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https://git.mirrors.martin98.com/https://github.com/Ultimaker/Cura
synced 2025-04-19 04:09:40 +08:00
Define dummy 3DConnexion interface in case module is not available
CURA-12404
This commit is contained in:
Erwan MATHIEU
parent
f23e881478
commit
5cf52a5d85
@ -1,4 +1,3 @@
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import pynavlib.pynavlib_interface as pynav
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from UM.Math.Matrix import Matrix
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from UM.Math.Vector import Vector
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from UM.Math.AxisAlignedBox import AxisAlignedBox
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@ -6,259 +5,276 @@ from cura.PickingPass import PickingPass
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from UM.Scene.Iterator.DepthFirstIterator import DepthFirstIterator
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from cura.Scene.OverlayNode import OverlayNode, SceneNode
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from UM.Resources import Resources
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from UM.Logger import Logger
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class NavlibClient(pynav.NavlibNavigationModel):
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try:
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import pynavlib.pynavlib_interface as pynav
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def __init__(self, scene, renderer) -> None:
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super().__init__(False, pynav.NavlibOptions.RowMajorOrder)
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self._scene = scene
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self._renderer = renderer
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self._pointer_pick = None
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self._was_pick = False
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self._hit_selection_only = False
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self._picking_pass = None
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self._pivot_node = OverlayNode(node=SceneNode(), image_path=Resources.getPath(Resources.Images, "3dx_pivot.png"), size=3.)
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class NavlibClient(pynav.NavlibNavigationModel):
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def pick(self, x, y, check_selection = False, radius = 0.):
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def __init__(self, scene, renderer) -> None:
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super().__init__(False, pynav.NavlibOptions.RowMajorOrder)
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self._scene = scene
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self._renderer = renderer
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self._pointer_pick = None
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self._was_pick = False
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self._hit_selection_only = False
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self._picking_pass = None
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self._pivot_node = OverlayNode(node=SceneNode(), image_path=Resources.getPath(Resources.Images, "3dx_pivot.png"), size=3.)
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if self._picking_pass is None or radius < 0.:
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return None
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def pick(self, x, y, check_selection = False, radius = 0.):
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step = 0.
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if radius == 0.:
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grid_resolution = 0
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else:
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grid_resolution = 5
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step = (2. * radius) / float(grid_resolution)
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if self._picking_pass is None or radius < 0.:
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return None
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min_depth = 99999.
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result_position = None
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step = 0.
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if radius == 0.:
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grid_resolution = 0
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else:
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grid_resolution = 5
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step = (2. * radius) / float(grid_resolution)
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for i in range(grid_resolution + 1):
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for j in range(grid_resolution + 1):
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min_depth = 99999.
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result_position = None
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coord_x = (x - radius) + i * step
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coord_y = (y - radius) + j * step
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picked_depth = self._picking_pass.getPickedDepth(coord_x, coord_y)
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max_depth = 16777.215
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for i in range(grid_resolution + 1):
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for j in range(grid_resolution + 1):
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if 0. < picked_depth < max_depth:
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coord_x = (x - radius) + i * step
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coord_y = (y - radius) + j * step
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valid_hit = True
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if check_selection:
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selection_pass = self._renderer.getRenderPass("selection")
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picked_object_id = selection_pass.getIdAtPosition(coord_x, coord_y)
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picked_object = self._scene.findObject(picked_object_id)
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picked_depth = self._picking_pass.getPickedDepth(coord_x, coord_y)
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max_depth = 16777.215
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from UM.Scene.Selection import Selection
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valid_hit = Selection.isSelected(picked_object)
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if 0. < picked_depth < max_depth:
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if not valid_hit and grid_resolution > 0.:
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continue
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elif not valid_hit and grid_resolution == 0.:
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return None
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valid_hit = True
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if check_selection:
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selection_pass = self._renderer.getRenderPass("selection")
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picked_object_id = selection_pass.getIdAtPosition(coord_x, coord_y)
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picked_object = self._scene.findObject(picked_object_id)
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if picked_depth < min_depth:
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min_depth = picked_depth
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result_position = self._picking_pass.getPickedPosition(coord_x, coord_y)
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return result_position
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def get_pointer_position(self)->pynav.NavlibVector:
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from UM.Scene.Selection import Selection
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valid_hit = Selection.isSelected(picked_object)
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from UM.Qt.QtApplication import QtApplication
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main_window = QtApplication.getInstance().getMainWindow()
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if not valid_hit and grid_resolution > 0.:
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continue
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elif not valid_hit and grid_resolution == 0.:
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return None
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x_n = 2. * main_window._mouse_x / self._scene.getActiveCamera().getViewportWidth() - 1.
