614 lines
20 KiB
Python
614 lines
20 KiB
Python
'''
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Collection of helper function to extract geometry properties from OCC elements
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Most of the functions are borrowed directly from assembly2lib.py or lib3D.py in
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assembly2
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'''
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import math
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from collections import namedtuple
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import FreeCAD, FreeCADGui, Part, Draft
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import numpy as np
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from .FCADLogger import FCADLogger
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rootlogger = FCADLogger('asm3')
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logger = FCADLogger('asm3.main',parent=rootlogger)
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guilogger = FCADLogger('asm3.gui',parent=rootlogger)
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cstrlogger = FCADLogger('asm3.cstr',parent=rootlogger)
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syslogger = FCADLogger('asm3.sys',parent=rootlogger)
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proxylogger = FCADLogger('asm3.proxy',parent=rootlogger)
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import sys, os
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modulePath = os.path.dirname(os.path.realpath(__file__))
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from PySide.QtCore import Qt
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from PySide.QtGui import QIcon, QPainter, QPixmap
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iconPath = os.path.join(modulePath,'Gui','Resources','icons')
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pixmapDisabled = QPixmap(os.path.join(iconPath,'Assembly_Disabled.svg'))
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iconSize = (16,16)
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def getIcon(obj,disabled=False,path=None):
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if not path:
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path = iconPath
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if not getattr(obj,'_icon',None):
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obj._icon = QIcon(os.path.join(path,obj._iconName))
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if not disabled:
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return obj._icon
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if not getattr(obj,'_iconDisabled',None):
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name = getattr(obj,'_iconDisabledName',None)
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if name:
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obj._iconDisabled = QIcon(os.path.join(path,name))
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else:
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pixmap = obj._icon.pixmap(*iconSize,mode=QIcon.Disabled)
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icon = QIcon(pixmapDisabled)
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icon.paint(QPainter(pixmap),
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0,0,iconSize[0],iconSize[1],Qt.AlignCenter)
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obj._iconDisabled = QIcon(pixmap)
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return obj._iconDisabled
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def addIconToFCAD(iconFile,path=None):
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if not path:
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path = iconPath
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try:
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path = os.path.join(path,iconFile)
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FreeCADGui.addIcon(path,path)
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except AssertionError:
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pass
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return path
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def objName(obj):
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try:
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return getattr(obj,'FullName',obj.Name)
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except Exception:
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return '?'
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def isLine(param):
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if hasattr(Part,"LineSegment"):
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return isinstance(param,(Part.Line,Part.LineSegment))
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else:
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return isinstance(param,Part.Line)
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def deduceSelectedElement(obj,subname):
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shape = obj.getSubObject(subname)
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if not shape:
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return
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count = shape.countElement('Face')
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if count==1:
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return 'Face1'
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elif not count:
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count = shape.countElement('Edge')
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if count==1:
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return 'Edge1'
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elif not count:
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count = shape.countElement('Vertex')
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if count==1:
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return 'Vertex1'
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def getElementShape(obj,tp=None,transform=False,noElementMap=True):
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if not isinstance(obj,(tuple,list)):
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shape = obj
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else:
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shape,mat,sobj = Part.getShape(obj[0],subname=obj[1],
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needSubElement=True,retType=2,
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transform=transform,noElementMap=noElementMap)
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if not sobj:
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logger.trace('no sub object {}',obj,frame=1)
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return
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if sobj.isDerivedFrom('App::Line'):
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if tp not in (None,Part.Shape,Part.Edge):
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logger.trace('wrong type of shape {}',obj)
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return
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size = sobj.ViewObject.Size
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shape = Part.makeLine(FreeCAD.Vector(-size,0,0),
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FreeCAD.Vector(size,0,0))
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shape.transformShape(mat,False,True)
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return shape
