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https://github.com/SoftFever/OrcaSlicer.git
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SLA support points improvements
- semi-intelligent algorithm to place support points - enhanced ImGui dialog with editing/non-editing mode - support points can have different head diameter (only implemented in GUI so far) - autogenerated points supporting emerging islands are annotated and the info is kept
This commit is contained in:
Lukas Matena
parent
f4243c694f
commit
21026ec9a8
16 changed files with 433 additions and 495 deletions
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@ -13,34 +13,7 @@
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namespace Slic3r {
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SLAAutoSupports::SLAAutoSupports(const TriangleMesh& mesh, const sla::EigenMesh3D& emesh, const std::vector<ExPolygons>& slices, const std::vector<float>& heights,
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const Config& config, std::function<void(void)> throw_on_cancel)
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: m_config(config), m_V(emesh.V), m_F(emesh.F), m_throw_on_cancel(throw_on_cancel)
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{
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// FIXME: It might be safer to get rid of the rand() calls altogether, because it is probably
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// not always thread-safe and can be slow if it is.
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srand(time(NULL)); // rand() is used by igl::random_point_on_mesh
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// Find all separate islands that will need support. The coord_t number denotes height
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// of a point just below the mesh (so that we can later project the point precisely
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// on the mesh by raycasting (done by igl) and not risking we will place the point inside).
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std::vector<std::pair<ExPolygon, coord_t>> islands = find_islands(slices, heights);
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// Uniformly cover each of the islands with support points.
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for (const auto& island : islands) {
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std::vector<Vec3d> points = uniformly_cover(island);
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m_throw_on_cancel();
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project_upward_onto_mesh(points);
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m_output.insert(m_output.end(), points.begin(), points.end());
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m_throw_on_cancel();
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}
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// We are done with the islands. Let's sprinkle the rest of the mesh.
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// The function appends to m_output.
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sprinkle_mesh(mesh);
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}
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/*
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float SLAAutoSupports::approximate_geodesic_distance(const Vec3d& p1, const Vec3d& p2, Vec3d& n1, Vec3d& n2)
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{
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n1.normalize();
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@ -59,115 +32,6 @@ float SLAAutoSupports::approximate_geodesic_distance(const Vec3d& p1, const Vec3
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}
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void SLAAutoSupports::sprinkle_mesh(const TriangleMesh& mesh)
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{
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std::vector<Vec3d> points;
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// Loads the ModelObject raw_mesh and transforms it by first instance's transformation matrix (disregarding translation).
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// Instances only differ in z-rotation, so it does not matter which of them will be used for the calculation.
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// The supports point will be calculated on this mesh (so scaling ang vertical direction is correctly accounted for).
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// Results will be inverse-transformed to raw_mesh coordinates.
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//TriangleMesh mesh = m_model_object.raw_mesh();
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//Transform3d transformation_matrix = m_model_object.instances[0]->get_matrix(true/*dont_translate*/);
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//mesh.transform(transformation_matrix);
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// Check that the object is thick enough to produce any support points
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BoundingBoxf3 bb = mesh.bounding_box();
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if (bb.size()(2) < m_config.minimal_z)
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return;
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// All points that we curretly have must be transformed too, so distance to them is correcly calculated.
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//for (Vec3f& point : m_model_object.sla_support_points)
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// point = transformation_matrix.cast<float>() * point;
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// In order to calculate distance to already placed points, we must keep know which facet the point lies on.
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std::vector<Vec3d> facets_normals;
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// Only points belonging to islands were added so far - they all lie on horizontal surfaces:
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for (unsigned int i=0; i<m_output.size(); ++i)
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facets_normals.push_back(Vec3d(0,0,-1));
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// The AABB hierarchy will be used to find normals of already placed points.
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// The points added automatically will just push_back the new normal on the fly.
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/*igl::AABB<Eigen::MatrixXf,3> aabb;
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aabb.init(V, F);
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for (unsigned int i=0; i<m_model_object.sla_support_points.size(); ++i) {
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int facet_idx = 0;
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Eigen::Matrix<float, 1, 3> dump;
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Eigen::MatrixXf query_point = m_model_object.sla_support_points[i];
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aabb.squared_distance(V, F, query_point, facet_idx, dump);
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Vec3f a1 = V.row(F(facet_idx,1)) - V.row(F(facet_idx,0));
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Vec3f a2 = V.row(F(facet_idx,2)) - V.row(F(facet_idx,0));
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Vec3f normal = a1.cross(a2);
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normal.normalize();
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facets_normals.push_back(normal);
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}*/
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// New potential support point is randomly generated on the mesh and distance to all already placed points is calculated.
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// In case it is never smaller than certain limit (depends on the new point's facet normal), the point is accepted.
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// The process stops after certain number of points is refused in a row.
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Vec3d point;
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Vec3d normal;
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int added_points = 0;
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int refused_points = 0;
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const int refused_limit = 30;
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// Angle at which the density reaches zero:
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const float threshold_angle = std::min(M_PI_2, M_PI_4 * acos(0.f/m_config.density_at_horizontal) / acos(m_config.density_at_45/m_config.density_at_horizontal));
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size_t cancel_test_cntr = 0;
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while (refused_points < refused_limit) {
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if (++ cancel_test_cntr == 500) {
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// Don't call the cancellation routine too often as the multi-core cache synchronization
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// may be pretty expensive.
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m_throw_on_cancel();
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cancel_test_cntr = 0;
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}
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// Place a random point on the mesh and calculate corresponding facet's normal:
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Eigen::VectorXi FI;
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Eigen::MatrixXd B;
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igl::random_points_on_mesh(1, m_V, m_F, B, FI);
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point = B(0,0)*m_V.row(m_F(FI(0),0)) +
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B(0,1)*m_V.row(m_F(FI(0),1)) +
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B(0,2)*m_V.row(m_F(FI(0),2));
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if (point(2) - bb.min(2) < m_config.minimal_z)
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continue;
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Vec3d a1 = m_V.row(m_F(FI(0),1)) - m_V.row(m_F(FI(0),0));
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Vec3d a2 = m_V.row(m_F(FI(0),2)) - m_V.row(m_F(FI(0),0));
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normal = a1.cross(a2);
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normal.normalize();
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// calculate angle between the normal and vertical:
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float angle = angle_from_normal(normal.cast<float>());
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if (angle > threshold_angle)
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continue;
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const float limit = distance_limit(angle);
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bool add_it = true;
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for (unsigned int i=0; i<points.size(); ++i) {
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if (approximate_geodesic_distance(points[i], point, facets_normals[i], normal) < limit) {
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add_it = false;
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++refused_points;
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break;
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}
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}
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if (add_it) {
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points.push_back(point.cast<double>());
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facets_normals.push_back(normal);
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++added_points;
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refused_points = 0;
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}
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}
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m_output.insert(m_output.end(), points.begin(), points.end());
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// Now transform all support points to mesh coordinates:
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//for (Vec3f& point : m_model_object.sla_support_points)
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// point = transformation_matrix.inverse().cast<float>() * point;
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}
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float SLAAutoSupports::get_required_density(float angle) const
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{
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// calculation would be density_0 * cos(angle). To provide one more degree of freedom, we will scale the angle
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@ -179,9 +43,240 @@ float SLAAutoSupports::get_required_density(float angle) const
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float SLAAutoSupports::distance_limit(float angle) const
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{
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return 1./(2.4*get_required_density(angle));
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}*/
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SLAAutoSupports::SLAAutoSupports(const TriangleMesh& mesh, const sla::EigenMesh3D& emesh, const std::vector<ExPolygons>& slices, const std::vector<float>& heights,
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const Config& config, std::function<void(void)> throw_on_cancel)
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: m_config(config), m_V(emesh.V), m_F(emesh.F), m_throw_on_cancel(throw_on_cancel)
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{
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// Find all separate islands that will need support. The coord_t number denotes height
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// of a point just below the mesh (so that we can later project the point precisely
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// on the mesh by raycasting (done by igl) and not risking we will place the point inside).
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/*std::vector<std::pair<ExPolygon, coord_t>> islands = */
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process(slices, heights);
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// Uniformly cover each of the islands with support points.
