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Introducing signed_distance into the collision detection.

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Everything is broken O.o
This commit is contained in:
tamasmeszaros 2019-01-18 16:21:44 +01:00
parent 4f83703232
commit 6c0b65208f
3 changed files with 41 additions and 16 deletions
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28
src/libslic3r/SLA/SLASupportTree.cpp
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@ -578,7 +578,7 @@ inline double ray_mesh_intersect(const Vec3d& s,
// samples: how many rays will be shot
// safety distance: This will be added to the radiuses to have a safety distance
// from the mesh.
double pinhead_mesh_intersect(const Vec3d& s_original,
double pinhead_mesh_intersect(const Vec3d& s,
const Vec3d& dir,
double r_pin,
double r_back,
@ -597,8 +597,6 @@ double pinhead_mesh_intersect(const Vec3d& s_original,
// Move away slightly from the touching point to avoid raycasting on the
// inner surface of the mesh.
Vec3d s = s_original + r_pin * dir;
Vec3d v = dir; // Our direction (axis)
Vec3d c = s + width * dir;
@ -634,15 +632,20 @@ double pinhead_mesh_intersect(const Vec3d& s_original,
s(Y) + rpscos * a(Y) + rpssin * b(Y),
s(Z) + rpscos * a(Z) + rpssin * b(Z));
// Point ps is not on mesh but can be inside or outside as well. This
// would cause many problems with ray-casting. So we query the closest
// point on the mesh to this.
auto result = m.signed_distance(ps);
// This is the point on the circle on the back sphere
Vec3d p(c(X) + rpbcos * a(X) + rpbsin * b(X),
c(Y) + rpbcos * a(Y) + rpbsin * b(Y),
c(Z) + rpbcos * a(Z) + rpbsin * b(Z));
if(m.inside(ps) && m.inside(p)) {
Vec3d n = (p - ps).normalized();
phi = m.query_ray_hit(ps, n);
} else phi = std::numeric_limits<double>::infinity();
if(!m.inside(p)) {
Vec3d n = (p - result.point_on_mesh() + 0.01 * dir).normalized();
phi = m.query_ray_hit(result.point_on_mesh(), n);
} else phi = 0;
}
auto mit = std::min_element(phis.begin(), phis.end());
@ -650,7 +653,7 @@ double pinhead_mesh_intersect(const Vec3d& s_original,
return *mit;
}
double bridge_mesh_intersect(const Vec3d& s_original,
double bridge_mesh_intersect(const Vec3d& s,
const Vec3d& dir,
double r,
const EigenMesh3D& m,
@ -658,7 +661,7 @@ double bridge_mesh_intersect(const Vec3d& s_original,
double safety_distance = 0.05)
{
// helper vector calculations
Vec3d s = s_original + r*dir; Vec3d a(0, 1, 0), b;
Vec3d a(0, 1, 0), b;
a(Z) = -(dir(X)*a(X) + dir(Y)*a(Y)) / dir(Z);
b = a.cross(dir);
@ -680,8 +683,9 @@ double bridge_mesh_intersect(const Vec3d& s_original,
s(Y) + rcos * a(Y) + rsin * b(Y),
s(Z) + rcos * a(Z) + rsin * b(Z));
if(m.inside(p)) phi = m.query_ray_hit(p, dir);
else phi = std::numeric_limits<double>::infinity();
auto result = m.signed_distance(p);
phi = m.query_ray_hit(result.point_on_mesh() + 0.05*dir, dir);
}
auto mit = std::min_element(phis.begin(), phis.end());
@ -1190,6 +1194,8 @@ bool SLASupportTree::generate(const PointSet &points,
std::sin(azimuth) * std::sin(polar),
std::cos(polar));
nn.normalize();
// save the head (pinpoint) position
Vec3d hp = filt_pts.row(i);