Add the full source of BambuStudio

using version 1.0.10

src/libslic3r/SLA/SupportTreeBuildsteps.hpp

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+#ifndef SLASUPPORTTREEALGORITHM_H
+#define SLASUPPORTTREEALGORITHM_H
+
+#include <cstdint>
+#include <optional>
+
+#include <libslic3r/SLA/SupportTreeBuilder.hpp>
+#include <libslic3r/SLA/Clustering.hpp>
+#include <libslic3r/SLA/SpatIndex.hpp>
+
+namespace Slic3r {
+namespace sla {
+
+// The minimum distance for two support points to remain valid.
+const double /*constexpr*/ D_SP = 0.1;
+
+enum { // For indexing Eigen vectors as v(X), v(Y), v(Z) instead of numbers
+    X, Y, Z
+};
+
+inline Vec2d to_vec2(const Vec3d &v3) { return {v3(X), v3(Y)}; }
+
+inline std::pair<double, double> dir_to_spheric(const Vec3d &n, double norm = 1.)
+{
+    double z       = n.z();
+    double r       = norm;
+    double polar   = std::acos(z / r);
+    double azimuth = std::atan2(n(1), n(0));
+    return {polar, azimuth};
+}
+
+inline Vec3d spheric_to_dir(double polar, double azimuth)
+{
+    return {std::cos(azimuth) * std::sin(polar),
+            std::sin(azimuth) * std::sin(polar), std::cos(polar)};
+}
+
+inline Vec3d spheric_to_dir(const std::tuple<double, double> &v)
+{
+    auto [plr, azm] = v;
+    return spheric_to_dir(plr, azm);
+}
+
+inline Vec3d spheric_to_dir(const std::pair<double, double> &v)
+{
+    return spheric_to_dir(v.first, v.second);
+}
+
+inline Vec3d spheric_to_dir(const std::array<double, 2> &v)
+{
+    return spheric_to_dir(v[0], v[1]);
+}
+
+// Give points on a 3D ring with given center, radius and orientation
+// method based on:
+// https://math.stackexchange.com/questions/73237/parametric-equation-of-a-circle-in-3d-space
+template<size_t N>
+class PointRing {
+    std::array<double, N> m_phis;
+
+    // Two vectors that will be perpendicular to each other and to the
+    // axis. Values for a(X) and a(Y) are now arbitrary, a(Z) is just a
+    // placeholder.
+    // a and b vectors are perpendicular to the ring direction and to each other.
+    // Together they define the plane where we have to iterate with the
+    // given angles in the 'm_phis' vector
+    Vec3d a = {0, 1, 0}, b;
+    double m_radius = 0.;
+
+    static inline bool constexpr is_one(double val)
+    {
+        return std::abs(std::abs(val) - 1) < 1e-20;
+    }
+
+public:
+
+    PointRing(const Vec3d &n)
+    {
+        m_phis = linspace_array<N>(0., 2 * PI);
+
+        // We have to address the case when the direction vector v (same as
+        // dir) is coincident with one of the world axes. In this case two of
+        // its components will be completely zero and one is 1.0. Our method
+        // becomes dangerous here due to division with zero. Instead, vector
+        // 'a' can be an element-wise rotated version of 'v'
+        if(is_one(n(X)) || is_one(n(Y)) || is_one(n(Z))) {
+            a = {n(Z), n(X), n(Y)};
+            b = {n(Y), n(Z), n(X)};
+        }
+        else {
+            a(Z) = -(n(Y)*a(Y)) / n(Z); a.normalize();
+            b = a.cross(n);
+        }
+    }
+
+    Vec3d get(size_t idx, const Vec3d src, double r) const
+    {
+        double phi = m_phis[idx];
+        double sinphi = std::sin(phi);
+        double cosphi = std::cos(phi);
+
+        double rpscos = r * cosphi;
+        double rpssin = r * sinphi;
+
+        // Point on the sphere
+        return {src(X) + rpscos * a(X) + rpssin * b(X),
+                src(Y) + rpscos * a(Y) + rpssin * b(Y),
+                src(Z) + rpscos * a(Z) + rpssin * b(Z)};
+    }
+};
+
+//IndexedMesh::hit_result query_hit(const SupportableMesh &msh, const Bridge &br, double safety_d = std::nan(""));
+//IndexedMesh::hit_result query_hit(const SupportableMesh &msh, const Head &br, double safety_d = std::nan(""));
+
+inline Vec3d dirv(const Vec3d& startp, const Vec3d& endp) {
+    return (endp - startp).normalized();
+}
+
+class PillarIndex {
+    PointIndex m_index;
+    using Mutex = ccr::BlockingMutex;
+    mutable Mutex m_mutex;
+
+public:
+
+    template<class...Args> inline void guarded_insert(Args&&...args)
+    {
+        std::lock_guard<Mutex> lck(m_mutex);
+        m_index.insert(std::forward<Args>(args)...);
+    }
+
+    template<class...Args>
+    inline std::vector<PointIndexEl> guarded_query(Args&&...args) const
+    {
+        std::lock_guard<Mutex> lck(m_mutex);
+        return m_index.query(std::forward<Args>(args)...);
+    }
+
+    template<class...Args> inline void insert(Args&&...args)
+    {
+        m_index.insert(std::forward<Args>(args)...);
+    }
+
+    template<class...Args>
+    inline std::vector<PointIndexEl> query(Args&&...args) const
+    {
+        return m_index.query(std::forward<Args>(args)...);
+    }
+
+    template<class Fn> inline void foreach(Fn fn) { m_index.foreach(fn); }
+    template<class Fn> inline void guarded_foreach(Fn fn)
+    {
+        std::lock_guard<Mutex> lck(m_mutex);
+        m_index.foreach(fn);
+    }
+
+    PointIndex guarded_clone()
+    {
+        std::lock_guard<Mutex> lck(m_mutex);
+        return m_index;
+    }
+};
+
+// Helper function for pillar interconnection where pairs of already connected
+// pillars should be checked for not to be processed again. This can be done
+// in constant time with a 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. The hash value has to have twice as many bits as the
+// arguments need. If the same integral type is used for args and return val,
+// make sure the arguments use only the half of the type's bit depth.
