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EigenMesh3D raycaster should now be able to pick a correct intersection on the object or inside a hole

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This commit is contained in:
Lukas Matena 2019-11-19 14:27:05 +01:00
parent 9dd18a8d6d
commit 2c1d256b0c
5 changed files with 147 additions and 57 deletions
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33
src/libslic3r/SLA/Hollowing.cpp
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@ -141,22 +141,26 @@ bool DrainHole::is_inside(const Vec3f& pt) const
}
// Given a line s+dir*t, return parameter t of intersections with the hole.
// If there is no intersection, returns nan.
std::pair<float, float> DrainHole::get_intersections(const Vec3f& s,
const Vec3f& dir) const
// Given a line s+dir*t, find parameter t of intersections with the hole
// and the normal (points inside the hole). Outputs through out reference,
// returns true if two intersections were found.
bool DrainHole::get_intersections(const Vec3f& s, const Vec3f& dir,
std::array<std::pair<float, Vec3d>, 2>& out)
const
{
assert(is_approx(normal.norm(), 1.f));
const Eigen::ParametrizedLine<float, 3> ray(s, dir.normalized());
std::pair<float, float> out(std::nan(""), std::nan(""));
for (size_t i=0; i<2; ++i)
out[i] = std::make_pair(std::nan(""), Vec3d::Zero());
const float sqr_radius = pow(radius, 2.f);
// first check a bounding sphere of the hole:
Vec3f center = pos+normal*height/2.f;
float sqr_dist_limit = pow(height/2.f, 2.f) + sqr_radius ;
if (ray.squaredDistance(center) > sqr_dist_limit)
return out;
return false;
// The line intersects the bounding sphere, look for intersections with
// bases of the cylinder.
@ -170,7 +174,8 @@ std::pair<float, float> DrainHole::get_intersections(const Vec3f& s,
Vec3f intersection = ray.intersectionPoint(base);
// Only accept the point if it is inside the cylinder base.
if ((cylinder_center-intersection).squaredNorm() < sqr_radius) {
(found ? out.second : out.first) = ray.intersectionParameter(base);
out[found].first = ray.intersectionParameter(base);
out[found].second = (i==0 ? 1. : -1.) * normal.cast<double>();
++found;
}
}
@ -200,11 +205,13 @@ std::pair<float, float> DrainHole::get_intersections(const Vec3f& s,
for (int i=-1; i<=1 && found !=2; i+=2) {
Vec3f isect = closest + i*dist * projected_ray.direction();
float par = (isect-proj_origin).norm() / par_scale;
Vec3d hit_normal = (pos-isect).normalized().cast<double>();
isect = ray.pointAt(par);
// check that the intersection is between the base planes:
float vert_dist = base.signedDistance(isect);
if (vert_dist > 0.f && vert_dist < height) {
(found ? out.second : out.first) = par;
out[found].first = par;
out[found].second = hit_normal;
++found;
}
}
@ -212,14 +219,14 @@ std::pair<float, float> DrainHole::get_intersections(const Vec3f& s,
// If only one intersection was found, it is some corner case,
// no intersection will be returned:
if (found != 0)
return std::pair<float, float>(std::nan(""), std::nan(""));
if (found != 2)
return false;
// Sort the intersections:
if (out.first > out.second)
std::swap(out.first, out.second);
if (out[0].first > out[1].first)
std::swap(out[0], out[1]);
return out;
return true;
}
}} // namespace Slic3r::sla