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y_n = 2. * main_window._mouse_y / self._scene.getActiveCamera().getViewportHeight() - 1.
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if picked_depth < min_depth:
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min_depth = picked_depth
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result_position = self._picking_pass.getPickedPosition(coord_x, coord_y)
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return result_position
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def get_pointer_position(self)->pynav.NavlibVector:
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from UM.Qt.QtApplication import QtApplication
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main_window = QtApplication.getInstance().getMainWindow()
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x_n = 2. * main_window._mouse_x / self._scene.getActiveCamera().getViewportWidth() - 1.
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y_n = 2. * main_window._mouse_y / self._scene.getActiveCamera().getViewportHeight() - 1.
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if self.get_is_view_perspective():
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self._was_pick = True
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from cura.Utils.Threading import call_on_qt_thread
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wrapped_pick = call_on_qt_thread(self.pick)
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self._pointer_pick = wrapped_pick(x_n, y_n)
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return pynav.NavlibVector(0., 0., 0.)
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else:
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ray = self._scene.getActiveCamera().getRay(x_n, y_n)
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pointer_position = ray.origin + ray.direction
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return pynav.NavlibVector(pointer_position.x, pointer_position.y, pointer_position.z)
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def get_view_extents(self)->pynav.NavlibBox:
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view_width = self._scene.getActiveCamera().getViewportWidth()
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view_height = self._scene.getActiveCamera().getViewportHeight()
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horizontal_zoom = view_width * self._scene.getActiveCamera().getZoomFactor()
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vertical_zoom = view_height * self._scene.getActiveCamera().getZoomFactor()
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pt_min = pynav.NavlibVector(-view_width / 2 - horizontal_zoom, -view_height / 2 - vertical_zoom, -9001)
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pt_max = pynav.NavlibVector(view_width / 2 + horizontal_zoom, view_height / 2 + vertical_zoom, 9001)
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return pynav.NavlibBox(pt_min, pt_max)
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def get_view_frustum(self)->pynav.NavlibFrustum:
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projection_matrix = self._scene.getActiveCamera().getProjectionMatrix()
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half_height = 2. / projection_matrix.getData()[1,1]
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half_width = half_height * (projection_matrix.getData()[1,1] / projection_matrix.getData()[0,0])
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return pynav.NavlibFrustum(-half_width, half_width, -half_height, half_height, 1., 5000.)
