mirror of
https://github.com/SoftFever/OrcaSlicer.git
synced 2025-10-23 16:51:21 -06:00
Merge branch 'master' into lm_warnings
This commit is contained in:
Lukas Matena
commit
004e2719b1
172 changed files with 9118 additions and 4980 deletions
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@ -5,11 +5,12 @@
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#include "SLABoostAdapter.hpp"
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#include "ClipperUtils.hpp"
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#include "Tesselate.hpp"
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#include "MTUtils.hpp"
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// For debugging:
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//#include <fstream>
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//#include <libnest2d/tools/benchmark.h>
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//#include "SVG.hpp"
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// #include <fstream>
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// #include <libnest2d/tools/benchmark.h>
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// #include "SVG.hpp"
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namespace Slic3r { namespace sla {
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@ -183,9 +184,10 @@ Contour3D walls(const Polygon& lower, const Polygon& upper,
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}
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/// Offsetting with clipper and smoothing the edges into a curvature.
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void offset(ExPolygon& sh, coord_t distance) {
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void offset(ExPolygon& sh, coord_t distance, bool edgerounding = true) {
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using ClipperLib::ClipperOffset;
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using ClipperLib::jtRound;
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using ClipperLib::jtMiter;
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using ClipperLib::etClosedPolygon;
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using ClipperLib::Paths;
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using ClipperLib::Path;
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@ -202,11 +204,13 @@ void offset(ExPolygon& sh, coord_t distance) {
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return;
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}
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auto jointype = edgerounding? jtRound : jtMiter;
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ClipperOffset offs;
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offs.ArcTolerance = 0.01*scaled(1.0);
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offs.ArcTolerance = scaled<double>(0.01);
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Paths result;
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offs.AddPath(ctour, jtRound, etClosedPolygon);
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offs.AddPaths(holes, jtRound, etClosedPolygon);
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offs.AddPath(ctour, jointype, etClosedPolygon);
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offs.AddPaths(holes, jointype, etClosedPolygon);
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offs.Execute(result, static_cast<double>(distance));
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// Offsetting reverts the orientation and also removes the last vertex
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@ -236,6 +240,50 @@ void offset(ExPolygon& sh, coord_t distance) {
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}
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}
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void offset(Polygon &sh, coord_t distance, bool edgerounding = true)
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{
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using ClipperLib::ClipperOffset;
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using ClipperLib::jtRound;
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using ClipperLib::jtMiter;
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using ClipperLib::etClosedPolygon;
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using ClipperLib::Paths;
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using ClipperLib::Path;
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auto &&ctour = Slic3rMultiPoint_to_ClipperPath(sh);
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// If the input is not at least a triangle, we can not do this algorithm
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if (ctour.size() < 3) {
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BOOST_LOG_TRIVIAL(error) << "Invalid geometry for offsetting!";
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return;
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}
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ClipperOffset offs;
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offs.ArcTolerance = 0.01 * scaled(1.);
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Paths result;
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offs.AddPath(ctour, edgerounding ? jtRound : jtMiter, etClosedPolygon);
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offs.Execute(result, static_cast<double>(distance));
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// Offsetting reverts the orientation and also removes the last vertex
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// so boost will not have a closed polygon.
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bool found_the_contour = false;
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for (auto &r : result) {
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if (ClipperLib::Orientation(r)) {
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// We don't like if the offsetting generates more than one contour
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// but throwing would be an overkill. Instead, we should warn the
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// caller about the inability to create correct geometries
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if (!found_the_contour) {
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auto rr = ClipperPath_to_Slic3rPolygon(r);
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sh.points.swap(rr.points);
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found_the_contour = true;
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} else {
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BOOST_LOG_TRIVIAL(warning)
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<< "Warning: offsetting result is invalid!";
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}
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}
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}
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}
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/// Unification of polygons (with clipper) preserving holes as well.
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ExPolygons unify(const ExPolygons& shapes) {
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using ClipperLib::ptSubject;
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@ -306,6 +354,116 @@ ExPolygons unify(const ExPolygons& shapes) {
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return retv;
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}
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Polygons unify(const Polygons& shapes) {
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using ClipperLib::ptSubject;
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bool closed = true;
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bool valid = true;
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ClipperLib::Clipper clipper;
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for(auto& path : shapes) {
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auto clipperpath = Slic3rMultiPoint_to_ClipperPath(path);
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if(!clipperpath.empty())
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valid &= clipper.AddPath(clipperpath, ptSubject, closed);
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}
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if(!valid) BOOST_LOG_TRIVIAL(warning) << "Unification of invalid shapes!";
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ClipperLib::Paths result;
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clipper.Execute(ClipperLib::ctUnion, result, ClipperLib::pftNonZero);
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Polygons ret;
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for (ClipperLib::Path &p : result) {
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Polygon pp = ClipperPath_to_Slic3rPolygon(p);
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if (!pp.is_clockwise()) ret.emplace_back(std::move(pp));
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}
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return ret;
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}
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// Function to cut tiny connector cavities for a given polygon. The input poly
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// will be offsetted by "padding" and small rectangle shaped cavities will be
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// inserted along the perimeter in every "stride" distance. The stick rectangles
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// will have a with about "stick_width". The input dimensions are in world
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// measure, not the scaled clipper units.
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void breakstick_holes(ExPolygon& poly,
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double padding,
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double stride,
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double stick_width,
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double penetration)
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{
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// SVG svg("bridgestick_plate.svg");
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// svg.draw(poly);
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auto transf = [stick_width, penetration, padding, stride](Points &pts) {
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// The connector stick will be a small rectangle with dimensions
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// stick_width x (penetration + padding) to have some penetration
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// into the input polygon.
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Points out;
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out.reserve(2 * pts.size()); // output polygon points
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// stick bottom and right edge dimensions
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double sbottom = scaled(stick_width);
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double sright = scaled(penetration + padding);
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// scaled stride distance
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double sstride = scaled(stride);
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double t = 0;
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// process pairs of vertices as an edge, start with the last and
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// first point
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for (size_t i = pts.size() - 1, j = 0; j < pts.size(); i = j, ++j) {
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// Get vertices and the direction vectors
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const Point &a = pts[i], &b = pts[j];
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Vec2d dir = b.cast<double>() - a.cast<double>();
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double nrm = dir.norm();
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dir /= nrm;
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Vec2d dirp(-dir(Y), dir(X));
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// Insert start point
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out.emplace_back(a);
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// dodge the start point, do not make sticks on the joins
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while (t < sbottom) t += sbottom;
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double tend = nrm - sbottom;
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while (t < tend) { // insert the stick on the polygon perimeter
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// calculate the stick rectangle vertices and insert them
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// into the output.
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Point p1 = a + (t * dir).cast<coord_t>();
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Point p2 = p1 + (sright * dirp).cast<coord_t>();
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Point p3 = p2 + (sbottom * dir).cast<coord_t>();
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Point p4 = p3 + (sright * -dirp).cast<coord_t>();
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out.insert(out.end(), {p1, p2, p3, p4});
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// continue along the perimeter
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t += sstride;
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}
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t = t - nrm;
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// Insert edge endpoint
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out.emplace_back(b);
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}
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// move the new points
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out.shrink_to_fit();
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pts.swap(out);
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};
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if(stride > 0.0 && stick_width > 0.0 && padding > 0.0) {
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transf(poly.contour.points);
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for (auto &h : poly.holes) transf(h.points);
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}
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// svg.draw(poly);
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// svg.Close();
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}
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/// This method will create a rounded edge around a flat polygon in 3d space.
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/// 'base_plate' parameter is the target plate.
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/// 'radius' is the radius of the edges.
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@ -351,7 +509,7 @@ Contour3D round_edges(const ExPolygon& base_plate,
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double x2 = xx*xx;
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double stepy = std::sqrt(r2 - x2);
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offset(ob, s*scaled(xx));
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offset(ob, s * scaled(xx));
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wh = ceilheight_mm - radius_mm + stepy;
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Contour3D pwalls;
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@ -375,7 +533,7 @@ Contour3D round_edges(const ExPolygon& base_plate,
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double xx = radius_mm - i*stepx;
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double x2 = xx*xx;
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double stepy = std::sqrt(r2 - x2);
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offset(ob, s*scaled(xx));
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offset(ob, s * scaled(xx));
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wh = ceilheight_mm - radius_mm - stepy;
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Contour3D pwalls;
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@ -425,41 +583,38 @@ inline Point centroid(Points& pp) {
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return c;
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}
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inline Point centroid(const ExPolygon& poly) {
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return poly.contour.centroid();
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inline Point centroid(const Polygon& poly) {
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return poly.centroid();
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}
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/// A fake concave hull that is constructed by connecting separate shapes
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/// with explicit bridges. Bridges are generated from each shape's centroid
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/// to the center of the "scene" which is the centroid calculated from the shape
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/// centroids (a star is created...)
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ExPolygons concave_hull(const ExPolygons& polys, double max_dist_mm = 50,
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ThrowOnCancel throw_on_cancel = [](){})
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Polygons concave_hull(const Polygons& polys, double max_dist_mm = 50,
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ThrowOnCancel throw_on_cancel = [](){})
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{
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namespace bgi = boost::geometry::index;
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using SpatElement = std::pair<BoundingBox, unsigned>;
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using SpatElement = std::pair<Point, unsigned>;
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using SpatIndex = bgi::rtree< SpatElement, bgi::rstar<16, 4> >;
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if(polys.empty()) return ExPolygons();
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if(polys.empty()) return Polygons();
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const double max_dist = scaled(max_dist_mm);
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ExPolygons punion = unify(polys); // could be redundant
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Polygons punion = unify(polys); // could be redundant
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if(punion.size() == 1) return punion;
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// We get the centroids of all the islands in the 2D slice
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Points centroids; centroids.reserve(punion.size());
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std::transform(punion.begin(), punion.end(), std::back_inserter(centroids),
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[](const ExPolygon& poly) { return centroid(poly); });
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SpatIndex boxindex; unsigned idx = 0;
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std::for_each(punion.begin(), punion.end(),
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[&boxindex, &idx](const ExPolygon& expo) {
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BoundingBox bb(expo);
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boxindex.insert(std::make_pair(bb, idx++));
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});
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[](const Polygon& poly) { return centroid(poly); });
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SpatIndex ctrindex;
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unsigned idx = 0;
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for(const Point &ct : centroids) ctrindex.insert(std::make_pair(ct, idx++));
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// Centroid of the centroids of islands. This is where the additional
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// connector sticks are routed.
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Point cc = centroid(centroids);
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@ -469,30 +624,37 @@ ExPolygons concave_hull(const ExPolygons& polys, double max_dist_mm = 50,
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idx = 0;
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std::transform(centroids.begin(), centroids.end(),
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std::back_inserter(punion),
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[&punion, &boxindex, cc, max_dist_mm, &idx, throw_on_cancel]
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[¢roids, &ctrindex, cc, max_dist, &idx, throw_on_cancel]
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(const Point& c)
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{
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throw_on_cancel();
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double dx = x(c) - x(cc), dy = y(c) - y(cc);
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double l = std::sqrt(dx * dx + dy * dy);
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double nx = dx / l, ny = dy / l;
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double max_dist = scaled(max_dist_mm);
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ExPolygon& expo = punion[idx++];
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BoundingBox querybb(expo);
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querybb.offset(max_dist);
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Point& ct = centroids[idx];
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std::vector<SpatElement> result;
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boxindex.query(bgi::intersects(querybb), std::back_inserter(result));
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if(result.size() <= 1) return ExPolygon();
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ctrindex.query(bgi::nearest(ct, 2), std::back_inserter(result));
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ExPolygon r;
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auto& ctour = r.contour.points;
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double dist = max_dist;
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for (const SpatElement &el : result)
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if (el.second != idx) {
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dist = Line(el.first, ct).length();
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break;
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}
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idx++;
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if (dist >= max_dist) return Polygon();
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Polygon r;
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auto& ctour = r.points;
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ctour.reserve(3);
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ctour.emplace_back(cc);
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Point d(coord_t(scaled(1.)*nx), coord_t(scaled(1.)*ny));
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Point d(scaled(nx), scaled(ny));
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ctour.emplace_back(c + Point( -y(d), x(d) ));
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ctour.emplace_back(c + Point( y(d), -x(d) ));
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offset(r, scaled(1.));
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@ -506,42 +668,55 @@ ExPolygons concave_hull(const ExPolygons& polys, double max_dist_mm = 50,
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return punion;
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}
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void base_plate(const TriangleMesh &mesh, ExPolygons &output, float h,
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float layerh, ThrowOnCancel thrfn)
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void base_plate(const TriangleMesh & mesh,
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ExPolygons & output,
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const std::vector<float> &heights,
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ThrowOnCancel thrfn)
|
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{
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TriangleMesh m = mesh;
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m.require_shared_vertices(); // TriangleMeshSlicer needs this
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TriangleMeshSlicer slicer(&m);
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|
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auto bb = mesh.bounding_box();
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float gnd = float(bb.min(Z));
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std::vector<float> heights = {float(bb.min(Z))};
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for(float hi = gnd + layerh; hi <= gnd + h; hi += layerh)
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heights.emplace_back(hi);
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std::vector<ExPolygons> out; out.reserve(size_t(std::ceil(h/layerh)));
|
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if (mesh.empty()) return;
|
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// m.require_shared_vertices(); // TriangleMeshSlicer needs this
|
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TriangleMeshSlicer slicer(&mesh);
|
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|
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std::vector<ExPolygons> out; out.reserve(heights.size());
|
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slicer.slice(heights, 0.f, &out, thrfn);
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|
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|
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size_t count = 0; for(auto& o : out) count += o.size();
|
||||
|
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|
||||
// Now we have to unify all slice layers which can be an expensive operation
|
||||
// so we will try to simplify the polygons
|
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ExPolygons tmp; tmp.reserve(count);
|
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for(ExPolygons& o : out)
|
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for(ExPolygon& e : o) {
|
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auto&& exss = e.simplify(scaled(0.1));
|
||||
auto&& exss = e.simplify(scaled<double>(0.1));
|
||||
for(ExPolygon& ep : exss) tmp.emplace_back(std::move(ep));
|
||||
}
|
||||
|
||||
|
||||
ExPolygons utmp = unify(tmp);
|
||||
|
||||
|
||||
for(auto& o : utmp) {
|
||||
auto&& smp = o.simplify(scaled(0.1));
|
||||
auto&& smp = o.simplify(scaled<double>(0.1));
|
||||
output.insert(output.end(), smp.begin(), smp.end());
|
||||
}
|
||||
}
|
||||
|
||||
Contour3D create_base_pool(const ExPolygons &ground_layer,
|
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void base_plate(const TriangleMesh &mesh,
|
||||
ExPolygons & output,
|
||||
float h,
|
||||
float layerh,
|
||||
ThrowOnCancel thrfn)
|
||||
{
|
||||
auto bb = mesh.bounding_box();
|
||||
float gnd = float(bb.min(Z));
|
||||
std::vector<float> heights = {float(bb.min(Z))};
|
||||
|
||||
for(float hi = gnd + layerh; hi <= gnd + h; hi += layerh)
|
||||
heights.emplace_back(hi);
|
||||
|
||||
base_plate(mesh, output, heights, thrfn);
|
||||
}
|
||||
|
||||
Contour3D create_base_pool(const Polygons &ground_layer,
|
||||
const ExPolygons &obj_self_pad = {},
|
||||
const PoolConfig& cfg = PoolConfig())
|
||||
{
|
||||
// for debugging:
|
||||
|
|
@ -556,7 +731,7 @@ Contour3D create_base_pool(const ExPolygons &ground_layer,
|
|||
// serve as the bottom plate of the pad. We will offset this concave hull
|
||||
// and then offset back the result with clipper with rounding edges ON. This
|
||||
// trick will create a nice rounded pad shape.
|
||||
ExPolygons concavehs = concave_hull(ground_layer, mergedist, cfg.throw_on_cancel);
|
||||
Polygons concavehs = concave_hull(ground_layer, mergedist, cfg.throw_on_cancel);
|
||||
|
||||
const double thickness = cfg.min_wall_thickness_mm;
|
||||
const double wingheight = cfg.min_wall_height_mm;
|
||||
|
|
@ -576,42 +751,37 @@ Contour3D create_base_pool(const ExPolygons &ground_layer,
|
|||
|
||||
Contour3D pool;
|
||||
|
||||
for(ExPolygon& concaveh : concavehs) {
|
||||
if(concaveh.contour.points.empty()) return pool;
|
||||
|
||||
// Get rid of any holes in the concave hull output.
|
||||
concaveh.holes.clear();
|
||||
for(Polygon& concaveh : concavehs) {
|
||||
if(concaveh.points.empty()) return pool;
|
||||
|
||||
// Here lies the trick that does the smoothing only with clipper offset
|
||||
// calls. The offset is configured to round edges. Inner edges will
|
||||
// be rounded because we offset twice: ones to get the outer (top) plate
|
||||
// and again to get the inner (bottom) plate
|
||||
auto outer_base = concaveh;
|
||||
outer_base.holes.clear();
|
||||
offset(outer_base, s_safety_dist + s_wingdist + s_thickness);
|
||||
|
||||
ExPolygon bottom_poly = outer_base;
|
||||
bottom_poly.holes.clear();
|
||||
ExPolygon bottom_poly; bottom_poly.contour = outer_base;
|
||||
offset(bottom_poly, -s_bottom_offs);
|
||||
|
||||
// Punching a hole in the top plate for the cavity
|
||||
ExPolygon top_poly;
|
||||
ExPolygon middle_base;
|
||||
ExPolygon inner_base;
|
||||
top_poly.contour = outer_base.contour;
|
||||
top_poly.contour = outer_base;
|
||||
|
||||
if(wingheight > 0) {
|
||||
inner_base = outer_base;
|
||||
inner_base.contour = outer_base;
|
||||
offset(inner_base, -(s_thickness + s_wingdist + s_eradius));
|
||||
|
||||
middle_base = outer_base;
|
||||
middle_base.contour = outer_base;
|
||||
offset(middle_base, -s_thickness);
|
||||
top_poly.holes.emplace_back(middle_base.contour);
|
||||
auto& tph = top_poly.holes.back().points;
|
||||
std::reverse(tph.begin(), tph.end());
|
||||
}
|
||||
|
||||
ExPolygon ob = outer_base; double wh = 0;
|
||||
ExPolygon ob; ob.contour = outer_base; double wh = 0;
|
||||
|
||||
// now we will calculate the angle or portion of the circle from
|
||||
// pi/2 that will connect perfectly with the bottom plate.
|
||||
|
|
@ -658,6 +828,7 @@ Contour3D create_base_pool(const ExPolygons &ground_layer,
|
|||
if(wingheight > 0) {
|
||||
// Generate the smoothed edge geometry
|
||||
wh = 0;
|
||||
ob = middle_base;
|
||||
if(s_eradius) pool.merge(round_edges(middle_base,
|
||||
r,
|
||||
phi - 90, // from tangent lines
|
||||
|
|
@ -672,11 +843,59 @@ Contour3D create_base_pool(const ExPolygons &ground_layer,
|
|||
wh, -wingdist, thrcl));
|
||||
}
|
||||
|
||||
// Now we need to triangulate the top and bottom plates as well as the
|
||||
// cavity bottom plate which is the same as the bottom plate but it is
|
||||
// elevated by the thickness.
|
||||
if (cfg.embed_object) {
|
||||
ExPolygons bttms = diff_ex(to_polygons(bottom_poly),
|
||||
to_polygons(obj_self_pad));
|
||||
|
||||
assert(!bttms.empty());
|
||||
|
||||
std::sort(bttms.begin(), bttms.end(),
|
||||
[](const ExPolygon& e1, const ExPolygon& e2) {
|
||||
return e1.contour.area() > e2.contour.area();
|
||||
});
|
||||
|
||||
if(wingheight > 0) inner_base.holes = bttms.front().holes;
|
||||
else top_poly.holes = bttms.front().holes;
|
||||
|
||||
auto straight_walls =
|
||||
[&pool](const Polygon &cntr, coord_t z_low, coord_t z_high) {
|
||||
|
||||
auto lines = cntr.lines();
|
||||
|
||||
for (auto &l : lines) {
|
||||
auto s = coord_t(pool.points.size());
|
||||
auto& pts = pool.points;
|
||||
pts.emplace_back(unscale(l.a.x(), l.a.y(), z_low));
|
||||
pts.emplace_back(unscale(l.b.x(), l.b.y(), z_low));
|
||||
pts.emplace_back(unscale(l.a.x(), l.a.y(), z_high));
|
||||
pts.emplace_back(unscale(l.b.x(), l.b.y(), z_high));
|
||||
|
||||
pool.indices.emplace_back(s, s + 1, s + 3);
|
||||
pool.indices.emplace_back(s, s + 3, s + 2);
|
||||
}
|
||||
};
|
||||
|
||||
coord_t z_lo = -scaled(fullheight), z_hi = -scaled(wingheight);
|
||||
for (ExPolygon &ep : bttms) {
|
||||
pool.merge(triangulate_expolygon_3d(ep, -fullheight, true));
|
||||
for (auto &h : ep.holes) straight_walls(h, z_lo, z_hi);
|
||||
}
|
||||
|
||||
// Skip the outer contour, triangulate the holes
|
||||
for (auto it = std::next(bttms.begin()); it != bttms.end(); ++it) {
|
||||
pool.merge(triangulate_expolygon_3d(*it, -wingheight));
|
||||
straight_walls(it->contour, z_lo, z_hi);
|
||||
}
|
||||
|
||||
} else {
|
||||
// Now we need to triangulate the top and bottom plates as well as
|
||||
// the cavity bottom plate which is the same as the bottom plate
|
||||
// but it is elevated by the thickness.
|
||||
|
||||
pool.merge(triangulate_expolygon_3d(bottom_poly, -fullheight, true));
|
||||
}
|
||||
|
||||
pool.merge(triangulate_expolygon_3d(top_poly));
|
||||
pool.merge(triangulate_expolygon_3d(bottom_poly, -fullheight, true));
|
||||
|
||||
if(wingheight > 0)
|
||||
pool.merge(triangulate_expolygon_3d(inner_base, -wingheight));
|
||||
|
|
@ -686,8 +905,8 @@ Contour3D create_base_pool(const ExPolygons &ground_layer,
|
|||
return pool;
|
||||
}
|
||||
|
||||
void create_base_pool(const ExPolygons &ground_layer, TriangleMesh& out,
|
||||
const PoolConfig& cfg)
|
||||
void create_base_pool(const Polygons &ground_layer, TriangleMesh& out,
|
||||
const ExPolygons &holes, const PoolConfig& cfg)
|
||||
{
|
||||
|
||||
|
||||
|
|
@ -697,7 +916,7 @@ void create_base_pool(const ExPolygons &ground_layer, TriangleMesh& out,
|
|||
// std::fstream fout("pad_debug.obj", std::fstream::out);
|
||||
// if(fout.good()) pool.to_obj(fout);
|
||||
|
||||
out.merge(mesh(create_base_pool(ground_layer, cfg)));
|
||||
out.merge(mesh(create_base_pool(ground_layer, holes, cfg)));
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -8,7 +8,9 @@
|
|||
namespace Slic3r {
|
||||
|
||||
class ExPolygon;
|
||||
class Polygon;
|
||||
using ExPolygons = std::vector<ExPolygon>;
|
||||
using Polygons = std::vector<Polygon>;
|
||||
|
||||
class TriangleMesh;
|
||||
|
||||
|
|
@ -19,16 +21,40 @@ using ThrowOnCancel = std::function<void(void)>;
|
|||
/// Calculate the polygon representing the silhouette from the specified height
|
||||
void base_plate(const TriangleMesh& mesh, // input mesh
|
||||
ExPolygons& output, // Output will be merged with
|
||||
float zlevel = 0.1f, // Plate creation level
|
||||
float samplingheight = 0.1f, // The height range to sample
|
||||
float layerheight = 0.05f, // The sampling height
|
||||
ThrowOnCancel thrfn = [](){}); // Will be called frequently
|
||||
|
||||
void base_plate(const TriangleMesh& mesh, // input mesh
|
||||
ExPolygons& output, // Output will be merged with
|
||||
const std::vector<float>&, // Exact Z levels to sample
|
||||
ThrowOnCancel thrfn = [](){}); // Will be called frequently
|
||||
|
||||
// Function to cut tiny connector cavities for a given polygon. The input poly
|
||||
// will be offsetted by "padding" and small rectangle shaped cavities will be
|
||||
// inserted along the perimeter in every "stride" distance. The stick rectangles
|
||||
// will have a with about "stick_width". The input dimensions are in world
|
||||
// measure, not the scaled clipper units.
|
||||
void breakstick_holes(ExPolygon &poly,
|
||||
double padding,
|
||||
double stride,
|
||||
double stick_width,
|
||||
double penetration = 0.0);
|
||||
|
||||
struct PoolConfig {
|
||||
double min_wall_thickness_mm = 2;
|
||||
double min_wall_height_mm = 5;
|
||||
double max_merge_distance_mm = 50;
|
||||
double edge_radius_mm = 1;
|
||||
double wall_slope = std::atan(1.0); // Universal constant for Pi/4
|
||||
struct EmbedObject {
|
||||
double object_gap_mm = 0.5;
|
||||
double stick_stride_mm = 10;
|
||||
double stick_width_mm = 0.3;
|
||||
double stick_penetration_mm = 0.1;
|
||||
bool enabled = false;
|
||||
operator bool() const { return enabled; }
|
||||
} embed_object;
|
||||
|
||||
ThrowOnCancel throw_on_cancel = [](){};
|
||||
|
||||
|
|
@ -42,15 +68,12 @@ struct PoolConfig {
|
|||
};
|
||||
|
||||
/// Calculate the pool for the mesh for SLA printing
|
||||
void create_base_pool(const ExPolygons& base_plate,
|
||||
void create_base_pool(const Polygons& base_plate,
|
||||
TriangleMesh& output_mesh,
|
||||
const ExPolygons& holes,
|
||||
const PoolConfig& = PoolConfig());
|
||||
|
||||
/// TODO: Currently the base plate of the pool will have half the height of the
|
||||
/// whole pool. So the carved out space has also half the height. This is not
|
||||
/// a particularly elegant solution, the thickness should be exactly
|
||||
/// min_wall_thickness and it should be corrected in the future. This method
|
||||
/// will return the correct value for further processing.
|
||||
/// Returns the elevation needed for compensating the pad.
|
||||
inline double get_pad_elevation(const PoolConfig& cfg) {
|
||||
return cfg.min_wall_thickness_mm;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -43,6 +43,8 @@ struct SupportPoint {
|
|||
|
||||
bool operator==(const SupportPoint& sp) const { return (pos==sp.pos) && head_front_radius==sp.head_front_radius && is_new_island==sp.is_new_island; }
|
||||
bool operator!=(const SupportPoint& sp) const { return !(sp == (*this)); }
|
||||
|
||||
template<class Archive> void serialize(Archive &ar) { ar(pos, head_front_radius, is_new_island); }
|
||||
};
|
||||
|
||||
/// An index-triangle structure for libIGL functions. Also serves as an
|
||||
|
|
@ -60,7 +62,7 @@ class EigenMesh3D {
|
|||
|
||||
Eigen::MatrixXd m_V;
|
||||
Eigen::MatrixXi m_F;
|
||||
double m_ground_level = 0;
|
||||
double m_ground_level = 0, m_gnd_offset = 0;
|
||||
|
||||
std::unique_ptr<AABBImpl> m_aabb;
|
||||
public:
|
||||
|
|
@ -71,7 +73,9 @@ public:
|
|||
|
||||
~EigenMesh3D();
|
||||
|
||||
inline double ground_level() const { return m_ground_level; }
|
||||
inline double ground_level() const { return m_ground_level + m_gnd_offset; }
|
||||
inline void ground_level_offset(double o) { m_gnd_offset = o; }
|
||||
inline double ground_level_offset() const { return m_gnd_offset; }
|
||||
|
||||
inline const Eigen::MatrixXd& V() const { return m_V; }
|
||||
inline const Eigen::MatrixXi& F() const { return m_F; }
|
||||
|
|
@ -149,6 +153,12 @@ public:
|
|||
#endif /* SLIC3R_SLA_NEEDS_WINDTREE */
|
||||
|
||||
double squared_distance(const Vec3d& p, int& i, Vec3d& c) const;
|
||||
inline double squared_distance(const Vec3d &p) const
|
||||
{
|
||||
int i;
|
||||
Vec3d c;
|
||||
return squared_distance(p, i, c);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -7,13 +7,15 @@
|
|||
|
||||
#include <Eigen/Geometry>
|
||||
|
||||
#include <libslic3r/BoundingBox.hpp>
|
||||
|
||||
namespace Slic3r {
|
||||
namespace sla {
|
||||
|
||||
typedef Eigen::Matrix<double, 3, 1, Eigen::DontAlign> Vec3d;
|
||||
using SpatElement = std::pair<Vec3d, unsigned>;
|
||||
using PointIndexEl = std::pair<Vec3d, unsigned>;
|
||||
|
||||
class SpatIndex {
|
||||
class PointIndex {
|
||||
class Impl;
|
||||
|
||||
// We use Pimpl because it takes a long time to compile boost headers which
|
||||
|
|
@ -21,30 +23,67 @@ class SpatIndex {
|
|||
std::unique_ptr<Impl> m_impl;
|
||||
public:
|
||||
|
||||
SpatIndex();
|
||||
~SpatIndex();
|
||||
PointIndex();
|
||||
~PointIndex();
|
||||
|
||||
SpatIndex(const SpatIndex&);
|
||||
SpatIndex(SpatIndex&&);
|
||||
SpatIndex& operator=(const SpatIndex&);
|
||||
SpatIndex& operator=(SpatIndex&&);
|
||||
PointIndex(const PointIndex&);
|
||||
PointIndex(PointIndex&&);
|
||||
PointIndex& operator=(const PointIndex&);
|
||||
PointIndex& operator=(PointIndex&&);
|
||||
|
||||
void insert(const SpatElement&);
|
||||
bool remove(const SpatElement&);
|
||||
void insert(const PointIndexEl&);
|
||||
bool remove(const PointIndexEl&);
|
||||
|
||||
inline void insert(const Vec3d& v, unsigned idx)
|
||||
{
|
||||
insert(std::make_pair(v, unsigned(idx)));
|
||||
}
|
||||
|
||||
std::vector<SpatElement> query(std::function<bool(const SpatElement&)>);
|
||||
std::vector<SpatElement> nearest(const Vec3d&, unsigned k);
|
||||
std::vector<PointIndexEl> query(std::function<bool(const PointIndexEl&)>);
|
||||
std::vector<PointIndexEl> nearest(const Vec3d&, unsigned k);
|
||||
|
||||
// For testing
|
||||
size_t size() const;
|
||||
bool empty() const { return size() == 0; }
|
||||
|
||||
void foreach(std::function<void(const SpatElement& el)> fn);
|
||||
void foreach(std::function<void(const PointIndexEl& el)> fn);
|
||||
};
|
||||
|
||||
using BoxIndexEl = std::pair<Slic3r::BoundingBox, unsigned>;
|
||||
|
||||
class BoxIndex {
|
||||
class Impl;
|
||||
|
||||
// We use Pimpl because it takes a long time to compile boost headers which
|
||||
// is the engine of this class. We include it only in the cpp file.
|
||||
std::unique_ptr<Impl> m_impl;
|
||||
public:
|
||||
|
||||
BoxIndex();
|
||||
~BoxIndex();
|
||||
|
||||
BoxIndex(const BoxIndex&);
|
||||
BoxIndex(BoxIndex&&);
|
||||
BoxIndex& operator=(const BoxIndex&);
|
||||
BoxIndex& operator=(BoxIndex&&);
|
||||
|
||||
void insert(const BoxIndexEl&);
|
||||
inline void insert(const BoundingBox& bb, unsigned idx)
|
||||
{
|
||||
insert(std::make_pair(bb, unsigned(idx)));
|
||||
}
|
||||
|
||||
bool remove(const BoxIndexEl&);
|
||||
|
||||
enum QueryType { qtIntersects, qtWithin };
|
||||
|
||||
std::vector<BoxIndexEl> query(const BoundingBox&, QueryType qt);
|
||||
|
||||
// For testing
|
||||
size_t size() const;
|
||||
bool empty() const { return size() == 0; }
|
||||
|
||||
void foreach(std::function<void(const BoxIndexEl& el)> fn);
|
||||
};
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -9,10 +9,12 @@
|
|||
#include "SLASpatIndex.hpp"
|
||||
#include "SLABasePool.hpp"
|
||||
|
||||
#include <libslic3r/MTUtils.hpp>
|
||||
#include <libslic3r/ClipperUtils.hpp>
|
||||
#include <libslic3r/Model.hpp>
|
||||
|
||||
#include <libnest2d/optimizers/nlopt/genetic.hpp>
|
||||
#include <libnest2d/optimizers/nlopt/subplex.hpp>
|
||||
#include <boost/log/trivial.hpp>
|
||||
#include <tbb/parallel_for.h>
|
||||
#include <libslic3r/I18N.hpp>
|
||||
|
|
@ -413,7 +415,7 @@ struct Pillar {
|
|||
assert(steps > 0);
|
||||
|
||||
height = jp(Z) - endp(Z);
|
||||
if(height > 0) { // Endpoint is below the starting point
|
||||
if(height > EPSILON) { // Endpoint is below the starting point
|
||||
|
||||
// We just create a bridge geometry with the pillar parameters and
|
||||
// move the data.
|
||||
|
|
@ -528,6 +530,7 @@ struct CompactBridge {
|
|||
const Vec3d& ep,
|
||||
const Vec3d& n,
|
||||
double r,
|
||||
bool endball = true,
|
||||
size_t steps = 45)
|
||||
{
|
||||
Vec3d startp = sp + r * n;
|
||||
|
|
@ -541,12 +544,14 @@ struct CompactBridge {
|
|||
double fa = 2*PI/steps;
|
||||
auto upperball = sphere(r, Portion{PI / 2 - fa, PI}, fa);
|
||||
for(auto& p : upperball.points) p += startp;
|
||||
|
||||
auto lowerball = sphere(r, Portion{0, PI/2 + 2*fa}, fa);
|
||||
for(auto& p : lowerball.points) p += endp;
|
||||
|
||||
|
||||
if(endball) {
|
||||
auto lowerball = sphere(r, Portion{0, PI/2 + 2*fa}, fa);
|
||||
for(auto& p : lowerball.points) p += endp;
|
||||
mesh.merge(lowerball);
|
||||
}
|
||||
|
||||
mesh.merge(upperball);
|
||||
mesh.merge(lowerball);
|
||||
}
|
||||
};
|
||||
|
||||
|
|
@ -556,28 +561,111 @@ struct Pad {
|
|||
PoolConfig cfg;
|
||||
double zlevel = 0;
|
||||
|
||||
Pad() {}
|
||||
Pad() = default;
|
||||
|
||||
Pad(const TriangleMesh& object_support_mesh,
|
||||
const ExPolygons& baseplate,
|
||||
Pad(const TriangleMesh& support_mesh,
|
||||
const ExPolygons& modelbase,
|
||||
double ground_level,
|
||||
const PoolConfig& pcfg) :
|
||||
cfg(pcfg),
|
||||
zlevel(ground_level +
|
||||
(sla::get_pad_fullheight(pcfg) - sla::get_pad_elevation(pcfg)) )
|
||||
zlevel(ground_level +
|
||||
sla::get_pad_fullheight(pcfg) -
|
||||
sla::get_pad_elevation(pcfg))
|
||||
{
|
||||
ExPolygons basep;
|
||||
cfg.throw_on_cancel();
|
||||
Polygons basep;
|
||||
auto &thr = cfg.throw_on_cancel;
|
||||
|
||||
thr();
|
||||
|
||||
// Get a sample for the pad from the support mesh
|
||||
{
|
||||
ExPolygons platetmp;
|
||||
|
||||
// The 0.1f is the layer height with which the mesh is sampled and then
|
||||
// the layers are unified into one vector of polygons.
|
||||
base_plate(object_support_mesh, basep,
|
||||
float(cfg.min_wall_height_mm + cfg.min_wall_thickness_mm),
|
||||
0.1f, pcfg.throw_on_cancel);
|
||||
float zstart = float(zlevel);
|
||||
float zend = zstart + float(get_pad_fullheight(pcfg) + EPSILON);
|
||||
|
||||
for(auto& bp : baseplate) basep.emplace_back(bp);
|
||||
base_plate(support_mesh, platetmp, grid(zstart, zend, 0.1f), thr);
|
||||
|
||||
// We don't need no... holes control...
|
||||
for (const ExPolygon &bp : platetmp)
|
||||
basep.emplace_back(std::move(bp.contour));
|
||||
}
|
||||
|
||||
if(pcfg.embed_object) {
|
||||
|
||||
// If the zero elevation mode is ON, we need to process the model
|
||||
// base silhouette. Create the offsetted version and punch the
|
||||
// breaksticks across its perimeter.
|
||||
|
||||
ExPolygons modelbase_offs = modelbase;
|
||||
|
||||
if (pcfg.embed_object.object_gap_mm > 0.0)
|
||||
modelbase_offs
|
||||
= offset_ex(modelbase_offs,
|
||||
float(scaled(pcfg.embed_object.object_gap_mm)));
|
||||
|
||||
// Create a spatial index of the support silhouette polygons.
|
||||
// This will be used to check for intersections with the model
|
||||
// silhouette polygons. If there is no intersection, then a certain
|
||||
// part of the pad is redundant as it does not host any supports.
|
||||
BoxIndex bindex;
|
||||
{
|
||||
unsigned idx = 0;
|
||||
for(auto &bp : basep) {
|
||||
auto bb = bp.bounding_box();
|
||||
bb.offset(float(scaled(pcfg.min_wall_thickness_mm)));
|
||||
bindex.insert(bb, idx++);
|
||||
}
|
||||
}
|
||||
|
||||
// Punching the breaksticks across the offsetted polygon perimeters
|
||||
ExPolygons pad_stickholes; pad_stickholes.reserve(modelbase.size());
|
||||
for(auto& poly : modelbase_offs) {
|
||||
|
||||
std::vector<BoxIndexEl> qres =
|
||||
bindex.query(poly.contour.bounding_box(),
|
||||
BoxIndex::qtIntersects);
|
||||
|
||||
if (!qres.empty()) {
|
||||
|
||||
// The model silhouette polygon 'poly' HAS an intersection
|
||||
// with the support silhouettes. Include this polygon
|
||||
// in the pad holes with the breaksticks and merge the
|
||||
// original (offsetted) version with the rest of the pad
|
||||
// base plate.
|
||||
|
||||
basep.emplace_back(poly.contour);
|
||||
|
||||
// The holes of 'poly' will become positive parts of the
|
||||
// pad, so they has to be checked for intersections as well
|
||||
// and erased if there is no intersection with the supports
|
||||
auto it = poly.holes.begin();
|
||||
while(it != poly.holes.end()) {
|
||||
if (bindex.query(it->bounding_box(),
|
||||
BoxIndex::qtIntersects).empty())
|
||||
it = poly.holes.erase(it);
|
||||
else
|
||||
++it;
|
||||
}
|
||||
|
||||
// Punch the breaksticks
|
||||
sla::breakstick_holes(
|
||||
poly,
|
||||
pcfg.embed_object.object_gap_mm, // padding
|
||||
pcfg.embed_object.stick_stride_mm,
|
||||
pcfg.embed_object.stick_width_mm,
|
||||
pcfg.embed_object.stick_penetration_mm);
|
||||
|
||||
pad_stickholes.emplace_back(poly);
|
||||
}
|
||||
}
|
||||
|
||||
create_base_pool(basep, tmesh, pad_stickholes, cfg);
|
||||
} else {
|
||||
for (const ExPolygon &bp : modelbase) basep.emplace_back(bp.contour);
|
||||
create_base_pool(basep, tmesh, {}, cfg);
|
||||
}
|
||||
|
||||
create_base_pool(basep, tmesh, cfg);
|
||||
tmesh.translate(0, 0, float(zlevel));
|
||||
}
|
||||
|
||||
|
|
@ -603,7 +691,7 @@ inline Vec2d to_vec2(const Vec3d& v3) {
|
|||
return {v3(X), v3(Y)};
|
||||
}
|
||||
|
||||
bool operator==(const SpatElement& e1, const SpatElement& e2) {
|
||||
bool operator==(const PointIndexEl& e1, const PointIndexEl& e2) {
|
||||
return e1.second == e2.second;
|
||||
}
|
||||
|
||||
|
|
@ -620,7 +708,7 @@ ClusteredPoints cluster(const PointSet& points,
|
|||
ClusteredPoints cluster(
|
||||
const std::vector<unsigned>& indices,
|
||||
std::function<Vec3d(unsigned)> pointfn,
|
||||
std::function<bool(const SpatElement&, const SpatElement&)> predicate,
|
||||
std::function<bool(const PointIndexEl&, const PointIndexEl&)> predicate,
|
||||
unsigned max_points);
|
||||
|
||||
// This class will hold the support tree meshes with some additional bookkeeping
|
||||
|
|
@ -763,9 +851,9 @@ public:
|
|||
}
|
||||
|
||||
const Pad& create_pad(const TriangleMesh& object_supports,
|
||||
const ExPolygons& baseplate,
|
||||
const ExPolygons& modelbase,
|
||||
const PoolConfig& cfg) {
|
||||
m_pad = Pad(object_supports, baseplate, ground_level, cfg);
|
||||
m_pad = Pad(object_supports, modelbase, ground_level, cfg);
|
||||
return m_pad;
|
||||
}
|
||||
|
||||
|
|
@ -808,7 +896,6 @@ public:
|
|||
merged.merge(bs.mesh);
|
||||
}
|
||||
|
||||
|
||||
if(m_ctl.stopcondition()) {
|
||||
// In case of failure we have to return an empty mesh
|
||||
meshcache = TriangleMesh();
|
||||
|
|
@ -819,7 +906,7 @@ public:
|
|||
|
||||
// The mesh will be passed by const-pointer to TriangleMeshSlicer,
|
||||
// which will need this.
|
||||
meshcache.require_shared_vertices();
|
||||
if (!meshcache.empty()) meshcache.require_shared_vertices();
|
||||
|
||||
// TODO: Is this necessary?
|
||||
//meshcache.repair();
|
||||
|
|
@ -947,7 +1034,7 @@ class SLASupportTree::Algorithm {
|
|||
ThrowOnCancel m_thr;
|
||||
|
||||
// A spatial index to easily find strong pillars to connect to.
|
||||
SpatIndex m_pillar_index;
|
||||
PointIndex m_pillar_index;
|
||||
|
||||
inline double ray_mesh_intersect(const Vec3d& s,
|
||||
const Vec3d& dir)
|
||||
|
|
@ -1149,7 +1236,7 @@ class SLASupportTree::Algorithm {
|
|||
auto hr = m.query_ray_hit(p + sd*dir, dir);
|
||||
|
||||
if(ins_check && hr.is_inside()) {
|
||||
if(hr.distance() > r + sd) hits[i] = HitResult(0.0);
|
||||
if(hr.distance() > 2 * r + sd) hits[i] = HitResult(0.0);
|
||||
else {
|
||||
// re-cast the ray from the outside of the object
|
||||
auto hr2 =
|
||||
|
|
@ -1264,9 +1351,12 @@ class SLASupportTree::Algorithm {
|
|||
|
||||
// For connecting a head to a nearby pillar.
|
||||
bool connect_to_nearpillar(const Head& head, long nearpillar_id) {
|
||||
|
||||
auto nearpillar = [this, nearpillar_id]() { return m_result.pillar(nearpillar_id); };
|
||||
if(nearpillar().bridges > m_cfg.max_bridges_on_pillar) return false;
|
||||
|
||||
auto nearpillar = [this, nearpillar_id]() {
|
||||
return m_result.pillar(nearpillar_id);
|
||||
};
|
||||
|
||||
if (nearpillar().bridges > m_cfg.max_bridges_on_pillar) return false;
|
||||
|
||||
Vec3d headjp = head.junction_point();
|
||||
Vec3d nearjp_u = nearpillar().startpoint();
|
||||
|
|
@ -1337,7 +1427,7 @@ class SLASupportTree::Algorithm {
|
|||
}
|
||||
|
||||
bool search_pillar_and_connect(const Head& head) {
|
||||
SpatIndex spindex = m_pillar_index;
|
||||
PointIndex spindex = m_pillar_index;
|
||||
|
||||
long nearest_id = -1;
|
||||
|
||||
|
|
@ -1369,6 +1459,120 @@ class SLASupportTree::Algorithm {
|
|||
|
||||
return nearest_id >= 0;
|
||||
}
|
||||
|
||||
// This is a proxy function for pillar creation which will mind the gap
|
||||
// between the pad and the model bottom in zero elevation mode.
|
||||
void create_ground_pillar(const Vec3d &jp,
|
||||
const Vec3d &sourcedir,
|
||||
double radius,
|
||||
int head_id = -1)
|
||||
{
|
||||
// People were killed for this number (seriously)
|
||||
static const double SQR2 = std::sqrt(2.0);
|
||||
static const Vec3d DOWN = {0.0, 0.0, -1.0};
|
||||
|
||||
double gndlvl = m_result.ground_level;
|
||||
Vec3d endp = {jp(X), jp(Y), gndlvl};
|
||||
double sd = m_cfg.pillar_base_safety_distance_mm;
|
||||
int pillar_id = -1;
|
||||
double min_dist = sd + m_cfg.base_radius_mm + EPSILON;
|
||||
double dist = 0;
|
||||
bool can_add_base = true;
|
||||
bool normal_mode = true;
|
||||
|
||||
if (m_cfg.object_elevation_mm < EPSILON
|
||||
&& (dist = std::sqrt(m_mesh.squared_distance(endp))) < min_dist) {
|
||||
// Get the distance from the mesh. This can be later optimized
|
||||
// to get the distance in 2D plane because we are dealing with
|
||||
// the ground level only.
|
||||
|
||||
normal_mode = false;
|
||||
double mv = min_dist - dist;
|
||||
double azimuth = std::atan2(sourcedir(Y), sourcedir(X));
|
||||
double sinpolar = std::sin(PI - m_cfg.bridge_slope);
|
||||
double cospolar = std::cos(PI - m_cfg.bridge_slope);
|
||||
double cosazm = std::cos(azimuth);
|
||||
double sinazm = std::sin(azimuth);
|
||||
|
||||
auto dir = Vec3d(cosazm * sinpolar, sinazm * sinpolar, cospolar)
|
||||
.normalized();
|
||||
|
||||
using namespace libnest2d::opt;
|
||||
StopCriteria scr;
|
||||
scr.stop_score = min_dist;
|
||||
SubplexOptimizer solver(scr);
|
||||
|
||||
auto result = solver.optimize_max(
|
||||
[this, dir, jp, gndlvl](double mv) {
|
||||
Vec3d endp = jp + SQR2 * mv * dir;
|
||||
endp(Z) = gndlvl;
|
||||
return std::sqrt(m_mesh.squared_distance(endp));
|
||||
},
|
||||
initvals(mv), bound(0.0, 2 * min_dist));
|
||||
|
||||
mv = std::get<0>(result.optimum);
|
||||
endp = jp + SQR2 * mv * dir;
|
||||
Vec3d pgnd = {endp(X), endp(Y), gndlvl};
|
||||
can_add_base = result.score > min_dist;
|
||||
|
||||
double gnd_offs = m_mesh.ground_level_offset();
|
||||
auto abort_in_shame =
|
||||
[gnd_offs, &normal_mode, &can_add_base, &endp, jp, gndlvl]()
|
||||
{
|
||||
normal_mode = true;
|
||||
can_add_base = false; // Nothing left to do, hope for the best
|
||||
endp = {jp(X), jp(Y), gndlvl - gnd_offs };
|
||||
};
|
||||
|
||||
// We have to check if the bridge is feasible.
|
||||
if (bridge_mesh_intersect(jp, dir, radius) < (endp - jp).norm())
|
||||
abort_in_shame();
|
||||
else {
|
||||
// If the new endpoint is below ground, do not make a pillar
|
||||
if (endp(Z) < gndlvl)
|
||||
endp = endp - SQR2 * (gndlvl - endp(Z)) * dir; // back off
|
||||
else {
|
||||
|
||||
auto hit = bridge_mesh_intersect(endp, DOWN, radius);
|
||||
if (!std::isinf(hit.distance())) abort_in_shame();
|
||||
|
||||
Pillar &plr = m_result.add_pillar(endp, pgnd, radius);
|
||||
|
||||
if (can_add_base)
|
||||
plr.add_base(m_cfg.base_height_mm,
|
||||
m_cfg.base_radius_mm);
|
||||
|
||||
pillar_id = plr.id;
|
||||
}
|
||||
|
||||
m_result.add_bridge(jp, endp, radius);
|
||||
m_result.add_junction(endp, radius);
|
||||
|
||||
// Add a degenerated pillar and the bridge.
|
||||
// The degenerate pillar will have zero length and it will
|
||||
// prevent from queries of head_pillar() to have non-existing
|
||||
// pillar when the head should have one.
|
||||
if (head_id >= 0)
|
||||
m_result.add_pillar(unsigned(head_id), jp, radius);
|
||||
}
|
||||
}
|
||||
|
||||
if (normal_mode) {
|
||||
Pillar &plr = head_id >= 0
|
||||
? m_result.add_pillar(unsigned(head_id),
|
||||
endp,
|
||||
radius)
|
||||
: m_result.add_pillar(jp, endp, radius);
|
||||
|
||||
if (can_add_base)
|
||||
plr.add_base(m_cfg.base_height_mm, m_cfg.base_radius_mm);
|
||||
|
||||
pillar_id = plr.id;
|
||||
}
|
||||
|
||||
if(pillar_id >= 0) // Save the pillar endpoint in the spatial index
|
||||
m_pillar_index.insert(endp, pillar_id);
|
||||
}
|
||||
|
||||
public:
|
||||
|
||||
|
|
@ -1447,9 +1651,9 @@ public:
|
|||
// (Quaternion::FromTwoVectors) and apply the rotation to the
|
||||
// arrow head.
|
||||
|
||||
double z = n(2);
|
||||
double r = 1.0; // for normalized vector
|
||||
double polar = std::acos(z / r);
|
||||
double z = n(2);
|
||||
double r = 1.0; // for normalized vector
|
||||
double polar = std::acos(z / r);
|
||||
double azimuth = std::atan2(n(1), n(0));
|
||||
|
||||
// skip if the tilt is not sane
|
||||
|
|
@ -1473,14 +1677,14 @@ public:
|
|||
std::cos(polar)).normalized();
|
||||
|
||||
// check available distance
|
||||
double t = pinhead_mesh_intersect(
|
||||
hp, // touching point
|
||||
nn, // normal
|
||||
pin_r,
|
||||
m_cfg.head_back_radius_mm,
|
||||
w);
|
||||
EigenMesh3D::hit_result t
|
||||
= pinhead_mesh_intersect(hp, // touching point
|
||||
nn, // normal
|
||||
pin_r,
|
||||
m_cfg.head_back_radius_mm,
|
||||
w);
|
||||
|
||||
if(t <= w) {
|
||||
if(t.distance() <= w) {
|
||||
|
||||
// Let's try to optimize this angle, there might be a
|
||||
// viable normal that doesn't collide with the model
|
||||
|
|
@ -1523,12 +1727,17 @@ public:
|
|||
// save the verified and corrected normal
|
||||
m_support_nmls.row(fidx) = nn;
|
||||
|
||||
if(t > w) {
|
||||
// mark the point for needing a head.
|
||||
m_iheads.emplace_back(fidx);
|
||||
} else if( polar >= 3*PI/4 ) {
|
||||
// Headless supports do not tilt like the headed ones so
|
||||
// the normal should point almost to the ground.
|
||||
if (t.distance() > w) {
|
||||
// Check distance from ground, we might have zero elevation.
|
||||
if (hp(Z) + w * nn(Z) < m_result.ground_level) {
|
||||
m_iheadless.emplace_back(fidx);
|
||||
} else {
|
||||
// mark the point for needing a head.
|
||||
m_iheads.emplace_back(fidx);
|
||||
}
|
||||
} else if (polar >= 3 * PI / 4) {
|
||||
// Headless supports do not tilt like the headed ones
|
||||
// so the normal should point almost to the ground.
|
||||
m_iheadless.emplace_back(fidx);
|
||||
}
|
||||
}
|
||||
|
|
@ -1594,16 +1803,22 @@ public:
|
|||
// from each other in the XY plane to not cross their pillar bases
|
||||
// These clusters of support points will join in one pillar,
|
||||
// possibly in their centroid support point.
|
||||
|
||||
auto pointfn = [this](unsigned i) {
|
||||
return m_result.head(i).junction_point();
|
||||
};
|
||||
auto predicate = [this](const SpatElement& e1, const SpatElement& e2) {
|
||||
|
||||
auto predicate = [this](const PointIndexEl &e1,
|
||||
const PointIndexEl &e2) {
|
||||
double d2d = distance(to_2d(e1.first), to_2d(e2.first));
|
||||
double d3d = distance(e1.first, e2.first);
|
||||
return d2d < 2 * m_cfg.base_radius_mm &&
|
||||
d3d < m_cfg.max_bridge_length_mm;
|
||||
return d2d < 2 * m_cfg.base_radius_mm
|
||||
&& d3d < m_cfg.max_bridge_length_mm;
|
||||
};
|
||||
m_pillar_clusters = cluster(ground_head_indices, pointfn, predicate,
|
||||
|
||||
m_pillar_clusters = cluster(ground_head_indices,
|
||||
pointfn,
|
||||
predicate,
|
||||
m_cfg.max_bridges_on_pillar);
|
||||
}
|
||||
|
||||
|
|
@ -1615,7 +1830,7 @@ public:
|
|||
void routing_to_ground()
|
||||
{
|
||||
const double pradius = m_cfg.head_back_radius_mm;
|
||||
const double gndlvl = m_result.ground_level;
|
||||
// const double gndlvl = m_result.ground_level;
|
||||
|
||||
ClusterEl cl_centroids;
|
||||
cl_centroids.reserve(m_pillar_clusters.size());
|
||||
|
|
@ -1648,13 +1863,8 @@ public:
|
|||
|
||||
Head& h = m_result.head(hid);
|
||||
h.transform();
|
||||
Vec3d p = h.junction_point(); p(Z) = gndlvl;
|
||||
auto& plr = m_result.add_pillar(hid, p, h.r_back_mm)
|
||||
.add_base(m_cfg.base_height_mm,
|
||||
m_cfg.base_radius_mm);
|
||||
|
||||
// Save the pillar endpoint and the pillar id in the spatial index
|
||||
m_pillar_index.insert(plr.endpoint(), unsigned(plr.id));
|
||||
create_ground_pillar(h.junction_point(), h.dir, h.r_back_mm, h.id);
|
||||
}
|
||||
|
||||
// now we will go through the clusters ones again and connect the
|
||||
|
|
@ -1681,15 +1891,12 @@ public:
|
|||
!search_pillar_and_connect(sidehead))
|
||||
{
|
||||
Vec3d pstart = sidehead.junction_point();
|
||||
Vec3d pend = Vec3d{pstart(X), pstart(Y), gndlvl};
|
||||
//Vec3d pend = Vec3d{pstart(X), pstart(Y), gndlvl};
|
||||
// Could not find a pillar, create one
|
||||
auto& pillar = m_result.add_pillar(unsigned(sidehead.id),
|
||||
pend, pradius)
|
||||
.add_base(m_cfg.base_height_mm,
|
||||
m_cfg.base_radius_mm);
|
||||
|
||||
// connects to ground, eligible for bridging
|
||||
m_pillar_index.insert(pend, unsigned(pillar.id));
|
||||
create_ground_pillar(pstart,
|
||||
sidehead.dir,
|
||||
pradius,
|
||||
sidehead.id);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1718,12 +1925,7 @@ public:
|
|||
m_result.add_bridge(hjp, endp, head.r_back_mm);
|
||||
m_result.add_junction(endp, head.r_back_mm);
|
||||
|
||||
auto groundp = endp;
|
||||
groundp(Z) = m_result.ground_level;
|
||||
auto& newpillar = m_result.add_pillar(endp, groundp, head.r_back_mm)
|
||||
.add_base(m_cfg.base_height_mm,
|
||||
m_cfg.base_radius_mm);
|
||||
m_pillar_index.insert(groundp, unsigned(newpillar.id));
|
||||
this->create_ground_pillar(endp, dir, head.r_back_mm);
|
||||
};
|
||||
|
||||
std::vector<unsigned> modelpillars;
|
||||
|
|
@ -1883,6 +2085,28 @@ public:
|
|||
m_pillar_index.insert(pillar.endpoint(), pillid);
|
||||
}
|
||||
}
|
||||
|
||||
// Helper function for interconnect_pillars where pairs of already connected
|
||||
// pillars should be checked for not to be processed again. This can be done
|
||||
// in O(log) or even constant time with a set or an unordered set of hash
|
||||
// values uniquely representing a pair of integers. The order of numbers
|
||||
// within the pair should not matter, it has the same unique hash.
|
||||
template<class I> static I pairhash(I a, I b)
|
||||
{
|
||||
using std::ceil; using std::log2; using std::max; using std::min;
|
||||
|
||||
static_assert(std::is_integral<I>::value,
|
||||
"This function works only for integral types.");
|
||||
|
||||
I g = min(a, b), l = max(a, b);
|
||||
|
||||
auto bits_g = g ? int(ceil(log2(g))) : 0;
|
||||
|
||||
// Assume the hash will fit into the output variable
|
||||
assert((l ? (ceil(log2(l))) : 0) + bits_g < int(sizeof(I) * CHAR_BIT));
|
||||
|
||||
return (l << bits_g) + g;
|
||||
}
|
||||
|
||||
void interconnect_pillars() {
|
||||
// Now comes the algorithm that connects pillars with each other.
|
||||
|
|
@ -1900,45 +2124,51 @@ public:
|
|||
double min_height_ratio = 0.5;
|
||||
|
||||
std::set<unsigned long> pairs;
|
||||
|
||||
|
||||
// A function to connect one pillar with its neighbors. THe number of
|
||||
// neighbors is given in the configuration. This function if called
|
||||
// for every pillar in the pillar index. A pair of pillar will not
|
||||
// be connected multiple times this is ensured by the 'pairs' set which
|
||||
// remembers the processed pillar pairs
|
||||
auto cascadefn =
|
||||
[this, d, &pairs, min_height_ratio, H1] (const SpatElement& el)
|
||||
[this, d, &pairs, min_height_ratio, H1] (const PointIndexEl& el)
|
||||
{
|
||||
Vec3d qp = el.first;
|
||||
|
||||
const Pillar& pillar = m_result.pillar(el.second);
|
||||
Vec3d qp = el.first; // endpoint of the pillar
|
||||
|
||||
const Pillar& pillar = m_result.pillar(el.second); // actual pillar
|
||||
|
||||
// Get the max number of neighbors a pillar should connect to
|
||||
unsigned neighbors = m_cfg.pillar_cascade_neighbors;
|
||||
|
||||
// connections are enough for one pillar
|
||||
// connections are already enough for the pillar
|
||||
if(pillar.links >= neighbors) return;
|
||||
|
||||
// Query all remaining points within reach
|
||||
auto qres = m_pillar_index.query([qp, d](const SpatElement& e){
|
||||
auto qres = m_pillar_index.query([qp, d](const PointIndexEl& e){
|
||||
return distance(e.first, qp) < d;
|
||||
});
|
||||
|
||||
// sort the result by distance (have to check if this is needed)
|
||||
std::sort(qres.begin(), qres.end(),
|
||||
[qp](const SpatElement& e1, const SpatElement& e2){
|
||||
[qp](const PointIndexEl& e1, const PointIndexEl& e2){
|
||||
return distance(e1.first, qp) < distance(e2.first, qp);
|
||||
});
|
||||
|
||||
for(auto& re : qres) {
|
||||
for(auto& re : qres) { // process the queried neighbors
|
||||
|
||||
if(re.second == el.second) continue;
|
||||
if(re.second == el.second) continue; // Skip self
|
||||
|
||||
auto a = el.second, b = re.second;
|
||||
|
||||
// I hope that the area of a square is never equal to its
|
||||
// circumference
|
||||
auto hashval = 2 * (a + b) + a * b;
|
||||
|
||||
// Get unique hash for the given pair (order doesn't matter)
|
||||
auto hashval = pairhash(a, b);
|
||||
|
||||
// Search for the pair amongst the remembered pairs
|
||||
if(pairs.find(hashval) != pairs.end()) continue;
|
||||
|
||||
const Pillar& neighborpillar = m_result.pillars()[re.second];
|
||||
|
||||
// this neighbor is occupied
|
||||
// this neighbor is occupied, skip
|
||||
if(neighborpillar.links >= neighbors) continue;
|
||||
|
||||
if(interconnect(pillar, neighborpillar)) {
|
||||
|
|
@ -1960,47 +2190,79 @@ public:
|
|||
if(pillar.links >= neighbors) break;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
// Run the cascade for the pillars in the index
|
||||
m_pillar_index.foreach(cascadefn);
|
||||
|
||||
|
||||
// We would be done here if we could allow some pillars to not be
|
||||
// connected with any neighbors. But this might leave the support tree
|
||||
// unprintable.
|
||||
//
|
||||
// The current solution is to insert additional pillars next to these
|
||||
// lonely pillars. One or even two additional pillar might get inserted
|
||||
// depending on the length of the lonely pillar.
|
||||
|
||||
size_t pillarcount = m_result.pillars().size();
|
||||
|
||||
|
||||
// Again, go through all pillars, this time in the whole support tree
|
||||
// not just the index.
|
||||
for(size_t pid = 0; pid < pillarcount; pid++) {
|
||||
auto pillar = [this, pid]() { return m_result.pillar(pid); };
|
||||
|
||||
|
||||
// Decide how many additional pillars will be needed:
|
||||
|
||||
unsigned needpillars = 0;
|
||||
if(pillar().bridges > m_cfg.max_bridges_on_pillar) needpillars = 3;
|
||||
else if(pillar().links < 2 && pillar().height > H2) {
|
||||
if (pillar().bridges > m_cfg.max_bridges_on_pillar)
|
||||
needpillars = 3;
|
||||
else if (pillar().links < 2 && pillar().height > H2) {
|
||||
// Not enough neighbors to support this pillar
|
||||
needpillars = 2 - pillar().links;
|
||||
}
|
||||
else if(pillar().links < 1 && pillar().height > H1) {
|
||||
} else if (pillar().links < 1 && pillar().height > H1) {
|
||||
// No neighbors could be found and the pillar is too long.
|
||||
needpillars = 1;
|
||||
}
|
||||
|
||||
// Search for new pillar locations
|
||||
bool found = false;
|
||||
double alpha = 0; // goes to 2Pi
|
||||
double r = 2 * m_cfg.base_radius_mm;
|
||||
Vec3d pillarsp = pillar().startpoint();
|
||||
// Search for new pillar locations:
|
||||
|
||||
bool found = false;
|
||||
double alpha = 0; // goes to 2Pi
|
||||
double r = 2 * m_cfg.base_radius_mm;
|
||||
Vec3d pillarsp = pillar().startpoint();
|
||||
|
||||
// temp value for starting point detection
|
||||
Vec3d sp(pillarsp(X), pillarsp(Y), pillarsp(Z) - r);
|
||||
std::vector<bool> tv(needpillars, false);
|
||||
std::vector<Vec3d> spts(needpillars);
|
||||
|
||||
// A vector of bool for placement feasbility
|
||||
std::vector<bool> canplace(needpillars, false);
|
||||
std::vector<Vec3d> spts(needpillars); // vector of starting points
|
||||
|
||||
double gnd = m_result.ground_level;
|
||||
double min_dist = m_cfg.pillar_base_safety_distance_mm +
|
||||
m_cfg.base_radius_mm + EPSILON;
|
||||
|
||||
while(!found && alpha < 2*PI) {
|
||||
|
||||
for(unsigned n = 0; n < needpillars; n++) {
|
||||
double a = alpha + n * PI/3;
|
||||
Vec3d s = sp;
|
||||
for (unsigned n = 0;
|
||||
n < needpillars && (!n || canplace[n - 1]);
|
||||
n++)
|
||||
{
|
||||
double a = alpha + n * PI / 3;
|
||||
Vec3d s = sp;
|
||||
s(X) += std::cos(a) * r;
|
||||
s(Y) += std::sin(a) * r;
|
||||
spts[n] = s;
|
||||
|
||||
// Check the path vertically down
|
||||
auto hr = bridge_mesh_intersect(s, {0, 0, -1}, pillar().r);
|
||||
tv[n] = std::isinf(hr.distance());
|
||||
Vec3d gndsp{s(X), s(Y), gnd};
|
||||
|
||||
// If the path is clear, check for pillar base collisions
|
||||
canplace[n] = std::isinf(hr.distance()) &&
|
||||
std::sqrt(m_mesh.squared_distance(gndsp)) >
|
||||
min_dist;
|
||||
}
|
||||
|
||||
found = std::all_of(tv.begin(), tv.end(), [](bool v){return v;});
|
||||
found = std::all_of(canplace.begin(), canplace.end(),
|
||||
[](bool v) { return v; });
|
||||
|
||||
// 20 angles will be tried...
|
||||
alpha += 0.1 * PI;
|
||||
|
|
@ -2010,7 +2272,7 @@ public:
|
|||
newpills.reserve(needpillars);
|
||||
|
||||
if(found) for(unsigned n = 0; n < needpillars; n++) {
|
||||
Vec3d s = spts[n]; double gnd = m_result.ground_level;
|
||||
Vec3d s = spts[n];
|
||||
Pillar p(s, Vec3d(s(X), s(Y), gnd), pillar().r);
|
||||
p.add_base(m_cfg.base_height_mm, m_cfg.base_radius_mm);
|
||||
|
||||
|
|
@ -2075,9 +2337,13 @@ public:
|
|||
// This is only for checking
|
||||
double idist = bridge_mesh_intersect(sph, dir, R, true);
|
||||
double dist = ray_mesh_intersect(sj, dir);
|
||||
if (std::isinf(dist))
|
||||
dist = sph(Z) - m_mesh.ground_level()
|
||||
+ m_mesh.ground_level_offset();
|
||||
|
||||
if(std::isinf(idist) || std::isnan(idist) || idist < 2*R ||
|
||||
std::isinf(dist) || std::isnan(dist) || dist < 2*R) {
|
||||
if(std::isnan(idist) || idist < 2*R ||
|
||||
std::isnan(dist) || dist < 2*R)
|
||||
{
|
||||
BOOST_LOG_TRIVIAL(warning) << "Can not find route for headless"
|
||||
<< " support stick at: "
|
||||
<< sj.transpose();
|
||||
|
|
@ -2085,7 +2351,7 @@ public:
|
|||
}
|
||||
|
||||
Vec3d ej = sj + (dist + HWIDTH_MM)* dir;
|
||||
m_result.add_compact_bridge(sp, ej, n, R);
|
||||
m_result.add_compact_bridge(sp, ej, n, R, !std::isinf(dist));
|
||||
}
|
||||
}
|
||||
};
|
||||
|
|
@ -2214,7 +2480,9 @@ bool SLASupportTree::generate(const std::vector<SupportPoint> &support_points,
|
|||
return pc == ABORT;
|
||||
}
|
||||
|
||||
SLASupportTree::SLASupportTree(): m_impl(new Impl()) {}
|
||||
SLASupportTree::SLASupportTree(double gnd_lvl): m_impl(new Impl()) {
|
||||
m_impl->ground_level = gnd_lvl;
|
||||
}
|
||||
|
||||
const TriangleMesh &SLASupportTree::merged_mesh() const
|
||||
{
|
||||
|
|
@ -2226,7 +2494,7 @@ void SLASupportTree::merged_mesh_with_pad(TriangleMesh &outmesh) const {
|
|||
outmesh.merge(get_pad());
|
||||
}
|
||||
|
||||
SlicedSupports SLASupportTree::slice(float layerh, float init_layerh) const
|
||||
std::vector<ExPolygons> SLASupportTree::slice(float layerh, float init_layerh) const
|
||||
{
|
||||
if(init_layerh < 0) init_layerh = layerh;
|
||||
auto& stree = get();
|
||||
|
|
@ -2245,36 +2513,31 @@ SlicedSupports SLASupportTree::slice(float layerh, float init_layerh) const
|
|||
|
||||
TriangleMesh fullmesh = m_impl->merged_mesh();
|
||||
fullmesh.merge(get_pad());
|
||||
fullmesh.require_shared_vertices(); // TriangleMeshSlicer needs this
|
||||
if (!fullmesh.empty()) fullmesh.require_shared_vertices();
|
||||
TriangleMeshSlicer slicer(&fullmesh);
|
||||
SlicedSupports ret;
|
||||
std::vector<ExPolygons> ret;
|
||||
slicer.slice(heights, 0.f, &ret, get().ctl().cancelfn);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
SlicedSupports SLASupportTree::slice(const std::vector<float> &heights,
|
||||
std::vector<ExPolygons> SLASupportTree::slice(const std::vector<float> &heights,
|
||||
float cr) const
|
||||
{
|
||||
TriangleMesh fullmesh = m_impl->merged_mesh();
|
||||
fullmesh.merge(get_pad());
|
||||
fullmesh.require_shared_vertices(); // TriangleMeshSlicer needs this
|
||||
if (!fullmesh.empty()) fullmesh.require_shared_vertices();
|
||||
TriangleMeshSlicer slicer(&fullmesh);
|
||||
SlicedSupports ret;
|
||||
std::vector<ExPolygons> ret;
|
||||
slicer.slice(heights, cr, &ret, get().ctl().cancelfn);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
const TriangleMesh &SLASupportTree::add_pad(const SliceLayer& baseplate,
|
||||
const TriangleMesh &SLASupportTree::add_pad(const ExPolygons& modelbase,
|
||||
const PoolConfig& pcfg) const
|
||||
{
|
||||
// PoolConfig pcfg;
|
||||
// pcfg.min_wall_thickness_mm = min_wall_thickness_mm;
|
||||
// pcfg.min_wall_height_mm = min_wall_height_mm;
|
||||
// pcfg.max_merge_distance_mm = max_merge_distance_mm;
|
||||
// pcfg.edge_radius_mm = edge_radius_mm;
|
||||
return m_impl->create_pad(merged_mesh(), baseplate, pcfg).tmesh;
|
||||
return m_impl->create_pad(merged_mesh(), modelbase, pcfg).tmesh;
|
||||
}
|
||||
|
||||
const TriangleMesh &SLASupportTree::get_pad() const
|
||||
|
|
|
|||
|
|
@ -24,10 +24,11 @@ class TriangleMesh;
|
|||
class Model;
|
||||
class ModelInstance;
|
||||
class ModelObject;
|
||||
class Polygon;
|
||||
class ExPolygon;
|
||||
|
||||
using SliceLayer = std::vector<ExPolygon>;
|
||||
using SlicedSupports = std::vector<SliceLayer>;
|
||||
using Polygons = std::vector<Polygon>;
|
||||
using ExPolygons = std::vector<ExPolygon>;
|
||||
|
||||
namespace sla {
|
||||
|
||||
|
|
@ -80,6 +81,10 @@ struct SupportConfig {
|
|||
// The elevation in Z direction upwards. This is the space between the pad
|
||||
// and the model object's bounding box bottom.
|
||||
double object_elevation_mm = 10;
|
||||
|
||||
// The shortest distance between a pillar base perimeter from the model
|
||||
// body. This is only useful when elevation is set to zero.
|
||||
double pillar_base_safety_distance_mm = 0.5;
|
||||
|
||||
// /////////////////////////////////////////////////////////////////////////
|
||||
// Compile time configuration values (candidates for runtime)
|
||||
|
|
@ -160,7 +165,7 @@ class SLASupportTree {
|
|||
|
||||
public:
|
||||
|
||||
SLASupportTree();
|
||||
SLASupportTree(double ground_level = 0.0);
|
||||
|
||||
SLASupportTree(const std::vector<SupportPoint>& pts,
|
||||
const EigenMesh3D& em,
|
||||
|
|
@ -179,12 +184,17 @@ public:
|
|||
void merged_mesh_with_pad(TriangleMesh&) const;
|
||||
|
||||
/// Get the sliced 2d layers of the support geometry.
|
||||
SlicedSupports slice(float layerh, float init_layerh = -1.0) const;
|
||||
std::vector<ExPolygons> slice(float layerh, float init_layerh = -1.0) const;
|
||||
|
||||
SlicedSupports slice(const std::vector<float>&, float closing_radius) const;
|
||||
std::vector<ExPolygons> slice(const std::vector<float> &,
|
||||
float closing_radius) const;
|
||||
|
||||
/// Adding the "pad" (base pool) under the supports
|
||||
const TriangleMesh& add_pad(const SliceLayer& baseplate,
|
||||
/// modelbase will be used according to the embed_object flag in PoolConfig.
|
||||
/// If set, the plate will interpreted as the model's intrinsic pad.
|
||||
/// Otherwise, the modelbase will be unified with the base plate calculated
|
||||
/// from the supports.
|
||||
const TriangleMesh& add_pad(const ExPolygons& modelbase,
|
||||
const PoolConfig& pcfg) const;
|
||||
|
||||
/// Get the pad geometry
|
||||
|
|
|
|||
|
|
@ -29,69 +29,137 @@ namespace sla {
|
|||
using igl::PI;
|
||||
|
||||
/* **************************************************************************
|
||||
* SpatIndex implementation
|
||||
* PointIndex implementation
|
||||
* ************************************************************************** */
|
||||
|
||||
class SpatIndex::Impl {
|
||||
class PointIndex::Impl {
|
||||
public:
|
||||
using BoostIndex = boost::geometry::index::rtree< SpatElement,
|
||||
using BoostIndex = boost::geometry::index::rtree< PointIndexEl,
|
||||
boost::geometry::index::rstar<16, 4> /* ? */ >;
|
||||
|
||||
BoostIndex m_store;
|
||||
};
|
||||
|
||||
SpatIndex::SpatIndex(): m_impl(new Impl()) {}
|
||||
SpatIndex::~SpatIndex() {}
|
||||
PointIndex::PointIndex(): m_impl(new Impl()) {}
|
||||
PointIndex::~PointIndex() {}
|
||||
|
||||
SpatIndex::SpatIndex(const SpatIndex &cpy): m_impl(new Impl(*cpy.m_impl)) {}
|
||||
SpatIndex::SpatIndex(SpatIndex&& cpy): m_impl(std::move(cpy.m_impl)) {}
|
||||
PointIndex::PointIndex(const PointIndex &cpy): m_impl(new Impl(*cpy.m_impl)) {}
|
||||
PointIndex::PointIndex(PointIndex&& cpy): m_impl(std::move(cpy.m_impl)) {}
|
||||
|
||||
SpatIndex& SpatIndex::operator=(const SpatIndex &cpy)
|
||||
PointIndex& PointIndex::operator=(const PointIndex &cpy)
|
||||
{
|
||||
m_impl.reset(new Impl(*cpy.m_impl));
|
||||
return *this;
|
||||
}
|
||||
|
||||
SpatIndex& SpatIndex::operator=(SpatIndex &&cpy)
|
||||
PointIndex& PointIndex::operator=(PointIndex &&cpy)
|
||||
{
|
||||
m_impl.swap(cpy.m_impl);
|
||||
return *this;
|
||||
}
|
||||
|
||||
void SpatIndex::insert(const SpatElement &el)
|
||||
void PointIndex::insert(const PointIndexEl &el)
|
||||
{
|
||||
m_impl->m_store.insert(el);
|
||||
}
|
||||
|
||||
bool SpatIndex::remove(const SpatElement& el)
|
||||
bool PointIndex::remove(const PointIndexEl& el)
|
||||
{
|
||||
return m_impl->m_store.remove(el) == 1;
|
||||
}
|
||||
|
||||
std::vector<SpatElement>
|
||||
SpatIndex::query(std::function<bool(const SpatElement &)> fn)
|
||||
std::vector<PointIndexEl>
|
||||
PointIndex::query(std::function<bool(const PointIndexEl &)> fn)
|
||||
{
|
||||
namespace bgi = boost::geometry::index;
|
||||
|
||||
std::vector<SpatElement> ret;
|
||||
std::vector<PointIndexEl> ret;
|
||||
m_impl->m_store.query(bgi::satisfies(fn), std::back_inserter(ret));
|
||||
return ret;
|
||||
}
|
||||
|
||||
std::vector<SpatElement> SpatIndex::nearest(const Vec3d &el, unsigned k = 1)
|
||||
std::vector<PointIndexEl> PointIndex::nearest(const Vec3d &el, unsigned k = 1)
|
||||
{
|
||||
namespace bgi = boost::geometry::index;
|
||||
std::vector<SpatElement> ret; ret.reserve(k);
|
||||
std::vector<PointIndexEl> ret; ret.reserve(k);
|
||||
m_impl->m_store.query(bgi::nearest(el, k), std::back_inserter(ret));
|
||||
return ret;
|
||||
}
|
||||
|
||||
size_t SpatIndex::size() const
|
||||
size_t PointIndex::size() const
|
||||
{
|
||||
return m_impl->m_store.size();
|
||||
}
|
||||
|
||||
void SpatIndex::foreach(std::function<void (const SpatElement &)> fn)
|
||||
void PointIndex::foreach(std::function<void (const PointIndexEl &)> fn)
|
||||
{
|
||||
for(auto& el : m_impl->m_store) fn(el);
|
||||
}
|
||||
|
||||
/* **************************************************************************
|
||||
* BoxIndex implementation
|
||||
* ************************************************************************** */
|
||||
|
||||
class BoxIndex::Impl {
|
||||
public:
|
||||
using BoostIndex = boost::geometry::index::
|
||||
rtree<BoxIndexEl, boost::geometry::index::rstar<16, 4> /* ? */>;
|
||||
|
||||
BoostIndex m_store;
|
||||
};
|
||||
|
||||
BoxIndex::BoxIndex(): m_impl(new Impl()) {}
|
||||
BoxIndex::~BoxIndex() {}
|
||||
|
||||
BoxIndex::BoxIndex(const BoxIndex &cpy): m_impl(new Impl(*cpy.m_impl)) {}
|
||||
BoxIndex::BoxIndex(BoxIndex&& cpy): m_impl(std::move(cpy.m_impl)) {}
|
||||
|
||||
BoxIndex& BoxIndex::operator=(const BoxIndex &cpy)
|
||||
{
|
||||
m_impl.reset(new Impl(*cpy.m_impl));
|
||||
return *this;
|
||||
}
|
||||
|
||||
BoxIndex& BoxIndex::operator=(BoxIndex &&cpy)
|
||||
{
|
||||
m_impl.swap(cpy.m_impl);
|
||||
return *this;
|
||||
}
|
||||
|
||||
void BoxIndex::insert(const BoxIndexEl &el)
|
||||
{
|
||||
m_impl->m_store.insert(el);
|
||||
}
|
||||
|
||||
bool BoxIndex::remove(const BoxIndexEl& el)
|
||||
{
|
||||
return m_impl->m_store.remove(el) == 1;
|
||||
}
|
||||
|
||||
std::vector<BoxIndexEl> BoxIndex::query(const BoundingBox &qrbb,
|
||||
BoxIndex::QueryType qt)
|
||||
{
|
||||
namespace bgi = boost::geometry::index;
|
||||
|
||||
std::vector<BoxIndexEl> ret; ret.reserve(m_impl->m_store.size());
|
||||
|
||||
switch (qt) {
|
||||
case qtIntersects:
|
||||
m_impl->m_store.query(bgi::intersects(qrbb), std::back_inserter(ret));
|
||||
break;
|
||||
case qtWithin:
|
||||
m_impl->m_store.query(bgi::within(qrbb), std::back_inserter(ret));
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
size_t BoxIndex::size() const
|
||||
{
|
||||
return m_impl->m_store.size();
|
||||
}
|
||||
|
||||
void BoxIndex::foreach(std::function<void (const BoxIndexEl &)> fn)
|
||||
{
|
||||
for(auto& el : m_impl->m_store) fn(el);
|
||||
}
|
||||
|
|
@ -343,12 +411,14 @@ PointSet normals(const PointSet& points,
|
|||
return ret;
|
||||
}
|
||||
namespace bgi = boost::geometry::index;
|
||||
using Index3D = bgi::rtree< SpatElement, bgi::rstar<16, 4> /* ? */ >;
|
||||
using Index3D = bgi::rtree< PointIndexEl, bgi::rstar<16, 4> /* ? */ >;
|
||||
|
||||
ClusteredPoints cluster(Index3D& sindex, unsigned max_points,
|
||||
std::function<std::vector<SpatElement>(const Index3D&, const SpatElement&)> qfn)
|
||||
ClusteredPoints cluster(Index3D &sindex,
|
||||
unsigned max_points,
|
||||
std::function<std::vector<PointIndexEl>(
|
||||
const Index3D &, const PointIndexEl &)> qfn)
|
||||
{
|
||||
using Elems = std::vector<SpatElement>;
|
||||
using Elems = std::vector<PointIndexEl>;
|
||||
|
||||
// Recursive function for visiting all the points in a given distance to
|
||||
// each other
|
||||
|
|
@ -356,8 +426,8 @@ ClusteredPoints cluster(Index3D& sindex, unsigned max_points,
|
|||
[&sindex, &group, max_points, qfn](Elems& pts, Elems& cluster)
|
||||
{
|
||||
for(auto& p : pts) {
|
||||
std::vector<SpatElement> tmp = qfn(sindex, p);
|
||||
auto cmp = [](const SpatElement& e1, const SpatElement& e2){
|
||||
std::vector<PointIndexEl> tmp = qfn(sindex, p);
|
||||
auto cmp = [](const PointIndexEl& e1, const PointIndexEl& e2){
|
||||
return e1.second < e2.second;
|
||||
};
|
||||
|
||||
|
|
@ -401,12 +471,12 @@ ClusteredPoints cluster(Index3D& sindex, unsigned max_points,
|
|||
}
|
||||
|
||||
namespace {
|
||||
std::vector<SpatElement> distance_queryfn(const Index3D& sindex,
|
||||
const SpatElement& p,
|
||||
std::vector<PointIndexEl> distance_queryfn(const Index3D& sindex,
|
||||
const PointIndexEl& p,
|
||||
double dist,
|
||||
unsigned max_points)
|
||||
{
|
||||
std::vector<SpatElement> tmp; tmp.reserve(max_points);
|
||||
std::vector<PointIndexEl> tmp; tmp.reserve(max_points);
|
||||
sindex.query(
|
||||
bgi::nearest(p.first, max_points),
|
||||
std::back_inserter(tmp)
|
||||
|
|
@ -433,7 +503,7 @@ ClusteredPoints cluster(
|
|||
for(auto idx : indices) sindex.insert( std::make_pair(pointfn(idx), idx));
|
||||
|
||||
return cluster(sindex, max_points,
|
||||
[dist, max_points](const Index3D& sidx, const SpatElement& p)
|
||||
[dist, max_points](const Index3D& sidx, const PointIndexEl& p)
|
||||
{
|
||||
return distance_queryfn(sidx, p, dist, max_points);
|
||||
});
|
||||
|
|
@ -443,7 +513,7 @@ ClusteredPoints cluster(
|
|||
ClusteredPoints cluster(
|
||||
const std::vector<unsigned>& indices,
|
||||
std::function<Vec3d(unsigned)> pointfn,
|
||||
std::function<bool(const SpatElement&, const SpatElement&)> predicate,
|
||||
std::function<bool(const PointIndexEl&, const PointIndexEl&)> predicate,
|
||||
unsigned max_points)
|
||||
{
|
||||
// A spatial index for querying the nearest points
|
||||
|
|
@ -453,10 +523,10 @@ ClusteredPoints cluster(
|
|||
for(auto idx : indices) sindex.insert( std::make_pair(pointfn(idx), idx));
|
||||
|
||||
return cluster(sindex, max_points,
|
||||
[max_points, predicate](const Index3D& sidx, const SpatElement& p)
|
||||
[max_points, predicate](const Index3D& sidx, const PointIndexEl& p)
|
||||
{
|
||||
std::vector<SpatElement> tmp; tmp.reserve(max_points);
|
||||
sidx.query(bgi::satisfies([p, predicate](const SpatElement& e){
|
||||
std::vector<PointIndexEl> tmp; tmp.reserve(max_points);
|
||||
sidx.query(bgi::satisfies([p, predicate](const PointIndexEl& e){
|
||||
return predicate(p, e);
|
||||
}), std::back_inserter(tmp));
|
||||
return tmp;
|
||||
|
|
@ -473,7 +543,7 @@ ClusteredPoints cluster(const PointSet& pts, double dist, unsigned max_points)
|
|||
sindex.insert(std::make_pair(Vec3d(pts.row(i)), unsigned(i)));
|
||||
|
||||
return cluster(sindex, max_points,
|
||||
[dist, max_points](const Index3D& sidx, const SpatElement& p)
|
||||
[dist, max_points](const Index3D& sidx, const PointIndexEl& p)
|
||||
{
|
||||
return distance_queryfn(sidx, p, dist, max_points);
|
||||
});
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue