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Merge remote-tracking branch 'remotes/origin/tm_pad_speedup'

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bubnikv 2019-02-20 15:07:43 +01:00
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349
src/libslic3r/SLA/SLABasePool.cpp
View file

@ -4,78 +4,177 @@
#include "boost/log/trivial.hpp"
#include "SLABoostAdapter.hpp"
#include "ClipperUtils.hpp"
#include "Tesselate.hpp"
// For debugging:
//#include <fstream>
//#include <libnest2d/tools/benchmark.h>
//#include "SVG.hpp"
//#include "benchmark.h"
namespace Slic3r { namespace sla {
/// Convert the triangulation output to an intermediate mesh.
Contour3D convert(const Polygons& triangles, coord_t z, bool dir) {
Pointf3s points;
points.reserve(3*triangles.size());
Indices indices;
indices.reserve(points.size());
for(auto& tr : triangles) {
auto c = coord_t(points.size()), b = c++, a = c++;
if(dir) indices.emplace_back(a, b, c);
else indices.emplace_back(c, b, a);
for(auto& p : tr.points) {
points.emplace_back(unscale(x(p), y(p), z));
}
}
return {points, indices};
}
Contour3D walls(const ExPolygon& floor_plate, const ExPolygon& ceiling,
double floor_z_mm, double ceiling_z_mm,
ThrowOnCancel thr)
/// This function will return a triangulation of a sheet connecting an upper
/// and a lower plate given as input polygons. It will not triangulate the
/// plates themselves only the sheet. The caller has to specify the lower and
/// upper z levels in world coordinates as well as the offset difference
/// between the sheets. If the lower_z_mm is higher than upper_z_mm or the
/// offset difference is negative, the resulting triangle orientation will be
/// reversed.
///
/// IMPORTANT: This is not a universal triangulation algorithm. It assumes
/// that the lower and upper polygons are offsetted versions of the same
/// original polygon. In general, it assumes that one of the polygons is
/// completely inside the other. The offset difference is the reference
/// distance from the inner polygon's perimeter to the outer polygon's
/// perimeter. The real distance will be variable as the clipper offset has
/// different strategies (rounding, etc...). This algorithm should have
/// O(2n + 3m) complexity where n is the number of upper vertices and m is the
/// number of lower vertices.
Contour3D walls(const Polygon& lower, const Polygon& upper,
double lower_z_mm, double upper_z_mm,
double offset_difference_mm, ThrowOnCancel thr)
{
using std::transform; using std::back_inserter;
ExPolygon poly;
poly.contour.points = floor_plate.contour.points;
poly.holes.emplace_back(ceiling.contour);
auto& h = poly.holes.front();
std::reverse(h.points.begin(), h.points.end());
Polygons tri = triangulate(poly);
Contour3D ret;
ret.points.reserve(tri.size() * 3);
double fz = floor_z_mm;
double cz = ceiling_z_mm;
auto& rp = ret.points;
auto& rpi = ret.indices;
ret.indices.reserve(tri.size() * 3);
if(upper.points.size() < 3 || lower.size() < 3) return ret;
coord_t idx = 0;
// The concept of the algorithm is relatively simple. It will try to find
// the closest vertices from the upper and the lower polygon and use those
// as starting points. Then it will create the triangles sequentially using
// an edge from the upper polygon and a vertex from the lower or vice versa,
// depending on the resulting triangle's quality.
// The quality is measured by a scalar value. So far it looks like it is
// enough to derive it from the slope of the triangle's two edges connecting
// the upper and the lower part. A reference slope is calculated from the
// height and the offset difference.
auto hlines = h.lines();
auto is_upper = [&hlines](const Point& p) {
return std::any_of(hlines.begin(), hlines.end(),
[&p](const Line& l) {
return l.distance_to(p) < mm(1e-6);
});
// Offset in the index array for the ceiling
const auto offs = upper.points.size();
// Shorthand for the vertex arrays
auto& upoints = upper.points, &lpoints = lower.points;
auto& rpts = ret.points; auto& rfaces = ret.indices;
// If the Z levels are flipped, or the offset difference is negative, we
// will interpret that as the triangles normals should be inverted.
bool inverted = upper_z_mm < lower_z_mm || offset_difference_mm < 0;
// Copy the points into the mesh, convert them from 2D to 3D
rpts.reserve(upoints.size() + lpoints.size());
rfaces.reserve(2*upoints.size() + 2*lpoints.size());
const double sf = SCALING_FACTOR;
for(auto& p : upoints) rpts.emplace_back(p.x()*sf, p.y()*sf, upper_z_mm);
for(auto& p : lpoints) rpts.emplace_back(p.x()*sf, p.y()*sf, lower_z_mm);
// Create pointing indices into vertex arrays. u-upper, l-lower
size_t uidx = 0, lidx = offs, unextidx = 1, lnextidx = offs + 1;
// Simple squared distance calculation.
auto distfn = [](const Vec3d& p1, const Vec3d& p2) {
auto p = p1 - p2; return p.transpose() * p;
};
std::for_each(tri.begin(), tri.end(),
[&rp, &rpi, thr, &idx, is_upper, fz, cz](const Polygon& pp)
{
thr(); // may throw if cancellation was requested
// We need to find the closest point on lower polygon to the first point on
// the upper polygon. These will be our starting points.
double distmin = std::numeric_limits<double>::max();
for(size_t l = lidx; l < rpts.size(); ++l) {
thr();
double d = distfn(rpts[l], rpts[uidx]);
if(d < distmin) { lidx = l; distmin = d; }
}
for(auto& p : pp.points)
if(is_upper(p))
rp.emplace_back(unscale(x(p), y(p), mm(cz)));
else rp.emplace_back(unscale(x(p), y(p), mm(fz)));
// Set up lnextidx to be ahead of lidx in cyclic mode
lnextidx = lidx + 1;
if(lnextidx == rpts.size()) lnextidx = offs;
coord_t a = idx++, b = idx++, c = idx++;
if(fz > cz) rpi.emplace_back(c, b, a);
else rpi.emplace_back(a, b, c);
});
// This will be the flip switch to toggle between upper and lower triangle
// creation mode
enum class Proceed {
UPPER, // A segment from the upper polygon and one vertex from the lower
LOWER // A segment from the lower polygon and one vertex from the upper
} proceed = Proceed::UPPER;
// Flags to help evaluating loop termination.
bool ustarted = false, lstarted = false;
// The variables for the fitness values, one for the actual and one for the
// previous.
double current_fit = 0, prev_fit = 0;
// Every triangle of the wall has two edges connecting the upper plate with
// the lower plate. From the length of these two edges and the zdiff we
// can calculate the momentary squared offset distance at a particular
// position on the wall. The average of the differences from the reference
// (squared) offset distance will give us the driving fitness value.
const double offsdiff2 = std::pow(offset_difference_mm, 2);
const double zdiff2 = std::pow(upper_z_mm - lower_z_mm, 2);
// Mark the current vertex iterator positions. If the iterators return to
// the same position, the loop can be terminated.
size_t uendidx = uidx, lendidx = lidx;
do { thr(); // check throw if canceled
prev_fit = current_fit;
switch(proceed) { // proceed depending on the current state
case Proceed::UPPER:
if(!ustarted || uidx != uendidx) { // there are vertices remaining
// Get the 3D vertices in order
const Vec3d& p_up1 = rpts[size_t(uidx)];
const Vec3d& p_low = rpts[size_t(lidx)];
const Vec3d& p_up2 = rpts[size_t(unextidx)];
// Calculate fitness: the average of the two connecting edges
double a = offsdiff2 - (distfn(p_up1, p_low) - zdiff2);
double b = offsdiff2 - (distfn(p_up2, p_low) - zdiff2);
current_fit = (std::abs(a) + std::abs(b)) / 2;
if(current_fit > prev_fit) { // fit is worse than previously
proceed = Proceed::LOWER;
} else { // good to go, create the triangle
inverted? rfaces.emplace_back(unextidx, lidx, uidx) :
rfaces.emplace_back(uidx, lidx, unextidx) ;
// Increment the iterators, rotate if necessary
++uidx; ++unextidx;
if(unextidx == offs) unextidx = 0;
if(uidx == offs) uidx = 0;
ustarted = true; // mark the movement of the iterators
// so that the comparison to uendidx can be made correctly
}
} else proceed = Proceed::LOWER;
break;
case Proceed::LOWER:
// Mode with lower segment, upper vertex. Same structure:
if(!lstarted || lidx != lendidx) {
const Vec3d& p_low1 = rpts[size_t(lidx)];
const Vec3d& p_low2 = rpts[size_t(lnextidx)];
const Vec3d& p_up = rpts[size_t(uidx)];
double a = offsdiff2 - (distfn(p_up, p_low1) - zdiff2);
double b = offsdiff2 - (distfn(p_up, p_low2) - zdiff2);
current_fit = (std::abs(a) + std::abs(b)) / 2;
if(current_fit > prev_fit) {
proceed = Proceed::UPPER;
} else {
inverted? rfaces.emplace_back(uidx, lnextidx, lidx) :
rfaces.emplace_back(lidx, lnextidx, uidx);
++lidx; ++lnextidx;
if(lnextidx == rpts.size()) lnextidx = offs;
if(lidx == rpts.size()) lidx = offs;
lstarted = true;
}
} else proceed = Proceed::UPPER;
break;
} // end of switch
} while(!ustarted || !lstarted || uidx != uendidx || lidx != lendidx);
return ret;
}
@ -207,20 +306,31 @@ ExPolygons unify(const ExPolygons& shapes) {
/// Only a debug function to generate top and bottom plates from a 2D shape.
/// It is not used in the algorithm directly.
inline Contour3D roofs(const ExPolygon& poly, coord_t z_distance) {
Polygons triangles = triangulate(poly);
auto lower = convert(triangles, 0, false);
auto upper = convert(triangles, z_distance, true);
lower.merge(upper);
return lower;
auto lower = triangulate_expolygons_3df(poly);
auto upper = triangulate_expolygons_3df(poly, z_distance*SCALING_FACTOR, true);
Contour3D ret;
ret.merge(lower); ret.merge(upper);
return ret;
}
/// This method will create a rounded edge around a flat polygon in 3d space.
/// 'base_plate' parameter is the target plate.
/// 'radius' is the radius of the edges.
/// 'degrees' is tells how much of a circle should be created as the rounding.
/// It should be in degrees, not radians.
/// 'ceilheight_mm' is the Z coordinate of the flat polygon in 3D space.
/// 'dir' Is the direction of the round edges: inward or outward
/// 'thr' Throws if a cancel signal was received
/// 'last_offset' An auxiliary output variable to save the last offsetted
/// version of 'base_plate'
/// 'last_height' An auxiliary output to save the last z coordinate of the
/// offsetted base_plate. In other words, where the rounded edges end.
Contour3D round_edges(const ExPolygon& base_plate,
double radius_mm,
double degrees,
double ceilheight_mm,
bool dir,
ThrowOnCancel throw_on_cancel,
ThrowOnCancel thr,
ExPolygon& last_offset, double& last_height)
{
auto ob = base_plate;
@ -236,10 +346,10 @@ Contour3D round_edges(const ExPolygon& base_plate,
// we use sin for x distance because we interpret the angle starting from
// PI/2
int tos = degrees < 90?
