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Merged some of the late changes on slicing robustness

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from the 1.41.2 (stable) to the current 1.42.0-alpha3
This should fix a number of errors reported (#1562, #1592, #1614, #1633)
This commit is contained in:
bubnikv 2019-01-14 11:06:52 +01:00
parent 8696c70af4
commit cf8e4fd7b0
2 changed files with 67 additions and 160 deletions
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222
src/libslic3r/TriangleMesh.cpp
View file

@ -19,6 +19,7 @@
#include <tbb/parallel_for.h>
#include <Eigen/Core>
#include <Eigen/Dense>
// for SLIC3R_DEBUG_SLICE_PROCESSING
@ -141,11 +142,15 @@ void TriangleMesh::repair()
}
// fill_holes
#if 0
// Don't fill holes, the current algorithm does more harm than good on complex holes.
// Rather let the slicing algorithm close gaps in 2D slices.
if (stl.stats.connected_facets_3_edge < stl.stats.number_of_facets) {
BOOST_LOG_TRIVIAL(trace) << "\tstl_fill_holes";
stl_fill_holes(&stl);
stl_clear_error(&stl);
}
#endif
// normal_directions
BOOST_LOG_TRIVIAL(trace) << "\tstl_fix_normal_directions";
@ -293,6 +298,7 @@ void TriangleMesh::mirror(const Axis &axis)
void TriangleMesh::transform(const Transform3d& t)
{
stl_transform(&stl, t);
stl_invalidate_shared_vertices(&stl);
}
void TriangleMesh::align_to_origin()
@ -399,7 +405,7 @@ TriangleMeshPtrs TriangleMesh::split() const
// get the first facet
std::queue<int> facet_queue;
std::deque<int> facets;
for (int facet_idx = 0; facet_idx < this->stl.stats.number_of_facets; facet_idx++) {
for (int facet_idx = 0; facet_idx < this->stl.stats.number_of_facets; ++ facet_idx) {
if (! facet_visited[facet_idx]) {
// if facet was not seen put it into queue and start searching
facet_queue.push(facet_idx);
@ -451,9 +457,8 @@ void TriangleMesh::merge(const TriangleMesh &mesh)
stl_reallocate(&this->stl);
// copy facets
for (int i = 0; i < mesh.stl.stats.number_of_facets; i++) {
for (int i = 0; i < mesh.stl.stats.number_of_facets; ++ i)
this->stl.facet_start[number_of_facets + i] = mesh.stl.facet_start[i];
}
// update size
stl_get_size(&this->stl);
@ -465,7 +470,7 @@ ExPolygons TriangleMesh::horizontal_projection() const
{
Polygons pp;
pp.reserve(this->stl.stats.number_of_facets);
for (int i = 0; i < this->stl.stats.number_of_facets; i++) {
for (int i = 0; i < this->stl.stats.number_of_facets; ++ i) {
stl_facet* facet = &this->stl.facet_start[i];
Polygon p;
p.points.resize(3);
@ -480,11 +485,7 @@ ExPolygons TriangleMesh::horizontal_projection() const
return union_ex(offset(pp, scale_(0.01)), true);
}
const float* TriangleMesh::first_vertex() const
{
return this->stl.facet_start ? &this->stl.facet_start->vertex[0](0) : nullptr;
}
// 2D convex hull of a 3D mesh projected into the Z=0 plane.
