import sys, struct

I=[
    [1,0,0,0],
    [0,1,0,0],
    [0,0,1,0],
    [0,0,0,1]
]

def transpose(matrix):
    return [[v[i] for v in matrix] for i in xrange(len(matrix[0]))]
    
def multmatrix(vector,matrix):
    return map(sum, transpose(map(lambda x:[x[0]*p for p in x[1]], zip(vector, transpose(matrix)))))
    
def applymatrix(facet,matrix=I):
    return [multmatrix(facet[0]+[1],matrix)[:3],map(lambda x:multmatrix(x+[1],matrix)[:3],facet[1])]
    
f=[[0,0,0],[[-3.022642, 0.642482, -9.510565],[-3.022642, 0.642482, -9.510565],[-3.022642, 0.642482, -9.510565]]]
m=[
    [1,0,0,0],
    [0,1,0,0],
    [0,0,1,1],
    [0,0,0,1]
]

def emitstl(filename,facets=[],objname="stltool_export"):
    if filename is None:
        return
    f=open(filename,"w")
    f.write("solid "+objname+"\n")
    for i in facets:
        f.write("  facet normal "+" ".join(map(str,i[0]))+"\n   outer loop\n")
        for j in i[1]:
            f.write("    vertex "+" ".join(map(str,j))+"\n")
        f.write("   endloop"+"\n")
        f.write("  endfacet"+"\n")
    f.write("endsolid "+objname+"\n")
    f.close()
        
        

class stl:
    def __init__(self, filename=None):
        self.facet=[[0,0,0],[[0,0,0],[0,0,0],[0,0,0]]]
        self.facets=[]
        self.facetsminz=[]
        self.facetsmaxz=[]
        
        self.name=""
        self.insolid=0
        self.infacet=0
        self.inloop=0
        self.facetloc=0
        if filename is None:
            return
        self.f=list(open(filename))
        if not self.f[0].startswith("solid"):
            print "Not an ascii stl solid - attempting to parse as binary"
            f=open(filename,"rb")
            buf=f.read(84)
            while(len(buf)<84):
                newdata=f.read(84-len(buf))
                if not len(newdata):
                    break
                buf+=newdata
            facetcount=struct.unpack_from("<I",buf,80)
            facetformat=struct.Struct("<ffffffffffffH")
            for i in xrange(facetcount[0]):
                buf=f.read(50)
                while(len(buf)<50):
                    newdata=f.read(50-len(buf))
                    if not len(newdata):
                        break
                    buf+=newdata
                fd=list(facetformat.unpack(buf))
                self.name="binary soloid"
                self.facet=[fd[:3],[fd[3:6],fd[6:9],fd[9:12]]]
                self.facets+=[self.facet]
                facet=self.facet
                self.facetsminz+=[(min(map(lambda x:x[2], facet[1])),facet)]
                self.facetsmaxz+=[(max(map(lambda x:x[2], facet[1])),facet)]
            f.close()
            return
        for i in self.f:
            if not self.parseline(i):
                return
        
    def translate(self,v=[0,0,0]):
        matrix=[
        [1,0,0,v[0]],
        [0,1,0,v[1]],
        [0,0,1,v[2]],
        [0,0,0,1]
        ]
        return self.transform(matrix)
    
    def rotate(self,v=[0,0,0]):
        import math
        z=v[2]
        matrix1=[
        [math.cos(math.radians(z)),-math.sin(math.radians(z)),0,0],
        [math.sin(math.radians(z)),math.cos(math.radians(z)),0,0],
        [0,0,1,0],
        [0,0,0,1]
        ]
        y=v[0]
        matrix2=[
        [1,0,0,0],
        [0,math.cos(math.radians(y)),-math.sin(math.radians(y)),0],
        [0,math.sin(math.radians(y)),math.cos(math.radians(y)),0],
        [0,0,0,1]
        ]
        x=v[1]
        matrix3=[
        [math.cos(math.radians(x)),0,-math.sin(math.radians(x)),0],
        [0,1,0,0],
        [math.sin(math.radians(x)),0,math.cos(math.radians(x)),0],
        [0,0,0,1]
        ]
        return self.transform(matrix1).transform(matrix2).transform(matrix3)
    
    def scale(self,v=[0,0,0]):
        matrix=[
        [v[0],0,0,0],
        [0,v[1],0,0],
        [0,0,v[2],0],
        [0,0,0,1]
        ]
        return self.transform(matrix)
        
        
    def transform(self,m=I):
        s=stl()
        s.facets=[applymatrix(i,m) for i in self.facets]
        s.insolid=0
        s.infacet=0
        s.inloop=0
        s.facetloc=0
        s.name=self.name
        for facet in s.facets:
            s.facetsminz+=[(min(map(lambda x:x[2], facet[1])),facet)]
            s.facetsmaxz+=[(max(map(lambda x:x[2], facet[1])),facet)]
        return s
        
    def export(self,f=sys.stdout):
        f.write("solid "+self.name+"\n")
        for i in self.facets:
            f.write("  facet normal "+" ".join(map(str,i[0]))+"\n")
            f.write("   outer loop"+"\n")
            for j in i[1]:
                f.write("    vertex "+" ".join(map(str,j))+"\n")
            f.write("   endloop"+"\n")
            f.write("  endfacet"+"\n")
        f.write("endsolid "+self.name+"\n")
        f.flush()
        
    def parseline(self,l):
        l=l.strip()
        if l.startswith("solid"):
            self.insolid=1
            self.name=l[6:]
            #print self.name
            
        elif l.startswith("endsolid"):
            self.insolid=0
            return 0
        elif l.startswith("facet normal"):
            self.infacet=11
            self.facetloc=0
            self.facet=[[0,0,0],[[0,0,0],[0,0,0],[0,0,0]]]
            self.facet[0]=map(float,l.split()[2:])
        elif l.startswith("endfacet"):
            self.infacet=0
            self.facets+=[self.facet]
            facet=self.facet
            self.facetsminz+=[(min(map(lambda x:x[2], facet[1])),facet)]
            self.facetsmaxz+=[(max(map(lambda x:x[2], facet[1])),facet)]
        elif l.startswith("vertex"):
            self.facet[1][self.facetloc]=map(float,l.split()[1:])
            self.facetloc+=1
        return 1
if __name__=="__main__" and 0:
    s=stl("sphere.stl")
    for i in xrange(-10,11):
        working=s.facets[:]
        for j in reversed(sorted(s.facetsminz)):
            if(j[0]>i):
                working.remove(j[1])
            else:
                break
        for j in (sorted(s.facetsmaxz)):
            if(j[0]<i):
                working.remove(j[1])
            else:
                break
        
        print i,len(working)
    emitstl("sphereout.stl",s.facets,"emitted_object")
#stl("../prusamendel/stl/mendelplate.stl")