capytaine 2.3.1__cp38-cp38-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

capytaine/meshes/geometry.py

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+"""Tools to describe geometric objects in 3D.
+Based on meshmagick <https://github.com/LHEEA/meshmagick> by François Rongère.
+"""
+# Copyright (C) 2017-2019 Matthieu Ancellin, based on the work of François Rongère
+# See LICENSE file at <https://github.com/mancellin/capytaine>
+
+from abc import ABC, abstractmethod
+from capytaine.tools.deprecation_handling import _get_water_depth
+
+import numpy as np
+
+e_x = np.array((1, 0, 0))
+e_y = np.array((0, 1, 0))
+e_z = np.array((0, 0, 1))
+
+
+###########################################
+#  DECORATOR FOR INPLACE TRANSFORMATIONS  #
+###########################################
+
+def inplace_transformation(inplace_function):
+    """Decorator for methods transforming 3D objects:
+    * Add the optional argument `inplace` to return a new object instead of doing the transformation in place.
+    * If the object has properties cached in an "__internals__" dict, they are deleted.
+    """
+    def enhanced_inplace_function(self, *args, inplace=True, name=None, **kwargs):
+        if not inplace:
+            object3d = self.copy(name=name)
+        else:
+            object3d = self
+        inplace_function(object3d, *args, **kwargs)
+        if hasattr(object3d, '__internals__'):
+            object3d.__internals__.clear()
+        return object3d
+    return enhanced_inplace_function
+
+
+##############################
+#  ABSTRACT 3D OBJECT CLASS  #
+##############################
+
+class Abstract3DObject(ABC):
+    """Abstract class for 3d objects that can be transformed in 3d.
+    The child classes have to define `mirror`, `rotate` and `translate`,
+    then more routines such as `translate_x` and `translated` are automatically available."""
+
+    @abstractmethod
+    def translate(self, vector):
+        pass
+
+    @abstractmethod
+    def rotate(self, axis, angle):
+        pass
+
+    @abstractmethod
+    def mirror(self, plane):
+        pass
+
+    @inplace_transformation
+    def translate_x(self, tx):
+        return self.translate((tx, 0., 0.))
+
+    @inplace_transformation
+    def translate_y(self, ty):
+        return self.translate((0., ty, 0.))
+
+    @inplace_transformation
+    def translate_z(self, tz):
+        return self.translate((0., 0., tz))
+
+    @inplace_transformation
+    def translate_point_to_point(self, point_a, point_b):
+        return self.translate(np.asarray(point_b) - np.asarray(point_a))
+
+    @inplace_transformation
+    def rotate_x(self, thetax):
+        return self.rotate(Ox_axis, thetax)
+
+    @inplace_transformation
+    def rotate_y(self, thetay):
+        return self.rotate(Oy_axis, thetay)
+
+    @inplace_transformation
+    def rotate_z(self, thetaz):
+        return self.rotate(Oz_axis, thetaz)
+
+    @inplace_transformation
+    def rotate_around_center_to_align_vectors(self, center, vec1, vec2):
+        """Rotate self such that if vec1 is in self, then it will point in the same direction as vec2."""
+        vec1 = np.asarray(vec1)
+        vec2 = np.asarray(vec2)
+        if parallel_vectors_with_same_direction(vec1, vec2):
+            return self
+        else:
+            if parallel_vectors(vec1, vec2):
+                if parallel_vectors(vec1, e_x):
+                    axis = Axis(vector=np.cross(vec1, e_y), point=center)
+                else:
+                    axis = Axis(vector=np.cross(vec1, e_x), point=center)
+                return self.rotate(axis, np.pi)
+            else:
+                axis = Axis(vector=np.cross(vec1, vec2), point=center)
+                return self.rotate(axis, np.arccos(np.dot(vec1, vec2)))
+
+    def translated(self, *args, **kwargs):
+        return self.translate(*args, inplace=False, **kwargs)
+
+    def rotated(self, *args, **kwargs):
+        return self.rotate(*args, inplace=False, **kwargs)
+
+    def mirrored(self, *args, **kwargs):
+        return self.mirror(*args, inplace=False, **kwargs)
+
+    def translated_x(self, *args, **kwargs):
+        return self.translate_x(*args, inplace=False, **kwargs)
+
+    def translated_y(self, *args, **kwargs):
+        return self.translate_y(*args, inplace=False, **kwargs)
+
+    def translated_z(self, *args, **kwargs):
+        return self.translate_z(*args, inplace=False, **kwargs)
+
+    def translated_point_to_point(self, *args, **kwargs):
+        return self.translate_point_to_point(*args, inplace=False, **kwargs)
+
+    def rotated_x(self, *args, **kwargs):
+        return self.rotate_x(*args, inplace=False, **kwargs)
+
+    def rotated_y(self, *args, **kwargs):
+        return self.rotate_y(*args, inplace=False, **kwargs)
+
+    def rotated_z(self, *args, **kwargs):
+        return self.rotate_z(*args, inplace=False, **kwargs)
+
+    def rotated_around_center_to_align_vectors(self, *args, **kwargs):
+        return self.rotate_around_center_to_align_vectors(*args, inplace=False, **kwargs)
+
+
+class ClippableMixin(ABC):
+    """Abstract base class for object that can be clipped.
+    The child classes should implement a `clip` method, then this abstract
+    class will append the new methods `clipped`, `keep_immersed_part` and
+    `immersed_part`, all based on `clip`.
+    """
+
+    @abstractmethod
+    def clip(self, plane):
+        pass
+
+    def clipped(self, plane, **kwargs):
+        # Same API as for the other transformations
+        return self.clip(plane, inplace=False, **kwargs)
+
+    @inplace_transformation
+    def keep_immersed_part(self, free_surface=0.0, *, sea_bottom=None, water_depth=None):
+        self.clip(Plane(normal=(0, 0, 1), point=(0, 0, free_surface)))
+        water_depth = _get_water_depth(free_surface, water_depth, sea_bottom,
+                                       default_water_depth=np.inf)
+        if water_depth < np.inf:
+            self.clip(Plane(normal=(0, 0, -1), point=(0, 0, free_surface-water_depth)))
+        return self
+
+    def immersed_part(self, free_surface=0.0, *, sea_bottom=None, water_depth=None):
+        return self.keep_immersed_part(free_surface, inplace=False, name=self.name,
+                                       sea_bottom=sea_bottom, water_depth=water_depth)
+
+
+######################
+#  HELPER FUNCTIONS  #
+######################
+
+def orthogonal_vectors(vec1, vec2) -> bool:
+    return np.linalg.norm(vec1 @ vec2) < 1e-6
+
+
+def parallel_vectors(vec1, vec2) -> bool:
+    return np.linalg.norm(np.cross(vec1, vec2)) < 1e-6
+
+
+def parallel_vectors_with_same_direction(vec1, vec2) -> bool:
+    return parallel_vectors(vec1, vec2) and np.dot(vec1, vec2) > 0
+
+
+################
+#  AXIS CLASS  #
+################
+
+class Axis(Abstract3DObject):
+    def __init__(self, vector=(1, 0, 0), point=(0, 0, 0)):
+        assert len(vector) == 3, "Vector of an axis should be given as a 3-ple of values."
+        assert len(point) == 3, "Point of an axis should be given as a 3-ple of values."
+        vector = np.array(vector, float)
+        self.vector = vector / np.linalg.norm(vector)
+        self.point = np.array(point, float)
+
+    def __repr__(self):
+        return f"Axis(vector={self.vector}, point={self.point})"
+
+    def __contains__(self, other_point):
+        if len(other_point) == 3:
+            other_point = np.asarray(other_point, dtype=float)
+            return parallel_vectors(other_point - self.point, self.vector)
+        else:
+            raise NotImplementedError
+
+    def __eq__(self, other):
+        if isinstance(self, Axis):
+            return (self is other) or (self.point in other and parallel_vectors(self.vector, other.vector))
+        else:
+            return NotImplemented
+
+    def is_orthogonal_to(self, other):
+        if isinstance(other, Plane):
+            return parallel_vectors(self.vector, other.normal)
+        elif len(other) == 3:  # The other is supposed to be a vector given as a 3-ple
+            return orthogonal_vectors(self.vector, other)
+        else:
+            raise NotImplementedError
+
+    def is_parallel_to(self, other):
+        if isinstance(other, Plane):
+            return orthogonal_vectors(self.vector, other.normal)
+        elif isinstance(other, Axis):
+            return parallel_vectors(self.vector, other.vector)
+        elif len(other) == 3:  # The other is supposed to be a vector given as a 3-ple
+            return parallel_vectors(self.vector, other)
+        else:
+            raise NotImplementedError
+
+    def angle_with_respect_to(self, other_axis: 'Axis') -> float:
+        """Angle between two axes."""
+        return np.arccos(np.dot(self.vector, other_axis.vector))
+
+    ################################
+    #  Transformation of the axis  #
+    ################################
+
+    def copy(self, name=None):
+        return Axis(vector=self.vector.copy(), point=self.point.copy())
+
+    @inplace_transformation
+    def translate(self, vector):
+        self.point += vector
+        return self
+
+    @inplace_transformation
+    def rotate(self, axis, angle):
+        rot_matrix = axis.rotation_matrix(angle)
+        self.point = rot_matrix @ (self.point - axis.point) + axis.point
+        self.vector = rot_matrix @ self.vector
+        return self
+
+    @inplace_transformation
+    def mirror(self, plane):
+        self.point -= 2 * (self.point @ plane.normal - plane.c) * plane.normal
+        self.vector -= 2 * (self.vector @ plane.normal) * plane.normal
+        return self
+
+    ###########
+    #  Other  #
+    ###########
+
+    def rotation_matrix(self, theta):
+        """Rotation matrix around the vector according to Rodrigues' formula."""
+        ux, uy, uz = self.vector
+        W = np.array([[0, -uz, uy],
+                      [uz, 0, -ux],
+                      [-uy, ux, 0]])
+        return np.identity(3) + np.sin(theta)*W + 2*np.sin(theta/2)**2 * (W @ W)
+
+    def rotate_vectors(self, vectors, angle):
+        vectors = np.asarray(vectors)
+        return (self.rotation_matrix(angle) @ vectors.T).T
+
+    def rotate_points(self, points, angle):
+        points = np.asarray(points)
+        return self.rotate_vectors(points - self.point, angle) + self.point
+
+
+Ox_axis = Axis(vector=e_x, point=(0, 0, 0))
+Oy_axis = Axis(vector=e_y, point=(0, 0, 0))
+Oz_axis = Axis(vector=e_z, point=(0, 0, 0))
+
+
+#################
+#  PLANE CLASS  #
+#################
+
+class Plane(Abstract3DObject):
+    """3D plane, oriented by the direction of their normal."""
+    def __init__(self, normal=(0.0, 0.0, 1.0), point=(0.0, 0.0, 0.0)):
+        normal = np.asarray(normal, dtype=float)
+        self.normal = normal / np.linalg.norm(normal)
+        self.point = np.asarray(point, dtype=float)
+
+    def __repr__(self):
+        return f"Plane(normal={self.normal}, point={self.point})"
+
+    def __contains__(self, other):
+        if isinstance(other, Axis):
+            return other.point in self and orthogonal_vectors(self.normal, other.vector)
+        elif len(other) == 3:
+            return orthogonal_vectors(other - self.point, self.normal)
+        else:
+            raise NotImplementedError
+
+    def __eq__(self, other):
+        """Plane are considered equal only when their normal are pointing in the same direction."""
+        if isinstance(other, Plane):
+            return ((self is other) or
+                    (other.point in self and parallel_vectors_with_same_direction(self.normal, other.normal)))
+        else:
+            return NotImplemented
+
+    def is_orthogonal_to(self, other):
+        if isinstance(other, Axis):
+            return parallel_vectors(self.normal, other.vector)
+        elif isinstance(other, Plane):
+            return orthogonal_vectors(self.normal, other.normal)
+        elif len(other) == 3:  # The other is supposed to be a vector given as a 3-ple
+            return parallel_vectors(self.normal, other)
+        else:
+            raise NotImplementedError
+
+    @property
+    def c(self):
+        """Distance from plane to origin."""
