Add transform stack with matrices
This commit is contained in:
hodapp
parent
9fd413df2b
commit
dfbfbe19f2
@ -4,11 +4,28 @@
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"cell_type": "code",
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"execution_count": 1,
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"metadata": {},
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"outputs": [],
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"outputs": [
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{
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"name": "stderr",
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"output_type": "stream",
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"text": [
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"/usr/local/lib/python3.7/site-packages/quaternion/calculus.py:475: UserWarning: \n",
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"\n",
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"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n",
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"Could not import from scipy, which means that derivatives\n",
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"and integrals will use less accurate finite-differencing\n",
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"techniques. You may want to install scipy.\n",
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"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n",
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"\n",
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" warnings.warn(warning_text)\n"
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]
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}
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],
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"source": [
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"import meshutil\n",
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"import stl.mesh\n",
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"import numpy"
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"import numpy\n",
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"import trimesh"
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]
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},
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{
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@ -19,9 +36,9 @@
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"source": [
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"c = meshutil.cube(open_xz=False)\n",
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"mesh_fname = \"cube_test.stl\"\n",
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"c2 = meshutil.cube_distort(0.3)\n",
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"c2.v = c2.v/2 + [0,1,0]\n",
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"c = c.concat(c2)\n",
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"#c2 = meshutil.cube_distort(0.3)\n",
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"#c2.v = c2.v/2 + [0,1,0]\n",
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"#c = c.concat(c2)\n",
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"m = c.to_stl_mesh()\n",
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"\"\"\"\n",
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"c1 = meshutil.cube_distort(0.3)\n",
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@ -38,34 +55,52 @@
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},
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{
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"cell_type": "code",
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"execution_count": 3,
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"execution_count": 9,
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"metadata": {},
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"outputs": [],
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"outputs": [
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{
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"data": {
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"text/plain": [
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"array([[ 4., 0., 0., -4.],\n",
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" [ 0., 4., 0., 0.],\n",
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" [ 0., 0., 4., 0.],\n",
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" [ 0., 0., 0., 1.]])"
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]
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},
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"execution_count": 9,
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"metadata": {},
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"output_type": "execute_result"
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}
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],
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"source": [
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"#d = numpy.concatenate([c,c1,c2,c3,c4])"
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"s = meshutil.TransformStack()\n",
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"mtx = s.translate(-1, 0, 0).scale(4).rotate().mtx\n",
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"#mtx = meshutil.mtx_rotate(numpy.array([0,1,0]), numpy.pi/4) @ meshutil.mtx_scale(2) @ meshutil.mtx_translate(-1, 0, 0)\n",
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"#mtx = meshutil.mtx_translate(-1, 0, 0)\n",
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"mtx"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 4,
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"execution_count": 10,
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"metadata": {},
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"outputs": [],
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"source": [
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"import trimesh"
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"ct = c.transform(mtx)\n",
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"c2 = ct.concat(c)\n",
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"c2.to_stl_mesh().save(mesh_fname)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 5,
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"execution_count": 11,
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"metadata": {},
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"outputs": [
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{
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"name": "stderr",
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"output_type": "stream",
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"text": [
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"face_normals didn't match triangles, ignoring!\n",
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"/home/hodapp/.local/lib/python3.6/site-packages/IPython/core/display.py:694: UserWarning: Consider using IPython.display.IFrame instead\n",
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" warnings.warn(\"Consider using IPython.display.IFrame instead\")\n"
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"face_normals didn't match triangles, ignoring!\n"
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]
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},
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{
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@ -263,7 +298,7 @@
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"Math.pow(distanceToCamera,2)+\n",
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"Math.pow(distanceToCamera,2));camera.position.set(len,len,len);controls.update();camera.lookAt(boundingSphere.center);controls.target.set(boundingSphere.center.x,boundingSphere.center.y,boundingSphere.center.z);camera.updateProjectionMatrix();}\n",
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"function centerControls(obj,camera,controls){const boundingBox=new THREE.Box3().setFromObject(obj);const boundingSphere=new THREE.Sphere();boundingBox.getBoundingSphere((target=boundingSphere));controls.update();controls.target.set(boundingSphere.center.x,boundingSphere.center.y,boundingSphere.center.z);}\n",
