493 lines
20 KiB
Python
493 lines
20 KiB
Python
from pyqtgraph.Qt import QtGui
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import pyqtgraph.functions as fn
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import numpy as np
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class MeshData(object):
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"""
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Class for storing and operating on 3D mesh data. May contain:
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- list of vertex locations
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- list of edges
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- list of triangles
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- colors per vertex, edge, or tri
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- normals per vertex or tri
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This class handles conversion between the standard [list of vertexes, list of faces]
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format (suitable for use with glDrawElements) and 'indexed' [list of vertexes] format
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(suitable for use with glDrawArrays). It will automatically compute face normal
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vectors as well as averaged vertex normal vectors.
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The class attempts to be as efficient as possible in caching conversion results and
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avoiding unnecessary conversions.
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"""
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def __init__(self, vertexes=None, faces=None, edges=None, vertexColors=None, faceColors=None):
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"""
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============= =====================================================
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Arguments
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vertexes (Nv, 3) array of vertex coordinates.
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If faces is not specified, then this will instead be
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interpreted as (Nf, 3, 3) array of coordinates.
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faces (Nf, 3) array of indexes into the vertex array.
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edges [not available yet]
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vertexColors (Nv, 4) array of vertex colors.
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If faces is not specified, then this will instead be
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interpreted as (Nf, 3, 4) array of colors.
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faceColors (Nf, 4) array of face colors.
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============= =====================================================
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All arguments are optional.
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"""
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self._vertexes = None # (Nv,3) array of vertex coordinates
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self._vertexesIndexedByFaces = None # (Nf, 3, 3) array of vertex coordinates
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self._vertexesIndexedByEdges = None # (Ne, 2, 3) array of vertex coordinates
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## mappings between vertexes, faces, and edges
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self._faces = None # Nx3 array of indexes into self._vertexes specifying three vertexes for each face
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self._edges = None
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self._vertexFaces = None ## maps vertex ID to a list of face IDs (inverse mapping of _faces)
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self._vertexEdges = None ## maps vertex ID to a list of edge IDs (inverse mapping of _edges)
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## Per-vertex data
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self._vertexNormals = None # (Nv, 3) array of normals, one per vertex
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self._vertexNormalsIndexedByFaces = None # (Nf, 3, 3) array of normals
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self._vertexColors = None # (Nv, 3) array of colors
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self._vertexColorsIndexedByFaces = None # (Nf, 3, 4) array of colors
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self._vertexColorsIndexedByEdges = None # (Nf, 2, 4) array of colors
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## Per-face data
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self._faceNormals = None # (Nf, 3) array of face normals
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self._faceNormalsIndexedByFaces = None # (Nf, 3, 3) array of face normals
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self._faceColors = None # (Nf, 4) array of face colors
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self._faceColorsIndexedByFaces = None # (Nf, 3, 4) array of face colors
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self._faceColorsIndexedByEdges = None # (Ne, 2, 4) array of face colors
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## Per-edge data
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self._edgeColors = None # (Ne, 4) array of edge colors
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self._edgeColorsIndexedByEdges = None # (Ne, 2, 4) array of edge colors
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#self._meshColor = (1, 1, 1, 0.1) # default color to use if no face/edge/vertex colors are given
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if vertexes is not None:
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if faces is None:
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self.setVertexes(vertexes, indexed='faces')
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if vertexColors is not None:
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self.setVertexColors(vertexColors, indexed='faces')
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if faceColors is not None:
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self.setFaceColors(faceColors, indexed='faces')
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else:
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self.setVertexes(vertexes)
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self.setFaces(faces)
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if vertexColors is not None:
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self.setVertexColors(vertexColors)
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if faceColors is not None:
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self.setFaceColors(faceColors)
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#self.setFaces(vertexes=vertexes, faces=faces, vertexColors=vertexColors, faceColors=faceColors)
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#def setFaces(self, vertexes=None, faces=None, vertexColors=None, faceColors=None):
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#"""
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#Set the faces in this data set.
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#Data may be provided either as an Nx3x3 array of floats (9 float coordinate values per face)::
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#faces = [ [(x, y, z), (x, y, z), (x, y, z)], ... ]
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#or as an Nx3 array of ints (vertex integers) AND an Mx3 array of floats (3 float coordinate values per vertex)::
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#faces = [ (p1, p2, p3), ... ]
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#vertexes = [ (x, y, z), ... ]
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#"""
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#if not isinstance(vertexes, np.ndarray):
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#vertexes = np.array(vertexes)
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#if vertexes.dtype != np.float:
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#vertexes = vertexes.astype(float)
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#if faces is None:
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#self._setIndexedFaces(vertexes, vertexColors, faceColors)
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#else:
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#self._setUnindexedFaces(faces, vertexes, vertexColors, faceColors)
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##print self.vertexes().shape
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##print self.faces().shape
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#def setMeshColor(self, color):
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#"""Set the color of the entire mesh. This removes any per-face or per-vertex colors."""