+template<class I, class DoubleI = IntegerOnly<I>>
+IntegerOnly<DoubleI> pairhash(I a, I b)
+{
+    using std::ceil; using std::log2; using std::max; using std::min;
+    static const auto constexpr Ibits = int(sizeof(I) * CHAR_BIT);
+    static const auto constexpr DoubleIbits = int(sizeof(DoubleI) * CHAR_BIT);
+    static const auto constexpr shift = DoubleIbits / 2 < Ibits ? Ibits / 2 : Ibits;
+
+    I g = min(a, b), l = max(a, b);
+
+    // Assume the hash will fit into the output variable
+    assert((g ? (ceil(log2(g))) : 0) <= shift);
+    assert((l ? (ceil(log2(l))) : 0) <= shift);
+
+    return (DoubleI(g) << shift) + l;
+}
+
+class SupportTreeBuildsteps {
+    const SupportTreeConfig& m_cfg;
+    const IndexedMesh& m_mesh;
+    const std::vector<SupportPoint>& m_support_pts;
+
+    using PtIndices = std::vector<unsigned>;
+
+    PtIndices m_iheads;            // support points with pinhead
+    PtIndices m_iheads_onmodel;
+    PtIndices m_iheadless;         // headless support points
+    
+    std::map<unsigned, IndexedMesh::hit_result> m_head_to_ground_scans;
+
+    // normals for support points from model faces.
+    PointSet  m_support_nmls;
+
+    // Clusters of points which can reach the ground directly and can be
+    // bridged to one central pillar
+    std::vector<PtIndices> m_pillar_clusters;
+
+    // This algorithm uses the SupportTreeBuilder class to fill gradually
+    // the support elements (heads, pillars, bridges, ...)
+    SupportTreeBuilder& m_builder;
+
+    // support points in Eigen/IGL format
+    PointSet m_points;
+
+    // throw if canceled: It will be called many times so a shorthand will
+    // come in handy.
+    ThrowOnCancel m_thr;
+
+    // A spatial index to easily find strong pillars to connect to.
+    PillarIndex m_pillar_index;
+
+    // When bridging heads to pillars... TODO: find a cleaner solution
+    ccr::BlockingMutex m_bridge_mutex;
+
+    inline IndexedMesh::hit_result ray_mesh_intersect(const Vec3d& s, 
+                                                      const Vec3d& dir)
+    {
+        return m_mesh.query_ray_hit(s, dir);
+    }
+
+    // This function will test if a future pinhead would not collide with the
+    // model geometry. It does not take a 'Head' object because those are
+    // created after this test. Parameters: s: The touching point on the model
+    // surface. dir: This is the direction of the head from the pin to the back
+    // r_pin, r_back: the radiuses of the pin and the back sphere width: This
+    // is the full width from the pin center to the back center m: The object
+    // mesh.
+    // The return value is the hit result from the ray casting. If the starting
+    // point was inside the model, an "invalid" hit_result will be returned
+    // with a zero distance value instead of a NAN. This way the result can
+    // be used safely for comparison with other distances.
+    IndexedMesh::hit_result pinhead_mesh_intersect(
+        const Vec3d& s,
+        const Vec3d& dir,
+        double r_pin,
+        double r_back,
+        double width,
+        double safety_d);
+
+    IndexedMesh::hit_result pinhead_mesh_intersect(
+        const Vec3d& s,
+        const Vec3d& dir,
+        double r_pin,
+        double r_back,
+        double width)
+    {
+        return pinhead_mesh_intersect(s, dir, r_pin, r_back, width,
+                                      r_back * m_cfg.safety_distance_mm /
+                                          m_cfg.head_back_radius_mm);
+    }
+
+    // Checking bridge (pillar and stick as well) intersection with the model.
+    // If the function is used for headless sticks, the ins_check parameter
+    // have to be true as the beginning of the stick might be inside the model
+    // geometry.
+    // The return value is the hit result from the ray casting. If the starting
+    // point was inside the model, an "invalid" hit_result will be returned
+    // with a zero distance value instead of a NAN. This way the result can
+    // be used safely for comparison with other distances.
+    IndexedMesh::hit_result bridge_mesh_intersect(
+        const Vec3d& s,
+        const Vec3d& dir,
+        double r,
+        double safety_d);
+
+    IndexedMesh::hit_result bridge_mesh_intersect(
+        const Vec3d& s,
+        const Vec3d& dir,
+        double r)
+    {
+        return bridge_mesh_intersect(s, dir, r,
+                                     r * m_cfg.safety_distance_mm /
+                                         m_cfg.head_back_radius_mm);
+    }
+    
+    template<class...Args>
+    inline double bridge_mesh_distance(Args&&...args) {
+        return bridge_mesh_intersect(std::forward<Args>(args)...).distance();
+    }
+
+    // Helper function for interconnecting two pillars with zig-zag bridges.
+    bool interconnect(const Pillar& pillar, const Pillar& nextpillar);
+
+    // For connecting a head to a nearby pillar.
+    bool connect_to_nearpillar(const Head& head, long nearpillar_id);
+    
+    // Find route for a head to the ground. Inserts additional bridge from the
+    // head to the pillar if cannot create pillar directly.
+    // The optional dir parameter is the direction of the bridge which is the
+    // direction of the pinhead if omitted.
+    bool connect_to_ground(Head& head, const Vec3d &dir);
+    inline bool connect_to_ground(Head& head);
+    
+    bool connect_to_model_body(Head &head);
+
+    bool search_pillar_and_connect(const Head& source);
+    
+    // This is a proxy function for pillar creation which will mind the gap
+    // between the pad and the model bottom in zero elevation mode.
+    // jp is the starting junction point which needs to be routed down.
+    // sourcedir is the allowed direction of an optional bridge between the
+    // jp junction and the final pillar.
+    bool create_ground_pillar(const Vec3d &jp,
+                              const Vec3d &sourcedir,
+                              double       radius,
+                              long         head_id = SupportTreeNode::ID_UNSET);
+
+    void add_pillar_base(long pid)
+    {
+        m_builder.add_pillar_base(pid, m_cfg.base_height_mm, m_cfg.base_radius_mm);
+    }
+
+    std::optional<DiffBridge> search_widening_path(const Vec3d &jp,
+                                                   const Vec3d &dir,
+                                                   double       radius,
+                                                   double       new_radius);
+
+public:
+    SupportTreeBuildsteps(SupportTreeBuilder & builder, const SupportableMesh &sm);
+
+    // Now let's define the individual steps of the support generation algorithm
+
+    // Filtering step: here we will discard inappropriate support points
+    // and decide the future of the appropriate ones. We will check if a
+    // pinhead is applicable and adjust its angle at each support point. We
+    // will also merge the support points that are just too close and can
+    // be considered as one.
+    void filter();
+
+    // Pinhead creation: based on the filtering results, the Head objects
+    // will be constructed (together with their triangle meshes).
+    void add_pinheads();
+
+    // Further classification of the support points with pinheads. If the
+    // ground is directly reachable through a vertical line parallel to the
+    // Z axis we consider a support point as pillar candidate. If touches
+    // the model geometry, it will be marked as non-ground facing and
+    // further steps will process it. Also, the pillars will be grouped
+    // into clusters that can be interconnected with bridges. Elements of
+    // these groups may or may not be interconnected. Here we only run the
+    // clustering algorithm.
+    void classify();
+
+    // Step: Routing the ground connected pinheads, and interconnecting
+    // them with additional (angled) bridges. Not all of these pinheads
+    // will be a full pillar (ground connected). Some will connect to a
+    // nearby pillar using a bridge. The max number of such side-heads for
+    // a central pillar is limited to avoid bad weight distribution.
+    void routing_to_ground();
+
+    // Step: routing the pinheads that would connect to the model surface
+    // along the Z axis downwards. For now these will actually be connected with
+    // the model surface with a flipped pinhead. In the future here we could use
+    // some smart algorithms to search for a safe path to the ground or to a
+    // nearby pillar that can hold the supported weight.
+    void routing_to_model();
+
+    void interconnect_pillars();
+
+    inline void merge_result() { m_builder.merged_mesh(); }
+
+    static bool execute(SupportTreeBuilder & builder, const SupportableMesh &sm);
+};
+
+}
+}
+
+#endif // SLASUPPORTTREEALGORITHM_H