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/*for (const auto& island : islands) {
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std::vector<Vec3d> points = uniformly_cover(island);
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m_throw_on_cancel();
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project_upward_onto_mesh(points);
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m_output.insert(m_output.end(), points.begin(), points.end());
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m_throw_on_cancel();
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}*/
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project_onto_mesh(m_output);
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}
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void SLAAutoSupports::project_onto_mesh(std::vector<sla::SupportPoint>& points) const
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{
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// The function makes sure that all the points are really exactly placed on the mesh.
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igl::Hit hit_up{0, 0, 0.f, 0.f, 0.f};
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igl::Hit hit_down{0, 0, 0.f, 0.f, 0.f};
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for (sla::SupportPoint& support_point : points) {
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Vec3f& p = support_point.pos;
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// Project the point upward and downward and choose the closer intersection with the mesh.
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bool up = igl::ray_mesh_intersect(p.cast<float>(), Vec3f(0., 0., 1.), m_V, m_F, hit_up);
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bool down = igl::ray_mesh_intersect(p.cast<float>(), Vec3f(0., 0., -1.), m_V, m_F, hit_down);
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if (!up && !down)
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continue;
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igl::Hit& hit = (!down || (hit_up.t < hit_down.t)) ? hit_up : hit_down;
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int fid = hit.id;
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Vec3f bc(1-hit.u-hit.v, hit.u, hit.v);
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p = (bc(0) * m_V.row(m_F(fid, 0)) + bc(1) * m_V.row(m_F(fid, 1)) + bc(2)*m_V.row(m_F(fid, 2))).cast<float>();
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}
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}
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void SLAAutoSupports::process(const std::vector<ExPolygons>& slices, const std::vector<float>& heights)
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{
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std::vector<std::pair<ExPolygon, coord_t>> islands;
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for (unsigned int i = 0; i<slices.size(); ++i) {
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const ExPolygons& expolys_top = slices[i];
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const float height = (i>2 ? heights[i-3] : heights[0]-(heights[1]-heights[0]));
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const float safe_angle = 5.f * (M_PI/180.f); // smaller number - less supports
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const float offset = scale_((i!=0 ? heights[i]-heights[i-1] : heights[0]) / std::tan(safe_angle));
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const float pixel_area = 0.047f * 0.047f; // FIXME: calculate actual pixel area from printer config
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// Check all ExPolygons on this slice and check whether they are new or belonging to something below.
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for (const ExPolygon& polygon : expolys_top) {
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if (polygon.area() * SCALING_FACTOR * SCALING_FACTOR < pixel_area)
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continue;
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m_structures_new.emplace_back(polygon, height);
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for (Structure& s : m_structures_old) {
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const ExPolygon* bottom = s.polygon;
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if (polygon.overlaps(*bottom) || bottom->overlaps(polygon)) {
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m_structures_new.back().structures_below.push_back(&s);
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coord_t centroids_dist = (bottom->contour.centroid() - polygon.contour.centroid()).norm();
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if (centroids_dist != 0) {
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float mult = std::min(1.f, 1.f - std::min(1.f, 500.f * (float)(centroids_dist * centroids_dist) / (float)bottom->area()));
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s.supports_force *= mult;
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}
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//s.supports_force *= std::min(1.f, ((float)polygon.area()/(float)bottom->area()));
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}
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}
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}
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// Let's assign proper support force to each of them:
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for (Structure& old_str : m_structures_old) {
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std::vector<Structure*> children;
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float children_area = 0.f;
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for (Structure& new_str : m_structures_new)
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for (const Structure* below : new_str.structures_below)
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if (&old_str == below) {
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children.push_back(&new_str);
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children_area += children.back()->polygon->area() * pow(SCALING_FACTOR, 2);
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}
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for (Structure* child : children)
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child->supports_force += (old_str.supports_force/children_area) * (child->polygon->area() * pow(SCALING_FACTOR, 2));
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}
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// Now iterate over all polygons and append new points if needed.
