"""BlenderCAM 'collision.py' © 2012 Vilem Novak
Functions for Bullet and Cutter collision checks.
"""
from math import (
cos,
pi,
radians,
sin,
tan,
)
import time
import bpy
from mathutils import (
Euler,
Vector,
)
from .constants import (
BULLET_SCALE,
CUTTER_OFFSET,
)
from .simple import (
activate,
delob,
progress,
)
[docs]
def getCutterBullet(o):
"""Create a cutter for Rigidbody simulation collisions.
This function generates a 3D cutter object based on the specified cutter
type and parameters. It supports various cutter types including 'END',
'BALLNOSE', 'VCARVE', 'CYLCONE', 'BALLCONE', and 'CUSTOM'. The function
also applies rigid body physics to the created cutter for realistic
simulation in Blender.
Args:
o (object): An object containing properties such as cutter_type, cutter_diameter,
cutter_tip_angle, ball_radius, and cutter_object_name.
Returns:
bpy.types.Object: The created cutter object with rigid body properties applied.
"""
s = bpy.context.scene
if s.objects.get('cutter') is not None:
c = s.objects['cutter']
activate(c)
type = o.cutter_type
if type == 'END':
bpy.ops.mesh.primitive_cylinder_add(vertices=32, radius=o.cutter_diameter / 2,
depth=o.cutter_diameter, end_fill_type='NGON',
align='WORLD', enter_editmode=False, location=CUTTER_OFFSET,
rotation=(0, 0, 0))
cutter = bpy.context.active_object
cutter.scale *= BULLET_SCALE
bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
bpy.ops.object.origin_set(type='GEOMETRY_ORIGIN', center='BOUNDS')
bpy.ops.rigidbody.object_add(type='ACTIVE')
cutter = bpy.context.active_object
cutter.rigid_body.collision_shape = 'CYLINDER'
elif type == 'BALLNOSE':
# ballnose ending used mainly when projecting from sides.
# the actual collision shape is capsule in this case.
bpy.ops.mesh.primitive_ico_sphere_add(subdivisions=3, radius=o.cutter_diameter / 2,
align='WORLD', enter_editmode=False,
location=CUTTER_OFFSET, rotation=(0, 0, 0))
cutter = bpy.context.active_object
cutter.scale *= BULLET_SCALE
bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
bpy.ops.object.origin_set(type='GEOMETRY_ORIGIN', center='BOUNDS')
bpy.ops.rigidbody.object_add(type='ACTIVE')
cutter = bpy.context.active_object
# cutter.dimensions.z = 0.2 * BULLET_SCALE # should be sufficient for now... 20 cm.
cutter.rigid_body.collision_shape = 'CAPSULE'
#bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
elif type == 'VCARVE':
angle = o.cutter_tip_angle
s = tan(pi * (90 - angle / 2) / 180) / 2 # angles in degrees
cone_d = o.cutter_diameter * s
bpy.ops.mesh.primitive_cone_add(vertices=32, radius1=o.cutter_diameter / 2, radius2=0,
depth=cone_d, end_fill_type='NGON',
align='WORLD', enter_editmode=False, location=CUTTER_OFFSET,
rotation=(pi, 0, 0))
cutter = bpy.context.active_object
cutter.scale *= BULLET_SCALE
bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
bpy.ops.object.origin_set(type='GEOMETRY_ORIGIN', center='BOUNDS')
bpy.ops.rigidbody.object_add(type='ACTIVE')
cutter = bpy.context.active_object
cutter.rigid_body.collision_shape = 'CONE'
elif type == 'CYLCONE':
angle = o.cutter_tip_angle
s = tan(pi * (90 - angle / 2) / 180) / 2 # angles in degrees
cylcone_d = (o.cutter_diameter - o.cylcone_diameter) * s
bpy.ops.mesh.primitive_cone_add(vertices=32, radius1=o.cutter_diameter / 2,
radius2=o.cylcone_diameter / 2,
depth=cylcone_d, end_fill_type='NGON',
align='WORLD', enter_editmode=False,
location=CUTTER_OFFSET, rotation=(pi, 0, 0))
cutter = bpy.context.active_object
cutter.scale *= BULLET_SCALE
bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
bpy.ops.object.origin_set(type='GEOMETRY_ORIGIN', center='BOUNDS')
bpy.ops.rigidbody.object_add(type='ACTIVE')
cutter = bpy.context.active_object
cutter.rigid_body.collision_shape = 'CONVEX_HULL'
cutter.location = CUTTER_OFFSET
elif type == 'BALLCONE':
angle = radians(o.cutter_tip_angle)/2
cutter_R = o.cutter_diameter/2
Ball_R = o.ball_radius/cos(angle)
conedepth = (cutter_R - o.ball_radius)/tan(angle)
bpy.ops.curve.simple(align='WORLD', location=(0, 0, 0), rotation=(0, 0, 0),
Simple_Type='Point', use_cyclic_u=False)
oy = Ball_R
for i in range(1, 10):
ang = -i * (pi/2-angle) / 9
qx = sin(ang) * oy
qy = oy - cos(ang) * oy
bpy.ops.curve.vertex_add(location=(qx, qy, 0))
conedepth += qy
bpy.ops.curve.vertex_add(location=(-cutter_R, conedepth, 0))
#bpy.ops.curve.vertex_add(location=(0 , conedepth , 0))
bpy.ops.object.editmode_toggle()
bpy.ops.object.convert(target='MESH')
bpy.ops.transform.rotate(value=-pi / 2, orient_axis='X')
bpy.ops.object.transform_apply(location=True, rotation=True, scale=True)
ob = bpy.context.active_object
ob.name = "BallConeTool"
ob_scr = ob.modifiers.new(type='SCREW', name='scr')
ob_scr.angle = radians(-360)
ob_scr.steps = 32
ob_scr.merge_threshold = 0
ob_scr.use_merge_vertices = True
bpy.ops.object.modifier_apply(modifier='scr')
bpy.data.objects['BallConeTool'].select_set(True)
cutter = bpy.context.active_object
cutter.scale *= BULLET_SCALE
bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
bpy.ops.object.origin_set(type='GEOMETRY_ORIGIN', center='BOUNDS')
bpy.ops.rigidbody.object_add(type='ACTIVE')
cutter.location = CUTTER_OFFSET
cutter.rigid_body.collision_shape = 'CONVEX_HULL'
cutter.location = CUTTER_OFFSET
elif type == 'CUSTOM':
cutob = bpy.data.objects[o.cutter_object_name]
activate(cutob)
bpy.ops.object.duplicate()
bpy.ops.rigidbody.object_add(type='ACTIVE')
cutter = bpy.context.active_object
scale = o.cutter_diameter / cutob.dimensions.x
cutter.scale *= BULLET_SCALE * scale
bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
bpy.ops.object.origin_set(type='GEOMETRY_ORIGIN', center='BOUNDS')
# print(cutter.dimensions,scale)
bpy.ops.rigidbody.object_add(type='ACTIVE')
cutter.rigid_body.collision_shape = 'CONVEX_HULL'
cutter.location = CUTTER_OFFSET
cutter.name = 'cam_cutter'
o.cutter_shape = cutter
return cutter
[docs]
def subdivideLongEdges(ob, threshold):
"""Subdivide edges of a mesh object that exceed a specified length.
This function iteratively checks the edges of a given mesh object and
subdivides those that are longer than a specified threshold. The process
involves toggling the edit mode of the object, selecting the long edges,
and applying a subdivision operation. The function continues to
subdivide until no edges exceed the threshold.
Args:
ob (bpy.types.Object): The Blender object containing the mesh to be
subdivided.
threshold (float): The length threshold above which edges will be
subdivided.
"""
print('Subdividing Long Edges')
m = ob.data
scale = (ob.scale.x + ob.scale.y + ob.scale.z) / 3
subdivides = []
n = 1
iter = 0
while n > 0:
n = 0
for i, e in enumerate(m.edges):
v1 = m.vertices[e.vertices[0]].co
v2 = m.vertices[e.vertices[1]].co
vec = v2 - v1
l = vec.length
if l * scale > threshold:
n += 1
subdivides.append(i)
if n > 0:
print(len(subdivides))
bpy.ops.object.editmode_toggle()
# bpy.ops.mesh.quads_convert_to_tris(quad_method='BEAUTY', ngon_method='BEAUTY')
# bpy.ops.mesh.tris_convert_to_quads()
bpy.ops.mesh.select_all(action='DESELECT')
bpy.ops.mesh.select_mode(use_extend=False, use_expand=False, type='EDGE')
bpy.ops.object.editmode_toggle()
for i in subdivides:
m.edges[i].select = True
bpy.ops.object.editmode_toggle()
bpy.ops.mesh.subdivide(smoothness=0)
if iter == 0:
bpy.ops.mesh.select_all(action='SELECT')
bpy.ops.mesh.quads_convert_to_tris(
quad_method='SHORTEST_DIAGONAL', ngon_method='BEAUTY')
bpy.ops.mesh.select_all(action='DESELECT')
bpy.ops.object.editmode_toggle()
ob.update_from_editmode()
iter += 1
# n=0
#
[docs]
def prepareBulletCollision(o):
"""Prepares all objects needed for sampling with Bullet collision.
