mirror of
https://github.com/SoftFever/OrcaSlicer.git
synced 2025-10-24 09:11:23 -06:00
Refactoring of adaptive cubic / support cubic:
1) Octree is built directly from the triangle mesh by checking overlap of a triangle with an octree cell. This shall produce a tighter octree with less dense cells. 2) The same method is used for both the adaptive / support cubic infill, where for the support cubic infill the non-overhang triangles are ignored. The AABB tree is no more used. 3) Optimized extraction of continuous infill lines in O(1) instead of O(n^2)
This commit is contained in:
Vojtech Bubnik
parent
acdd5716bd
commit
37c5fe9923
16 changed files with 658 additions and 554 deletions
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@ -2,16 +2,211 @@
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#include "../ExPolygon.hpp"
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#include "../Surface.hpp"
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#include "../Geometry.hpp"
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#include "../AABBTreeIndirect.hpp"
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#include "../Layer.hpp"
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#include "../Print.hpp"
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#include "../ShortestPath.hpp"
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#include "FillAdaptive.hpp"
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// for indexed_triangle_set
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#include <admesh/stl.h>
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#include <cstdlib>
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#include <cmath>
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// Boost pool: Don't use mutexes to synchronize memory allocation.
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#define BOOST_POOL_NO_MT
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#include <boost/pool/object_pool.hpp>
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namespace Slic3r {
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std::pair<double, double> adaptive_fill_line_spacing(const PrintObject &print_object)
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// Derived from https://github.com/juj/MathGeoLib/blob/master/src/Geometry/Triangle.cpp
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// The AABB-Triangle test implementation is based on the pseudo-code in
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// Christer Ericson's Real-Time Collision Detection, pp. 169-172. It is
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// practically a standard SAT test.
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//
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// Original MathGeoLib benchmark:
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// Best: 17.282 nsecs / 46.496 ticks, Avg: 17.804 nsecs, Worst: 18.434 nsecs
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//
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//FIXME Vojtech: The MathGeoLib contains a vectorized implementation.
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template<typename Vector>
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bool triangle_AABB_intersects(const Vector &a, const Vector &b, const Vector &c, const BoundingBoxBase<Vector> &aabb)
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{
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using Scalar = typename Vector::Scalar;
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Vector tMin = a.cwiseMin(b.cwiseMin(c));
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Vector tMax = a.cwiseMax(b.cwiseMax(c));
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if (tMin.x() >= aabb.max.x() || tMax.x() <= aabb.min.x()
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|| tMin.y() >= aabb.max.y() || tMax.y() <= aabb.min.y()
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|| tMin.z() >= aabb.max.z() || tMax.z() <= aabb.min.z())
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return false;
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Vector center = (aabb.min + aabb.max) * 0.5f;
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Vector h = aabb.max - center;
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const Vector t[3] { b-a, c-a, c-b };
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Vector ac = a - center;
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Vector n = t[0].cross(t[1]);
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Scalar s = n.dot(ac);
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Scalar r = std::abs(h.dot(n.cwiseAbs()));
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if (abs(s) >= r)
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return false;
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const Vector at[3] = { t[0].cwiseAbs(), t[1].cwiseAbs(), t[2].cwiseAbs() };
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Vector bc = b - center;
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Vector cc = c - center;
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// SAT test all cross-axes.
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// The following is a fully unrolled loop of this code, stored here for reference:
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/*
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Scalar d1, d2, a1, a2;
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const Vector e[3] = { DIR_VEC(1, 0, 0), DIR_VEC(0, 1, 0), DIR_VEC(0, 0, 1) };
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for(int i = 0; i < 3; ++i)
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for(int j = 0; j < 3; ++j)
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{
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Vector axis = Cross(e[i], t[j]);
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ProjectToAxis(axis, d1, d2);
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aabb.ProjectToAxis(axis, a1, a2);
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if (d2 <= a1 || d1 >= a2) return false;
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}
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*/
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// eX <cross> t[0]
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Scalar d1 = t[0].y() * ac.z() - t[0].z() * ac.y();
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Scalar d2 = t[0].y() * cc.z() - t[0].z() * cc.y();
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Scalar tc = (d1 + d2) * 0.5f;
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r = std::abs(h.y() * at[0].z() + h.z() * at[0].y());
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if (r + std::abs(tc - d1) < std::abs(tc))
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return false;
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// eX <cross> t[1]
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d1 = t[1].y() * ac.z() - t[1].z() * ac.y();
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d2 = t[1].y() * bc.z() - t[1].z() * bc.y();
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tc = (d1 + d2) * 0.5f;
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r = std::abs(h.y() * at[1].z() + h.z() * at[1].y());
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if (r + std::abs(tc - d1) < std::abs(tc))
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return false;
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// eX <cross> t[2]
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d1 = t[2].y() * ac.z() - t[2].z() * ac.y();
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d2 = t[2].y() * bc.z() - t[2].z() * bc.y();
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tc = (d1 + d2) * 0.5f;
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r = std::abs(h.y() * at[2].z() + h.z() * at[2].y());
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if (r + std::abs(tc - d1) < std::abs(tc))
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return false;
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// eY <cross> t[0]
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d1 = t[0].z() * ac.x() - t[0].x() * ac.z();
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d2 = t[0].z() * cc.x() - t[0].x() * cc.z();
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tc = (d1 + d2) * 0.5f;
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r = std::abs(h.x() * at[0].z() + h.z() * at[0].x());
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if (r + std::abs(tc - d1) < std::abs(tc))
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return false;
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// eY <cross> t[1]
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d1 = t[1].z() * ac.x() - t[1].x() * ac.z();
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d2 = t[1].z() * bc.x() - t[1].x() * bc.z();
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tc = (d1 + d2) * 0.5f;
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r = std::abs(h.x() * at[1].z() + h.z() * at[1].x());
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if (r + std::abs(tc - d1) < std::abs(tc))
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return false;
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// eY <cross> t[2]
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d1 = t[2].z() * ac.x() - t[2].x() * ac.z();
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d2 = t[2].z() * bc.x() - t[2].x() * bc.z();
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tc = (d1 + d2) * 0.5f;
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r = std::abs(h.x() * at[2].z() + h.z() * at[2].x());
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if (r + std::abs(tc - d1) < std::abs(tc))
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return false;
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// eZ <cross> t[0]
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d1 = t[0].x() * ac.y() - t[0].y() * ac.x();
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d2 = t[0].x() * cc.y() - t[0].y() * cc.x();
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tc = (d1 + d2) * 0.5f;
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r = std::abs(h.y() * at[0].x() + h.x() * at[0].y());
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if (r + std::abs(tc - d1) < std::abs(tc))
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return false;
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// eZ <cross> t[1]
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d1 = t[1].x() * ac.y() - t[1].y() * ac.x();
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d2 = t[1].x() * bc.y() - t[1].y() * bc.x();
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tc = (d1 + d2) * 0.5f;
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r = std::abs(h.y() * at[1].x() + h.x() * at[1].y());
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if (r + std::abs(tc - d1) < std::abs(tc))
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return false;
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// eZ <cross> t[2]
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d1 = t[2].x() * ac.y() - t[2].y() * ac.x();
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d2 = t[2].x() * bc.y() - t[2].y() * bc.x();
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tc = (d1 + d2) * 0.5f;
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r = std::abs(h.y() * at[2].x() + h.x() * at[2].y());
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if (r + std::abs(tc - d1) < std::abs(tc))
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return false;
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// No separating axis exists, the AABB and triangle intersect.
