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Bugfixes and refactoring for SLA backend

Browse source 
remove duplicate code


Mark conversion constructors of EigenMesh3D `explicit`


Working on mesh simplification for hollowed interior


Fix bug SPE-1074: crash with empty supports and disabled pad.


fix regression after refactor


Remove unfinished code


Fix missing includes and dumb comments
This commit is contained in:
tamasmeszaros 2020-01-24 14:26:05 +01:00
parent 9f6ad70f0b
commit 7591637c89
9 changed files with 299 additions and 259 deletions
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340
src/libslic3r/SLA/SupportTreeBuildsteps.cpp
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@ -166,190 +166,182 @@ bool SupportTreeBuildsteps::execute(SupportTreeBuilder & builder,
return pc == ABORT;
}
// Give points on a 3D ring with given center, radius and orientation
// method based on:
// https://math.stackexchange.com/questions/73237/parametric-equation-of-a-circle-in-3d-space
template<size_t N>
class PointRing {
std::array<double, N> m_phis;
// Two vectors that will be perpendicular to each other and to the
// axis. Values for a(X) and a(Y) are now arbitrary, a(Z) is just a
// placeholder.
// a and b vectors are perpendicular to the ring direction and to each other.
// Together they define the plane where we have to iterate with the
// given angles in the 'm_phis' vector
Vec3d a = {0, 1, 0}, b;
double m_radius = 0.;
static inline bool constexpr is_one(double val)
{
return std::abs(std::abs(val) - 1) < 1e-20;
}
public:
PointRing(const Vec3d &n)
{
m_phis = linspace_array<N>(0., 2 * PI);
// We have to address the case when the direction vector v (same as
// dir) is coincident with one of the world axes. In this case two of
// its components will be completely zero and one is 1.0. Our method
// becomes dangerous here due to division with zero. Instead, vector
// 'a' can be an element-wise rotated version of 'v'
if(is_one(n(X)) || is_one(n(Y)) || is_one(n(Z))) {
a = {n(Z), n(X), n(Y)};
b = {n(Y), n(Z), n(X)};
}
else {
a(Z) = -(n(Y)*a(Y)) / n(Z); a.normalize();
b = a.cross(n);
}
}
Vec3d get(size_t idx, const Vec3d src, double r) const
{
double phi = m_phis[idx];
double sinphi = std::sin(phi);
double cosphi = std::cos(phi);
double rpscos = r * cosphi;
double rpssin = r * sinphi;
// Point on the sphere
return {src(X) + rpscos * a(X) + rpssin * b(X),
src(Y) + rpscos * a(Y) + rpssin * b(Y),
src(Z) + rpscos * a(Z) + rpssin * b(Z)};
}
};
template<class C, class Hit = EigenMesh3D::hit_result>
static Hit min_hit(const C &hits)
{
auto mit = std::min_element(hits.begin(), hits.end(),
[](const Hit &h1, const Hit &h2) {
return h1.distance() < h2.distance();
});
return *mit;
}
EigenMesh3D::hit_result SupportTreeBuildsteps::pinhead_mesh_intersect(
const Vec3d &s, const Vec3d &dir, double r_pin, double r_back, double width)
{
static const size_t SAMPLES = 8;
// method based on:
// https://math.stackexchange.com/questions/73237/parametric-equation-of-a-circle-in-3d-space
// Move away slightly from the touching point to avoid raycasting on the
// inner surface of the mesh.
const double& sd = m_cfg.safety_distance_mm;
auto& m = m_mesh;
using HitResult = EigenMesh3D::hit_result;
// Hit results
std::array<HitResult, SAMPLES> hits;
struct Rings {
double rpin;
double rback;
Vec3d spin;
Vec3d sback;
PointRing<SAMPLES> ring;
Vec3d backring(size_t idx) { return ring.get(idx, sback, rback); }
Vec3d pinring(size_t idx) { return ring.get(idx, spin, rpin); }
} rings {r_pin + sd, r_back + sd, s, s + width * dir, dir};
// We will shoot multiple rays from the head pinpoint in the direction
// of the pinhead robe (side) surface. The result will be the smallest
// hit distance.
// Move away slightly from the touching point to avoid raycasting on the
// inner surface of the mesh.
Vec3d v = dir; // Our direction (axis)
Vec3d c = s + width * dir;
const double& sd = m_cfg.safety_distance_mm;
ccr::enumerate(hits.begin(), hits.end(),
[&m, &rings, sd](HitResult &hit, size_t i) {
// Two vectors that will be perpendicular to each other and to the
// axis. Values for a(X) and a(Y) are now arbitrary, a(Z) is just a
// placeholder.
Vec3d a(0, 1, 0), b;
// Point on the circle on the pin sphere
Vec3d ps = rings.pinring(i);
// This is the point on the circle on the back sphere
Vec3d p = rings.backring(i);
// Point ps is not on mesh but can be inside or
// outside as well. This would cause many problems
// with ray-casting. To detect the position we will
// use the ray-casting result (which has an is_inside
// predicate).
// The portions of the circle (the head-back circle) for which we will
// shoot rays.
std::array<double, SAMPLES> phis;
for(size_t i = 0; i < phis.size(); ++i) phis[i] = i*2*PI/phis.size();
Vec3d n = (p - ps).normalized();
auto q = m.query_ray_hit(ps + sd * n, n);
auto& m = m_mesh;
using HitResult = EigenMesh3D::hit_result;
if (q.is_inside()) { // the hit is inside the model
if (q.distance() > rings.rpin) {
// If we are inside the model and the hit
// distance is bigger than our pin circle
// diameter, it probably indicates that the
// support point was already inside the
// model, or there is really no space
// around the point. We will assign a zero
// hit distance to these cases which will
// enforce the function return value to be
// an invalid ray with zero hit distance.
// (see min_element at the end)
hit = HitResult(0.0);
} else {
// re-cast the ray from the outside of the
// object. The starting point has an offset
// of 2*safety_distance because the
// original ray has also had an offset
auto q2 = m.query_ray_hit(ps + (q.distance() + 2 * sd) * n, n);
hit = q2;
}
} else
hit = q;
});
// Hit results
std::array<HitResult, SAMPLES> hits;
// We have to address the case when the direction vector v (same as
// dir) is coincident with one of the world axes. In this case two of
// its components will be completely zero and one is 1.0. Our method
// becomes dangerous here due to division with zero. Instead, vector
// 'a' can be an element-wise rotated version of 'v'
auto chk1 = [] (double val) {
return std::abs(std::abs(val) - 1) < 1e-20;
};
if(chk1(v(X)) || chk1(v(Y)) || chk1(v(Z))) {
a = {v(Z), v(X), v(Y)};
b = {v(Y), v(Z), v(X)};
}
else {
a(Z) = -(v(Y)*a(Y)) / v(Z); a.normalize();
b = a.cross(v);
}
// Now a and b vectors are perpendicular to v and to each other.
// Together they define the plane where we have to iterate with the
// given angles in the 'phis' vector
ccr::enumerate(
phis.begin(), phis.end(),
[&hits, &m, sd, r_pin, r_back, s, a, b, c](double phi, size_t i) {
double sinphi = std::sin(phi);
double cosphi = std::cos(phi);
// Let's have a safety coefficient for the radiuses.
double rpscos = (sd + r_pin) * cosphi;
double rpssin = (sd + r_pin) * sinphi;
double rpbcos = (sd + r_back) * cosphi;
double rpbsin = (sd + r_back) * sinphi;
// Point on the circle on the pin sphere
Vec3d ps(s(X) + rpscos * a(X) + rpssin * b(X),
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. To detect the position we will
// use the ray-casting result (which has an is_inside
// predicate).
// 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));
Vec3d n = (p - ps).normalized();
auto q = m.query_ray_hit(ps + sd * n, n);
if (q.is_inside()) { // the hit is inside the model
if (q.distance() > r_pin + sd) {
