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Removed the old motion planner.

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This commit is contained in:
Vojtech Bubnik 2020-11-17 09:33:10 +01:00
parent 49ce613be7
commit 04c2fde671
12 changed files with 67 additions and 787 deletions
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86
src/libslic3r/GCode/AvoidCrossingPerimeters.hpp
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@ -13,7 +13,6 @@ namespace Slic3r {
// Forward declarations.
class GCode;
class Layer;
class MotionPlanner;
class Point;
class Print;
class PrintObject;
@ -23,44 +22,6 @@ using PrintObjectPtrs = std::vector<PrintObject *>;
class AvoidCrossingPerimeters
{
public:
// this flag triggers the use of the external configuration space
bool use_external_mp;
bool use_external_mp_once; // just for the next travel move
// this flag disables avoid_crossing_perimeters just for the next travel move
// we enable it by default for the first travel move in print
bool disable_once;
AvoidCrossingPerimeters() : use_external_mp(false), use_external_mp_once(false), disable_once(true) {}
virtual ~AvoidCrossingPerimeters() = default;
void reset()
{
m_external_mp.reset();
m_layer_mp.reset();
}
virtual void init_external_mp(const Print &print);
virtual void init_layer_mp(const ExPolygons &islands) { m_layer_mp = Slic3r::make_unique<MotionPlanner>(islands); }
virtual Polyline travel_to(const GCode &gcodegen, const Point &point);
virtual Polyline travel_to(const GCode &gcodegen, const Point &point, bool *could_be_wipe_disabled)
{
*could_be_wipe_disabled = true;
return this->travel_to(gcodegen, point);
}
protected:
// For initializing the regions to avoid.
static Polygons collect_contours_all_layers(const PrintObjectPtrs &objects);
std::unique_ptr<MotionPlanner> m_external_mp;
std::unique_ptr<MotionPlanner> m_layer_mp;
};
class AvoidCrossingPerimeters2 : public AvoidCrossingPerimeters
{
public:
struct Intersection
{
@ -88,14 +49,14 @@ public:
struct AllIntersectionsVisitor
{
AllIntersectionsVisitor(const EdgeGrid::Grid &grid, std::vector<AvoidCrossingPerimeters2::Intersection> &intersections)
AllIntersectionsVisitor(const EdgeGrid::Grid &grid, std::vector<AvoidCrossingPerimeters::Intersection> &intersections)
: grid(grid), intersections(intersections)
{}
AllIntersectionsVisitor(const EdgeGrid::Grid &grid,
std::vector<AvoidCrossingPerimeters2::Intersection> &intersections,
const Matrix2d &transform_to_x_axis,
const Line &travel_line)
AllIntersectionsVisitor(const EdgeGrid::Grid &grid,
std::vector<AvoidCrossingPerimeters::Intersection> &intersections,
const Matrix2d &transform_to_x_axis,
const Line &travel_line)
: grid(grid), intersections(intersections), transform_to_x_axis(transform_to_x_axis), travel_line(travel_line)
{}
@ -125,7 +86,7 @@ public:
}
const EdgeGrid::Grid &grid;
std::vector<AvoidCrossingPerimeters2::Intersection> &intersections;
std::vector<AvoidCrossingPerimeters::Intersection> &intersections;
Matrix2d transform_to_x_axis;
Line travel_line;
std::unordered_set<std::pair<size_t, size_t>, boost::hash<std::pair<size_t, size_t>>> intersection_set;
@ -141,14 +102,14 @@ private:
static Direction get_shortest_direction(
const Lines &lines, const size_t start_idx, const size_t end_idx, const Point &intersection_first, const Point &intersection_last);
static std::vector<AvoidCrossingPerimeters2::TravelPoint> simplify_travel(const EdgeGrid::Grid &edge_grid,
const std::vector<TravelPoint> &travel,
const Polygons &boundaries,
const bool use_heuristics);
static std::vector<AvoidCrossingPerimeters::TravelPoint> simplify_travel(const EdgeGrid::Grid &edge_grid,
const std::vector<TravelPoint> &travel,
const Polygons &boundaries,
const bool use_heuristics);
static std::vector<AvoidCrossingPerimeters2::TravelPoint> simplify_travel_heuristics(const EdgeGrid::Grid &edge_grid,
const std::vector<TravelPoint> &travel,
const Polygons &boundaries);
static std::vector<AvoidCrossingPerimeters::TravelPoint> simplify_travel_heuristics(const EdgeGrid::Grid &edge_grid,
const std::vector<TravelPoint> &travel,
const Polygons &boundaries);
static size_t avoid_perimeters(const Polygons &boundaries,
const EdgeGrid::Grid &grid,
@ -173,24 +134,27 @@ private:
EdgeGrid::Grid m_grid_external;
public:
AvoidCrossingPerimeters2() : AvoidCrossingPerimeters() {}
// this flag triggers the use of the external configuration space
bool use_external_mp { false };
// just for the next travel move
bool use_external_mp_once { false };
// this flag disables avoid_crossing_perimeters just for the next travel move
// we enable it by default for the first travel move in print
bool disable_once { true };
virtual ~AvoidCrossingPerimeters2() = default;
AvoidCrossingPerimeters() = default;
// Used for disabling unnecessary calling collect_contours_all_layers
virtual void init_external_mp(const Print &print) override {};
virtual void init_layer_mp(const ExPolygons &islands) override {};
virtual Polyline travel_to(const GCode &gcodegen, const Point &point) override
Polyline travel_to(const GCode& gcodegen, const Point& point)
{
bool could_be_wipe_disabled;
return this->travel_to(gcodegen, point, &could_be_wipe_disabled);
}
virtual Polyline travel_to(const GCode &gcodegen, const Point &point, bool *could_be_wipe_disabled) override;
Polyline travel_to(const GCode& gcodegen, const Point& point, bool* could_be_wipe_disabled);
void init_layer(const Layer &layer);
};
} // namespace Slic3r
#endif // slic3r_AvoidCrossingPerimeters_hpp_
#endif // slic3r_AvoidCrossingPerimeters_hpp_