This function sets up the Bullet physics simulation by preparing the
specified objects for collision detection. It begins by cleaning up any
existing rigid bodies that are not part of the 'machine' object. Then,
it duplicates the collision objects, converts them to mesh if they are
curves or fonts, and applies necessary modifiers. The function also
handles the subdivision of long edges and configures the rigid body
properties for each object. Finally, it scales the 'machine' objects to
the simulation scale and steps through the simulation frames to ensure
that all objects are up to date.
Args:
o (Object): An object containing properties and settings for
"""
progress('Preparing Collisions')
print(o.name)
active_collection = bpy.context.view_layer.active_layer_collection.collection
t = time.time()
s = bpy.context.scene
s.gravity = (0, 0, 0)
# cleanup rigidbodies wrongly placed somewhere in the scene
for ob in bpy.context.scene.objects:
if ob.rigid_body is not None and (bpy.data.objects.find('machine') > -1
and ob.name not in bpy.data.objects['machine'].objects):
activate(ob)
bpy.ops.rigidbody.object_remove()
for collisionob in o.objects:
bpy.context.view_layer.objects.active = collisionob
collisionob.select_set(state=True)
bpy.ops.object.duplicate(linked=False)
collisionob = bpy.context.active_object
if collisionob.type == 'CURVE' or collisionob.type == 'FONT': # support for curve objects collision
if collisionob.type == 'CURVE':
odata = collisionob.data.dimensions
collisionob.data.dimensions = '2D'
bpy.ops.object.convert(target='MESH', keep_original=False)
if o.use_modifiers:
depsgraph = bpy.context.evaluated_depsgraph_get()
mesh_owner = collisionob.evaluated_get(depsgraph)
newmesh = mesh_owner.to_mesh()
oldmesh = collisionob.data
collisionob.modifiers.clear()
collisionob.data = bpy.data.meshes.new_from_object(mesh_owner.evaluated_get(depsgraph),
preserve_all_data_layers=True,
depsgraph=depsgraph)
bpy.data.meshes.remove(oldmesh)
# subdivide long edges here:
if o.optimisation.exact_subdivide_edges:
subdivideLongEdges(collisionob, o.cutter_diameter * 2)
bpy.ops.rigidbody.object_add(type='ACTIVE')
# using active instead of passive because of performance.TODO: check if this works also with 4axis...
collisionob.rigid_body.collision_shape = 'MESH'
collisionob.rigid_body.kinematic = True
# this fixed a serious bug and gave big speedup, rbs could move since they are now active...
collisionob.rigid_body.collision_margin = o.skin * BULLET_SCALE
bpy.ops.transform.resize(value=(BULLET_SCALE, BULLET_SCALE, BULLET_SCALE),
constraint_axis=(False, False, False), orient_type='GLOBAL', mirror=False,
use_proportional_edit=False, proportional_edit_falloff='SMOOTH', proportional_size=1,
texture_space=False, release_confirm=False)
collisionob.location = collisionob.location * BULLET_SCALE
bpy.ops.object.transform_apply(location=True, rotation=True, scale=True)
bpy.context.view_layer.objects.active = collisionob
if active_collection in collisionob.users_collection:
active_collection.objects.unlink(collisionob)
getCutterBullet(o)
# machine objects scaling up to simulation scale
if bpy.data.objects.find('machine') > -1:
for ob in bpy.data.objects['machine'].objects:
activate(ob)
bpy.ops.transform.resize(value=(BULLET_SCALE, BULLET_SCALE, BULLET_SCALE),
constraint_axis=(False, False, False), orient_type='GLOBAL',
mirror=False, use_proportional_edit=False, proportional_edit_falloff='SMOOTH',
proportional_size=1, texture_space=False,
release_confirm=False)
ob.location = ob.location * BULLET_SCALE
# stepping simulation so that objects are up to date
bpy.context.scene.frame_set(0)
bpy.context.scene.frame_set(1)
bpy.context.scene.frame_set(2)
progress(time.time() - t)
[docs]
def cleanupBulletCollision(o):
"""Clean up bullet collision objects in the scene.
This function checks for the presence of a 'machine' object in the
Blender scene and removes any rigid body objects that are not part of
the 'machine'. If the 'machine' object is present, it scales the machine
objects up to the simulation scale and adjusts their locations
accordingly.
Args:
o: An object that may be used in the cleanup process (specific usage not
detailed).
Returns:
None: This function does not return a value.
"""
if bpy.data.objects.find('machine') > -1:
machinepresent = True
else:
machinepresent = False
for ob in bpy.context.scene.objects:
if ob.rigid_body is not None and not (machinepresent and ob.name in bpy.data.objects['machine'].objects):
delob(ob)
# machine objects scaling up to simulation scale
if machinepresent:
for ob in bpy.data.objects['machine'].objects:
activate(ob)
bpy.ops.transform.resize(value=(1.0 / BULLET_SCALE, 1.0 / BULLET_SCALE, 1.0 / BULLET_SCALE),
constraint_axis=(False, False, False), orient_type='GLOBAL',
mirror=False, use_proportional_edit=False, proportional_edit_falloff='SMOOTH',
proportional_size=1, texture_space=False,
release_confirm=False)
ob.location = ob.location / BULLET_SCALE
[docs]
def getSampleBullet(cutter, x, y, radius, startz, endz):
"""Perform a collision test for a 3-axis milling cutter.
This function simplifies the collision detection process compared to a
full 3D test. It utilizes the Blender Python API to perform a convex
sweep test on the cutter's position within a specified 3D space. The
function checks for collisions between the cutter and other objects in
the scene, adjusting for the cutter's radius to determine the effective
position of the cutter tip.
Args:
cutter (object): The milling cutter object used for the collision test.
x (float): The x-coordinate of the cutter's position.
y (float): The y-coordinate of the cutter's position.
radius (float): The radius of the cutter, used to adjust the collision detection.
startz (float): The starting z-coordinate for the collision test.
endz (float): The ending z-coordinate for the collision test.
Returns:
float: The adjusted z-coordinate of the cutter tip if a collision is detected;
otherwise, returns a value 10 units below the specified endz.
"""
scene = bpy.context.scene
pos = scene.rigidbody_world.convex_sweep_test(cutter, (x * BULLET_SCALE, y * BULLET_SCALE, startz * BULLET_SCALE),
(x * BULLET_SCALE, y * BULLET_SCALE, endz * BULLET_SCALE))
# radius is subtracted because we are interested in cutter tip position, this gets collision object center
if pos[3] == 1:
return (pos[0][2] - radius) / BULLET_SCALE
else:
return endz - 10
[docs]
def getSampleBulletNAxis(cutter, startpoint, endpoint, rotation, cutter_compensation):
"""Perform a fully 3D collision test for N-Axis milling.
This function computes the collision detection between a cutter and a
specified path in a 3D space. It takes into account the cutter's
rotation and compensation to accurately determine if a collision occurs
during the milling process. The function uses Bullet physics for the
collision detection and returns the adjusted position of the cutter if a
collision is detected.
Args:
cutter (object): The cutter object used in the milling operation.
startpoint (Vector): The starting point of the milling path.
endpoint (Vector): The ending point of the milling path.
rotation (Euler): The rotation applied to the cutter.
cutter_compensation (float): The compensation factor for the cutter's position.
Returns:
Vector or None: The adjusted position of the cutter if a collision is
detected;
otherwise, returns None.
"""
cutterVec = Vector((0, 0, 1)) * cutter_compensation
# cutter compensation vector - cutter physics object has center in the middle, while cam needs the tip position.
cutterVec.rotate(Euler(rotation))
start = (startpoint * BULLET_SCALE + cutterVec).to_tuple()
end = (endpoint * BULLET_SCALE + cutterVec).to_tuple()
pos = bpy.context.scene.rigidbody_world.convex_sweep_test(cutter, start, end)
if pos[3] == 1:
pos = Vector(pos[0])
# rescale and compensate from center to tip.
res = pos / BULLET_SCALE - cutterVec / BULLET_SCALE
return res
else:
return None