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for (Structure& s : m_structures_new) {
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if (s.structures_below.empty()) {// completely new island - needs support no doubt
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uniformly_cover(*s.polygon, s, true);
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}
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else {
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// Let's see if there's anything that overlaps enough to need supports:
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ExPolygons polygons;
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float bottom_area = 0.f;
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for (const Structure* sb : s.structures_below) {
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polygons.push_back(*sb->polygon);
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bottom_area += polygons.back().area() * pow(SCALING_FACTOR, 2);
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}
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polygons = offset_ex(polygons, offset);
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polygons = diff_ex(ExPolygons{*s.polygon}, polygons);
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// What we now have in polygons needs support, regardless of what the forces are, so we can add them.
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for (const ExPolygon& p : polygons)
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uniformly_cover(p, s);
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}
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}
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// We should also check if current support is enough given the polygon area.
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for (Structure& s : m_structures_new) {
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ExPolygons e;
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float e_area = 0.f;
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for (const Structure* a : s.structures_below) {
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e.push_back(*a->polygon);
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e_area += e.back().area() * SCALING_FACTOR * SCALING_FACTOR;
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}
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e = diff_ex(ExPolygons{*s.polygon}, e);
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s.supports_force /= std::max(1., (e_area / (s.polygon->area()*SCALING_FACTOR*SCALING_FACTOR)));
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if ( (s.polygon->area() * pow(SCALING_FACTOR, 2)) * m_config.tear_pressure > s.supports_force) {
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ExPolygons::iterator largest_it = std::max_element(e.begin(), e.end(), [](const ExPolygon& a, const ExPolygon& b) { return a.area() < b.area(); });
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if (!e.empty())
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uniformly_cover(*largest_it, s);
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}
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}
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// All is done. Prepare to advance to the next layer.
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m_structures_old = m_structures_new;
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m_structures_new.clear();
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m_throw_on_cancel();
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#ifdef SLA_AUTOSUPPORTS_DEBUG
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/*std::string layer_num_str = std::string((i<10 ? "0" : "")) + std::string((i<100 ? "0" : "")) + std::to_string(i);
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output_expolygons(expolys_top, "top" + layer_num_str + ".svg");
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output_expolygons(diff, "diff" + layer_num_str + ".svg");
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if (!islands.empty())
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output_expolygons(islands, "islands" + layer_num_str + ".svg");*/
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#endif /* SLA_AUTOSUPPORTS_DEBUG */
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}
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}
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void SLAAutoSupports::add_point(const Point& point, Structure& structure, bool is_new_island)
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{
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sla::SupportPoint new_point(point(0) * SCALING_FACTOR, point(1) * SCALING_FACTOR, structure.height, 0.4f, (float)is_new_island);
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m_output.emplace_back(new_point);
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structure.supports_force += m_config.support_force;
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}
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void SLAAutoSupports::uniformly_cover(const ExPolygon& island, Structure& structure, bool is_new_island, bool just_one)
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{
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//int num_of_points = std::max(1, (int)((island.area()*pow(SCALING_FACTOR, 2) * m_config.tear_pressure)/m_config.support_force));
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const float density_horizontal = m_config.tear_pressure / m_config.support_force;
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// We will cover the island another way.
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// For now we'll just place the points randomly not too close to the others.
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std::random_device rd;
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std::mt19937 gen(rd());
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std::uniform_real_distribution<> dis(0., 1.);
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std::vector<Vec3d> island_new_points;
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const BoundingBox& bb = get_extents(island);
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const int refused_limit = 30;
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int refused_points = 0;
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while (refused_points < refused_limit) {
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Point out;
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if (refused_points == 0 && island_new_points.empty()) // first iteration
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out = island.contour.centroid();
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else
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out = Point(bb.min(0) + bb.size()(0) * dis(gen), bb.min(1) + bb.size()(1) * dis(gen));
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Vec3d unscaled_out = unscale(out(0), out(1), 0.f);
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bool add_it = true;
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if (!island.contour.contains(out))
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add_it = false;
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else
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for (const Polygon& hole : island.holes)
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if (hole.contains(out))
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add_it = false;
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if (add_it) {
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for (const Vec3d& p : island_new_points) {
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if ((p - unscaled_out).squaredNorm() < 1./(2.4*density_horizontal)) {
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add_it = false;
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break;
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}
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}
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}
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if (add_it) {
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island_new_points.emplace_back(unscaled_out);
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if (just_one)
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break;
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}
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else
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++refused_points;
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}
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for (const Vec3d& p : island_new_points)
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add_point(Point(scale_(p.x()), scale_(p.y())), structure, is_new_island);
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}
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#ifdef SLA_AUTOSUPPORTS_DEBUG
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void SLAAutoSupports::output_structures() const
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{
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const std::vector<Structure>& structures = m_structures_new;
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for (unsigned int i=0 ; i<structures.size(); ++i) {
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std::stringstream ss;
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ss << structures[i].unique_id.count() << "_" << std::setw(10) << std::setfill('0') << 1000 + (int)structures[i].height/1000 << ".png";
|
||||
output_expolygons(std::vector<ExPolygon>{*structures[i].polygon}, ss.str());
|
||||
}
|
||||
}
|
||||
|
||||
void SLAAutoSupports::output_expolygons(const ExPolygons& expolys, std::string filename) const
|
||||
{
|
||||
BoundingBox bb(Point(-30000000, -30000000), Point(30000000, 30000000));
|
||||
|
|
@ -198,138 +293,6 @@ void SLAAutoSupports::output_expolygons(const ExPolygons& expolys, std::string f
|
|||
svg_cummulative.draw_outline(expolys[i].holes, "blue", scale_(0.05));
|
||||
}
|
||||
}
|
||||
#endif /* SLA_AUTOSUPPORTS_DEBUG */
|
||||
|
||||
std::vector<std::pair<ExPolygon, coord_t>> SLAAutoSupports::find_islands(const std::vector<ExPolygons>& slices, const std::vector<float>& heights) const
|
||||
{
|
||||
std::vector<std::pair<ExPolygon, coord_t>> islands;
|
||||
|
||||
struct PointAccessor {
|
||||
const Point* operator()(const Point &pt) const { return &pt; }
|
||||
};
|
||||
