Merge pull request #2206 from mikedh/feat/sweepvec

Vectorize Sweep

Dockerfile

@@ -63,7 +63,7 @@ COPY --chown=499 pyproject.toml .
 COPY --chown=499 ./.git ./.git/
 
 USER root
-RUN trimesh-setup --install=test,gltf_validator,llvmpipe,binvox
+RUN trimesh-setup --install=test,gmsh,gltf_validator,llvmpipe,binvox
 USER user
 
 # install things like pytest

docker/trimesh-setup

@@ -46,7 +46,8 @@ config_json = """
       "openscad",
       "curl",
       "git"
-    ]
+    ],
+   "gmsh": ["libxft2", "libxinerama-dev", "libxcursor1","libgomp1"]
   },
   "fetch": {
     "gltf_validator": {

tests/data/random_tree.json

@@ -0,0 +1 @@
+[[0, 710], [0, 906], [0, 758], [1, 205], [1, 82], [2, 750], [3, 323], [3, 209], [7, 999], [8, 394], [9, 298], [9, 224], [10, 850], [12, 619], [13, 179], [14, 178], [14, 218], [15, 740], [15, 307], [16, 248], [19, 788], [20, 817], [20, 155], [22, 512], [22, 773], [23, 534], [27, 75], [27, 994], [28, 718], [30, 708], [30, 353], [31, 810], [32, 683], [33, 191], [33, 20], [34, 955], [36, 635], [36, 329], [36, 964], [36, 421], [37, 511], [38, 876], [39, 347], [39, 712], [39, 193], [40, 552], [40, 937], [40, 956], [41, 18], [41, 789], [41, 133], [42, 843], [43, 19], [43, 803], [43, 918], [45, 979], [46, 467], [46, 625], [47, 692], [48, 469], [49, 854], [51, 720], [56, 342], [59, 576], [61, 902], [62, 526], [62, 184], [62, 226], [63, 171], [63, 451], [63, 974], [64, 233], [64, 995], [65, 456], [65, 117], [67, 89], [67, 481], [67, 950], [67, 340], [70, 328], [71, 546], [72, 857], [72, 360], [72, 610], [73, 547], [75, 110], [75, 483], [77, 647], [78, 614], [80, 620], [80, 258], [82, 252], [82, 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281], [937, 177], [937, 949], [938, 416], [938, 300], [939, 237], [939, 520], [939, 695], [940, 35], [940, 175], [940, 567], [941, 879], [941, 508], [942, 897], [943, 590], [944, 279], [944, 768], [945, 344], [945, 362], [945, 86], [953, 935], [955, 257], [956, 245], [956, 990], [956, 923], [957, 656], [958, 475], [958, 107], [959, 527], [960, 375], [960, 922], [964, 56], [965, 268], [967, 27], [968, 116], [969, 604], [969, 322], [970, 43], [972, 398], [972, 411], [976, 628], [977, 31], [979, 77], [980, 893], [981, 130], [984, 516], [984, 809], [985, 722], [985, 884], [986, 284], [986, 732], [988, 24], [989, 147], [989, 208], [990, 243], [991, 53], [991, 471], [992, 127], [993, 518], [995, 845], [995, 969], [997, 725], [997, 825], [997, 236], [999, 868]]

tests/test_creation.py

@@ -170,9 +170,7 @@ def test_path_sweep(self):
 
         # Extrude
         for engine in self.engines:
-            mesh = g.trimesh.creation.sweep_polygon(
-                poly, path_closed, closed=True, engine=engine
-            )
+            mesh = g.trimesh.creation.sweep_polygon(poly, path_closed, engine=engine)
             assert mesh.is_volume
 
     def test_annulus(self):

tests/test_scenegraph.py

@@ -206,13 +206,13 @@ def test_shortest_path(self):
             return
 
         tf = g.trimesh.transformations
-        # start with creating a random tree
-        edgelist = {}
-        tree = g.nx.random_tree(n=1000, seed=0, create_using=g.nx.DiGraph)
-        edges = list(tree.edges)
+        # start with a known good random tree
+        edges = [tuple(row) for row in g.data["random_tree"]]
+        tree = g.nx.from_edgelist(edges, create_using=g.nx.DiGraph)
 
         r_choices = g.random((len(edges), 2))
         r_matrices = g.random_transforms(len(edges))
+        edgelist = {}
         for e, r_choice, r_mat in zip(edges, r_choices, r_matrices):
             data = {}
             if r_choice[0] > 0.5:

tests/test_step.py

@@ -18,6 +18,7 @@ def test_basic(self):
         b = g.get_mesh("featuretype.STEP")
         assert len(b.geometry) == 1
         m = next(iter(b.geometry.values()))
+        m.merge_vertices(merge_tex=True, merge_norm=True)
         assert m.is_watertight
 
 

tests/test_sweep.py

@@ -0,0 +1,130 @@
+import numpy as np
+from pyinstrument import Profiler
+from shapely.geometry import Point, Polygon
+
+import trimesh
+from trimesh.creation import sweep_polygon
+
+trimesh.tol.strict = True
+
+
+def arc_2d(final_angle, d=1, start_angle=0, splits=20):
+    xs = np.linspace(start_angle, final_angle, splits)
+    return np.stack((d / 2 * np.cos(xs), d / 2 * np.sin(xs)), axis=1)
+
+
+def test_simple_closed(h1=1, w=2, r=4.4):
+    # a simple closed path
+    square = Polygon([(-0.01, -h1 / 2), (w, -h1 / 2), (w, +h1 / 2), (-0.01, +h1 / 2)])
+    circle = Point([0, 0]).buffer(1.0)
+
+    # a simple square of side `r`
+    path = [[0, 0, 0], [r, 0, 0], [r, r, 0], [0, r, 0], [0, 0, 0]]
+
+    a = sweep_polygon(square, path)
+    assert a.is_volume
+
+    aa = sweep_polygon(square, path, connect=False)
+    assert aa.is_volume
+
+    # should have the same bounds but no longer a volume
+    aaa = sweep_polygon(square, path, connect=False, cap=False)
+    assert np.allclose(aa.bounds, aaa.bounds)
+    assert not aaa.is_volume
+
+    b = sweep_polygon(circle, path)
+    assert b.is_volume
+
+
+def test_simple_extrude(height=10):
+    # make sure sweep behaves okay on a simple single segment path
+    # this should be identical to the extrude operation
+    circle = Point([0, 0]).buffer(1.0)
+
+    # a simple extrusion
+    path = [[0, 0, 0], [0, 0, height]]
+    # will be running asserts inside function
+    b = sweep_polygon(circle, path)
+
+    # should be a straight extrude along Z
+    expected = np.append(np.reshape(circle.bounds, (2, 2)).ptp(axis=0), height)
+    assert np.allclose(expected, b.extents)
+
+    # should be well constructed
+    assert b.is_volume
+    # volume should correspond to expected cylinder area
+    assert np.isclose(b.volume, circle.area * height)
+
+
+def test_simple_open():
+    circle = Point([0, 0]).buffer(1.0)
+    theta = np.linspace(0.0, np.pi, 100)
+    path = np.column_stack([np.cos(theta), np.sin(theta), np.zeros(len(theta))]) * 10
+
+    a = sweep_polygon(circle, path)
+    assert a.is_volume
+
+
+def test_spline_3D():
+    circle = Point([0, 0]).buffer(1.0)
+    # make a 3D noodle using spline smoothing
+    path = trimesh.path.simplify.resample_spline(
+        [[0, 0, 0], [4, 4, 0], [5, 5, 0], [10, 0, 10], [0, 20, 0]], smooth=0.25, count=100
+    )
+
+    a = sweep_polygon(circle, path)
+    assert a.is_volume
+    assert a.body_count == 1
+
+
+def test_screw():
+    h = 200
+    d = 8
+    h1 = 1
+    w = 2
+    d = d - w
+    h2 = h1
+
+    lead = 2
+    splits_per_turn = 4 * 20
+    polygon = np.array([(-0.01, -h1 / 2), (w, -h2 / 2), (w, +h2 / 2), (-0.01, +h1 / 2)])
+    h_ = h + h1
+    n = int(np.ceil(splits_per_turn * h_ / lead))
+    turns = n / splits_per_turn
+    xys = arc_2d(2 * np.pi * turns, d, splits=n)
+    zs = np.linspace(0, h_, n)[:, None]
+    spin_path = np.concatenate((xys, zs), axis=1)
+
+    with Profiler() as P:
+        x = sweep_polygon(Polygon(polygon), spin_path)
+    P.print()
+
+    assert x.is_volume
+    # should have produced a result corresponding to the input dimensions
+    assert np.allclose(x.extents[:2], d + w * 2, atol=0.01)
+    assert np.allclose(x.extents[2], h + h1 * 2, atol=0.01)
+
+    # check without capping: should be the same size just without caps
+    o = sweep_polygon(Polygon(polygon), spin_path, cap=False, connect=False)
+    assert np.allclose(x.bounds, o.bounds)
+    assert not o.is_volume
+
+    # try spinning along an angle
+    sweep_polygon(
+        Polygon(polygon), spin_path, angles=np.linspace(0.0, np.pi / 2, len(spin_path))
+    )
+
+    circle = Point([0, 0]).buffer(1.0)
+    theta = np.linspace(0.0, np.pi, 100)
+    path = np.column_stack([np.cos(theta), np.sin(theta), np.zeros(len(theta))]) * 10
+
+    a = sweep_polygon(circle, path)
+    assert a.is_volume
+
+
+if __name__ == "__main__":
+    test_simple_closed()
+    test_simple_extrude()
+    test_simple_open()
+    test_screw()
+    test_spline_3D()

tests/test_transformations.py

@@ -227,6 +227,31 @@ def test_symbolic_euler(self):
             # they should be the same matrix
             assert g.np.allclose(s, n)
 
+    def test_symbolic_translate(self):
+        # some of the functions have been modified to support `sympy.Symbol`
+        # values which is useful for calculating final rotations symbolically
+        try:
+            import sympy as sp
+        except BaseException:
+            return
+
+        translate = g.trimesh.transformations.translation_matrix
+
+        x, y, z = sp.symbols("x y z")
+
+        m = translate([x, y, z])
+
+        for T in g.random((100, 3)):
+            # get the euler matrix evaluated from the symbolic matrix
+            s = g.np.array(
+                m.subs({x: T[0], y: T[1], z: T[2]}).evalf(), dtype=g.np.float64
+            )
+            # get it from a numeric scalar
+            n = translate(T)
+
+            # they should be the same matrix
+            assert g.np.allclose(s, n)
+
 
 if __name__ == "__main__":
     g.trimesh.util.attach_to_log()