Merge pull request #169 from BerkeleyLearnVerify/ManifoldEngine

Move to Manifold for Boolean Operations

.github/workflows/run-tests.yml

@@ -51,35 +51,6 @@ jobs:
       with:
         ref: ${{ github.ref }}
 
-    - name: Install non-Python dependencies (Linux)
-      if: ${{ matrix.os == 'ubuntu-latest' }}
-      uses: awalsh128/cache-apt-pkgs-action@latest
-      with:
-        packages: blender openscad
-
-    - name: Restore cached non-Python dependencies (Windows)
-      id: windows-cache-deps
-      if: ${{ matrix.os == 'windows-latest' }}
-      uses: actions/cache@v3
-      with:
-        path: downloads
-        key: windows-deps
-
-    - name: Download non-Python dependencies (Windows)
-      if: ${{ matrix.os == 'windows-latest' && steps.windows-cache-deps.outputs.cache-hit != 'true' }}
-      run: |
-        New-Item -Path downloads -ItemType Directory -Force
-        Invoke-WebRequest https://github.com/openscad/openscad/releases/download/openscad-2021.01/OpenSCAD-2021.01-x86-64.zip -O downloads/openscad.zip
-        Invoke-WebRequest https://download.blender.org/release/Blender3.6/blender-3.6.0-windows-x64.zip -O downloads/blender.zip
-
-    - name: Install non-Python dependencies (Windows)
-      if: ${{ matrix.os == 'windows-latest' }}
-      run: |
-        Expand-Archive -Path downloads/openscad.zip -DestinationPath openscad
-        Move-Item -Path openscad/openscad-2021.01 -Destination $Env:Programfiles\OpenSCAD
-        Expand-Archive -Path downloads/blender.zip -DestinationPath blender
-        Move-Item -Path blender/blender-3.6.0-windows-x64 -Destination "$Env:Programfiles\Blender Foundation\Blender"
-
     - name: Set up Python ${{ matrix.python-version }}
       uses: actions/setup-python@v4
       with:

docs/_templates/installation.rst

@@ -1,4 +1,4 @@
-Next, activate the `virtual environment <https://docs.python.org/3/tutorial/venv.html>`_ in which you want to install Scenic.
+Activate the `virtual environment <https://docs.python.org/3/tutorial/venv.html>`_ in which you want to install Scenic.
 To create and activate a new virtual environment called :file:`venv`, you can run the following commands:
 
 .. venv-setup-start

docs/quickstart.rst

@@ -25,29 +25,23 @@ If you encounter any errors, please see our :doc:`install_notes` for suggestions
 
 	.. tab:: macOS
 
-		Start by downloading `Blender <https://www.blender.org/download/>`__ and `OpenSCAD <https://openscad.org/downloads.html>`__ and installing them into your :file:`Applications` directory.
-
 		.. include:: _templates/installation.rst
 
 	.. tab:: Linux
 
-		Start by installing the Python-Tk interface, Blender, and OpenSCAD.
+		Start by installing the Python-Tk interface.
 		You can likely use your system's package manager; e.g. on Debian/Ubuntu run:
 
 		.. code-block:: text
 
-			sudo apt-get install python3-tk blender openscad
-
-		For other Linux distributions or if you need to install from source, see the download pages for `Blender <https://www.blender.org/download/>`__ and `OpenSCAD <https://openscad.org/downloads.html>`__.
+			sudo apt-get install python3-tk
 
 		.. include:: _templates/installation.rst
 
 	.. tab:: Windows
 
 		These instructions cover installing Scenic natively on Windows; if you are using the `Windows Subsystem for Linux <https://docs.microsoft.com/en-us/windows/wsl/install-win10>`_ (on Windows 10 and newer), see the WSL tab instead.
 
-		Start by downloading and running the installers for `Blender <https://www.blender.org/download/>`__ and `OpenSCAD <https://openscad.org/downloads.html>`__.
-
 		.. include:: _templates/installation.rst
 			:end-before: .. venv-setup-start
 
@@ -64,12 +58,12 @@ If you encounter any errors, please see our :doc:`install_notes` for suggestions
 		These instructions cover installing Scenic on the Windows Subsystem for Linux (WSL).
 
 		If you haven't already installed WSL, you can do that by running :command:`wsl --install` (in either Command Prompt or PowerShell) and restarting your computer.
-		Then open a WSL terminal and run the following commands to install Python, the Python-Tk interface, Blender, and OpenSCAD:
+		Then open a WSL terminal and run the following commands to install Python and the Python-Tk interface:
 
 		.. code-block:: text
 
 			sudo apt-get update
-			sudo apt-get install python3 python3-tk blender openscad
+			sudo apt-get install python3 python3-tk
 
 		.. include:: _templates/installation.rst
 			:end-before: .. venv-setup-start

docs/reference/region_types.rst

@@ -78,8 +78,6 @@ When checking containment of an `Object` in a 2D region, Scenic will atuomatical
 
 Most 3D regions inherit from either `MeshVolumeRegion` or `MeshSurfaceRegion`, which represent the volume (of a watertight mesh) and the surface of a mesh respectively. Various region classes are also provided to create primitive shapes. `MeshVolumeRegion` can be converted to `MeshSurfaceRegion` (and vice versa) using the the ``getSurfaceRegion`` and ``getVolumeRegion`` methods.
 
-Mesh regions can use one of two engines for mesh operations: Blender or OpenSCAD. This can be controlled using the ``engine`` parameter, passing ``"blender"`` or ``"scad"`` respectively. Blender is generally more tolerant but can produce unreliable output, such as meshes that have microscopic holes. OpenSCAD is generally more precise, but may crash on certain inputs that it considers ill-defined. By default, Scenic uses Blender internally.
-
 PolygonalFootprintRegions represent the :term:`footprint` of a 2D region. See `2D Regions` for more details.
 
 .. autoclass:: scenic.core.regions.MeshVolumeRegion

pyproject.toml

@@ -32,6 +32,7 @@ dependencies = [
 	"dotmap ~= 1.3",
 	"mapbox_earcut >= 0.12.10",
 	"matplotlib ~= 3.2",
+	"manifold3d == 2.3.0",
 	"networkx >= 2.6",
 	"numpy ~= 1.24",
 	"opencv-python ~= 4.5",
@@ -46,7 +47,7 @@ dependencies = [
 	"scikit-image ~= 0.21",
 	"scipy ~= 1.7",
 	"shapely ~= 2.0",
-	"trimesh >=3.22.5, <4",
+	"trimesh >=4.0.9, <5",
 ]
 
 [project.optional-dependencies]

src/scenic/core/regions.py

@@ -767,7 +767,6 @@ class MeshRegion(Region):
         tolerance: Tolerance for internal computations.
         centerMesh: Whether or not to center the mesh after copying and before transformations.
         onDirection: The direction to use if an object being placed on this region doesn't specify one.
-        engine: Which engine to use for mesh operations. Either "blender" or "scad".
         additionalDeps: Any additional sampling dependencies this region relies on.
     """
 
@@ -781,7 +780,6 @@ def __init__(
         tolerance=1e-6,
         centerMesh=True,
         onDirection=None,
-        engine="scad",
         name=None,
         additionalDeps=[],
     ):
@@ -794,7 +792,6 @@ def __init__(
         self.tolerance = tolerance
         self.centerMesh = centerMesh
         self.onDirection = onDirection
-        self.engine = engine
 
         # Initialize superclass with samplables
         super().__init__(
@@ -812,7 +809,7 @@ def __init__(
             return
 
         # Convert extract mesh
-        if isinstance(mesh, trimesh.primitives._Primitive):
+        if isinstance(mesh, trimesh.primitives.Primitive):
             self._mesh = mesh.to_mesh()
         elif isinstance(mesh, trimesh.base.Trimesh):
             self._mesh = mesh.copy()
@@ -893,7 +890,6 @@ def sampleGiven(self, value):
             tolerance=self.tolerance,
             centerMesh=self.centerMesh,
             onDirection=self.onDirection,
-            engine=self.engine,
             name=self.name,
         )
 
@@ -920,7 +916,6 @@ def evaluateInner(self, context):
             tolerance=self.tolerance,
             centerMesh=self.centerMesh,
             onDirection=self.onDirection,
-            engine=self.engine,
             name=self.name,
         )
 
@@ -1057,7 +1052,6 @@ class MeshVolumeRegion(MeshRegion):
         tolerance: Tolerance for internal computations.
         centerMesh: Whether or not to center the mesh after copying and before transformations.
         onDirection: The direction to use if an object being placed on this region doesn't specify one.
-        engine: Which engine to use for mesh operations. Either "blender" or "scad".
     """
 
     def __init__(self, *args, **kwargs):
@@ -1418,12 +1412,7 @@ def intersect(self, other, triedReversed=False):
             other_mesh = other.mesh
 
             # Compute intersection using Trimesh
-            try:
-                new_mesh = self.mesh.intersection(other_mesh, engine=self.engine)
-            except ValueError as exc:
-                raise ValueError(
-                    "Unable to compute mesh boolean operation. Do you have the Blender and OpenSCAD installed on your system?"
-                ) from exc
+            new_mesh = self.mesh.intersection(other_mesh)
 
             if new_mesh.is_empty:
                 return nowhere
@@ -1432,7 +1421,6 @@ def intersect(self, other, triedReversed=False):
                     new_mesh,
                     tolerance=min(self.tolerance, other.tolerance),
                     centerMesh=False,
-                    engine=self.engine,
                 )
             else:
                 # Something went wrong, abort
@@ -1629,12 +1617,7 @@ def union(self, other, triedReversed=False):
             other_mesh = other.mesh
 
             # Compute union using Trimesh
-            try:
-                new_mesh = self.mesh.union(other_mesh, engine=self.engine)
-            except ValueError as exc:
-                raise ValueError(
-                    "Unable to compute mesh boolean operation. Do you have the Blender and OpenSCAD installed on your system?"
-                ) from exc
+            new_mesh = self.mesh.union(other_mesh)
 
             if new_mesh.is_empty:
                 return nowhere
@@ -1643,7 +1626,6 @@ def union(self, other, triedReversed=False):
                     new_mesh,
                     tolerance=min(self.tolerance, other.tolerance),
                     centerMesh=False,
-                    engine=self.engine,
                 )
             else:
                 # Something went wrong, abort
@@ -1669,14 +1651,7 @@ def difference(self, other, debug=False):
             other_mesh = other.mesh
 
             # Compute difference using Trimesh
-            try:
-                new_mesh = self.mesh.difference(
-                    other_mesh, engine=self.engine, debug=debug
-                )
-            except ValueError as exc:
-                raise ValueError(
-                    "Unable to compute mesh boolean operation. Do you have the Blender and OpenSCAD installed on your system?"
-                ) from exc
+            new_mesh = self.mesh.difference(other_mesh)
 
             if new_mesh.is_empty:
                 return nowhere
@@ -1685,7 +1660,6 @@ def difference(self, other, debug=False):
                     new_mesh,
                     tolerance=min(self.tolerance, other.tolerance),
                     centerMesh=False,
-                    engine=self.engine,
                 )
             else:
                 # Something went wrong, abort
@@ -1765,7 +1739,6 @@ def getSurfaceRegion(self):
             tolerance=self.tolerance,
             centerMesh=False,
             onDirection=self.onDirection,
-            engine=self.engine,
         )
 
     def getVolumeRegion(self):
@@ -1957,7 +1930,6 @@ def getVolumeRegion(self):
             tolerance=self.tolerance,
             centerMesh=False,
             onDirection=self.onDirection,
-            engine=self.engine,
         )
 
     def getSurfaceRegion(self):
@@ -1989,7 +1961,6 @@ def sampleGiven(self, value):
             rotation=value[self.rotation],
             orientation=value[self.orientation],
             tolerance=self.tolerance,
-            engine=self.engine,
             name=self.name,
         )
 
@@ -2005,7 +1976,6 @@ def evaluateInner(self, context):
             rotation=rotation,
             orientation=orientation,
             tolerance=self.tolerance,
-            engine=self.engine,
             name=self.name,
         )
 
@@ -2034,7 +2004,6 @@ def sampleGiven(self, value):
             rotation=value[self.rotation],
             orientation=value[self.orientation],
             tolerance=self.tolerance,
-            engine=self.engine,
             name=self.name,
         )
 
@@ -2050,7 +2019,6 @@ def evaluateInner(self, context):
             rotation=rotation,
             orientation=orientation,
             tolerance=self.tolerance,
-            engine=self.engine,
             name=self.name,
         )
 
@@ -3596,13 +3564,10 @@ class ViewRegion(MeshVolumeRegion):
 
     * Case 1:       viewAngles[1] = 180 degrees
 
-      * Case 2.a    viewAngles[0] = 360 degrees     => Sphere
-      * Case 2.b    viewAngles[0] < 360 degrees     => Sphere & CylinderSectionRegion
-
-    * Case 2:       viewAngles[1] < 180 degrees
+      * Case 1.a    viewAngles[0] = 360 degrees     => Sphere
+      * Case 1.b    viewAngles[0] < 360 degrees     => Sphere & CylinderSectionRegion
 
-      * Case 2.a    viewAngles[0] = 360 degrees     => Sphere - (Cone + Cone) (Cones on z axis expanding from origin)
-      * Case 2.b    viewAngles[0] < 360 degrees     => Sphere & ViewSectionRegion
+    * Case 2:       viewAngles[1] < 180 degrees     => Sphere & ViewSectionRegion
 
     When making changes to this class you should run ``pytest -k test_viewRegion --exhaustive``.
 
@@ -3626,60 +3591,45 @@ def __init__(
         position=Vector(0, 0, 0),
         rotation=None,
         orientation=None,
-        angleCutoff=0.01,
+        angleCutoff=0.017,
         tolerance=1e-8,
     ):
         # Bound viewAngles from either side.
         if min(viewAngles) <= 0:
             raise ValueError("viewAngles cannot have a component less than or equal to 0")
 
+        # TODO True surface representation
+        viewAngles = (max(viewAngles[0], angleCutoff), max(viewAngles[1], angleCutoff))
+
+        if math.tau - angleCutoff <= viewAngles[0]:
+            viewAngles = (math.tau, viewAngles[1])
+
+        if math.pi - angleCutoff <= viewAngles[1]:
+            viewAngles = (viewAngles[0], math.pi)
+
         view_region = None
         diameter = 2 * visibleDistance
-        base_sphere = SpheroidRegion(
-            dimensions=(diameter, diameter, diameter), engine="scad"
-        )
+        base_sphere = SpheroidRegion(dimensions=(diameter, diameter, diameter))
 
         if math.pi - angleCutoff <= viewAngles[1]:
             # Case 1
-            if math.tau - angleCutoff <= viewAngles[0]:
+            if viewAngles[0] == math.tau:
                 # Case 1.a
                 view_region = base_sphere
             else:
+                # Case 1.b
                 view_region = base_sphere.intersect(
                     CylinderSectionRegion(visibleDistance, viewAngles[0])
                 )
         else:
             # Case 2
-            if math.tau - angleCutoff <= viewAngles[0]:
-                # Case 2.a
-                # Create cone with yaw oriented around (0,0,-1)
-                padded_height = visibleDistance * 2
-                radius = padded_height * math.tan((math.pi - viewAngles[1]) / 2)
-
-                cone_mesh = trimesh.creation.cone(radius=radius, height=padded_height)
-
-                position_matrix = translation_matrix((0, 0, -1 * padded_height))
-                cone_mesh.apply_transform(position_matrix)
-
-                # Create two cones around the yaw axis
-                orientation_1 = Orientation._fromEuler(0, 0, 0)
-                orientation_2 = Orientation._fromEuler(0, 0, math.pi)
-
-                cone_1 = MeshVolumeRegion(
-                    mesh=cone_mesh, rotation=orientation_1, centerMesh=False
-                )
-                cone_2 = MeshVolumeRegion(
-                    mesh=cone_mesh, rotation=orientation_2, centerMesh=False
-                )
-
-                view_region = base_sphere.difference(cone_1).difference(cone_2)
-            else:
-                # Case 2.b
-                view_region = base_sphere.intersect(
-                    ViewSectionRegion(visibleDistance, viewAngles)
-                )
+            view_region = base_sphere.intersect(
+                ViewSectionRegion(visibleDistance, viewAngles)
+            )
 
         assert view_region is not None
+        assert isinstance(view_region, MeshVolumeRegion)
+        assert view_region.containsPoint(Vector(0, 0, 0))
 
         # Initialize volume region
         super().__init__(
@@ -3717,8 +3667,9 @@ def __init__(self, visibleDistance, viewAngles, rotation=None, resolution=32):
             triangles.append((bot_line[li], bot_line[li + 1], top_line[li + 1]))
 
         # Side triangles
-        triangles.append((bot_line[0], top_line[0], (0, 0, 0)))
-        triangles.append((top_line[-1], bot_line[-1], (0, 0, 0)))
+        if viewAngles[0] < math.tau:
+            triangles.append((bot_line[0], top_line[0], (0, 0, 0)))
+            triangles.append((top_line[-1], bot_line[-1], (0, 0, 0)))
 
         # Top/Bottom triangles
         for li in range(len(top_line) - 1):