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Better implementation of the external motion planner

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This commit is contained in:
Alessandro Ranellucci 2012-08-23 21:10:04 +02:00
parent 27090f83bd
commit c98e9515ed
4 changed files with 46 additions and 28 deletions
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27
lib/Slic3r/Print.pm
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@ -614,7 +614,6 @@ sub write_gcode {
);
# initialize a motion planner for object-to-object travel moves
my $external_motionplanner;
if ($Slic3r::Config->avoid_crossing_perimeters) {
my $distance_from_objects = 1;
# compute the offsetted convex hull for each object and repeat it for each copy.
@ -622,15 +621,15 @@ sub write_gcode {
foreach my $obj_idx (0 .. $#{$self->objects}) {
my @island = Slic3r::ExPolygon->new(convex_hull([
map @{$_->expolygon->contour}, map @{$_->slices}, @{$self->objects->[$obj_idx]->layers},
]))->translate(map -$_, @shift)->offset_ex(scale $distance_from_objects);
]))->translate(scale $shift[X], scale $shift[Y])->offset_ex(scale $distance_from_objects, 1, JT_SQUARE);
foreach my $copy (@{$self->copies->[$obj_idx]}) {
push @islands, map $_->clone->translate(@$copy), @island;
}
}
$external_motionplanner = Slic3r::GCode::MotionPlanner->new(
$gcodegen->external_mp(Slic3r::GCode::MotionPlanner->new(
islands => union_ex([ map @$_, @islands ]),
no_internal => 1,
);
));
}
# prepare the logic to print one layer
@ -663,6 +662,7 @@ sub write_gcode {
$gcode .= $gcodegen->extrude_loop($_, 'skirt') for @{$self->skirt};
}
$skirt_done++;
$gcodegen->straight_once(1);
}
# extrude brim
@ -670,27 +670,18 @@ sub write_gcode {
$gcodegen->set_shift(@shift);
$gcode .= $gcodegen->extrude_loop($_, 'brim') for @{$self->brim};
$brim_done = 1;
$gcodegen->straight_once(1);
}
for my $obj_copy (@$object_copies) {
my ($obj_idx, $copy) = @$obj_copy;
$gcodegen->new_object(1) if $last_obj_copy && $last_obj_copy ne "${obj_idx}_${copy}";
my $layer = $self->objects->[$obj_idx]->layers->[$layer_id];
# retract explicitely because changing the shift_[xy] properties below
# won't always trigger the automatic retraction
$gcode .= $gcodegen->retract;
# travel to the first perimeter point using the external motion planner
if ($external_motionplanner && @{ $layer->perimeters } && !$gcodegen->straight_once && $last_obj_copy ne "${obj_idx}_${copy}") {
$gcodegen->set_shift(@shift);
my $layer_mp = $gcodegen->motionplanner;
$gcodegen->motionplanner($external_motionplanner);
my $first_perimeter = $layer->perimeters->[0]->unpack;
my $target = $first_perimeter->polygon->[0]->clone->translate(@$copy);
$gcode .= $gcodegen->travel_to($target, "move to first perimeter point");
$gcodegen->motionplanner($layer_mp);
}
$gcodegen->set_shift(
$shift[X] + unscale $copy->[X],
$shift[Y] + unscale $copy->[Y],
@ -773,8 +764,10 @@ sub write_gcode {
# this happens before Z goes down to layer 0 again, so that
# no collision happens hopefully.
if ($finished_objects > 0) {
$gcodegen->shift_x($shift[X] + unscale $copy->[X]);
$gcodegen->shift_y($shift[Y] + unscale $copy->[Y]);
$gcodegen->set_shift(
$shift[X] + unscale $copy->[X],
$shift[Y] + unscale $copy->[Y],
);
print $fh $gcodegen->retract;
print $fh $gcodegen->G0(Slic3r::Point->new(0,0), undef, 0, 'move to origin position for next object');
}