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# Copyright (c) 2018 Ultimaker B.V.
# Uranium is released under the terms of the LGPLv3 or higher.
from . import SceneNode
from UM.Logger import Logger
from UM.Math.Matrix import Matrix
from UM.Math.Ray import Ray
from UM.Math.Vector import Vector
import enum
import numpy
import numpy.linalg
from typing import cast, Dict, Optional, Tuple, TYPE_CHECKING
from UM.Signal import Signal
if TYPE_CHECKING:
from UM.Mesh.MeshData import MeshData
class Camera(SceneNode.SceneNode):
"""A SceneNode subclass that provides a camera object.
The camera provides a projection matrix and its transformation matrix
can be used as view matrix.
"""
class PerspectiveMode(enum.Enum):
PERSPECTIVE = "perspective"
ORTHOGRAPHIC = "orthographic"
@staticmethod
def getDefaultZoomFactor() -> float:
return -0.3334
def __init__(self, name: str = "", parent: Optional[SceneNode.SceneNode] = None) -> None:
super().__init__(parent)
self._name = name # type: str
self._projection_matrix = Matrix() # type: Matrix
self._projection_matrix.setOrtho(-5, 5, -5, 5, -100, 100)
self._perspective = True # type: bool
self._viewport_width = 0 # type: int
self._viewport_height = 0 # type: int
self._window_width = 0 # type: int
self._window_height = 0 # type: int
self._auto_adjust_view_port_size = True # type: bool
self.setCalculateBoundingBox(False)
self._cached_view_projection_matrix = None # type: Optional[Matrix]
self._camera_light_position = None
self._cached_inversed_world_transformation = None
self._zoom_factor = Camera.getDefaultZoomFactor()
from UM.Application import Application
Application.getInstance().getPreferences().addPreference("general/camera_perspective_mode", default_value = self.PerspectiveMode.PERSPECTIVE.value)
Application.getInstance().getPreferences().preferenceChanged.connect(self._preferencesChanged)
self._preferencesChanged("general/camera_perspective_mode")
def __deepcopy__(self, memo: Dict[int, object]) -> "Camera":
copy = cast(Camera, super().__deepcopy__(memo))
copy._projection_matrix = self._projection_matrix
copy._window_height = self._window_height
copy._window_width = self._window_width
copy._viewport_height = self._viewport_height
copy._viewport_width = self._viewport_width
return copy
def getZoomFactor(self):
return self._zoom_factor
def setZoomFactor(self, zoom_factor: float) -> None:
# Only an orthographic camera has a zoom at the moment.
if not self.isPerspective():
if self._zoom_factor != zoom_factor:
self._zoom_factor = zoom_factor
self._updatePerspectiveMatrix()
def setMeshData(self, mesh_data: Optional["MeshData"]) -> None:
assert mesh_data is None, "Camera's can't have mesh data"
def getAutoAdjustViewPort(self) -> bool:
return self._auto_adjust_view_port_size
def setAutoAdjustViewPort(self, auto_adjust: bool) -> None:
self._auto_adjust_view_port_size = auto_adjust
def getProjectionMatrix(self) -> Matrix:
"""Get the projection matrix of this camera."""
return self._projection_matrix
def getViewportWidth(self) -> int:
return self._viewport_width
def setViewportWidth(self, width: int) -> None:
self._viewport_width = width
self._updatePerspectiveMatrix()
def setViewportHeight(self, height: int) -> None:
self._viewport_height = height
self._updatePerspectiveMatrix()
def setViewportSize(self, width: int, height: int) -> None:
self._viewport_width = width
self._viewport_height = height
self._updatePerspectiveMatrix()
def _updatePerspectiveMatrix(self) -> None:
view_width = self._viewport_width
view_height = self._viewport_height
projection_matrix = Matrix()
if self.isPerspective():
if view_width != 0 and view_height != 0:
projection_matrix.setPerspective(30, view_width / view_height, 1, 500)
else:
# Almost no near/far plane, please.
if view_width != 0 and view_height != 0:
horizontal_zoom = view_width * self._zoom_factor
vertical_zoom = view_height * self._zoom_factor
projection_matrix.setOrtho(-view_width / 2 - horizontal_zoom, view_width / 2 + horizontal_zoom,
-view_height / 2 - vertical_zoom, view_height / 2 + vertical_zoom,
-9001, 9001)
self.setProjectionMatrix(projection_matrix)
self.perspectiveChanged.emit(self)
def getViewProjectionMatrix(self) -> Matrix:
if self._cached_view_projection_matrix is None:
inverted_transformation = self.getWorldTransformation()
inverted_transformation.invert()
self._cached_view_projection_matrix = self._projection_matrix.multiply(inverted_transformation, copy = True)
return self._cached_view_projection_matrix
def _updateWorldTransformation(self) -> None:
self._cached_view_projection_matrix = None
self._cached_inversed_world_transformation = None
self._camera_light_position = None
super()._updateWorldTransformation()
def getViewportHeight(self) -> int:
return self._viewport_height
def setWindowSize(self, width: int, height: int) -> None:
self._window_width = width
self._window_height = height
def getWindowSize(self) -> Tuple[int, int]:
return self._window_width, self._window_height
def render(self, renderer) -> bool:
# It's a camera. It doesn't need rendering.
return True
def setProjectionMatrix(self, matrix: Matrix) -> None:
"""Set the projection matrix of this camera.
:param matrix: The projection matrix to use for this camera.
"""
self._projection_matrix = matrix
self._cached_view_projection_matrix = None
def getInverseWorldTransformation(self):
if self._cached_inversed_world_transformation is None:
self._cached_inversed_world_transformation = self.getWorldTransformation()
self._cached_inversed_world_transformation.invert()
return self._cached_inversed_world_transformation
def getCameraLightPosition(self):
if self._camera_light_position is None:
self._camera_light_position = self.getWorldPosition() + Vector(0, 50, 0)
return self._camera_light_position
def isPerspective(self) -> bool:
return self._perspective
def setPerspective(self, perspective: bool) -> None:
if self._perspective != perspective:
self._perspective = perspective
self._updatePerspectiveMatrix()
perspectiveChanged = Signal()
def getRay(self, x: float, y: float) -> Ray:
"""Get a ray from the camera into the world.
This will create a ray from the camera's origin, passing through (x, y)
on the near plane and continuing based on the projection matrix.
:param x: The X coordinate on the near plane this ray should pass through.
:param y: The Y coordinate on the near plane this ray should pass through.
:return: A Ray object representing a ray from the camera origin through X, Y.
:note The near-plane coordinates should be in normalized form, that is within (-1, 1).
"""
window_x = ((x + 1) / 2) * self._window_width
window_y = ((y + 1) / 2) * self._window_height
view_x = (window_x / self._viewport_width) * 2 - 1
view_y = (window_y / self._viewport_height) * 2 - 1
inverted_projection = numpy.linalg.inv(self._projection_matrix.getData().copy())
transformation = self.getWorldTransformation().getData()
near = numpy.array([view_x, -view_y, -1.0, 1.0], dtype = numpy.float32)
near = numpy.dot(inverted_projection, near)
near = numpy.dot(transformation, near)
near = near[0:3] / near[3]
far = numpy.array([view_x, -view_y, 1.0, 1.0], dtype = numpy.float32)
far = numpy.dot(inverted_projection, far)
far = numpy.dot(transformation, far)
far = far[0:3] / far[3]
direction = far - near
direction /= numpy.linalg.norm(direction)
if self.isPerspective():
origin = self.getWorldPosition()
direction = -direction
else:
# In orthographic mode, the origin is the click position on the plane where the camera resides, and that
# plane is parallel to the near and the far planes.
projection = numpy.array([view_x, -view_y, 0.0, 1.0], dtype = numpy.float32)
projection = numpy.dot(inverted_projection, projection)
projection = numpy.dot(transformation, projection)
projection = projection[0:3] / projection[3]
origin = Vector(data = projection)
return Ray(origin, Vector(direction[0], direction[1], direction[2]))
def project(self, position: Vector) -> Tuple[float, float]:
"""Project a 3D position onto the 2D view plane."""
projection = self._projection_matrix
view = self.getWorldTransformation()
view.invert()
position = position.preMultiply(view)
position = position.preMultiply(projection)
return position.x / position.z / 2.0, position.y / position.z / 2.0
def _preferencesChanged(self, key: str) -> None:
"""Updates the _perspective field if the preference was modified."""
if key != "general/camera_perspective_mode": # Only listen to camera_perspective_mode.
return
from UM.Application import Application
new_mode = str(Application.getInstance().getPreferences().getValue("general/camera_perspective_mode"))
# Translate the selected mode to the camera state.
if new_mode == str(self.PerspectiveMode.ORTHOGRAPHIC.value):
Logger.log("d", "Changing perspective mode to orthographic.")
self.setPerspective(False)
elif new_mode == str(self.PerspectiveMode.PERSPECTIVE.value):
Logger.log("d", "Changing perspective mode to perspective.")
self.setPerspective(True)
else:
Logger.log("w", "Unknown perspective mode {new_mode}".format(new_mode = new_mode))
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