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Performance improvements of the MotionPlanner

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(rewrote the Dijkstra shortest path algorithm to use a binary priority
heap instead of a dumb O(n^2) algorithm, added some bounding box tests
to avoid expensive in-polygon tests if possible).
This commit is contained in:
bubnikv 2017-05-05 09:59:56 +02:00
parent 8a628c451c
commit 60528c5c2a
8 changed files with 340 additions and 313 deletions
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40
xs/src/libslic3r/Point.cpp
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@ -94,8 +94,7 @@ inline T sqr(const T x)
return x * x;
}
int
Point::nearest_point_index(const PointConstPtrs &points) const
int Point::nearest_point_index(const PointConstPtrs &points) const
{
int idx = -1;
double distance = -1; // double because long is limited to 2147483647 on some platforms and it's not enough
@ -121,28 +120,25 @@ Point::nearest_point_index(const PointConstPtrs &points) const
}
/* This method finds the point that is closest to both this point and the supplied one */
size_t
Point::nearest_waypoint_index(const Points &points, const Point &dest) const
size_t Point::nearest_waypoint_index(const Points &points, const Point &dest) const
{
size_t idx = -1;
double distance = -1; // double because long is limited to 2147483647 on some platforms and it's not enough
for (Points::const_iterator p = points.begin(); p != points.end(); ++p) {
// distance from this to candidate
double d = sqr<double>(this->x - p->x) + sqr<double>(this->y - p->y);
// distance from candidate to dest
d += sqr<double>(p->x - dest.x) + sqr<double>(p->y - dest.y);
// if the total distance is greater than current min distance, ignore it
if (distance != -1 && d > distance) continue;
idx = p - points.begin();
distance = d;
if (distance < EPSILON) break;
size_t idx = size_t(-1);
double d2min = std::numeric_limits<double>::infinity(); // double because long is limited to 2147483647 on some platforms and it's not enough
for (const Point &p : points) {
double d2 =
// distance from this to candidate
sqr<double>(this->x - p.x) + sqr<double>(this->y - p.y) +
// distance from candidate to dest
sqr<double>(p.x - dest.x) + sqr<double>(p.y - dest.y);
if (d2 < d2min) {
idx = &p - points.data();
d2min = d2;
if (d2min < EPSILON)
break;
}
}
return idx;
}