Merge branch 'CapnBry-gcodeinterpreter-upstream' into devel
Gina Häußge
commit
ec9c7adf70
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@ -63,8 +63,8 @@ class GcodeManager:
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dirty = True
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if gcode.extrusionAmount:
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analysisResult["filament"] = "%.2fm" % (gcode.extrusionAmount / 1000)
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if gcode.extrusionVolume:
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analysisResult["filament"] += " / %.2fcm³" % gcode.extrusionVolume
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if gcode.calculateVolumeCm3():
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analysisResult["filament"] += " / %.2fcm³" % gcode.calculateVolumeCm3()
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dirty = True
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if dirty:
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@ -2,6 +2,5 @@ The code in this sub package mostly originates from the Cura project (https://gi
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slightly reorganized and adapted. The mapping to the original Cura source is the following:
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* avr_isp.* => Cura.avr_isp.*
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* comm => Cura.util.machineCom
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* comm => Cura.util.machineCom (highly modified now)
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* gcodeInterpreter => Cura.util.gcodeInterpreter
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* util3d => Cura.util.util3d
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@ -1,15 +1,13 @@
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from __future__ import absolute_import
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__copyright__ = "Copyright (C) 2013 David Braam - Released under terms of the AGPLv3 License"
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import sys
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import math
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import re
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import os
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import base64
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import zlib
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import logging
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from octoprint.util import util3d
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preferences = {
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"extruder_offset_x1": -22.0,
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"extruder_offset_y1": 0.0,
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@ -28,232 +26,224 @@ def getPreference(key, default=None):
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class AnalysisAborted(Exception):
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pass
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class gcodePath(object):
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def __init__(self, newType, pathType, layerThickness, startPoint):
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self.type = newType
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self.pathType = pathType
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self.layerThickness = layerThickness
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self.list = [startPoint]
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def gcodePath(newType, pathType, layerThickness, startPoint):
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return {'type': newType,
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'pathType': pathType,
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'layerThickness': layerThickness,
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'points': [startPoint],
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'extrusion': [0.0]}
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class gcode(object):
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def __init__(self):
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self._logger = logging.getLogger(__name__)
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self.regMatch = {}
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self.layerList = []
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self.layerList = None
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self.extrusionAmount = 0
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self.extrusionVolume = None
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self.totalMoveTimeMinute = 0
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self.filename = None
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self.progressCallback = None
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self._abort = False
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self._filamentDiameter = 0
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def load(self, filename):
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if os.path.isfile(filename):
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self.filename = filename
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self._fileSize = os.stat(filename).st_size
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gcodeFile = open(filename, 'r')
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self._load(gcodeFile)
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gcodeFile.close()
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def loadList(self, l):
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self.filename = None
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self._load(l)
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def abort(self):
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self._abort = True
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def calculateVolumeCm3(self):
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radius = self._filamentDiameter / 2
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return (self.extrusionAmount * (math.pi * radius * radius)) / 1000
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def calculateWeight(self):
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#Calculates the weight of the filament in kg
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volumeM3 = self.calculateVolumeCm3() /(1000*1000)
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return volumeM3 * getPreference('filament_physical_density')
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def calculateCost(self):
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cost_kg = getPreference('filament_cost_kg')
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cost_meter = getPreference('filament_cost_meter')
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if cost_kg > 0.0 and cost_meter > 0.0:
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return "%.2f / %.2f" % (self.calculateWeight() * cost_kg, self.extrusionAmount / 1000 * cost_meter)
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elif cost_kg > 0.0:
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return "%.2f" % (self.calculateWeight() * cost_kg)
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elif cost_meter > 0.0:
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return "%.2f" % (self.extrusionAmount / 1000 * cost_meter)
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return None
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def _load(self, gcodeFile):
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filePos = 0
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pos = util3d.Vector3()
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posOffset = util3d.Vector3()
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self.layerList = []
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pos = [0.0, 0.0, 0.0]
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posOffset = [0.0, 0.0, 0.0]
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currentE = 0.0
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totalExtrusion = 0.0
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maxExtrusion = 0.0
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currentExtruder = 0
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extrudeAmountMultiply = 1.0
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totalMoveTimeMinute = 0.0
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filamentDiameter = 0.0
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absoluteE = True
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scale = 1.0
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posAbs = True
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posAbsExtruder = True;
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feedRate = 3600
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layerThickness = 0.1
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pathType = 'CUSTOM';
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currentLayer = []
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unknownGcodes={}
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unknownMcodes={}
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currentPath = gcodePath('move', pathType, layerThickness, pos.copy())
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currentPath.list[0].e = totalExtrusion
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currentPath.list[0].extrudeAmountMultiply = extrudeAmountMultiply
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currentLayer.append(currentPath)
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feedRate = 3600.0
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unknownGcodes = {}
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unknownMcodes = {}
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for line in gcodeFile:
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if self._abort:
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raise AnalysisAborted()
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if type(line) is tuple:
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line = line[0]
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if self.progressCallback != None:
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filePos += 1
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if self.progressCallback is not None and (filePos % 1000 == 0):
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if isinstance(gcodeFile, (file)):
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self.progressCallback(float(filePos) / float(self._fileSize))
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self.progressCallback(float(gcodeFile.tell()) / float(self._fileSize))
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elif isinstance(gcodeFile, (list)):
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self.progressCallback(float(filePos) / float(len(gcodeFile)))
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filePos += 1
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#Parse Cura_SF comments
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if line.startswith(';TYPE:'):
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pathType = line[6:].strip()
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if pathType != "CUSTOM":
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startCodeDone = True
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if ';' in line:
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# Slic3r GCode comment parser
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comment = line[line.find(';')+1:].strip()
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if comment == 'fill':
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pathType = 'FILL'
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elif comment == 'perimeter':
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pathType = 'WALL-INNER'
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elif comment == 'skirt':
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pathType = 'SKIRT'
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elif comment.startswith("filament_diameter"):
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filamentDiameter = float(line.split("=", 1)[1].strip())
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# Cura Gcode comment parser
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if comment.startswith('LAYER:'):
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self.layerList.append(currentLayer)
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currentLayer = []
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if comment.startswith("filament_diameter"):
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self._filamentDiameter = float(comment.split("=", 1)[1].strip())
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elif comment.startswith("CURA_PROFILE_STRING"):
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curaOptions = self._parseCuraProfileString(comment)
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if "filament_diameter" in curaOptions.keys():
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if "filament_diameter" in curaOptions:
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try:
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filamentDiameter = float(curaOptions["filament_diameter"])
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self._filamentDiameter = float(curaOptions["filament_diameter"])
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except:
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filamentDiameter = 0.0
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self._filamentDiameter = 0.0
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line = line[0:line.find(';')]
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T = self.getCodeInt(line, 'T')
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T = getCodeInt(line, 'T')
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if T is not None:
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if currentExtruder > 0:
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posOffset.x -= getPreference('extruder_offset_x%d' % (currentExtruder), 0.0)
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posOffset.y -= getPreference('extruder_offset_y%d' % (currentExtruder), 0.0)
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posOffset[0] -= getPreference('extruder_offset_x%d' % (currentExtruder), 0.0)
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posOffset[1] -= getPreference('extruder_offset_y%d' % (currentExtruder), 0.0)
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currentExtruder = T
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if currentExtruder > 0:
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posOffset.x += getPreference('extruder_offset_x%d' % (currentExtruder), 0.0)
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posOffset.y += getPreference('extruder_offset_y%d' % (currentExtruder), 0.0)
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posOffset[0] += getPreference('extruder_offset_x%d' % (currentExtruder), 0.0)
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posOffset[1] += getPreference('extruder_offset_y%d' % (currentExtruder), 0.0)
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G = self.getCodeInt(line, 'G')
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G = getCodeInt(line, 'G')
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if G is not None:
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if G == 0 or G == 1: #Move
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x = self.getCodeFloat(line, 'X')
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y = self.getCodeFloat(line, 'Y')
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z = self.getCodeFloat(line, 'Z')
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e = self.getCodeFloat(line, 'E')
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f = self.getCodeFloat(line, 'F')
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oldPos = pos.copy()
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if x is not None:
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if posAbs:
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pos.x = x * scale + posOffset.x
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else:
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pos.x += x * scale
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if y is not None:
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if posAbs:
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pos.y = y * scale + posOffset.y
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else:
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pos.y += y * scale
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if z is not None:
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if posAbs:
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pos.z = z * scale + posOffset.z
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else:
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pos.z += z * scale
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x = getCodeFloat(line, 'X')
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y = getCodeFloat(line, 'Y')
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z = getCodeFloat(line, 'Z')
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e = getCodeFloat(line, 'E')
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f = getCodeFloat(line, 'F')
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oldPos = pos
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pos = pos[:]
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if posAbs:
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if x is not None:
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pos[0] = x * scale + posOffset[0]
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if y is not None:
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pos[1] = y * scale + posOffset[1]
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if z is not None:
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pos[2] = z * scale + posOffset[2]
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else:
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if x is not None:
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pos[0] += x * scale
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if y is not None:
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pos[1] += y * scale
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if z is not None:
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pos[2] += z * scale
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if f is not None:
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feedRate = f
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if x is not None or y is not None or z is not None:
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totalMoveTimeMinute += (oldPos - pos).vsize() / feedRate
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diffX = oldPos[0] - pos[0]
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diffY = oldPos[1] - pos[1]
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totalMoveTimeMinute += math.sqrt(diffX * diffX + diffY * diffY) / feedRate
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moveType = 'move'
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if e is not None:
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if posAbsExtruder:
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if e > currentE:
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moveType = 'extrude'
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if e < currentE:
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moveType = 'retract'
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totalExtrusion += e - currentE
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currentE = e
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else:
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if e > 0:
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moveType = 'extrude'
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if e < 0:
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moveType = 'retract'
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totalExtrusion += e
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currentE += e
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if absoluteE:
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e -= currentE
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if e > 0.0:
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moveType = 'extrude'
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if e < 0.0:
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moveType = 'retract'
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totalExtrusion += e
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currentE += e
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if totalExtrusion > maxExtrusion:
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maxExtrusion = totalExtrusion
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if moveType == 'move' and oldPos.z != pos.z:
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if oldPos.z > pos.z and abs(oldPos.z - pos.z) > 5.0 and pos.z < 1.0:
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oldPos.z = 0.0
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layerThickness = abs(oldPos.z - pos.z)
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if currentPath.type != moveType or currentPath.pathType != pathType:
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currentPath = gcodePath(moveType, pathType, layerThickness, currentPath.list[-1])
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currentLayer.append(currentPath)
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newPos = pos.copy()
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newPos.e = totalExtrusion
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newPos.extrudeAmountMultiply = extrudeAmountMultiply
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currentPath.list.append(newPos)
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else:
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e = 0.0
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if moveType == 'move' and oldPos[2] != pos[2]:
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if oldPos[2] > pos[2] and abs(oldPos[2] - pos[2]) > 5.0 and pos[2] < 1.0:
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oldPos[2] = 0.0
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elif G == 4: #Delay
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S = self.getCodeFloat(line, 'S')
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S = getCodeFloat(line, 'S')
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if S is not None:
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totalMoveTimeMinute += S / 60
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P = self.getCodeFloat(line, 'P')
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totalMoveTimeMinute += S / 60.0
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P = getCodeFloat(line, 'P')
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if P is not None:
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totalMoveTimeMinute += P / 60 / 1000
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totalMoveTimeMinute += P / 60.0 / 1000.0
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elif G == 20: #Units are inches
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scale = 25.4
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elif G == 21: #Units are mm
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scale = 1.0
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elif G == 28: #Home
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x = self.getCodeFloat(line, 'X')
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y = self.getCodeFloat(line, 'Y')
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z = self.getCodeFloat(line, 'Z')
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if x is None and y is None and z is None:
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pos = util3d.Vector3()
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x = getCodeFloat(line, 'X')
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y = getCodeFloat(line, 'Y')
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z = getCodeFloat(line, 'Z')
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if getPreference('machine_center_is_zero') == 'True':
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center = [getPreference('machine_width') / 2, getPreference('machine_depth') / 2,0.0]
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else:
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center = [0.0,0.0,0.0]
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if x is None and y is None and z is None:
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pos = center
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else:
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pos = pos[:]
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if x is not None:
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pos.x = 0.0
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pos[0] = center[0]
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if y is not None:
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pos.y = 0.0
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pos[1] = center[1]
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if z is not None:
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pos.z = 0.0
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pos[2] = center[2]
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elif G == 90: #Absolute position
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posAbs = True
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posAbsExtruder = True
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elif G == 91: #Relative position
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posAbs = False
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posAbsExtruder = False
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elif G == 92:
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x = self.getCodeFloat(line, 'X')
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y = self.getCodeFloat(line, 'Y')
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z = self.getCodeFloat(line, 'Z')
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e = self.getCodeFloat(line, 'E')
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x = getCodeFloat(line, 'X')
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y = getCodeFloat(line, 'Y')
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z = getCodeFloat(line, 'Z')
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e = getCodeFloat(line, 'E')
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if e is not None:
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currentE = e
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if x is not None:
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posOffset.x = pos.x - x
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posOffset[0] = pos[0] - x
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if y is not None:
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posOffset.y = pos.y - y
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posOffset[1] = pos[1] - y
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if z is not None:
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posOffset.z = pos.z - z
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posOffset[2] = pos[2] - z
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else:
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if G not in unknownGcodes:
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self._logger.info("Unknown G code: %r" % G)
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unknownGcodes[G] = True
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unknownGcodes[G] = True
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else:
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M = self.getCodeInt(line, 'M')
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M = getCodeInt(line, 'M')
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if M is not None:
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if M == 1: #Message with possible wait (ignored)
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if M == 0: #Message with possible wait (ignored)
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pass
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elif M == 1: #Message with possible wait (ignored)
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pass
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elif M == 80: #Enable power supply
|
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pass
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elif M == 81: #Suicide/disable power supply
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pass
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elif M == 82: # Use absolute extruder positions
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posAbsExtruder = True
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elif M == 83: # Use relative extruder positions
|
||||
posAbsExtruder = False
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elif M == 82: #Absolute E
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absoluteE = True
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elif M == 83: #Relative E
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absoluteE = False
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elif M == 84: #Disable step drivers
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pass
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elif M == 92: #Set steps per unit
|
||||
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|
@ -278,50 +268,58 @@ class gcode(object):
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|||
pass
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||||
elif M == 113: #Extruder PWM (these should not be in the final GCode, but they are)
|
||||
pass
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elif M == 117: #LCD message
|
||||
pass
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elif M == 140: #Set bed temperature
|
||||
pass
|
||||
elif M == 190: #Set bed temperature & wait
|
||||
pass
|
||||
elif M == 221: #Extrude amount multiplier
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||||
s = self.getCodeFloat(line, 'S')
|
||||
if s != None:
|
||||
extrudeAmountMultiply = s / 100.0
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||||
s = getCodeFloat(line, 'S')
|
||||
else:
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||||
if M not in unknownMcodes:
|
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self._logger.info("Unknown M code: %r" % M)
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unknownMcodes[M] = True
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self.layerList.append(currentLayer)
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unknownMcodes[M] = True
|
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if self.progressCallback is not None:
|
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self.progressCallback(100.0)
|
||||
self.extrusionAmount = maxExtrusion
|
||||
if filamentDiameter is not None and filamentDiameter > 0:
|
||||
self.extrusionVolume = math.pi * math.pow(filamentDiameter / 2.0, 2) * maxExtrusion / 1000.0
|
||||
self.totalMoveTimeMinute = totalMoveTimeMinute
|
||||
|
||||
def getCodeInt(self, line, code):
|
||||
if code not in self.regMatch:
|
||||
self.regMatch[code] = re.compile(code + '([^\s]+)')
|
||||
m = self.regMatch[code].search(line)
|
||||
if m == None:
|
||||
return None
|
||||
try:
|
||||
return int(m.group(1))
|
||||
except:
|
||||
return None
|
||||
|
||||
def getCodeFloat(self, line, code):
|
||||
if code not in self.regMatch:
|
||||
self.regMatch[code] = re.compile(code + '([^\s]+)')
|
||||
m = self.regMatch[code].search(line)
|
||||
if m == None:
|
||||
return None
|
||||
try:
|
||||
return float(m.group(1))
|
||||
except:
|
||||
return None
|
||||
|
||||
def _parseCuraProfileString(self, comment):
|
||||
return {key: value for (key, value) in map(lambda x: x.split("=", 1), zlib.decompress(base64.b64decode(comment[len("CURA_PROFILE_STRING:"):])).split("\b"))}
|
||||
|
||||
if __name__ == '__main__':
|
||||
for filename in sys.argv[1:]:
|
||||
gcode().load(filename)
|
||||
def getCodeInt(line, code):
|
||||
n = line.find(code) + 1
|
||||
if n < 1:
|
||||
return None
|
||||
m = line.find(' ', n)
|
||||
try:
|
||||
if m < 0:
|
||||
return int(line[n:])
|
||||
return int(line[n:m])
|
||||
except:
|
||||
return None
|
||||
|
||||
def getCodeFloat(line, code):
|
||||
n = line.find(code) + 1
|
||||
if n < 1:
|
||||
return None
|
||||
m = line.find(' ', n)
|
||||
try:
|
||||
if m < 0:
|
||||
return float(line[n:])
|
||||
return float(line[n:m])
|
||||
except:
|
||||
return None
|
||||
|
||||
if __name__ == '__main__':
|
||||
from time import time
|
||||
t = time()
|
||||
for filename in sys.argv[1:]:
|
||||
g = gcode()
|
||||
g.load(filename)
|
||||
print g.totalMoveTimeMinute
|
||||
print g.extrusionAmount
|
||||
print g.calculateVolumeCm3()
|
||||
print time() - t
|
||||
|
||||
|
|
|
|||
|
|
@ -1,317 +0,0 @@
|
|||
from __future__ import absolute_import
|
||||
|
||||
import math
|
||||
import numpy
|
||||
|
||||
class Vector3(object):
|
||||
def __init__(self, x=0.0, y=0.0, z=0.0):
|
||||
self.x = x
|
||||
self.y = y
|
||||
self.z = z
|
||||
|
||||
def __copy__(self):
|
||||
return Vector3(self.x, self.y, self.z)
|
||||
|
||||
def copy(self):
|
||||
return Vector3(self.x, self.y, self.z)
|
||||
|
||||
def __repr__(self):
|
||||
return 'V[%s, %s, %s]' % ( self.x, self.y, self.z )
|
||||
|
||||
def __add__(self, v):
|
||||
return Vector3( self.x + v.x, self.y + v.y, self.z + v.z )
|
||||
|
||||
def __sub__(self, v):
|
||||
return Vector3( self.x - v.x, self.y - v.y, self.z - v.z )
|
||||
|
||||
def __mul__(self, v):
|
||||
return Vector3( self.x * v, self.y * v, self.z * v )
|
||||
|
||||
def __div__(self, v):
|
||||
return Vector3( self.x / v, self.y / v, self.z / v )
|
||||
__truediv__ = __div__
|
||||
|
||||
def __neg__(self):
|
||||
return Vector3( - self.x, - self.y, - self.z )
|
||||
|
||||
def __iadd__(self, v):
|
||||
self.x += v.x
|
||||
self.y += v.y
|
||||
self.z += v.z
|
||||
return self
|
||||
|
||||
def __isub__(self, v):
|
||||
self.x += v.x
|
||||
self.y += v.y
|
||||
self.z += v.z
|
||||
return self
|
||||
|
||||
def __imul__(self, v):
|
||||
self.x *= v
|
||||
self.y *= v
|
||||
self.z *= v
|
||||
return self
|
||||
|
||||
def __idiv__(self, v):
|
||||
self.x /= v
|
||||
self.y /= v
|
||||
self.z /= v
|
||||
return self
|
||||
|
||||
def almostEqual(self, v):
|
||||
return (abs(self.x - v.x) + abs(self.y - v.y) + abs(self.z - v.z)) < 0.00001
|
||||
|
||||
def cross(self, v):
|
||||
return Vector3(self.y * v.z - self.z * v.y, -self.x * v.z + self.z * v.x, self.x * v.y - self.y * v.x)
|
||||
|
||||
def vsize(self):
|
||||
return math.sqrt( self.x * self.x + self.y * self.y + self.z * self.z )
|
||||
|
||||
def normalize(self):
|
||||
f = self.vsize()
|
||||
if f != 0.0:
|
||||
self.x /= f
|
||||
self.y /= f
|
||||
self.z /= f
|
||||
|
||||
def min(self, v):
|
||||
return Vector3(min(self.x, v.x), min(self.y, v.y), min(self.z, v.z))
|
||||
|
||||
def max(self, v):
|
||||
return Vector3(max(self.x, v.x), max(self.y, v.y), max(self.z, v.z))
|
||||
|
||||
class AABB(object):
|
||||
def __init__(self, vMin, vMax):
|
||||
self.vMin = vMin
|
||||
self.vMax = vMax
|
||||
self.perimeter = numpy.sum(self.vMax - self.vMin)
|
||||
|
||||
def combine(self, aabb):
|
||||
return AABB(numpy.minimum(self.vMin, aabb.vMin), numpy.maximum(self.vMax, aabb.vMax))
|
||||
|
||||
def overlap(self, aabb):
|
||||
if aabb.vMin[0] - self.vMax[0] > 0.0 or aabb.vMin[1] - self.vMax[1] > 0.0 or aabb.vMin[2] - self.vMax[2] > 0.0:
|
||||
return False
|
||||
if self.vMin[0] - aabb.vMax[0] > 0.0 or self.vMin[1] - aabb.vMax[1] > 0.0 or self.vMin[2] - aabb.vMax[2] > 0.0:
|
||||
return False
|
||||
return True
|
||||
|
||||
def __repr__(self):
|
||||
return "AABB:%s - %s" % (str(self.vMin), str(self.vMax))
|
||||
|
||||
class _AABBNode(object):
|
||||
def __init__(self, aabb):
|
||||
self.child1 = None
|
||||
self.child2 = None
|
||||
self.parent = None
|
||||
self.height = 0
|
||||
self.aabb = aabb
|
||||
|
||||
def isLeaf(self):
|
||||
return self.child1 == None
|
||||
|
||||
class AABBTree(object):
|
||||
def __init__(self):
|
||||
self.root = None
|
||||
|
||||
def insert(self, aabb):
|
||||
newNode = _AABBNode(aabb)
|
||||
if self.root == None:
|
||||
self.root = newNode
|
||||
return
|
||||
|
||||
node = self.root
|
||||
while not node.isLeaf():
|
||||
child1 = node.child1
|
||||
child2 = node.child2
|
||||
|
||||
area = node.aabb.perimeter
|
||||
combinedAABB = node.aabb.combine(aabb)
|
||||
combinedArea = combinedAABB.perimeter
|
||||
|
||||
cost = 2.0 * combinedArea
|
||||
inheritanceCost = 2.0 * (combinedArea - area)
|
||||
|
||||
if child1.isLeaf():
|
||||
cost1 = aabb.combine(child1.aabb).perimeter + inheritanceCost
|
||||
else:
|
||||
oldArea = child1.aabb.perimeter
|
||||
newArea = aabb.combine(child1.aabb).perimeter
|
||||
cost1 = (newArea - oldArea) + inheritanceCost
|
||||
|
||||
if child2.isLeaf():
|
||||
cost2 = aabb.combine(child1.aabb).perimeter + inheritanceCost
|
||||
else:
|
||||
oldArea = child2.aabb.perimeter
|
||||
newArea = aabb.combine(child2.aabb).perimeter
|
||||
cost2 = (newArea - oldArea) + inheritanceCost
|
||||
|
||||
if cost < cost1 and cost < cost2:
|
||||
break
|
||||
|
||||
if cost1 < cost2:
|
||||
node = child1
|
||||
else:
|
||||
node = child2
|
||||
|
||||
sibling = node
|
||||
|
||||
# Create a new parent.
|
||||
oldParent = sibling.parent
|
||||
newParent = _AABBNode(aabb.combine(sibling.aabb))
|
||||
newParent.parent = oldParent
|
||||
newParent.height = sibling.height + 1
|
||||
|
||||
if oldParent != None:
|
||||
# The sibling was not the root.
|
||||
if oldParent.child1 == sibling:
|
||||
oldParent.child1 = newParent
|
||||
else:
|
||||
oldParent.child2 = newParent
|
||||
|
||||
newParent.child1 = sibling
|
||||
newParent.child2 = newNode
|
||||
sibling.parent = newParent
|
||||
newNode.parent = newParent
|
||||
else:
|
||||
# The sibling was the root.
|
||||
newParent.child1 = sibling
|
||||
newParent.child2 = newNode
|
||||
sibling.parent = newParent
|
||||
newNode.parent = newParent
|
||||
self.root = newParent
|
||||
|
||||
# Walk back up the tree fixing heights and AABBs
|
||||
node = newNode.parent
|
||||
while node != None:
|
||||
node = self._balance(node)
|
||||
|
||||
child1 = node.child1
|
||||
child2 = node.child2
|
||||
|
||||
node.height = 1 + max(child1.height, child2.height)
|
||||
node.aabb = child1.aabb.combine(child2.aabb)
|
||||
|
||||
node = node.parent
|
||||
|
||||
def _balance(self, A):
|
||||
if A.isLeaf() or A.height < 2:
|
||||
return A
|
||||
|
||||
B = A.child1
|
||||
C = A.child2
|
||||
|
||||
balance = C.height - B.height
|
||||
|
||||
# Rotate C up
|
||||
if balance > 1:
|
||||
F = C.child1;
|
||||
G = C.child2;
|
||||
|
||||
# Swap A and C
|
||||
C.child1 = A;
|
||||
C.parent = A.parent;
|
||||
A.parent = C;
|
||||
|
||||
# A's old parent should point to C
|
||||
if C.parent != None:
|
||||
if C.parent.child1 == A:
|
||||
C.parent.child1 = C
|
||||
else:
|
||||
C.parent.child2 = C
|
||||
else:
|
||||
self.root = C
|
||||
|
||||
# Rotate
|
||||
if F.height > G.height:
|
||||
C.child2 = F
|
||||
A.child2 = G
|
||||
G.parent = A
|
||||
A.aabb = B.aabb.combine(G.aabb)
|
||||
C.aabb = A.aabb.combine(F.aabb)
|
||||
|
||||
A.height = 1 + max(B.height, G.height)
|
||||
C.height = 1 + max(A.height, F.height)
|
||||
else:
|
||||
C.child2 = G
|
||||
A.child2 = F
|
||||
F.parent = A
|
||||
A.aabb = B.aabb.combine(F.aabb)
|
||||
C.aabb = A.aabb.combine(G.aabb)
|
||||
|
||||
A.height = 1 + max(B.height, F.height)
|
||||
C.height = 1 + max(A.height, G.height)
|
||||
|
||||
return C;
|
||||
|
||||
# Rotate B up
|
||||
if balance < -1:
|
||||
D = B.child1
|
||||
E = B.child2
|
||||
|
||||
# Swap A and B
|
||||
B.child1 = A
|
||||
B.parent = A.parent
|
||||
A.parent = B
|
||||
|
||||
# A's old parent should point to B
|
||||
if B.parent != None:
|
||||
if B.parent.child1 == A:
|
||||
B.parent.child1 = B
|
||||
else:
|
||||
B.parent.child2 = B
|
||||
else:
|
||||
self.root = B
|
||||
|
||||
# Rotate
|
||||
if D.height > E.height:
|
||||
B.child2 = D
|
||||
A.child1 = E
|
||||
E.parent = A
|
||||
A.aabb = C.aabb.combine(E.aabb)
|
||||
B.aabb = A.aabb.combine(D.aabb)
|
||||
|
||||
A.height = 1 + max(C.height, E.height)
|
||||
B.height = 1 + max(A.height, D.height)
|
||||
else:
|
||||
B.child2 = E
|
||||
A.child1 = D
|
||||
D.parent = A
|
||||
A.aabb = C.aabb.combine(D.aabb)
|
||||
B.aabb = A.aabb.combine(E.aabb)
|
||||
|
||||
A.height = 1 + max(C.height, D.height)
|
||||
B.height = 1 + max(A.height, E.height)
|
||||
|
||||
return B
|
||||
|
||||
return A
|
||||
|
||||
def query(self, aabb):
|
||||
resultList = []
|
||||
if self.root != None:
|
||||
self._query(self.root, aabb, resultList)
|
||||
return resultList
|
||||
|
||||
def _query(self, node, aabb, resultList):
|
||||
if not aabb.overlap(node.aabb):
|
||||
return
|
||||
if node.isLeaf():
|
||||
resultList.append(node.aabb)
|
||||
else:
|
||||
self._query(node.child1, aabb, resultList)
|
||||
self._query(node.child2, aabb, resultList)
|
||||
|
||||
def __repr__(self):
|
||||
s = "AABBTree:\n"
|
||||
s += str(self.root.aabb)
|
||||
return s
|
||||
|
||||
if __name__ == '__main__':
|
||||
tree = AABBTree()
|
||||
tree.insert(AABB(Vector3(0,0,0), Vector3(0,0,0)))
|
||||
tree.insert(AABB(Vector3(1,1,1), Vector3(1,1,1)))
|
||||
tree.insert(AABB(Vector3(0.5,0.5,0.5), Vector3(0.5,0.5,0.5)))
|
||||
print(tree)
|
||||
print(tree.query(AABB(Vector3(0,0,0), Vector3(0,0,0))))
|
||||
|
||||
Loading…
Reference in New Issue