geo info extraction done

1_RoCo/Paperbot/Paperbot.py

@@ -18,13 +18,15 @@ from rocolib.library import getComponent
 
 
 # =============================================================================
-# c = getComponent("Paperbot_Tail", length=85, width=65, height=30)
+# c = getComponent("Paperbot_Tail", length=85, width=65)
 # c.makeOutput("output/Paperbot_Tail", tree=True, display=False)
 # =============================================================================
 
 
-d = getComponent("Paperbot_Wheel_Left", length=85, width=65, height=30)
-d.makeOutput("output/Paperbot_Wheel_Left", tree=True, display=False)
+# =============================================================================
+# d = getComponent("Paperbot_Wheel_Left", length=85, width=65, height=30)
+# d.makeOutput("output/Paperbot_Wheel_Left", tree=True, display=False)
+# =============================================================================
 
 
 # =============================================================================
@@ -39,8 +41,6 @@ d.makeOutput("output/Paperbot_Wheel_Left", tree=True, display=False)
 # =============================================================================
 
 
-# =============================================================================
-# e = getComponent("Paperbot_BodyAndTail", length=85, width=65, height=30)
-# e.makeOutput("output/Paperbot_Body_And_Tail", tree=True, display=False)
-# =============================================================================
+e = getComponent("Paperbot_BodyAndTail", length=85, width=65, height=30)
+e.makeOutput("output/Paperbot_Body_And_Tail", tree=True, display=False)
 

1_RoCo/Paperbot/rocolib/api/composables/GraphComposable.py

@@ -233,9 +233,13 @@ class GraphComposable(Composable, BaseGraph):
       
     handle("Coordinate", "3D", self.toTXT_Coord, "model_Coord.txt", **kwargs)    
 
-    handle("Facet_Normal", "3D", self.toTXT_Facet_Normal, "model_Facet_Normal.txt", **kwargs)
+# =============================================================================
+#     handle("Facet_Normal", "3D", self.toTXT_Facet_Normal, "model_Facet_Normal.txt", **kwargs)
+# =============================================================================
     
-    handle("Coordinate_Index", "3D", self.toTXT_CoordIndex, "model_CoordIndex.txt", **kwargs)
+# =============================================================================
+#     handle("Coordinate_Index", "3D", self.toTXT_CoordIndex, "model_CoordIndex.txt", **kwargs)
+# =============================================================================
     
     
     return rets

1_RoCo/Paperbot/rocolib/api/composables/graph/Graph.py

@@ -27,9 +27,7 @@ def STLWrite(faces, fp, **kwargs):
   scale = .001 # roco units : mm ; STL units m
 
   from .stlwriter import ASCII_STL_Writer as STL_Writer
-# =============================================================================
-#   from .stlwriter import Binary_STL_Writer as STL_Writer
-# =============================================================================
+
   import triangle
 
   shells = []
@@ -152,8 +150,12 @@ def TXTWrite_Coord(faces, fp, **kwargs):
         facets.extend([np.dot(np.transpose(r), x) * scale for x in inflate(t, thickness=thickness, edges=True)])
     else:
       for t in [np.array(list(B['vertices'][x]) + [0,1] ) for x in range(0, len(B['vertices']))]:
-        facets.append(np.dot(np.transpose(r), t) * scale)
+        facets.append(np.transpose(np.dot(r, t)) * scale)
 
+# =============================================================================
+#     print(facets)
+# =============================================================================
+    
     triangles.extend(facets)
 
   faces = triangles
@@ -193,11 +195,7 @@ def TXTWrite_Facet_Normal(faces, fp, **kwargs):
         facets.extend([np.dot(r, x) * scale for x in inflate(t, thickness=thickness, edges=True)])
     else:
       for t in [np.array(list(B['vertices'][x]) + [0,1] ) for x in range(0, len(B['vertices']))]:
-        facets.append(np.dot(np.transpose(r), t) * scale)
-# =============================================================================
-#       for t in [np.transpose(np.array([list(B['vertices'][x]) + [0,1] for x in (face[0], face[1], face[2])])) for face in B['triangles']]:
-#         facets.append(np.dot(r, t) * scale)
-# =============================================================================
+        facets.append(np.transpose(np.dot(r, t)) * scale)
 
     triangles.extend(facets)
 
@@ -215,16 +213,23 @@ def TXTWrite_CoordIndex(faces, fp, **kwargs):
   import numpy as np
   
   facets_index = np.empty([1, 3])
-
+    
+  B_add = 0
+    
   for i, f in enumerate(faces):
-
+      
     r = f[0]  # transformation matrix
     A = f[1]  # getTriangleDict
 
     B = triangle.triangulate(A, opts='p')
 
-    facets_index = np.concatenate((facets_index, B['triangles']), 0)
+    B_triangle = B['triangles'] + B_add
+
+    B_add = np.amax(B_triangle) + 1
+        
+    facets_index = np.concatenate((facets_index, B_triangle), 0)
   
+  facets_index = np.delete(facets_index, 0, 0)  
   writer = TXT_Writer_CoordIndex(fp)
   writer.add_indexes(facets_index)
 # CJL <<<<<-------------------------------------------------------------------------------------------------------------------- 

1_RoCo/Paperbot/rocolib/api/composables/graph/txtwriter_Coord.py

@@ -11,12 +11,12 @@ Created on Thu May 13 08:08:00 2021
 import struct
 
 
-# =============================================================================
-# Coord_FACET = """{face[0][0]:.4f} {face[0][1]:.4f} {face[0][2]:.4f}, {face[1][0]:.4f} {face[1][1]:.4f} {face[1][2]:.4f}, {face[2][0]:.4f} {face[2][1]:.4f} {face[2][2]:.4f}, """
-# =============================================================================
-
 Coord_FACET = """{face[0]:.4f} {face[1]:.4f} {face[2]:.4f}, """
 
+# =============================================================================
+# Coord_FACET = """{face[0]:.4f} {face[1]:.4f} {face[2]:.4f}
+# """
+# =============================================================================
 
 
 

1_RoCo/Paperbot/rocolib/api/composables/graph/txtwriter_CoordIndex.py

@@ -11,12 +11,13 @@ import struct
 import numpy as np
 
 
+Coord_FACET_Index = """{face_pt_num[0]}, {face_pt_num[1]}, {face_pt_num[2]}, -1, """
+
 # =============================================================================
-# Coord_FACET_Index = """{face_pt_num[0]}, {face_pt_num[1]}, {face_pt_num[2]}, -1, """
+# Coord_FACET_Index = """{face_pt_num[0]} {face_pt_num[1]} {face_pt_num[2]}
+# """
 # =============================================================================
 
-Coord_FACET_Index = """{face_pt_num[0]}, {face_pt_num[1]}, {face_pt_num[2]}, -1, """
-
 
 # CJL <<<<<--------------------------------------------------------------------------------------------------------------------
 class CoordIndex_TXT_Writer: