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Fixed a bug in validation of the FDM Print to check for extruder

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collisions against already printed objects: Rotation of an object
was not being taken into account.
Fixes #2450 PrusaSlicer 2.0 Sequential printing vs rotate object
Fixes #3585 Always Sequential Printing Error (Regardless of setting, placement or object size)

Fixed some collisions in sequential print just after arrangement by
making the validation using a slightly lower extruder radius value
than the arrangement.

Refactored PrintObject coordinate system so that the PrintObject's
coordinate system is always centered in respect to its ModelObject's
geometries. This refactoring may improve path planning a bit and
it may lower the requirements on bits representing Clipper coordinates
by 1 bit.
This commit is contained in:
bubnikv 2020-02-07 14:10:18 +01:00
parent e66632a595
commit b8c898bf40
8 changed files with 135 additions and 116 deletions
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118
src/libslic3r/Print.cpp
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@ -462,7 +462,7 @@ static std::vector<PrintObjectTrafoAndInstances> print_objects_from_model_object
if (model_instance->is_printable()) {
trafo.trafo = model_instance->get_matrix();
auto shift = Point::new_scale(trafo.trafo.data()[12], trafo.trafo.data()[13]);
// Set the Z axis of the transformation.
// Reset the XY axes of the transformation.
trafo.trafo.data()[12] = 0;
trafo.trafo.data()[13] = 0;
// Search or insert a trafo.
@ -930,8 +930,7 @@ Print::ApplyStatus Print::apply(const Model &model, DynamicPrintConfig new_full_
if (old.empty()) {
// Simple case, just generate new instances.
for (PrintObjectTrafoAndInstances &print_instances : new_print_instances) {
PrintObject *print_object = new PrintObject(this, model_object, false);
print_object->set_trafo_and_instances(print_instances.trafo, std::move(print_instances.instances));
PrintObject *print_object = new PrintObject(this, model_object, print_instances.trafo, std::move(print_instances.instances));
print_object->config_apply(config);
print_objects_new.emplace_back(print_object);
// print_object_status.emplace(PrintObjectStatus(print_object, PrintObjectStatus::New));
@ -948,8 +947,7 @@ Print::ApplyStatus Print::apply(const Model &model, DynamicPrintConfig new_full_
for (; it_old != old.end() && transform3d_lower((*it_old)->trafo, new_instances.trafo); ++ it_old);
if (it_old == old.end() || ! transform3d_equal((*it_old)->trafo, new_instances.trafo)) {
// This is a new instance (or a set of instances with the same trafo). Just add it.
PrintObject *print_object = new PrintObject(this, model_object, false);
print_object->set_trafo_and_instances(new_instances.trafo, std::move(new_instances.instances));
PrintObject *print_object = new PrintObject(this, model_object, new_instances.trafo, std::move(new_instances.instances));
print_object->config_apply(config);
print_objects_new.emplace_back(print_object);
// print_object_status.emplace(PrintObjectStatus(print_object, PrintObjectStatus::New));
@ -1151,6 +1149,62 @@ bool Print::has_skirt() const
|| this->has_infinite_skirt();
}
static inline bool sequential_print_horizontal_clearance_valid(const Print &print)
{
Polygons convex_hulls_other;
std::map<ObjectID, Polygon> map_model_object_to_convex_hull;
for (const PrintObject *print_object : print.objects()) {
assert(! print_object->model_object()->instances.empty());
assert(! print_object->instances().empty());
ObjectID model_object_id = print_object->model_object()->id();
auto it_convex_hull = map_model_object_to_convex_hull.find(model_object_id);
// Get convex hull of all printable volumes assigned to this print object.
ModelInstance *model_instance0 = print_object->model_object()->instances.front();
if (it_convex_hull == map_model_object_to_convex_hull.end()) {
// Calculate the convex hull of a printable object.
// Grow convex hull with the clearance margin.
// FIXME: Arrangement has different parameters for offsetting (jtMiter, limit 2)
// which causes that the warning will be showed after arrangement with the
// appropriate object distance. Even if I set this to jtMiter the warning still shows up.
it_convex_hull = map_model_object_to_convex_hull.emplace_hint(it_convex_hull, model_object_id,
offset(print_object->model_object()->convex_hull_2d(
Geometry::assemble_transform(Vec3d::Zero(), model_instance0->get_rotation(), model_instance0->get_scaling_factor(), model_instance0->get_mirror())),
// Shrink the extruder_clearance_radius a tiny bit, so that if the object arrangement algorithm placed the objects
// exactly by satisfying the extruder_clearance_radius, this test will not trigger collision.
float(scale_(0.5 * print.config().extruder_clearance_radius.value - EPSILON)),
jtRound, float(scale_(0.1))).front());
}
// Make a copy, so it may be rotated for instances.
Polygon convex_hull0 = it_convex_hull->second;
double z_diff = Geometry::rotation_diff_z(model_instance0->get_rotation(), print_object->instances().front().model_instance->get_rotation());
if (std::abs(z_diff) > EPSILON)
convex_hull0.rotate(z_diff);
// Now we check that no instance of convex_hull intersects any of the previously checked object instances.
for (const PrintInstance &instance : print_object->instances()) {
Polygon convex_hull = convex_hull0;
// instance.shift is a position of a centered object, while model object may not be centered.
// Conver the shift from the PrintObject's coordinates into ModelObject's coordinates by removing the centering offset.
convex_hull.translate(instance.shift - print_object->center_offset());
if (! intersection(convex_hulls_other, convex_hull).empty())
return false;
polygons_append(convex_hulls_other, convex_hull);
}
}
return true;
}
static inline bool sequential_print_vertical_clearance_valid(const Print &print)
{
std::vector<const PrintInstance*> print_instances_ordered = sort_object_instances_by_model_order(print);
// Ignore the last instance printed.
print_instances_ordered.pop_back();
// Find the other highest instance.
auto it = std::max_element(print_instances_ordered.begin(), print_instances_ordered.end(), [](auto l, auto r) {
return l->print_object->height() < r->print_object->height();
});
return it == print_instances_ordered.end() || (*it)->print_object->height() < scale_(print.config().extruder_clearance_height.value);
}
// Precondition: Print::validate() requires the Print::apply() to be called its invocation.
std::string Print::validate() const
{
@ -1161,48 +1215,11 @@ std::string Print::validate() const
return L("The supplied settings will cause an empty print.");
if (m_config.complete_objects) {
// Check horizontal clearance.
{
Polygons convex_hulls_other;
for (const PrintObject *print_object : m_objects) {
assert(! print_object->model_object()->instances.empty());
assert(! print_object->instances().empty());
// Get convex hull of all meshes assigned to this print object.
ModelInstance *model_instance0 = print_object->model_object()->instances.front();
Vec3d rotation = model_instance0->get_rotation();
rotation.z() = 0.;
// Calculate the convex hull of a printable object centered around X=0,Y=0.
// Grow convex hull with the clearance margin.
// FIXME: Arrangement has different parameters for offsetting (jtMiter, limit 2)
// which causes that the warning will be showed after arrangement with the
// appropriate object distance. Even if I set this to jtMiter the warning still shows up.
Polygon convex_hull0 = offset(
print_object->model_object()->convex_hull_2d(
Geometry::assemble_transform(Vec3d::Zero(), rotation, model_instance0->get_scaling_factor(), model_instance0->get_mirror())),
float(scale_(0.5 * m_config.extruder_clearance_radius.value)), jtRound, float(scale_(0.1))).front();
// Now we check that no instance of convex_hull intersects any of the previously checked object instances.
for (const PrintInstance &instance : print_object->instances()) {
Polygon convex_hull = convex_hull0;
convex_hull.translate(instance.shift);
if (! intersection(convex_hulls_other, convex_hull).empty())
return L("Some objects are too close; your extruder will collide with them.");
polygons_append(convex_hulls_other, convex_hull);
}
}
}
// Check vertical clearance.
{
std::vector<coord_t> object_height;
for (const PrintObject *object : m_objects)
object_height.insert(object_height.end(), object->instances().size(), object->size()(2));
std::sort(object_height.begin(), object_height.end());
// Ignore the tallest *copy* (this is why we repeat height for all of them):
// it will be printed as last one so its height doesn't matter.
object_height.pop_back();
if (! object_height.empty() && object_height.back() > scale_(m_config.extruder_clearance_height.value))
return L("Some objects are too tall and cannot be printed without extruder collisions.");
}
} // end if (m_config.complete_objects)
if (! sequential_print_horizontal_clearance_valid(*this))
return L("Some objects are too close; your extruder will collide with them.");
if (! sequential_print_vertical_clearance_valid(*this))
return L("Some objects are too tall and cannot be printed without extruder collisions.");
}
if (m_config.spiral_vase) {
size_t total_copies_count = 0;
@ -1418,6 +1435,7 @@ std::string Print::validate() const
return std::string();
}
#if 0
// the bounding box of objects placed in copies position
// (without taking skirt/brim/support material into account)
BoundingBox Print::bounding_box() const
@ -1425,8 +1443,9 @@ BoundingBox Print::bounding_box() const
BoundingBox bb;
for (const PrintObject *object : m_objects)
for (const PrintInstance &instance : object->instances()) {
bb.merge(instance.shift);
bb.merge(instance.shift + to_2d(object->size()));
BoundingBox bb2(object->bounding_box());
bb.merge(bb2.min + instance.shift);
bb.merge(bb2.max + instance.shift);
}
return bb;
}
@ -1471,6 +1490,7 @@ BoundingBox Print::total_bounding_box() const
return bb;
}
#endif
double Print::skirt_first_layer_height() const
{