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def get_is_view_perspective(self)->bool:
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return self._scene.getActiveCamera().isPerspective()
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def get_selection_extents(self)->pynav.NavlibBox:
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from UM.Scene.Selection import Selection
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bounding_box = Selection.getBoundingBox()
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if(bounding_box is not None) :
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pt_min = pynav.NavlibVector(bounding_box.minimum.x, bounding_box.minimum.y, bounding_box.minimum.z)
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pt_max = pynav.NavlibVector(bounding_box.maximum.x, bounding_box.maximum.y, bounding_box.maximum.z)
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return pynav.NavlibBox(pt_min, pt_max)
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def get_selection_transform(self)->pynav.NavlibMatrix:
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return pynav.NavlibMatrix()
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def get_is_selection_empty(self)->bool:
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from UM.Scene.Selection import Selection
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return not Selection.hasSelection()
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def get_pivot_visible(self)->bool:
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return False
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def get_camera_matrix(self)->pynav.NavlibMatrix:
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transformation = self._scene.getActiveCamera().getLocalTransformation()
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return pynav.NavlibMatrix([[transformation.at(0, 0), transformation.at(0, 1), transformation.at(0, 2), transformation.at(0, 3)],
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[transformation.at(1, 0), transformation.at(1, 1), transformation.at(1, 2), transformation.at(1, 3)],
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[transformation.at(2, 0), transformation.at(2, 1), transformation.at(2, 2), transformation.at(2, 3)],
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[transformation.at(3, 0), transformation.at(3, 1), transformation.at(3, 2), transformation.at(3, 3)]])
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def get_coordinate_system(self)->pynav.NavlibMatrix:
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return pynav.NavlibMatrix()
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def get_front_view(self)->pynav.NavlibMatrix:
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return pynav.NavlibMatrix()
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def get_model_extents(self)->pynav.NavlibBox:
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result_bbox = AxisAlignedBox()
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build_volume_bbox = None
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for node in DepthFirstIterator(self._scene.getRoot()):
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node.setCalculateBoundingBox(True)
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if node.__class__.__qualname__ == "CuraSceneNode" :
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result_bbox = result_bbox + node.getBoundingBox()
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elif node.__class__.__qualname__ == "BuildVolume":
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build_volume_bbox = node.getBoundingBox()
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if not result_bbox.isValid():
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result_bbox = build_volume_bbox
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if result_bbox is not None:
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pt_min = pynav.NavlibVector(result_bbox.minimum.x, result_bbox.minimum.y, result_bbox.minimum.z)
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pt_max = pynav.NavlibVector(result_bbox.maximum.x, result_bbox.maximum.y, result_bbox.maximum.z)
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self._scene_center = result_bbox.center
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self._scene_radius = (result_bbox.maximum - self._scene_center).length()
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return pynav.NavlibBox(pt_min, pt_max)
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def get_pivot_position(self)->pynav.NavlibVector:
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return pynav.NavlibVector()
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def get_hit_look_at(self)->pynav.NavlibVector:
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if self._was_pick and self._pointer_pick is not None:
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return pynav.NavlibVector(self._pointer_pick.x, self._pointer_pick.y, self._pointer_pick.z)
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elif self._was_pick and self._pointer_pick is None:
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return None
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if self.get_is_view_perspective():
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self._was_pick = True
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from cura.Utils.Threading import call_on_qt_thread
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wrapped_pick = call_on_qt_thread(self.pick)
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self._pointer_pick = wrapped_pick(x_n, y_n)
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picked_position = wrapped_pick(0, 0, self._hit_selection_only, 0.5)
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return pynav.NavlibVector(0., 0., 0.)
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else:
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ray = self._scene.getActiveCamera().getRay(x_n, y_n)
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pointer_position = ray.origin + ray.direction
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if picked_position is not None:
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return pynav.NavlibVector(picked_position.x, picked_position.y, picked_position.z)
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return pynav.NavlibVector(pointer_position.x, pointer_position.y, pointer_position.z)
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def get_units_to_meters(self)->float:
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return 0.05
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def get_view_extents(self)->pynav.NavlibBox:
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def is_user_pivot(self)->bool:
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return False
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view_width = self._scene.getActiveCamera().getViewportWidth()
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view_height = self._scene.getActiveCamera().getViewportHeight()
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horizontal_zoom = view_width * self._scene.getActiveCamera().getZoomFactor()
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vertical_zoom = view_height * self._scene.getActiveCamera().getZoomFactor()
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def set_camera_matrix(self, matrix : pynav.NavlibMatrix):
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pt_min = pynav.NavlibVector(-view_width / 2 - horizontal_zoom, -view_height / 2 - vertical_zoom, -9001)
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pt_max = pynav.NavlibVector(view_width / 2 + horizontal_zoom, view_height / 2 + vertical_zoom, 9001)
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# !!!!!!