// If we are inside the model and the hit
// distance is bigger than our pin circle
// diameter, it probably indicates that the
// support point was already inside the
// model, or there is really no space
// around the point. We will assign a zero
// hit distance to these cases which will
// enforce the function return value to be
// an invalid ray with zero hit distance.
// (see min_element at the end)
hits[i] = HitResult(0.0);
} else {
// re-cast the ray from the outside of the
// object. The starting point has an offset
// of 2*safety_distance because the
// original ray has also had an offset
auto q2 = m.query_ray_hit(
ps + (q.distance() + 2 * sd) * n, n);
hits[i] = q2;
}
} else
hits[i] = q;
});
auto mit = std::min_element(hits.begin(), hits.end());
return *mit;
return min_hit(hits);
}
EigenMesh3D::hit_result SupportTreeBuildsteps::bridge_mesh_intersect(
const Vec3d &s, const Vec3d &dir, double r, bool ins_check)
const Vec3d &src, const Vec3d &dir, double r, bool ins_check)
{
static const size_t SAMPLES = 8;
PointRing<SAMPLES> ring{dir};
// helper vector calculations
Vec3d a(0, 1, 0), b;
const double& sd = m_cfg.safety_distance_mm;
// INFO: for explanation of the method used here, see the previous
// method's comments.
auto chk1 = [] (double val) {
return std::abs(std::abs(val) - 1) < 1e-20;
};
if(chk1(dir(X)) || chk1(dir(Y)) || chk1(dir(Z))) {
a = {dir(Z), dir(X), dir(Y)};
b = {dir(Y), dir(Z), dir(X)};
}
else {
a(Z) = -(dir(Y)*a(Y)) / dir(Z); a.normalize();
b = a.cross(dir);
}
// circle portions
std::array<double, SAMPLES> phis;
for(size_t i = 0; i < phis.size(); ++i) phis[i] = i*2*PI/phis.size();
auto& m = m_mesh;
using HitResult = EigenMesh3D::hit_result;
using Hit = EigenMesh3D::hit_result;
// Hit results
std::array<HitResult, SAMPLES> hits;
std::array<Hit, SAMPLES> hits;
ccr::enumerate(
phis.begin(), phis.end(),
[&m, a, b, sd, dir, r, s, ins_check, &hits] (double phi, size_t i) {
double sinphi = std::sin(phi);
double cosphi = std::cos(phi);
// Let's have a safety coefficient for the radiuses.
double rcos = (sd + r) * cosphi;
double rsin = (sd + r) * sinphi;
// Point on the circle on the pin sphere
Vec3d p (s(X) + rcos * a(X) + rsin * b(X),
s(Y) + rcos * a(Y) + rsin * b(Y),
s(Z) + rcos * a(Z) + rsin * b(Z));
auto hr = m.query_ray_hit(p + sd*dir, dir);
if(ins_check && hr.is_inside()) {
if(hr.distance() > 2 * r + sd) hits[i] = HitResult(0.0);
else {
// re-cast the ray from the outside of the object
auto hr2 =
m.query_ray_hit(p + (hr.distance() + 2*sd)*dir, dir);
hits[i] = hr2;
}
} else hits[i] = hr;
});
ccr::enumerate(hits.begin(), hits.end(),
[this, r, src, ins_check, &ring, dir] (Hit &hit, size_t i) {
const double sd = m_cfg.safety_distance_mm;
// Point on the circle on the pin sphere
Vec3d p = ring.get(i, src, r + sd);
auto hr = m_mesh.query_ray_hit(p + sd * dir, dir);
if(ins_check && hr.is_inside()) {
if(hr.distance() > 2 * r + sd) hit = Hit(0.0);
else {
// re-cast the ray from the outside of the object
hit = m_mesh.query_ray_hit(p + (hr.distance() + 2 * sd) * dir, dir);
}
} else hit = hr;
});
auto mit = std::min_element(hits.begin(), hits.end());
return *mit;
return min_hit(hits);
}
bool SupportTreeBuildsteps::interconnect(const Pillar &pillar,
@ -419,7 +411,7 @@ bool SupportTreeBuildsteps::interconnect(const Pillar &pillar,
// TODO: This is a workaround to not have a faulty last bridge
while(ej(Z) >= eupper(Z) /*endz*/) {
if(bridge_mesh_intersect(sj, dirv(sj, ej), pillar.r) >= bridge_distance)
if(bridge_mesh_distance(sj, dirv(sj, ej), pillar.r) >= bridge_distance)
{
m_builder.add_crossbridge(sj, ej, pillar.r);
was_connected = true;
@ -430,7 +422,7 @@ bool SupportTreeBuildsteps::interconnect(const Pillar &pillar,
Vec3d sjback(ej(X), ej(Y), sj(Z));
Vec3d ejback(sj(X), sj(Y), ej(Z));
if (sjback(Z) <= slower(Z) && ejback(Z) >= eupper(Z) &&
bridge_mesh_intersect(sjback, dirv(sjback, ejback),
bridge_mesh_distance(sjback, dirv(sjback, ejback),
pillar.r) >= bridge_distance) {
// need to check collision for the cross stick
m_builder.add_crossbridge(sjback, ejback, pillar.r);
@ -487,7 +479,7 @@ bool SupportTreeBuildsteps::connect_to_nearpillar(const Head &head,
bridgestart(Z) -= zdiff;
touchjp(Z) = Zdown;
double t = bridge_mesh_intersect(headjp, {0,0,-1}, r);
double t = bridge_mesh_distance(headjp, DOWN, r);
// We can't insert a pillar under the source head to connect
// with the nearby pillar's starting junction
@ -505,8 +497,7 @@ bool SupportTreeBuildsteps::connect_to_nearpillar(const Head &head,
double minz = m_builder.ground_level + 2 * m_cfg.head_width_mm;
if(bridgeend(Z) < minz) return false;
double t = bridge_mesh_intersect(bridgestart,
dirv(bridgestart, bridgeend), r);
double t = bridge_mesh_distance(bridgestart, dirv(bridgestart, bridgeend), r);
// Cannot insert the bridge. (further search might not worth the hassle)
if(t < distance(bridgestart, bridgeend)) return false;
@ -633,7 +624,7 @@ void SupportTreeBuildsteps::create_ground_pillar(const Vec3d &jp,
};
// We have to check if the bridge is feasible.
if (bridge_mesh_intersect(jp, dir, radius) < (endp - jp).norm())
if (bridge_mesh_distance(jp, dir, radius) < (endp - jp).norm())
abort_in_shame();
else {
// If the new endpoint is below ground, do not make a pillar
@ -764,7 +755,7 @@ void SupportTreeBuildsteps::filter()
{
auto dir = spheric_to_dir(plr, azm).normalized();
double score = pinhead_mesh_intersect(
double score = pinhead_mesh_distance(
hp, dir, pin_r, m_cfg.head_back_radius_mm, w);
return score;
@ -950,11 +941,11 @@ bool SupportTreeBuildsteps::connect_to_ground(Head &head, const Vec3d &dir)
{
auto hjp = head.junction_point();
double r = head.r_back_mm;
double t = bridge_mesh_intersect(hjp, dir, head.r_back_mm);
double t = bridge_mesh_distance(hjp, dir, head.r_back_mm);
double d = 0, tdown = 0;
t = std::min(t, m_cfg.max_bridge_length_mm);
while (d < t && !std::isinf(tdown = bridge_mesh_intersect(hjp + d * dir, DOWN, r)))
while (d < t && !std::isinf(tdown = bridge_mesh_distance(hjp + d * dir, DOWN, r)))
d += r;
if(!std::isinf(tdown)) return false;
@ -989,7 +980,7 @@ bool SupportTreeBuildsteps::connect_to_ground(Head &head)
auto oresult = solver.optimize_max(
[this, hjp, r_back](double plr, double azm) {
Vec3d n = spheric_to_dir(plr, azm).normalized();
return bridge_mesh_intersect(hjp, n, r_back);
return bridge_mesh_distance(hjp, n, r_back);
},
initvals(polar, azimuth), // let's start with what we have
bound(3*PI/4, PI), // Must not exceed the slope limit
@ -1259,9 +1250,8 @@ void SupportTreeBuildsteps::interconnect_pillars()
m_pillar_index.insert(pp.endpoint(), unsigned(pp.id));
m_builder.add_junction(s, pillar().r);
double t = bridge_mesh_intersect(pillarsp,
dirv(pillarsp, s),
pillar().r);
double t = bridge_mesh_distance(pillarsp, dirv(pillarsp, s),
pillar().r);
if (distance(pillarsp, s) < t)
m_builder.add_bridge(pillarsp, s, pillar().r);
@ -1312,8 +1302,8 @@ void SupportTreeBuildsteps::routing_headless()
Vec3d sj = sp + R * n; // stick start point
// This is only for checking
double idist = bridge_mesh_intersect(sph, DOWN, R, true);
double realdist = ray_mesh_intersect(sj, DOWN);
double idist = bridge_mesh_distance(sph, DOWN, R, true);
double realdist = ray_mesh_intersect(sj, DOWN).distance();
double dist = realdist;
if (std::isinf(dist)) dist = sph(Z) - m_builder.ground_level;