+        return np.linalg.norm(self.normal @ self.point)
+
+    @property
+    def s(self):
+        """Distance from origin to plane along the normal"""
+        return np.dot(self.normal, self.point)
+
+    #################################
+    #  Transformation of the plane  #
+    #################################
+
+    def copy(self, name=None):
+        return Plane(normal=self.normal.copy(), point=self.point.copy())
+
+    @inplace_transformation
+    def translate(self, vector):
+        self.point = self.point + np.asarray(vector)
+        return self
+
+    @inplace_transformation
+    def rotate(self, axis, angle):
+        rot_matrix = axis.rotation_matrix(angle)
+        self.point = rot_matrix @ self.point
+        self.normal = rot_matrix @ self.normal
+        return self
+
+    @inplace_transformation
+    def mirror(self, plane):
+        self.point -= 2 * (self.point @ plane.normal - plane.c) * plane.normal
+        self.normal -= 2 * (self.normal @ plane.normal) * plane.normal
+        return self
+
+    ###########
+    #  Other  #
+    ###########
+
+    def distance_to_point(self, points):
+        """
+        Return the orthogonal distance of points with respect to the plane.
+        The distance is counted positively on one side of the plane and negatively on the other.
+
+        Parameters
+        ----------
+        points : ndarray
+            Array of points coordinates
+
+        Returns
+        -------
+        dist : ndarray
+            Array of distances of points with respect to the plane
+        """
+        return np.dot(points, self.normal) - np.dot(self.point, self.normal)
+
+    def get_edge_intersection(self, p0, p1):
+        """
+        Returns the coordinates of the intersection point between the plane and the edge P0P1.
+
+        Parameters
+        ----------
+        p0 : ndarray
+            Coordinates of point p0
+        p1 : ndarray
+            Coordinates of point P1
+
+        Returns
+        -------
+        I : ndarray
+            Coordinates of intersection point
+        """
+        assert len(p0) == 3 and len(p1) == 3
+
+        p0n = np.dot(p0, self.normal)
+        p1n = np.dot(p1, self.normal)
+        t = (p0n - self.s) / (p0n - p1n)
+        if t < 0. or t > 1.:
+            raise RuntimeError('Intersection is outside the edge')
+        return (1-t) * p0 + t * p1
+
+
+yOz_Plane = Plane(normal=e_x, point=(0, 0, 0))
+xOz_Plane = Plane(normal=e_y, point=(0, 0, 0))
+xOy_Plane = Plane(normal=e_z, point=(0, 0, 0))

capytaine/meshes/mesh_like_protocol.py

@@ -0,0 +1,37 @@
+from typing import Tuple, Protocol, runtime_checkable
+from numpy.typing import ArrayLike
+
+
+@runtime_checkable
+class MeshLike(Protocol):
+    """Minimal API that a class describing a mesh should implement to be
+    usable with the rest of Capytaine.
+
+    The goal is two-fold:
+       1. Use at runtime to identify a mesh for functions that behaves
+       differently depending on the type of the input (e.g. Delhommeau().evaluate).
+       2. Use as documentation for third-party mesh implementation.
+
+    In the future, it could also be used for static typing.
+    """
+    vertices: ArrayLike
+    faces: ArrayLike
+    nb_vertices: int
+    nb_faces: int
+    faces_centers: ArrayLike
+    faces_normals: ArrayLike
+    faces_areas: ArrayLike
+    faces_radiuses: ArrayLike
+    quadrature_points: Tuple[ArrayLike, ArrayLike]
+
+    def __short_str__(self) -> str:
+        ...
+
+    def extract_faces(self, faces_id):
+        ...
+
+    def join_meshes(*meshes, return_mask):
+        ...
+
+    def with_normal_vector_going_down(self, **kwargs):
+        ...