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return true;
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}
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// Ordering of children cubes.
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static const std::array<Vec3d, 8> child_centers {
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Vec3d(-1, -1, -1), Vec3d( 1, -1, -1), Vec3d(-1, 1, -1), Vec3d( 1, 1, -1),
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Vec3d(-1, -1, 1), Vec3d( 1, -1, 1), Vec3d(-1, 1, 1), Vec3d( 1, 1, 1)
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};
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// Traversal order of octree children cells for three infill directions,
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// so that a single line will be discretized in a strictly monotonous order.
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static constexpr std::array<std::array<int, 8>, 3> child_traversal_order {
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std::array<int, 8>{ 2, 3, 0, 1, 6, 7, 4, 5 },
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std::array<int, 8>{ 4, 0, 6, 2, 5, 1, 7, 3 },
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std::array<int, 8>{ 1, 5, 0, 4, 3, 7, 2, 6 },
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};
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namespace FillAdaptive_Internal
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{
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struct Cube
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{
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Vec3d center;
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#ifndef NDEBUG
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Vec3d center_octree;
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#endif // NDEBUG
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std::array<Cube*, 8> children {}; // initialized to nullptrs
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Cube(const Vec3d ¢er) : center(center) {}
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};
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struct CubeProperties
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{
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double edge_length; // Lenght of edge of a cube
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double height; // Height of rotated cube (standing on the corner)
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double diagonal_length; // Length of diagonal of a cube a face
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double line_z_distance; // Defines maximal distance from a center of a cube on Z axis on which lines will be created
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double line_xy_distance;// Defines maximal distance from a center of a cube on X and Y axis on which lines will be created
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};
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struct Octree
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{
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// Octree will allocate its Cubes from the pool. The pool only supports deletion of the complete pool,
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// perfect for building up our octree.
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boost::object_pool<Cube> pool;
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Cube* root_cube { nullptr };
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Vec3d origin;
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std::vector<CubeProperties> cubes_properties;
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Octree(const Vec3d &origin, const std::vector<CubeProperties> &cubes_properties)
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: root_cube(pool.construct(origin)), origin(origin), cubes_properties(cubes_properties) {}
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void insert_triangle(const Vec3d &a, const Vec3d &b, const Vec3d &c, Cube *current_cube, const BoundingBoxf3 ¤t_bbox, int depth);
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};
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void OctreeDeleter::operator()(Octree *p) {
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delete p;
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}
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}; // namespace FillAdaptive_Internal
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std::pair<double, double> FillAdaptive_Internal::adaptive_fill_line_spacing(const PrintObject &print_object)
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{
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// Output, spacing for icAdaptiveCubic and icSupportCubic
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double adaptive_line_spacing = 0.;
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@ -90,431 +285,392 @@ std::pair<double, double> adaptive_fill_line_spacing(const PrintObject &print_ob
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return std::make_pair(adaptive_line_spacing, support_line_spacing);
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}
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void FillAdaptive::_fill_surface_single(const FillParams & params,
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unsigned int thickness_layers,
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const std::pair<float, Point> &direction,
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ExPolygon & expolygon,
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Polylines & polylines_out)
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// Context used by generate_infill_lines() when recursively traversing an octree in a DDA fashion
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// (Digital Differential Analyzer).
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struct FillContext
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{
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if(this->adapt_fill_octree != nullptr)
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this->generate_infill(params, thickness_layers, direction, expolygon, polylines_out, this->adapt_fill_octree);
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// The angles have to agree with child_traversal_order.
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static constexpr double direction_angles[3] {
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0.,
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(2.0 * M_PI) / 3.0,
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-(2.0 * M_PI) / 3.0
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};
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FillContext(const FillAdaptive_Internal::Octree &octree, double z_position, int direction_idx) :
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origin_world(octree.origin),
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cubes_properties(octree.cubes_properties),
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z_position(z_position),
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traversal_order(child_traversal_order[direction_idx]),
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cos_a(cos(direction_angles[direction_idx])),
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sin_a(sin(direction_angles[direction_idx]))
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{
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static constexpr auto unused = std::numeric_limits<coord_t>::max();
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temp_lines.assign((1 << octree.cubes_properties.size()) - 1, Line(Point(unused, unused), Point(unused, unused)));
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}
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// Rotate the point, uses the same convention as Point::rotate().
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Vec2d rotate(const Vec2d& v) { return Vec2d(this->cos_a * v.x() - this->sin_a * v.y(), this->sin_a * v.x() + this->cos_a * v.y()); }
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// Center of the root cube in the Octree coordinate system.
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const Vec3d origin_world;
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const std::vector<FillAdaptive_Internal::CubeProperties> &cubes_properties;
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// Top of the current layer.
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const double z_position;
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// Order of traversal for this line direction.
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const std::array<int, 8> traversal_order;
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// Rotation of the generated line for this line direction.
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const double cos_a;
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const double sin_a;
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// Linearized tree spanning a single Octree wall, used to connect lines spanning
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// neighboring Octree cells. Unused lines have the Line::a::x set to infinity.
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std::vector<Line> temp_lines;
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// Final output
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std::vector<Line> output_lines;
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};
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static constexpr double octree_rot[3] = { 5.0 * M_PI / 4.0, Geometry::deg2rad(215.264), M_PI / 6.0 };
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Eigen::Quaterniond FillAdaptive_Internal::adaptive_fill_octree_transform_to_world()
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{
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return Eigen::AngleAxisd(octree_rot[2], Vec3d::UnitZ()) * Eigen::AngleAxisd(octree_rot[1], Vec3d::UnitY()) * Eigen::AngleAxisd(octree_rot[0], Vec3d::UnitX());
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}
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void FillAdaptive::generate_infill(const FillParams & params,
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unsigned int thickness_layers,
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const std::pair<float, Point> &direction,
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ExPolygon & expolygon,
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Polylines & polylines_out,
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FillAdaptive_Internal::Octree *octree)
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Eigen::Quaterniond FillAdaptive_Internal::adaptive_fill_octree_transform_to_octree()
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{
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Vec3d rotation = Vec3d((5.0 * M_PI) / 4.0, Geometry::deg2rad(215.264), M_PI / 6.0);
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Transform3d rotation_matrix = Geometry::assemble_transform(Vec3d::Zero(), rotation, Vec3d::Ones(), Vec3d::Ones());
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return Eigen::AngleAxisd(- octree_rot[0], Vec3d::UnitX()) * Eigen::AngleAxisd(- octree_rot[1], Vec3d::UnitY()) * Eigen::AngleAxisd(- octree_rot[2], Vec3d::UnitZ());
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}
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// Store grouped lines by its direction (multiple of 120°)
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std::vector<Lines> infill_lines_dir(3);
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this->generate_infill_lines(octree->root_cube.get(),
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this->z, octree->origin, rotation_matrix,
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infill_lines_dir, octree->cubes_properties,
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int(octree->cubes_properties.size()) - 1);
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#ifndef NDEBUG
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// Verify that the traversal order of the octree children matches the line direction,
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// therefore the infill line may get extended with O(1) time & space complexity.
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static bool verify_traversal_order(
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FillContext &context,
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const FillAdaptive_Internal::Cube *cube,
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int depth,
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const Vec2d &line_from,
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const Vec2d &line_to)
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{
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std::array<Vec3d, 8> c;
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Eigen::Quaterniond to_world = FillAdaptive_Internal::adaptive_fill_octree_transform_to_world();
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for (int i = 0; i < 8; ++i) {
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int j = context.traversal_order[i];
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Vec3d cntr = to_world * (cube->center_octree + (child_centers[j] * (context.cubes_properties[depth].edge_length / 4.)));
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assert(!cube->children[j] || cube->children[j]->center.isApprox(cntr));
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c[i] = cntr;
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}
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std::array<Vec3d, 10> dirs = {
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c[1] - c[0], c[2] - c[0], c[3] - c[1], c[3] - c[2], c[3] - c[0],
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c[5] - c[4], c[6] - c[4], c[7] - c[5], c[7] - c[6], c[7] - c[4]
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};
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assert(std::abs(dirs[4].z()) < 0.001);
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assert(std::abs(dirs[9].z()) < 0.001);
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assert(dirs[0].isApprox(dirs[3]));
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assert(dirs[1].isApprox(dirs[2]));
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assert(dirs[5].isApprox(dirs[8]));
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assert(dirs[6].isApprox(dirs[7]));
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Vec3d line_dir = Vec3d(line_to.x() - line_from.x(), line_to.y() - line_from.y(), 0.).normalized();
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for (auto& dir : dirs) {
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double d = dir.normalized().dot(line_dir);
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assert(d > 0.7);
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}
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return true;
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}
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#endif // NDEBUG
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static void generate_infill_lines_recursive(
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FillContext &context,
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const FillAdaptive_Internal::Cube *cube,
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// Address of this wall in the octree, used to address context.temp_lines.
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int address,
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int depth)
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{
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assert(cube != nullptr);
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const std::vector<FillAdaptive_Internal::CubeProperties> &cubes_properties = context.cubes_properties;
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const double z_diff = context.z_position - cube->center.z();
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const double z_diff_abs = std::abs(z_diff);
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if (z_diff_abs > cubes_properties[depth].height / 2.)
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return;
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if (z_diff_abs < cubes_properties[depth].line_z_distance) {
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// Discretize a single wall splitting the cube into two.
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const double zdist = cubes_properties[depth].line_z_distance;
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Vec2d from(
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0.5 * cubes_properties[depth].diagonal_length * (zdist - z_diff_abs) / zdist,
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cubes_properties[depth].line_xy_distance - (zdist + z_diff) / sqrt(2.));
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Vec2d to(-from.x(), from.y());
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from = context.rotate(from);
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to = context.rotate(to);
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// Relative to cube center
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Vec2d offset(cube->center.x() - context.origin_world.x(), cube->center.y() - context.origin_world.y());
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from += offset;
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to += offset;
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// Verify that the traversal order of the octree children matches the line direction,
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// therefore the infill line may get extended with O(1) time & space complexity.
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assert(verify_traversal_order(context, cube, depth, from, to));
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// Either extend an existing line or start a new one.
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Line &last_line = context.temp_lines[address];
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Line new_line(Point::new_scale(from), Point::new_scale(to));
|
||||
if (last_line.a.x() == std::numeric_limits<coord_t>::max()) {
|
||||
last_line.a = new_line.a;
|
||||
} else if ((new_line.a - last_line.b).cwiseAbs().maxCoeff() > 300) { // SCALED_EPSILON is 100 and it is not enough) {
|
||||
context.output_lines.emplace_back(last_line);
|
||||
last_line.a = new_line.a;
|
||||
}
|
||||
last_line.b = new_line.b;
|
||||
}
|
||||
|
||||
// left child index
|
||||
address = address * 2 + 1;
|
||||
-- depth;
|
||||
size_t i = 0;
|
||||
for (const int child_idx : context.traversal_order) {
|
||||
const FillAdaptive_Internal::Cube *child = cube->children[child_idx];
|
||||
if (child != nullptr)
|
||||
generate_infill_lines_recursive(context, child, address, depth);
|
||||
if (++ i == 4)
|
||||
// right child index
|
||||
++ address;
|
||||
}
|
||||
}
|
||||
|
||||
#ifndef NDEBUG
|
||||
// #define ADAPTIVE_CUBIC_INFILL_DEBUG_OUTPUT
|
||||
#endif
|
||||
|
||||
#ifdef ADAPTIVE_CUBIC_INFILL_DEBUG_OUTPUT
|
||||
static void export_infill_lines_to_svg(const ExPolygon &expoly, const Polylines &polylines, const std::string &path)
|
||||
{
|
||||
BoundingBox bbox = get_extents(expoly);
|
||||
bbox.offset(scale_(3.));
|
||||
|
||||
::Slic3r::SVG svg(path, bbox);
|
||||
svg.draw(expoly);
|
||||
svg.draw_outline(expoly, "green");
|
||||
svg.draw(polylines, "red");
|
||||
static constexpr double trim_length = scale_(0.4);
|
||||
for (Polyline polyline : polylines) {
|
||||
Vec2d a = polyline.points.front().cast<double>();
|
||||
Vec2d d = polyline.points.back().cast<double>();
|
||||
if (polyline.size() == 2) {
|
||||
Vec2d v = d - a;
|
||||
double l = v.norm();
|
||||
if (l > 2. * trim_length) {
|
||||
a += v * trim_length / l;
|
||||
d -= v * trim_length / l;
|
||||
polyline.points.front() = a.cast<coord_t>();
|
||||
polyline.points.back() = d.cast<coord_t>();
|
||||
} else
|
||||
polyline.points.clear();
|
||||
} else if (polyline.size() > 2) {
|
||||
Vec2d b = polyline.points[1].cast<double>();
|
||||
Vec2d c = polyline.points[polyline.points.size() - 2].cast<double>();
|
||||
Vec2d v = b - a;
|
||||
double l = v.norm();
|
||||
if (l > trim_length) {
|
||||
a += v * trim_length / l;
|
||||
polyline.points.front() = a.cast<coord_t>();
|
||||
} else
|
||||
polyline.points.erase(polyline.points.begin());
|
||||
v = d - c;
|
||||
l = v.norm();
|
||||
if (l > trim_length)
|
||||
polyline.points.back() = (d - v * trim_length / l).cast<coord_t>();
|
||||
else
|
||||
polyline.points.pop_back();
|
||||
}
|
||||
svg.draw(polyline, "black");
|
||||
}
|
||||
}
|
||||
#endif /* ADAPTIVE_CUBIC_INFILL_DEBUG_OUTPUT */
|
||||
|
||||
void FillAdaptive::_fill_surface_single(
|
||||
const FillParams & params,
|
||||
unsigned int thickness_layers,
|
||||
const std::pair<float, Point> &direction,
|
||||
ExPolygon &expolygon,
|
||||
Polylines &polylines_out)
|
||||
{
|
||||
assert (this->adapt_fill_octree);
|
||||
|
||||
Polylines all_polylines;
|
||||
all_polylines.reserve(infill_lines_dir[0].size() * 3);
|
||||
for (Lines &infill_lines : infill_lines_dir)
|
||||
{
|
||||
for (const Line &line : infill_lines)
|
||||
{
|
||||
all_polylines.emplace_back(line.a, line.b);
|
||||
// 3 contexts for three directions of infill lines
|
||||
std::array<FillContext, 3> contexts {
|
||||
FillContext { *adapt_fill_octree, this->z, 0 },
|
||||
FillContext { *adapt_fill_octree, this->z, 1 },
|
||||
FillContext { *adapt_fill_octree, this->z, 2 }
|
||||
};
|
||||
// Generate the infill lines along the octree cells, merge touching lines of the same direction.
|
||||
size_t num_lines = 0;
|
||||
for (auto &context : contexts) {
|
||||
generate_infill_lines_recursive(context, adapt_fill_octree->root_cube, 0, int(adapt_fill_octree->cubes_properties.size()) - 1);
|
||||
num_lines += context.output_lines.size() + context.temp_lines.size();
|
||||
}
|
||||
// Collect the lines.
|
||||
std::vector<Line> lines;
|
||||
lines.reserve(num_lines);
|
||||
for (auto &context : contexts) {
|
||||
append(lines, context.output_lines);
|
||||
for (const Line &line : context.temp_lines)
|
||||
if (line.a.x() != std::numeric_limits<coord_t>::max())
|
||||
lines.emplace_back(line);
|
||||
}
|
||||
// Convert lines to polylines.
|
||||
all_polylines.reserve(lines.size());
|
||||
std::transform(lines.begin(), lines.end(), std::back_inserter(all_polylines), [](const Line& l) { return Polyline{ l.a, l.b }; });
|
||||
}
|
||||
|
||||
// Crop all polylines
|
||||
all_polylines = intersection_pl(std::move(all_polylines), to_polygons(expolygon));
|
||||
|
||||
#ifdef ADAPTIVE_CUBIC_INFILL_DEBUG_OUTPUT
|
||||
{
|
||||
static int iRun = 0;
|
||||
export_infill_lines_to_svg(expolygon, all_polylines, debug_out_path("FillAdaptive-initial-%d.svg", iRun++));
|
||||
}
|
||||
#endif /* ADAPTIVE_CUBIC_INFILL_DEBUG_OUTPUT */
|
||||
|
||||
if (params.dont_connect)
|
||||
{
|
||||
// Crop all polylines
|
||||
polylines_out = intersection_pl(all_polylines, to_polygons(expolygon));
|
||||
}
|
||||
else
|
||||
{
|
||||
// Crop all polylines
|
||||
all_polylines = intersection_pl(all_polylines, to_polygons(expolygon));
|
||||
|
||||
append(polylines_out, std::move(all_polylines));
|
||||
else {
|
||||
Polylines boundary_polylines;
|
||||
Polylines non_boundary_polylines;
|
||||
for (const Polyline &polyline : all_polylines)
|
||||
{
|
||||
// connect_infill required all polylines to touch the boundary.