typedef ClosestPointInRadiusLookup<Point, PointAccessor> ClosestPointLookupType;
|
||||
|
||||
for (unsigned int i = 0; i<slices.size(); ++i) {
|
||||
const ExPolygons& expolys_top = slices[i];
|
||||
const ExPolygons& expolys_bottom = (i == 0 ? ExPolygons() : slices[i-1]);
|
||||
|
||||
std::string layer_num_str = std::string((i<10 ? "0" : "")) + std::string((i<100 ? "0" : "")) + std::to_string(i);
|
||||
#ifdef SLA_AUTOSUPPORTS_DEBUG
|
||||
output_expolygons(expolys_top, "top" + layer_num_str + ".svg");
|
||||
#endif /* SLA_AUTOSUPPORTS_DEBUG */
|
||||
ExPolygons diff = diff_ex(expolys_top, expolys_bottom);
|
||||
|
||||
#ifdef SLA_AUTOSUPPORTS_DEBUG
|
||||
output_expolygons(diff, "diff" + layer_num_str + ".svg");
|
||||
#endif /* SLA_AUTOSUPPORTS_DEBUG */
|
||||
|
||||
ClosestPointLookupType cpl(SCALED_EPSILON);
|
||||
for (const ExPolygon& expol : expolys_top) {
|
||||
for (const Point& p : expol.contour.points)
|
||||
cpl.insert(p);
|
||||
for (const Polygon& hole : expol.holes)
|
||||
for (const Point& p : hole.points)
|
||||
cpl.insert(p);
|
||||
// the lookup structure now contains all points from the top slice
|
||||
}
|
||||
|
||||
for (const ExPolygon& polygon : diff) {
|
||||
// we want to check all boundary points of the diff polygon
|
||||
bool island = true;
|
||||
for (const Point& p : polygon.contour.points) {
|
||||
if (cpl.find(p).second != 0) { // the point belongs to the bottom slice - this cannot be an island
|
||||
island = false;
|
||||
goto NO_ISLAND;
|
||||
}
|
||||
}
|
||||
for (const Polygon& hole : polygon.holes)
|
||||
for (const Point& p : hole.points)
|
||||
if (cpl.find(p).second != 0) {
|
||||
island = false;
|
||||
goto NO_ISLAND;
|
||||
}
|
||||
|
||||
if (island) { // all points of the diff polygon are from the top slice
|
||||
islands.push_back(std::make_pair(polygon, scale_(i!=0 ? heights[i-1] : heights[0]-(heights[1]-heights[0]))));
|
||||
}
|
||||
NO_ISLAND: ;// continue with next ExPolygon
|
||||
}
|
||||
|
||||
#ifdef SLA_AUTOSUPPORTS_DEBUG
|
||||
//if (!islands.empty())
|
||||
// output_expolygons(islands, "islands" + layer_num_str + ".svg");
|
||||
#endif /* SLA_AUTOSUPPORTS_DEBUG */
|
||||
m_throw_on_cancel();
|
||||
}
|
||||
|
||||
return islands;
|
||||
}
|
||||
|
||||
std::vector<Vec3d> SLAAutoSupports::uniformly_cover(const std::pair<ExPolygon, coord_t>& island)
|
||||
{
|
||||
int num_of_points = std::max(1, (int)(island.first.area()*pow(SCALING_FACTOR, 2) * get_required_density(0)));
|
||||
|
||||
// In case there is just one point to place, we'll place it into the polygon's centroid (unless it lies in a hole).
|
||||
if (num_of_points == 1) {
|
||||
Point out(island.first.contour.centroid());
|
||||
|
||||
for (const auto& hole : island.first.holes)
|
||||
if (hole.contains(out))
|
||||
goto HOLE_HIT;
|
||||
return std::vector<Vec3d>{unscale(out(0), out(1), island.second)};
|
||||
}
|
||||
|
||||
HOLE_HIT:
|
||||
// In this case either the centroid lies in a hole, or there are multiple points
|
||||
// to place. We will cover the island another way.
|
||||
// For now we'll just place the points randomly not too close to the others.
|
||||
std::random_device rd;
|
||||
std::mt19937 gen(rd());
|
||||
std::uniform_real_distribution<> dis(0., 1.);
|
||||
|
||||
std::vector<Vec3d> island_new_points;
|
||||
const BoundingBox& bb = get_extents(island.first);
|
||||
const int refused_limit = 30;
|
||||
int refused_points = 0;
|
||||
while (refused_points < refused_limit) {
|
||||
Point out(bb.min(0) + bb.size()(0) * dis(gen),
|
||||
bb.min(1) + bb.size()(1) * dis(gen)) ;
|
||||
Vec3d unscaled_out = unscale(out(0), out(1), island.second);
|
||||
bool add_it = true;
|
||||
|
||||
if (!island.first.contour.contains(out))
|
||||
add_it = false;
|
||||
else
|
||||
for (const Polygon& hole : island.first.holes)
|
||||
if (hole.contains(out))
|
||||
add_it = false;
|
||||
|
||||
if (add_it) {
|
||||
for (const Vec3d& p : island_new_points) {
|
||||
if ((p - unscaled_out).squaredNorm() < distance_limit(0)) {
|
||||
add_it = false;
|
||||
++refused_points;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (add_it)
|
||||
island_new_points.emplace_back(unscaled_out);
|
||||
}
|
||||
return island_new_points;
|
||||
}
|
||||
|
||||
void SLAAutoSupports::project_upward_onto_mesh(std::vector<Vec3d>& points) const
|
||||
{
|
||||
Vec3f dir(0., 0., 1.);
|
||||
igl::Hit hit{0, 0, 0.f, 0.f, 0.f};
|
||||
for (Vec3d& p : points) {
|
||||
igl::ray_mesh_intersect(p.cast<float>(), dir, m_V, m_F, hit);
|
||||
int fid = hit.id;
|
||||
Vec3f bc(1-hit.u-hit.v, hit.u, hit.v);
|
||||
p = (bc(0) * m_V.row(m_F(fid, 0)) + bc(1) * m_V.row(m_F(fid, 1)) + bc(2)*m_V.row(m_F(fid, 2))).cast<double>();
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
} // namespace Slic3r
|
||||
Loading…
Add table
Add a link
Reference in a new issue