mirror of
https://github.com/SoftFever/OrcaSlicer.git
synced 2025-07-11 16:57:53 -06:00
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
|
|
@ -15,7 +15,7 @@ namespace Slic3r {
|
|||
|
||||
SLAAutoSupports::SLAAutoSupports(const TriangleMesh& mesh, const sla::EigenMesh3D& emesh, const std::vector<ExPolygons>& slices, const std::vector<float>& heights,
|
||||
const Config& config, std::function<void(void)> throw_on_cancel)
|
||||
: m_config(config), m_V(emesh.V), m_F(emesh.F), m_throw_on_cancel(throw_on_cancel)
|
||||
: m_config(config), m_V(emesh.V()), m_F(emesh.F()), m_throw_on_cancel(throw_on_cancel)
|
||||
{
|
||||
// FIXME: It might be safer to get rid of the rand() calls altogether, because it is probably
|
||||
// not always thread-safe and can be slow if it is.
|
||||
|
|
|
|||
|
|
@ -28,7 +28,7 @@ std::array<double, 3> find_best_rotation(const ModelObject& modelobj,
|
|||
|
||||
// We will use only one instance of this converted mesh to examine different
|
||||
// rotations
|
||||
EigenMesh3D emesh = to_eigenmesh(modelobj);
|
||||
EigenMesh3D emesh(modelobj.raw_mesh());
|
||||
|
||||
// For current iteration number
|
||||
unsigned status = 0;
|
||||
|
|
@ -68,12 +68,12 @@ std::array<double, 3> find_best_rotation(const ModelObject& modelobj,
|
|||
// area. The current function is only an example of how to optimize.
|
||||
|
||||
// Later we can add more criteria like the number of overhangs, etc...
|
||||
for(int i = 0; i < m.F.rows(); i++) {
|
||||
auto idx = m.F.row(i);
|
||||
for(int i = 0; i < m.F().rows(); i++) {
|
||||
auto idx = m.F().row(i);
|
||||
|
||||
Vec3d p1 = m.V.row(idx(0));
|
||||
Vec3d p2 = m.V.row(idx(1));
|
||||
Vec3d p3 = m.V.row(idx(2));
|
||||
Vec3d p1 = m.V().row(idx(0));
|
||||
Vec3d p2 = m.V().row(idx(1));
|
||||
Vec3d p3 = m.V().row(idx(2));
|
||||
|
||||
Eigen::Vector3d U = p2 - p1;
|
||||
Eigen::Vector3d V = p3 - p1;
|
||||
|
|
|
|||
|
|
@ -539,23 +539,6 @@ struct Pad {
|
|||
bool empty() const { return tmesh.facets_count() == 0; }
|
||||
};
|
||||
|
||||
EigenMesh3D to_eigenmesh(const Contour3D& cntr) {
|
||||
EigenMesh3D emesh;
|
||||
|
||||
auto& V = emesh.V;
|
||||
auto& F = emesh.F;
|
||||
|
||||
V.resize(Eigen::Index(cntr.points.size()), 3);
|
||||
F.resize(Eigen::Index(cntr.indices.size()), 3);
|
||||
|
||||
for (int i = 0; i < V.rows(); ++i) {
|
||||
V.row(i) = cntr.points[size_t(i)];
|
||||
F.row(i) = cntr.indices[size_t(i)];
|
||||
}
|
||||
|
||||
return emesh;
|
||||
}
|
||||
|
||||
// The minimum distance for two support points to remain valid.