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"function init(){scene=new THREE.Scene();scene.background=new THREE.Color(0xffffff);tracklight=new THREE.DirectionalLight(0xffffff,1.75);scene.add(tracklight);base64_data="Z2xURgIAAABwBQAAsAMAAEpTT057InNjZW5lIjogMCwgInNjZW5lcyI6IFt7Im5vZGVzIjogWzBdfV0sICJhc3NldCI6IHsidmVyc2lvbiI6ICIyLjAiLCAiZ2VuZXJhdG9yIjogImh0dHBzOi8vZ2l0aHViLmNvbS9taWtlZGgvdHJpbWVzaCJ9LCAiYWNjZXNzb3JzIjogW3siYnVmZmVyVmlldyI6IDAsICJjb21wb25lbnRUeXBlIjogNTEyNSwgImNvdW50IjogNjAsICJtYXgiOiBbMTRdLCAibWluIjogWzBdLCAidHlwZSI6ICJTQ0FMQVIifSwgeyJidWZmZXJWaWV3IjogMSwgImNvbXBvbmVudFR5cGUiOiA1MTI2LCAiY291bnQiOiAxNSwgInR5cGUiOiAiVkVDMyIsICJieXRlT2Zmc2V0IjogMCwgIm1heCI6IFsxLjAsIDEuNzYyMDIyNDk1MjY5Nzc1NCwgMS4wXSwgIm1pbiI6IFstMC4xNzAwOTE4NTI1NDU3MzgyMiwgMC4wLCAtMC4xNzAwOTE4NTI1NDU3MzgyMl19XSwgIm1lc2hlcyI6IFt7Im5hbWUiOiAiY3ViZV90ZXN0LnN0bCIsICJwcmltaXRpdmVzIjogW3siYXR0cmlidXRlcyI6IHsiUE9TSVRJT04iOiAxfSwgImluZGljZXMiOiAwLCAibW9kZSI6IDR9XX1dLCAiY2FtZXJhcyI6IFt7Im5hbWUiOiAiY2FtZXJhXzBHUVdIQyIsICJ0eXBlIjogInBlcnNwZWN0aXZlIiwgInBlcnNwZWN0aXZlIjogeyJhc3BlY3RSYXRpbyI6IDEuMzMzMzMzMzMzMzMzMzMzMywgInlmb3YiOiAwLjc4NTM5ODE2MzM5NzQ0ODMsICJ6bmVhciI6IDAuMDF9fV0sICJub2RlcyI6IFt7Im5hbWUiOiAid29ybGQiLCAiY2hpbGRyZW4iOiBbMV19LCB7Im5hbWUiOiAiY3ViZV90ZXN0LnN0bF8wVkZQWUxVMENMWFMiLCAibWVzaCI6IDB9XSwgImJ1ZmZlcnMiOiBbeyJieXRlTGVuZ3RoIjogNDIwfV0sICJidWZmZXJWaWV3cyI6IFt7ImJ1ZmZlciI6IDAsICJieXRlT2Zmc2V0IjogMCwgImJ5dGVMZW5ndGgiOiAyNDB9LCB7ImJ1ZmZlciI6IDAsICJieXRlT2Zmc2V0IjogMjQwLCAiYnl0ZUxlbmd0aCI6IDE4MH1dfSAgIKQBAABCSU4AAAAAAAcAAAAFAAAAAAAAAAIAAAAHAAAABQAAAAgAAAAGAAAABQAAAAcAAAAIAAAABgAAAAMAAAABAAAABgAAAAgAAAADAAAAAQAAAAIAAAAAAAAAAQAAAAMAAAACAAAAAgAAAAgAAAAHAAAAAgAAAAMAAAAIAAAAAAAAAAUAAAAGAAAAAAAAAAYAAAABAAAAAgAAAAkAAAALAAAAAgAAAAoAAAAJAAAACwAAAA0AAAAMAAAACwAAAAkAAAANAAAADAAAAA4AAAAEAAAADAAAAA0AAAAOAAAABAAAAAoAAAACAAAABAAAAA4AAAAKAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAIA/AAAAAAAAgD8AAAAAAAAAAAAAgD8AAIA/AAAAAAAAgD8AAAA/AACAPwAAAAAAAAAAAACAPwAAAAAAAIA/AACAPwAAgD8AAAAAAACAPwAAgD8AAIA/QaGuPiegzj+PLC6+bU4Xvlq2uz9tThe+AAAAPwAAgD8AAAAAAAAAPwAAgD8AAAA/MDKjPvSJ4T8wMqM+jywuviegzj9Boa4+";;renderer=new THREE.WebGLRenderer({antialias:true});renderer.setPixelRatio(window.devicePixelRatio);renderer.setSize(window.innerWidth,window.innerHeight);document.body.appendChild(renderer.domElement);loader=new THREE.GLTFLoader();loader.load("data:text/plain;base64,"+base64_data,function(gltf){scene.add(gltf.scene);camera=gltf.cameras[0];controls=new THREE.TrackballControls(camera);controls.rotateSpeed=1.0;controls.zoomSpeed=1.2;controls.panSpeed=0.8;controls.noZoom=false;controls.noPan=false;controls.staticMoving=true;controls.dynamicDampingFactor=0.3;controls.keys=[65,83,68];controls.addEventListener("change",render);centerControls(scene,camera,controls);render();window.addEventListener("resize",onWindowResize,false);animate();});}\n",
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"function init(){scene=new THREE.Scene();scene.background=new THREE.Color(0xffffff);tracklight=new THREE.DirectionalLight(0xffffff,1.75);scene.add(tracklight);base64_data="Z2xURgIAAABwBQAAgAMAAEpTT057InNjZW5lIjogMCwgInNjZW5lcyI6IFt7Im5vZGVzIjogWzBdfV0sICJhc3NldCI6IHsidmVyc2lvbiI6ICIyLjAiLCAiZ2VuZXJhdG9yIjogImh0dHBzOi8vZ2l0aHViLmNvbS9taWtlZGgvdHJpbWVzaCJ9LCAiYWNjZXNzb3JzIjogW3siYnVmZmVyVmlldyI6IDAsICJjb21wb25lbnRUeXBlIjogNTEyNSwgImNvdW50IjogNzIsICJtYXgiOiBbMTRdLCAibWluIjogWzBdLCAidHlwZSI6ICJTQ0FMQVIifSwgeyJidWZmZXJWaWV3IjogMSwgImNvbXBvbmVudFR5cGUiOiA1MTI2LCAiY291bnQiOiAxNSwgInR5cGUiOiAiVkVDMyIsICJieXRlT2Zmc2V0IjogMCwgIm1heCI6IFsxLjAsIDQuMCwgNC4wXSwgIm1pbiI6IFstNC4wLCAwLjAsIDAuMF19XSwgIm1lc2hlcyI6IFt7Im5hbWUiOiAiY3ViZV90ZXN0LnN0bCIsICJwcmltaXRpdmVzIjogW3siYXR0cmlidXRlcyI6IHsiUE9TSVRJT04iOiAxfSwgImluZGljZXMiOiAwLCAibW9kZSI6IDR9XX1dLCAiY2FtZXJhcyI6IFt7Im5hbWUiOiAiY2FtZXJhX01MOVJUSiIsICJ0eXBlIjogInBlcnNwZWN0aXZlIiwgInBlcnNwZWN0aXZlIjogeyJhc3BlY3RSYXRpbyI6IDEuMzMzMzMzMzMzMzMzMzMzMywgInlmb3YiOiAwLjc4NTM5ODE2MzM5NzQ0ODMsICJ6bmVhciI6IDAuMDF9fV0sICJub2RlcyI6IFt7Im5hbWUiOiAid29ybGQiLCAiY2hpbGRyZW4iOiBbMV19LCB7Im5hbWUiOiAiY3ViZV90ZXN0LnN0bF9NMVlPU082U0RIQVAiLCAibWVzaCI6IDB9XSwgImJ1ZmZlcnMiOiBbeyJieXRlTGVuZ3RoIjogNDY4fV0sICJidWZmZXJWaWV3cyI6IFt7ImJ1ZmZlciI6IDAsICJieXRlT2Zmc2V0IjogMCwgImJ5dGVMZW5ndGgiOiAyODh9LCB7ImJ1ZmZlciI6IDAsICJieXRlT2Zmc2V0IjogMjg4LCAiYnl0ZUxlbmd0aCI6IDE4MH1dfSAgINQBAABCSU4ABwAAAAMAAAAAAAAABwAAAAkAAAADAAAAAAAAAAQAAAABAAAAAAAAAAMAAAAEAAAAAQAAAAoAAAAIAAAAAQAAAAQAAAAKAAAACAAAAAkAAAAHAAAACAAAAAoAAAAJAAAACQAAAAQAAAADAAAACQAAAAoAAAAEAAAABwAAAAAAAAABAAAABwAAAAEAAAAIAAAAAAAAAA0AAAALAAAAAAAAAAUAAAANAAAACwAAAA4AAAAMAAAACwAAAA0AAAAOAAAADAAAAAYAAAACAAAADAAAAA4AAAAGAAAAAgAAAAUAAAAAAAAAAgAAAAYAAAAFAAAABQAAAA4AAAANAAAABQAAAAYAAAAOAAAAAAAAAAsAAAAMAAAAAAAAAAwAAAACAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAIBAAAAAAAAAAAAAAIA/AAAAAAAAgEAAAAAAAAAAAAAAgEAAAIBAAAAAAAAAgD8AAAAAAAAAAAAAgD8AAIA/AACAwAAAAAAAAAAAAACAwAAAAAAAAIBAAACAwAAAgEAAAAAAAACAwAAAgEAAAIBAAACAPwAAAAAAAAAAAACAPwAAAAAAAIA/AACAPwAAgD8AAAAAAACAPwAAgD8AAIA/";;renderer=new THREE.WebGLRenderer({antialias:true});renderer.setPixelRatio(window.devicePixelRatio);renderer.setSize(window.innerWidth,window.innerHeight);document.body.appendChild(renderer.domElement);loader=new THREE.GLTFLoader();loader.load("data:text/plain;base64,"+base64_data,function(gltf){scene.add(gltf.scene);camera=gltf.cameras[0];controls=new THREE.TrackballControls(camera);controls.rotateSpeed=1.0;controls.zoomSpeed=1.2;controls.panSpeed=0.8;controls.noZoom=false;controls.noPan=false;controls.staticMoving=true;controls.dynamicDampingFactor=0.3;controls.keys=[65,83,68];controls.addEventListener("change",render);centerControls(scene,camera,controls);render();window.addEventListener("resize",onWindowResize,false);animate();});}\n",
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"function onWindowResize(){camera.aspect=window.innerWidth/window.innerHeight;camera.updateProjectionMatrix();renderer.setSize(window.innerWidth,window.innerHeight);controls.handleResize();render();}\n",
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"function animate(){requestAnimationFrame(animate);controls.update();}\n",
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"function render(){tracklight.position.copy(camera.position);renderer.render(scene,camera);}\n",
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@ -274,7 +309,7 @@
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"<IPython.core.display.HTML object>"
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]
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},
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"execution_count": 5,
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"execution_count": 11,
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"metadata": {},
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"output_type": "execute_result"
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}
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@ -308,7 +343,7 @@
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.6.8"
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"version": "3.7.2"
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}
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},
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"nbformat": 4,
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52
meshutil.py
52
meshutil.py
@ -18,7 +18,7 @@ rtb = numpy.array([1,1,1])
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class FaceVertexMesh(object):
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def __init__(self, v, f):
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# v & f should both be of shape (N,3)ll
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# v & f should both be of shape (N,3)
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self.v = v
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self.f = f
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def concat(self, other_mesh):
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@ -27,6 +27,12 @@ class FaceVertexMesh(object):
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f2 = numpy.concatenate([self.f, other_mesh.f + self.v.shape[0]])
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m2 = FaceVertexMesh(v2, f2)
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return m2
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def transform(self, mtx):
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vh = numpy.hstack([self.v, numpy.ones((self.v.shape[0], 1), dtype=self.v.dtype)])
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v2 = vh.dot(mtx.T)[:,0:3]
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# TODO: why transpose?
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# TODO: fix homogenous (even if I don't use it)
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return FaceVertexMesh(v2, self.f)
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def to_stl_mesh(self):
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data = numpy.zeros(self.f.shape[0], dtype=stl.mesh.Mesh.dtype)
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v = data["vectors"]
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@ -34,11 +40,51 @@ class FaceVertexMesh(object):
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v[i] = [self.v[iv0], self.v[iv1], self.v[iv2]]
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return stl.mesh.Mesh(data)
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class TransformStack(object):
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def __init__(self, mtx=None):
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if mtx is None:
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self.mtx = numpy.identity(4)
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else:
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self.mtx = mtx
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def scale(self, *a, **kw):
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mtx = mtx_scale(*a, **kw)
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return TransformStack(mtx @ self.mtx)
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def translate(self, *a, **kw):
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mtx = mtx_translate(*a, **kw)
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return TransformStack(mtx @ self.mtx)
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def rotate(self, *a, **kw):
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mtx = mtx_rotate(*a, **kw)
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return TransformStack(mtx @ self.mtx)
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def mtx_scale(sx, sy=None, sz=None):
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if sy is None:
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sy = sx
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if sz is None:
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sz = sx
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return numpy.array([
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[sx, 0, 0, 0],
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[0, sy, 0, 0],
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[0, 0, sz, 0],
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[0, 0, 0, 1],
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])
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def mtx_translate(x, y, z):
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return numpy.array([
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[1, 0, 0, x],
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[0, 1, 0, y],
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[0, 0, 1, z],
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[0, 0, 0, 1],
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])
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def mtx_rotate(axis, angle):
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q = quat.rotation_quaternion(axis, angle)
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return quat.quat2mat(q)
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def cube(open_xz=False):
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verts = numpy.array([
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lbf, rbf, ltf, rtf,
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lbb, rbb, ltb, rtb,
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], dtype=numpy.float32)
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], dtype=numpy.float64)
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if open_xz:
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faces = numpy.zeros((8,3), dtype=int)
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else:
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@ -69,7 +115,7 @@ def cube_distort(angle):
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verts = numpy.array([
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lbf, rbf, ltf2, rtf2,
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lbb, rbb, ltb2, rtb2,
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], dtype=numpy.float32)
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], dtype=numpy.float64)
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if True: #open_xz:
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faces = numpy.zeros((8,3), dtype=int)
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else:
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11
quat.py
11
quat.py
@ -15,10 +15,19 @@ def rotation_quaternion(axis, angle):
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"""
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qc = numpy.cos(angle / 2)
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qs = numpy.sin(angle / 2)
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qv = qs * axis
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qv = qs * numpy.array(axis)
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return numpy.quaternion(qc, qv[0], qv[1], qv[2])
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def vec2quat(vs):
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qs = numpy.zeros(vs.shape[0], dtype=numpy.quaternion)
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quaternion.as_float_array(qs)[:,1:4] = vs
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return qs
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def quat2mat(q):
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s = 1
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return numpy.array([
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[1-2*s*(q.y**2+q.z**2), 2*s*(q.x*q.y-q.z*q.w), 2*s*(q.x*q.z+q.y*q.w), 0],
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[2*s*(q.x*q.y+q.z*q.w), 1-2*s*(q.x**2+q.z**2), 2*s*(q.y*q.z-q.x*q.w), 0],
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[2*s*(q.x*q.z-q.y*q.w), 2*s*(q.y*q.z+q.x*q.w), 1-2*s*(q.x**2+q.y**2), 0],
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[0, 0, 0, 1],
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])
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