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#color = fn.Color(color)
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#self._meshColor = color.glColor()
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#self._vertexColors = None
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#self._faceColors = None
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#def __iter__(self):
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#"""Iterate over all faces, yielding a list of three tuples [(position, normal, color), ...] for each face."""
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#vnorms = self.vertexNormals()
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#vcolors = self.vertexColors()
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#for i in range(self._faces.shape[0]):
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#face = []
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#for j in [0,1,2]:
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#vind = self._faces[i,j]
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#pos = self._vertexes[vind]
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#norm = vnorms[vind]
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#if vcolors is None:
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#color = self._meshColor
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#else:
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#color = vcolors[vind]
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#face.append((pos, norm, color))
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#yield face
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#def __len__(self):
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#return len(self._faces)
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def faces(self):
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"""Return an array (Nf, 3) of vertex indexes, three per triangular face in the mesh."""
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return self._faces
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def setFaces(self, faces):
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"""Set the (Nf, 3) array of faces. Each rown in the array contains
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three indexes into the vertex array, specifying the three corners
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of a triangular face."""
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self._faces = faces
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self._vertexFaces = None
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self._vertexesIndexedByFaces = None
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self.resetNormals()
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self._vertexColorsIndexedByFaces = None
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self._faceColorsIndexedByFaces = None
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def vertexes(self, indexed=None):
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"""Return an array (N,3) of the positions of vertexes in the mesh.
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By default, each unique vertex appears only once in the array.
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If indexed is 'faces', then the array will instead contain three vertexes
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per face in the mesh (and a single vertex may appear more than once in the array)."""
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if indexed is None:
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if self._vertexes is None and self._vertexesIndexedByFaces is not None:
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self._computeUnindexedVertexes()
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return self._vertexes
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elif indexed == 'faces':
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if self._vertexesIndexedByFaces is None and self._vertexes is not None:
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self._vertexesIndexedByFaces = self._vertexes[self.faces()]
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return self._vertexesIndexedByFaces
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else:
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raise Exception("Invalid indexing mode. Accepts: None, 'faces'")
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def setVertexes(self, verts=None, indexed=None, resetNormals=True):
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"""
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Set the array (Nv, 3) of vertex coordinates.
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If indexed=='faces', then the data must have shape (Nf, 3, 3) and is
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assumed to be already indexed as a list of faces.
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This will cause any pre-existing normal vectors to be cleared
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unless resetNormals=False.
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"""
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if indexed is None:
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if verts is not None:
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self._vertexes = verts
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self._vertexesIndexedByFaces = None
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elif indexed=='faces':
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self._vertexes = None
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if verts is not None:
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self._vertexesIndexedByFaces = verts
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else:
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raise Exception("Invalid indexing mode. Accepts: None, 'faces'")
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if resetNormals:
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self.resetNormals()
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def resetNormals(self):
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self._vertexNormals = None
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self._vertexNormalsIndexedByFaces = None
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self._faceNormals = None
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self._faceNormalsIndexedByFaces = None
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def hasFaceIndexedData(self):
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"""Return True if this object already has vertex positions indexed by face"""
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return self._vertexesIndexedByFaces is not None
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def hasEdgeIndexedData(self):
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return self._vertexesIndexedByEdges is not None
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def hasVertexColor(self):
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"""Return True if this data set has vertex color information"""
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for v in (self._vertexColors, self._vertexColorsIndexedByFaces, self._vertexColorsIndexedByEdges):
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if v is not None:
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return True
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return False
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def hasFaceColor(self):
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"""Return True if this data set has face color information"""
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for v in (self._faceColors, self._faceColorsIndexedByFaces, self._faceColorsIndexedByEdges):
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if v is not None:
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return True
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return False
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def faceNormals(self, indexed=None):
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"""
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Return an array (Nf, 3) of normal vectors for each face.
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If indexed='faces', then instead return an indexed array
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(Nf, 3, 3) (this is just the same array with each vector
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copied three times).
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"""
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if self._faceNormals is None:
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v = self.vertexes(indexed='faces')
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self._faceNormals = np.cross(v[:,1]-v[:,0], v[:,2]-v[:,0])
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if indexed is None:
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return self._faceNormals
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elif indexed == 'faces':
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if self._faceNormalsIndexedByFaces is None:
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norms = np.empty((self._faceNormals.shape[0], 3, 3))
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norms[:] = self._faceNormals[:,np.newaxis,:]
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self._faceNormalsIndexedByFaces = norms
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return self._faceNormalsIndexedByFaces
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else:
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raise Exception("Invalid indexing mode. Accepts: None, 'faces'")
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def vertexNormals(self, indexed=None):
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"""
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Return an array of normal vectors.
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By default, the array will be (N, 3) with one entry per unique vertex in the mesh.
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If indexed is 'faces', then the array will contain three normal vectors per face
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(and some vertexes may be repeated).
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"""
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if self._vertexNormals is None:
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faceNorms = self.faceNormals()
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vertFaces = self.vertexFaces()
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self._vertexNormals = np.empty(self._vertexes.shape, dtype=float)
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for vindex in xrange(self._vertexes.shape[0]):
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norms = faceNorms[vertFaces[vindex]] ## get all face normals
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norm = norms.sum(axis=0) ## sum normals
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norm /= (norm**2).sum()**0.5 ## and re-normalize
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self._vertexNormals[vindex] = norm
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if indexed is None:
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return self._vertexNormals
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elif indexed == 'faces':
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return self._vertexNormals[self.faces()]
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else:
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raise Exception("Invalid indexing mode. Accepts: None, 'faces'")
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def vertexColors(self, indexed=None):
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"""
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Return an array (Nv, 4) of vertex colors.
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If indexed=='faces', then instead return an indexed array
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(Nf, 3, 4).
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"""
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if indexed is None:
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return self._vertexColors
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elif indexed == 'faces':
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if self._vertexColorsIndexedByFaces is None:
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self._vertexColorsIndexedByFaces = self._vertexColors[self.faces()]
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return self._vertexColorsIndexedByFaces
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else:
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raise Exception("Invalid indexing mode. Accepts: None, 'faces'")
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def setVertexColors(self, colors, indexed=None):
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"""
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Set the vertex color array (Nv, 4).
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If indexed=='faces', then the array will be interpreted
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as indexed and should have shape (Nf, 3, 4)
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"""
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if indexed is None:
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self._vertexColors = colors
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self._vertexColorsIndexedByFaces = None
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elif indexed == 'faces':
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self._vertexColors = None
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self._vertexColorsIndexedByFaces = colors
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else:
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raise Exception("Invalid indexing mode. Accepts: None, 'faces'")
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def faceColors(self, indexed=None):
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"""
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Return an array (Nf, 4) of face colors.
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If indexed=='faces', then instead return an indexed array
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(Nf, 3, 4) (note this is just the same array with each color
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repeated three times).
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"""
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if indexed is None:
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return self._faceColors
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elif indexed == 'faces':
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if self._faceColorsIndexedByFaces is None and self._faceColors is not None:
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Nf = self._faceColors.shape[0]
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self._faceColorsIndexedByFaces = np.empty((Nf, 3, 4), dtype=self._faceColors.dtype)
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self._faceColorsIndexedByFaces[:] = self._faceColors.reshape(Nf, 1, 4)
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return self._faceColorsIndexedByFaces
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else:
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raise Exception("Invalid indexing mode. Accepts: None, 'faces'")
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def setFaceColors(self, colors, indexed=None):
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"""
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Set the face color array (Nf, 4).
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If indexed=='faces', then the array will be interpreted
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as indexed and should have shape (Nf, 3, 4)
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"""
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if indexed is None:
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self._faceColors = colors
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self._faceColorsIndexedByFaces = None
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elif indexed == 'faces':
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self._faceColors = None
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self._faceColorsIndexedByFaces = colors
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else:
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raise Exception("Invalid indexing mode. Accepts: None, 'faces'")
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def faceCount(self):
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"""
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Return the number of faces in the mesh.
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"""
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if self._faces is not None:
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return self._faces.shape[0]
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elif self._vertexesIndexedByFaces is not None:
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return self._vertexesIndexedByFaces.shape[0]
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def edgeColors(self):
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return self._edgeColors
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#def _setIndexedFaces(self, faces, vertexColors=None, faceColors=None):
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#self._vertexesIndexedByFaces = faces
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#self._vertexColorsIndexedByFaces = vertexColors
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#self._faceColorsIndexedByFaces = faceColors
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def _computeUnindexedVertexes(self):
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## Given (Nv, 3, 3) array of vertexes-indexed-by-face, convert backward to unindexed vertexes
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## This is done by collapsing into a list of 'unique' vertexes (difference < 1e-14)
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## I think generally this should be discouraged..
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faces = self._vertexesIndexedByFaces
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verts = {} ## used to remember the index of each vertex position
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self._faces = np.empty(faces.shape[:2], dtype=np.uint)
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self._vertexes = []
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self._vertexFaces = []
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self._faceNormals = None
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self._vertexNormals = None
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for i in xrange(faces.shape[0]):
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face = faces[i]
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inds = []
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for j in range(face.shape[0]):
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pt = face[j]
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pt2 = tuple([round(x*1e14) for x in pt]) ## quantize to be sure that nearly-identical points will be merged
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index = verts.get(pt2, None)
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if index is None:
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#self._vertexes.append(QtGui.QVector3D(*pt))
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self._vertexes.append(pt)
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self._vertexFaces.append([])
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index = len(self._vertexes)-1
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verts[pt2] = index
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self._vertexFaces[index].append(i) # keep track of which vertexes belong to which faces
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self._faces[i,j] = index
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self._vertexes = np.array(self._vertexes, dtype=float)
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#def _setUnindexedFaces(self, faces, vertexes, vertexColors=None, faceColors=None):
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#self._vertexes = vertexes #[QtGui.QVector3D(*v) for v in vertexes]
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#self._faces = faces.astype(np.uint)
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#self._edges = None
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#self._vertexFaces = None
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#self._faceNormals = None
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#self._vertexNormals = None
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#self._vertexColors = vertexColors
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#self._faceColors = faceColors
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def vertexFaces(self):
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"""
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Return list mapping each vertex index to a list of face indexes that use the vertex.
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"""
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if self._vertexFaces is None:
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self._vertexFaces = [None] * len(self.vertexes())
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for i in xrange(self._faces.shape[0]):
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face = self._faces[i]
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for ind in face:
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if self._vertexFaces[ind] is None:
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self._vertexFaces[ind] = [] ## need a unique/empty list to fill
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self._vertexFaces[ind].append(i)
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return self._vertexFaces
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#def reverseNormals(self):
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#"""
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#Reverses the direction of all normal vectors.
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#"""
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#pass
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#def generateEdgesFromFaces(self):
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#"""
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#Generate a set of edges by listing all the edges of faces and removing any duplicates.
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#Useful for displaying wireframe meshes.
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#"""
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#pass
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def save(self):
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"""Serialize this mesh to a string appropriate for disk storage"""
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import pickle
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if self._faces is not None:
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names = ['_vertexes', '_faces']
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else:
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names = ['_vertexesIndexedByFaces']
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if self._vertexColors is not None:
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names.append('_vertexColors')
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elif self._vertexColorsIndexedByFaces is not None:
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names.append('_vertexColorsIndexedByFaces')
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if self._faceColors is not None:
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names.append('_faceColors')
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elif self._faceColorsIndexedByFaces is not None:
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names.append('_faceColorsIndexedByFaces')
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state = {n:getattr(self, n) for n in names}
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return pickle.dumps(state)
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def restore(self, state):
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"""Restore the state of a mesh previously saved using save()"""
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import pickle
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state = pickle.loads(state)
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for k in state:
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if isinstance(state[k], list):
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if isinstance(state[k][0], QtGui.QVector3D):
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state[k] = [[v.x(), v.y(), v.z()] for v in state[k]]
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state[k] = np.array(state[k])
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setattr(self, k, state[k])
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@staticmethod
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def sphere(rows, cols, radius=1.0, offset=True):
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"""
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Return a MeshData instance with vertexes and faces computed
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for a spherical surface.
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"""
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verts = np.empty((rows+1, cols, 3), dtype=float)
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## compute vertexes
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phi = (np.arange(rows+1) * np.pi / rows).reshape(rows+1, 1)
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s = radius * np.sin(phi)
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verts[...,2] = radius * np.cos(phi)
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th = ((np.arange(cols) * 2 * np.pi / cols).reshape(1, cols))
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if offset:
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th = th + ((np.pi / cols) * np.arange(rows+1).reshape(rows+1,1)) ## rotate each row by 1/2 column
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verts[...,0] = s * np.cos(th)
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verts[...,1] = s * np.sin(th)
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verts = verts.reshape((rows+1)*cols, 3)[cols-1:-(cols-1)] ## remove redundant vertexes from top and bottom
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## compute faces
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faces = np.empty((rows*cols*2, 3), dtype=np.uint)
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rowtemplate1 = ((np.arange(cols).reshape(cols, 1) + np.array([[0, 1, 0]])) % cols) + np.array([[0, 0, cols]])
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rowtemplate2 = ((np.arange(cols).reshape(cols, 1) + np.array([[0, 1, 1]])) % cols) + np.array([[cols, 0, cols]])
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for row in range(rows):
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start = row * cols * 2
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faces[start:start+cols] = rowtemplate1 + row * cols
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faces[start+cols:start+(cols*2)] = rowtemplate2 + row * cols
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faces = faces[cols:-cols] ## cut off zero-area triangles at top and bottom
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## adjust for redundant vertexes that were removed from top and bottom
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vmin = cols-1
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faces[faces<vmin] = vmin
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faces -= vmin
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vmax = verts.shape[0]-1
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faces[faces>vmax] = vmax
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return MeshData(vertexes=verts, faces=faces)
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