|
||||
static const double /*constexpr*/ D_SP = 0.1;
|
||||
|
||||
|
|
@ -563,46 +546,6 @@ enum { // For indexing Eigen vectors as v(X), v(Y), v(Z) instead of numbers
|
|||
X, Y, Z
|
||||
};
|
||||
|
||||
EigenMesh3D to_eigenmesh(const TriangleMesh& tmesh) {
|
||||
|
||||
const stl_file& stl = tmesh.stl;
|
||||
|
||||
EigenMesh3D outmesh;
|
||||
|
||||
auto&& bb = tmesh.bounding_box();
|
||||
outmesh.ground_level += bb.min(Z);
|
||||
|
||||
auto& V = outmesh.V;
|
||||
auto& F = outmesh.F;
|
||||
|
||||
V.resize(3*stl.stats.number_of_facets, 3);
|
||||
F.resize(stl.stats.number_of_facets, 3);
|
||||
for (unsigned int i = 0; i < stl.stats.number_of_facets; ++i) {
|
||||
const stl_facet* facet = stl.facet_start+i;
|
||||
V(3*i+0, 0) = double(facet->vertex[0](0));
|
||||
V(3*i+0, 1) = double(facet->vertex[0](1));
|
||||
V(3*i+0, 2) = double(facet->vertex[0](2));
|
||||
|
||||
V(3*i+1, 0) = double(facet->vertex[1](0));
|
||||
V(3*i+1, 1) = double(facet->vertex[1](1));
|
||||
V(3*i+1, 2) = double(facet->vertex[1](2));
|
||||
|
||||
V(3*i+2, 0) = double(facet->vertex[2](0));
|
||||
V(3*i+2, 1) = double(facet->vertex[2](1));
|
||||
V(3*i+2, 2) = double(facet->vertex[2](2));
|
||||
|
||||
F(i, 0) = int(3*i+0);
|
||||
F(i, 1) = int(3*i+1);
|
||||
F(i, 2) = int(3*i+2);
|
||||
}
|
||||
|
||||
return outmesh;
|
||||
}
|
||||
|
||||
EigenMesh3D to_eigenmesh(const ModelObject& modelobj) {
|
||||
return to_eigenmesh(modelobj.raw_mesh());
|
||||
}
|
||||
|
||||
PointSet to_point_set(const std::vector<Vec3d> &v)
|
||||
{
|
||||
PointSet ret(v.size(), 3);
|
||||
|
|
@ -618,6 +561,21 @@ double ray_mesh_intersect(const Vec3d& s,
|
|||
const Vec3d& dir,
|
||||
const EigenMesh3D& m);
|
||||
|
||||
double pinhead_mesh_intersect(const Vec3d& jp,
|
||||
const Vec3d& dir,
|
||||
double r1,
|
||||
double r2,
|
||||
const EigenMesh3D& m);
|
||||
|
||||
// Wrapper only
|
||||
inline double pinhead_mesh_intersect(const Head& head, const EigenMesh3D& m) {
|
||||
return pinhead_mesh_intersect(head.junction_point(),
|
||||
head.dir,
|
||||
head.r_pin_mm,
|
||||
head.r_back_mm,
|
||||
m);
|
||||
}
|
||||
|
||||
PointSet normals(const PointSet& points, const EigenMesh3D& mesh,
|
||||
double eps = 0.05, // min distance from edges
|
||||
std::function<void()> throw_on_cancel = [](){});
|
||||
|
|
@ -1789,7 +1747,7 @@ SLASupportTree::SLASupportTree(const PointSet &points,
|
|||
const Controller &ctl):
|
||||
m_impl(new Impl(ctl))
|
||||
{
|
||||
m_impl->ground_level = emesh.ground_level - cfg.object_elevation_mm;
|
||||
m_impl->ground_level = emesh.ground_level() - cfg.object_elevation_mm;
|
||||
generate(points, emesh, cfg, ctl);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -104,18 +104,40 @@ struct Controller {
|
|||
|
||||
/// An index-triangle structure for libIGL functions. Also serves as an
|
||||
/// alternative (raw) input format for the SLASupportTree
|
||||
struct EigenMesh3D {
|
||||
Eigen::MatrixXd V;
|
||||
Eigen::MatrixXi F;
|
||||
double ground_level = 0;
|
||||
class EigenMesh3D {
|
||||
class AABBImpl;
|
||||
|
||||
Eigen::MatrixXd m_V;
|
||||
Eigen::MatrixXi m_F;
|
||||
double m_ground_level = 0;
|
||||
|
||||
std::unique_ptr<AABBImpl> m_aabb;
