basilisk-engine 0.1.0__py3-none-any.whl → 0.1.2__py3-none-any.whl

basilisk/generic/vec3.py

@@ -1,87 +1,90 @@
 import glm
 import numpy as np
+from .abstract_custom import Custom
 
-
-class Vec3():
+class Vec3(Custom):
     def __init__(self, *args, callback=None):
         self.callback = callback
         self.prev_data = glm.vec3(0.0)
-        self.set_data(*args)
-       
-    def normalize(self):
-        """
-        Inplace normalizes the vector
-        """
-        self.data = glm.normalize(self.data)
         
-    def set_data(self, *args):
-        """
-        Sets the internal vector inplace
-        """
-        # overload constructor TODO nvernest this, definitely possible
         if len(args) == 1:
+            
             if isinstance(args[0], Vec3):
                 self.data = glm.vec3(args[0].data)
+                self.prev_data = glm.vec3(args[0].prev_data)
                 self.callback = args[0].callback
-            elif isinstance(args[0], glm.vec3): self.data = glm.vec3(args[0])
+                
+            elif isinstance(args[0], glm.vec3): 
+                self.data = args[0]
+                
             elif isinstance(args[0], tuple) or isinstance(args[0], list) or isinstance(args[0], np.ndarray): 
-                if len(args[0]) != 3: raise ValueError(f'Vec3: Expected 3 values from incoming vector, got {len(args[0])}')
+                assert len(args[0]) == 3, f'Vec3: Expected 3 values from incoming vector, got {len(args[0])}'
                 self.data = glm.vec3(args[0])
-            else: raise ValueError(f'Vec3: Unexpected incoming vector type {args[0]}')
-        elif len(args) == 3: self.data = glm.vec3(args[0], args[1], args[2])
+                
+            else: 
+                try: self.data = glm.vec3(args[0])
+                except: raise ValueError(f'Vec3: Unexpected incoming vector type {args[0]}')
+            
+        elif len(args) == 3: self.data = glm.vec3(*args)
         else: raise ValueError(f'Vec3: Expected either 1 vector or 3 numbers, got {len(args)} values')
-
-    # override _= operators
-    def __iadd__(self, other):
-        if isinstance(other, glm.vec3): self.data += other
-        elif isinstance(other, tuple) or isinstance(other, list) or isinstance(other, np.ndarray):
-            if len(other) != 3: raise ValueError(f'Vec3: Number of added values must be 3, got {len(other)}')
-            self.data += other
-        elif isinstance(other, Vec3): self.data += other.data
-        else: raise ValueError(f'Vec3: Not an accepted type for addition, got {type(other)}')
-        return self
-    
-    def __isub__(self, other):
-        if isinstance(other, glm.vec3): self.data -= other
+       
+    def apply_function(self, other, func, func_name):
+        vec = glm.vec3(self.data)
+        
+        if isinstance(other, (glm.vec3, glm.quat)): 
+            vec = func(vec, other) 
+            
         elif isinstance(other, tuple) or isinstance(other, list) or isinstance(other, np.ndarray):
-            if len(other) != 3: raise ValueError(f'Vec3: Number of added values must be 3, got {len(other)}')
-            self.data -= other
-        elif isinstance(other, Vec3): self.data -= other.data
-        else: raise ValueError(f'Vec3: Not an accepted type for addition, got {type(other)}')
-        return self
-    
-    def __imul__(self, other):
-        # TODO add checks for number types
-        self.data *= other
-        return self
-    
-    def __idiv__(self, other): 
-        # TODO add checks for number types
-        self.data /= other
-        return self
+            assert len(other) == 3, f'Vec3: Number of added values must be 3, got {len(other)}'
+            vec = func(vec, other) 
+            
+        elif isinstance(other, Custom): # perserve self.callback over other.callback. this should never be done by the user
+            vec = func(vec, other.data) 
+            
+        else: 
+            try: vec = func(vec, other) 
+            except: raise ValueError(f'Vec3: Not an accepted type for {func_name}, got {type(other)}')
+        return Vec3(vec)
+        
+    # unary operators
+    def __neg__(self):
+        return Vec3(-self.data, callback=self.callback)
     
-    def __ifloordiv__(self, other): 
-        # TODO add checks for number types
-        self.data //= other
-        return self
+    def __abs__(self):
+        return Vec3(abs(self.data), callback=self.callback)
     
-    # override [_] accessor
+    # accessor functions
     def __getitem__(self, index): 
-        if int(index) != index: raise IndexError(f'Vec3: index must be an int, got {type(index)}') # check if index is a float
-        if index < 0 or index > 2: raise IndexError(f'Vec3: index out of bounds, got {index}')
+        assert int(index) == index, f'Vec3: index must be an int, got {type(index)}' # check if index is a float
+        assert 0 <= index <= 2, f'Vec3: index out of bounds, got {index}'
         return self.data[index]
     
     def __setitem__(self, index, value): 
-        if int(index) != index: raise IndexError(f'Vec3: index must be an int, got {type(index)}') # check if index is a float
-        if index < 0 or index > 2: raise IndexError(f'Vec3: index out of bounds, got {index}')
+        assert int(index) == index, f'Vec3: index must be an int, got {type(index)}' # check if index is a float
+        assert 0 <= index <= 2, f'Vec3: index out of bounds, got {index}'
         try: self.data[index] = value
         except: raise ValueError(f'Vec3: Invalid element type, got {type(value)}')
         
-    def __repr__(self):
-        return str(self.data)
-
+    def __delitem__(self, index): # index in a vec cannot be deleted, so we default to zero
+        assert int(index) == index, f'Vec3: index must be an int, got {type(index)}' # check if index is a float
+        assert 0 <= index <= 2, f'Vec3: index out of bounds, got {index}'
+        self.data[index] = 0
+        
+    def __len__(self):
+        return 3
+        
     def __iter__(self):
-        return iter((self.x, self.y, self.z))
+        return iter(self.data)
+    
+    def __contains__(self, item):
+        return item in self.data
+    
+    # override str operators
+    def __repr__(self):
+        return 'bsk ' + str(self.data)
+    
+    def __str__(self):
+        return 'bsk ' + str(self.data)
     
     @property
     def data(self): return self._data
@@ -94,8 +97,7 @@ class Vec3():
     
     @data.setter
     def data(self, value: glm.vec3):
-        self._data = value
-        
+        self._data = glm.vec3(value)
         cur = self._data
         prev = self.prev_data
         thresh = 1e-6
@@ -106,15 +108,37 @@ class Vec3():
 
     @x.setter
     def x(self, value):
-        self.data.x = value
-        if self.callback: self.callback()
+        self._data.x = value
+        if self.callback and abs(value - self.prev_data.x) > 1e-6: 
+            self.prev_data.x = value
+            self.callback()
         
     @y.setter
     def y(self, value):
-        self.data.y = value
-        if self.callback: self.callback()
+        self._data.y = value
+        if self.callback and abs(value - self.prev_data.y) > 1e-6: 
+            self.prev_data.y = value
+            self.callback()
         
     @z.setter
     def z(self, value):
-        self.data.z = value
-        if self.callback: self.callback()
+        self._data.z = value
+        if self.callback and abs(value - self.prev_data.z) > 1e-6: 
+            self.prev_data.z = value
+            self.callback()
+        
+class Node():
+    
+    def __init__(self, pos):
+        
+        def callback(): print('calling back')
+        self.pos_callback = callback
+        self._pos = Vec3(pos, callback=self.pos_callback)
+        
+    @property
+    def pos(self): return self._pos
+    
+    @pos.setter
+    def pos(self, value): 
+        if isinstance(value, Vec3): self._pos.data = value.data
+        else: self._pos.data = value

basilisk/mesh/cube.py

@@ -8,9 +8,27 @@ class Cube(Mesh):
         # built-in cube mesh with custom functions
         path = engine.root + '/bsk_assets/cube.obj'
         super().__init__(path)
+        
+        self.dot_indices = [0 for _ in range(8)]
+        for i, point in enumerate(self.points):
+            index = 0 
+            if point[0] > 0: index += 4
+            if point[1] > 0: index += 2
+            if point[2] > 0: index += 1
+            self.dot_indices[index] = i
 
-    def get_best_dot(self, vec: glm.vec3) -> glm.vec3:
+    def get_best_dot(self, vec: glm.vec3) -> int:
         """
         Gets the best dot point of a cube
         """
-        return glm.vec3([-1 if v < 0 else 1 for v in vec])
+        index = 0
+        if vec[0] > 0: index += 4
+        if vec[1] > 0: index += 2
+        if vec[2] > 0: index += 1
+        return self.dot_indices[index]
+    
+    def get_line_collided(self, position: glm.vec3, forward: glm.vec3) -> list[int]:
+        """
+        Returns all the faces on the cube since the AABB degenerates on the cube mesh
+        """
+        return [i for i in range(12)]

basilisk/mesh/mesh.py

@@ -7,6 +7,7 @@ from .narrow_bvh import NarrowBVH
 from ..generic.matrices import compute_inertia_moment, compute_inertia_product
 from ..generic.meshes import get_extreme_points_np, moller_trumbore
 from .mesh_from_data import from_data
+import time
 
 
 class Mesh():
@@ -40,31 +41,44 @@ class Mesh():
         # Verify the path type
         if isinstance(data, str) or isinstance(data, os.PathLike):  # Load the model from file
             model = load_model(data, calculate_tangents=True)
-        elif isinstance(data, np.ndarray):                          # Load the model from array of data
-            model = from_data(data)
+
+             # Get the vertex data
+            if len(model.vertex_data[0]) == 8:
+                self.data = model.vertex_data.copy()
+            else:
+                self.data = np.zeros(shape=(len(model.vertex_data), 8))
+                self.data[:,:3] = model.vertex_data[:,:3]
+                self.data[:,5:] = model.vertex_data[:,3:]
+            
+            # Get tangent data
+            if len(model.tangent_data[0]) == 6:
+                self.data = np.hstack([self.data, model.tangent_data])
+            else:
+                tangents = np.zeros(shape=(len(self.data), 6))
+                tangents[:,:] += [1.0, 0.0, 0.0, 0.0, 1.0, 0.0]
+                self.data = np.hstack([self.data, tangents])
+
+        elif isinstance(data, np.ndarray):
+            model = from_data(data)      
+            self.data = model.vertex_data
+            
         else:                                                       # Invalid data type
             raise TypeError(f'Invalid path type: {type(data)}. Expected a string or os.path')
-
-        # Get the vertex data
-        if len(model.vertex_data[0]) == 8:
-            self.data = model.vertex_data.copy()
-        else:
-            self.data = np.zeros(shape=(len(model.vertex_data), 8))
-            self.data[:,:3] = model.vertex_data[:,:3]
-            self.data[:,5:] = model.vertex_data[:,3:]
         
-        # Get tangent data
-        if len(model.tangent_data[0]) == 6:
-            self.data = np.hstack([self.data, model.tangent_data])
-        else:
-            tangents = np.zeros(shape=(len(self.data), 6))
-            tangents[:,:] += [1.0, 0.0, 0.0, 0.0, 1.0, 0.0]
-            self.data = np.hstack([self.data, tangents])
-
         # Mesh points and triangles used for physics/collisions
         self.points = model.vertex_points.copy()
         self.indices = model.point_indices.copy()
 
+        self.hash = hash(str(self.data))
+
+        # generate edges from faces
+        edges = [set() for _ in range(len(self.points))]
+        for face in self.indices:
+            
+            # add points to the dictionary since each point on a face is adjacent to the others
+            for i in range(3): edges[face[i]].update([int(face[(i + 1) % 3]), int(face[(i + 2) % 3])])
+        self.edges = [tuple(adjacent) for adjacent in edges]
+
         # Model will no longer be used
         del model
         
@@ -127,6 +141,12 @@ class Mesh():
             -icp, -iap, ic
         )
         
+        # return glm.mat3x3(
+        #     ic, -iap, -icp,
+        #     -iap, ib, -ibp,
+        #     -ibp, -iap, ia
+        # )
+        
     def get_best_triangle(self, point: glm.vec3, vec: glm.vec3) -> int:
         """
         Gets the triangle with the closest intersection, -1 if no intersection is found
@@ -155,51 +175,43 @@ class Mesh():
                 best_index = triangle
                 
         return best_index
+        
+    def get_best_dot(self, vec: glm.vec3) -> int:
+        """
+        Gets the point with the highest normalized dot product to the given vector
+        """
+        triangle = self.bvh.get_best_dot(vec)
+        if triangle == -1: return None
+        index = max(self.indices[triangle], key=lambda t: glm.dot(glm.normalize(self.points[t]), vec))
+        return index
     
-    def get_best_triangle_brute(self, point: glm.vec3, vec: glm.vec3) -> int:
+    def get_best_dot_hill_climbing(self, vec: glm.vec3) -> int:
         """
-        Gets the triangle with the closest intersection, -1 if no intersection is found. Uses a brute force method
+        Gets the point with the highest dot product to the given vector using a hill climbing algorithm. This function is only effective for convex models.
         """
-        best_distance = -1
-        best_index = -1
-        
-        point = glm.vec3(point)
-        vec = glm.vec3(vec)
+        best_index = 0
+        best_dot = glm.dot(self.points[best_index], vec)
         
-        for index, triangle in enumerate(self.indices):
-            
-            # check if triangle intersects
-            intersection = moller_trumbore(point, vec, [self.points[t] for t in triangle])
-            if not intersection: continue
+        while True:
             
-            # check if triangle is on correct side of line
-            difference = intersection - self.geometric_center
-            if glm.dot(difference, vec) < 0: continue
-            
-            # determine best distance
-            distance = glm.length(difference)
-            if best_distance < 0 or distance < best_distance: 
-                best_distance = distance
-                best_index = index
+            best_changed = False
+            for index in self.edges[best_index]:
                 
-        return best_index
+                dot = glm.dot(self.points[index], vec)
+                if dot > best_dot:
+                    best_dot = dot
+                    best_changed = True
+                    best_index = index
+                    
+            if not best_changed: break
         
-    def get_best_dot(self, vec: glm.vec3) -> glm.vec3:
+        return best_index
+    
+    def get_line_collided(self, position: glm.vec3, forward: glm.vec3) -> list[tuple[int, int, int]]:
         """
-        Gets the point with the highest normalized dot product to the given vector
+        Determines which triangles are intersecting with the given line segment. Returns the indices of the triangle contained in the mesh points list
         """
-        triangle = self.bvh.get_best_dot(vec)
-        if triangle == -1: return None
-        index = max(self.indices[triangle], key=lambda t: glm.dot(glm.normalize(self.points[t]), vec))
-        return glm.vec3(self.points[index])
-    
-    def get_best_dot_old(self, vec):
-        best_dot = -1e10
-        best = None
-        for point in self.points:
-            dot = glm.dot(glm.normalize(point), vec)
-            if dot > best_dot: best_dot, best = dot, glm.vec3(point)
-        return best
+        return self.bvh.get_line_collided(position, forward)
 
     def __repr__(self) -> str:
         size = (self.data.nbytes + self.points.nbytes + self.indices.nbytes) / 1024 / 1024
@@ -214,3 +226,6 @@ class Mesh():
         x1, y1, z1 = self.top_right
         x2, y2, z2 = self.bottom_left
         return [glm.vec3(x, y, z) for z in (z1, z2) for y in (y1, y2) for x in (x1, x2)]
+
+    def __hash__(self):
+        return self.hash

basilisk/mesh/mesh_from_data.py

@@ -1,48 +1,133 @@
 import numpy as np
+from .model import Model
+import glm
 
-
-def from_data(data: np.ndarray) -> np.ndarray:
+def from_data(data: np.ndarray) -> Model:
     """
     Converts data given to a format compatable with basilisk models
     """
 
+    # Create an empty model
+    model = Model()
+    # Get the shape of the given data
+
+    # Get the shape of the given data and check for a valid shape
     shape = data.shape
+    if len(shape) == 2: pass
+    elif len(shape) == 3: data = np.reshape(data, (shape[0] * 3, shape[1] * shape[2] // 3)); shape = data.shape
+    else: raise ValueError(f"Could not find valid format for the given model data of shape {shape}")
+
+    # Data to be retraived/generated
+    positions = None
+    uvs       = None
+    normals   = None
+    tangents  = None
 
     if shape[1] == 3:  # Just given position
-        pos_norm_data = get_normals(data)
-        print(pos_norm_data.shape)
-        data = np.zeros(shape=(len(data), 14))
-        data[:,:6] = pos_norm_data
-        return data
+        positions = data[:,:]
+        uvs = get_uvs(positions)
+        normals = get_normals(positions)
+        tangents = get_tangents(normals)
+
+    elif shape[1] == 5:  # Given position and uv, but no normals
+        positions = data[:,:3]
+        uvs = data[:,3:5]
+        normals = get_normals(positions)
+        tangents = get_tangents(normals)
 
     elif shape[1] == 6:  # Given position and normals, but no UV
-        pos_norm_data = data
-        data = np.zeros(shape=(len(data), 14))
-        data[:][:6] = pos_norm_data
-        return data
+        positions = data[:,:3]
+        uvs = get_uvs(positions)
+        normals = data[:,3:6]
+        tangents = get_tangents(normals)
 
     elif shape[1] == 8:  # Given position, normals and UV
-        ...
+        positions = data[:,:3]
+        uvs = data[:,3:5]
+        normals = data[:,5:8]
+        tangents = get_tangents(normals)
 
     elif shape[1] == 14:  #Given position, normals, UV, bitangents, and tangents, no change needed
-        return data
+        positions = data[:,:3]
+        uvs = data[:,3:5]
+        normals = data[:,5:8]
+        tangents = data[:,8:14]
+    
+    else:
+        raise ValueError(f"Could not find valid format for the given model data of shape {shape}")
+
+    model.vertex_data = np.zeros(shape=(shape[0], 14))
+    model.vertex_data[:,:3]   = positions
+    model.vertex_data[:,3:5]  = uvs
+    model.vertex_data[:,5:8]  = normals
+    model.vertex_data[:,8:14] = tangents
+    model.vertex_points, model.point_indices = get_points_and_indices(positions)
 
-    raise ValueError(f"Could not find valid format for the given model data of shape {shape}")
+    print(model.vertex_points, model.point_indices)
+
+    return model
 
 
 def get_normals(positions: np.ndarray) -> np.ndarray:
     """
-    Gets the normals for a position array and returns a concatinated array
+    Gets the normals from the position data
+    Returns a numpy array
     """
     
     # Create empty array for the normals
-    normals = np.zeros(shape=positions.shape)
+    normals = np.zeros(shape=positions.shape, dtype='f4')
 
     # Loop through each triangle and calculate the normal of the surface
     for tri in range(positions.shape[0] // 3):
-        normal = np.cross(positions[tri] - positions[tri + 1], positions[tri] - positions[tri + 2])
-        normals[tri    ] = normal
-        normals[tri + 1] = normal
-        normals[tri + 2] = normal
+        v1 = glm.vec3(positions[tri * 3]) - glm.vec3(positions[tri * 3 + 1])
+        v2 = glm.vec3(positions[tri * 3]) - glm.vec3(positions[tri * 3 + 2])
+        normal = glm.normalize(glm.cross(v1, v2))
+        normals[tri * 3    ] = list(normal.xyz)
+        normals[tri * 3 + 1] = list(normal.xyz)
+        normals[tri * 3 + 2] = list(normal.xyz)
+
+    return normals
+
+def get_uvs(positions: np.ndarray) -> np.ndarray:
+    """
+    Gets the uvs from the position array.
+    Currently assigns each triangle arbitrarily, since there is no standard
+    """
+    uvs = np.array([*[[0, 0], [0, 1], [1, 0]] * (positions.shape[0]//3)])
+    return uvs
+
+def get_tangents(normals: np.array):
+    """
+    Gets the uvs from the normal array.
+    Currently just fills with arbitrary data, since there is no standard
+    """
+
+    # Get linearly independent vectors
+    tangent = np.cross(normals, [1, 1, 0])
+    bitangent = np.cross(normals, tangent)
+
+    # Combine to a single array
+    all_tangents = np.hstack([tangent, bitangent], dtype='f4')
+
+    return all_tangents
+
+
+def get_points_and_indices(positions: np.ndarray) -> tuple[np.ndarray]:
+    """
+    Gets the unique points and indices from the position data.
+    Returns a tuple of numpy arrays: (points, indices)
+    """
+    
+    points = {}
+    indices = [[] for i in range(len(positions) // 3)]
+
+    for i, point in enumerate(positions):
+        point = tuple(point)
+        if point not in points: points[point] = []
+        points[point].append(i // 3)
+
+    for i, index_mapping in enumerate(points.values()):
+        for triangle in index_mapping:
+            indices[triangle].append(i)
 
-    return np.hstack([positions, normals])
+    return np.array(list(points.keys()), dtype='f4'), np.array(indices, dtype='i')

basilisk/mesh/narrow_aabb.py

@@ -1,4 +1,6 @@
 import glm
+
+from basilisk.generic.collisions import collide_aabb_line
 from .narrow_primative import NarrowPrimative
 from ..generic.abstract_bvh import AbstractAABB as AABB
 from ..generic.meshes import get_aabb_line_collision
@@ -78,4 +80,11 @@ class NarrowAABB(AABB):
             aabbs += self.b.get_all_aabbs(layer + 1)
         else: aabbs.append((self.b.top_right, self.b.bottom_left, layer + 1))
         
-        return aabbs
+        return aabbs
+    
+    def get_line_collided(self, position: glm.vec3, forward: glm.vec3) -> list[int]:
+        """
+        Returns the colliders that may intersect with the given line
+        """
+        if not collide_aabb_line(self.top_right, self.bottom_left, position, forward): return []
+        return (self.a.get_line_collided(position, forward) if isinstance(self.a, NarrowAABB) else [self.a.index]) + (self.b.get_line_collided(position, forward) if isinstance(self.b, NarrowAABB) else [self.b.index])

basilisk/mesh/narrow_bvh.py

@@ -81,4 +81,12 @@ class NarrowBVH(BVH):
         Returns all AABBs, their extreme points, and their layer
         """
         if isinstance(self.root, NarrowAABB): return self.root.get_all_aabbs(0)
-        return [(self.root.top_right, self.root.bottom_left, 0)]
+        return [(self.root.top_right, self.root.bottom_left, 0)]
+    
+    def get_line_collided(self, position: glm.vec3, forward: glm.vec3) -> list[tuple[int, int, int]]:
+        """
+        Determines which triangles are intersecting with the given line segment. Returns the indices of the triangle contained in the mesh points list
+        """
+        if isinstance(self.root, NarrowAABB): return self.root.get_line_collided(position, forward)
+        return self.root.index
+