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https://github.com/SoftFever/OrcaSlicer.git
synced 2025-07-13 09:47:58 -06:00
Removed the old motion planner.
This commit is contained in:
Vojtech Bubnik
parent
49ce613be7
commit
04c2fde671
12 changed files with 67 additions and 787 deletions
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@ -1,7 +1,5 @@
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#include "../Layer.hpp"
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#include "../MotionPlanner.hpp"
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#include "../GCode.hpp"
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#include "../MotionPlanner.hpp"
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#include "../EdgeGrid.hpp"
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#include "../Geometry.hpp"
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#include "../ShortestPath.hpp"
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@ -21,93 +19,6 @@
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namespace Slic3r {
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void AvoidCrossingPerimeters::init_external_mp(const Print& print)
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{
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m_external_mp = Slic3r::make_unique<MotionPlanner>(union_ex(this->collect_contours_all_layers(print.objects())));
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}
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// Plan a travel move while minimizing the number of perimeter crossings.
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// point is in unscaled coordinates, in the coordinate system of the current active object
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// (set by gcodegen.set_origin()).
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Polyline AvoidCrossingPerimeters::travel_to(const GCode& gcodegen, const Point& point)
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{
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// If use_external, then perform the path planning in the world coordinate system (correcting for the gcodegen offset).
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// Otherwise perform the path planning in the coordinate system of the active object.
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bool use_external = this->use_external_mp || this->use_external_mp_once;
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Point scaled_origin = use_external ? Point::new_scale(gcodegen.origin()(0), gcodegen.origin()(1)) : Point(0, 0);
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Polyline result = (use_external ? m_external_mp.get() : m_layer_mp.get())->
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shortest_path(gcodegen.last_pos() + scaled_origin, point + scaled_origin);
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if (use_external)
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result.translate(-scaled_origin);
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return result;
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}
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// Collect outer contours of all objects over all layers.
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// Discard objects only containing thin walls (offset would fail on an empty polygon).
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// Used by avoid crossing perimeters feature.
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Polygons AvoidCrossingPerimeters::collect_contours_all_layers(const PrintObjectPtrs& objects)
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{
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Polygons islands;
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for (const PrintObject* object : objects) {
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// Reducing all the object slices into the Z projection in a logarithimc fashion.
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// First reduce to half the number of layers.
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std::vector<Polygons> polygons_per_layer((object->layers().size() + 1) / 2);
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tbb::parallel_for(tbb::blocked_range<size_t>(0, object->layers().size() / 2),
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[&object, &polygons_per_layer](const tbb::blocked_range<size_t>& range) {
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for (size_t i = range.begin(); i < range.end(); ++i) {
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const Layer* layer1 = object->layers()[i * 2];
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const Layer* layer2 = object->layers()[i * 2 + 1];
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Polygons polys;
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polys.reserve(layer1->lslices.size() + layer2->lslices.size());
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for (const ExPolygon& expoly : layer1->lslices)
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//FIXME no holes?
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polys.emplace_back(expoly.contour);
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for (const ExPolygon& expoly : layer2->lslices)
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//FIXME no holes?
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polys.emplace_back(expoly.contour);
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polygons_per_layer[i] = union_(polys);
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}
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});
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if (object->layers().size() & 1) {
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const Layer* layer = object->layers().back();
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Polygons polys;
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polys.reserve(layer->lslices.size());
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for (const ExPolygon& expoly : layer->lslices)
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//FIXME no holes?
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polys.emplace_back(expoly.contour);
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polygons_per_layer.back() = union_(polys);
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}
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// Now reduce down to a single layer.
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size_t cnt = polygons_per_layer.size();
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while (cnt > 1) {
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tbb::parallel_for(tbb::blocked_range<size_t>(0, cnt / 2),
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[&polygons_per_layer](const tbb::blocked_range<size_t>& range) {
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for (size_t i = range.begin(); i < range.end(); ++i) {
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Polygons polys;
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polys.reserve(polygons_per_layer[i * 2].size() + polygons_per_layer[i * 2 + 1].size());
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polygons_append(polys, polygons_per_layer[i * 2]);
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polygons_append(polys, polygons_per_layer[i * 2 + 1]);
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polygons_per_layer[i * 2] = union_(polys);
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}
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});
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for (size_t i = 1; i < cnt / 2; ++i)
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polygons_per_layer[i] = std::move(polygons_per_layer[i * 2]);
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if (cnt & 1)
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polygons_per_layer[cnt / 2] = std::move(polygons_per_layer[cnt - 1]);
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cnt = (cnt + 1) / 2;
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}
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// And collect copies of the objects.
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for (const PrintInstance& instance : object->instances()) {
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// All the layers were reduced to the 1st item of polygons_per_layer.
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size_t i = islands.size();
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polygons_append(islands, polygons_per_layer.front());
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for (; i < islands.size(); ++i)
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islands[i].translate(instance.shift);
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}
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}
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return islands;
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}
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// Create a rotation matrix for projection on the given vector
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static Matrix2d rotation_by_direction(const Point &direction)
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{
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@ -274,16 +185,16 @@ static std::pair<Polygons, Polygons> split_expolygon(const ExPolygons &ex_polygo
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return std::make_pair(std::move(contours), std::move(holes));
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}
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static Polyline to_polyline(const std::vector<AvoidCrossingPerimeters2::TravelPoint> &travel)
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static Polyline to_polyline(const std::vector<AvoidCrossingPerimeters::TravelPoint> &travel)
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{
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Polyline result;
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result.points.reserve(travel.size());
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for (const AvoidCrossingPerimeters2::TravelPoint &t_point : travel)
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for (const AvoidCrossingPerimeters::TravelPoint &t_point : travel)
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result.append(t_point.point);
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return result;
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}
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static double travel_length(const std::vector<AvoidCrossingPerimeters2::TravelPoint> &travel) {
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static double travel_length(const std::vector<AvoidCrossingPerimeters::TravelPoint> &travel) {
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double total_length = 0;
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for (size_t idx = 1; idx < travel.size(); ++idx)
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total_length += (travel[idx].point - travel[idx - 1].point).cast<double>().norm();
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@ -292,11 +203,11 @@ static double travel_length(const std::vector<AvoidCrossingPerimeters2::TravelPo
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}
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#ifdef AVOID_CROSSING_PERIMETERS_DEBUG_OUTPUT
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static void export_travel_to_svg(const Polygons &boundary,
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const Line &original_travel,
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const Polyline &result_travel,
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const std::vector<AvoidCrossingPerimeters2::Intersection> &intersections,
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const std::string &path)
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static void export_travel_to_svg(const Polygons &boundary,
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const Line &original_travel,
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const Polyline &result_travel,
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const std::vector<AvoidCrossingPerimeters::Intersection> &intersections,
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const std::string &path)
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{
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BoundingBox bbox = get_extents(boundary);
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::Slic3r::SVG svg(path, bbox);
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@ -306,21 +217,21 @@ static void export_travel_to_svg(const Polygons
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svg.draw(original_travel.a, "black");
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svg.draw(original_travel.b, "grey");
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for (const AvoidCrossingPerimeters2::Intersection &intersection : intersections)
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for (const AvoidCrossingPerimeters::Intersection &intersection : intersections)
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svg.draw(intersection.point, "lightseagreen");
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}
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static void export_travel_to_svg(const Polygons &boundary,
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const Line &original_travel,
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const std::vector<AvoidCrossingPerimeters2::TravelPoint> &result_travel,
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const std::vector<AvoidCrossingPerimeters2::Intersection> &intersections,
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const std::string &path)
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static void export_travel_to_svg(const Polygons &boundary,
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const Line &original_travel,
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const std::vector<AvoidCrossingPerimeters::TravelPoint> &result_travel,
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const std::vector<AvoidCrossingPerimeters::Intersection> &intersections,
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const std::string &path)
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{
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export_travel_to_svg(boundary, original_travel, to_polyline(result_travel), intersections, path);
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}
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#endif /* AVOID_CROSSING_PERIMETERS_DEBUG_OUTPUT */
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ExPolygons AvoidCrossingPerimeters2::get_boundary(const Layer &layer)
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ExPolygons AvoidCrossingPerimeters::get_boundary(const Layer &layer)
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{
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const float perimeter_spacing = get_perimeter_spacing(layer);
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const float perimeter_offset = perimeter_spacing / 2.f;
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@ -380,7 +291,7 @@ ExPolygons AvoidCrossingPerimeters2::get_boundary(const Layer &layer)
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return result_boundary;
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}
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ExPolygons AvoidCrossingPerimeters2::get_boundary_external(const Layer &layer)
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ExPolygons AvoidCrossingPerimeters::get_boundary_external(const Layer &layer)
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{
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const float perimeter_spacing = get_perimeter_spacing_external(layer);
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const float perimeter_offset = perimeter_spacing / 2.f;
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@ -417,11 +328,11 @@ ExPolygons AvoidCrossingPerimeters2::get_boundary_external(const Layer &layer)
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}
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// Returns a direction of the shortest path along the polygon boundary
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AvoidCrossingPerimeters2::Direction AvoidCrossingPerimeters2::get_shortest_direction(const Lines &lines,
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const size_t start_idx,
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const size_t end_idx,
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const Point &intersection_first,
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const Point &intersection_last)
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AvoidCrossingPerimeters::Direction AvoidCrossingPerimeters::get_shortest_direction(const Lines &lines,
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const size_t start_idx,
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const size_t end_idx,
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const Point &intersection_first,
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const Point &intersection_last)
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{
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double total_length_forward = (lines[start_idx].b - intersection_first).cast<double>().norm();
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double total_length_backward = (lines[start_idx].a - intersection_first).cast<double>().norm();
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@ -447,10 +358,10 @@ AvoidCrossingPerimeters2::Direction AvoidCrossingPerimeters2::get_shortest_direc
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return (total_length_forward < total_length_backward) ? Direction::Forward : Direction::Backward;
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}
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std::vector<AvoidCrossingPerimeters2::TravelPoint> AvoidCrossingPerimeters2::simplify_travel(const EdgeGrid::Grid &edge_grid,
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const std::vector<TravelPoint> &travel,
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const Polygons &boundaries,
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const bool use_heuristics)
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std::vector<AvoidCrossingPerimeters::TravelPoint> AvoidCrossingPerimeters::simplify_travel(const EdgeGrid::Grid &edge_grid,
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const std::vector<TravelPoint> &travel,
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const Polygons &boundaries,
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const bool use_heuristics)
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{
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struct Visitor
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{
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@ -521,9 +432,9 @@ std::vector<AvoidCrossingPerimeters2::TravelPoint> AvoidCrossingPerimeters2::sim
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return simplified_path;
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}
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std::vector<AvoidCrossingPerimeters2::TravelPoint> AvoidCrossingPerimeters2::simplify_travel_heuristics(const EdgeGrid::Grid &edge_grid,
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const std::vector<TravelPoint> &travel,
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const Polygons &boundaries)
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std::vector<AvoidCrossingPerimeters::TravelPoint> AvoidCrossingPerimeters::simplify_travel_heuristics(const EdgeGrid::Grid &edge_grid,
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const std::vector<TravelPoint> &travel,
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const Polygons &boundaries)
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{
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std::vector<TravelPoint> simplified_path;
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std::vector<Intersection> intersections;
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@ -600,12 +511,12 @@ std::vector<AvoidCrossingPerimeters2::TravelPoint> AvoidCrossingPerimeters2::sim
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return simplified_path;
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}
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size_t AvoidCrossingPerimeters2::avoid_perimeters(const Polygons &boundaries,
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const EdgeGrid::Grid &edge_grid,
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const Point &start,
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const Point &end,
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const bool use_heuristics,
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std::vector<TravelPoint> *result_out)
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size_t AvoidCrossingPerimeters::avoid_perimeters(const Polygons &boundaries,
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const EdgeGrid::Grid &edge_grid,
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const Point &start,
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const Point &end,
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const bool use_heuristics,
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std::vector<TravelPoint> *result_out)
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{
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const Point direction = end - start;
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Matrix2d transform_to_x_axis = rotation_by_direction(direction);
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@ -697,10 +608,10 @@ size_t AvoidCrossingPerimeters2::avoid_perimeters(const Polygons &boun
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return intersections.size();
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}
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bool AvoidCrossingPerimeters2::need_wipe(const GCode & gcodegen,
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const Line & original_travel,
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const Polyline &result_travel,
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const size_t intersection_count)
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bool AvoidCrossingPerimeters::need_wipe(const GCode & gcodegen,
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const Line & original_travel,
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const Polyline &result_travel,
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const size_t intersection_count)
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{
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bool z_lift_enabled = gcodegen.config().retract_lift.get_at(gcodegen.writer().extruder()->id()) > 0.;
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bool wipe_needed = false;
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@ -731,7 +642,7 @@ bool AvoidCrossingPerimeters2::need_wipe(const GCode & gcodegen,
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}
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// Plan travel, which avoids perimeter crossings by following the boundaries of the layer.
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Polyline AvoidCrossingPerimeters2::travel_to(const GCode &gcodegen, const Point &point, bool *could_be_wipe_disabled)
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Polyline AvoidCrossingPerimeters::travel_to(const GCode &gcodegen, const Point &point, bool *could_be_wipe_disabled)
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{
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// If use_external, then perform the path planning in the world coordinate system (correcting for the gcodegen offset).
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// Otherwise perform the path planning in the coordinate system of the active object.
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@ -772,7 +683,7 @@ Polyline AvoidCrossingPerimeters2::travel_to(const GCode &gcodegen, const Point
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return result_pl;
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}
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void AvoidCrossingPerimeters2::init_layer(const Layer &layer)
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void AvoidCrossingPerimeters::init_layer(const Layer &layer)
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{
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m_slice.clear();
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m_boundaries.clear();
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