import importlib.metadata import numpy as np from build123d import Location, Plane, Vector from pygltflib import * _checkerboard_image_bytes = base64.decodebytes( b'iVBORw0KGgoAAAANSUhEUgAAAAIAAAACCAIAAAD91JpzAAAAF0lEQVQI12N49OjR////Gf' b'/////48WMATwULS8tcyj8AAAAASUVORK5CYII=') class GLTFMgr: """A utility class to build our GLTF2 objects easily and incrementally""" def __init__(self, image: Tuple[bytes, str] = (_checkerboard_image_bytes, 'image/png')): self.gltf = GLTF2( asset=Asset(generator=f"yacv_server@{importlib.metadata.version('yacv_server')}"), scene=0, scenes=[Scene(nodes=[0])], nodes=[Node(mesh=0)], meshes=[Mesh(primitives=[])], accessors=[], bufferViews=[BufferView(buffer=0, byteLength=len(image[0]), byteOffset=0)], buffers=[Buffer(byteLength=len(image[0]))], samplers=[Sampler(magFilter=NEAREST)], textures=[Texture(source=0, sampler=0)], images=[Image(bufferView=0, mimeType=image[1])], ) self.gltf.set_binary_blob(image[0]) def add_face(self, vertices_raw: List[Tuple[float, float, float]], indices_raw: List[Tuple[int, int, int]], tex_coord_raw: List[Tuple[float, float]]): """Add a face to the GLTF as a new primitive of the unique mesh""" vertices = np.array([[v[0], v[1], v[2]] for v in vertices_raw], dtype=np.float32) indices = np.array([[i[0], i[1], i[2]] for i in indices_raw], dtype=np.uint32) tex_coord = np.array([[t[0], t[1]] for t in tex_coord_raw], dtype=np.float32) self._add_any(vertices, indices, tex_coord, mode=TRIANGLES, material="face") def add_edge(self, vertices_raw: List[Tuple[float, float, float]], mat: str = None): """Add an edge to the GLTF as a new primitive of the unique mesh""" vertices = np.array([[v[0], v[1], v[2]] for v in vertices_raw], dtype=np.float32) indices = np.array(list(map(lambda i: [i, i + 1], range(len(vertices) - 1))), dtype=np.uint32) tex_coord = np.array([]) self._add_any(vertices, indices, tex_coord, mode=LINE_STRIP, material=mat or "edge") def add_vertex(self, vertex: Tuple[float, float, float]): """Add a vertex to the GLTF as a new primitive of the unique mesh""" vertices = np.array([[vertex[0], vertex[1], vertex[2]]]) indices = np.array([[0]], dtype=np.uint32) tex_coord = np.array([], dtype=np.float32) self._add_any(vertices, indices, tex_coord, mode=POINTS, material="vertex") def add_location(self, loc: Location): """Add a location to the GLTF as a new primitive of the unique mesh""" pl = Plane(loc) def vert(v: Vector) -> Tuple[float, float, float]: return v.X, v.Y, v.Z # Add 1 origin vertex and 3 edges with custom colors to identify the X, Y and Z axis self.add_vertex(vert(pl.origin)) self.add_edge([vert(pl.origin), vert(pl.origin + pl.x_dir)], mat="locX") self.add_edge([vert(pl.origin), vert(pl.origin + pl.y_dir)], mat="locY") self.add_edge([vert(pl.origin), vert(pl.origin + pl.z_dir)], mat="locZ") def add_material(self, kind: str) -> int: """It is important to use a different material for each primitive to be able to change them at runtime""" new_material: Material if kind == "face": new_material = Material(name="face", alphaCutoff=None, pbrMetallicRoughness=PbrMetallicRoughness( baseColorTexture=TextureInfo(index=0), baseColorFactor=[1, 1, 0.5, 1]), doubleSided=True) elif kind == "edge": new_material = Material(name="edge", alphaCutoff=None, pbrMetallicRoughness=PbrMetallicRoughness( baseColorFactor=[0, 0, 0.5, 1])) elif kind == "vertex": new_material = Material(name="vertex", alphaCutoff=None, pbrMetallicRoughness=PbrMetallicRoughness( baseColorFactor=[0, 0.3, 0.3, 1])) elif kind == "locX": new_material = Material(name="locX", alphaCutoff=None, pbrMetallicRoughness=PbrMetallicRoughness( baseColorFactor=[0.97, 0.24, 0.24, 1])) elif kind == "locY": new_material = Material(name="locY", alphaCutoff=None, pbrMetallicRoughness=PbrMetallicRoughness( baseColorFactor=[0.42, 0.8, 0.15, 1])) elif kind == "locZ": new_material = Material(name="locZ", alphaCutoff=None, pbrMetallicRoughness=PbrMetallicRoughness( baseColorFactor=[0.09, 0.55, 0.94, 1])) else: raise ValueError(f"Unknown material kind {kind}") self.gltf.materials.append(new_material) return len(self.gltf.materials) - 1 def _add_any(self, vertices: np.ndarray, indices: np.ndarray, tex_coord: np.ndarray, mode: int = TRIANGLES, material: str = "face"): assert vertices.ndim == 2 assert vertices.shape[1] == 3 vertices = vertices.astype(np.float32) vertices_blob = vertices.tobytes() assert indices.ndim == 2 assert indices.shape[1] == 3 and mode == TRIANGLES or indices.shape[1] == 2 and mode == LINE_STRIP or \ indices.shape[1] == 1 and mode == POINTS indices = indices.astype(np.uint32) indices_blob = indices.flatten().tobytes() # Check that all vertices are referenced by the indices assert indices.max() == len(vertices) - 1, f"{indices.max()} != {len(vertices) - 1}" assert indices.min() == 0 assert np.unique(indices.flatten()).size == len(vertices) assert len(tex_coord) == 0 or tex_coord.ndim == 2 assert len(tex_coord) == 0 or tex_coord.shape[1] == 2 tex_coord = tex_coord.astype(np.float32) tex_coord_blob = tex_coord.tobytes() accessor_base = len(self.gltf.accessors) self.gltf.meshes[0].primitives.append( Primitive( attributes=Attributes(POSITION=accessor_base + 1, TEXCOORD_0=accessor_base + 2) if len(tex_coord) > 0 else Attributes(POSITION=accessor_base + 1), indices=accessor_base, mode=mode, material=self.add_material(material), ) ) buffer_view_base = len(self.gltf.bufferViews) self.gltf.accessors.extend([it for it in [ Accessor( bufferView=buffer_view_base, componentType=UNSIGNED_INT, count=indices.size, type=SCALAR, max=[int(indices.max())], min=[int(indices.min())], ), Accessor( bufferView=buffer_view_base + 1, componentType=FLOAT, count=len(vertices), type=VEC3, max=vertices.max(axis=0).tolist(), min=vertices.min(axis=0).tolist(), ), Accessor( bufferView=buffer_view_base + 2, componentType=FLOAT, count=len(tex_coord), type=VEC2, max=tex_coord.max(axis=0).tolist(), min=tex_coord.min(axis=0).tolist(), ) if len(tex_coord) > 0 else None ] if it is not None]) prev_binary_blob = self.gltf.binary_blob() byte_offset_base = len(prev_binary_blob) self.gltf.bufferViews.extend([bv for bv in [ BufferView( buffer=0, byteOffset=byte_offset_base, byteLength=len(indices_blob), target=ELEMENT_ARRAY_BUFFER, ), BufferView( buffer=0, byteOffset=byte_offset_base + len(indices_blob), byteLength=len(vertices_blob), target=ARRAY_BUFFER, ), BufferView( buffer=0, byteOffset=byte_offset_base + len(indices_blob) + len(vertices_blob), byteLength=len(tex_coord_blob), target=ARRAY_BUFFER, ) ] if bv.byteLength > 0]) self.gltf.set_binary_blob(prev_binary_blob + indices_blob + vertices_blob + tex_coord_blob)