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elif sobj.isDerivedFrom('App::Plane'):
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if tp not in (None, Part.Shape, Part.Face):
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logger.trace('wrong type of shape {}',obj)
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return
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size = sobj.ViewObject.Size
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shape = Part.makePlane(size*2,size*2,
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FreeCAD.Vector(-size,-size,0))
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shape.transformShape(mat,False,True)
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return shape
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elif shape.isNull():
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logger.trace('no shape {}',obj)
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return
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if not isinstance(shape,Part.Shape) or shape.isNull():
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logger.trace('null shape {}',obj)
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return
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if not tp or isinstance(shape,tp):
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return shape
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elif isinstance(shape,(Part.Vertex,Part.Edge,Part.Face)):
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logger.trace('wrong shape type {}',obj)
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return
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elif tp is Part.Vertex:
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if shape.countElement('Edge'):
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return
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if shape.countElement('Vertex')==1:
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return shape.Vertex1
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elif tp is Part.Edge:
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if shape.countElement('Face'):
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return
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if shape.countElement('Edge')==1:
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return shape.Edge1
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elif tp is Part.Face:
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if shape.countElement('Face')==1:
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return shape.Face1
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else:
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logger.trace('wrong shape type {}',obj)
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def isDraftWire(obj):
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proxy = getattr(obj,'Proxy',None)
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if isinstance(proxy,Draft._Wire) and \
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not obj.Subdivisions and \
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not obj.Base and \
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not obj.Tool and \
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obj.Points:
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return obj
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def isDraftCircle(obj):
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proxy = getattr(obj,'Proxy',None)
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if isinstance(proxy,Draft._Circle):
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return obj
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def isDraftObject(obj):
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o = isDraftWire(obj)
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if o:
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return o
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return isDraftCircle(obj)
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def isElement(obj):
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if not isinstance(obj,(tuple,list)):
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shape = obj
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else:
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sobj,_,shape = obj[0].getSubObject(obj[1],2)
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if not sobj:
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return
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if not shape:
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return sobj.TypeId in ('App::Line','App::Plane')
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if isinstance(obj,(Part.Vertex,Part.Face,Part.Edge)):
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return True
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if isinstance(shape,Part.Shape) and not shape.isNull():
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return shape.countElement('Vertex')==1 or \
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shape.countElement('Edge')==1 or \
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shape.countElement('Face')==1
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def isPlanar(obj):
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if isCircularEdge(obj):
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return True
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shape = getElementShape(obj,Part.Face)
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if not shape:
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return False
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elif str(shape.Surface) == '<Plane object>':
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return True
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elif hasattr(shape.Surface,'Radius'):
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return False
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elif str(shape.Surface).startswith('<SurfaceOfRevolution'):
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return False
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else:
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_plane_norm,_plane_pos,error = fit_plane_to_surface1(shape.Surface)
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error_normalized = error / shape.BoundBox.DiagonalLength
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return error_normalized < 10**-6
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def isCylindricalPlane(obj):
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face = getElementShape(obj,Part.Face)
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if not face:
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return False
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elif hasattr(face.Surface,'Radius'):
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return True
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elif str(face.Surface).startswith('<SurfaceOfRevolution'):
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return True
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elif str(face.Surface) == '<Plane object>':
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return False
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else:
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_axis,_center,error=fit_rotation_axis_to_surface1(face.Surface)
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error_normalized = error / face.BoundBox.DiagonalLength
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return error_normalized < 10**-6
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def isAxisOfPlane(obj):
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face = getElementShape(obj,Part.Face)
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if not face:
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return False
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if str(face.Surface) == '<Plane object>':
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return True
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else:
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_axis,_center,error=fit_rotation_axis_to_surface1(face.Surface)
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error_normalized = error / face.BoundBox.DiagonalLength
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return error_normalized < 10**-6
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def isCircularEdge(obj):
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edge = getElementShape(obj,Part.Edge)
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if not edge:
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return False
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elif not hasattr(edge, 'Curve'): #issue 39
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return False
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if hasattr( edge.Curve, 'Radius' ):
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return True
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elif isLine(edge.Curve):
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return False
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else:
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BSpline = edge.Curve.toBSpline()
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try:
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arcs = BSpline.toBiArcs(10**-6)
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except Exception: #FreeCAD exception thrown ()
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return False
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if all( hasattr(a,'Center') for a in arcs ):
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centers = np.array([a.Center for a in arcs])
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sigma = np.std( centers, axis=0 )
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return max(sigma) < 10**-6
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return False
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def isLinearEdge(obj):
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edge = getElementShape(obj,Part.Edge)
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if not edge:
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return False
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elif not hasattr(edge, 'Curve'): #issue 39
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return False
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if isLine(edge.Curve):
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return True
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elif hasattr( edge.Curve, 'Radius' ):
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return False
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else:
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BSpline = edge.Curve.toBSpline()
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try:
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arcs = BSpline.toBiArcs(10**-6)
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except Exception: #FreeCAD exception thrown ()
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return False
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if all(isLine(a) for a in arcs):
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lines = arcs
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D = np.array([L.tangent(0)[0] for L in lines]) #D(irections)
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return np.std( D, axis=0 ).max() < 10**-9
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return False
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def isVertex(obj):
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return getElementShape(obj,Part.Vertex) is not None
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def hasCenter(_obj):
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# Any shape has no center?
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# return isVertex(obj) or isCircularEdge(obj) or \
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# isAxisOfPlane(obj) or isSphericalSurface(obj)
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return True
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def isSphericalSurface(obj):
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face = getElementShape(obj,Part.Face)
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if not face:
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return False
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return str( face.Surface ).startswith('Sphere ')
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def getElementPos(obj):
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vertex = getElementShape(obj,Part.Vertex)
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if vertex:
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return vertex.Point
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face = getElementShape(obj,Part.Face)
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if face:
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surface = face.Surface
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if str(surface) == '<Plane object>':
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return face.BoundBox.Center
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# pos = surface.Position
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elif all( hasattr(surface,a) for a in ['Axis','Center','Radius'] ):
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return surface.Center
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elif str(surface).startswith('<SurfaceOfRevolution'):
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return face.Edge1.Curve.Center
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else: #numerically approximating surface
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_plane_norm, plane_pos, error = \
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fit_plane_to_surface1(face.Surface)
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error_normalized = error / face.BoundBox.DiagonalLength
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if error_normalized < 10**-6: #then good plane fit
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return plane_pos
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_axis, center, error = \
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fit_rotation_axis_to_surface1(face.Surface)
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error_normalized = error / face.BoundBox.DiagonalLength
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if error_normalized < 10**-6: #then good rotation_axis fix
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return center
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return face.BoundBox.Center
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else:
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edge = getElementShape(obj,Part.Edge)
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if not edge:
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return FreeCAD.Vector()
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if isLine(edge.Curve):
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# pos = edge.Vertexes[-1].Point
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return (edge.Vertex1.Point+edge.Vertex2.Point)*0.5
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elif hasattr( edge.Curve, 'Center'): #circular curve
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return edge.Curve.Center
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else:
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BSpline = edge.Curve.toBSpline()
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arcs = BSpline.toBiArcs(10**-6)
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if all( hasattr(a,'Center') for a in arcs ):
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centers = np.array([a.Center for a in arcs])
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sigma = np.std( centers, axis=0 )
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if max(sigma) < 10**-6: #then circular curce
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return FreeCAD.Vector(*centers[0])
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return edge.BoundBox.Center
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def getEdgeRotation(edge):
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curve = edge.Curve
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base = getattr(curve,'BasisCurve',None)
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if base:
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curve = base
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rot = getattr(curve,'Rotation',None)
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if rot:
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return rot
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if isLine(curve):
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axis = curve.tangent(0)[0]
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elif hasattr( curve, 'Axis'): #circular curve
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axis = curve.Axis
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else:
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axis = None
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BSpline = curve.toBSpline()
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arcs = BSpline.toBiArcs(10**-6)
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if all( hasattr(a,'Center') for a in arcs ):
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centers = np.array([a.Center for a in arcs])
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sigma = np.std( centers, axis=0 )
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if max(sigma) < 10**-6: #then circular curce
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axis = arcs[0].Axis
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elif all(isLine(a) for a in arcs):
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lines = arcs
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D = np.array(
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[L.tangent(0)[0] for L in lines]) #D(irections)
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if np.std( D, axis=0 ).max() < 10**-9: #then linear curve
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axis = FreeCAD.Vector(*D[0])
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if not axis:
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return edge.Placement.Rotation
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return FreeCAD.Rotation(FreeCAD.Vector(0,0,1),axis)
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def getElementRotation(obj,reverse=False):
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axis = None
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face = getElementShape(obj,Part.Face)
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if not face:
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edge = getElementShape(obj,Part.Edge)
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if edge:
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return getEdgeRotation(edge)
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return FreeCAD.Rotation()
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else:
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if face.Orientation == 'Reversed':
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reverse = not reverse
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surface = face.Surface
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base = getattr(surface,'BasisSurface',None)
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if base:
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surface = base
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rot = getattr(surface,'Rotation',None)
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if rot:
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return rot
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if hasattr(surface,'Axis'):
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axis = surface.Axis
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elif str(surface).startswith('<SurfaceOfRevolution'):
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return getEdgeRotation(face.Edge1)
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else: #numerically approximating surface
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plane_norm, _plane_pos, error = \
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fit_plane_to_surface1(face.Surface)
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error_normalized = error / face.BoundBox.DiagonalLength
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if error_normalized < 10**-6: #then good plane fit
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axis = FreeCAD.Vector(plane_norm)
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else:
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axis_fitted, _center, error = \
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fit_rotation_axis_to_surface1(face.Surface)
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error_normalized = error / face.BoundBox.DiagonalLength
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if error_normalized < 10**-6: #then good rotation_axis fix
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axis = FreeCAD.Vector(axis_fitted)
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if not axis:
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return face.Placement.Rotation
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return FreeCAD.Rotation(FreeCAD.Vector(0,0,-1 if reverse else 1),axis)
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def getElementPlacement(obj,mat=None):
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'''Get the placement of an element
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obj: either a document object or a tuple(obj,subname)
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mat: if not None, then this should be a matrix, and the returned
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placement will be relative to this transformation matrix.
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'''
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if not isElement(obj):
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if not isinstance(obj,(tuple,list)):
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pla = obj.Placement
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else:
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_,mat = obj[0].getSubObject(obj[1],1,FreeCAD.Matrix())
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pla = FreeCAD.Placement(mat)
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else:
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pla = FreeCAD.Placement(getElementPos(obj),getElementRotation(obj))
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if not mat:
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return pla
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return FreeCAD.Placement(mat.inverse()).multiply(pla)
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def getNormal(obj):
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if isinstance(obj,FreeCAD.Rotation):
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rot = obj
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elif isinstance(obj,FreeCAD.Placement):
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rot = obj.Rotation
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else:
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rot = getElementRotation(obj)
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q = rot.Q
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# return as w,x,y,z
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return q[3],q[0],q[1],q[2]
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def getElementDirection(rot,pla=None):
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if not isinstance(rot,FreeCAD.Rotation):
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rot = getElementRotation(rot)
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v = rot.multVec(FreeCAD.Vector(0,0,1))
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if pla:
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v = pla.Rotation.multVec(v)
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return v
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def getElementsAngle(o1,o2,pla1=None,pla2=None,proj=None):
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v1 = getElementDirection(o1,pla1)
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v2 = getElementDirection(o2,pla2)
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if proj:
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v1,v2 = project2D(proj,v1,v2)
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return math.degrees(v1.getAngle(v2))
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def getElementCircular(obj,radius=False):
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'return radius if it is closed, or a list of two endpoints'
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edge = getElementShape(obj,Part.Edge)
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if not edge:
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return
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elif not hasattr(edge, 'Curve'): #issue 39
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return
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c = edge.Curve
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if hasattr( c, 'Radius' ):
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if radius or edge.Closed:
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return c.Radius
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elif isLine(edge.Curve):
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return
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else:
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BSpline = edge.Curve.toBSpline()
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try:
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arc = BSpline.toBiArcs(10**-6)[0]
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except Exception: #FreeCAD exception thrown ()
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return
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if radius or edge.Closed:
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return arc[0].Radius
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return [v.Point for v in edge.Vertexes]
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def fit_plane_to_surface1( surface, n_u=3, n_v=3 ):
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'borrowed from assembly2 lib3D.py'
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uv = sum( [ [ (u,v) for u in np.linspace(0,1,n_u)]
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for v in np.linspace(0,1,n_v) ], [] )
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# positions at u,v points
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P = [ surface.value(u,v) for u,v in uv ]
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N = [ np.cross( *surface.tangent(u,v) ) for u,v in uv ]
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# plane's normal, averaging done to reduce error
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plane_norm = sum(N) / len(N)
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plane_pos = P[0]
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error = sum([ abs( np.dot(p - plane_pos, plane_norm) ) for p in P ])
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return plane_norm, plane_pos, error
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def fit_rotation_axis_to_surface1( surface, n_u=3, n_v=3 ):
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'''
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should work for cylinders and pssibly cones (depending on the u,v mapping)
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borrowed from assembly2 lib3D.py
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'''
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uv = sum( [ [ (u,v) for u in np.linspace(0,1,n_u)]
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for v in np.linspace(0,1,n_v) ], [] )
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# positions at u,v points
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P = [ np.array(surface.value(u,v)) for u,v in uv ]
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N = [ np.cross( *surface.tangent(u,v) ) for u,v in uv ]
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intersections = []
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for i in range(len(N)-1):
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for j in range(i+1,len(N)):
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# based on the distance_between_axes( p1, u1, p2, u2) function,
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if 1 - abs(np.dot( N[i], N[j])) < 10**-6:
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continue #ignore parallel case
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p1_x, p1_y, p1_z = P[i]
|
|
u1_x, u1_y, u1_z = N[i]
|
|
p2_x, p2_y, p2_z = P[j]
|
|
u2_x, u2_y, u2_z = N[j]
|
|
t1_t1_coef = u1_x**2 + u1_y**2 + u1_z**2 #should equal 1
|
|
# collect( expand(d_sqrd), [t1*t2] )
|
|
t1_t2_coef = -2*u1_x*u2_x - 2*u1_y*u2_y - 2*u1_z*u2_z
|
|
t2_t2_coef = u2_x**2 + u2_y**2 + u2_z**2 #should equal 1 too
|
|
t1_coef = 2*p1_x*u1_x + 2*p1_y*u1_y + 2*p1_z*u1_z - \
|
|
2*p2_x*u1_x - 2*p2_y*u1_y - 2*p2_z*u1_z
|
|
t2_coef =-2*p1_x*u2_x - 2*p1_y*u2_y - 2*p1_z*u2_z + \
|
|
2*p2_x*u2_x + 2*p2_y*u2_y + 2*p2_z*u2_z
|
|
A = np.array([ [ 2*t1_t1_coef , t1_t2_coef ],
|
|
[ t1_t2_coef, 2*t2_t2_coef ] ])
|
|
b = np.array([ t1_coef, t2_coef])
|
|
try:
|
|
t1, t2 = np.linalg.solve(A,-b)
|
|
except np.linalg.LinAlgError:
|
|
continue
|
|
pos_t1 = P[i] + np.array(N[i])*t1
|
|
pos_t2 = P[j] + N[j]*t2
|
|
intersections.append( pos_t1 )
|
|
intersections.append( pos_t2 )
|
|
if len(intersections) < 2:
|
|
error = np.inf
|
|
return 0, 0, error
|
|
else:
|
|
# fit vector to intersection points;
|
|
# http://mathforum.org/library/drmath/view/69103.html
|
|
X = np.array(intersections)
|
|
centroid = np.mean(X,axis=0)
|
|
M = np.array([i - centroid for i in intersections ])
|
|
A = np.dot(M.transpose(), M)
|
|
# np docs: s : (..., K) The singular values for every matrix,
|
|
# sorted in descending order.
|
|
_U,s,V = np.linalg.svd(A)
|
|
axis_pos = centroid
|
|
axis_dir = V[0]
|
|
error = s[1] #don't know if this will work
|
|
return axis_dir, axis_pos, error
|
|
|
|
_tol = 10e-7
|
|
|
|
def roundPlacement(pla):
|
|
pos = [ 0.0 if abs(v)<_tol else v for v in pla.Base ]
|
|
q = [ 0.0 if abs(v)<_tol else v for v in pla.Rotation.Q ]
|
|
return FreeCAD.Placement(FreeCAD.Vector(*pos),FreeCAD.Rotation(*q))
|
|
|
|
def isSameValue(v1,v2):
|
|
if isinstance(v1,(tuple,list)):
|
|
assert(len(v1)==len(v2))
|
|
vs = zip(v1,v2)
|
|
else:
|
|
vs = (v1,v2),
|
|
return all([abs(v1-v2)<_tol for v1,v2 in vs])
|
|
|
|
def isSamePos(p1,p2):
|
|
return p1.distanceToPoint(p2) < _tol
|
|
|
|
def isSamePlacement(pla1,pla2):
|
|
return isSamePos(pla1.Base,pla2.Base) and \
|
|
isSameValue(pla1.Rotation.Q,pla2.Rotation.Q)
|
|
|
|
def getElementIndex(name,check=None):
|
|
'Return element index (starting with 1), 0 if invalid'
|
|
for i,c in enumerate(reversed(name)):
|
|
if not c.isdigit():
|
|
if not i:
|
|
break
|
|
idx = int(name[-i:])
|
|
if check and '{}{}'.format(check,idx)!=name:
|
|
break
|
|
return idx
|
|
return 0
|
|
|
|
def draftWireVertex2PointIndex(obj,name):
|
|
'Convert vertex index to draft wire point index, None if invalid'
|
|
obj = isDraftWire(obj)
|
|
if not obj:
|
|
return
|
|
idx = getElementIndex(name,'Vertex')
|
|
# We don't support subdivision yet (checked in isDraftWire())
|
|
if idx <= 0:
|
|
return
|
|
idx -= 1
|
|
if idx < len(obj.Points):
|
|
return idx
|
|
|
|
def edge2VertexIndex(obj,name,retInteger=False):
|
|
'deduct the vertex index from the edge index'
|
|
idx = getElementIndex(name,'Edge')
|
|
if not idx:
|
|
return None,None
|
|
dwire = isDraftWire(obj)
|
|
if dwire and dwire.Closed and idx==len(dwire.Points):
|
|
idx2 = 1
|
|
else:
|
|
idx2 = idx+1
|
|
if retInteger:
|
|
return idx-1,idx2-1
|
|
return 'Vertex{}'.format(idx),'Vertex{}'.format(idx2)
|
|
|
|
def getLabel(obj):
|
|
'''Return object's label without trailing index'''
|
|
label = obj.Label
|
|
for i,c in enumerate(reversed(label)):
|
|
if not c.isdigit():
|
|
if i:
|
|
label = label[:-i]
|
|
break
|
|
return label
|
|
|
|
def project2D(rot,*vectors):
|
|
vx = rot.multVec(FreeCAD.Vector(1,0,0))
|
|
vy = rot.multVec(FreeCAD.Vector(0,1,0))
|
|
return [FreeCAD.Vector(v.dot(vx),v.dot(vy),0) for v in vectors]
|
|
|
|
def projectToLine(p,a,b):
|
|
ap = p-a
|
|
ab = b-a
|
|
return a + ap.dot(ab)/ab.dot(ab) * ab
|