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# Hit testing in Orthographic view is not reliable
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# Picking starts in camera position, not on near plane
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# which results in wrong depth values (visible geometry
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# cannot be picked properly) - Workaround needed (camera position offset)
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# !!!!!!
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if not self.get_is_view_perspective():
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affine = matrix._matrix
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direction = Vector(-affine[0][2], -affine[1][2], -affine[2][2])
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distance = self._scene_center - Vector(affine[0][3], affine[1][3], affine[2][3])
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return pynav.NavlibBox(pt_min, pt_max)
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cos_value = direction.dot(distance.normalized())
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def get_view_frustum(self)->pynav.NavlibFrustum:
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offset = 0.
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projection_matrix = self._scene.getActiveCamera().getProjectionMatrix()
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half_height = 2. / projection_matrix.getData()[1,1]
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half_width = half_height * (projection_matrix.getData()[1,1] / projection_matrix.getData()[0,0])
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if (distance.length() < self._scene_radius) and (cos_value > 0.):
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offset = self._scene_radius
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elif (distance.length() < self._scene_radius) and (cos_value < 0.):
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offset = 2. * self._scene_radius
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elif (distance.length() > self._scene_radius) and (cos_value < 0.):
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offset = 2. * distance.length()
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return pynav.NavlibFrustum(-half_width, half_width, -half_height, half_height, 1., 5000.)
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def get_is_view_perspective(self)->bool:
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return self._scene.getActiveCamera().isPerspective()
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matrix._matrix[0][3] = matrix._matrix[0][3] - offset * direction.x
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matrix._matrix[1][3] = matrix._matrix[1][3] - offset * direction.y
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matrix._matrix[2][3] = matrix._matrix[2][3] - offset * direction.z
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def get_selection_extents(self)->pynav.NavlibBox:
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transformation = Matrix(data = matrix._matrix)
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self._scene.getActiveCamera().setTransformation(transformation)
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from UM.Scene.Selection import Selection
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bounding_box = Selection.getBoundingBox()
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active_camera = self._scene.getActiveCamera()
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if active_camera.isPerspective():
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camera_position = active_camera.getWorldPosition()
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dist = (camera_position - self._pivot_node.getWorldPosition()).length()
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scale = dist / 400.
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if scale < 1.:
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scale = scale * scale
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else:
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view_width = active_camera.getViewportWidth()
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current_size = view_width + (2. * active_camera.getZoomFactor() * view_width)
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scale = current_size / view_width * 5.
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if(bounding_box is not None) :
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pt_min = pynav.NavlibVector(bounding_box.minimum.x, bounding_box.minimum.y, bounding_box.minimum.z)
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pt_max = pynav.NavlibVector(bounding_box.maximum.x, bounding_box.maximum.y, bounding_box.maximum.z)
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return pynav.NavlibBox(pt_min, pt_max)
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self._pivot_node.scale(scale)
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def get_selection_transform(self)->pynav.NavlibMatrix:
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return pynav.NavlibMatrix()
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def get_is_selection_empty(self)->bool:
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from UM.Scene.Selection import Selection
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return not Selection.hasSelection()
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def get_pivot_visible(self)->bool:
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return False
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def get_camera_matrix(self)->pynav.NavlibMatrix:
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def set_view_extents(self, extents: pynav.NavlibBox):
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view_width = self._scene.getActiveCamera().getViewportWidth()
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new_zoom = (extents._min._x + view_width / 2.) / - view_width
