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66c9c8a | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 | # Copyright (c) 2022 NVIDIA CORPORATION. All rights reserved.
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
from typing import Union
import numpy as np
import warp as wp
def bourke_color_map(low, high, v):
c = [1.0, 1.0, 1.0]
if v < low:
v = low
if v > high:
v = high
dv = high - low
if v < (low + 0.25 * dv):
c[0] = 0.0
c[1] = 4.0 * (v - low) / dv
elif v < (low + 0.5 * dv):
c[0] = 0.0
c[2] = 1.0 + 4.0 * (low + 0.25 * dv - v) / dv
elif v < (low + 0.75 * dv):
c[0] = 4.0 * (v - low - 0.5 * dv) / dv
c[2] = 0.0
else:
c[1] = 1.0 + 4.0 * (low + 0.75 * dv - v) / dv
c[2] = 0.0
return c
def tab10_color_map(i):
# matplotlib "tab10" colors
colors = [
[31, 119, 180],
[255, 127, 14],
[44, 160, 44],
[214, 39, 40],
[148, 103, 189],
[140, 86, 75],
[227, 119, 194],
[127, 127, 127],
[188, 189, 34],
[23, 190, 207],
]
num_colors = len(colors)
return [c / 255.0 for c in colors[i % num_colors]]
# triangulate mesh around given surface with given thickness
@wp.kernel
def solidify_mesh_kernel(
indices: wp.array(dtype=int, ndim=2),
vertices: wp.array(dtype=wp.vec3, ndim=1),
thickness: wp.array(dtype=float, ndim=1),
# outputs
out_vertices: wp.array(dtype=wp.vec3, ndim=1),
out_indices: wp.array(dtype=int, ndim=2),
):
tid = wp.tid()
i = indices[tid, 0]
j = indices[tid, 1]
k = indices[tid, 2]
vi = vertices[i]
vj = vertices[j]
vk = vertices[k]
normal = wp.normalize(wp.cross(vj - vi, vk - vi))
ti = normal * thickness[i]
tj = normal * thickness[j]
tk = normal * thickness[k]
# wedge vertices
vi0 = vi + ti
vi1 = vi - ti
vj0 = vj + tj
vj1 = vj - tj
vk0 = vk + tk
vk1 = vk - tk
i0 = i * 2
i1 = i * 2 + 1
j0 = j * 2
j1 = j * 2 + 1
k0 = k * 2
k1 = k * 2 + 1
out_vertices[i0] = vi0
out_vertices[i1] = vi1
out_vertices[j0] = vj0
out_vertices[j1] = vj1
out_vertices[k0] = vk0
out_vertices[k1] = vk1
oid = tid * 8
out_indices[oid + 0, 0] = i0
out_indices[oid + 0, 1] = j0
out_indices[oid + 0, 2] = k0
out_indices[oid + 1, 0] = j0
out_indices[oid + 1, 1] = k1
out_indices[oid + 1, 2] = k0
out_indices[oid + 2, 0] = j0
out_indices[oid + 2, 1] = j1
out_indices[oid + 2, 2] = k1
out_indices[oid + 3, 0] = j0
out_indices[oid + 3, 1] = i1
out_indices[oid + 3, 2] = j1
out_indices[oid + 4, 0] = j0
out_indices[oid + 4, 1] = i0
out_indices[oid + 4, 2] = i1
out_indices[oid + 5, 0] = j1
out_indices[oid + 5, 1] = i1
out_indices[oid + 5, 2] = k1
out_indices[oid + 6, 0] = i1
out_indices[oid + 6, 1] = i0
out_indices[oid + 6, 2] = k0
out_indices[oid + 7, 0] = i1
out_indices[oid + 7, 1] = k0
out_indices[oid + 7, 2] = k1
def solidify_mesh(faces: np.ndarray, vertices: np.ndarray, thickness: Union[list, float]):
"""
Triangulate mesh around given surface with given thickness.
:param faces: array of face indices (Nx3)
:param vertices: array of vertex positions (Mx3)
:param thickness: array of thickness values (Mx1) or single thickness value
:return: tuple of (faces, vertices)
"""
faces = np.array(faces).reshape(-1, 3)
out_faces = wp.zeros((len(faces) * 8, 3), dtype=wp.int32)
out_vertices = wp.zeros(len(vertices) * 2, dtype=wp.vec3)
if not isinstance(thickness, np.ndarray) and not isinstance(thickness, list):
thickness = [thickness] * len(vertices)
wp.launch(
solidify_mesh_kernel,
dim=len(faces),
inputs=[wp.array(faces, dtype=int), wp.array(vertices, dtype=wp.vec3), wp.array(thickness, dtype=float)],
outputs=[out_vertices, out_faces],
)
faces = out_faces.numpy()
vertices = out_vertices.numpy()
return faces, vertices
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