|
||||
public:
|
||||
|
||||
EigenMesh3D();
|
||||
EigenMesh3D(const TriangleMesh&);
|
||||
|
||||
~EigenMesh3D();
|
||||
|
||||
EigenMesh3D(const EigenMesh3D& other);
|
||||
// EigenMesh3D(EigenMesh3D&&) = default;
|
||||
EigenMesh3D& operator=(const EigenMesh3D&);
|
||||
// EigenMesh3D& operator=(EigenMesh3D&&) = default;
|
||||
|
||||
inline double ground_level() const { return m_ground_level; }
|
||||
|
||||
inline const Eigen::MatrixXd& V() const { return m_V; }
|
||||
inline const Eigen::MatrixXi& F() const { return m_F; }
|
||||
|
||||
double query_ray_hit(const Vec3d &s, const Vec3d &dir) const;
|
||||
};
|
||||
|
||||
using PointSet = Eigen::MatrixXd;
|
||||
|
||||
EigenMesh3D to_eigenmesh(const TriangleMesh& m);
|
||||
//EigenMesh3D to_eigenmesh(const TriangleMesh& m);
|
||||
|
||||
// needed for find best rotation
|
||||
EigenMesh3D to_eigenmesh(const ModelObject& model);
|
||||
//EigenMesh3D to_eigenmesh(const ModelObject& model);
|
||||
|
||||
// Simple conversion of 'vector of points' to an Eigen matrix
|
||||
PointSet to_point_set(const std::vector<Vec3d>&);
|
||||
|
|
|
|||
|
|
@ -19,6 +19,10 @@
|
|||
namespace Slic3r {
|
||||
namespace sla {
|
||||
|
||||
/* **************************************************************************
|
||||
* SpatIndex implementation
|
||||
* ************************************************************************** */
|
||||
|
||||
class SpatIndex::Impl {
|
||||
public:
|
||||
using BoostIndex = boost::geometry::index::rtree< SpatElement,
|
||||
|
|
@ -78,6 +82,73 @@ size_t SpatIndex::size() const
|
|||
return m_impl->m_store.size();
|
||||
}
|
||||
|
||||
/* ****************************************************************************
|
||||
* EigenMesh3D implementation
|
||||
* ****************************************************************************/
|
||||
|
||||
class EigenMesh3D::AABBImpl: public igl::AABB<Eigen::MatrixXd, 3> {};
|
||||
|
||||
EigenMesh3D::EigenMesh3D(): m_aabb(new AABBImpl()) {}
|
||||
|
||||
EigenMesh3D::EigenMesh3D(const TriangleMesh& tmesh): m_aabb(new AABBImpl()) {
|
||||
static const double dEPS = 1e-6;
|
||||
|
||||
const stl_file& stl = tmesh.stl;
|
||||
|
||||
auto&& bb = tmesh.bounding_box();
|
||||
m_ground_level += bb.min(Z);
|
||||
|
||||
Eigen::MatrixXd V;
|
||||
Eigen::MatrixXi F;
|
||||
|
||||
V.resize(3*stl.stats.number_of_facets, 3);
|
||||
F.resize(stl.stats.number_of_facets, 3);
|
||||
for (unsigned int i = 0; i < stl.stats.number_of_facets; ++i) {
|
||||
const stl_facet* facet = stl.facet_start+i;
|
||||
V(3*i+0, 0) = double(facet->vertex[0](0));
|
||||
V(3*i+0, 1) = double(facet->vertex[0](1));
|
||||
V(3*i+0, 2) = double(facet->vertex[0](2));
|
||||
|
||||
V(3*i+1, 0) = double(facet->vertex[1](0));
|
||||
V(3*i+1, 1) = double(facet->vertex[1](1));
|
||||
V(3*i+1, 2) = double(facet->vertex[1](2));
|
||||
|
||||
V(3*i+2, 0) = double(facet->vertex[2](0));
|
||||
V(3*i+2, 1) = double(facet->vertex[2](1));
|
||||
V(3*i+2, 2) = double(facet->vertex[2](2));
|
||||
|
||||
F(i, 0) = int(3*i+0);
|
||||
F(i, 1) = int(3*i+1);
|
||||
F(i, 2) = int(3*i+2);
|
||||
}
|
||||
|
||||
// We will convert this to a proper 3d mesh with no duplicate points.