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self._scene.getActiveCamera().setZoomFactor(new_zoom)
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transformation = self._scene.getActiveCamera().getLocalTransformation()
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def set_hit_selection_only(self, onlySelection : bool):
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self._hit_selection_only = onlySelection
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def set_motion_flag(self, motion : bool):
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if motion:
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width = self._scene.getActiveCamera().getViewportWidth()
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height = self._scene.getActiveCamera().getViewportHeight()
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self._picking_pass = PickingPass(width, height)
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self._renderer.addRenderPass(self._picking_pass)
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else:
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self._was_pick = False
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self._renderer.removeRenderPass(self._picking_pass)
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def set_pivot_position(self, position):
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self._pivot_node._target_node.setPosition(position=Vector(position._x, position._y, position._z), transform_space = SceneNode.TransformSpace.World)
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def set_pivot_visible(self, visible):
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if visible:
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self._scene.getRoot().addChild(self._pivot_node)
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else:
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self._scene.getRoot().removeChild(self._pivot_node)
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return pynav.NavlibMatrix([[transformation.at(0, 0), transformation.at(0, 1), transformation.at(0, 2), transformation.at(0, 3)],
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[transformation.at(1, 0), transformation.at(1, 1), transformation.at(1, 2), transformation.at(1, 3)],
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[transformation.at(2, 0), transformation.at(2, 1), transformation.at(2, 2), transformation.at(2, 3)],
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[transformation.at(3, 0), transformation.at(3, 1), transformation.at(3, 2), transformation.at(3, 3)]])
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except BaseException as exception:
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Logger.warning(f"Unable to load 3DConnexion library: {exception}")
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def get_coordinate_system(self)->pynav.NavlibMatrix:
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return pynav.NavlibMatrix()
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def get_front_view(self)->pynav.NavlibMatrix:
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return pynav.NavlibMatrix()
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def get_model_extents(self)->pynav.NavlibBox:
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result_bbox = AxisAlignedBox()
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build_volume_bbox = None
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# Define dummy class instead so that integration is transparent from outside
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class NavlibClient:
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def __init__(self, scene, renderer) -> None:
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pass
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for node in DepthFirstIterator(self._scene.getRoot()):
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node.setCalculateBoundingBox(True)
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if node.__class__.__qualname__ == "CuraSceneNode" :
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result_bbox = result_bbox + node.getBoundingBox()
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elif node.__class__.__qualname__ == "BuildVolume":
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build_volume_bbox = node.getBoundingBox()
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def put_profile_hint(self, hint) -> None:
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pass
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if not result_bbox.isValid():
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result_bbox = build_volume_bbox
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if result_bbox is not None:
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pt_min = pynav.NavlibVector(result_bbox.minimum.x, result_bbox.minimum.y, result_bbox.minimum.z)
|
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pt_max = pynav.NavlibVector(result_bbox.maximum.x, result_bbox.maximum.y, result_bbox.maximum.z)
|
||||
self._scene_center = result_bbox.center
|
||||
self._scene_radius = (result_bbox.maximum - self._scene_center).length()
|
||||
return pynav.NavlibBox(pt_min, pt_max)
|
||||
|
||||
def get_pivot_position(self)->pynav.NavlibVector:
|
||||
return pynav.NavlibVector()
|
||||
|
||||
def get_hit_look_at(self)->pynav.NavlibVector:
|
||||
|
||||
if self._was_pick and self._pointer_pick is not None:
|
||||
return pynav.NavlibVector(self._pointer_pick.x, self._pointer_pick.y, self._pointer_pick.z)
|
||||
elif self._was_pick and self._pointer_pick is None:
|
||||
return None
|
||||
|
||||
from cura.Utils.Threading import call_on_qt_thread
|
||||
wrapped_pick = call_on_qt_thread(self.pick)
|
||||
picked_position = wrapped_pick(0, 0, self._hit_selection_only, 0.5)
|
||||
|
||||
if picked_position is not None:
|
||||
return pynav.NavlibVector(picked_position.x, picked_position.y, picked_position.z)
|
||||
|
||||
def get_units_to_meters(self)->float:
|
||||
return 0.05
|
||||
|
||||
def is_user_pivot(self)->bool:
|
||||
return False
|
||||
|
||||
def set_camera_matrix(self, matrix : pynav.NavlibMatrix):
|
||||
|
||||
# !!!!!!
|
||||
# Hit testing in Orthographic view is not reliable
|
||||
# Picking starts in camera position, not on near plane
|
||||
# which results in wrong depth values (visible geometry
|
||||
# cannot be picked properly) - Workaround needed (camera position offset)
|
||||
# !!!!!!
|
||||
if not self.get_is_view_perspective():
|
||||
affine = matrix._matrix
|
||||
direction = Vector(-affine[0][2], -affine[1][2], -affine[2][2])
|
||||
distance = self._scene_center - Vector(affine[0][3], affine[1][3], affine[2][3])
|
||||
|
||||
cos_value = direction.dot(distance.normalized())
|
||||
|
||||
offset = 0.
|
||||
|
||||
if (distance.length() < self._scene_radius) and (cos_value > 0.):
|
||||
offset = self._scene_radius
|
||||
elif (distance.length() < self._scene_radius) and (cos_value < 0.):
|
||||
offset = 2. * self._scene_radius
|
||||
elif (distance.length() > self._scene_radius) and (cos_value < 0.):
|
||||
offset = 2. * distance.length()
|
||||
|
||||
matrix._matrix[0][3] = matrix._matrix[0][3] - offset * direction.x
|
||||
matrix._matrix[1][3] = matrix._matrix[1][3] - offset * direction.y
|
||||
matrix._matrix[2][3] = matrix._matrix[2][3] - offset * direction.z
|
||||
|
||||
transformation = Matrix(data = matrix._matrix)
|
||||
self._scene.getActiveCamera().setTransformation(transformation)
|
||||
|
||||
active_camera = self._scene.getActiveCamera()
|
||||
if active_camera.isPerspective():
|
||||
camera_position = active_camera.getWorldPosition()
|
||||
dist = (camera_position - self._pivot_node.getWorldPosition()).length()
|
||||
scale = dist / 400.
|
||||
if scale < 1.:
|
||||
scale = scale * scale
|
||||
else:
|
||||
view_width = active_camera.getViewportWidth()
|
||||
current_size = view_width + (2. * active_camera.getZoomFactor() * view_width)
|
||||
scale = current_size / view_width * 5.
|
||||
|
||||
self._pivot_node.scale(scale)
|
||||
|
||||
def set_view_extents(self, extents: pynav.NavlibBox):
|
||||
view_width = self._scene.getActiveCamera().getViewportWidth()
|
||||
new_zoom = (extents._min._x + view_width / 2.) / - view_width
|
||||
self._scene.getActiveCamera().setZoomFactor(new_zoom)
|
||||
|
||||
def set_hit_selection_only(self, onlySelection : bool):
|
||||
self._hit_selection_only = onlySelection
|
||||
|
||||
def set_motion_flag(self, motion : bool):
|
||||
if motion:
|
||||
width = self._scene.getActiveCamera().getViewportWidth()
|
||||
height = self._scene.getActiveCamera().getViewportHeight()
|
||||
self._picking_pass = PickingPass(width, height)
|
||||
self._renderer.addRenderPass(self._picking_pass)
|
||||
else:
|
||||
self._was_pick = False
|
||||
self._renderer.removeRenderPass(self._picking_pass)
|
||||
|
||||
def set_pivot_position(self, position):
|
||||
self._pivot_node._target_node.setPosition(position=Vector(position._x, position._y, position._z), transform_space = SceneNode.TransformSpace.World)
|
||||
|
||||
def set_pivot_visible(self, visible):
|
||||
if visible:
|
||||
self._scene.getRoot().addChild(self._pivot_node)
|
||||
else:
|
||||
self._scene.getRoot().removeChild(self._pivot_node)
|
||||
|
||||
def enable_navigation(self, enabled) -> None:
|
||||
pass
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user