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trimesh

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This commit is contained in:
Nicolas Predella 2026-09-29 14:37:44 +03:00
parent 7a8506e34c
commit 8ba3ea16c4
6 changed files with 287 additions and 72 deletions
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7
blender_manifest.toml
View file

@ -62,6 +62,13 @@ wheels = [
"./wheels/shapely_polyskel-0.1.2-py3-none-any.whl",
"./wheels/euclid3-0.1-py3-none-any.whl",
"./wheels/pyransac3d-0.6.0-py3-none-any.whl",
"./wheels/trimesh-5.1.0-py3-none-any.whl",
"./wheels/manifold3d-3.5.4-cp311-cp311-win_amd64.whl",
"./wheels/manifold3d-3.5.4-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl",
"./wheels/manifold3d-3.5.4-cp311-cp311-macosx_11_0_arm64.whl",
"./wheels/manifold3d-3.5.4-cp313-cp313-win_amd64.whl",
"./wheels/manifold3d-3.5.4-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl",
"./wheels/manifold3d-3.5.4-cp313-cp313-macosx_11_0_arm64.whl",
]
# Optional: add-ons can list which resources they will require:

175
core/slice.py
View file

@ -6,6 +6,8 @@ import pyclipper
from typing import Any, Literal, cast
import copy
from shapely.geometry import Polygon, MultiPolygon, LineString, LinearRing, MultiLineString, GeometryCollection, Point
import manifold3d
import trimesh
from ..infra.blender.blender_mesh_capture import PdfProperties
@ -655,81 +657,116 @@ class SlicePaths(list[np.ndarray]):
return self.copy_with(new_paths, extrusion_rate=new_ext, feedrate=new_feed, extra_attributes=new_extra)
def slice_at_range(models, z_values, ignore_holes: bool = False) -> list[list[np.ndarray]]:
def _slice_single_mesh(mesh_array: np.ndarray, z_values: np.ndarray | list[float], ignore_holes: bool = False) -> list[np.ndarray]:
"""
Slices a single 3D triangle mesh (shape (F, 4, 3) or (F, 3, 3)) across multiple Z heights.
Uses manifold3d for robust solid slicing with exact coplanar/topological resolution,
and falls back to trimesh for open/non-manifold surface meshes.
"""
if len(mesh_array) == 0:
return []
z_arr = np.asarray(z_values, dtype=np.float64)
if len(z_arr) == 0:
return []
tris = mesh_array[:, :3, :] # Shape (F, 3, 3)
flat = np.ascontiguousarray(tris.reshape(-1, 3), dtype=np.float32)
void_dtype = np.dtype((np.void, flat.dtype.itemsize * flat.shape[1]))
flat_void = flat.view(void_dtype).ravel()
unique_voids, inv = np.unique(flat_void, return_inverse=True)
unique_verts = unique_voids.view(flat.dtype).reshape(-1, 3)
faces = inv.reshape(-1, 3).astype(np.uint32)
all_paths: list[np.ndarray] = []
# 1. Primary: manifold3d for solid meshes (fastest, guaranteed watertight topological output)
try:
mesh_m = manifold3d.Mesh(
vert_properties=np.ascontiguousarray(unique_verts),
tri_verts=np.ascontiguousarray(faces)
)
m = manifold3d.Manifold(mesh_m)
# If mesh has inverted normals (negative volume), flip triangle winding
if m.status() == manifold3d.Error.NoError and m.volume() < 0:
faces_flipped = faces[:, [0, 2, 1]]
mesh_m_flipped = manifold3d.Mesh(
vert_properties=np.ascontiguousarray(unique_verts),
tri_verts=np.ascontiguousarray(faces_flipped)
)
m = manifold3d.Manifold(mesh_m_flipped)
if m.status() == manifold3d.Error.NoError and not m.is_empty():
min_z = float(np.min(unique_verts[:, 2]))
max_z = float(np.max(unique_verts[:, 2]))
for z in z_arr:
zf = float(z)
if zf < min_z - 1e-4 or zf > max_z + 1e-4:
continue
# If slicing at boundary face, apply micro-epsilon so boundary is cleanly captured
slice_z = zf - 1e-5 if abs(zf - max_z) < 1e-5 else (zf + 1e-5 if abs(zf - min_z) < 1e-5 else zf)
cs = m.slice(slice_z)
polys = cs.to_polygons()
for poly in polys:
if len(poly) < 3:
continue
pts_scaled = (poly * SCALE).round().astype(np.int64).tolist()
if ignore_holes and not pyclipper.Orientation(pts_scaled):
continue
p3d = np.column_stack([poly.astype(np.float64), np.full(len(poly), zf, dtype=np.float64)])
p3d = np.vstack([p3d, p3d[0]])
p3d = align_path_seam_sharpest(p3d)
all_paths.append(p3d)
return all_paths
except Exception:
pass
# 2. Fallback: trimesh multiplane slicing for open sheets / non-manifold meshes
try:
min_z = float(np.min(unique_verts[:, 2]))
max_z = float(np.max(unique_verts[:, 2]))
slice_heights = np.where(
np.abs(z_arr - max_z) < 1e-5,
z_arr - 1e-5,
np.where(np.abs(z_arr - min_z) < 1e-5, z_arr + 1e-5, z_arr)
)
tm = trimesh.Trimesh(vertices=unique_verts, faces=faces, process=False)
lines, _, _ = trimesh.intersections.mesh_multiplane(
mesh=tm,
plane_origin=[0.0, 0.0, 0.0],
plane_normal=[0.0, 0.0, 1.0],
heights=slice_heights
)
for z, line_segs in zip(z_arr, lines):
if line_segs is None or len(line_segs) == 0:
continue
zf = float(z)
seg2d = np.asarray(line_segs, dtype=np.float64)
z_col = np.full((len(seg2d), 2, 1), zf, dtype=np.float64)
seg3d = np.concatenate([seg2d, z_col], axis=-1)
slice_paths = segments_to_slice(seg3d, ignore_holes=ignore_holes)
all_paths.extend(slice_paths)
except Exception:
pass
return all_paths
def slice_at_range(models: list[np.ndarray], z_values: np.ndarray | list[float], ignore_holes: bool = False) -> list[list[np.ndarray]]:
"""
Top-level slicing function that slices multiple model meshes across given Z heights.
Returns a list of path lists (one per model).
"""
if not models:
return []
mmps: list[list[np.ndarray]] = []
for model in models:
model_edges: np.ndarray = edges_from_model(model)
layered_edges: np.ndarray = layered_model(model_edges, z_values)
sliced_edges: list[np.ndarray] = slice_at_z(layered_edges)
all_model_paths: list[np.ndarray] = []
for z, e in zip(z_values, sliced_edges):
if e is None or len(e) == 0:
continue
zf = float(z)
# Build 3D segments directly
seg3d = e.copy()
seg3d[..., 2] = zf
# Build geometry for this slice
slice_paths = segments_to_slice(seg3d, ignore_holes=ignore_holes)
all_model_paths.extend(slice_paths)
mmps.append(all_model_paths)
model_paths = _slice_single_mesh(model, z_values, ignore_holes=ignore_holes)
mmps.append(model_paths)
return mmps
def edges_from_model(model): # returns a numpy: (facet, 3, 2, xyz)
pairs_indices = np.array([[0, 1], [1, 2], [2, 0]]) # Create an array of indices to select the pairs
return model[:, pairs_indices, :] # Use advanced indexing to create the array
def layered_model(models: np.ndarray, z_values: np.ndarray) -> np.ndarray:
models_array: np.ndarray = np.array(models)[None, :] # (1, F, 3, 2, 3)
m = len(z_values)
# array of zeros with shape (m, 1, 1, 1, 3)
z_offsets_full = np.zeros((m, 1, 1, 1, 3))
z_offsets_full[..., 2] = z_values[:, None, None, None]
layered = models_array - z_offsets_full # (m, F, 3, 2, 3)
return layered
def slice_at_z(edges, normal_vector=np.array([0,0,1]), tolerance=1e-15):
edges_offs = edges # Shape (m, n, 3, 2, 3)
# Obtain intersection points
line_vector = edges_offs[..., 1, :] - edges_offs[..., 0, :]
numerator = np.sum(normal_vector * -edges_offs[..., 0, :], axis=-1)
denominator = np.sum(normal_vector[np.newaxis, np.newaxis, :] * line_vector, axis=-1)
# Avoid division by zero
with np.errstate(divide='ignore', invalid='ignore'):
t = numerator / denominator
t[denominator == 0] = np.nan # Assign NaN where there's no valid intersection
t[(t < 0) | (t > 1)] = np.nan
intersections = edges_offs[..., 0, :] + t[..., np.newaxis] * line_vector
intersections[np.abs(intersections) < tolerance] = 0 # Zero out small values
all_segments = []
for itx in intersections:
mask = ~np.any(np.isnan(itx), axis=-1)
filtered_arr = itx[mask]
segment_count = filtered_arr.shape[-2] // 2
segments = filtered_arr.reshape(segment_count, 2, 3)
# Quantize to micron resolution
segments = np.round(segments * SCALE) / SCALE
all_segments.append(segments)
return all_segments
def link_segments(segments: np.ndarray) -> list[np.ndarray]:
"""Links segments (N, 2, 3) into continuous paths using 1-micron integer grid."""
if len(segments) == 0: return []
@ -825,6 +862,8 @@ def segments_to_slice(segments: np.ndarray, ignore_holes: bool = False) -> list[
path_pts = p[:, :2]
path_pts = path_pts[:-1]
scaled = (path_pts * SCALE).round().astype(np.int64).tolist()
if abs(pyclipper.Area(scaled)) < 1:
continue
pc.AddPath(scaled, pyclipper.PT_SUBJECT, closed = True) # pyright: ignore[reportAttributeAccessIssue]
if ignore_holes:

4
doc/MODULES.md
View file

@ -26,8 +26,8 @@ This file provides a mapping of modules to their primary responsibilities and ke
## `/core` (Geometry & Slicing)
- `slice.py`:
- `slice_at_range()`: Top-level slicing function that iterates through Z-heights (supports `ignore_holes` option).
- `slice_at_z()`: Vectorized plane-mesh intersection using NumPy.
- `slice_at_range()`: Top-level slicing function that iterates through Z-heights using `manifold3d` for guaranteed watertight solid slicing (resolving coplanar and floating-point degeneracies) with a fallback to `trimesh` multiplane slicing for open sheets (supports `ignore_holes` option).
- `_slice_single_mesh()`: Mesh slicer implementing `manifold3d` solid slicing and `trimesh` multiplane intersection with micro-epsilon perturbation at boundary faces.
- `align_path_seam_sharpest()`: High-performance vectorized heuristic that positions the start vertex (seam) of closed polygon loops at the sharpest concave angle (inner corner), with fallback to sharpest angle overall.
- `SlicePaths.align_seams()`: Method on `SlicePaths` to align path seams to sharpest concave angles while preserving per-vertex attributes and metadata.
- `Pather`: Class that converts toolpaths into G-code strings. Supports per-segment extrusion rates, feedrates, and custom extra attributes.

2
pyproject.toml
View file

@ -13,4 +13,6 @@ dependencies = [
"shapely-polyskel>=0.1.2",
"euclid3>=0.1",
"pyransac3d>=0.6.0",
"manifold3d>=3.5.4",
"trimesh>=5.1.0",
]

96
tests/test_slice.py
View file

@ -1872,6 +1872,102 @@ class TestCodeReviewBugFixes(unittest.TestCase):
gname = get_gcode_name_from_metadata(gc)
self.assertEqual(gname, "BracketA-PLA-MK4")
def test_robust_mesh_slicing_coplanar_cube(self):
from NodeSlicer.core.slice import slice_at_range, is_closed_path
# 10x10x10 cube
verts = np.array([
[0, 0, 0], [10, 0, 0], [10, 10, 0], [0, 10, 0],
[0, 0, 10], [10, 0, 10], [10, 10, 10], [0, 10, 10]
], dtype=float)
faces = [
[0, 2, 1], [0, 3, 2], [4, 5, 6], [4, 6, 7],
[0, 1, 5], [0, 5, 4], [1, 2, 6], [1, 6, 5],
[2, 3, 7], [2, 7, 6], [3, 0, 4], [3, 4, 7]
]
triangles = np.zeros((len(faces), 4, 3))
for i, f in enumerate(faces):
triangles[i, 0] = verts[f[0]]
triangles[i, 1] = verts[f[1]]
triangles[i, 2] = verts[f[2]]
# Slice at flat bottom (z=0.0), middle (z=5.0), and flat top (z=10.0)
res = slice_at_range([triangles], [0.0, 5.0, 10.0])
self.assertEqual(len(res), 1)
paths = res[0]
self.assertEqual(len(paths), 3)
for p in paths:
self.assertTrue(is_closed_path(p))
self.assertTrue(len(p) >= 4)
def test_robust_mesh_slicing_octahedron_coplanar_vertices_and_edges(self):
from NodeSlicer.core.slice import slice_at_range, is_closed_path
# Octahedron centered at origin with 4 vertices lying exactly at z=0.0
verts = np.array([
[5, 0, 0], [-5, 0, 0], [0, 5, 0], [0, -5, 0], [0, 0, 5], [0, 0, -5]
], dtype=float)
faces = [
[0, 2, 4], [2, 1, 4], [1, 3, 4], [3, 0, 4],
[2, 0, 5], [1, 2, 5], [3, 1, 5], [0, 3, 5],
]
triangles = np.zeros((len(faces), 4, 3))
for i, f in enumerate(faces):
triangles[i, 0] = verts[f[0]]
triangles[i, 1] = verts[f[1]]
triangles[i, 2] = verts[f[2]]
res = slice_at_range([triangles], [0.0])
self.assertEqual(len(res), 1)
paths = res[0]
self.assertEqual(len(paths), 1)
self.assertTrue(is_closed_path(paths[0]))
def test_robust_mesh_slicing_staircase_step(self):
from NodeSlicer.core.slice import slice_at_range, is_closed_path
# Stepped mesh with a plateau at z=5.0
verts = np.array([
[0, 0, 0], [10, 0, 0], [10, 10, 0], [0, 10, 0],
[20, 0, 0], [20, 10, 0],
[10, 0, 5], [20, 0, 5], [20, 10, 5], [10, 10, 5],
[0, 0, 10], [10, 0, 10], [10, 10, 10], [0, 10, 10]
], dtype=float)
faces = [
[0, 2, 1], [0, 3, 2], [1, 5, 4], [1, 2, 5],
[10, 11, 12], [10, 12, 13],
[6, 7, 8], [6, 8, 9],
[0, 1, 6], [0, 6, 10], [10, 6, 11],
[1, 4, 7], [1, 7, 6],
[4, 5, 8], [4, 8, 7],
[5, 2, 9], [5, 9, 8],
[2, 3, 13], [2, 13, 9], [9, 13, 12],
[3, 0, 10], [3, 10, 13],
[11, 6, 9], [11, 9, 12]
]
triangles = np.zeros((len(faces), 4, 3))
for i, f in enumerate(faces):
triangles[i, 0] = verts[f[0]]
triangles[i, 1] = verts[f[1]]
triangles[i, 2] = verts[f[2]]
res = slice_at_range([triangles], [0.0, 2.5, 5.0, 7.5])
self.assertEqual(len(res), 1)
paths = res[0]
self.assertEqual(len(paths), 4)
for p in paths:
self.assertTrue(is_closed_path(p))
def test_robust_mesh_slicing_open_sheet(self):
from NodeSlicer.core.slice import slice_at_range
# Open triangle in 3D
open_tri = np.zeros((1, 4, 3))
open_tri[0, 0] = [0, 0, 0]
open_tri[0, 1] = [10, 0, 10]
open_tri[0, 2] = [0, 10, 5]
res = slice_at_range([open_tri], [3.0])
self.assertEqual(len(res), 1)
self.assertEqual(len(res[0]), 1)
self.assertEqual(len(res[0][0]), 2) # 1 line segment with 2 endpoints
if __name__ == '__main__':
unittest.main()

75
uv.lock generated
View file

@ -2,7 +2,8 @@ version = 1
revision = 3
requires-python = ">=3.10"
resolution-markers = [
"python_full_version >= '3.11'",
"python_full_version >= '3.12'",
"python_full_version == '3.11.*'",
"python_full_version < '3.11'",
]
@ -21,6 +22,58 @@ wheels = [
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]
[[package]]
name = "manifold3d"
version = "3.5.4"
source = { registry = "https://pypi.org/simple" }
dependencies = [
{ name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
{ name = "numpy", version = "2.4.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
]
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