|
||||
if(polyline.lines().size() == 1 && expolygon.has_boundary_point(polyline.lines().front().a) && expolygon.has_boundary_point(polyline.lines().front().b))
|
||||
{
|
||||
if (polyline.lines().size() == 1 && expolygon.has_boundary_point(polyline.lines().front().a) && expolygon.has_boundary_point(polyline.lines().front().b))
|
||||
boundary_polylines.push_back(polyline);
|
||||
}
|
||||
else
|
||||
{
|
||||
non_boundary_polylines.push_back(polyline);
|
||||
}
|
||||
}
|
||||
|
||||
if(!boundary_polylines.empty())
|
||||
{
|
||||
if (!boundary_polylines.empty()) {
|
||||
boundary_polylines = chain_polylines(boundary_polylines);
|
||||
FillAdaptive::connect_infill(std::move(boundary_polylines), expolygon, polylines_out, this->spacing, params);
|
||||
}
|
||||
|
||||
polylines_out.insert(polylines_out.end(), non_boundary_polylines.begin(), non_boundary_polylines.end());
|
||||
append(polylines_out, std::move(non_boundary_polylines));
|
||||
}
|
||||
|
||||
#ifdef SLIC3R_DEBUG_SLICE_PROCESSING
|
||||
#ifdef ADAPTIVE_CUBIC_INFILL_DEBUG_OUTPUT
|
||||
{
|
||||
static int iRuna = 0;
|
||||
BoundingBox bbox_svg = this->bounding_box;
|
||||
{
|
||||
::Slic3r::SVG svg(debug_out_path("FillAdaptive-%d.svg", iRuna), bbox_svg);
|
||||
for (const Polyline &polyline : polylines_out)
|
||||
{
|
||||
for (const Line &line : polyline.lines())
|
||||
{
|
||||
Point from = line.a;
|
||||
Point to = line.b;
|
||||
Point diff = to - from;
|
||||
|
||||
float shrink_length = scale_(0.4);
|
||||
float line_slope = (float)diff.y() / diff.x();
|
||||
float shrink_x = shrink_length / (float)std::sqrt(1.0 + (line_slope * line_slope));
|
||||
float shrink_y = line_slope * shrink_x;
|
||||
|
||||
to.x() -= shrink_x;
|
||||
to.y() -= shrink_y;
|
||||
from.x() += shrink_x;
|
||||
from.y() += shrink_y;
|
||||
|
||||
svg.draw(Line(from, to));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
iRuna++;
|
||||
static int iRun = 0;
|
||||
export_infill_lines_to_svg(expolygon, polylines_out, debug_out_path("FillAdaptive-final-%d.svg", iRun ++));
|
||||
}
|
||||
#endif /* SLIC3R_DEBUG */
|
||||
#endif /* ADAPTIVE_CUBIC_INFILL_DEBUG_OUTPUT */
|
||||
}
|
||||
|
||||
void FillAdaptive::generate_infill_lines(
|
||||
FillAdaptive_Internal::Cube *cube,
|
||||
double z_position,
|
||||
const Vec3d &origin,
|
||||
const Transform3d &rotation_matrix,
|
||||
std::vector<Lines> &dir_lines_out,
|
||||
const std::vector<FillAdaptive_Internal::CubeProperties> &cubes_properties,
|
||||
int depth)
|
||||
static double bbox_max_radius(const BoundingBoxf3 &bbox, const Vec3d ¢er)
|
||||
{
|
||||
using namespace FillAdaptive_Internal;
|
||||
|
||||
if(cube == nullptr)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
Vec3d cube_center_tranformed = rotation_matrix * cube->center;
|
||||
double z_diff = std::abs(z_position - cube_center_tranformed.z());
|
||||
|
||||
if (z_diff > cubes_properties[depth].height / 2)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
if (z_diff < cubes_properties[depth].line_z_distance)
|
||||
{
|
||||
Point from(
|
||||
scale_((cubes_properties[depth].diagonal_length / 2) * (cubes_properties[depth].line_z_distance - z_diff) / cubes_properties[depth].line_z_distance),
|
||||
scale_(cubes_properties[depth].line_xy_distance - ((z_position - (cube_center_tranformed.z() - cubes_properties[depth].line_z_distance)) / sqrt(2))));
|
||||
Point to(-from.x(), from.y());
|
||||
// Relative to cube center
|
||||
|
||||
double rotation_angle = (2.0 * M_PI) / 3.0;
|
||||
for (Lines &lines : dir_lines_out)
|
||||
{
|
||||
Vec3d offset = cube_center_tranformed - (rotation_matrix * origin);
|
||||
Point from_abs(from), to_abs(to);
|
||||
|
||||
from_abs.x() += int(scale_(offset.x()));
|
||||
from_abs.y() += int(scale_(offset.y()));
|
||||
to_abs.x() += int(scale_(offset.x()));
|
||||
to_abs.y() += int(scale_(offset.y()));
|
||||
|
||||
// lines.emplace_back(from_abs, to_abs);
|
||||
this->connect_lines(lines, Line(from_abs, to_abs));
|
||||
|
||||
from.rotate(rotation_angle);
|
||||
to.rotate(rotation_angle);
|
||||
}
|
||||
}
|
||||
|
||||
for(const std::unique_ptr<Cube> &child : cube->children)
|
||||
{
|
||||
if(child != nullptr)
|
||||
{
|
||||
generate_infill_lines(child.get(), z_position, origin, rotation_matrix, dir_lines_out, cubes_properties, depth - 1);
|
||||
}
|
||||
}
|
||||
const auto p = (bbox.min - center);
|
||||
const auto s = bbox.size();
|
||||
double r2max = 0.;
|
||||
for (int i = 0; i < 8; ++ i)
|
||||
r2max = std::max(r2max, (p + Vec3d(s.x() * double(i & 1), s.y() * double(i & 2), s.z() * double(i & 4))).squaredNorm());
|
||||
return sqrt(r2max);
|
||||
}
|
||||
|
||||
void FillAdaptive::connect_lines(Lines &lines, Line new_line)
|
||||
static std::vector<FillAdaptive_Internal::CubeProperties> make_cubes_properties(double max_cube_edge_length, double line_spacing)
|
||||
{
|
||||
auto eps = int(scale_(0.10));
|
||||
for (size_t i = 0; i < lines.size(); ++i)
|
||||
max_cube_edge_length += EPSILON;
|
||||
|
||||
std::vector<FillAdaptive_Internal::CubeProperties> cubes_properties;
|
||||
for (double edge_length = line_spacing * 2.;; edge_length *= 2.)
|
||||
{
|
||||
if (std::abs(new_line.a.x() - lines[i].b.x()) < eps && std::abs(new_line.a.y() - lines[i].b.y()) < eps)
|
||||
{
|
||||
new_line.a = lines[i].a;
|
||||
lines.erase(lines.begin() + i);
|
||||
--i;
|
||||
continue;
|
||||
}
|
||||
|
||||
if (std::abs(new_line.b.x() - lines[i].a.x()) < eps && std::abs(new_line.b.y() - lines[i].a.y()) < eps)
|
||||
{
|
||||
new_line.b = lines[i].b;
|
||||
lines.erase(lines.begin() + i);
|
||||
--i;
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
lines.emplace_back(new_line.a, new_line.b);
|
||||
}
|
||||
|
||||
std::unique_ptr<FillAdaptive_Internal::Octree> FillAdaptive::build_octree(
|
||||
TriangleMesh &triangle_mesh,
|
||||
coordf_t line_spacing,
|
||||
const Vec3d &cube_center)
|
||||
{
|
||||
using namespace FillAdaptive_Internal;
|
||||
|
||||
if(line_spacing <= 0 || std::isnan(line_spacing))
|
||||
{
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
Vec3d bb_size = triangle_mesh.bounding_box().size();
|
||||
// The furthest point from the center of the bottom of the mesh bounding box.
|
||||
double furthest_point = std::sqrt(((bb_size.x() * bb_size.x()) / 4.0) +
|
||||
((bb_size.y() * bb_size.y()) / 4.0) +
|
||||
(bb_size.z() * bb_size.z()));
|
||||
double max_cube_edge_length = furthest_point * 2;
|
||||
|
||||
std::vector<CubeProperties> cubes_properties;
|
||||
for (double edge_length = (line_spacing * 2); edge_length < (max_cube_edge_length * 2); edge_length *= 2)
|
||||
{
|
||||
CubeProperties props{};
|
||||
FillAdaptive_Internal::CubeProperties props{};
|
||||
props.edge_length = edge_length;
|
||||
props.height = edge_length * sqrt(3);
|
||||
props.diagonal_length = edge_length * sqrt(2);
|
||||
props.line_z_distance = edge_length / sqrt(3);
|
||||
props.line_xy_distance = edge_length / sqrt(6);
|
||||
cubes_properties.push_back(props);
|
||||
cubes_properties.emplace_back(props);
|
||||
if (edge_length > max_cube_edge_length)
|
||||
break;
|
||||
}
|
||||
return cubes_properties;
|
||||
}
|
||||
|
||||
if (triangle_mesh.its.vertices.empty())
|
||||
{
|
||||
triangle_mesh.require_shared_vertices();
|
||||
static inline bool is_overhang_triangle(const Vec3d &a, const Vec3d &b, const Vec3d &c, const Vec3d &up)
|
||||
{
|
||||
// Calculate triangle normal.
|
||||
auto n = (b - a).cross(c - b);
|
||||
return n.dot(up) > 0.707 * n.norm();
|
||||
}
|
||||
|
||||
static void transform_center(FillAdaptive_Internal::Cube *current_cube, const Eigen::Matrix3d &rot)
|
||||
{
|
||||
#ifndef NDEBUG
|
||||
current_cube->center_octree = current_cube->center;
|
||||
#endif // NDEBUG
|
||||
current_cube->center = rot * current_cube->center;
|
||||
for (auto *child : current_cube->children)
|
||||
if (child)
|
||||
transform_center(child, rot);
|
||||
}
|
||||
|
||||
FillAdaptive_Internal::OctreePtr FillAdaptive_Internal::build_octree(const indexed_triangle_set &triangle_mesh, const Vec3d &up_vector, coordf_t line_spacing, bool support_overhangs_only)
|
||||
{
|
||||
assert(line_spacing > 0);
|
||||
assert(! std::isnan(line_spacing));
|
||||
|
||||
BoundingBox3Base<Vec3f> bbox(triangle_mesh.vertices);
|
||||
Vec3d cube_center = bbox.center().cast<double>();
|
||||
std::vector<CubeProperties> cubes_properties = make_cubes_properties(double(bbox.size().maxCoeff()), line_spacing);
|
||||
auto octree = OctreePtr(new Octree(cube_center, cubes_properties));
|
||||
|
||||
if (cubes_properties.size() > 1) {
|
||||
for (auto &tri : triangle_mesh.indices) {
|
||||
auto a = triangle_mesh.vertices[tri[0]].cast<double>();
|
||||
auto b = triangle_mesh.vertices[tri[1]].cast<double>();
|
||||
auto c = triangle_mesh.vertices[tri[2]].cast<double>();
|
||||
if (support_overhangs_only && ! is_overhang_triangle(a, b, c, up_vector))
|
||||
continue;
|
||||
double edge_length_half = 0.5 * cubes_properties.back().edge_length;
|
||||
Vec3d diag_half(edge_length_half, edge_length_half, edge_length_half);
|
||||
octree->insert_triangle(
|
||||
a, b, c,
|
||||
octree->root_cube,
|
||||
BoundingBoxf3(octree->root_cube->center - diag_half, octree->root_cube->center + diag_half),
|
||||
int(cubes_properties.size()) - 1);
|
||||
}
|
||||
{
|
||||
// Transform the octree to world coordinates to reduce computation when extracting infill lines.
|
||||
auto rot = adaptive_fill_octree_transform_to_world().toRotationMatrix();
|
||||
transform_center(octree->root_cube, rot);
|
||||
octree->origin = rot * octree->origin;
|
||||
}
|
||||
}
|
||||
|
||||
AABBTreeIndirect::Tree3f aabbTree = AABBTreeIndirect::build_aabb_tree_over_indexed_triangle_set(
|
||||
triangle_mesh.its.vertices, triangle_mesh.its.indices);
|
||||
auto octree = std::make_unique<Octree>(std::make_unique<Cube>(cube_center), cube_center, cubes_properties);
|
||||
|
||||
FillAdaptive::expand_cube(octree->root_cube.get(), cubes_properties, aabbTree, triangle_mesh, int(cubes_properties.size()) - 1);
|
||||
|
||||
return octree;
|
||||
}
|
||||
|
||||
void FillAdaptive::expand_cube(
|
||||
FillAdaptive_Internal::Cube *cube,
|
||||
const std::vector<FillAdaptive_Internal::CubeProperties> &cubes_properties,
|
||||
const AABBTreeIndirect::Tree3f &distance_tree,
|
||||
const TriangleMesh &triangle_mesh, int depth)
|
||||
void FillAdaptive_Internal::Octree::insert_triangle(const Vec3d &a, const Vec3d &b, const Vec3d &c, Cube *current_cube, const BoundingBoxf3 ¤t_bbox, int depth)
|
||||
{
|
||||
using namespace FillAdaptive_Internal;
|
||||
assert(current_cube);
|
||||
assert(depth > 0);
|
||||
|
||||
if (cube == nullptr || depth == 0)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
std::vector<Vec3d> child_centers = {
|
||||
Vec3d(-1, -1, -1), Vec3d( 1, -1, -1), Vec3d(-1, 1, -1), Vec3d( 1, 1, -1),
|
||||
Vec3d(-1, -1, 1), Vec3d( 1, -1, 1), Vec3d(-1, 1, 1), Vec3d( 1, 1, 1)
|
||||
};
|
||||
|
||||
double cube_radius_squared = (cubes_properties[depth].height * cubes_properties[depth].height) / 16;
|
||||
|
||||
for (size_t i = 0; i < 8; ++i)
|
||||
{
|
||||
for (size_t i = 0; i < 8; ++ i) {
|
||||
const Vec3d &child_center = child_centers[i];
|
||||
Vec3d child_center_transformed = cube->center + (child_center * (cubes_properties[depth].edge_length / 4));
|
||||
|
||||
if(AABBTreeIndirect::is_any_triangle_in_radius(triangle_mesh.its.vertices, triangle_mesh.its.indices,
|
||||
distance_tree, child_center_transformed, cube_radius_squared))
|
||||
{
|
||||
cube->children[i] = std::make_unique<Cube>(child_center_transformed);
|
||||
FillAdaptive::expand_cube(cube->children[i].get(), cubes_properties, distance_tree, triangle_mesh, depth - 1);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void FillAdaptive_Internal::Octree::propagate_point(
|
||||
Vec3d point,
|
||||
FillAdaptive_Internal::Cube * current,
|
||||
int depth,
|
||||
const std::vector<FillAdaptive_Internal::CubeProperties> &cubes_properties)
|
||||
{
|
||||
using namespace FillAdaptive_Internal;
|
||||
|
||||
if(depth <= 0)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
size_t octant_idx = Octree::find_octant(point, current->center);
|
||||
Cube * child = current->children[octant_idx].get();
|
||||
|
||||
// Octant not exists, then create it
|
||||
if(child == nullptr) {
|
||||
std::vector<Vec3d> child_centers = {
|
||||
Vec3d(-1, -1, -1), Vec3d( 1, -1, -1), Vec3d(-1, 1, -1), Vec3d( 1, 1, -1),
|
||||
Vec3d(-1, -1, 1), Vec3d( 1, -1, 1), Vec3d(-1, 1, 1), Vec3d( 1, 1, 1)
|
||||
};
|
||||
|
||||
const Vec3d &child_center = child_centers[octant_idx];
|
||||
Vec3d child_center_transformed = current->center + (child_center * (cubes_properties[depth].edge_length / 4));
|
||||
|
||||
current->children[octant_idx] = std::make_unique<Cube>(child_center_transformed);
|
||||
child = current->children[octant_idx].get();
|
||||
}
|
||||
|
||||
Octree::propagate_point(point, child, (depth - 1), cubes_properties);
|
||||
}
|
||||
|
||||
std::unique_ptr<FillAdaptive_Internal::Octree> FillSupportCubic::build_octree(
|
||||
TriangleMesh & triangle_mesh,
|
||||
coordf_t line_spacing,
|
||||
const Vec3d & cube_center,
|
||||
const Transform3d &rotation_matrix)
|
||||
{
|
||||
using namespace FillAdaptive_Internal;
|
||||
|
||||
if(line_spacing <= 0 || std::isnan(line_spacing))
|
||||
{
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
Vec3d bb_size = triangle_mesh.bounding_box().size();
|
||||
// The furthest point from the center of the bottom of the mesh bounding box.
|
||||
double furthest_point = std::sqrt(((bb_size.x() * bb_size.x()) / 4.0) +
|
||||
((bb_size.y() * bb_size.y()) / 4.0) +
|
||||
(bb_size.z() * bb_size.z()));
|
||||
double max_cube_edge_length = furthest_point * 2;
|
||||
|
||||
std::vector<CubeProperties> cubes_properties;
|
||||
for (double edge_length = (line_spacing * 2); edge_length < (max_cube_edge_length * 2); edge_length *= 2)
|
||||
{
|
||||
CubeProperties props{};
|
||||
props.edge_length = edge_length;
|
||||
props.height = edge_length * sqrt(3);
|
||||
props.diagonal_length = edge_length * sqrt(2);
|
||||
props.line_z_distance = edge_length / sqrt(3);
|
||||
props.line_xy_distance = edge_length / sqrt(6);
|
||||
cubes_properties.push_back(props);
|
||||
}
|
||||
|
||||
if (triangle_mesh.its.vertices.empty())
|
||||
{
|
||||
triangle_mesh.require_shared_vertices();
|
||||
}
|
||||
|
||||
AABBTreeIndirect::Tree3f aabbTree = AABBTreeIndirect::build_aabb_tree_over_indexed_triangle_set(
|
||||
triangle_mesh.its.vertices, triangle_mesh.its.indices);
|
||||
|
||||
auto octree = std::make_unique<Octree>(std::make_unique<Cube>(cube_center), cube_center, cubes_properties);
|
||||
|
||||
double cube_edge_length = line_spacing / 2.0;
|
||||
int max_depth = int(octree->cubes_properties.size()) - 1;
|
||||
BoundingBoxf3 mesh_bb = triangle_mesh.bounding_box();
|
||||
Vec3f vertical(0, 0, 1);
|
||||
|
||||
for (size_t facet_idx = 0; facet_idx < triangle_mesh.stl.facet_start.size(); ++facet_idx)
|
||||
{
|
||||
if(triangle_mesh.stl.facet_start[facet_idx].normal.dot(vertical) <= 0.707)
|
||||
{
|
||||
// The angle is smaller than PI/4, than infill don't to be there
|
||||
continue;
|
||||
}
|
||||
|
||||
stl_vertex v_1 = triangle_mesh.stl.facet_start[facet_idx].vertex[0];
|
||||
stl_vertex v_2 = triangle_mesh.stl.facet_start[facet_idx].vertex[1];
|
||||
stl_vertex v_3 = triangle_mesh.stl.facet_start[facet_idx].vertex[2];
|
||||
|
||||
std::vector<Vec3d> triangle_vertices =
|
||||
{Vec3d(v_1.x(), v_1.y(), v_1.z()),
|
||||
Vec3d(v_2.x(), v_2.y(), v_2.z()),
|
||||
Vec3d(v_3.x(), v_3.y(), v_3.z())};
|
||||
|
||||
BoundingBoxf3 triangle_bb(triangle_vertices);
|
||||
|
||||
Vec3d triangle_start_relative = triangle_bb.min - mesh_bb.min;
|
||||
Vec3d triangle_end_relative = triangle_bb.max - mesh_bb.min;
|
||||
|
||||
Vec3crd triangle_start_idx = Vec3crd(
|
||||
int(std::floor(triangle_start_relative.x() / cube_edge_length)),
|
||||
int(std::floor(triangle_start_relative.y() / cube_edge_length)),
|
||||
int(std::floor(triangle_start_relative.z() / cube_edge_length)));
|
||||
Vec3crd triangle_end_idx = Vec3crd(
|
||||
int(std::floor(triangle_end_relative.x() / cube_edge_length)),
|
||||
int(std::floor(triangle_end_relative.y() / cube_edge_length)),
|
||||
int(std::floor(triangle_end_relative.z() / cube_edge_length)));
|
||||
|
||||
for (int z = triangle_start_idx.z(); z <= triangle_end_idx.z(); ++z)
|
||||
{
|
||||
for (int y = triangle_start_idx.y(); y <= triangle_end_idx.y(); ++y)
|
||||
{
|
||||
for (int x = triangle_start_idx.x(); x <= triangle_end_idx.x(); ++x)
|
||||
{
|
||||
Vec3d cube_center_relative(x * cube_edge_length + (cube_edge_length / 2.0), y * cube_edge_length + (cube_edge_length / 2.0), z * cube_edge_length);
|
||||
Vec3d cube_center_absolute = cube_center_relative + mesh_bb.min;
|
||||
|
||||
double cube_center_absolute_arr[3] = {cube_center_absolute.x(), cube_center_absolute.y(), cube_center_absolute.z()};
|
||||
double distance = 0, cord_u = 0, cord_v = 0;
|
||||
|
||||
double dir[3] = {0.0, 0.0, 1.0};
|
||||
|
||||
double vert_0[3] = {triangle_vertices[0].x(),
|
||||
triangle_vertices[0].y(),
|
||||
triangle_vertices[0].z()};
|
||||
double vert_1[3] = {triangle_vertices[1].x(),
|
||||
triangle_vertices[1].y(),
|
||||
triangle_vertices[1].z()};
|
||||
double vert_2[3] = {triangle_vertices[2].x(),
|
||||
triangle_vertices[2].y(),
|
||||
triangle_vertices[2].z()};
|
||||
|
||||
if(intersect_triangle(cube_center_absolute_arr, dir, vert_0, vert_1, vert_2, &distance, &cord_u, &cord_v) && distance > 0 && distance <= cube_edge_length)
|
||||
{
|
||||
Vec3d cube_center_transformed(cube_center_absolute.x(), cube_center_absolute.y(), cube_center_absolute.z() + (cube_edge_length / 2.0));
|
||||
Octree::propagate_point(rotation_matrix * cube_center_transformed, octree->root_cube.get(), max_depth, octree->cubes_properties);
|
||||
}
|
||||
}
|
||||
// Calculate a slightly expanded bounding box of a child cube to cope with triangles touching a cube wall and other numeric errors.
|
||||
// We will rather densify the octree a bit more than necessary instead of missing a triangle.
|
||||
BoundingBoxf3 bbox;
|
||||
for (int k = 0; k < 3; ++ k) {
|
||||
if (child_center[k] == -1.) {
|
||||
bbox.min[k] = current_bbox.min[k];
|
||||
bbox.max[k] = current_cube->center[k] + EPSILON;
|
||||
} else {
|
||||
bbox.min[k] = current_cube->center[k] - EPSILON;
|
||||
bbox.max[k] = current_bbox.max[k];
|
||||
}
|
||||
}
|
||||
if (triangle_AABB_intersects(a, b, c, bbox)) {
|
||||
if (! current_cube->children[i])
|
||||
current_cube->children[i] = this->pool.construct(current_cube->center + (child_center * (this->cubes_properties[depth].edge_length / 4)));
|
||||
if (depth > 1)
|
||||
this->insert_triangle(a, b, c, current_cube->children[i], bbox, depth - 1);
|
||||
}
|
||||
}
|
||||
|
||||
return octree;
|
||||
}
|
||||
|
||||
void FillSupportCubic::_fill_surface_single(const FillParams & params,
|
||||
unsigned int thickness_layers,
|
||||
const std::pair<float, Point> &direction,
|
||||
ExPolygon & expolygon,
|
||||
Polylines & polylines_out)
|
||||
{
|
||||
if (this->support_fill_octree != nullptr)
|
||||
this->generate_infill(params, thickness_layers, direction, expolygon, polylines_out, this->support_fill_octree);
|
||||
}
|
||||
|
||||
} // namespace Slic3r
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue