Merge branch 'main' into feature/robot

CHANGELOG.md

@@ -9,13 +9,25 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+### Changed
+
+### Removed
+
+
+## [1.2.4] 2024-07-12
+
+### Added
+
 * Added `list` to accepted types for `Scene.add`.
 * Added `list[float]` to accepted types for `Camera.position` and `Camera.target`.
+* Added `unit` to `Viewer` and `Config`.
+* Added `bounding_box` and `_update_bounding_box` to `BufferObject`.
 * Added `robot.py` example.
 
 ### Changed
 
 * Fixed `opacity` bug with `BufferObject`.
+* Updated `SceneForm` to avoid completely reload when scene objects not changed.
 
 ### Removed
 

pyproject.toml

@@ -79,7 +79,7 @@ doctest_optionflags = [
 # ============================================================================
 
 [tool.bumpversion]
-current_version = "1.2.3"
+current_version = "1.2.4"
 message = "Bump version to {new_version}"
 commit = true
 tag = true

scripts/unit.py

@@ -0,0 +1,20 @@
+from compas.colors import Color
+from compas.geometry import Box
+from compas.geometry import Frame
+from compas_viewer.viewer import Viewer
+from compas_viewer.config import Config
+
+config = Config()
+config.unit = "mm"
+viewer = Viewer(config)
+
+for i in range(10):
+    for j in range(10):
+        viewer.scene.add(
+            Box(500, 500, 500, Frame([i * 1000, j * 1000, 0], [1, 0, 0], [0, 1, 0])),
+            show_lines=True,
+            surfacecolor=Color(i / 10, j / 10, 0.0),
+            name=f"Box_{i}_{j}",
+        )
+
+viewer.show()

src/compas_viewer/__init__.py

@@ -21,7 +21,7 @@
 __copyright__ = "COMPAS Association"
 __license__ = "MIT License"
 __email__ = "[email protected]"
-__version__ = "1.2.3"
+__version__ = "1.2.4"
 
 
 HERE = os.path.dirname(__file__)

src/compas_viewer/components/sceneform.py

@@ -48,6 +48,7 @@ def __init__(
         self.setColumnCount(len(columns))
         self.setHeaderLabels(col["title"] for col in self.columns)
         self.setHeaderHidden(not show_headers)
+        self._sceneobjects = []
 
         self.callback = callback
 
@@ -65,52 +66,62 @@ def scene(self):
         return self.viewer.scene
 
     def update(self):
-        self.clear()  # TODO: do not clear when objects are same.
-        self.checkbox_columns = {}
-
-        for node in self.scene.traverse("breadthfirst"):
-            if node.is_root:
-                continue
-
-            strings = []
-
-            for i, column in enumerate(self.columns):
-                type = column.get("type", None)
-                if type == "checkbox":
-                    action = column.get("action")
-                    checked = column.get("checked")
-                    if not action or not checked:
-                        raise ValueError("Both action and checked must be provided for checkbox")
-                    self.checkbox_columns[i] = {"action": action, "checked": checked}
-                    strings.append("")
-                elif type == "label":
-                    text = column.get("text")
-                    if not text:
-                        raise ValueError("Text must be provided for label")
-                    strings.append(text(node))
-
-            parent_widget = self if node.parent.is_root else node.parent.attributes["widget"]
-            widget = QTreeWidgetItem(parent_widget, strings)
-            widget.node = node
-            widget.setSelected(node.is_selected)
-            if node.is_selected:
-
-                def expand(node):
-                    if node.attributes.get("widget"):
-                        node.attributes["widget"].setExpanded(True)
-                        if node.parent and not node.parent.is_root:
-                            expand(node.parent)
-
-                expand(node.parent)
-
-            widget.setFlags(widget.flags() | Qt.ItemIsUserCheckable | Qt.ItemIsSelectable | Qt.ItemIsEnabled)
-
-            for col, col_data in self.checkbox_columns.items():
-                widget.setCheckState(col, Qt.Checked if col_data["checked"](node) else Qt.Unchecked)
-
-            node.attributes["widget"] = widget
-
-        self.adjust_column_widths()
+        if list(self.scene.objects) == self._sceneobjects:
+            for node in self.scene.traverse("breadthfirst"):
+                widget = node.attributes.get("widget")
+                if widget:
+                    widget.setSelected(node.is_selected)
+                    if node.is_selected:
+                        self.expand(node.parent)
+
+        else:
+            self._sceneobjects = list(self.scene.objects)
+
+            self.clear()
+            self.checkbox_columns = {}
+
+            for node in self.scene.traverse("breadthfirst"):
+                if node.is_root:
+                    continue
+
+                strings = []
+
+                for i, column in enumerate(self.columns):
+                    type = column.get("type", None)
+                    if type == "checkbox":
+                        action = column.get("action")
+                        checked = column.get("checked")
+                        if not action or not checked:
+                            raise ValueError("Both action and checked must be provided for checkbox")
+                        self.checkbox_columns[i] = {"action": action, "checked": checked}
+                        strings.append("")
+                    elif type == "label":
+                        text = column.get("text")
+                        if not text:
+                            raise ValueError("Text must be provided for label")
+                        strings.append(text(node))
+
+                parent_widget = self if node.parent.is_root else node.parent.attributes["widget"]
+                widget = QTreeWidgetItem(parent_widget, strings)
+                widget.node = node
+                widget.setSelected(node.is_selected)
+                if node.is_selected:
+                    self.expand(node.parent)
+
+                widget.setFlags(widget.flags() | Qt.ItemIsUserCheckable | Qt.ItemIsSelectable | Qt.ItemIsEnabled)
+
+                for col, col_data in self.checkbox_columns.items():
+                    widget.setCheckState(col, Qt.Checked if col_data["checked"](node) else Qt.Unchecked)
+
+                node.attributes["widget"] = widget
+
+            self.adjust_column_widths()
+
+    def expand(self, node):
+        if node.attributes.get("widget"):
+            node.attributes["widget"].setExpanded(True)
+            if node.parent and not node.parent.is_root:
+                self.expand(node.parent)
 
