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Started work on extending EigenMesh3D to account for possible drain holes when raycasting
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6 changed files with 149 additions and 32 deletions
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@ -126,4 +126,100 @@ bool DrainHole::operator==(const DrainHole &sp) const
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is_approx(height, sp.height);
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}
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bool DrainHole::is_inside(const Vec3f& pt) const
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{
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Eigen::Hyperplane<float, 3> plane(normal, pos);
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float dist = plane.signedDistance(pt);
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if (dist < EPSILON || dist > height)
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return false;
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Eigen::ParametrizedLine<float, 3> axis(pos, normal);
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if ( axis.squaredDistance(pt) < pow(radius, 2.f))
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return true;
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return false;
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}
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// Given a line s+dir*t, return parameter t of intersections with the hole.
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// If there is no intersection, returns nan.
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std::pair<float, float> DrainHole::get_intersections(const Vec3f& s,
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const Vec3f& dir) const
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{
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assert(is_approx(normal.norm(), 1.f));
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const Eigen::ParametrizedLine<float, 3> ray(s, dir.normalized());
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std::pair<float, float> out(std::nan(""), std::nan(""));
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const float sqr_radius = pow(radius, 2.f);
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// first check a bounding sphere of the hole:
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Vec3f center = pos+normal*height/2.f;
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float sqr_dist_limit = pow(height/2.f, 2.f) + sqr_radius ;
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if (ray.squaredDistance(center) > sqr_dist_limit)
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return out;
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// The line intersects the bounding sphere, look for intersections with
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// bases of the cylinder.
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size_t found = 0; // counts how many intersections were found
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Eigen::Hyperplane<float, 3> base;
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if (! is_approx(ray.direction().dot(normal), 0.f)) {
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for (size_t i=1; i<=1; --i) {
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Vec3f cylinder_center = pos+i*height*normal;
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base = Eigen::Hyperplane<float, 3>(normal, cylinder_center);
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Vec3f intersection = ray.intersectionPoint(base);
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// Only accept the point if it is inside the cylinder base.
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if ((cylinder_center-intersection).squaredNorm() < sqr_radius) {
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(found ? out.second : out.first) = ray.intersectionParameter(base);
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++found;
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}
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}
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}
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else
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{
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// In case the line was perpendicular to the cylinder axis, previous
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// block was skipped, but base will later be assumed to be valid.
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base = Eigen::Hyperplane<float, 3>(normal, pos);
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}
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// In case there is still an intersection to be found, check the wall
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if (found != 2 && ! is_approx(std::abs(ray.direction().dot(normal)), 1.f)) {
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// Project the ray onto the base plane
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Vec3f proj_origin = base.projection(ray.origin());
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Vec3f proj_dir = base.projection(ray.origin()+ray.direction())-proj_origin;
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// save how the parameter scales and normalize the projected direction
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float par_scale = proj_dir.norm();
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proj_dir = proj_dir/par_scale;
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Eigen::ParametrizedLine<float, 3> projected_ray(proj_origin, proj_dir);
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// Calculate point on the secant that's closest to the center
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// and its distance to the circle along the projected line
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Vec3f closest = projected_ray.projection(pos);
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float dist = sqrt((sqr_radius - (closest-pos).squaredNorm()));
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// Unproject both intersections on the original line and check
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// they are on the cylinder and not past it:
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for (int i=-1; i<=1 && found !=2; i+=2) {
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Vec3f isect = closest + i*dist * projected_ray.direction();
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float par = (isect-proj_origin).norm() / par_scale;
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isect = ray.pointAt(par);
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// check that the intersection is between the base planes:
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float vert_dist = base.signedDistance(isect);
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if (vert_dist > 0.f && vert_dist < height) {
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(found ? out.second : out.first) = par;
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++found;
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}
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}
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}
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// If only one intersection was found, it is some corner case,
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// no intersection will be returned:
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if (found != 0)
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return std::pair<float, float>(std::nan(""), std::nan(""));
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// Sort the intersections:
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if (out.first > out.second)
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std::swap(out.first, out.second);
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return out;
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}
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}} // namespace Slic3r::sla
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