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https://github.com/SoftFever/OrcaSlicer.git
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Adding an AABB tree to EigenMesh3D.
Yet to be used.
This commit is contained in:
tamasmeszaros
parent
6ac54896fa
commit
7fa430c56d
6 changed files with 155 additions and 137 deletions
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@ -19,6 +19,10 @@
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namespace Slic3r {
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namespace sla {
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/* **************************************************************************
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* SpatIndex implementation
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* ************************************************************************** */
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class SpatIndex::Impl {
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public:
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using BoostIndex = boost::geometry::index::rtree< SpatElement,
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@ -78,6 +82,73 @@ size_t SpatIndex::size() const
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return m_impl->m_store.size();
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}
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/* ****************************************************************************
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* EigenMesh3D implementation
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* ****************************************************************************/
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class EigenMesh3D::AABBImpl: public igl::AABB<Eigen::MatrixXd, 3> {};
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EigenMesh3D::EigenMesh3D(): m_aabb(new AABBImpl()) {}
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EigenMesh3D::EigenMesh3D(const TriangleMesh& tmesh): m_aabb(new AABBImpl()) {
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static const double dEPS = 1e-6;
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const stl_file& stl = tmesh.stl;
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auto&& bb = tmesh.bounding_box();
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m_ground_level += bb.min(Z);
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Eigen::MatrixXd V;
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Eigen::MatrixXi F;
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V.resize(3*stl.stats.number_of_facets, 3);
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F.resize(stl.stats.number_of_facets, 3);
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for (unsigned int i = 0; i < stl.stats.number_of_facets; ++i) {
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const stl_facet* facet = stl.facet_start+i;
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V(3*i+0, 0) = double(facet->vertex[0](0));
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V(3*i+0, 1) = double(facet->vertex[0](1));
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V(3*i+0, 2) = double(facet->vertex[0](2));
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V(3*i+1, 0) = double(facet->vertex[1](0));
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V(3*i+1, 1) = double(facet->vertex[1](1));
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V(3*i+1, 2) = double(facet->vertex[1](2));
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V(3*i+2, 0) = double(facet->vertex[2](0));
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V(3*i+2, 1) = double(facet->vertex[2](1));
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V(3*i+2, 2) = double(facet->vertex[2](2));
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F(i, 0) = int(3*i+0);
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F(i, 1) = int(3*i+1);
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F(i, 2) = int(3*i+2);
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}
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// We will convert this to a proper 3d mesh with no duplicate points.
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Eigen::VectorXi SVI, SVJ;
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igl::remove_duplicate_vertices(V, F, dEPS, m_V, SVI, SVJ, m_F);
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// Build the AABB accelaration tree
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m_aabb->init(m_V, m_F);
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}
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EigenMesh3D::~EigenMesh3D() {}
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EigenMesh3D::EigenMesh3D(const EigenMesh3D &other):
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m_V(other.m_V), m_F(other.m_F), m_ground_level(other.m_ground_level),
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m_aabb( new AABBImpl(*other.m_aabb) ) {}
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EigenMesh3D &EigenMesh3D::operator=(const EigenMesh3D &other)
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{
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m_V = other.m_V;
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m_F = other.m_F;
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m_ground_level = other.m_ground_level;
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m_aabb.reset(new AABBImpl(*other.m_aabb)); return *this;
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}
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double EigenMesh3D::query_ray_hit(const Vec3d &s, const Vec3d &dir) const
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{
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return 0;
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}
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bool point_on_edge(const Vec3d& p, const Vec3d& e1, const Vec3d& e2,
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double eps = 0.05)
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{
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@ -93,10 +164,10 @@ template<class Vec> double distance(const Vec& pp1, const Vec& pp2) {
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return std::sqrt(p.transpose() * p);
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}
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PointSet normals(const PointSet& points, const EigenMesh3D& emesh,
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PointSet normals(const PointSet& points, const EigenMesh3D& mesh,
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double eps,
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std::function<void()> throw_on_cancel) {
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if(points.rows() == 0 || emesh.V.rows() == 0 || emesh.F.rows() == 0)
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if(points.rows() == 0 || mesh.V().rows() == 0 || mesh.F().rows() == 0)
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return {};
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Eigen::VectorXd dists;
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@ -105,23 +176,24 @@ PointSet normals(const PointSet& points, const EigenMesh3D& emesh,
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// We need to remove duplicate vertices and have a true index triangle
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// structure
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/*
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EigenMesh3D mesh;
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Eigen::VectorXi SVI, SVJ;
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static const double dEPS = 1e-6;
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igl::remove_duplicate_vertices(emesh.V, emesh.F, dEPS,
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mesh.V, SVI, SVJ, mesh.F);
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mesh.V, SVI, SVJ, mesh.F);*/
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igl::point_mesh_squared_distance( points, mesh.V, mesh.F, dists, I, C);
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igl::point_mesh_squared_distance( points, mesh.V(), mesh.F(), dists, I, C);
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PointSet ret(I.rows(), 3);
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for(int i = 0; i < I.rows(); i++) {
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throw_on_cancel();
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auto idx = I(i);
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auto trindex = mesh.F.row(idx);
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auto trindex = mesh.F().row(idx);
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const Vec3d& p1 = mesh.V.row(trindex(0));
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const Vec3d& p2 = mesh.V.row(trindex(1));
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const Vec3d& p3 = mesh.V.row(trindex(2));
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const Vec3d& p1 = mesh.V().row(trindex(0));
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const Vec3d& p2 = mesh.V().row(trindex(1));
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const Vec3d& p3 = mesh.V().row(trindex(2));
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// We should check if the point lies on an edge of the hosting triangle.
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// If it does than all the other triangles using the same two points
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@ -159,18 +231,18 @@ PointSet normals(const PointSet& points, const EigenMesh3D& emesh,
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// vector for the neigboring triangles including the detected one.
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std::vector<Vec3i> neigh;
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if(ic >= 0) { // The point is right on a vertex of the triangle
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for(int n = 0; n < mesh.F.rows(); ++n) {
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for(int n = 0; n < mesh.F().rows(); ++n) {
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throw_on_cancel();
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Vec3i ni = mesh.F.row(n);
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Vec3i ni = mesh.F().row(n);
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if((ni(X) == ic || ni(Y) == ic || ni(Z) == ic))
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neigh.emplace_back(ni);
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}
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}
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else if(ia >= 0 && ib >= 0) { // the point is on and edge
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// now get all the neigboring triangles
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for(int n = 0; n < mesh.F.rows(); ++n) {
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for(int n = 0; n < mesh.F().rows(); ++n) {
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throw_on_cancel();
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Vec3i ni = mesh.F.row(n);
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Vec3i ni = mesh.F().row(n);
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if((ni(X) == ia || ni(Y) == ia || ni(Z) == ia) &&
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(ni(X) == ib || ni(Y) == ib || ni(Z) == ib))
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neigh.emplace_back(ni);
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@ -180,9 +252,9 @@ PointSet normals(const PointSet& points, const EigenMesh3D& emesh,
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// Calculate the normals for the neighboring triangles
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std::vector<Vec3d> neighnorms; neighnorms.reserve(neigh.size());
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for(const Vec3i& tri : neigh) {
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const Vec3d& pt1 = mesh.V.row(tri(0));
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const Vec3d& pt2 = mesh.V.row(tri(1));
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const Vec3d& pt3 = mesh.V.row(tri(2));
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const Vec3d& pt1 = mesh.V().row(tri(0));
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const Vec3d& pt2 = mesh.V().row(tri(1));
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const Vec3d& pt3 = mesh.V().row(tri(2));
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Eigen::Vector3d U = pt2 - pt1;
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Eigen::Vector3d V = pt3 - pt1;
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neighnorms.emplace_back(U.cross(V).normalized());
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@ -228,10 +300,24 @@ double ray_mesh_intersect(const Vec3d& s,
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{
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igl::Hit hit;
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hit.t = std::numeric_limits<float>::infinity();
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igl::ray_mesh_intersect(s, dir, m.V, m.F, hit);
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// Fck: this does not use any kind of spatial index acceleration...
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igl::ray_mesh_intersect(s, dir, m.V(), m.F(), hit);
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return double(hit.t);
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}
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// An enhanced version of ray_mesh_intersect for the pinheads. This will shoot
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// multiple rays to detect collisions more accurately.
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double pinhead_mesh_intersect(const Vec3d& jp,
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const Vec3d& dir,
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double r1,
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double r2,
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const EigenMesh3D& m)
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{
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return 0;
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}
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// Clustering a set of points by the given criteria
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ClusteredPoints cluster(
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const sla::PointSet& points,
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@ -309,53 +395,5 @@ ClusteredPoints cluster(
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return result;
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}
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using Segments = std::vector<std::pair<Vec2d, Vec2d>>;
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Segments model_boundary(const EigenMesh3D& emesh, double offs)
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{
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Segments ret;
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Polygons pp;
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pp.reserve(size_t(emesh.F.rows()));
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for (int i = 0; i < emesh.F.rows(); i++) {
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auto trindex = emesh.F.row(i);
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auto& p1 = emesh.V.row(trindex(0));
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auto& p2 = emesh.V.row(trindex(1));
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auto& p3 = emesh.V.row(trindex(2));
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Polygon p;
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p.points.resize(3);
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p.points[0] = Point::new_scale(p1(X), p1(Y));
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p.points[1] = Point::new_scale(p2(X), p2(Y));
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p.points[2] = Point::new_scale(p3(X), p3(Y));
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p.make_counter_clockwise();
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pp.emplace_back(p);
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}
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ExPolygons merged = union_ex(Slic3r::offset(pp, float(scale_(offs))), true);
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for(auto& expoly : merged) {
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auto lines = expoly.lines();
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for(Line& l : lines) {
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Vec2d a(l.a(X) * SCALING_FACTOR, l.a(Y) * SCALING_FACTOR);
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Vec2d b(l.b(X) * SCALING_FACTOR, l.b(Y) * SCALING_FACTOR);
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ret.emplace_back(std::make_pair(a, b));
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}
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}
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return ret;
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}
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//struct SegmentIndex {
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//};
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//using SegmentIndexEl = std::pair<Segment, unsigned>;
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//SegmentIndexEl
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}
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}
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