/primitives.py

# Copyright (c) 2010 Galen Clark Haynes
#               2010 Dexteris Robotics, LLC
# All rights reserved.
# 
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# 
#     * Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
#       notice, this list of conditions and the following disclaimer in the
#       documentation and/or other materials provided with the distribution.
#     * Neither the name of Dexteris Robotics, LLC nor the names of its
#       contributors may be used to endorse or promote products derived from
#       this software without specific prior written permission.
# 
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

from math import pi
from forma.common import Forma
from forma.transforms import Translation, Rotation

class Polygon(Forma):
    """
    Generic list of points generating polygon on X-Y plane, provided as a 2xN array
    """
    def __init__(self,**kwargs):
        import numpy
        self.normal = [0.0,0.0,1.0];
        super(type(self),self).__init__(kwargs)
        if not hasattr(self,'points'):
            self.points = numpy.zeros([3,4])
            self.points[:,0] = [-1,1,0]
            self.points[:,1] = [-1,-1,0]
            self.points[:,2] = [1,-1,0]
            self.points[:,3] = [1,1,0]

class Circle(Forma):
    """
    Circle on the X-Y plane.
    """
    def __init__(self,**kwargs):
        self.radius = 1.0
        self.arc = 2.0*pi
        super(type(self),self).__init__(kwargs)

class Sphere(Forma):
    """
    Sphere centered at origin, poles along Z.
    """
    def __init__(self,**kwargs):
        self.radius = 1.0
        super(type(self),self).__init__(kwargs)
        
class Cone(Forma):
    """
    Cone with base on the X-Y plane, height along positive Z.
    """
    def __init__(self,**kwargs):
        self.radius = 1.0
        self.height = 1.0
        super(type(self),self).__init__(kwargs)
        self.c = Circle(radius=self.radius)
        if hasattr(self,'color'):
            self.c.color = self.color
        self.attach(self.c)
    
class Box(Forma):
    """
    Box with X,Y,Z correspond to width, length, and height.
    """
    def __init__(self,**kwargs):
        self.width = 1.0
        self.length = 1.0
        self.height = 1.0
        super(type(self),self).__init__(kwargs)

class Cube(Forma):
    """
    A Box with equal sizes for each side.
    """
    def __init__(self,**kwargs):
        self.size = 1.0
        super(type(self),self).__init__(kwargs)
        b = Box(width=self.size,length=self.size,height=self.size)
        if hasattr(self,'color'):
            b.color = self.color
        self.attach(b)

class Cylinder(Forma):
    """
    Cylinder on X-Y plane, with Z as height.
    """
    def __init__(self,**kwargs):
        self.radius = 1.0
        self.height = 1.0
        self.arc = 2.0*pi
        super(type(self),self).__init__(kwargs)

class SolidCylinder(Forma):
    """
    Cylinder with capped ends.
    """
    def __init__(self,**kwargs):
        self.radius = 1.0
        self.height = 1.0
        self.arc = 2.0*pi
        super(type(self),self).__init__(kwargs)
        c = Cylinder(radius=self.radius,height=self.height,arc=self.arc)
        s = Circle(radius=self.radius,arc=self.arc)
        self.attach(c)
        self.attach(Translation(z=self.height/2).attach(s))
        self.attach(Translation(z=-self.height/2).\
            attach(Rotation(y=pi).\
            attach(s)))
        if hasattr(self,'color'):
            c.color = self.color
            s.color = self.color
        
class LineTrace(Forma):
    """
    An object allow easy addition of data points to be traced
    """
    def __init__(self,**kwargs):
        self.t_trace = []
        self.x_trace = []
        self.y_trace = []
        self.z_trace = []
        super(type(self),self).__init__(kwargs)
    
    def add(self,x,y,z):
        if len(self.x_trace) == 0 or (self.x_trace[-1] != x and self.y_trace[-1] != y and self.z_trace[-1] != z):
            self.x_trace.append(x)
            self.y_trace.append(y)
            self.z_trace.append(z)
    
class Label(Forma):
    """
    Text label at current origin or specified point given as (x,y,z) parameter set.
    """
    def __init__(self,**kwargs):
        self.text = ''
        self.x = 0.0
        self.y = 0.0
        self.z = 0.0
        self.color = [0,0,0]
        super(type(self),self).__init__(kwargs)