Merge pull request #6 from adam-urbanczyk/CapableRobot-cq1_pythonocc

Initial support for cqparts in cadquery-occ

cadquery/occ_impl/geom.py

@@ -134,7 +134,7 @@ class Vector(object):
 
     def __eq__(self, other):
         return self.wrapped == other.wrapped
-    '''  
+    '''
     is not implemented in OCC
     def __ne__(self, other):
         return self.wrapped.__ne__(other)
@@ -164,24 +164,24 @@ class Matrix:
     """
 
     def __init__(self, matrix=None):
-        
+
         if matrix is None:
             self.wrapped = gp_Trsf()
         else:
             self.wrapped = matrix
 
     def rotateX(self, angle):
-        
+
         self._rotate(gp.OX(),
                      angle)
 
     def rotateY(self, angle):
-        
+
         self._rotate(gp.OY(),
                      angle)
 
     def rotateZ(self, angle):
-        
+
         self._rotate(gp.OZ(),
                      angle)
 
@@ -194,12 +194,25 @@ class Matrix:
         self.wrapped = self.wrapped * new
 
     def inverse(self):
-        
+
         return Matrix(self.wrapped.Inverted())
-    
-    def multiply(self,other):
+
+    def multiply(self, other):
+
+        if isinstance(other, Vector):
+            return other.transform(self)
+
+        return Matrix(self.wrapped.Multiplied(other.wrapped))
+
+    def transposed_list(self):
+        """Needed by the cqparts gltf exporter
+        """
         
-        return Matrix(self.wrapped*other.wrapped)
+        trsf = self.wrapped
+        data = [[trsf.Value(i,j) for j in range(1,5)] for i in range(1,4)] + \
+               [[0.,0.,0.,1.]]
+        
+        return [data[j][i] for i in range(4) for j in range(4)]
 
 class Plane(object):
     """A 2D coordinate system in space

cadquery/occ_impl/shapes.py

@@ -100,6 +100,8 @@ from OCC.ShapeUpgrade import ShapeUpgrade_UnifySameDomain
 
 from OCC.BRepTools import breptools_Write
 
+from OCC.Visualization import Tesselator
+
 from math import pi, sqrt
 
 TOLERANCE = 1e-6
@@ -189,7 +191,7 @@ class Shape(object):
     @classmethod
     def cast(cls, obj, forConstruction=False):
         "Returns the right type of wrapper, given a FreeCAD object"
-        '''        
+        '''
         if type(obj) == FreeCAD.Base.Vector:
             return Vector(obj)
         '''  # FIXME to be removed?
@@ -583,7 +585,7 @@ class Shape(object):
         Jupyter 3D representation support
         """
 
-        from .jupyter_tools import x3d_display           
+        from .jupyter_tools import x3d_display
         return x3d_display(self.wrapped, export_edges=True)
 
 
@@ -993,7 +995,22 @@ class Shell(Shape):
 class Mixin3D(object):
 
     def tessellate(self, tolerance):
-        return self.wrapped.tessellate(tolerance)
+        tess = Tesselator(self.wrapped)
+        tess.Compute(compute_edges=True, mesh_quality=tolerance)
+
+        vertices = []
+        indexes  = []
+
+        # add vertices
+        for i_vert in range(tess.ObjGetVertexCount()):
+            xyz = tess.GetVertex(i_vert)
+            vertices.append(Vector(*xyz))
+
+        # add triangles
+        for i_tr in range(tess.ObjGetTriangleCount()):
+            indexes.append(tess.GetTriangleIndex(i_tr))
+
+        return vertices, indexes
 
     def fillet(self, radius, edgeList):
         """