138 lines
4.0 KiB
Python
138 lines
4.0 KiB
Python
import stl.mesh
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import numpy
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import quaternion
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import quat
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# (left/right, bottom/top, back/front)
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# I'm using X to the right, Y up, Z inward
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# (not that it really matters except for variable names)
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lbf = numpy.array([0,0,0])
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rbf = numpy.array([1,0,0])
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ltf = numpy.array([0,1,0])
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rtf = numpy.array([1,1,0])
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lbb = numpy.array([0,0,1])
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rbb = numpy.array([1,0,1])
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ltb = numpy.array([0,1,1])
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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)
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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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v2 = numpy.concatenate([self.v, other_mesh.v])
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# Note index shift!
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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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for i, (iv0, iv1, iv2) in enumerate(self.f):
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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.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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faces = numpy.zeros((12,3), dtype=int)
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faces[0,:] = [0, 3, 1]
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faces[1,:] = [0, 2, 3]
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faces[2,:] = [1, 7, 5]
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faces[3,:] = [1, 3, 7]
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faces[4,:] = [5, 6, 4]
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faces[5,:] = [5, 7, 6]
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faces[6,:] = [4, 2, 0]
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faces[7,:] = [4, 6, 2]
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if not open_xz:
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faces[8,:] = [2, 7, 3]
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faces[9,:] = [2, 6, 7]
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faces[10,:] = [0, 1, 5]
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faces[11,:] = [0, 5, 4]
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# winding order?
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return FaceVertexMesh(verts, faces)
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def cube_distort(angle):
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q = quat.rotation_quaternion(numpy.array([-1,0,1]), angle)
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ltf2 = quat.conjugate_by(ltf, q)[0,:]
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rtf2 = quat.conjugate_by(rtf, q)[0,:]
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ltb2 = quat.conjugate_by(ltb, q)[0,:]
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rtb2 = quat.conjugate_by(rtb, q)[0,:]
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# TODO: Just make these functions work right with single vectors
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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.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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faces = numpy.zeros((12,3), dtype=int)
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faces[0,:] = [0, 3, 1]
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faces[1,:] = [0, 2, 3]
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faces[2,:] = [1, 7, 5]
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faces[3,:] = [1, 3, 7]
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faces[4,:] = [5, 6, 4]
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faces[5,:] = [5, 7, 6]
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faces[6,:] = [4, 2, 0]
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faces[7,:] = [4, 6, 2]
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if False: # not open_xz:
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faces[8,:] = [2, 7, 3]
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faces[9,:] = [2, 6, 7]
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faces[10,:] = [0, 1, 5]
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faces[11,:] = [0, 5, 4]
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# winding order?
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return FaceVertexMesh(verts, faces)
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