     def on_item_clicked(self, item, column):
         if column in self.checkbox_columns:

src/compas_viewer/config.py

@@ -369,6 +369,7 @@ class UIConfig(ConfigBase):
 @dataclass
 class Config(ConfigBase):
     vectorsize: float = 0.1
+    unit: Literal["m", "cm", "mm"] = "m"
     ui: UIConfig = field(default_factory=UIConfig)
     window: WindowConfig = field(default_factory=WindowConfig)
     renderer: RendererConfig = field(default_factory=RendererConfig)

src/compas_viewer/scene/bufferobject.py

@@ -211,18 +211,30 @@ def __init__(
         self.is_selected = False
         self.background = False
         self._matrix_buffer = None
+        self._bounding_box = None
         self._bounding_box_center = None
 
     @property
     def buffergeometry(self) -> BufferGeometry:
         return self.item
 
+    @property
+    def bounding_box(self) -> NDArray:
+        if self._bounding_box is None:
+            self._bounding_box = np.array([np.min(self.buffergeometry.points, axis=0), np.max(self.buffergeometry.points, axis=0)])
+        return self._bounding_box
+
     @property
     def bounding_box_center(self) -> NDArray:
         if self._bounding_box_center is None:
             self._bounding_box_center = np.mean(self.buffergeometry.points.reshape(-1, 3), axis=0)
         return self._bounding_box_center
 
+    def _update_bounding_box(self):
+        self._bounding_box = None
+        self._bounding_box_center = None
+        # Set to None so that they are recalculated next time they are accessed
+
     def init(self):
         """Initialize the object"""
         self.instance_color = Color.from_rgb255(*next(self.scene._instance_colors_generator))

src/compas_viewer/viewer.py

@@ -20,12 +20,14 @@
 
 class Viewer(Singleton):
     def __init__(self, config: Optional[Config] = None, **kwargs):
+        self.running = False
         self.app = QApplication(sys.argv)
         self.app.setApplicationName("COMPAS Viewer")
         self.app.setApplicationDisplayName("COMPAS Viewer")
         self.app.setWindowIcon(QIcon(os.path.join(HERE, "assets", "icons", "compas_icon_white.png")))
 
         self._scene = None
+        self._unit = "m"
 
         self.config = config or Config()
         self.timer = QTimer()
@@ -36,8 +38,7 @@ def __init__(self, config: Optional[Config] = None, **kwargs):
         # renderer should be part of UI
         self.renderer = Renderer(self)
         self.ui = UI(self)
-
-        self.running = False
+        self.unit = self.config.unit
 
     @property
     def scene(self) -> ViewerScene:
@@ -52,6 +53,31 @@ def scene(self, scene: Scene):
             for obj in self._scene.objects:
                 obj.init()
 
+    @property
+    def unit(self) -> str:
+        return self._unit
+
+    @unit.setter
+    def unit(self, unit: str):
+        if self.running:
+            raise NotImplementedError("Changing the unit after the viewer is running is not yet supported.")
+        if unit != self._unit:
+            previous_scale = self.config.camera.scale
+            if unit == "m":
+                self.config.renderer.gridsize = (10.0, 10, 10.0, 10)
+                self.renderer.camera.scale = 1.0
+            elif unit == "cm":
+                self.config.renderer.gridsize = (1000.0, 10, 1000.0, 10)
+                self.renderer.camera.scale = 100.0
+            elif unit == "mm":
+                self.config.renderer.gridsize = (10000.0, 10, 10000.0, 10)
+                self.renderer.camera.scale = 1000.0
+            else:
+                raise ValueError(f"Invalid unit: {unit}. Valid units are 'm', 'cm', 'mm'.")
+            self.renderer.camera.distance *= self.renderer.camera.scale / previous_scale
+
+        self._unit = unit
+
     def show(self):
         self.running = True
         self.ui.init()