Anson/STL-Process
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Anson
2022-03-22 08:24:15 -07:00
parent 9b3004e226
commit eae1e0bb1c
2 changed files with 71 additions and 49 deletions
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15
.JuliaFormatter.toml Normal file
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style = "blue"
margin = 120
always_for_in = true
whitespace_ops_in_indices = true
remove_extra_newlines = true
import_to_using = true
pipe_to_function_call = false
short_to_long_function_def = false
always_use_return = false
format_docstrings = true
conditional_to_if = true
trailing_comma = true
join_lines_based_on_source = false
format_markdown = true

101
process.jl
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using MeshIO
using FileIO
using GeometryBasics
using LinearAlgebra
stl = load(raw"C:\Users\albig\Downloads\cubeblender.stl")
# stl = load(raw"C:\Coding\stl_read\3DBenchy.stl")
function get_mass_properties(triangles)
x = [ [v[1] for v in tri] for tri in triangles] |> x -> reduce(hcat,x)'
y = [ [v[2] for v in tri] for tri in triangles] |> x -> reduce(hcat,x)'
z = [ [v[3] for v in tri] for tri in triangles] |> x -> reduce(hcat,x)'
x = reduce(hcat, [[v[1] for v in tri] for tri in triangles])'
y = reduce(hcat, [[v[2] for v in tri] for tri in triangles])'
z = reduce(hcat, [[v[3] for v in tri] for tri in triangles])'
function subexpression(x)
w0, w1, w2 = x[:, 1], x[:, 2], x[:, 3]
temp0 = w0 + w1
f1 = temp0 + w2
temp1 = w0 .* w0
temp2 = temp1 .+ w1 .* temp0
f2 = temp2 .+ w2 .* f1
f3 = w0 .* temp1 .+ w1 .* temp2 .+ w2 .* f2
g0 = f2 .+ w0 .* (f1 .+ w0)
g1 = f2 .+ w1 .* (f1 .+ w1)
g2 = f2 .+ w2 .* (f1 .+ w2)
return f1, f2, f3, g0, g1, g2
end
function subexpression(x)
w0, w1, w2 = x[:, 1], x[:, 2], x[:, 3]
temp0 = w0 + w1
f1 = temp0 + w2
temp1 = w0 .* w0
temp2 = temp1 .+ w1 .* temp0
f2 = temp2 .+ w2 .* f1
f3 = w0 .* temp1 .+ w1 .* temp2 .+ w2 .* f2
g0 = f2 .+ w0 .* (f1 .+ w0)
g1 = f2 .+ w1 .* (f1 .+ w1)
g2 = f2 .+ w2 .* (f1 .+ w2)
return f1, f2, f3, g0, g1, g2
end
x0, x1, x2 = x[:, 1], x[:, 2], x[:, 3]
y0, y1, y2 = y[:, 1], y[:, 2], y[:, 3]
z0, z1, z2 = z[:, 1], z[:, 2], z[:, 3]
a1, b1, c1 = x1 - x0, y1 - y0, z1 - z0
a2, b2, c2 = x2 - x0, y2 - y0, z2 - z0
d0, d1, d2 = b1 .* c2 .- b2 .* c1, a2 .* c1 .- a1 .* c2, a1 .* b2 .- a2 .* b1
x0, x1, x2 = x[:, 1], x[:, 2], x[:, 3]
y0, y1, y2 = y[:, 1], y[:, 2], y[:, 3]
z0, z1, z2 = z[:, 1], z[:, 2], z[:, 3]
a1, b1, c1 = x1 - x0, y1 - y0, z1 - z0
a2, b2, c2 = x2 - x0, y2 - y0, z2 - z0
d0, d1, d2 = b1 .* c2 .- b2 .* c1, a2 .* c1 .- a1 .* c2, a1 .* b2 .- a2 .* b1
f1x, f2x, f3x, g0x, g1x, g2x = subexpression(x)
f1y, f2y, f3y, g0y, g1y, g2y = subexpression(y)
f1z, f2z, f3z, g0z, g1z, g2z = subexpression(z)
f1x, f2x, f3x, g0x, g1x, g2x = subexpression(x)
f1y, f2y, f3y, g0y, g1y, g2y = subexpression(y)
f1z, f2z, f3z, g0z, g1z, g2z = subexpression(z)
intg = zeros(10)
intg[1] = sum(d0 .* f1x)
intg[2:4] = [sum(d0 .* f2x), sum(d1 .* f2y), sum(d2 .* f2z)]
intg[5:7] = [sum(d0 .* f3x), sum(d1 .* f3y), sum(d2 .* f3z)]
intg[8] = sum(d0 .* (y0 .* g0x + y1 .* g1x + y2 .* g2x))
intg[9] = sum(d1 .* (z0 .* g0y + z1 .* g1y + z2 .* g2y))
intg[10] = sum(d2 .* (x0 .* g0z + x1 .* g1z + x2 .* g2z))
intg = intg ./ [6, 24, 24, 24, 60, 60, 60, 120, 120, 120]
intg = zeros(10)
intg[1] = sum(d0 .* f1x)
intg[2:4] = [sum(d0 .* f2x), sum(d1 .* f2y), sum(d2 .* f2z)]
intg[5:7] = [sum(d0 .* f3x), sum(d1 .* f3y), sum(d2 .* f3z)]
intg[8] = sum(d0 .* (y0 .* g0x + y1 .* g1x + y2 .* g2x))
intg[9] = sum(d1 .* (z0 .* g0y + z1 .* g1y + z2 .* g2y))
intg[10] = sum(d2 .* (x0 .* g0z + x1 .* g1z + x2 .* g2z))
intg = intg ./ [6, 24, 24, 24, 60, 60, 60, 120, 120, 120]
volumee = intg[1]
cog = intg[2:4] / volumee
cogsq = cog .^ 2
inertia = zeros((3, 3))
inertia[1, 1] = intg[6] + intg[7] - volumee .* (cogsq[2] + cogsq[3])
inertia[2, 2] = intg[5] + intg[7] - volumee .* (cogsq[3] + cogsq[1])
inertia[3, 3] = intg[5] + intg[6] - volumee .* (cogsq[1] + cogsq[2])
inertia[1, 2] = inertia[2, 1] = -(intg[8] - volumee .* cog[1] .* cog[2])
inertia[2, 3] = inertia[3, 2] = -(intg[9] - volumee .* cog[2] .* cog[3])
inertia[1, 3] = inertia[3, 1] = -(intg[10] - volumee .* cog[3] .* cog[1])
return volume, cog, inertia
volume = intg[1]
center_of_gravity = intg[2:4] / volume
cogsq = center_of_gravity .^ 2
inertia = zeros((3, 3))
inertia[1, 1] = intg[6] + intg[7] - volume .* (cogsq[2] + cogsq[3])
inertia[2, 2] = intg[5] + intg[7] - volume .* (cogsq[3] + cogsq[1])
inertia[3, 3] = intg[5] + intg[6] - volume .* (cogsq[1] + cogsq[2])
inertia[1, 2] = inertia[2, 1] = -(intg[8] - volume .* center_of_gravity[1] .* center_of_gravity[2])
inertia[2, 3] = inertia[3, 2] = -(intg[9] - volume .* center_of_gravity[2] .* center_of_gravity[3])
inertia[1, 3] = inertia[3, 1] = -(intg[10] - volume .* center_of_gravity[3] .* center_of_gravity[1])
return volume, center_of_gravity, inertia
end
volumee
v, cog, inertia = get_mass_properties(stl)
v
cog
inertia
eigen(inertia)