int(radius_mm*std::cos(degrees * PI / 180 - PI/2) / stepx) : steps;
int(radius_mm*std::cos(degrees * PI / 180 - PI/2) / stepx) : steps;
for(int i = 1; i <= tos; ++i) {
throw_on_cancel();
thr();
ob = base_plate;
@ -252,7 +362,8 @@ Contour3D round_edges(const ExPolygon& base_plate,
wh = ceilheight_mm - radius_mm + stepy;
Contour3D pwalls;
pwalls = walls(ob, ob_prev, wh, wh_prev, throw_on_cancel);
double prev_x = xx - (i - 1) * stepx;
pwalls = walls(ob.contour, ob_prev.contour, wh, wh_prev, s*prev_x, thr);
curvedwalls.merge(pwalls);
ob_prev = ob;
@ -264,7 +375,7 @@ Contour3D round_edges(const ExPolygon& base_plate,
int tos = int(tox / stepx);
for(int i = 1; i <= tos; ++i) {
throw_on_cancel();
thr();
ob = base_plate;
double r2 = radius_mm * radius_mm;
@ -275,7 +386,9 @@ Contour3D round_edges(const ExPolygon& base_plate,
wh = ceilheight_mm - radius_mm - stepy;
Contour3D pwalls;
pwalls = walls(ob_prev, ob, wh_prev, wh, throw_on_cancel);
double prev_x = xx - radius_mm + (i - 1)*stepx;
pwalls =
walls(ob_prev.contour, ob.contour, wh_prev, wh, s*prev_x, thr);
curvedwalls.merge(pwalls);
ob_prev = ob;
@ -291,15 +404,18 @@ Contour3D round_edges(const ExPolygon& base_plate,
/// Generating the concave part of the 3D pool with the bottom plate and the
/// side walls.
Contour3D inner_bed(const ExPolygon& poly, double depth_mm,
double begin_h_mm = 0) {
Polygons triangles = triangulate(poly);
Contour3D inner_bed(const ExPolygon& poly,
double depth_mm,
double begin_h_mm = 0)
{
Contour3D bottom;
Pointf3s triangles = triangulate_expolygons_3df(poly,
-depth_mm + begin_h_mm);
bottom.merge(triangles);
coord_t depth = mm(depth_mm);
coord_t begin_h = mm(begin_h_mm);
auto bottom = convert(triangles, -depth + begin_h, false);
auto lines = poly.lines();
// Generate outer walls
@ -469,6 +585,9 @@ void base_plate(const TriangleMesh &mesh, ExPolygons &output, float h,
void create_base_pool(const ExPolygons &ground_layer, TriangleMesh& out,
const PoolConfig& cfg)
{
// for debugging:
// Benchmark bench;
// bench.start();
double mergedist = 2*(1.8*cfg.min_wall_thickness_mm + 4*cfg.edge_radius_mm)+
cfg.max_merge_distance_mm;
@ -483,22 +602,23 @@ void create_base_pool(const ExPolygons &ground_layer, TriangleMesh& out,
const double thickness = cfg.min_wall_thickness_mm;
const double wingheight = cfg.min_wall_height_mm;
const double fullheight = wingheight + thickness;
const double tilt = PI/4;
const double tilt = PI/4;
const double wingdist = wingheight / std::tan(tilt);
// scaled values
const coord_t s_thickness = mm(thickness);
const coord_t s_eradius = mm(cfg.edge_radius_mm);
const coord_t s_safety_dist = 2*s_eradius + coord_t(0.8*s_thickness);
// const coord_t wheight = mm(cfg.min_wall_height_mm);
coord_t s_wingdist = mm(wingdist);
const coord_t s_wingdist = mm(wingdist);
auto& thrcl = cfg.throw_on_cancel;
Contour3D pool;
for(ExPolygon& concaveh : concavehs) {
if(concaveh.contour.points.empty()) return;
// Get rif of any holes in the concave hull output.
// Get rid of any holes in the concave hull output.
concaveh.holes.clear();
// Here lies the trick that does the smooting only with clipper offset
@ -524,8 +644,6 @@ void create_base_pool(const ExPolygons &ground_layer, TriangleMesh& out,
std::reverse(tph.begin(), tph.end());
}
Contour3D pool;
ExPolygon ob = outer_base; double wh = 0;
// now we will calculate the angle or portion of the circle from
@ -557,60 +675,53 @@ void create_base_pool(const ExPolygons &ground_layer, TriangleMesh& out,
// Generate the smoothed edge geometry
auto walledges = round_edges(ob,
r,
phi,
0, // z position of the input plane
true,
thrcl,
ob, wh);
pool.merge(walledges);
pool.merge(round_edges(ob,
r,
phi,
0, // z position of the input plane
true,
thrcl,
ob, wh));
// Now that we have the rounded edge connencting the top plate with
// the outer side walls, we can generate and merge the sidewall geometry
auto pwalls = walls(ob, inner_base, wh, -fullheight, thrcl);
pool.merge(pwalls);
pool.merge(walls(ob.contour, inner_base.contour, wh, -fullheight,
(s_thickness + s_wingdist) * SCALING_FACTOR, thrcl));
if(wingheight > 0) {
// Generate the smoothed edge geometry
auto cavityedges = round_edges(middle_base,
r,
phi - 90, // from tangent lines
0,
false,
thrcl,
ob, wh);
pool.merge(cavityedges);
pool.merge(round_edges(middle_base,
r,
phi - 90, // from tangent lines
0, // z position of the input plane
false,
thrcl,
ob, wh));
// Next is the cavity walls connecting to the top plate's
// artificially created hole.
