Djalim Simaila
d64c8dd333
✨ feat(input.py): add support for reading .xyz files and raise InvalidFileFormat exception if file format is not supported 🚸 chore(gui): add warning popup when trying to use Mesh3D graph with .xyz file 🚸 chore(gui): refactor MainWindow.check_input_file method to handle .xyz files 🚸 chore(gui): refactor PreProcessWorker to use ScannedObject.from_file method 🚸 chore(math): add check for faces in verticalise function to avoid errors when faces is None The ScannedObject constructor now handles the case where faces is None. Support for reading .xyz files has been added, and an InvalidFileFormat exception is raised if the file format is not supported. A warning popup has been added to the MainWindow when trying to use the Mesh3D graph with a .xyz file. The MainWindow.check_input_file method
106 lines
3.7 KiB
Python
106 lines
3.7 KiB
Python
"""
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Created on Fri Apr 21 2023
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@name: position_manipulation.py
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@desc: This module contains some utility functions for position manipulation.
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@auth: Djalim Simaila
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@e-mail: djalim.simaila@inrae.fr
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"""
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import numpy as np
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from utils.files.input import ScannedObject
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from utils.math.data_extraction import get_mean
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def get_mass_properties(obj:ScannedObject)->tuple:
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'''
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Evaluate and return a tuple with the following elements:
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- the volume
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- the position of the center of gravity (COG)
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- the inertia matrix expressed at the COG
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:param obj: Object to analyse
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:return: tuple(float, numpy.array, numpy.array)
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From numpy-stl:(https://pypi.org/project/numpy-stl/)
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Documentation can be found here:
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http://www.geometrictools.com/Documentation/PolyhedralMassProperties.pdf
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'''
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verts = np.asarray(obj.get_vertices())
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faces = np.asarray(obj.get_faces())
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faces = verts[faces]
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x = np.asarray([[point[0] for point in faces] for faces in faces])
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y = np.asarray([[point[1] for point in faces] for faces in faces])
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z = np.asarray([[point[2] for point in faces] for faces in faces])
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def subexpression(x):
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w0, w1, w2 = x[:, 0], x[:, 1], x[:, 2]
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temp0 = w0 + w1
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f1 = temp0 + w2
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temp1 = w0 * w0
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temp2 = temp1 + w1 * temp0
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f2 = temp2 + w2 * f1
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f3 = w0 * temp1 + w1 * temp2 + w2 * f2
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g0 = f2 + w0 * (f1 + w0)
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g1 = f2 + w1 * (f1 + w1)
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g2 = f2 + w2 * (f1 + w2)
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return f1, f2, f3, g0, g1, g2
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x0, x1, x2 = x[:, 0], x[:, 1], x[:, 2]
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y0, y1, y2 = y[:, 0], y[:, 1], y[:, 2]
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z0, z1, z2 = z[:, 0], z[:, 1], z[:, 2]
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a1, b1, c1 = x1 - x0, y1 - y0, z1 - z0
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a2, b2, c2 = x2 - x0, y2 - y0, z2 - z0
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d0, d1, d2 = b1 * c2 - b2 * c1, a2 * c1 - a1 * c2, a1 * b2 - a2 * b1
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f1x, f2x, f3x, g0x, g1x, g2x = subexpression(x)
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f1y, f2y, f3y, g0y, g1y, g2y = subexpression(y)
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f1z, f2z, f3z, g0z, g1z, g2z = subexpression(z)
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intg = np.zeros((10))
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intg[0] = sum(d0 * f1x)
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intg[1:4] = sum(d0 * f2x), sum(d1 * f2y), sum(d2 * f2z)
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intg[4:7] = sum(d0 * f3x), sum(d1 * f3y), sum(d2 * f3z)
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intg[7] = sum(d0 * (y0 * g0x + y1 * g1x + y2 * g2x))
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intg[8] = sum(d1 * (z0 * g0y + z1 * g1y + z2 * g2y))
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intg[9] = sum(d2 * (x0 * g0z + x1 * g1z + x2 * g2z))
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intg /= np.array([6, 24, 24, 24, 60, 60, 60, 120, 120, 120])
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volume = intg[0]
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cog = intg[1:4] / volume
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cogsq = cog ** 2
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inertia = np.zeros((3, 3))
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inertia[0, 0] = intg[5] + intg[6] - volume * (cogsq[1] + cogsq[2])
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inertia[1, 1] = intg[4] + intg[6] - volume * (cogsq[2] + cogsq[0])
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inertia[2, 2] = intg[4] + intg[5] - volume * (cogsq[0] + cogsq[1])
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inertia[0, 1] = inertia[1, 0] = -(intg[7] - volume * cog[0] * cog[1])
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inertia[1, 2] = inertia[2, 1] = -(intg[8] - volume * cog[1] * cog[2])
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inertia[0, 2] = inertia[2, 0] = -(intg[9] - volume * cog[2] * cog[0])
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return volume, cog, inertia
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def verticalise(obj:ScannedObject):
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"""
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Rotate the object so that the principal axis of inertia is vertical
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:param obj: Object to analyse
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"""
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if not obj.has_faces():
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return
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cog, inertia = get_mass_properties(obj)[1:]
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[val,vect] = np.linalg.eig(inertia)
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if np.linalg.det(vect) < 0:
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vect[:,2] = - vect[:,2]
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rot = vect.T
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faces = obj.get_faces(True)
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theta = -np.pi/2
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R_y = np.array([[np.cos(theta), 0, np.sin(theta)],
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[0, 1, 0],
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[-np.sin(theta), 0, np.cos(theta)]])
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for face,_ in enumerate(faces):
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for vertex in range(3):
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faces[face][vertex] = rot@(faces[face][vertex] - cog)
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faces[face][vertex] = R_y@(faces[face][vertex])
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obj.update_from_faces(faces)
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