diff --git a/cura/NavlibClient.py b/cura/NavlibClient.py index f991a007d8..4a81a5d9c2 100644 --- a/cura/NavlibClient.py +++ b/cura/NavlibClient.py @@ -1,4 +1,3 @@ -import pynavlib.pynavlib_interface as pynav from UM.Math.Matrix import Matrix from UM.Math.Vector import Vector from UM.Math.AxisAlignedBox import AxisAlignedBox @@ -6,259 +5,276 @@ from cura.PickingPass import PickingPass from UM.Scene.Iterator.DepthFirstIterator import DepthFirstIterator from cura.Scene.OverlayNode import OverlayNode, SceneNode from UM.Resources import Resources +from UM.Logger import Logger -class NavlibClient(pynav.NavlibNavigationModel): +try: + import pynavlib.pynavlib_interface as pynav - def __init__(self, scene, renderer) -> None: - super().__init__(False, pynav.NavlibOptions.RowMajorOrder) - self._scene = scene - self._renderer = renderer - self._pointer_pick = None - self._was_pick = False - self._hit_selection_only = False - self._picking_pass = None - self._pivot_node = OverlayNode(node=SceneNode(), image_path=Resources.getPath(Resources.Images, "3dx_pivot.png"), size=3.) + class NavlibClient(pynav.NavlibNavigationModel): - def pick(self, x, y, check_selection = False, radius = 0.): + def __init__(self, scene, renderer) -> None: + super().__init__(False, pynav.NavlibOptions.RowMajorOrder) + self._scene = scene + self._renderer = renderer + self._pointer_pick = None + self._was_pick = False + self._hit_selection_only = False + self._picking_pass = None + self._pivot_node = OverlayNode(node=SceneNode(), image_path=Resources.getPath(Resources.Images, "3dx_pivot.png"), size=3.) - if self._picking_pass is None or radius < 0.: - return None + def pick(self, x, y, check_selection = False, radius = 0.): - step = 0. - if radius == 0.: - grid_resolution = 0 - else: - grid_resolution = 5 - step = (2. * radius) / float(grid_resolution) + if self._picking_pass is None or radius < 0.: + return None - min_depth = 99999. - result_position = None + step = 0. + if radius == 0.: + grid_resolution = 0 + else: + grid_resolution = 5 + step = (2. * radius) / float(grid_resolution) - for i in range(grid_resolution + 1): - for j in range(grid_resolution + 1): + min_depth = 99999. + result_position = None - coord_x = (x - radius) + i * step - coord_y = (y - radius) + j * step - - picked_depth = self._picking_pass.getPickedDepth(coord_x, coord_y) - max_depth = 16777.215 + for i in range(grid_resolution + 1): + for j in range(grid_resolution + 1): - if 0. < picked_depth < max_depth: + coord_x = (x - radius) + i * step + coord_y = (y - radius) + j * step - valid_hit = True - if check_selection: - selection_pass = self._renderer.getRenderPass("selection") - picked_object_id = selection_pass.getIdAtPosition(coord_x, coord_y) - picked_object = self._scene.findObject(picked_object_id) + picked_depth = self._picking_pass.getPickedDepth(coord_x, coord_y) + max_depth = 16777.215 - from UM.Scene.Selection import Selection - valid_hit = Selection.isSelected(picked_object) + if 0. < picked_depth < max_depth: - if not valid_hit and grid_resolution > 0.: - continue - elif not valid_hit and grid_resolution == 0.: - return None + valid_hit = True + if check_selection: + selection_pass = self._renderer.getRenderPass("selection") + picked_object_id = selection_pass.getIdAtPosition(coord_x, coord_y) + picked_object = self._scene.findObject(picked_object_id) - if picked_depth < min_depth: - min_depth = picked_depth - result_position = self._picking_pass.getPickedPosition(coord_x, coord_y) - - return result_position - - def get_pointer_position(self)->pynav.NavlibVector: + from UM.Scene.Selection import Selection + valid_hit = Selection.isSelected(picked_object) - from UM.Qt.QtApplication import QtApplication - main_window = QtApplication.getInstance().getMainWindow() + if not valid_hit and grid_resolution > 0.: + continue + elif not valid_hit and grid_resolution == 0.: + return None - x_n = 2. * main_window._mouse_x / self._scene.getActiveCamera().getViewportWidth() - 1. - y_n = 2. * main_window._mouse_y / self._scene.getActiveCamera().getViewportHeight() - 1. + if picked_depth < min_depth: + min_depth = picked_depth + result_position = self._picking_pass.getPickedPosition(coord_x, coord_y) + + return result_position + + def get_pointer_position(self)->pynav.NavlibVector: + + from UM.Qt.QtApplication import QtApplication + main_window = QtApplication.getInstance().getMainWindow() + + x_n = 2. * main_window._mouse_x / self._scene.getActiveCamera().getViewportWidth() - 1. + y_n = 2. * main_window._mouse_y / self._scene.getActiveCamera().getViewportHeight() - 1. + + if self.get_is_view_perspective(): + self._was_pick = True + from cura.Utils.Threading import call_on_qt_thread + wrapped_pick = call_on_qt_thread(self.pick) + + self._pointer_pick = wrapped_pick(x_n, y_n) + + return pynav.NavlibVector(0., 0., 0.) + else: + ray = self._scene.getActiveCamera().getRay(x_n, y_n) + pointer_position = ray.origin + ray.direction + + return pynav.NavlibVector(pointer_position.x, pointer_position.y, pointer_position.z) + + def get_view_extents(self)->pynav.NavlibBox: + + view_width = self._scene.getActiveCamera().getViewportWidth() + view_height = self._scene.getActiveCamera().getViewportHeight() + horizontal_zoom = view_width * self._scene.getActiveCamera().getZoomFactor() + vertical_zoom = view_height * self._scene.getActiveCamera().getZoomFactor() + + pt_min = pynav.NavlibVector(-view_width / 2 - horizontal_zoom, -view_height / 2 - vertical_zoom, -9001) + pt_max = pynav.NavlibVector(view_width / 2 + horizontal_zoom, view_height / 2 + vertical_zoom, 9001) + + return pynav.NavlibBox(pt_min, pt_max) + + def get_view_frustum(self)->pynav.NavlibFrustum: + + projection_matrix = self._scene.getActiveCamera().getProjectionMatrix() + half_height = 2. / projection_matrix.getData()[1,1] + half_width = half_height * (projection_matrix.getData()[1,1] / projection_matrix.getData()[0,0]) + + return pynav.NavlibFrustum(-half_width, half_width, -half_height, half_height, 1., 5000.) + + def get_is_view_perspective(self)->bool: + return self._scene.getActiveCamera().isPerspective() + + def get_selection_extents(self)->pynav.NavlibBox: + + from UM.Scene.Selection import Selection + bounding_box = Selection.getBoundingBox() + + if(bounding_box is not None) : + pt_min = pynav.NavlibVector(bounding_box.minimum.x, bounding_box.minimum.y, bounding_box.minimum.z) + pt_max = pynav.NavlibVector(bounding_box.maximum.x, bounding_box.maximum.y, bounding_box.maximum.z) + return pynav.NavlibBox(pt_min, pt_max) + + def get_selection_transform(self)->pynav.NavlibMatrix: + return pynav.NavlibMatrix() + + def get_is_selection_empty(self)->bool: + from UM.Scene.Selection import Selection + return not Selection.hasSelection() + + def get_pivot_visible(self)->bool: + return False + + def get_camera_matrix(self)->pynav.NavlibMatrix: + + transformation = self._scene.getActiveCamera().getLocalTransformation() + + return pynav.NavlibMatrix([[transformation.at(0, 0), transformation.at(0, 1), transformation.at(0, 2), transformation.at(0, 3)], + [transformation.at(1, 0), transformation.at(1, 1), transformation.at(1, 2), transformation.at(1, 3)], + [transformation.at(2, 0), transformation.at(2, 1), transformation.at(2, 2), transformation.at(2, 3)], + [transformation.at(3, 0), transformation.at(3, 1), transformation.at(3, 2), transformation.at(3, 3)]]) + + def get_coordinate_system(self)->pynav.NavlibMatrix: + return pynav.NavlibMatrix() + + def get_front_view(self)->pynav.NavlibMatrix: + return pynav.NavlibMatrix() + + def get_model_extents(self)->pynav.NavlibBox: + + result_bbox = AxisAlignedBox() + build_volume_bbox = None + + for node in DepthFirstIterator(self._scene.getRoot()): + node.setCalculateBoundingBox(True) + if node.__class__.__qualname__ == "CuraSceneNode" : + result_bbox = result_bbox + node.getBoundingBox() + elif node.__class__.__qualname__ == "BuildVolume": + build_volume_bbox = node.getBoundingBox() + + if not result_bbox.isValid(): + result_bbox = build_volume_bbox + + if result_bbox is not None: + pt_min = pynav.NavlibVector(result_bbox.minimum.x, result_bbox.minimum.y, result_bbox.minimum.z) + 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 - if self.get_is_view_perspective(): - self._was_pick = True from cura.Utils.Threading import call_on_qt_thread wrapped_pick = call_on_qt_thread(self.pick) - - self._pointer_pick = wrapped_pick(x_n, y_n) + picked_position = wrapped_pick(0, 0, self._hit_selection_only, 0.5) - return pynav.NavlibVector(0., 0., 0.) - else: - ray = self._scene.getActiveCamera().getRay(x_n, y_n) - pointer_position = ray.origin + ray.direction + if picked_position is not None: + return pynav.NavlibVector(picked_position.x, picked_position.y, picked_position.z) - return pynav.NavlibVector(pointer_position.x, pointer_position.y, pointer_position.z) + def get_units_to_meters(self)->float: + return 0.05 - def get_view_extents(self)->pynav.NavlibBox: + def is_user_pivot(self)->bool: + return False - view_width = self._scene.getActiveCamera().getViewportWidth() - view_height = self._scene.getActiveCamera().getViewportHeight() - horizontal_zoom = view_width * self._scene.getActiveCamera().getZoomFactor() - vertical_zoom = view_height * self._scene.getActiveCamera().getZoomFactor() + def set_camera_matrix(self, matrix : pynav.NavlibMatrix): - pt_min = pynav.NavlibVector(-view_width / 2 - horizontal_zoom, -view_height / 2 - vertical_zoom, -9001) - pt_max = pynav.NavlibVector(view_width / 2 + horizontal_zoom, view_height / 2 + vertical_zoom, 9001) + # !!!!!! + # 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]) - return pynav.NavlibBox(pt_min, pt_max) + cos_value = direction.dot(distance.normalized()) - def get_view_frustum(self)->pynav.NavlibFrustum: + offset = 0. - projection_matrix = self._scene.getActiveCamera().getProjectionMatrix() - half_height = 2. / projection_matrix.getData()[1,1] - half_width = half_height * (projection_matrix.getData()[1,1] / projection_matrix.getData()[0,0]) + 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() - return pynav.NavlibFrustum(-half_width, half_width, -half_height, half_height, 1., 5000.) - - def get_is_view_perspective(self)->bool: - return self._scene.getActiveCamera().isPerspective() + 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 - def get_selection_extents(self)->pynav.NavlibBox: + transformation = Matrix(data = matrix._matrix) + self._scene.getActiveCamera().setTransformation(transformation) - from UM.Scene.Selection import Selection - bounding_box = Selection.getBoundingBox() + 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. - if(bounding_box is not None) : - pt_min = pynav.NavlibVector(bounding_box.minimum.x, bounding_box.minimum.y, bounding_box.minimum.z) - pt_max = pynav.NavlibVector(bounding_box.maximum.x, bounding_box.maximum.y, bounding_box.maximum.z) - return pynav.NavlibBox(pt_min, pt_max) + self._pivot_node.scale(scale) - def get_selection_transform(self)->pynav.NavlibMatrix: - return pynav.NavlibMatrix() - - def get_is_selection_empty(self)->bool: - from UM.Scene.Selection import Selection - return not Selection.hasSelection() - - def get_pivot_visible(self)->bool: - return False - - def get_camera_matrix(self)->pynav.NavlibMatrix: + 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) - transformation = self._scene.getActiveCamera().getLocalTransformation() + 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) - return pynav.NavlibMatrix([[transformation.at(0, 0), transformation.at(0, 1), transformation.at(0, 2), transformation.at(0, 3)], - [transformation.at(1, 0), transformation.at(1, 1), transformation.at(1, 2), transformation.at(1, 3)], - [transformation.at(2, 0), transformation.at(2, 1), transformation.at(2, 2), transformation.at(2, 3)], - [transformation.at(3, 0), transformation.at(3, 1), transformation.at(3, 2), transformation.at(3, 3)]]) +except BaseException as exception: + Logger.warning(f"Unable to load 3DConnexion library: {exception}") - def get_coordinate_system(self)->pynav.NavlibMatrix: - return pynav.NavlibMatrix() - - def get_front_view(self)->pynav.NavlibMatrix: - return pynav.NavlibMatrix() - - def get_model_extents(self)->pynav.NavlibBox: - - result_bbox = AxisAlignedBox() - build_volume_bbox = None + # Define dummy class instead so that integration is transparent from outside + class NavlibClient: + def __init__(self, scene, renderer) -> None: + pass - for node in DepthFirstIterator(self._scene.getRoot()): - node.setCalculateBoundingBox(True) - if node.__class__.__qualname__ == "CuraSceneNode" : - result_bbox = result_bbox + node.getBoundingBox() - elif node.__class__.__qualname__ == "BuildVolume": - build_volume_bbox = node.getBoundingBox() + def put_profile_hint(self, hint) -> None: + pass - if not result_bbox.isValid(): - result_bbox = build_volume_bbox - - if result_bbox is not None: - pt_min = pynav.NavlibVector(result_bbox.minimum.x, result_bbox.minimum.y, result_bbox.minimum.z) - 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