auto cavitywalls = walls(inner_base, ob, -wingheight, wh, thrcl);
pool.merge(cavitywalls);
pool.merge(walls(inner_base.contour, ob.contour, -wingheight,
wh, -s_safety_dist * SCALING_FACTOR, thrcl));
}
// Now we need to triangulate the top and bottom plates as well as the
// cavity bottom plate which is the same as the bottom plate but it is
// eleveted by the thickness.
Polygons top_triangles, bottom_triangles;
// elevated by the thickness.
pool.merge(triangulate_expolygons_3df(top_poly));
pool.merge(triangulate_expolygons_3df(inner_base, -fullheight, true));
triangulate(top_poly, top_triangles);
triangulate(inner_base, bottom_triangles);
if(wingheight > 0)
pool.merge(triangulate_expolygons_3df(inner_base, -wingheight));
auto top_plate = convert(top_triangles, 0, false);
auto bottom_plate = convert(bottom_triangles, -mm(fullheight), true);
pool.merge(top_plate);
pool.merge(bottom_plate);
if(wingheight > 0) {
Polygons middle_triangles;
triangulate(inner_base, middle_triangles);
auto middle_plate = convert(middle_triangles, -mm(wingheight), false);
pool.merge(middle_plate);
}
out.merge(mesh(pool));
}
// For debugging:
// bench.stop();
// std::cout << "Pad creation time: " << bench.getElapsedSec() << std::endl;
// std::fstream fout("pad_debug.obj", std::fstream::out);
// if(fout.good()) pool.to_obj(fout);
out.merge(mesh(pool));
}
}

21
src/libslic3r/SLA/SLABoilerPlate.hpp
View file

@ -36,14 +36,6 @@ inline coord_t x(const Vec3crd& p) { return p(0); }
inline coord_t y(const Vec3crd& p) { return p(1); }
inline coord_t z(const Vec3crd& p) { return p(2); }
inline void triangulate(const ExPolygon& expoly, Polygons& triangles) {
expoly.triangulate_p2t(&triangles);
}
inline Polygons triangulate(const ExPolygon& expoly) {
Polygons tri; triangulate(expoly, tri); return tri;
}
using Indices = std::vector<Vec3crd>;
/// Intermediate struct for a 3D mesh
@ -63,6 +55,15 @@ struct Contour3D {
}
}
void merge(const Pointf3s& triangles) {
const size_t offs = points.size();
points.insert(points.end(), triangles.begin(), triangles.end());
indices.reserve(indices.size() + points.size() / 3);
for(size_t i = offs; i < points.size(); i += 3)
indices.emplace_back(i, i + 1, i + 2);
}
// Write the index triangle structure to OBJ file for debugging purposes.
void to_obj(std::ostream& stream) {
for(auto& p : points) {
@ -75,13 +76,9 @@ struct Contour3D {
}
};
//using PointSet = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::DontAlign>; //Eigen::MatrixXd;
using ClusterEl = std::vector<unsigned>;
using ClusteredPoints = std::vector<ClusterEl>;
/// Convert the triangulation output to an intermediate mesh.
Contour3D convert(const Polygons& triangles, coord_t z, bool dir);
/// Mesh from an existing contour.
inline TriangleMesh mesh(const Contour3D& ctour) {
return {ctour.points, ctour.indices};