|
||||
Eigen::VectorXi SVI, SVJ;
|
||||
igl::remove_duplicate_vertices(V, F, dEPS, m_V, SVI, SVJ, m_F);
|
||||
|
||||
// Build the AABB accelaration tree
|
||||
m_aabb->init(m_V, m_F);
|
||||
}
|
||||
|
||||
EigenMesh3D::~EigenMesh3D() {}
|
||||
|
||||
EigenMesh3D::EigenMesh3D(const EigenMesh3D &other):
|
||||
m_V(other.m_V), m_F(other.m_F), m_ground_level(other.m_ground_level),
|
||||
m_aabb( new AABBImpl(*other.m_aabb) ) {}
|
||||
|
||||
EigenMesh3D &EigenMesh3D::operator=(const EigenMesh3D &other)
|
||||
{
|
||||
m_V = other.m_V;
|
||||
m_F = other.m_F;
|
||||
m_ground_level = other.m_ground_level;
|
||||
m_aabb.reset(new AABBImpl(*other.m_aabb)); return *this;
|
||||
}
|
||||
|
||||
double EigenMesh3D::query_ray_hit(const Vec3d &s, const Vec3d &dir) const
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
bool point_on_edge(const Vec3d& p, const Vec3d& e1, const Vec3d& e2,
|
||||
double eps = 0.05)
|
||||
{
|
||||
|
|
@ -93,10 +164,10 @@ template<class Vec> double distance(const Vec& pp1, const Vec& pp2) {
|
|||
return std::sqrt(p.transpose() * p);
|
||||
}
|
||||
|
||||
PointSet normals(const PointSet& points, const EigenMesh3D& emesh,
|
||||
PointSet normals(const PointSet& points, const EigenMesh3D& mesh,
|
||||
double eps,
|
||||
std::function<void()> throw_on_cancel) {
|
||||
if(points.rows() == 0 || emesh.V.rows() == 0 || emesh.F.rows() == 0)
|
||||
if(points.rows() == 0 || mesh.V().rows() == 0 || mesh.F().rows() == 0)
|
||||
return {};
|
||||
|
||||
Eigen::VectorXd dists;
|
||||
|
|
@ -105,23 +176,24 @@ PointSet normals(const PointSet& points, const EigenMesh3D& emesh,
|
|||
|
||||
// We need to remove duplicate vertices and have a true index triangle
|
||||
// structure
|
||||
/*
|
||||
EigenMesh3D mesh;
|
||||
Eigen::VectorXi SVI, SVJ;
|
||||
static const double dEPS = 1e-6;
|
||||
igl::remove_duplicate_vertices(emesh.V, emesh.F, dEPS,
|
||||
mesh.V, SVI, SVJ, mesh.F);
|
||||
mesh.V, SVI, SVJ, mesh.F);*/
|
||||
|
||||
igl::point_mesh_squared_distance( points, mesh.V, mesh.F, dists, I, C);
|
||||
igl::point_mesh_squared_distance( points, mesh.V(), mesh.F(), dists, I, C);
|
||||
|
||||
PointSet ret(I.rows(), 3);
|
||||
for(int i = 0; i < I.rows(); i++) {
|
||||
throw_on_cancel();
|
||||
auto idx = I(i);
|
||||
auto trindex = mesh.F.row(idx);
|
||||
auto trindex = mesh.F().row(idx);
|
||||
|
||||
const Vec3d& p1 = mesh.V.row(trindex(0));
|
||||
const Vec3d& p2 = mesh.V.row(trindex(1));
|
||||
const Vec3d& p3 = mesh.V.row(trindex(2));
|
||||
const Vec3d& p1 = mesh.V().row(trindex(0));
|
||||
const Vec3d& p2 = mesh.V().row(trindex(1));
|
||||
const Vec3d& p3 = mesh.V().row(trindex(2));
|
||||
|
||||
// We should check if the point lies on an edge of the hosting triangle.
|
||||
// If it does than all the other triangles using the same two points
|
||||
|
|
@ -159,18 +231,18 @@ PointSet normals(const PointSet& points, const EigenMesh3D& emesh,
|
|||
// vector for the neigboring triangles including the detected one.
|
||||
std::vector<Vec3i> neigh;
|
||||
if(ic >= 0) { // The point is right on a vertex of the triangle
|
||||
for(int n = 0; n < mesh.F.rows(); ++n) {
|
||||
for(int n = 0; n < mesh.F().rows(); ++n) {
|
||||
throw_on_cancel();
|
||||
Vec3i ni = mesh.F.row(n);
|
||||
Vec3i ni = mesh.F().row(n);
|
||||
if((ni(X) == ic || ni(Y) == ic || ni(Z) == ic))
|
||||
neigh.emplace_back(ni);
|
||||
}
|
||||
}
|
||||
else if(ia >= 0 && ib >= 0) { // the point is on and edge
|
||||
// now get all the neigboring triangles
|
||||
for(int n = 0; n < mesh.F.rows(); ++n) {
|
||||
for(int n = 0; n < mesh.F().rows(); ++n) {
|
||||
throw_on_cancel();
|
||||
Vec3i ni = mesh.F.row(n);
|
||||
Vec3i ni = mesh.F().row(n);
|
||||
if((ni(X) == ia || ni(Y) == ia || ni(Z) == ia) &&
|
||||
(ni(X) == ib || ni(Y) == ib || ni(Z) == ib))
|
||||
neigh.emplace_back(ni);
|
||||
|
|
@ -180,9 +252,9 @@ PointSet normals(const PointSet& points, const EigenMesh3D& emesh,
|
|||
// Calculate the normals for the neighboring triangles
|
||||
std::vector<Vec3d> neighnorms; neighnorms.reserve(neigh.size());
|
||||
for(const Vec3i& tri : neigh) {
|
||||
const Vec3d& pt1 = mesh.V.row(tri(0));
|
||||
const Vec3d& pt2 = mesh.V.row(tri(1));
|
||||
const Vec3d& pt3 = mesh.V.row(tri(2));
|
||||
const Vec3d& pt1 = mesh.V().row(tri(0));
|
||||
const Vec3d& pt2 = mesh.V().row(tri(1));
|
||||
const Vec3d& pt3 = mesh.V().row(tri(2));
|
||||
Eigen::Vector3d U = pt2 - pt1;
|
||||
Eigen::Vector3d V = pt3 - pt1;
|
||||
neighnorms.emplace_back(U.cross(V).normalized());
|
||||
|
|
@ -228,10 +300,24 @@ double ray_mesh_intersect(const Vec3d& s,
|
|||
{
|
||||
igl::Hit hit;
|
||||
hit.t = std::numeric_limits<float>::infinity();
|
||||
igl::ray_mesh_intersect(s, dir, m.V, m.F, hit);
|
||||
|
||||
// Fck: this does not use any kind of spatial index acceleration...
|
||||
igl::ray_mesh_intersect(s, dir, m.V(), m.F(), hit);
|
||||
return double(hit.t);
|
||||
}
|
||||
|
||||
// An enhanced version of ray_mesh_intersect for the pinheads. This will shoot
|
||||
// multiple rays to detect collisions more accurately.
|
||||
double pinhead_mesh_intersect(const Vec3d& jp,
|
||||
const Vec3d& dir,
|
||||
double r1,
|
||||
double r2,
|
||||
const EigenMesh3D& m)
|
||||
{
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Clustering a set of points by the given criteria
|
||||
ClusteredPoints cluster(
|
||||
const sla::PointSet& points,
|
||||
|
|
@ -309,53 +395,5 @@ ClusteredPoints cluster(
|
|||
return result;
|
||||
}
|
||||
|
||||
using Segments = std::vector<std::pair<Vec2d, Vec2d>>;
|
||||
|
||||
Segments model_boundary(const EigenMesh3D& emesh, double offs)
|
||||
{
|
||||
Segments ret;
|
||||
Polygons pp;
|
||||
pp.reserve(size_t(emesh.F.rows()));
|
||||
|
||||
for (int i = 0; i < emesh.F.rows(); i++) {
|
||||
auto trindex = emesh.F.row(i);
|
||||
auto& p1 = emesh.V.row(trindex(0));
|
||||
auto& p2 = emesh.V.row(trindex(1));
|
||||
auto& p3 = emesh.V.row(trindex(2));
|
||||
|
||||
Polygon p;
|
||||
p.points.resize(3);
|
||||
p.points[0] = Point::new_scale(p1(X), p1(Y));
|
||||
p.points[1] = Point::new_scale(p2(X), p2(Y));
|
||||
p.points[2] = Point::new_scale(p3(X), p3(Y));
|
||||
p.make_counter_clockwise();
|
||||
pp.emplace_back(p);
|
||||
}
|
||||
|
||||
ExPolygons merged = union_ex(Slic3r::offset(pp, float(scale_(offs))), true);
|
||||
|
||||
for(auto& expoly : merged) {
|
||||
auto lines = expoly.lines();
|
||||
for(Line& l : lines) {
|
||||
Vec2d a(l.a(X) * SCALING_FACTOR, l.a(Y) * SCALING_FACTOR);
|
||||
Vec2d b(l.b(X) * SCALING_FACTOR, l.b(Y) * SCALING_FACTOR);
|
||||
ret.emplace_back(std::make_pair(a, b));
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
//struct SegmentIndex {
|
||||
|
||||
//};
|
||||
|
||||
//using SegmentIndexEl = std::pair<Segment, unsigned>;
|
||||
|
||||
//SegmentIndexEl
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -508,7 +508,7 @@ void SLAPrint::process()
|
|||
auto support_points = [this, ilh](SLAPrintObject& po) {
|
||||
const ModelObject& mo = *po.m_model_object;
|
||||
po.m_supportdata.reset(new SLAPrintObject::SupportData());
|
||||
po.m_supportdata->emesh = sla::to_eigenmesh(po.transformed_mesh());
|
||||
po.m_supportdata->emesh = EigenMesh3D(po.transformed_mesh());
|
||||
|
||||
BOOST_LOG_TRIVIAL(debug) << "Support point count "
|
||||
<< mo.sla_support_points.size();
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue