroke='#%02x%02x%02x'" %(r(path.id),g(path.id),b(path.id)))
f.write(" d='")
first = True
for point in path.points:
x = point.x
y = point.y;
s += "<text x='%g' y='%g' font-size='0.3' fill='#000000'>%d</text>\n" % (x, y, point.id)
if first:
first = False
f.write("M ")
else:
f.write(" L ")
f.write("%g %g" % (x,y))
f.write(" z'/>\n")
f.write(s)
f.write("</g>\n")
f.write("<g font-size='0.3' fill='#000000' opacity='0.5'>\n")
for j in range(0,h):
for i in range(0,w):
c = image[j][i]
if c != ' ':
f.write("<text x='%g' y='%g'>%c</text>\n" % (i*1.0,j*1.0,c))
f.write("</g>\n")
f.write("</g>\n")
f.write("</g>\n")
f.write("</svg>\n")
if __name__ == "__main__":
test = 0
if len(sys.argv)>1:
test = int(sys.argv[1])
if (test==0):
image = [
" ",
" ** ",
" **** ",
" ****** ",
" ****** ",
" **** ",
" ** ",
" ",
]
test_image(image)
if (test==1):
image = [
" ",
" ****** ",
" *** ***** ",
" ** ***** ",
" *** ",
" ",
]
test_image(image)
if (test==2):
image = [
" ",
" *** ",
" ***** ** ",
" ***** *** ",
" ***** ",
" ",
]
test_image(image)
if (test==3):
image = [
" ",
" ******* ",
" ********* ",
" *** *** *** ",
" ** *** ** ",
" ",
" ",
]
test_image(image)
if (test==4):
image = [
" ",
" ** *** ** ",
" *** *** *** ",
" ********* ",
" ******* ",
" ",
" ",
]
test_image(image)
if (test==5):
image = [
" ",
" ******* ",
" ********* ",
" *** *** *** ",
" ** *** ** ",
" *** *** *** ",
" ********* ",
" ******* ",
" ",
" ",
]
test_image(image)
if (test==6):
image = [
" ",
" ******* ",
" ********* ",
" *** *** *** ",
" ********* ",
" ******* ",
" ",
" ",
]
test_image(image)
if (test==7):
image = [
" ",
" *********** ",
" ***** ***** ",
" ** ***** ** ",
" *********** ",
" ",
" ",
]
test_image(image)
if (test==8):
image = [
" ",
" *********** ",
" ** ** ",
" ** ***** ** ",
" ** *** *** ** ",
" ** ** ** ** ",
" ** *** *** ** ",
" ** ***** ** ",
" ** ** ",
" *********** ",
" ",
" ",
]
test_image(image)
if (test==10):
image = [
" ",
" ******************** ",
" **************************** ",
" ************ ************ ",
" ***** ******** ********* ******* ",
" ************** ***** ****** ",
" ******************** ******* ",
" *********************** ",
" "
]
test_image(image)
if (test==11):
image = [
" ",
" ********************************************** ",
" ****** *** *** *** *** *** *** ******* ",
" ***** * * * * * * ****** ",
" ****** *** *** *** *** *** *** ******* ",
" ********************************************** ",
" "
]
test_image(image)
Tests/PushCutterTest.py 0 → 100755
View file @ a8a1f8d3
#!/usr/bin/python
import sys
sys.path.insert(0,'.')
from pycam.Geometry import *
from pycam.Cutters.SphericalCutter import *
from pycam.Cutters.CylindricalCutter import *
from pycam.Cutters.ToroidalCutter import *
from pycam.Gui.Visualization import ShowTestScene
from pycam.Importers import STLImporter
from pycam.PathGenerators.PushCutter import PushCutter
from pycam.PathProcessors import *
from pycam.Exporters.SimpleGCodeExporter import SimpleGCodeExporter
if __name__ == "__main__":
c = SphericalCutter(0.1, Point(0,0,7))
#c = CylindricalCutter(1, Point(0,0,7))
#c = ToroidalCutter(1, 0.25, Point(0,0,7))
print "c=", c
#model = TestModel()
#model = STLImporter.ImportModel("Samples/STL/Box0.stl")
#model = STLImporter.ImportModel("Samples/STL/Box1.stl")
model = STLImporter.ImportModel("Samples/STL/Box0+1.stl")
#model = Model()
#model.append(Triangle(Point(0,0,0),Point(0,5,4),Point(0,-5,4)))
#model.append(Triangle(Point(2,0,0),Point(2,-5,4),Point(2,5,4)))
if True:
lines = 20
layers = 4
x0 = -7.0
x1 = +7.0
y0 = -7.0
y1 = +7.0
z0 = 2.0
z1 = 4.0
pc = PushCutter(c, model, SimpleCutter())
#pc = PushCutter(c, model, ZigZagCutter())
#pc = PushCutter(c, model, PolygonCutter())
dx = 0
if lines>1:
dy = float(y1-y0)/(lines-1)
else:
dy = INFINITE
if layers>1:
dz = float(z1-z0)/(layers-1)
else:
dz = INFINITE
pathlist = pc.GenerateToolPath(x0,x1,y0,y1,z0,z1,dx,dy,dz)
c.moveto(Point(x0,y0,z0))
ShowTestScene(model, c, pathlist)
Tests/STLImporterTest.py 0 → 100755
View file @ a8a1f8d3
#!/usr/bin/python
import sys
sys.path.insert(0,'.')
from pycam.Importers import STLImporter
from pycam.Gui.Visualization import ShowTestScene
model = STLImporter.ImportModel("Samples/STL/SampleScene.stl")
ShowTestScene(model)
Tests/SphericalCutterTest.py 0 → 100755
View file @ a8a1f8d3
#!/usr/bin/python
import sys
sys.path.insert(0,'.')
import math
from pycam.Geometry import *
from pycam.Cutters.SphericalCutter import *
from pycam.Gui.Visualization import ShowTestScene
if __name__ == "__main__":
if False:
cutter = SphericalCutter(1, Point(-10,0.5,0))
edge = Line(Point(0,0,-10),Point(0,0,10))
dir = Point(1,0,0)
print "cutter=", cutter
print "edge=", edge
print "dir=", dir
(cl,ccp,cp,d) = cutter.intersect_sphere_line(dir, edge)
print "cp=", cp
print "ccp=", ccp
print "d=", d
print "cl=", cl
exit()
if False:
cutter = SphericalCutter(1, Point(-10,0,0))
edge = Line(Point(0,-5,1),Point(3,+5,1))
dir = Point(1,-0.2,0)
print "cutter=", cutter
print "edge=", edge
print "dir=", dir
(cl,ccp,cp,d) = cutter.intersect_cylinder_line(dir, edge)
print "cp=", cp
print "ccp=", ccp
print "d=", d
print "cl=", cl
dir = Point(0,0,-1)
c = SphericalCutter(1, Point(0,0,6))
#c = SphericalCutter(1, Point(-2.2,0.2,6))
#c = SphericalCutter(1, Point(-1.7,0.5,6))
print "c=", c
t = Triangle(Point(-2,0,2), Point(2,1,3), Point(2,-1,4))
#t = Triangle(Point(-2,0,2), Point(2,-1,4), Point(2,1,3))
#t = Triangle(Point(2,0,4), Point(2,-1,2), Point(2,1,2))
print "t=", t
if False:
(cl_p,ccp_p,cp_p,d_p) = c.intersect_sphere_plane(dir,t)
print "ccp=", ccp_p
print "cp=", cp_p
print "cl=", cl_p
print "d=", d_p
(cl_v,ccp_v,cp_v,d_v) = c.intersect_sphere_point(dir,t.p1)
print "ccp=", ccp_v
print "cp=", cp_v
print "cl=", cl_v
print "d=", d_v
(cl_e,ccp_e,cp_e,d_e) = c.intersect_sphere_line(dir,Line(t.p1,t.p2))
print "ccp=", ccp_e
print "cp=", cp_e
print "cl=", cl_e
print "d=", d_e
(cl,d) = c.intersect(dir,t)
print "cl=", cl
if False:
samples = 50
x0 = -5.0
x1 = +5.0
y0 = -5.0
y1 = +5.0
z = 10
pathlist = []
for i in range(0,samples):
x = x0 + i * ((x1-x0) / samples)
p = Path()
for j in range(0,samples):
y = y0 + j * ((y1-y0) / samples)
c.moveto(Point(x,y,z))
cl = c.drop(t)
if cl:
p.append(cl)
else:
p.append(Point(x,y,0))
pathlist.append(p)
c.moveto(Point(x0,y0,z))
ShowTestScene(t, c, pathlist)
if True:
samples = 50
layers = 10
x0 = -5.0
x1 = +5.0
y0 = -3.0
y1 = +3.0
z0 = 0
z1 = 3
dir = Point(1,0,0)
pathlist = []
for i in range(0, layers):
z = z1-i*float(z1-z0)/layers
for j in range(0,samples):
y = y0 + j * ((y1-y0) / samples)
c.moveto(Point(x0,y,z))
(cl,l) = c.intersect(dir,t)
if cl:
p = Path()
#p.append(c.center)
#p.append(ccp)
#p.append(cp)
p.append(cl)
p.append(cl.sub(dir.mul(l)))
pathlist.append(p)
c.moveto(Point(x0,y0,z))
ShowTestScene(t, c, pathlist)
Tests/ToroidalCutterTest.py 0 → 100755
View file @ a8a1f8d3
#!/usr/bin/python
import sys
sys.path.insert(0,'.')
from pycam.Geometry import *
from pycam.Cutters.ToroidalCutter import *
from pycam.Gui.Visualization import ShowTestScene
import math
if __name__ == "__main__":
if False:
cutter = ToroidalCutter(1, 0.25, Point(-10,0.5,0))
edge = Line(Point(0,0,-10),Point(0,0,10))
dir = Point(1,0,0)
print "cutter=", cutter
print "edge=", edge
print "dir=", dir
(cl,ccp,cp,d) = cutter.intersect_sphere_line(dir, edge)
print "cp=", cp
print "ccp=", ccp
print "d=", d
print "cl=", cl
exit()
if False:
cutter = ToroidalCutter(1, 0.25, Point(-10,0,0))
edge = Line(Point(0,-5,1),Point(3,+5,1))
dir = Point(1,-0.2,0)
print "cutter=", cutter
print "edge=", edge
print "dir=", dir
(cl,ccp,cp,d) = cutter.intersect_cylinder_line(dir, edge)
print "cp=", cp
print "ccp=", ccp
print "d=", d
print "cl=", cl
#dir = Point(0,0,-1)
#c = ToroidalCutter(1, 0.25, Point(0,0,6))
#c = ToroidalCutter(1, 0.25, Point(-2.2,0.2,6))
#c = ToroidalCutter(1, 0.25, Point(-1.7,0.5,6))
dir = Point(1,0,0)
c = ToroidalCutter(1, 0.25, Point(-10,0.1,1.9))
print "c=", c
t = Triangle(Point(-2,0,2), Point(2,1,3), Point(2,-1,4))
print "t=", t
if False:
if False:
(cl_p,ccp_p,cp_p,d_p) = c.intersect_torus_plane(dir,t)
print "ccp=", ccp_p
print "cp=", cp_p
print "cl=", cl_p
print "d=", d_p
if False:
p = t.p1
(cl_v,ccp_v,cp_v,d_v) = c.intersect_torus_point(dir,p)
print "ccp=", ccp_v
print "cp=", cp_v
print "cl=", cl_v
print "d=", d_v
if False:
e = Line(t.p1,t.p2)
(cl_e,ccp_e,cp_e,d_e) = c.intersect_torus_line(dir,e)
print "ccp=", ccp_e
print "cp=", cp_e
print "cl=", cl_e
print "d=", d_e
if False:
(cl,d) = c.intersect(dir,t)
print "cl=", cl
if False:
samples = 50
x0 = -5.0
x1 = +5.0
y0 = -5.0
y1 = +5.0
z = 10
pathlist = []
for i in range(0,samples):
x = x0 + i * ((x1-x0) / samples)
p = Path()
for j in range(0,samples):
y = y0 + j * ((y1-y0) / samples)
c.moveto(Point(x,y,z))
cl = c.drop(t)
if cl:
p.append(cl)
else:
p.append(Point(x,y,0))
pathlist.append(p)
c.moveto(Point(x0,y0,z))
ShowTestScene(t, c, pathlist)
if True:
samples = 100
layers = 10
x0 = -5.0
x1 = +5.0
y0 = -5.0
y1 = +5.0
z0 = 0
z1 = 3
dir = Point(1,0,0)
pathlist = []
for i in range(0, layers):
z = z1-i*float(z1-z0)/layers
for j in range(0,samples):
y = y0 + j * ((y1-y0) / samples)
c.moveto(Point(x0,y,z))
(cl,l) = c.intersect(dir,t)
if cl:
p = Path()
#p.append(c.center)
#p.append(ccp)
#p.append(cp)
p.append(cl)
p.append(cl.sub(dir.mul(l)))
pathlist.append(p)
c.moveto(Point(x0,y0,z))
ShowTestScene(t, c, pathlist)
Tests/TriangleKdtreeTest.py 0 → 100755
View file @ a8a1f8d3
#!/usr/bin/python
import sys
sys.path.insert(0,'.')
from pycam.Geometry.TriangleKdtree import *
from pycam.Geometry.Model import Model
from pycam.Importers.TestModel import TestModel
def comb_tomged(f, triangles, name, color):
comb = ""
for t in triangles:
comb += " u triangle%d" % t.id
if len(comb)>512:
f.write("comb "+name+comb+"\n")
comb = ""
if len(comb)>0:
f.write("comb "+name+comb+"\n")
f.write("mater " + name + " del " + color + " 1\n")
print "# get model"
testmodel = TestModel()
print "# subdivide"
model = testmodel.subdivide(5)
print "# build kdtree"
kdtree = BuildKdtree2d(model.triangles(), 2, 0.1)
#print "#kdtree=",kdtree
x = 2
y = 2
r = 0.1
minx = x-r
miny = y-r
maxx = x+r
maxy = y+r
print "# query kdtree"
ResetKdtree2dStats(False)
tests = SearchKdtree2d(kdtree, minx, maxx, miny, maxy)
print "# query kdtree"
ResetKdtree2dStats(True)
hits = SearchKdtree2d(kdtree, minx, maxx, miny, maxy)
#print "# hits=%d / tests=%d" % GetKdtree2dStats(), "/ triangles=%d" % len(model.triangles())
print "# hits=%d " % len(hits), "/ tests=%d" % len(tests), "/ triangles=%d" % len(model.triangles())
print "# write mged"
f = file("test.txt","w")
f.write("in query.s arb8 %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\n" %
(minx, miny, 0, maxx, miny, 0, minx, maxy, 0, maxx, maxy, 0, minx, miny, 10, maxx, miny, 10, minx, maxy, 10, maxx, maxy, 10))
f.write("comb query.c u query.s\n")
f.write("mater query.c del 255 255 255 0\n")
if False:
for t in model.triangles():
f.write(t.to_mged())
comb_tomged(f, model.triangles(), "model.c", "255 0 0")
else:
for t in tests:
f.write(t.to_mged())
comb_tomged(f, tests, "tests.c", "0 255 0")
comb_tomged(f, hits, "hits.c", "0 0 255")
#print kdtree
#f.write(kdtree.to_mged(-7,-7,7,7))
f.write(SearchKdtree2d_mged(kdtree, minx, maxx, miny, maxy,-7,-7,+7,+7))
f.close()
Tests/TriangleTest.py 0 → 100755
View file @ a8a1f8d3
#!/usr/bin/python
import sys
sys.path.insert(0,'.')
import math
from pycam.Geometry import *
if __name__ == "__main__":
p1 = Point(1,0,0)
p2 = Point(0,1,0)
p3 = Point(0,0,1)
print "p1=" + str(p1);
print "p2=" + str(p2);
print "p3=" + str(p3);
print "p2-p1=" + str(p2.sub(p1))
print "p3-p2=" + str(p3.sub(p2))
print "p1-p3=" + str(p1.sub(p3))
print "p2.p1=" + str(p2.dot(p1))
print "p3.p2=" + str(p3.dot(p2))
print "p1.p3=" + str(p1.dot(p3))
print "p1xp2=" + str(p1.cross(p2))
print "p2xp3=" + str(p2.cross(p3))
print "p3xp1=" + str(p3.cross(p1))
t = Triangle(p1,p2,p3)
print t
t.calc_circumcircle()
print "circ(t) = %s@%s" % (t.radius,t.center())
f = file("triangle0.txt","w")
f.write(t.to_mged(sphere=True))
f.close()
Tests/VisualizationTest.py 0 → 100755
View file @ a8a1f8d3
#!/usr/bin/python
import sys
sys.path.insert(0,'.')
from pycam.Gui.Visualization import Visualization
from pycam.Importers.TestModel import TestModel
model = TestModel()
def DrawScene():
model.to_OpenGL()
Visualization("VisualizationTest", DrawScene)
pycam.py 0 → 100755
View file @ a8a1f8d3
import sys
import os
sys.path.insert(0, os.path.join(sys.prefix, "PyOpenGL-3.0.0b5-py2.5.egg"))
sys.path.insert(0, os.path.join(sys.prefix, "setuptools-0.6c8-py2.5.egg"))
from pycam.Gui.SimpleGui import SimpleGui
from pycam.Importers.TestModel import TestModel
gui = SimpleGui()
gui.model = TestModel()
gui.mainloop()
pycam/Cutters/BaseCutter.py 0 → 100755
View file @ a8a1f8d3
import pycam.Geometry
from pycam.Geometry import *
from pycam.Geometry.utils import *
from pycam.Geometry.utils import *
from math import sqrt
class BaseCutter:
id = 0
def __init__(self, location, radius):
self.location = location
self.id = BaseCutter.id
BaseCutter.id += 1
self.radius = radius
self.radiussq = radius*radius
self.minx = location.x-radius
self.maxx = location.x+radius
self.miny = location.y-radius
self.maxy = location.y+radius
def __repr__(self):
return "BaseCutter"
def to_mged(self):
return ""
def moveto(self, location):
self.location = location
self.minx = location.x-self.radius
self.maxx = location.x+self.radius
self.miny = location.y-self.radius
self.maxy = location.y+self.radius
def intersect(self, direction, triangle):
return (None, None, None, INFINITE)
def drop(self, triangle):
# check bounding box collision
if self.minx > triangle.maxx():
return None
if self.maxx < triangle.minx():
return None
if self.miny > triangle.maxy():
return None
if self.maxy < triangle.miny():
return None
# check bounding sphere collision
c = triangle.center()
if sqr(c.x-self.location.x)+sqr(c.y-self.location.y)>self.radiussq+self.radius*triangle.radius()+triangle.radiussq():
return None
(cl,d)= self.intersect(Point(0,0,-1), triangle)
return cl
def push(self, dx, dy, triangle):
# check bounding box collision
if dx == 0:
if self.miny > triangle.maxy():
return None
if self.maxy < triangle.miny():
return None
if dy == 0:
if self.minx > triangle.maxx():
return None
if self.maxx < triangle.minx():
return None
if triangle.maxz()<self.location.z:
return None
# check bounding sphere collision
c = triangle.center()
d = (c.x-self.location.x)*dy-(c.y-self.location.y)*dx
t = self.radius + triangle.radius()
if d < -t or d > t:
return None
(cl,d)= self.intersect(Point(dx,dy,0), triangle)
return cl
pycam/Cutters/CylindricalCutter.py 0 → 100755
View file @ a8a1f8d3
import pycam.Geometry
from pycam.Geometry import *
from pycam.Geometry.utils import *
from pycam.Geometry.intersection import *
from pycam.Cutters.BaseCutter import BaseCutter
from math import sqrt
try:
from OpenGL.GL import *
from OpenGL.GLU import *
from OpenGL.GLUT import *
except:
pass
class CylindricalCutter(BaseCutter):
def __init__(self, radius, location=Point(0,0,0), height=10):
BaseCutter.__init__(self, location, radius)
self.height = height
self.axis = Point(0,0,1)
self.center = location
def __repr__(self):
return "CylindricalCutter<%s,%s>" % (self.location,self.radius)
def to_mged(self):
s = ""
s += "in cutter%d_cyl.s rcc"% (self.id)
s += " %f %f %f 0 0 %f %f" % (self.location.x, self.location.y, self.location.z, self.height, self.radius)
s += "\n"
s += "comb cutter%d_cyl.c u cutter%d_cyl.s\n" % (self.id, self.id)
s += "r cutter%d.r u cutter%d_cyl.c\n" % (self.id, self.id)
return s
def to_OpenGL(self):
glPushMatrix()
glTranslate(self.center.x, self.center.y, self.center.z)
if not hasattr(self,"_cylinder"):
self._cylinder = gluNewQuadric()
gluCylinder(self._cylinder, self.radius, self.radius, self.height, 10, 10)
if not hasattr(self,"_disk"):
self._disk = gluNewQuadric()
gluDisk(self._disk, 0, self.radius, 10, 10)
glPopMatrix()
def moveto(self, location):
BaseCutter.moveto(self, location)
self.center = location
def intersect_circle_plane(self, direction, triangle):
(ccp,cp,d) = intersect_circle_plane(self.center, self.radius, direction, triangle)
if ccp:
cl = cp.add(self.location.sub(ccp))
return (cl,ccp,cp,d)
return (None, None, None, INFINITE)
def intersect_circle_triangle(self, direction, triangle):
(cl,ccp,cp,d) = self.intersect_circle_plane(direction, triangle)
if cp and triangle.point_inside(cp):
return (cl,d)
return (None,INFINITE)
def intersect_circle_point(self, direction, point):
(ccp,cp,l) = intersect_circle_point(self.center, self.axis, self.radius, self.radiussq, direction, point)
if ccp:
cl = cp.add(self.location.sub(ccp))
return (cl,ccp,cp,l)
return (None,None,None,INFINITE)
def intersect_circle_vertex(self, direction, point):
(cl,ccp,cp,l) = self.intersect_circle_point(direction, point)
return (cl,l)
def intersect_circle_line(self, direction, edge):
(ccp,cp,l) = intersect_circle_line(self.center, self.axis, self.radius, self.radiussq, direction, edge)
if ccp:
cl = cp.add(self.location.sub(ccp))
return (cl,ccp,cp,l)
return (None,None,None,INFINITE)
def intersect_circle_edge(self, direction, edge):
(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():
return (None,INFINITE)
return (cl,l)
def intersect_cylinder_point(self, direction, point):
(ccp,cp,l) = intersect_cylinder_point(self.center, self.axis, self.radius, self.radiussq, direction, point)
# offset intersection
if ccp:
cl = cp.add(self.location.sub(ccp))
return (cl,ccp,cp,l)
return (None, None, None, INFINITE)
def intersect_cylinder_vertex(self, direction, point):
(cl,ccp,cp,l) = self.intersect_cylinder_point(direction, point)
if ccp and ccp.z < self.center.z:
return (None, INFINITE)
return (cl, l)
def intersect_cylinder_line(self, direction, edge):
(ccp,cp,l) = intersect_cylinder_line(self.center, self.axis, self.radius, self.radiussq, direction, edge)
# offset intersection
if ccp:
cl = cp.add(self.location.sub(ccp))
return (cl,ccp,cp,l)
return (None,None,None,INFINITE)
def intersect_cylinder_edge(self, direction, edge):
(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():
return (None,INFINITE)
if ccp.z<self.center.z:
return (None,INFINITE)
return (cl,l)
def intersect(self, direction, triangle):
(cl_t,d_t) = self.intersect_circle_triangle(direction, triangle)
(cl_p1,d_p1) = self.intersect_circle_vertex(direction, triangle.p1)
(cl_p2,d_p2) = self.intersect_circle_vertex(direction, triangle.p2)
(cl_p3,d_p3) = self.intersect_circle_vertex(direction, triangle.p3)
(cl_e1,d_e1) = self.intersect_circle_edge(direction, Line(triangle.p1,triangle.p2))
(cl_e2,d_e2) = self.intersect_circle_edge(direction, Line(triangle.p2,triangle.p3))
(cl_e3,d_e3) = self.intersect_circle_edge(direction, Line(triangle.p3,triangle.p1))
d = INFINITE
cl = None
if d_t < d:
d = d_t
cl = cl_t
if d_p1 < d:
d = d_p1
cl = cl_p1
if d_p2 < d:
d = d_p2
cl = cl_p2
if d_p3 < d:
d = d_p3
cl = cl_p3
if d_e1 < d:
d = d_e1
cl = cl_e1
if d_e2 < d:
d = d_e2
cl = cl_e2
if d_e3 < d:
d = d_e3
cl = cl_e3
if direction.x != 0 or direction.y != 0:
(cl_p1,d_p1) = self.intersect_cylinder_vertex(direction, triangle.p1)
(cl_p2,d_p2) = self.intersect_cylinder_vertex(direction, triangle.p2)
(cl_p3,d_p3) = self.intersect_cylinder_vertex(direction, triangle.p3)
(cl_e1,d_e1) = self.intersect_cylinder_edge(direction, Line(triangle.p1,triangle.p2))
(cl_e2,d_e2) = self.intersect_cylinder_edge(direction, Line(triangle.p2,triangle.p3))
(cl_e3,d_e3) = self.intersect_cylinder_edge(direction, Line(triangle.p3,triangle.p1))
if d_p1 < d:
d = d_p1
cl = cl_p1
if d_p2 < d:
d = d_p2
cl = cl_p2
if d_p3 < d:
d = d_p3
cl = cl_p3
if d_e1 < d:
d = d_e1
cl = cl_e1
if d_e2 < d:
d = d_e2
cl = cl_e2
if d_e3 < d:
d = d_e3
cl = cl_e3
return (cl,d)
pycam/Cutters/SphericalCutter.py 0 → 100755
View file @ a8a1f8d3
import pycam.Geometry
from pycam.Geometry import *
from pycam.Geometry.utils import *
from pycam.Geometry.intersection import *
from pycam.Cutters.BaseCutter import BaseCutter
from math import sqrt
try:
from OpenGL.GL import *
from OpenGL.GLU import *
from OpenGL.GLUT import *
except:
pass
class SphericalCutter(BaseCutter):
def __init__(self, radius, location=Point(0,0,0), height=10):
BaseCutter.__init__(self, location, radius)
self.height = height
self.axis = Point(0,0,1)
self.center = Point(location.x, location.y, location.z+radius)
def __repr__(self):
return "SphericalCutter<%s,%s>" % (self.location,self.radius)
def to_mged(self):
s = ""
s += "in cutter%d_sph.s sph" % (self.id)
s += " %f %f %f %f" % (self.center.x, self.center.y, self.center.z, self.radius)
s += "\n"
s += "in cutter%d_cyl.s rcc"% (self.id)
s += " %f %f %f 0 0 %f %f" % (self.center.x, self.center.y, self.center.z, self.height, self.radius)
s += "\n"
s += "comb cutter%d_sph.c u cutter%d_sph.s\n" % (self.id, self.id)
s += "comb cutter%d_cyl.c u cutter%d_cyl.s - cutter%d_sph.s\n" % (self.id, self.id, self.id)
s += "r cutter%d.r u cutter%d_cyl.c u cutter%d_sph.c\n" % (self.id, self.id, self.id)
return s
def to_OpenGL(self):
glPushMatrix()
glTranslate(self.center.x, self.center.y, self.center.z)
if not hasattr(self,"_sphere"):
self._sphere = gluNewQuadric()
gluSphere(self._sphere, self.radius, 10, 10)
if not hasattr(self,"_cylinder"):
self._cylinder = gluNewQuadric()
gluCylinder(self._cylinder, self.radius, self.radius, self.height, 10, 10)
glPopMatrix()
def moveto(self, location):
BaseCutter.moveto(self, location)
self.center = Point(location.x, location.y, location.z+self.radius)
def intersect_sphere_plane(self, direction, triangle):
(ccp,cp,d) = intersect_sphere_plane(self.center, self.radius, direction, triangle)
# offset intersection
if ccp:
cl = cp.add(self.location.sub(ccp))
return (cl,ccp,cp,d)
return (None, None, None, INFINITE)
def intersect_sphere_triangle(self, direction, triangle):
(cl,ccp,cp,d) = self.intersect_sphere_plane(direction, triangle)
if cp and triangle.point_inside(cp):
return (cl,d)
return (None,INFINITE)
def intersect_sphere_point(self, direction, point):
(ccp,cp,l) = intersect_sphere_point(self.center, self.radius, self.radiussq, direction, point)
# offset intersection
cl = self.location.add(direction.mul(l))
return (cl,ccp,cp,l)
def intersect_sphere_vertex(self, direction, point):
(cl,ccp,cp,l) = self.intersect_sphere_point(direction, point)
return (cl,l)
def intersect_sphere_line(self, direction, edge):
(ccp,cp,l) = intersect_sphere_line(self.center, self.radius, self.radiussq, direction, edge)
# offset intersection
if ccp:
cl = cp.sub(ccp.sub(self.location))
return (cl,ccp,cp,l)
return (None, None, None, INFINITE)
def intersect_sphere_edge(self, direction, edge):
(cl,ccp,cp,l) = self.intersect_sphere_line(direction, edge)
if cp:
# 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():
return (None,INFINITE)
return (cl,l)
def intersect_cylinder_point(self, direction, point):
(ccp,cp,l)=intersect_cylinder_point(self.center, self.axis, self.radius, self.radiussq, direction, point)
# offset intersection
if ccp:
cl = cp.add(self.location.sub(ccp))
return (cl,ccp,cp,l)
return (None,None,None,INFINITE)
def intersect_cylinder_vertex(self, direction, point):
(cl,ccp,cp,l) = self.intersect_cylinder_point(direction, point)
if ccp and ccp.z < self.center.z:
return (None, INFINITE)
return (cl, l)
def intersect_cylinder_line(self, direction, edge):
(ccp,cp,l) = intersect_cylinder_line(self.center, self.axis, self.radius, self.radiussq, direction, edge)
# offset intersection
if ccp:
cl = self.location.add(cp.sub(ccp))
return (cl,ccp,cp,l)
return (None,None,None,INFINITE)
def intersect_cylinder_edge(self, direction, edge):
(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():
return (None,INFINITE)
if ccp.z<self.center.z:
return (None,INFINITE)
return (cl,l)
def intersect(self, direction, triangle):
(cl_t,d_t) = self.intersect_sphere_triangle(direction, triangle)
(cl_p1,d_p1) = self.intersect_sphere_vertex(direction, triangle.p1)
(cl_p2,d_p2) = self.intersect_sphere_vertex(direction, triangle.p2)
(cl_p3,d_p3) = self.intersect_sphere_vertex(direction, triangle.p3)
(cl_e1,d_e1) = self.intersect_sphere_edge(direction, Line(triangle.p1,triangle.p2))
(cl_e2,d_e2) = self.intersect_sphere_edge(direction, Line(triangle.p2,triangle.p3))
(cl_e3,d_e3) = self.intersect_sphere_edge(direction, Line(triangle.p3,triangle.p1))
d = INFINITE
cl = None
if d_t < d:
d = d_t
cl = cl_t
if d_p1 < d:
d = d_p1
cl = cl_p1
if d_p2 < d:
d = d_p2
cl = cl_p2
if d_p3 < d:
d = d_p3
cl = cl_p3
if d_e1 < d:
d = d_e1
cl = cl_e1
if d_e2 < d:
d = d_e2
cl = cl_e2
if d_e3 < d:
d = d_e3
cl = cl_e3
if direction.x != 0 or direction.y != 0:
(cl_p1,d_p1) = self.intersect_cylinder_vertex(direction, triangle.p1)
(cl_p2,d_p2) = self.intersect_cylinder_vertex(direction, triangle.p2)
(cl_p3,d_p3) = self.intersect_cylinder_vertex(direction, triangle.p3)
(cl_e1,d_e1) = self.intersect_cylinder_edge(direction, Line(triangle.p1,triangle.p2))
(cl_e2,d_e2) = self.intersect_cylinder_edge(direction, Line(triangle.p2,triangle.p3))
(cl_e3,d_e3) = self.intersect_cylinder_edge(direction, Line(triangle.p1,triangle.p3))
if d_p1 < d:
d = d_p1
cl = cl_p1
if d_p2 < d:
d = d_p2
cl = cl_p2
if d_p3 < d:
d = d_p3
cl = cl_p3
if d_e1 < d:
d = d_e1
cl = cl_e1
if d_e2 < d:
d = d_e2
cl = cl_e2
if d_e3 < d:
d = d_e3
cl = cl_e3
return (cl,d)
def drop_bis(self, triangle):
n = triangle.normal()
if abs(n.dot(self.axis))<epsilon:
d = triangle.p1.sub(self.center).dot(n)
if abs(d)>= self.radius-epsilon:
return None
(cl,d)= self.intersect(Point(0,0,-1), triangle)
return cl
pycam/Cutters/ToroidalCutter.py 0 → 100755
View file @ a8a1f8d3
import pycam.Geometry
from pycam.Geometry import *
from pycam.Geometry.utils import *
from pycam.Geometry.intersection import *
from pycam.Cutters.BaseCutter import BaseCutter
from math import sqrt
try:
from OpenGL.GL import *
from OpenGL.GLU import *
from OpenGL.GLUT import *
except:
pass
class ToroidalCutter(BaseCutter):
def __init__(self, radius, minorradius, location=Point(0,0,0), height=10):
BaseCutter.__init__(self, location, radius)
self.majorradius = radius-minorradius
self.minorradius = minorradius
self.height = height
self.axis = Point(0,0,1)
self.center = Point(location.x, location.y, location.z+minorradius)
self.majorradiussq = sqr(self.majorradius)
self.minorradiussq = sqr(self.minorradius)
def __repr__(self):
return "ToroidalCutter<%s,%f,R=%f,r=%f>" % (self.location,self.radius,self.majorradius,self.minorradius)
def to_mged(self):
s = ""
s += "in cutter%d_tor.s tor" % (self.id)
s += " %f %f %f" % (self.center.x, self.center.y, self.center.z)
s += " %f %f %f" % (0, 0, 1)
s += " %f %f" % (self.majorradius, self.minorradius)
s += "\n"
s += "in cutter%d_cyl.s rcc"% (self.id)
s += " %f %f %f 0 0 %f %f" % (self.center.x, self.center.y, self.center.z, self.height, self.radius)
s += "\n"
s += "in cutter%d_bot.s rcc"% (self.id)
s += " %f %f %f 0 0 %f %f" % (self.center.x, self.center.y, self.center.z, -self.minorradius, self.majorradius)
s += "\n"
s += "comb cutter%d_tor.c u cutter%d_tor.s - cutter%d_cyl.s - cutter%d_bot.s\n" % (self.id, self.id, self.id, self.id)
s += "comb cutter%d_cyl.c u cutter%d_cyl.s\n" % (self.id, self.id)
s += "comb cutter%d_bot.c u cutter%d_bot.s\n" % (self.id, self.id)
s += "r cutter%d.r u cutter%d_tor.c u cutter%d_cyl.c u cutter%d_bot.c\n" % (self.id, self.id, self.id, self.id)
return s
def to_OpenGL(self):
glPushMatrix()
glTranslate(self.center.x, self.center.y, self.center.z)
glutSolidTorus(self.majorradius, self.minorradius, 20, 10)
if not hasattr(self,"_cylinder"):
self._cylinder = gluNewQuadric()
gluCylinder(self._cylinder, self.radius, self.radius, self.height, 20, 10)
glPopMatrix()
glPushMatrix()
glTranslate(self.location.x, self.location.y, self.location.z)
if not hasattr(self,"_disk"):
self._disk = gluNewQuadric()
gluDisk(self._disk, 0, self.majorradius, 20, 10)
glPopMatrix()
def moveto(self, location):
BaseCutter.moveto(self, location)
self.center = Point(location.x, location.y, location.z+self.minorradius)
def intersect_torus_plane(self, direction, triangle):
(ccp,cp,l) = intersect_torus_plane(self.center, self.axis, self.majorradius, self.minorradius, direction, triangle)
if cp:
cl = cp.add(self.location.sub(ccp))
return (cl,ccp,cp,l)
return (None, None, None, INFINITE)
def intersect_torus_triangle(self, direction, triangle):
(cl,ccp,cp,d) = self.intersect_torus_plane(direction, triangle)
if cp and triangle.point_inside(cp):
return (cl,d)
return (None,INFINITE)
def intersect_torus_point(self, direction, point):
(ccp,cp,l) = intersect_torus_point(self.center, self.axis, self.majorradius, self.minorradius, self.majorradiussq, self.minorradiussq, direction, point)
if ccp:
cl = point.add(self.location.sub(ccp))
return (cl, ccp, point, l)
return (None, None, None, INFINITE)
def intersect_torus_vertex(self, direction, point):
(cl,ccp,cp,l) = self.intersect_torus_point(direction, point)
return (cl,l)
def intersect_torus_edge(self, direction, edge): # TODO: calculate "optimal" scale = max(dir.dot(axis)/minor,dir.dot(dir.cross(axis).normalized())/major)
# "When in doubt, use brute force." Ken Thompson
min_m = 0
min_l = INFINITE
min_cl = None
scale = int(edge.len()/self.minorradius*2)
if scale<3:
scale = 3
for i in range(0,scale+1):
m = float(i)/(scale)
p = edge.point(m)
(cl,ccp,cp,l) = self.intersect_torus_point(direction, p)
if not cl:
continue
if l<min_l:
min_m = m
min_l = l
min_cl = cl
if min_l == INFINITE:
return (None, INFINITE)
scale2 = 10
for i in range(1,scale2+1):
m = min_m + ((float(i)/(scale2))*2-1)/scale
if m<0 or m>1:
continue
p = edge.point(m)
(cl,ccp,cp,l) = self.intersect_torus_point(direction, p)
if not cl:
continue
if l<min_l:
min_l = l
min_cl = cl
return (min_cl, min_l)
def intersect_cylinder_point(self, direction, point):
(ccp,cp,l) = intersect_cylinder_point(self.center, self.axis, self.radius, self.radiussq, direction, point)
# offset intersection
if ccp:
cl = self.location.add(direction.mul(l))
return (cl,ccp,cp,l)
return (None, None, None, INFINITE)
def intersect_cylinder_vertex(self, direction, point):
(cl,ccp,cp,l) = self.intersect_cylinder_point(direction, point)
if ccp and ccp.z < self.center.z:
return (None, INFINITE)
return (cl, l)
def intersect_cylinder_line(self, direction, edge):
(ccp,cp,l) = intersect_cylinder_line(self.center, self.axis, self.radius, self.radiussq, direction, edge)
# offset intersection
if ccp:
cl = self.location.add(cp.sub(ccp))
return (cl,ccp,cp,l)
return (None, None, None, INFINITE)
def intersect_cylinder_edge(self, direction, edge):
(cl,ccp,cp,l) = self.intersect_cylinder_line(direction, edge)
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():
return (None,INFINITE)
return (cl,l)
def intersect_circle_plane(self, direction, triangle):
(ccp,cp,l) = intersect_circle_plane(self.center, self.majorradius, direction, triangle)
# offset intersection
if ccp:
cl = cp.sub(ccp.sub(self.location))
return (cl,ccp,cp,l)
return (None, None, None, INFINITE)
def intersect_circle_triangle(self, direction, triangle):
(cl,ccp,cp,d) = self.intersect_circle_plane(direction, triangle)
if cp and triangle.point_inside(cp):
return (cl,d)
return (None,INFINITE)
def intersect_circle_point(self, direction, point):
(ccp, cp, l) = intersect_circle_point(self.location, self.axis, self.majorradius, self.majorradiussq, direction, point)
if ccp:
cl = cp.sub(ccp.sub(self.location))
return (cl,ccp,point,l)
return (None,None,None,INFINITE)
def intersect_circle_vertex(self, direction, point):
(cl,ccp,cp,l) = self.intersect_circle_point(direction, point)
return (cl,l)
def intersect_circle_line(self, direction, edge):
(ccp,cp,l) = intersect_circle_line(self.location, self.axis, self.majorradius, self.majorradiussq, direction, edge)
if ccp:
cl = cp.sub(ccp.sub(self.location))
return (cl,ccp,cp,l)
return (None, None, None, INFINITE)
def intersect_circle_edge(self, direction, edge):
(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():
return (None,INFINITE)
return (cl,l)
def intersect(self, direction, triangle):
(cl_t,d_t) = self.intersect_torus_triangle(direction, triangle)
(cl_p1,d_p1) = self.intersect_torus_vertex(direction, triangle.p1)
(cl_p2,d_p2) = self.intersect_torus_vertex(direction, triangle.p2)
(cl_p3,d_p3) = self.intersect_torus_vertex(direction, triangle.p3)
(cl_e1,d_e1) = self.intersect_torus_edge(direction, Line(triangle.p1,triangle.p2))
(cl_e2,d_e2) = self.intersect_torus_edge(direction, Line(triangle.p2,triangle.p3))
(cl_e3,d_e3) = self.intersect_torus_edge(direction, Line(triangle.p3,triangle.p1))
d = INFINITE
cl = None
if d_t < d:
d = d_t
cl = cl_t
if d_p1 < d:
d = d_p1
cl = cl_p1
if d_p2 < d:
d = d_p2
cl = cl_p2
if d_p3 < d:
d = d_p3
cl = cl_p3
if d_e1 < d:
d = d_e1
cl = cl_e1
if d_e2 < d:
d = d_e2
cl = cl_e2
if d_e3 < d:
d = d_e3
cl = cl_e3
(cl_t,d_t) = self.intersect_circle_triangle(direction, triangle)
(cl_p1,d_p1) = self.intersect_circle_vertex(direction, triangle.p1)
(cl_p2,d_p2) = self.intersect_circle_vertex(direction, triangle.p2)
(cl_p3,d_p3) = self.intersect_circle_vertex(direction, triangle.p3)
(cl_e1,d_e1) = self.intersect_circle_edge(direction, Line(triangle.p1,triangle.p2))
(cl_e2,d_e2) = self.intersect_circle_edge(direction, Line(triangle.p2,triangle.p3))
(cl_e3,d_e3) = self.intersect_circle_edge(direction, Line(triangle.p3,triangle.p1))
if d_t < d:
d = d_t
cl = cl_t
if d_p1 < d:
d = d_p1
cl = cl_p1
if d_p2 < d:
d = d_p2
cl = cl_p2
if d_p3 < d:
d = d_p3
cl = cl_p3
if d_e1 < d:
d = d_e1
cl = cl_e1
if d_e2 < d:
d = d_e2
cl = cl_e2
if d_e3 < d:
d = d_e3
cl = cl_e3
if direction.x != 0 or direction.y != 0:
(cl_p1,d_p1) = self.intersect_cylinder_vertex(direction, triangle.p1)
(cl_p2,d_p2) = self.intersect_cylinder_vertex(direction, triangle.p2)
(cl_p3,d_p3) = self.intersect_cylinder_vertex(direction, triangle.p3)
(cl_e1,d_e1) = self.intersect_cylinder_edge(direction, Line(triangle.p1,triangle.p2))
(cl_e2,d_e2) = self.intersect_cylinder_edge(direction, Line(triangle.p2,triangle.p3))
(cl_e3,d_e3) = self.intersect_cylinder_edge(direction, Line(triangle.p3,triangle.p1))
if d_p1 < d:
d = d_p1
cl = cl_p1
if d_p2 < d:
d = d_p2
cl = cl_p2
if d_p3 < d:
d = d_p3
cl = cl_p3
if d_e1 < d:
d = d_e1
cl = cl_e1
if d_e2 < d:
d = d_e2
cl = cl_e2
if d_e3 < d:
d = d_e3
cl = cl_e3
return (cl,d)
pycam/Cutters/__init__.py 0 → 100755
View file @ a8a1f8d3
list = [ "SphericalCutter", "CylindricalCutter", "ToroidalCutter" ]
__all__ = [ "BaseCutter" ] + list
from BaseCutter import BaseCutter
from SphericalCutter import SphericalCutter
from CylindricalCutter import CylindricalCutter
from ToroidalCutter import ToroidalCutter
pycam/Exporters/MGEDExporter.py 0 → 100755
View file @ a8a1f8d3
from pycam.Geometry import *
class MGEDExporter:
def __init__(self, filename):
self.file = file(filename,"w")
def close(self):
self.file.close()
def AddCutter(self, cutter):
self.file.write(cutter.to_mged())
def AddModel(self, model):
self.file.write(model.to_mged())
def AddPath(self, path):
prev = path.points[0]
for i in range(1, len(path.points)):
next = path.points[i]
self.file.write(Line(prev,next).to_mged())
prev = next
def AddPathList(self, pathlist):
for path in pathlist:
self.AddPath(path)
pycam/Exporters/SimpleGCodeExporter.py 0 → 100755
View file @ a8a1f8d3
from gcode import gcode
# simplistic GCode exporter
# does each run, and moves the tool to the safetyheight in between
class SimpleGCodeExporter:
def __init__(self, filename, safetyheight=7.0, homeheight=7.0):
self.file = file(filename,"w")
self.gcode = gcode(homeheight, safetyheight)
gc = self.gcode
self.file.write(gc.begin()+"\n")
self.file.write(gc.safety()+"\n")
def close(self):
gc = self.gcode
self.file.write(gc.safety()+"\n")
self.file.write(gc.end()+"\n")
self.file.close()
def AddPath(self, path):
gc = self.gcode
point = path.points[0]
self.file.write(gc.rapid(point.x,point.y,gc.safetyheight)+"\n")
for point in path.points:
self.file.write(gc.cut(point.x,point.y,point.z)+"\n")
self.file.write(gc.rapid(point.x,point.y,gc.safetyheight)+"\n")
def AddPathList(self, pathlist):
for path in pathlist:
self.AddPath(path)
def ExportPathList(filename, pathlist):
exporter = SimpleGCodeExporter(filename)
exporter.AddPathList(pathlist)
exporter.close()
pycam/Exporters/__init__.py 0 → 100755
View file @ a8a1f8d3
list = ["MGEDExporter", "SimpleGCodeExporter"]
__all__ = list
pycam/Exporters/gcode.py 0 → 100755
View file @ a8a1f8d3
## gcode.py is free software; you can redistribute it and/or modify
## it under the terms of the GNU General Public License as published by the
## Free Software Foundation; either version 2 of the License, or (at your
## option) any later version. gcode.py is distributed in the hope that it
## will be useful, but WITHOUT ANY WARRANTY; without even the implied
## warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See
## the GNU General Public License for more details. You should have
## received a copy of the GNU General Public License along with gcode.py; if
## not, write to the Free Software Foundation, Inc., 59 Temple Place,
## Suite 330, Boston, MA 02111-1307 USA
##
## gcode.py is Copyright (C) 2005 Chris Radek
## chris@timeguy.com
class gcode:
lastx = lasty = lastz = lasta = lastgcode = None
lastfeed = None
def __init__(self, homeheight = 1.5, safetyheight = 0.04):
self.homeheight = homeheight
self.safetyheight = self.lastz = safetyheight
def begin(self):
return "G00 Z%.4f\n" % (self.safetyheight) + \
"G17 G21 G40 G49\n" + "G54 G80 G90 G94\n" + \
"S1000 M3\n" + "G04 P3" + \
"T1 M6 F0.1\n"
def end(self):
return self.safety() + "\n" + "M2\n"
def exactpath(self):
return "G61"
def continuous(self):
return "G64"
def rapid(self, x = None, y = None, z = None, a = None, gcode = "G00", feed=None):
gcodestring = feedstring = xstring = ystring = zstring = astring = ""
if x == None: x = self.lastx
if y == None: y = self.lasty
if z == None: z = self.lastz
if a == None: a = self.lasta
if gcode != self.lastgcode:
gcodestring = gcode
self.lastgcode = gcode
if x != self.lastx:
xstring = " X%.4f" % (x)
self.lastx = x
if y != self.lasty:
ystring = " Y%.4f" % (y)
self.lasty = y
if z != self.lastz:
zstring = " Z%.4f" % (z)
self.lastz = z
if a != self.lasta:
astring = " A%.4f" % (a)
self.lasta = a
if gcode == "G01" and feed and feed != self.lastfeed:
feedstring = " F%.4f" % (feed)
self.lastfeed = feed
return gcodestring + feedstring + xstring + ystring + zstring + astring
def cut(self, x = None, y = None, z = None, a = None, feed=None):
if x == None: x = self.lastx
if y == None: y = self.lasty
if z == None: z = self.lastz
if a == None: a = self.lasta
return self.rapid(x, y, z, a, gcode="G01", feed=feed)
def home(self):
return self.rapid(z=self.homeheight)
def safety(self):
return self.rapid(z=self.safetyheight)
pycam/Geometry/Line.py 0 → 100755
View file @ a8a1f8d3
import math
class Line:
id=0
def __init__(self,p1,p2):
self.id = Line.id
Line.id += 1
self.p1 = p1
self.p2 = p2
def __repr__(self):
return "Line<%g,%g,%g>-<%g,%g,%g>" % (self.p1.x,self.p1.y,self.p1.z,
self.p2.x,self.p2.y,self.p2.z)
def to_mged(self):
s = ""
s += "in line%d rcc %f %f %f %f %f %f 0.01\n" % (self.id,
self.p1.x,self.p1.y,self.p1.z,
self.p2.x-self.p1.x,self.p2.y-self.p1.y,self.p2.z-self.p1.z)
return s
def dir(self):
if not hasattr(self,"_dir"):
self._dir = self.p2.sub(self.p1)
self._dir.normalize()
return self._dir
def len(self):
if not hasattr(self,"_len"):
self._len = self.p2.sub(self.p1).norm()
return self._len
def point(self, l):
return self.p1.add(self.dir().mul(l*self.len()))
def closest_point(self, p):
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()
def dist_to_point(self, p):
return sqrt(self.dist_to_point_sq(p))
pycam/Geometry/Model.py 0 → 100755
View file @ a8a1f8d3
from utils import *
from Point import *
from Line import *
from Triangle import *
try:
from OpenGL.GL import *
from OpenGL.GLUT import *
from OpenGL.GLU import *
except:
pass
class Model:
id = 0
def __init__(self):
self.id = Model.id
Model.id += 1
self._triangles = []
self.name = "model%d" % self.id
def to_mged(self): # TODO: optimize to not export points multiple times
s = "in %s bot" % self.name
s += " %d" % (len(self._triangles)*3)
s += " %d" % len(self._triangles)
s += " 1 3"
for t in self._triangles:
s += " %g %g %g" % (t.p1.x,t.p1.y,t.p1.z)
s += " %g %g %g" % (t.p2.x,t.p2.y,t.p2.z)
s += " %g %g %g" % (t.p3.x,t.p3.y,t.p3.z)
i = 0
for t in self._triangles:
s += " %d %d %d" % (i, i+1, i+2)
i += 3
s += "\n"
return s
def to_OpenGL(self):
if True:
glBegin(GL_TRIANGLES)
for t in self._triangles:
glVertex3f(t.p1.x, t.p1.y, t.p1.z)
glVertex3f(t.p2.x, t.p2.y, t.p2.z)
glVertex3f(t.p3.x, t.p3.y, t.p3.z)
glEnd()
else:
for t in self._triangles:
t.to_OpenGL()
def append(self, t):
self._triangles.append(t)
def triangles(self):
return self._triangles
def subdivide(self, depth):
model = Model()
for t in self._triangles:
for s in t.subdivide(depth):
model.append(s)
return model
pycam/Geometry/Path.py 0 → 100755
View file @ a8a1f8d3
class Path:
id = 0
def __init__(self):
self.id = Path.id
Path.id += 1
self.top_join = None
self.bot_join = None
self.winding=0
self.points = []
def __repr__(self):
s = ""
s += "path %d: " % self.id
first = True
for p in self.points:
if first:
first = False
else:
s +="-"
s += "%d(%g,%g,%g)" % (p.id, p.x, p.y, p.z)
return s
def append(self, p):
self.points.append(p)
def reverse(self):
self.points.reverse()
pycam/Geometry/Plane.py 0 → 100755
View file @ a8a1f8d3
from Point import *
class Plane:
id = 0
def __init__(self, p, n):
self.id = Plane.id
Plane.id += 1
self.p = p
self.n = n
def __repr__(self):
return "Plane<%s,%s>" % (self.p,self.n)
def to_mged(self):
s = ""
s += "in plane%d half"%(self.id)
s += " %f %f %f"% (self.n.x, self.n.y, self.n.z)
s += " %f "% (self.p.dot(self.n))
s += "\n"
return s
pycam/Geometry/Point.py 0 → 100755
View file @ a8a1f8d3
import math
class Point:
id=0
def __init__(self,x,y,z):
self.id = Point.id
Point.id += 1
self.x = float(x)
self.y = float(y)
self.z = float(z)
def __repr__(self):
return "Point<%g,%g,%g>" % (self.x,self.y,self.z)
def to_mged(self):
s = ""
s += "in point%d sph %f %f %f 0.03\n" % (self.id,self.x,self.y,self.z)
return s
def mul(self, c):
return Point(self.x*c,self.y*c,self.z*c)
def div(self, c):
return Point(self.x/c,self.y/c,self.z/c)
def add(p1, p2):
return Point(p1.x+p2.x,p1.y+p2.y,p1.z+p2.z)
def sub(p1, p2):
return Point(p1.x-p2.x,p1.y-p2.y,p1.z-p2.z)
def dot(p1, p2):
return p1.x*p2.x + p1.y*p2.y + p1.z*p2.z
def cross(p1, p2):
return Point(p1.y*p2.z-p2.y*p1.z, p2.x*p1.z-p1.x*p2.z, p1.x*p2.y-p2.x*p1.y)
def normsq(self):
if not hasattr(self, "_normsq"):
self._normsq = self.dot(self)
return self._normsq
def norm(self):
if not hasattr(self, "_norm"):
self._norm = math.sqrt(self.normsq())
return self._norm
def normalize(self):
n = self.norm()
self.x /= n
self.y /= n
self.z /= n
self._norm = 1.0
self._normsq = 1.0
pycam/Geometry/PolygonExtractor.py 0 → 100755
View file @ a8a1f8d3
from pycam.Utils.iterators import *
from pycam.Geometry.utils import *
from pycam.Geometry.Path import *
from pycam.Geometry.Point import *
DEBUG_POLYGONEXTRACTOR=False
class PolygonExtractor:
CONTOUR=1
MONOTONE=2
def __init__(self, policy=MONOTONE):
self.policy = policy
def append(self, p):
if (self.current_dir==0):
self.curr_line.append(p)
elif self.current_dir==1:
# store as flipped
self.curr_line.append(Point(p.y, p.x, p.z))
def new_direction(self, dir):
self.current_dir = dir
self.all_path_list = []
self.curr_path_list = []
self.prev_line = []
self.curr_line = []
def end_direction(self):
self.new_scanline()
self.end_scanline()
if DEBUG_POLYGONEXTRACTOR: print "%d paths" % len(self.all_path_list)
for path in self.all_path_list:
if DEBUG_POLYGONEXTRACTOR: print "%d:" % path.id,
if DEBUG_POLYGONEXTRACTOR: print "%d ->" % path.top_join.id
for point in path.points:
if DEBUG_POLYGONEXTRACTOR: print "(%g,%g)" % (point.x, point.y),
if DEBUG_POLYGONEXTRACTOR: print "->%d" % path.bot_join.id
path_list = []
while len(self.all_path_list)>0:
p0 = self.all_path_list[0]
for path in self.all_path_list:
if path.id < p0.id:
p0 = path
if DEBUG_POLYGONEXTRACTOR: print "linking %d" % p0.id
self.all_path_list.remove(p0)
p1 = p0.bot_join
while True:
if DEBUG_POLYGONEXTRACTOR: print "splice %d into %d" % (p1.id, p0.id)
self.all_path_list.remove(p1)
p1.reverse()
p0.points += p1.points
if p1.top_join == p0:
break;
p2 = p1.top_join
if DEBUG_POLYGONEXTRACTOR: print "splicing %d into %d" % (p2.id, p0.id)
self.all_path_list.remove(p2)
p0.points += p2.points
p1 = p2.bot_join
path_list.append(p0)
if DEBUG_POLYGONEXTRACTOR: print "%d paths" % len(path_list)
for path in path_list:
if DEBUG_POLYGONEXTRACTOR: print "path %d(w=%d): " % (path.id, path.winding),
for point in path.points:
if DEBUG_POLYGONEXTRACTOR: print "(%g,%g)" % (point.x, point.y),
if DEBUG_POLYGONEXTRACTOR: print
if self.current_dir==0:
self.hor_path_list = path_list
elif self.current_dir==1:
# flip back since we stored the points flipped (see add_point)
for path in path_list:
path.reverse()
for point in path.points:
(point.x,point.y) = (point.y,point.x)
self.ver_path_list = path_list
def finish(self):
if self.policy == PolygonExtractor.CONTOUR:
if self.hor_path_list and self.ver_path_list:
self.merge_path_lists()
def new_scanline(self):
self.curr_line = []
def end_scanline(self):
last = 0
inside = False
s = ""
for point in self.curr_line:
next = point.x
if inside:
s += "*" * int(next-last)
else:
s += " " * int(next-last)
last = next
inside = not inside
if DEBUG_POLYGONEXTRACTOR: print s
if DEBUG_POLYGONEXTRACTOR: print "active paths: ",
for path in self.curr_path_list:
if DEBUG_POLYGONEXTRACTOR: print "%d(%g,%g)" % (path.id, path.points[-1].x, path.points[-1].y),
if DEBUG_POLYGONEXTRACTOR: print
if DEBUG_POLYGONEXTRACTOR: print "prev points: ",
for point in self.prev_line:
if DEBUG_POLYGONEXTRACTOR: print "(%g,%g)" % (point.x, point.y),
if DEBUG_POLYGONEXTRACTOR: print
if DEBUG_POLYGONEXTRACTOR: print "active points: ",
for point in self.curr_line:
if DEBUG_POLYGONEXTRACTOR: print "(%g,%g)" % (point.x, point.y),
if DEBUG_POLYGONEXTRACTOR: print
prev_point = Iterator(self.prev_line)
curr_point = Iterator(self.curr_line)
curr_path = Iterator(self.curr_path_list)
winding = 0
while prev_point.remains()>0 or curr_point.remains()>0:
if DEBUG_POLYGONEXTRACTOR: print "num_prev=", prev_point.remains(), ", num_curr=",curr_point.remains()
if prev_point.remains()==0 and curr_point.remains()>=2:
c0 = curr_point.next()
c1 = curr_point.next()
# new path starts
p0 = Path()
p0.winding = winding+1
if DEBUG_POLYGONEXTRACTOR: print "new path %d(%g,%g)" % ( p0.id, c0.x, c0.y)
p0.append(c0)
self.curr_path_list.append(p0)
p1 = Path()
p1.winding = winding
if DEBUG_POLYGONEXTRACTOR: print "new path %d(%g,%g)" % (p1.id, c1.x, c1.y)
p1.append(c1)
self.curr_path_list.append(p1)
p0.top_join = p1
p1.top_join = p0
continue
if prev_point.remains()>=2 and curr_point.remains()==0:
#old path ends
p0 = curr_path.takeNext()
if DEBUG_POLYGONEXTRACTOR: print "end path %d" % p0.id
self.all_path_list.append(p0)
prev_point.next()
p1 = curr_path.takeNext()
if DEBUG_POLYGONEXTRACTOR: print "end path %d" % p1.id
self.all_path_list.append(p1)
prev_point.next()
p0.bot_join = p1
p1.bot_join = p0
continue
if prev_point.remains()>=2 and curr_point.remains()>=2:
p0 = prev_point.peek(0)
p1 = prev_point.peek(1)
c0 = curr_point.peek(0)
c1 = curr_point.peek(1)
if DEBUG_POLYGONEXTRACTOR: print "overlap test: p0=%g p1=%g" % (p0.x, p1.x)
if DEBUG_POLYGONEXTRACTOR: print "overlap test: c0=%g c1=%g" % (c0.x, c1.x)
if c1.x < p0.x:
# new segment is completely to the left
# new path starts
s0 = Path()
if DEBUG_POLYGONEXTRACTOR: print "new path %d(%g,%g) w=%d" % (s0.id, c0.x, c0.y, winding+1)
s0.append(c0)
curr_path.insert(s0)
s1 = Path()
s0.winding = winding+1
s1.winding = winding
if DEBUG_POLYGONEXTRACTOR: print "new path %d(%g,%g) w=%d" % (s1.id, c1.x, c1.y, winding)
s1.append(c1)
curr_path.insert(s1)
curr_point.next()
curr_point.next()
s0.top_join = s1
s1.top_join = s0
elif c0.x > p1.x:
# new segment is completely to the right
# old path ends
s0 = curr_path.takeNext()
if DEBUG_POLYGONEXTRACTOR: print "end path %d" % s0.id
self.all_path_list.append(s0)
prev_point.next()
s1 = curr_path.takeNext()
if DEBUG_POLYGONEXTRACTOR: print "end path %d" % s1.id
self.all_path_list.append(s1)
prev_point.next()
s0.bot_join = s1;
s1.bot_join = s0;
winding = s1.winding;
else:
# new segment is overlapping
left_path = curr_path.next()
right_path = curr_path.peek()
left_point = c0
right_point = c1
winding = left_path.winding
curr_point.next()
prev_point.next()
overlap_p = True
overlap_c = True
while overlap_c or overlap_p:
overlap_p = False
overlap_c = False
# check for path joins
if prev_point.remains()>=2:
p2 = prev_point.peek(1)
if DEBUG_POLYGONEXTRACTOR: print "join test: p0=%g p1=%g p2=%g" % (p0.x, p1.x, p2.x)
if DEBUG_POLYGONEXTRACTOR: print "join test: c0=%g c1=%g" % (c0.x, c1.x)
if p2.x <= c1.x:
overlap_p = True
if self.policy == PolygonExtractor.CONTOUR:
s0 = curr_path.takeNext()
s1 = curr_path.takeNext()
if curr_path.remains()>=1:
right_path = curr_path.peek()
self.all_path_list.append(s0)
self.all_path_list.append(s1);
if DEBUG_POLYGONEXTRACTOR: print "path %d joins %d" % (s0.id, s1.id)
s0.bot_join = s1;
s1.bot_join = s0;
elif self.policy == PolygonExtractor.MONOTONE:
s0 = curr_path.takeNext()
left_path.bot_join = s0
s0.bot_join = left_path
if DEBUG_POLYGONEXTRACTOR: print "path %d joins %d" % (left_path.id, s0.id)
curr_path.remove(left_path)
self.all_path_list.append(left_path)
self.all_path_list.append(s0)
s1 = curr_path.next()
left_path = s1
right_path = curr_path.peek()
prev_point.next()
prev_point.next()
winding = s1.winding
p0 = p2
if prev_point.remains()>=1:
p1 = prev_point.peek(0)
else:
overlap_p = False
# check for path splits
if curr_point.remains()>=2:
c2 = curr_point.peek(1)
if DEBUG_POLYGONEXTRACTOR: print "split test: p0=%g p1=%g" % (p0.x, p1.x)
if DEBUG_POLYGONEXTRACTOR: print "split test: c0=%g c1=%g c2=%g" % (c0.x, c1.x, c2.x)
if c2.x <= p1.x:
overlap_c = True
s0 = Path()
s1 = Path()
s0.winding=winding+1
s1.winding=winding
s0.top_join = s1
s1.top_join = s0
if DEBUG_POLYGONEXTRACTOR: print "region split into %d and %d (w=%d)" %(s0.id, s1.id, winding+1)
curr_point.next()
c0 = curr_point.next()
if self.policy == PolygonExtractor.CONTOUR:
s0.append(c1)
curr_path.insert(s0)
s1.append(c2)
curr_path.insert(s1)
elif self.policy == PolygonExtractor.MONOTONE:
s0.append(left_point)
s1.append(c1)
curr_path.insertBefore(s0)
curr_path.insertBefore(s1)
left_point = c2
if curr_point.remains()>=1:
c1 = curr_point.peek(0)
right_point = c1
else:
overlap_c = False
if DEBUG_POLYGONEXTRACTOR: print "add to path %d(%g,%g)" % (left_path.id, left_point.x, left_point.y)
left_path.append(left_point)
right_path.append(right_point)
if right_path == curr_path.peek():
curr_path.next()
if DEBUG_POLYGONEXTRACTOR: print "add to path %d(%g,%g)" % (right_path.id, right_point.x, right_point.y)
winding = right_path.winding;
prev_point.next()
curr_point.next()
if DEBUG_POLYGONEXTRACTOR: print "active paths: ",
for path in self.curr_path_list:
if DEBUG_POLYGONEXTRACTOR: print "%d(%g,%g,w=%d)" % (path.id, path.points[-1].x, path.points[-1].y, path.winding),
if DEBUG_POLYGONEXTRACTOR: print
self.prev_line = self.curr_line
def merge_path_lists(self):
self.merge_path_list = []
pass
dx = 1
dy = 1
# find matching path to merge with */
for s0 in self.hor_path_list:
if DEBUG_POLYGONEXTRACTOR: print "merging %d" % s0.id
if DEBUG_POLYGONEXTRACTOR: print "s0=", s0
#TODO: store/cache topmost point inside the path
# find top of path to merge
point_iter = Iterator(s0.points)
top0 = CyclicIterator(point_iter.seq, point_iter.ind)
min_x0 = top0.peek().x
min_y0 = top0.peek().y
while point_iter.remains()>0:
point = point_iter.peek()
if point and ((point.y<min_y0) or (point.y==min_y0 and point.x>min_x0)):
min_y0 = point.y
min_x0 = point.x
top0 = CyclicIterator(point_iter.seq, point_iter.ind)
point_iter.next()
if DEBUG_POLYGONEXTRACTOR: print "top0: x=", min_x0, "y=",min_y0, "p=",top0.peek().id
# find matching path to merge with
path_iter = Iterator(self.ver_path_list)
while path_iter.remains()>0:
s1 = path_iter.next()
if DEBUG_POLYGONEXTRACTOR: print "trying %d" % s1.id
if DEBUG_POLYGONEXTRACTOR: print "s1=", s1
min_d = -1
point_iter = Iterator(s1.points)
top1 = None
min_x1 = 0
min_y1 = 0
while point_iter.remains()>0:
point = point_iter.peek()
# check points in second quadrant # TODO: if none found: check other quadrants
if point.y<=min_y0 and point.x<=min_x0:
d = sqr(point.x-min_x0)+sqr(point.y-min_y0)
if (d<min_d or top1==None):
min_x1 = point.x
min_y1 = point.y
min_d = d
top1 = CyclicIterator(point_iter.seq, point_iter.ind)
point_iter.next()
if DEBUG_POLYGONEXTRACTOR: print "min_y0=%g min_y1=%g (d=%g)" % (min_y0, min_y1, min_d)
if min_d < 0:
continue
if DEBUG_POLYGONEXTRACTOR: print "top1: x=", min_x1, "y=",min_y1, "p=",top1.peek().id
if (min_y1 >= min_y0-dy) and (min_y1 <= min_y0+dy) and (min_x1 >= min_x0-dx) and (min_x1 <= min_x0+dx):
# we have a potential match
if DEBUG_POLYGONEXTRACTOR: print "matched %d" % s1.id
if DEBUG_POLYGONEXTRACTOR: print "i0=%d i1=%d" % (top0.peek().id, top1.peek().id)
if DEBUG_POLYGONEXTRACTOR: print "s1=", s1
total = len(s0.points) + len(s1.points)
p = Path()
p.winding = s0.winding
p0 = top0.next()
p1 = top1.next()
next_p0 = top0.peek()
next_p1 = top1.peek()
if p0.y == next_p0.y:
while (p1.y < p0.y) and (next_p1.y < p0.y) and (p0.x <= p1.x) and (p1.x <= next_p0.x):
p1 = top1.next()
next_p1 = top1.peek()
if DEBUG_POLYGONEXTRACTOR: print "top0=%d: (%g,%g)" % (p0.id, p0.x, p0.y)
if DEBUG_POLYGONEXTRACTOR: print "top1=%d: (%g,%g)" % (p1.id, p1.x, p1.y)
last = p0;
pathlen = 0
while pathlen < total:
next_p0 = top0.peek()
next_p1 = top1.peek()
pathlen = len(p.points)
if DEBUG_POLYGONEXTRACTOR: print "last=%d: (%g, %g)" % (last.id, last.x, last.y)
if DEBUG_POLYGONEXTRACTOR: print "p0: %d(%g,%g)\t" % (p0.id, p0.x, p0.y),
if DEBUG_POLYGONEXTRACTOR: print "next_p0: %d(%g,%g)" % (next_p0.id, next_p0.x, next_p0.y)
if DEBUG_POLYGONEXTRACTOR: print "p1: %d(%g,%g)\t" % (p1.id, p1.x, p1.y),
if DEBUG_POLYGONEXTRACTOR: print "next_p1: %d(%g,%g)" % (next_p1.id, next_p1.x, next_p1.y)
if DEBUG_POLYGONEXTRACTOR: print "|p1-last|=%g |p0-last|=%g" % (sqr(p1.x - last.x) + sqr(p1.y - last.y), sqr(p0.x - last.x) + sqr(p0.y - last.y))
if sqr(p1.x - last.x) + sqr(p1.y - last.y) < sqr(p0.x - last.x) + sqr(p0.y - last.y):
if DEBUG_POLYGONEXTRACTOR: print "0: p1=%d: (%g,%g)" % (p1.id, p1.x, p1.y)
p.append(p1)
last = p1
p1 = top1.next()
continue
else:
if DEBUG_POLYGONEXTRACTOR: print "1: p0=%d: (%g,%g)" % (p0.id, p0.x, p0.y)
p.append(p0)
last = p0
p0 = top0.next()
continue;
if pathlen == len(p):
if DEBUG_POLYGONEXTRACTOR: print "failed: size=%d total=%d" %(len(p), total)
p = None
break
if p:
self.merge_path_list.append(p)
if DEBUG_POLYGONEXTRACTOR: print "done: size=%d total=%d" % (len(p.points), total)
break
pycam/Geometry/Triangle.py 0 → 100755
View file @ a8a1f8d3
from Point import *
from Plane import *
from utils import *
ORIENTATION_CCW = 2
ORIENTATION_CW = 3
try:
from OpenGL.GL import *
from OpenGL.GLU import *
from OpenGL.GLUT import *
except:
pass
class Triangle:
id = 0
# points are expected to be in ClockWise order
def __init__(self, p1=None, p2=None, p3=None):
self.id = Triangle.id
Triangle.id += 1
self.p1 = p1
self.p2 = p2
self.p3 = p3
def __repr__(self):
return "Triangle<%s,%s,%s>" % (self.p1,self.p2,self.p3)
def name(self):
return "triangle%d" % self.id
def to_mged(self, sphere=False):
s = "in %s bot 3 1" % self.name()
s += " 1 3"
s += " %f %f %f" % (self.p1.x,self.p1.y,self.p1.z)
s += " %f %f %f" % (self.p2.x,self.p2.y,self.p2.z)
s += " %f %f %f" % (self.p3.x,self.p3.y,self.p3.z)
s += " 0 1 2"
s += "\n"
if sphere and hasattr(self, "_center"):
s += "in %s_sph sph " % self.name()
s += " %f %f %f" % (self._center.x, self._center.y, self._center.z)
s += " %f" % self._radius
s += "\n"
return s
def to_OpenGL(self):
glBegin(GL_TRIANGLES)
glVertex3f(self.p1.x, self.p1.y, self.p1.z)
glVertex3f(self.p2.x, self.p2.y, self.p2.z)
glVertex3f(self.p3.x, self.p3.y, self.p3.z)
glEnd()
if hasattr(self, "_center"):
glPushMatrix()
glTranslate(self._center.x, self._center.y, self._center.z)
if not hasattr(self,"_sphere"):
self._sphere = gluNewQuadric()
gluSphere(self._sphere, self._radius, 10, 10)
glPopMatrix()
def normal(self):
if not hasattr(self, '_normal'):
self._normal = self.p3.sub(self.p1).cross(self.p2.sub(self.p1))
denom = self._normal.norm()
# # TODO: fix kludge: make surface normal point up for now
# if self._normal.z < 0:
# denom = -denom
self._normal = self._normal.div(denom)
return self._normal
def plane(self):
if not hasattr(self, '_plane'):
if hasattr(self, '_center'):
self._plane=Plane(self._center, self.normal())
else:
self._plane=Plane(self.p1, 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
invDenom = 1 / (dot00 * dot11 - dot01 * dot01)
u = (dot11 * dot02 - dot01 * dot12) * invDenom
v = (dot00 * dot12 - dot01 * dot02) * invDenom
# Check if point is in triangle
return (u > 0) and (v > 0) and (u + v < 1)
def minx(self):
if not hasattr(self, "_minx"):
self._minx = min3(self.p1.x, self.p2.x, self.p3.x)
return self._minx
def miny(self):
if not hasattr(self, "_miny"):
self._miny = min3(self.p1.y, self.p2.y, self.p3.y)
return self._miny
def minz(self):
if not hasattr(self, "_minz"):
self._minz = min3(self.p1.z, self.p2.z, self.p3.z)
return self._minz
def maxx(self):
if not hasattr(self, "_maxx"):
self._maxx = max3(self.p1.x, self.p2.x, self.p3.x)
return self._maxx
def maxy(self):
if not hasattr(self, "_maxy"):
self._maxy = max3(self.p1.y, self.p2.y, self.p3.y)
return self._maxy
def maxz(self):
if not hasattr(self, "_maxz"):
self._maxz = max3(self.p1.z, self.p2.z, self.p3.z)
return self._maxz
def center(self):
if not hasattr(self, "_center"):
self.calc_circumcircle()
return self._center
def radius(self):
if not hasattr(self, "_radius"):
self.calc_circumcircle()
return self._radius
def radiussq(self):
if not hasattr(self, "_radiussq"):
self.calc_circumcircle()
return self._radiussq
def calc_circumcircle(self):
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._center = 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:
sub.append(self)
else:
p4 = self.p1.add(self.p2).div(2)
p5 = self.p2.add(self.p3).div(2)
p6 = self.p3.add(self.p1).div(2)
sub += Triangle(self.p1,p4,p6).subdivide(depth-1)
sub += Triangle(p6,p5,self.p3).subdivide(depth-1)
sub += Triangle(p6,p4,p5).subdivide(depth-1)
sub += Triangle(p4,self.p2,p5).subdivide(depth-1)
return sub
pycam/Geometry/TriangleKdtree.py 0 → 100755
View file @ a8a1f8d3
import math
from Point import *
from Line import *
from Triangle import *
from kdtree import *
def BuildKdtree2d(triangles, cutoff=3, cutoff_distance=1.0):
nodes = []
for t in triangles:
n = Node();
n.triangle = t
n.bound = []
n.bound.append(min(min(t.p1.x,t.p2.x),t.p3.x))
n.bound.append(min(min(t.p1.y,t.p2.y),t.p3.y))
n.bound.append(max(max(t.p1.x,t.p2.x),t.p3.x))
n.bound.append(max(max(t.p1.y,t.p2.y),t.p3.y))
nodes.append(n)
return kd_tree(nodes, cutoff, cutoff_distance)
tests = 0
hits = 0
overlaptest=True
mged = ""
def ResetKdtree2dStats(overlap=True):
global tests, hits, overlaptest
hits = 0
tests = 0
overlaptest = overlap
mged = ""
def GetKdtree2dStats():
global tests, hits
return (hits, tests)
def SearchKdtree2d(kdtree, minx, maxx, miny, maxy):
if kdtree.bucket:
triangles = []
for n in kdtree.nodes:
global tests, hits, overlaptest
tests += 1
if not overlaptest:
# print "not testing overlap"
triangles.append(n.triangle)
hits += 1
else:
if not (n.bound[0]>maxx
or n.bound[1]>maxy
or n.bound[2]<minx
or n.bound[3]<miny):
triangles.append(n.triangle)
hits += 1
return triangles
else:
# return SearchKdtree2d(kdtree.lo, minx, maxx, miny, maxy)+SearchKdtree2d(kdtree.hi, minx, maxx, miny, maxy)
if kdtree.cutdim==0:
if maxx<kdtree.minval:
return []
elif maxx<=kdtree.cutval:
return SearchKdtree2d(kdtree.lo, minx, maxx, miny, maxy)
else:
return SearchKdtree2d(kdtree.lo, minx, maxx, miny, maxy)+SearchKdtree2d(kdtree.hi, minx, maxx, miny, maxy)
elif kdtree.cutdim==1:
if maxy<kdtree.minval:
return []
elif maxy<=kdtree.cutval:
return SearchKdtree2d(kdtree.lo, minx, maxx, miny, maxy)
else:
return SearchKdtree2d(kdtree.lo, minx, maxx, miny, maxy)+SearchKdtree2d(kdtree.hi, minx, maxx, miny, maxy)
elif kdtree.cutdim==2:
if minx>kdtree.maxval:
return []
elif minx>kdtree.cutval:
return SearchKdtree2d(kdtree.hi, minx, maxx, miny, maxy)
else:
return SearchKdtree2d(kdtree.lo, minx, maxx, miny, maxy)+SearchKdtree2d(kdtree.hi, minx, maxx, miny, maxy)
elif kdtree.cutdim==3:
if miny>kdtree.maxval:
return []
elif miny>kdtree.cutval:
return SearchKdtree2d(kdtree.hi, minx, maxx, miny, maxy)
else:
return SearchKdtree2d(kdtree.lo, minx, maxx, miny, maxy)+SearchKdtree2d(kdtree.hi, minx, maxx, miny, maxy)
def SearchKdtree2d_mged(kdtree, minx, maxx, miny, maxy, _minx, _maxx, _miny, _maxy):
if kdtree.bucket:
s = ""
s += "in kdtree_%d arb8 " % kdtree.id
s += " %f %f %f " % (_minx, _miny, 0)
s += " %f %f %f " % (_maxx, _miny, 0)
s += " %f %f %f " % (_maxx, _maxy, 0)
s += " %f %f %f " % (_minx, _maxy, 0)
s += " %f %f %f " % (_minx, _miny, 10)
s += " %f %f %f " % (_maxx, _miny, 10)
s += " %f %f %f " % (_maxx, _maxy, 10)
s += " %f %f %f" % (_minx, _maxy, 10)
s += "\n"
return s
else:
if kdtree.cutdim==0:
if maxx<kdtree.minval:
return ""
elif maxx<=kdtree.cutval:
return SearchKdtree2d_mged(kdtree.lo, minx, maxx, miny, maxy, kdtree.minval, kdtree.cutval, _miny, _maxy)
else:
return SearchKdtree2d_mged(kdtree.lo, minx, maxx, miny, maxy, kdtree.minval, kdtree.cutval, _miny, _maxy)+SearchKdtree2d_mged(kdtree.hi, minx, maxx, miny, maxy, kdtree.cutval, kdtree.maxval, _miny, _maxy)
elif kdtree.cutdim==1:
if maxy<kdtree.minval:
return ""
elif maxy<=kdtree.cutval:
return SearchKdtree2d_mged(kdtree.lo, minx, maxx, miny, maxy, _minx, _maxx, kdtree.minval, kdtree.cutval)
else:
return SearchKdtree2d_mged(kdtree.lo, minx, maxx, miny, maxy, _minx, _maxx, kdtree.minval, kdtree.cutval)+SearchKdtree2d_mged(kdtree.hi, minx, maxx, miny, maxy, _minx, _maxx, kdtree.cutval, kdtree.maxval)
elif kdtree.cutdim==2:
if minx>kdtree.maxval:
return ""
elif minx>kdtree.cutval:
return SearchKdtree2d_mged(kdtree.hi, minx, maxx, miny, maxy, kdtree.minval, kdtree.cutval, _miny, _maxy)
else:
return SearchKdtree2d_mged(kdtree.lo, minx, maxx, miny, maxy, kdtree.minval, kdtree.cutval, _miny, _maxy)+SearchKdtree2d_mged(kdtree.hi, minx, maxx, miny, maxy, kdtree.cutval, kdtree.maxval, _miny, _maxy)
elif kdtree.cutdim==3:
if miny>kdtree.maxval:
return ""
elif miny>kdtree.cutval:
return SearchKdtree2d_mged(kdtree.hi, minx, maxx, miny, maxy, _minx, _maxx, kdtree.minval, kdtree.cutval)
else:
return SearchKdtree2d_mged(kdtree.lo, minx, maxx, miny, maxy, _minx, _maxx, kdtree.minval, kdtree.cutval)+SearchKdtree2d_mged(kdtree.hi, minx, maxx, miny, maxy, _minx, _maxx, kdtree.cutval, kdtree.maxval)
pycam/Geometry/__init__.py 0 → 100755
View file @ a8a1f8d3
__all__ = ["utils", "Line", "Model", "Path", "Plane", "Point", "Triangle",
"PolygonExtractor", "TriangleKdtree", "intersection", "kdtree"]
from Point import Point
from Line import Line
from Triangle import Triangle
from Model import Model
from Path import Path
from Plane import Plane
from utils import *
from PolygonExtractor import PolygonExtractor
pycam/Geometry/intersection.py 0 → 100755
View file @ a8a1f8d3
from math import sqrt
import pycam.Geometry
from pycam.Geometry.utils import *
from pycam.Geometry.Plane import Plane
from pycam.Geometry.Line import Line
from pycam.Geometry.Point import Point
def intersect_plane_point(plane, direction, point):
denom = plane.n.dot(direction)
if denom == 0:
return (None, INFINITE)
l = -(plane.n.dot(point) - plane.n.dot(plane.p)) / denom
cp = point.add(direction.mul(l))
return (cp, l)
def intersect_cylinder_point(center, axis, radius, radiussq, direction, point):
# take a plane along direction and axis
n = direction.cross(axis)
n.normalize()
# distance of the point to this plane
d = n.dot(point)-n.dot(center)
if d<-radius or d>radius:
return (None,None,INFINITE)
# ccl is on cylinder
d2 = sqrt(radiussq-d*d)
ccl = center.add(n.mul(d)).add(direction.mul(d2))
# take plane through ccl and axis
p = Plane(ccl,direction)
# intersect point with plane
(ccp,l)=intersect_plane_point(p, direction, point)
return (ccp,point,-l)
def intersect_cylinder_line(center, axis, radius, radiussq, direction, edge):
d = edge.dir()
# take a plane throught the line and along the cylinder axis (1)
n = d.cross(axis)
if n.normsq()==0:
# no contact point, but should check here if torus *always* intersects line...
return (None,None,INFINITE)
n.normalize()
# 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
if n.dot(direction)<0:
ccl = center.sub(n.mul(radius))
else:
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:
# no contact point, but should check here if torus *always* intersects line...
return (None,None,INFINITE)
n2.normalize()
p = Plane(ccl, n2)
# intersect this plane with the line, this gives us the contact point
(cp,l) = intersect_plane_point(p, d, edge.p1)
if not cp:
return (None,None,INFINITE)
# now take a plane through the contact line and perpendicular to the direction (3)
p2 = Plane(ccl, direction)
# the intersection of this plane (3) with the line throught the contact point
# gives us the cutter contact point
(ccp,l) = intersect_plane_point(p2, direction, cp)
cp = ccp.add(direction.mul(-l))
return (ccp,cp,-l)
def intersect_circle_plane(center, radius, direction, triangle):
# let n be the normal to the plane
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) = intersect_plane_point(triangle.plane(), direction, center)
ccp = cp.sub(direction.mul(d))
return (ccp,cp,d)
n2.normalize()
# 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) = intersect_plane_point(triangle.plane(), direction, ccp)
return (ccp,cp,d)
def intersect_circle_point(center, axis, radius, radiussq, direction, point):
# take a plane through the base
p = Plane(center, axis)
# intersect with line gives ccp
(ccp,l) = intersect_plane_point(p, direction, point)
# check if inside circle
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()
if d.dot(axis)==0:
if direction.dot(axis)==0:
return (None,None,INFINITE)
p = Plane(center,axis)
(p1,l) = intersect_plane_point(p,direction,edge.p1)
(p2,l) = intersect_plane_point(p,direction,edge.p2)
pc = Line(p1,p2).closest_point(center)
d_sq = pc.sub(center).normsq()
if d_sq>radiussq:
return (None,None,INFINITE)
a = sqrt(radiussq-d_sq)
d1 = p1.sub(pc).dot(d)
d2 = p2.sub(pc).dot(d)
ccp = None
cp = None
if d1>-a and d1<a:
ccp = p1
cp = p1
elif d2>-a and d2<a:
ccp = p2
cp = p2
elif (d1<-a and d2>a) or (d2<-a and d1>a):
ccp = pc
cp = pc.sub(direction.mul(l))
return (ccp,cp,-l)
n = d.cross(direction)
if n.normsq()==0:
# no contact point, but should check here if circle *always* intersects line...
return (None,None,INFINITE)
n.normalize()
# take a plane through the base
p = Plane(center, axis)
# intersect base with line
(lp,l) = intersect_plane_point(p, d, edge.p1)
if not lp:
return (None,None,INFINITE)
# intersection of 2 planes: lp + \lambda v
v = axis.cross(n)
if v.normsq()==0:
return (None,None,INFINITE)
v.normalize()
# take plane through intersection line and parallel to axis
n2 = v.cross(axis)
if n2.normsq()==0:
return (None,None,INFINITE)
n2.normalize()
# distance from center to this plane
dist = n2.dot(center)-n2.dot(lp)
distsq = dist*dist
if distsq>radiussq:
return (None,None,INFINITE)
# must be on circle
dist2 = sqrt(radiussq-distsq)
if d.dot(axis)<0:
dist2 = -dist2
ccp = center.sub(n2.mul(dist)).sub(v.mul(dist2))
p = Plane(edge.p1,d.cross(direction).cross(d))
(cp,l) = intersect_plane_point(p,direction,ccp)
return (ccp,cp,l)
def intersect_sphere_plane(center, radius, direction, triangle):
# let n be the normal to the plane
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
if n.dot(direction)<0:
ccp = center.sub(n.mul(radius))
else:
ccp = center.add(n.mul(radius))
# intersect the plane with a line through the contact point
(cp,d) = intersect_plane_point(triangle.plane(), direction, ccp)
return (ccp,cp,d)
def intersect_sphere_point(center, radius, radiussq, direction, point):
# line equation
# (1) x = p_0 + \lambda * d
# sphere equation
# (2) (x-x_0)^2 = R^2
# (1) in (2) gives a quadratic in \lambda
p0_x0 = center.sub(point)
a = direction.normsq()
b = 2*p0_x0.dot(direction)
c = p0_x0.normsq() - radiussq
d = b*b-4*a*c
if d<0:
return (None,None,INFINITE)
if a<0:
l = (-b+sqrt(d))/(2*a)
else:
l = (-b-sqrt(d))/(2*a)
# cutter contact point
ccp = point.add(direction.mul(-l))
return (ccp,point,l)
def intersect_sphere_line(center, radius, radiussq, direction, edge):
# make a plane by sliding the line along the direction (1)
d = edge.dir()
n = d.cross(direction)
if n.normsq()==0:
# no contact point, but should check here if sphere *always* intersects line...
return (None,None,INFINITE)
n.normalize()
# calculate the distance from the sphere center to the plane
dist = -(center.dot(n)-edge.p1.dot(n))
if abs(dist)>radius:
return (None,None,INFINITE)
# this gives us the intersection circle on the sphere
# now take a plane through the edge and perpendicular to the direction (2)
# 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()
# the contact point is on a big circle through the sphere...
dist2 = sqrt(radiussq-dist*dist)
# ... and it's on the plane (1)
ccp = center.add(n.mul(dist)).add(n2.mul(dist2))
# now intersect a line through this point with the plane (2)
p = Plane(edge.p1, n2)
(cp,l) = intersect_plane_point(p, direction, ccp)
return (ccp,cp,l)
def intersect_torus_plane(center, axis, majorradius, minorradius, direction, triangle):
# take normal to the plane
n = triangle.normal()
if n.dot(direction)==0:
return (None,None,INFINITE)
if n.dot(axis)==1:
return (None,None,INFINITE)
# find place on torus where surface normal is n
b = n.mul(-1)
z = axis
a = b.sub(z.mul(z.dot(b)))
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
p = triangle.plane()
(cp,l) = intersect_plane_point(p, direction, ccp)
return (ccp,cp,l)
def intersect_torus_point(center, axis, majorradius, minorradius, majorradiussq, minorradiussq, direction, point):
dist = 0
if direction.x==0 and direction.y==0: # drop
minlsq = sqr(majorradius-minorradius)
maxlsq = sqr(majorradius+minorradius)
l_sq = sqr(point.x-center.x)+sqr(point.y-center.y)
if (l_sq<minlsq) or (l_sq>maxlsq):
return (None,None,INFINITE)
l = sqrt(l_sq)
z_sq = minorradiussq - sqr(majorradiussq - l)
if z_sq < 0:
return (None,None,INFINITE)
z = sqrt(z_sq)
ccp=Point(point.x,point.y,center.z-z)
dist = center.z-z
elif direction.z==0: # push
z = point.z - center.z
if z<-minorradius or z>minorradius:
return (None,None,INFINITE)
l = majorradius + sqrt(minorradiussq - sqr(z))
n = axis.cross(direction)
d = n.dot(point)-n.dot(center)
if d<-l or d>l:
return (None,None,INFINITE)
a = sqrt(l*l-d*d)
ccp = center.add(n.mul(d).add(direction.mul(a)))
ccp.z = point.z
dist = point.sub(ccp).dot(direction)
else: # general case
x = point.sub(center)
v = direction.mul(-1)
x_x = x.dot(x)
x_v = x.dot(v)
x1 = Point(x.x,x.y,0)
v1 = Point(v.x,v.y,0)
x1_x1 = x1.dot(x1)
x1_v1 = x1.dot(v1)
v1_v1 = v1.dot(v1)
R2 = majorradiussq
r2 = minorradiussq
a = 1.0
b = 4*x_v
c = 2*(x_x)+4*sqr(x_v)+2*(R2-r2)-4*R2*v1_v1
d = 4*x_x*x_v+4*x_v*(R2-r2)-8*R2*(x1_v1)
e = sqr(x_x)+2*x_x*(R2-r2)+sqr(R2-r2)-4*R2*x1_x1
r = poly4_roots(a,b,c,d,e)
if not r:
return (None,None,INFINITE)
elif len(r)==1:
l = r[0]
elif len(r)==2:
l = min(r[0],r[1])
elif len(r)==3:
l = min(min(r[0],r[1]),r[2])
elif len(r)==4:
l = min(min(r[0],r[1]),min(r[2],r[3]))
else:
return (None,None,INFINITE)
ccp = point.add(direction.mul(-l))
dist = l
return (ccp,point,dist)
pycam/Geometry/kdtree.py 0 → 100755
View file @ a8a1f8d3
#!/usr/bin/env python
import math
class Node:
def __repr__(self):
s = "";
for i in range(0,len(self.bound)):
s += "%g : " % (self.bound[i])
return s
def find_max_spread(nodes):
minval = []
maxval = []
n = nodes[0]
numdim = len(n.bound)
for b in n.bound:
minval.append(b)
maxval.append(b)
for n in nodes:
for j in range(0, numdim):
minval[j] = min(minval[j], n.bound[j])
maxval[j] = max(maxval[j], n.bound[j])
maxspreaddim = 0
maxspread = maxval[0]-minval[0]
for i in range(1,numdim):
spread = maxval[i]-minval[i]
if spread > maxspread:
maxspread = spread
maxspreaddim = i
return (maxspreaddim, maxspread)
class kd_tree:
id = 0
def __repr__(self):
if self.bucket:
return "(#%d)" % (len(self.nodes))
else:
return "(%f<=%s,%d:%f,%s<=%f)" % (self.minval,self.lo, self.cutdim,self.cutval,self.hi,self.maxval)
def to_mged(self, minx, maxx, miny, maxy):
s = ""
if self.bucket:
s += "in kdtree_%d arb8 " % self.id
s += " %f %f %f " % (minx, miny, 0)
s += " %f %f %f " % (maxx, miny, 0)
s += " %f %f %f " % (maxx, maxy, 0)
s += " %f %f %f " % (minx, maxy, 0)
s += " %f %f %f " % (minx, miny, 10)
s += " %f %f %f " % (maxx, miny, 10)
s += " %f %f %f " % (maxx, maxy, 10)
s += " %f %f %f" % (minx, maxy, 10)
s += "\n"
else:
if True: # show bounding box
if self.cutdim == 0 or self.cutdim == 2:
s += self.lo.to_mged(self.minval,self.cutval,miny,maxy)
s += self.hi.to_mged(self.cutval,self.maxval,miny,maxy)
elif self.cutdim == 1 or self.cutdim == 3:
s += self.lo.to_mged(minx,maxx,self.minval,self.cutval)
s += self.hi.to_mged(minx,maxx,self.cutval,self.maxval)
else: # show partitions
if self.cutdim == 0 or self.cutdim == 2:
s += self.lo.to_mged(minx,self.cutval,miny,maxy)
s += self.hi.to_mged(self.cutval,maxx,miny,maxy)
elif self.cutdim == 1 or self.cutdim == 3:
s += self.lo.to_mged(minx,maxx,miny,self.cutval)
s += self.hi.to_mged(minx,maxx,self.cutval,maxy)
return s
def __init__(self, nodes, cutoff, cutoff_distance):
self.id = kd_tree.id
kd_tree.id += 1
self.cutoff = cutoff
self.cutoff_distance = cutoff_distance
if (len(nodes)<=self.cutoff):
self.bucket = True
self.nodes = nodes
else:
(cutdim,spread) = find_max_spread(nodes)
if spread <= self.cutoff_distance:
self.bucket = True
self.nodes = nodes
else:
self.bucket = False
self.cutdim = cutdim
nodes.sort(cmp=lambda x,y:cmp(x.bound[cutdim],y.bound[cutdim]))
median = len(nodes)/2
self.minval = nodes[0].bound[cutdim]
self.maxval = nodes[-1].bound[cutdim]
self.cutval = nodes[median].bound[cutdim]
self.lo = kd_tree(nodes[0:median], cutoff, cutoff_distance)
self.hi = kd_tree(nodes[median:], cutoff, cutoff_distance)
pycam/Geometry/utils.py 0 → 100755
View file @ a8a1f8d3
INFINITE = 10000
epsilon = 0.0001
def sqr(x):
return x*x
def min3(x,y,z):
if x<y:
xy = x
else:
xy = y
if xy<z:
return xy
else:
return z
def max3(x,y,z):
if x>y:
xy = x
else:
xy = y
if xy>z:
return xy
else:
return z
pycam/Gui/SimpleGui.py 0 → 100755
View file @ a8a1f8d3
#!/usr/bin/python
import sys
sys.path.insert(0,'.')
from OpenGL.GL import *
from OpenGL.Tk import *
from OpenGL.GLUT import *
from OpenGL.GLU import *
import tkFileDialog
from pycam import *
from pycam.Cutters import *
from pycam.PathGenerators import *
from pycam.PathProcessors import *
from pycam.Geometry.utils import *
from pycam.Importers import *
from pycam.Exporters import *
class OpenglWidget(Opengl):
def __init__(self, master=None, cnf={}, **kw):
Opengl.__init__(self, master, kw)
glShadeModel(GL_FLAT)
# glShadeModel(GL_SMOOTH)
glMatrixMode(GL_MODELVIEW)
glMaterial(GL_FRONT_AND_BACK, GL_AMBIENT, (0.1, 0.1, 0.1, 1.0))
glMaterial(GL_FRONT_AND_BACK, GL_SPECULAR, (0.1, 0.1, 0.1, 1.0))
glMaterial(GL_FRONT_AND_BACK, GL_SHININESS, (0.5))
# glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
def basic_lighting(self):
Opengl.basic_lighting(self)
# "Let There Be Light"
glPushMatrix()
glLoadIdentity()
glLightfv(GL_LIGHT0, GL_AMBIENT, (0.5, 0.5, 0.5, 1.0))
glLightfv(GL_LIGHT0, GL_DIFFUSE, (1.0, 1.0, 1.0, 1.0))
glLightfv(GL_LIGHT0, GL_SPECULAR, (1.0, 1.0, 1.0, 1.0))
glLightfv(GL_LIGHT0, GL_POSITION, (2, 2, +10, 1.0))
glEnable(GL_LIGHT0)
glDisable(GL_LIGHTING)
glPopMatrix()
class SimpleGui(Frame):
def Redraw(self, event=None):
# default scale and orientation
glScalef(0.25, 0.25, 0.25)
glRotatef(110,1.0,0.0,0.0)
glRotatef(180,0.0,1.0,0.0)
glRotatef(160,0.0,0.0,1.0)
glTranslatef(0,0,-2)
# axes
glBegin(GL_LINES)
glColor3f(1,0,0)
glVertex3f(0,0,0)
glVertex3f(5,0,0)
glEnd()
glBegin(GL_LINES)
glColor3f(0,1,0)
glVertex3f(0,0,0)
glVertex3f(0,5,0)
glEnd()
glBegin(GL_LINES)
glColor3f(0,0,1)
glVertex3f(0,0,0)
glVertex3f(0,0,5)
glEnd()
if self.model:
glColor3f(0.5,.5,1)
self.model.to_OpenGL()
if self.toolpath:
last = None
for path in self.toolpath:
if last:
glColor3f(.5,1,.5)
glBegin(GL_LINES)
glVertex3f(last.x,last.y,last.z)
last = path.points[0]
glVertex3f(last.x,last.y,last.z)
glEnd()
glColor3f(1,.5,.5)
glBegin(GL_LINE_STRIP)
for point in path.points:
glVertex3f(point.x,point.y,point.z)
glEnd()
last = path.points[-1]
def browseOpen(self):
filename = tkFileDialog.Open(self, filetypes=[("STL files", ".stl")]).show()
self.model = None
if filename:
self.InputFileName.set(filename)
self.model = STLImporter.ImportModel(filename)
self.toolpath = None
self.ogl.tkRedraw()
def generateToolpath(self):
radius = float(self.CutterRadius.get())
if self.CutterName.get() == "SphericalCutter":
self.cutter = SphericalCutter(radius)
elif self.CutterName.get() == "CylindricalCutter":
self.cutter = CylindricalCutter(radius)
elif self.CutterName.get() == "ToroidalCutter":
toroid = float(self.ToroidRadius.get())
self.cutter = ToroidalCutter(radius, toroid)
minx = float(self.MinX.get())
maxx = float(self.MaxX.get())
miny = float(self.MinY.get())
maxy = float(self.MaxY.get())
minz = float(self.MinZ.get())
maxz = float(self.MaxZ.get())
samples = float(self.Samples.get())
lines = float(self.Lines.get())
layers = float(self.Layers.get())
if self.PathGeneratorName.get() == "DropCutter":
if self.PathProcessorName.get() == "ZigZagCutter":
self.option = PathAccumulator(zigzag=True)
else:
self.option = None
self.pathgenerator = DropCutter(self.cutter, self.model, self.option);
if samples>1:
dx = (maxx-minx)/(samples-1)
else:
dx = INFINITE
if lines>1:
dy = (maxy-miny)/(lines-1)
else:
dy = INFINITE
self.toolpath = self.pathgenerator.GenerateToolPath(minx, maxx, miny, maxy, minz, maxz, dx, dy)
elif self.PathGeneratorName.get() == "PushCutter":
if self.PathProcessorName.get() == "PathAccumulator":
self.option = PathAccumulator()
elif self.PathProcessorName.get() == "SimpleCutter":
self.option = SimpleCutter()
elif self.PathProcessorName.get() == "ZigZagCutter":
self.option = ZigZagCutter()
elif self.PathProcessorName.get() == "PolygonCutter":
self.option = PolygonCutter()
else:
self.option = None
self.pathgenerator = PushCutter(self.cutter, self.model, self.option);
if lines>1:
dy = (maxy-miny)/(lines-1)
else:
dy = INFINITE
if layers>1:
dz = (maxz-minz)/(layers-1)
else:
dz = INFINITE
self.toolpath = self.pathgenerator.GenerateToolPath(minx, maxx, miny, maxy, minz, maxz, 0, dy, dz)
self.ogl.tkRedraw()
def browseSaveAs(self):
filename = tkFileDialog.SaveAs(self, filetypes=[("GCODE files", ".nc .gc")]).show()
if filename:
self.OutputFileName.set(filename)
if self.toolpath:
exporter = SimpleGCodeExporter.ExportPathList(filename, self.toolpath)
def createWidgets(self):
self.TopFrame = Frame(self).pack(side=TOP, expand=1, fill=X)
self.InputFileFrame = Frame(self.TopFrame)
self.InputFileFrame.pack(side=TOP, anchor=W, expand=1, fill=X)
Label(self.InputFileFrame, width=10, text="Input File: ").pack(side=LEFT, anchor=W)
self.InputFileName = StringVar()
Entry(self.InputFileFrame, textvariable=self.InputFileName).pack(side=LEFT, expand=1, fill=X)
Button(self.InputFileFrame, text="Import...",command=self.browseOpen).pack(side=RIGHT)
self.CutterFrame = Frame(self.TopFrame)
self.CutterFrame.pack(side=TOP, anchor=W)
Label(self.CutterFrame, text="Tool: ").pack(side=LEFT)
self.CutterName = StringVar()
self.CutterName.set(Cutters.list[0])
for cutter in Cutters.list:
Radiobutton(self.CutterFrame, text=cutter, variable=self.CutterName, value=cutter).pack(side=LEFT)
self.PathGeneratorFrame = Frame(self.TopFrame)
self.PathGeneratorFrame.pack(side=TOP, anchor=W)
Label(self.PathGeneratorFrame, text="PathGenerator: ").pack(side=LEFT)
self.PathGeneratorName = StringVar()
self.PathGeneratorName.set(PathGenerators.list[0])
for PathGenerator in PathGenerators.list:
Radiobutton(self.PathGeneratorFrame, text=PathGenerator, variable=self.PathGeneratorName, value=PathGenerator).pack(side=LEFT)
self.PathProcessorFrame = Frame(self.TopFrame)
self.PathProcessorFrame.pack(side=TOP, anchor=W)
Label(self.PathProcessorFrame, text="Postprocessor: ").pack(side=LEFT)
self.PathProcessorName = StringVar()
self.PathProcessorName.set(PathProcessors.list[0])
for option in PathProcessors.list:
Radiobutton(self.PathProcessorFrame, text=option, variable=self.PathProcessorName, value=option).pack(side=LEFT)
self.ConfigurationFrame = Frame(self.TopFrame)
self.ConfigurationFrame.pack(side=TOP, anchor=W, expand=1, fill=X)
Label(self.ConfigurationFrame, text="Tool Radius: ").pack(side=LEFT)
self.CutterRadius = StringVar()
self.CutterRadius.set("1.0")
s = Spinbox(self.ConfigurationFrame, width=5, text='Radius', from_=0.1, to=5.0, increment=0.1, format="%2.1f")
s.pack(side=LEFT)
s["textvariable"] = self.CutterRadius
Label(self.ConfigurationFrame, text="Torus Radius: ").pack(side=LEFT)
self.ToroidRadius = StringVar()
self.ToroidRadius.set("0.25")
s = Spinbox(self.ConfigurationFrame, width=5, text='Toroid', from_=0.1, to=5.0, increment=0.1, format="%2.1f")
s["textvariable"] = self.ToroidRadius
s.pack(side=LEFT)
self.MinX = StringVar()
self.MinX.set("-7")
self.MinY = StringVar()
self.MinY.set("-7")
self.MinZ = StringVar()
self.MinZ.set("0")
self.MaxX = StringVar()
self.MaxX.set("+7")
self.MaxY = StringVar()
self.MaxY.set("+7")
self.MaxZ = StringVar()
self.MaxZ.set("+3")
self.StockModelFrame1 = Frame(self.TopFrame)
self.StockModelFrame1.pack(side=TOP, anchor=W, expand=1, fill=X)
Label(self.StockModelFrame1, text="Min X").pack(side=LEFT)
Entry(self.StockModelFrame1, textvariable=self.MinX, width=6).pack(side=LEFT)
Label(self.StockModelFrame1, text="Min Y").pack(side=LEFT)
Entry(self.StockModelFrame1, textvariable=self.MinY, width=6).pack(side=LEFT)
Label(self.StockModelFrame1, text="Min Z").pack(side=LEFT)
Entry(self.StockModelFrame1, textvariable=self.MinZ, width=6).pack(side=LEFT)
self.StockModelFrame2 = Frame(self.TopFrame)
self.StockModelFrame2.pack(side=TOP, anchor=W, expand=1, fill=X)
Label(self.StockModelFrame2, text="Max X").pack(side=LEFT)
Entry(self.StockModelFrame2, textvariable=self.MaxX, width=6).pack(side=LEFT)
Label(self.StockModelFrame2, text="Max Y").pack(side=LEFT)
Entry(self.StockModelFrame2, textvariable=self.MaxY, width=6).pack(side=LEFT)
Label(self.StockModelFrame2, text="Max Z").pack(side=LEFT)
Entry(self.StockModelFrame2, textvariable=self.MaxZ, width=6).pack(side=LEFT)
self.ConfigFrame = Frame(self.TopFrame)
self.ConfigFrame.pack(side=TOP, anchor=W, expand=1, fill=X)
self.Layers = StringVar()
self.Layers.set("1")
Label(self.ConfigFrame, text="Layers").pack(side=LEFT)
Entry(self.ConfigFrame, textvariable=self.Layers, width=6).pack(side=LEFT)
self.Samples = StringVar()
self.Samples.set("50")
Label(self.ConfigFrame, text="Samples").pack(side=LEFT)
Entry(self.ConfigFrame, textvariable=self.Samples, width=6).pack(side=LEFT)
self.Lines = StringVar()
self.Lines.set("20")
Label(self.ConfigFrame, text="Lines").pack(side=LEFT)
Entry(self.ConfigFrame, textvariable=self.Lines, width=6).pack(side=LEFT)
Button(self.ConfigFrame, text="Generate Toolpath", command=self.generateToolpath).pack(side=RIGHT)
self.OutputFileFrame = Frame(self.TopFrame)
self.OutputFileFrame.pack(side=TOP, anchor=W, expand=1, fill=X)
Label(self.OutputFileFrame, width=10, text= "Output File: ").pack(side=LEFT)
self.OutputFileName = StringVar()
self.OutputFileField = Entry(self.OutputFileFrame, textvariable=self.OutputFileName).pack(side=LEFT, expand=1, fill=X)
self.OutputFileBrowse = Button(self.OutputFileFrame, text="Export...", command=self.browseSaveAs).pack(side=RIGHT)
self.ogl = OpenglWidget(self, width=600, height=500)
self.ogl.pack(side='bottom', expand=1, fill=BOTH)
self.ogl.set_background(0,0,0)
self.ogl.bind('<Button-2>',self.ogl.tkRecordMouse)
self.ogl.bind('<B2-Motion>', self.ogl.tkTranslate)
self.ogl.bind('<Button-1>', self.ogl.StartRotate)
self.ogl.bind('<B1-Motion>', self.ogl.tkRotate)
self.ogl.bind('<Button-3>', self.ogl.tkRecordMouse)
self.ogl.bind('<B3-Motion>', self.ogl.tkScale)
self.ogl.redraw = self.Redraw
self.pack(expand=1, fill=BOTH)
def __init__(self, master=None):
Frame.__init__(self, master)
self.model = None
self.toolpath = None
self.createWidgets()
def cutmodel(self, z):
cutter = SphericalCutter(1, Point(0,0,7))
pc = DropCutter(cutter, self.model, PathAccumulator())
x0 = -7.0
x1 = +7.0
y0 = -7.0
y1 = +7.0
z0 = 0.0
z1 = 4.0
samples = 20
lines = 20
layers = 10
dx = (x1-x0)/samples
dy = (y1-y0)/lines
dz = (z1-z0)/(layers+1)
self.toolpath = pc.GenerateToolPath(x0,x1,y0,y1,z0,z1,dx,dy,dz)
if __name__ == "__main__":
app = SimpleGui()
app.model = TestModel.TestModel()
app.cutmodel(3.0)
app.mainloop()
pycam/Gui/Visualization.py 0 → 100755
View file @ a8a1f8d3
import string
import math
from OpenGL.GL import *
from OpenGL.GLUT import *
from OpenGL.GLU import *
from OpenGL.constant import Constant
GLUT_WHEEL_UP=Constant('GLUT_WHEEL_UP',3)
GLUT_WHEEL_DOWN=Constant('GLUT_WHEEL_DOWN',4)
from pycam.Geometry.utils import *
_DrawCurrentSceneFunc = None
# Some api in the chain is translating the keystrokes to this octal string
# so instead of saying: ESCAPE = 27, we use the following.
ESCAPE = '\033'
# Number of the glut window.
window = 0
# Rotations for cube.
xrot = 110
yrot = 180
zrot = 250
scale = 0.5
xdist = 0
ydist = -1.0
zdist = -8.0
texture_num = 2
object = 0
light = 0
polygon_mode = GL_FILL
width = 320
height = 200
# A general OpenGL initialization function. Sets all of the initial parameters.
def InitGL(Width, Height): # We call this right after our OpenGL window is created.
global width, height
width = Width
height = Height
glClearColor(0.0, 0.0, 0.0, 0.0) # This Will Clear The Background Color To Black
glClearDepth(1.0) # Enables Clearing Of The Depth Buffer
glDepthFunc(GL_LESS) # The Type Of Depth Test To Do
glEnable(GL_DEPTH_TEST) # Enables Depth Testing
# glShadeModel(GL_SMOOTH) # Enables Smooth Color Shading
glShadeModel(GL_FLAT) # Enables Flat Color Shading
glMatrixMode(GL_PROJECTION)
glLoadIdentity() # Reset The Projection Matrix
# Calculate The Aspect Ratio Of The Window
gluPerspective(60.0, float(Width)/float(Height), 0.1, 100.0)
glLightfv(GL_LIGHT0, GL_AMBIENT, (0.5, 0.5, 0.5, 1.0)) # Setup The Ambient Light
glLightfv(GL_LIGHT0, GL_DIFFUSE, (1.0, 1.0, 1.0, 1.0)) # Setup The Diffuse Light
glLightfv(GL_LIGHT0, GL_POSITION, (-10.0, 0.0, 0.0, 1.0)) # Position The Light
glEnable(GL_LIGHT0) # Enable Light One
glMatrixMode(GL_MODELVIEW)
glMaterial(GL_FRONT_AND_BACK, GL_SPECULAR, (0.1, 0.1, 0.1, 1.0))
# glMaterial(GL_FRONT_AND_BACK, GL_SHININESS, (0.5))
glPolygonMode(GL_FRONT_AND_BACK, polygon_mode)
def ReSizeGLScene(Width, Height):
if Height == 0: # Prevent A Divide By Zero If The Window Is Too Small
Height = 1
global width, height
width = Width
height = Height
glViewport(0, 0, Width, Height) # Reset The Current Viewport And Perspective Transformation
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(60.0, float(Width)/float(Height), 0.1, 100.0)
glMatrixMode(GL_MODELVIEW)
# The main drawing function.
def DrawGLScene():
global xrot, yrot, zrot, scale, xdist, ydist, zdist, light
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) # Clear The Screen And The Depth Buffer
glLoadIdentity() # Reset The View
glTranslatef(xdist,ydist,zdist) # Move Into The Screen
glRotatef(xrot,1.0,0.0,0.0) # Rotate The Cube On It's X Axis
glRotatef(yrot,0.0,1.0,0.0) # Rotate The Cube On It's Y Axis
glRotatef(zrot,0.0,0.0,1.0) # Rotate The Cube On It's Z Axis
glScalef(scale,scale,scale)
if light:
glEnable(GL_LIGHTING)
else:
glDisable(GL_LIGHTING)
if _DrawCurrentSceneFunc:
_DrawCurrentSceneFunc()
# since this is double buffered, swap the buffers to display what just got drawn.
glutSwapBuffers()
# The function called whenever a key is pressed
def keyPressed(key, x, y):
global light, polygon_mode
global xrot, yrot, zrot
key = string.upper(key)
if key == ESCAPE or key=='Q':
# If escape is pressed, kill everything.
sys.exit()
elif key == 'S':
light = not light
elif key == '=':
print "rot=<%g,%g,%g>" % (xrot,yrot,zrot)
elif key == 'T': # top
xrot=0
yrot=0
zrot=0
elif key == 'F': # front
xrot=-90
yrot=0
zrot=0
elif key == 'R': # right
xrot=-90
yrot=0
zrot=-90
elif key == 'L': # left
xrot=-90
yrot=0
zrot=+90
elif key == 'M':
if polygon_mode == GL_FILL:
polygon_mode = GL_LINE
else:
polygon_mode = GL_FILL
glPolygonMode(GL_FRONT_AND_BACK, polygon_mode)
class mouseState:
button = None
state = None
x=0
y=0
def mousePressed(button, state, x, y):
global xrot, yrot, zrot, xdist, ydist, zdist, scale
if button==GLUT_WHEEL_DOWN:
scale *= 1.1
elif button==GLUT_WHEEL_UP:
scale /= 1.1
mouseState.button = button
mouseState.state = state
mouseState.x=float(x)
mouseState.y=float(y)
def mouseMoved(x, y):
global xrot, yrot, zrot, xdist, ydist, zdist, scale
global width, height
x = float(x)
y = float(y)
a1 = math.atan2(mouseState.y-height/2.0, mouseState.x-width/2.0)
r1 = math.sqrt(sqr(mouseState.y-height/2.0)+sqr(mouseState.x-width/2.0))
a2 = math.atan2(y-height/2.0, x-width/2.0)
r2 = math.sqrt(sqr(y-height/2.0)+sqr(x-width/2.0))
da = abs(a2-a1)
dr = 0
if r2>r1:
dr = r1/r2
else:
dr = r2/r1
if mouseState.button == GLUT_LEFT_BUTTON or mouseState.button == GLUT_RIGHT_BUTTON:
a3 = math.acos(mouseState.x/width-0.5)
a4 = math.acos(x/width-0.5)
zrot = zrot - (a4-a3)*180/math.pi*2
if mouseState.button == GLUT_RIGHT_BUTTON:
a3 = math.acos(mouseState.y/height-0.5)
a4 = math.acos(y/height-0.5)
if x>width/2.0:
yrot = yrot + (a4-a3)*180/math.pi*2
else:
yrot = yrot - (a4-a3)*180/math.pi*2
if mouseState.button == GLUT_LEFT_BUTTON:
a3 = math.acos(mouseState.y/width-0.5)
a4 = math.acos(y/width-0.5)
xrot = xrot - (a4-a3)*180/math.pi*2
mouseState.x=x
mouseState.y=y
def Visualization(title, drawScene=DrawGLScene, width=320, height=200):
global window, _DrawCurrentSceneFunc
glutInit(sys.argv)
_DrawCurrentSceneFunc = drawScene
# Select type of Display mode:
# Double buffer
# RGBA color
# Alpha components supported
# Depth buffer
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH)
# get a 640 x 480 window
glutInitWindowSize(640, 480)
# the window starts at the upper left corner of the screen
glutInitWindowPosition(0, 0)
# Okay, like the C version we retain the window id to use when closing, but for those of you new
# to Python (like myself), remember this assignment would make the variable local and not global
# if it weren't for the global declaration at the start of main.
window = glutCreateWindow(title)
# Register the drawing function with glut, BUT in Python land, at least using PyOpenGL, we need to
# set the function pointer and invoke a function to actually register the callback, otherwise it
# would be very much like the C version of the code.
glutDisplayFunc(DrawGLScene)
# Uncomment this line to get full screen.
# glutFullScreen()
# When we are doing nothing, redraw the scene.
glutIdleFunc(DrawGLScene)
# Register the function called when our window is resized.
glutReshapeFunc(ReSizeGLScene)
# Register the function called when the keyboard is pressed.
glutKeyboardFunc(keyPressed)
# Register the function called when the mouse is pressed.
glutMouseFunc(mousePressed)
# Register the function called when the mouse is pressed.
glutMotionFunc(mouseMoved)
# Initialize our window.
InitGL(640, 480)
# Start Event Processing Engine
glutMainLoop()
test_model = None
test_cutter = None
test_pathlist = None
def DrawTestScene():
global test_model, test_cutter, test_pathlist
if test_model:
glColor4f(1,0.5,0.5,0.1)
test_model.to_OpenGL()
if test_cutter:
glColor3f(0.5,0.5,0.5)
test_cutter.to_OpenGL()
if test_pathlist:
for path in test_pathlist:
glColor3f(0.5,0.5,1)
glBegin(GL_LINE_STRIP)
for point in path.points:
glVertex3f(point.x, point.y, point.z)
# glVertex3f(point.x, point.y, point.z+1)
glEnd()
def ShowTestScene(model=None, cutter=None, pathlist=None):
global test_model, test_cutter, test_pathlist
test_model = model
test_cutter = cutter
test_pathlist = pathlist
Visualization("TestScene", DrawTestScene)
pycam/Gui/__init__.py 0 → 100755
View file @ a8a1f8d3
__all__ = ["Vizualisation"]
pycam/Importers/STLImporter.py 0 → 100755
View file @ a8a1f8d3
import re
from pycam.Geometry import *
def ImportModel(filename):
model = Model()
f = file(filename,"r")
solid = re.compile("\s*solid\s+(\w+)\s+")
endsolid = re.compile("\s*endsolid\s+")
facet = re.compile("\s*facet\s+")
normal = re.compile("\s*facet\s+normal\s+(?P<x>[-+]?(\d+(\.\d*)?|\.\d+)([eE][-+]?\d+)?)\s+(?P<y>[-+]?(\d+(\.\d*)?|\.\d+)([eE][-+]?\d+)?)\s+(?P<z>[-+]?(\d+(\.\d*)?|\.\d+)([eE][-+]?\d+)?)\s+")
endfacet = re.compile("\s*endfacet\s+")
loop = re.compile("\s*outer\s+loop\s+")
endloop = re.compile("\s*endloop\s+")
vertex = re.compile("\s*vertex\s+(?P<x>[-+]?(\d+(\.\d*)?|\.\d+)([eE][-+]?\d+)?)\s+(?P<y>[-+]?(\d+(\.\d*)?|\.\d+)([eE][-+]?\d+)?)\s+(?P<z>[-+]?(\d+(\.\d*)?|\.\d+)([eE][-+]?\d+)?)\s+")
model = Model()
t = None
p1 = None
p2 = None
p3 = None
for line in f:
m = solid.match(line)
if m:
model.name = m.group(1)
continue
m = facet.match(line)
if m:
m = normal.match(line)
if m:
n = Point(float(m.group('x')),float(m.group('y')),float(m.group('z')))
continue
m = loop.match(line)
if m:
continue
m = vertex.match(line)
if m:
p = Point(float(m.group('x')),float(m.group('y')),float(m.group('z')))
# TODO: check for duplicate points (using kdtree?)
if p1 == None:
p1 = p
elif p2 == None:
p2 = p
elif p3 == None:
p3 = p
else:
print "ERROR: more then 3 points in facet"
continue
m = endloop.match(line)
if m:
continue
m = endfacet.match(line)
if m:
# make sure the points are in ClockWise order
if n.dot(p3.sub(p1).cross(p2.sub(p1)))>0:
t = Triangle(p1, p2, p3)
else:
t = Triangle(p1, p3, p2)
t._normal = n
n=p1=p2=p3=None
# if t.normal().z < 0:
# continue
model.append(t)
continue
m = endsolid.match(line)
if m:
continue
return model
pycam/Importers/TestModel.py 0 → 100755
View file @ a8a1f8d3
from pycam.Geometry import *
def TestModel():
points = []
points.append(Point(-2,1,4))
points.append(Point(2,1,4))
points.append(Point(0,-2,4))
points.append(Point(-5,2,2))
points.append(Point(-1,3,2))
points.append(Point(5,2,2))
points.append(Point(4,-1,2))
points.append(Point(2,-4,2))
points.append(Point(-2,-4,2))
points.append(Point(-3,-2,2))
model = Model()
model.append(Triangle(points[0],points[1],points[2]))
model.append(Triangle(points[0],points[3],points[4]))
model.append(Triangle(points[0],points[4],points[1]))
model.append(Triangle(points[1],points[4],points[5]))
model.append(Triangle(points[1],points[5],points[6]))
model.append(Triangle(points[1],points[6],points[2]))
model.append(Triangle(points[2],points[6],points[7]))
model.append(Triangle(points[2],points[7],points[8]))
model.append(Triangle(points[2],points[8],points[9]))
model.append(Triangle(points[2],points[9],points[0]))
model.append(Triangle(points[0],points[9],points[3]))
return model
pycam/Importers/__init__.py 0 → 100755
View file @ a8a1f8d3
list = ["STLImporter"]
__all__ = ["TestModel"] + list
pycam/PathGenerators/DropCutter.py 0 → 100755
View file @ a8a1f8d3
from pycam.PathProcessors import *
from pycam.Geometry import *
from pycam.Geometry.utils import *
class DropCutter:
def __init__(self, cutter, model, PathProcessor=None):
self.cutter = cutter
self.model = model
self.processor = PathProcessor
def GenerateToolPath(self, minx, maxx, miny, maxy, z0, z1, dx, dy, dz=0):
if self.processor:
pa = self.processor
else:
pa = PathAccumulator()
pa.new_direction(0)
y = miny
while y<=maxy:
x = minx
pa.new_scanline()
while x<=maxx:
p = Point(x,y,z1)
z_max = -INFINITE
cl_max = None
self.cutter.moveto(p)
for t in self.model.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
if not cl_max or cl_max.z<z0:
cl_max = Point(x,y,z0)
pa.append(cl_max)
x += dx
pa.end_scanline()
y += dy
pa.end_direction()
pa.finish()
return pa.paths
pycam/PathGenerators/PushCutter.py 0 → 100755
View file @ a8a1f8d3
from pycam.PathProcessors import *
from pycam.Geometry import *
from pycam.Geometry.utils import *
class Hit:
def __init__(self, cl, t, d, dir):
self.cl = cl
self.t = t
self.d = d
self.dir = dir
def cmp(a,b):
return cmp(a.d, b.d)
class PushCutter:
def __init__(self, cutter, model, pathextractor=None):
self.cutter = cutter
self.model = model
self.pa = pathextractor
def GenerateToolPath(self, minx, maxx, miny, maxy, minz, maxz, dx, dy, dz):
if dx==0:
forward = Point(1,0,0)
backward = Point(-1,0,0)
elif dy == 0:
forward = Point(0,1,0)
backward = Point(0,-1,0)
z = maxz
c = self.cutter
model = self.model
paths = []
while z >= minz:
self.pa.new_direction(0)
x = minx
y = miny
while x<=maxx and y<=maxy:
self.pa.new_scanline()
# find all hits along scan line
hits = []
prev = Point(x,y,z)
c.moveto(prev)
for t in model.triangles():
if t.normal().z < 0: continue;
# normals point outward... and we want to approach the model from the outside!
n = t.normal().dot(forward)
if n>=0:
(cl,d) = c.intersect(backward, t)
if cl:
# print "< cl=",cl,",d=",-d,",t=",t
hits.append(Hit(cl,t,-d,backward))
if n<=0:
(cl,d) = c.intersect(forward, t)
if cl:
# print "> cl=",cl,",d=",d,",t=",t
hits.append(Hit(cl,t,d,forward))
# sort along the scan direction
hits.sort(Hit.cmp)
# remove duplicates (typically edges)
i = 1
while i < len(hits):
while i<len(hits) and abs(hits[i].d - hits[i-1].d)<epsilon:
del hits[i]
i += 1
# find parts of scanline where model is below z-level
i = 0
while i < len(hits):
next = hits[i].cl
self.pa.append(prev)
self.pa.append(next)
i += 1
# find next hit cutter location that is below z-level
while i < len(hits):
prev = hits[i].cl
c.moveto(prev)
c.moveto(prev.sub(hits[i].dir.mul(epsilon)))
zmax = -INFINITE
for t in model.triangles():
if t.normal().z < 0: continue;
cl = c.drop(t)
if cl and cl.z > zmax and cl.z < INFINITE:
zmax = cl.z
i += 1
if zmax <= z+epsilon:
break
if dx == 0:
x = maxx
if dy == 0:
y = maxy
next = Point(x,y,z)
self.pa.append(prev)
self.pa.append(next)
if dx != 0:
x += dx
else:
x = minx
if dy != 0:
y += dy
else:
y = miny
self.pa.end_scanline()
self.pa.end_direction()
self.pa.finish()
paths += self.pa.paths
z -= dz
return paths
pycam/PathGenerators/__init__.py 0 → 100755
View file @ a8a1f8d3
list = ["DropCutter", "PushCutter"]
__all__ = list
from DropCutter import DropCutter
from PushCutter import PushCutter
pycam/PathProcessors/PathAccumulator.py 0 → 100755
View file @ a8a1f8d3
from pycam.Geometry import *
class PathAccumulator:
def __init__(self, zigzag=False):
self.paths = []
self.curr_path = None
self.zigzag = zigzag
def append(self, p):
if self.curr_path == None:
self.curr_path = Path()
self.curr_path.append(p)
def new_direction(self, dir):
self.scanline = 0
def end_direction(self):
pass
def new_scanline(self):
self.scanline += 1
if self.curr_path:
print "ERROR: curr_path expected to be empty"
self.curr_path = None
def end_scanline(self):
if self.curr_path:
if self.zigzag and (self.scanline%2 == 0):
self.curr_path.reverse()
self.paths.append(self.curr_path)
self.curr_path = None
def finish(self):
pass
pycam/PathProcessors/PolygonCutter.py 0 → 100755
View file @ a8a1f8d3
from pycam.Geometry import *
from pycam.Geometry.PolygonExtractor import *
class PolygonCutter:
def __init__(self):
self.paths = []
self.curr_path = None
self.scanline = None
self.pe = PolygonExtractor(PolygonExtractor.MONOTONE)
def append(self, p):
self.pe.append(p)
def new_direction(self, dir):
self.pe.new_direction(dir)
def end_direction(self):
self.pe.end_direction()
def new_scanline(self):
self.pe.new_scanline()
def end_scanline(self):
self.pe.end_scanline()
def finish(self):
self.pe.finish()
paths = []
for path in self.pe.hor_path_list:
points = path.points
for i in range(0, (len(points)+1)/2):
p = Path()
if i % 2 == 0:
p.append(points[i])
p.append(points[-i-1])
else:
p.append(points[-i-1])
p.append(points[i])
paths.append(p)
self.paths = paths
pycam/PathProcessors/SimpleCutter.py 0 → 100755
View file @ a8a1f8d3
from pycam.Geometry import *
class SimpleCutter:
def __init__(self):
self.paths = []
self.curr_path = None
def append(self, p):
curr_path = None
if self.curr_path == None:
curr_path = Path()
self.curr_path = curr_path
else:
curr_path = self.curr_path
self.curr_path = None
curr_path.append(p)
if self.curr_path == None:
self.paths.append(curr_path)
def new_direction(self, dir):
pass
def end_direction(self):
pass
def new_scanline(self):
if self.curr_path:
print "ERROR: curr_path expected to be empty"
self.curr_path = None
def end_scanline(self):
if self.curr_path:
print "ERROR: curr_path expected to be empty"
self.curr_path = None
def finish(self):
pass
pycam/PathProcessors/ZigZagCutter.py 0 → 100755
View file @ a8a1f8d3
from pycam.Geometry import *
class ZigZagCutter:
def __init__(self):
self.paths = []
self.curr_path = None
self.scanline = None
def append(self, p):
curr_path = None
if self.curr_path == None:
curr_path = Path()
self.curr_path = curr_path
else:
curr_path = self.curr_path
self.curr_path = None
curr_path.append(p)
if self.curr_path == None:
if (self.scanline % 2) == 0:
self.curr_scanline.append(curr_path)
else:
curr_path.reverse()
self.curr_scanline.insert(0, curr_path)
def new_direction(self, dir):
self.scanline = 0
def end_direction(self):
pass
def new_scanline(self):
self.scanline += 1
self.curr_scanline = []
def end_scanline(self):
self.paths += self.curr_scanline
self.curr_scanline = None
def finish(self):
pass
pycam/PathProcessors/__init__.py 0 → 100755
View file @ a8a1f8d3
list = ["PathAccumulator", "SimpleCutter", "ZigZagCutter", "PolygonCutter"]
__all__ = list
from PathAccumulator import PathAccumulator
from SimpleCutter import SimpleCutter
from ZigZagCutter import ZigZagCutter
from PolygonCutter import PolygonCutter
pycam/Utils/__init__.py 0 → 100755
View file @ a8a1f8d3
__all__ = [ "iterators", "polynomials"]
pycam/Utils/iterators.py 0 → 100755
View file @ a8a1f8d3
class Iterator:
def __init__(self, seq, start=0):
self.seq = seq
self.ind = start
def next(self):
if self.ind >= len(self.seq):
return None
else:
v = self.seq[self.ind]
self.ind += 1
return v
def insertBefore(self, v):
self.seq.insert(self.ind-1, v)
self.ind += 1
def insert(self, v):
self.seq.insert(self.ind, v)
self.ind += 1
def replace(self, v, w):
for i in range(0,len(self.seq)):
if self.seq[i]==v:
self.seq[i]=w
def remove(self, v):
for i in range(0,len(self.seq)):
if self.seq[i]==v:
del self.seq[i]
if i<self.ind:
self.ind -= 1
return
def takeNext(self):
if self.ind >= len(self.seq):
return None
else:
return self.seq.pop(self.ind)
def copy(self):
return Iterator(self.seq, self.ind)
def peek(self, i=0):
if self.ind+i >= len(self.seq):
return None
else:
return self.seq[self.ind+i]
def remains(self):
return len(self.seq)-self.ind
class CyclicIterator:
def __init__(self, seq, start=0):
self.seq = seq
self.ind = start
self.count = len(seq)
def next(self):
v = self.seq[self.ind]
self.ind += 1
if self.ind == len(self.seq):
self.ind = 0
return v
def copy(self):
return CyclicIterator(self.seq, self.ind)
def peek(self, i=0):
idx = self.ind+i
while idx>=len(self.seq):
idx -= len(self.seq)
return self.seq[idx]
if __name__ == "__main__":
l = [1, 2, 4, 6]
print "l=", l
i = Iterator(l)
print i.peek()
while True:
v = i.next()
if v == None:
break
if v == 4:
i.insertBefore(3)
i.insert(5)
print "l=", l
i = Iterator(l)
print "peek(0)=", i.peek(0)
print "peek(1)=", i.peek(1)
print "i.next()=", i.next()
print "peek(0)=", i.peek(0)
print "peek(1)=", i.peek(1)
print "remains=", i.remains()
print "l=", l
sum = 0
i = CyclicIterator(l)
print "cycle :",
while sum<30:
v = i.next()
print v,
sum += v
print "=", sum
i = Iterator(l)
print "l=", l
i.next()
i.next()
print "next,next : ", i.peek()
i.remove(2)
print "remove(2) : ", i.peek()
i.remove(4)
print "remove(4) : ", i.peek()
print "l=", l
pycam/Utils/polynomials.py 0 → 100755
View file @ a8a1f8d3
from math import *
# see BRL-CAD/src/libbn/poly.c
EPSILON=1e-4
SMALL=1e-4
INV_2=0.5
INV_3=1.0/3.0
INV_4=0.25
INV_27=1.0/27.0
SQRT3=sqrt(3.0)
PI_DIV_3=pi/3.0
def near_zero(x, epsilon=EPSILON):
if x>-epsilon and x<epsilon:
return True
else:
return False
def cuberoot(x):
if x>=0:
return pow(x,INV_3)
else:
return -pow(-x,INV_3)
def poly1_roots(a,b):
if near_zero(a):
return None
return (-b/a,)
def poly2_roots(a,b,c):
d = b*b-4*a*c
if d < 0:
return None
if near_zero(a):
return poly1_roots(b,c)
if d == 0:
return (-b/(2*a), )
q = sqrt(d)
if a<0:
return ((-b+q)/(2*a),(-b-q)/(2*a))
else:
return ((-b-q)/(2*a),(-b+q)/(2*a))
def poly3_roots(a,b,c,d):
if near_zero(a):
return poly2_roots(b,c,d)
c1=b/a
c2=c/a
c3=d/a
c1_3=c1*INV_3
a = c2-c1*c1_3
b = (2*c1*c1*c1-9*c1*c2+27*c3)*INV_27
delta = a*a
delta = b*b*INV_4+delta*a*INV_27
if delta>0:
r_delta = sqrt(delta)
A = -INV_2*b + r_delta
B = -INV_2*b - r_delta
A = cuberoot(A)
B = cuberoot(B)
return (A+B-c1_3, )
elif delta==0:
b_2 = -b*INV_2
s = cuberoot(b_2)
return (2*s-c1_3,-s-c1_3,-s-c1_3,)
else:
if a>0:
fact = 0
phi = 0
cs_phi = 1.0
sn_phi_s3 = 0.0
else:
a *= -INV_3
fact = sqrt(a)
f = -b*INV_2/(a*fact)
if f >= 1.0:
phi = 0
cs_phi = 1.0
sn_phi_s3 = 0.0
elif f <= -1.0:
phi = PI_DIV_3
cs_phi = cos(phi)
sn_phi_s3 = sin(phi)*SQRT3
else:
phi = acos(f)*INV_3
cs_phi = cos(phi)
sn_phi_s3 = sin(phi)*SQRT3
r1 = 2*fact*cs_phi
r2 = fact*( sn_phi_s3 - cs_phi)
r3 = fact*(-sn_phi_s3 - cs_phi)
return (r1-c1_3, r2-c1_3, r3-c1_3)
def max3(a,b,c):
if a>b:
max_ab = a
else:
max_ab = b
if c>max_ab:
return c
else:
return max_ab
def poly4_roots(a,b,c,d,e):
if a==0:
return poly3_roots(b,c,d,e)
c1 = float(b)/a
c2 = float(c)/a
c3 = float(d)/a
c4 = float(e)/a
roots3 = poly3_roots(1.0, -c2, c3*c1-4*c4, -c3*c3-c4*c1*c1+4*c4*c2)
if not roots3:
return None
if len(roots3)==1:
U = roots3[0]
else:
U = max3(roots3[0],roots3[1],roots3[2])
p = c1*c1*INV_4+U-c2
U *= INV_2
q = U*U-c4
if p<0:
if p<-SMALL:
return None
p = 0
else:
p = sqrt(p)
if q<0:
if q<-SMALL:
return None
q = 0
else:
q = sqrt(q)
quad1 = [1.0,c1*INV_2-p,0]
quad2 = [1.0,c1*INV_2+p,0]
q1 = U - q
q2 = U + q
p = quad1[1]*q2+quad2[1]*q1-c3
if near_zero(p):
quad1[2] = q1
quad2[2] = q2
else:
q = quad1[1]*q1+quad2[1]*q2-c3
if near_zero(q):
quad1[2] = q2
quad2[2] = q1
else:
return None
# print "f1(x)=%g*x**2%+g*x%+g" % (quad1[0], quad1[1], quad1[2])
# print "f2(x)=%g*x**2%+g*x%+g" % (quad2[0], quad2[1], quad2[2])
roots1 = poly2_roots(quad1[0], quad1[1], quad1[2])
roots2 = poly2_roots(quad2[0], quad2[1], quad2[2])
if roots1 and roots2:
return roots1+roots2
elif roots1:
return roots1
elif roots2:
return roots2
else:
return None
def test_poly1(a,b):
roots = poly1_roots(a,b)
print a, "*x+",b,"=0 ", roots
if roots:
for r in roots:
f = a*r+b
if not near_zero(f):
print "ERROR:",
print " f(",r,") =", f
def test_poly2(a,b,c):
roots = poly2_roots(a,b,c)
print a, "*x^2+",b,"*x+",c,"=0 ", roots
if roots:
for r in roots:
f = a*r*r+b*r+c
if not near_zero(f):
print "ERROR:",
print " f(",r,") = ", f
def test_poly3(a,b,c,d):
roots = poly3_roots(a,b,c,d)
print a, "*x^3+",b,"*x^2+",c,"*x+",d,"=0 ", roots
if roots:
for r in roots:
f = a*r*r*r+b*r*r+c*r+d
if not near_zero(f):
print "ERROR:",
print " f(",r,") = ", f
def test_poly4(a,b,c,d,e):
roots = poly4_roots(a,b,c,d,e)
print "f(x)=%g*x**4%+g*x**3%+g*x**2%+g*x%+g" % (a,b,c,d,e)
print "roots:", roots
if roots:
for r in roots:
f = a*r*r*r*r+b*r*r*r+c*r*r+d*r+e
if not near_zero(f, epsilon=SMALL):
print "ERROR:",
print " f(",r,") = ", f
return roots
if __name__ == "__main__":
test_poly1(1,2)
test_poly2(1,2,0)
test_poly2(1,2,1)
test_poly2(1,2,2)
test_poly3(1,0,0,0)
test_poly3(1,0,0,-1)
test_poly3(1,-1,0,0)
test_poly3(1,0,-2,0)
test_poly3(1,0,-2,1)
test_poly4(1,0,0,0,0)
test_poly4(1,0,0,0,-1)
test_poly4(1,0,-2,0,1)
test_poly4(1,-10,35,-50,+24)
test_poly4(1,0,6,-60,36)
test_poly4(1,-25,235.895,-995.565,1585.25);
pycam/Utils/rootsolver.py 0 → 100755
View file @ a8a1f8d3
def find_root_subdivide(f, x0, x1, tolerance, scale):
ymin = 0
xmin = 0
imin = 0
while x1-x0>tolerance:
for i in range(0,scale):
x = x1 + (i/scale)*(x1-x0)
y = f(x)
abs_y = abs(y)
if i==0:
ymin = abs_y
xmin = x
imin = 0
else:
if abs_y<ymin:
ymin = abs_y
xmin = x
imin = i
x0 = xmin - 1/scale
x1 = xmin + 1/scale
scale /= 10
return xmin
def find_root_newton_raphson(f, df, x0, tolerance, maxiter):
x = x0
iter = 0
while iter<maxiter:
y = f(x)
if y == 0:
return x
dy = df(x)
if dy == 0:
return None
dx = y/dy
x = x - dx
if dx < tolerance:
break
iter += 1
return x
def find_root(f, df=None, x0=0, x1=1, tolerance=0.001):
return find_root_subdivide(f=f,x0=x0,x1=x1,tolerance=tolerance, scale=10.0)
pycam/__init__.py 0 → 100755
View file @ a8a1f8d3
__all__ = [ "Utils", "Geometry", "Cutters", "PathGenerators", "PathProcessors", "Importers", "Exporters", "Gui"]
import pycam.Utils
import pycam.Geometry
import pycam.Cutters
import pycam.PathGenerators
import pycam.PathProcessors
import pycam.Importers
import pycam.Exporters
import pycam.Gui
setup.py 0 → 100755
View file @ a8a1f8d3
from distutils.core import setup
import py2exe
import distutils.sysconfig
import glob
setup(
name="pycam",
description="Python CAM",
version="0.1",
windows=[
{
'script' : 'pycam.py',
}
],
options = {
'py2exe': {
"packages": 'ctypes, logging, weakref, pycam',
"includes": 'distutils.util',
"excludes": 'OpenGL',
}
},
data_files= [
'README.TXT',
distutils.sysconfig.get_python_lib()+"/PyOpenGL-3.0.0b5-py2.5.egg",
distutils.sysconfig.get_python_lib()+"/setuptools-0.6c8-py2.5.egg",
('Samples', glob.glob('Samples/stl/*.stl')),
],
)
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