Polygon TriangleMesh::convex_hull()
{
this->require_shared_vertices();
@ -510,7 +511,7 @@ BoundingBoxf3 TriangleMesh::transformed_bounding_box(const Transform3d& t) const
{
bool has_shared = (stl.v_shared != nullptr);
if (!has_shared)
stl_generate_shared_vertices(&stl);
stl_generate_shared_vertices(const_cast<stl_file*>(&stl));
unsigned int vertices_count = (stl.stats.shared_vertices > 0) ? (unsigned int)stl.stats.shared_vertices : 3 * (unsigned int)stl.stats.number_of_facets;
@ -549,7 +550,7 @@ BoundingBoxf3 TriangleMesh::transformed_bounding_box(const Transform3d& t) const
}
if (!has_shared && (stl.stats.shared_vertices > 0))
stl_invalidate_shared_vertices(&stl);
stl_invalidate_shared_vertices(const_cast<stl_file*>(&stl));
Eigen::MatrixXd dst_vertices(3, vertices_count);
dst_vertices = t * src_vertices.colwise().homogeneous();
@ -850,49 +851,27 @@ void TriangleMeshSlicer::_slice_do(size_t facet_idx, std::vector<IntersectionLin
#ifdef SLIC3R_TRIANGLEMESH_DEBUG
printf("\n==> FACET %d (%f,%f,%f - %f,%f,%f - %f,%f,%f):\n", facet_idx,
facet.vertex[0].x, facet.vertex[0].y, facet.vertex[0](2),
facet.vertex[1].x, facet.vertex[1].y, facet.vertex[1](2),
facet.vertex[2].x, facet.vertex[2].y, facet.vertex[2](2));
facet.vertex[0](0), facet.vertex[0](1), facet.vertex[0](2),
facet.vertex[1](0), facet.vertex[1](1), facet.vertex[1](2),
facet.vertex[2](0), facet.vertex[2](1), facet.vertex[2](2));
printf("z: min = %.2f, max = %.2f\n", min_z, max_z);
#endif /* SLIC3R_TRIANGLEMESH_DEBUG */
// find layer extents
std::vector<float>::const_iterator min_layer, max_layer;
min_layer = std::lower_bound(z.begin(), z.end(), min_z); // first layer whose slice_z is >= min_z
max_layer = std::upper_bound(z.begin() + (min_layer - z.begin()), z.end(), max_z); // first layer, whose slice_z is > max_z
max_layer = std::upper_bound(z.begin() + (min_layer - z.begin()), z.end(), max_z) - 1; // last layer whose slice_z is <= max_z
#ifdef SLIC3R_TRIANGLEMESH_DEBUG
printf("layers: min = %d, max = %d\n", (int)(min_layer - z.begin()), (int)(max_layer - z.begin()) - 1);
printf("layers: min = %d, max = %d\n", (int)(min_layer - z.begin()), (int)(max_layer - z.begin()));
#endif /* SLIC3R_TRIANGLEMESH_DEBUG */
for (std::vector<float>::const_iterator it = min_layer; it != max_layer; ++it) {
for (std::vector<float>::const_iterator it = min_layer; it != max_layer + 1; ++ it) {
std::vector<float>::size_type layer_idx = it - z.begin();
IntersectionLine il;
if (this->slice_facet(*it / SCALING_FACTOR, facet, facet_idx, min_z, max_z, &il) == TriangleMeshSlicer::Slicing) {
boost::lock_guard<boost::mutex> l(*lines_mutex);
if (il.edge_type == feHorizontal) {
// Insert all marked edges of the face. The marked edges do not share an edge with another horizontal face
// (they may not have a nighbor, or their neighbor is vertical)
const int *vertices = this->mesh->stl.v_indices[facet_idx].vertex;
const bool reverse = this->mesh->stl.facet_start[facet_idx].normal(2) < 0;
for (int j = 0; j < 3; ++ j)
if (il.flags & ((IntersectionLine::EDGE0_NO_NEIGHBOR | IntersectionLine::EDGE0_FOLD) << j)) {
int a_id = vertices[j % 3];
int b_id = vertices[(j+1) % 3];
if (reverse)
std::swap(a_id, b_id);
const stl_vertex &a = this->v_scaled_shared[a_id];
const stl_vertex &b = this->v_scaled_shared[b_id];
il.a(0) = a(0);
il.a(1) = a(1);
il.b(0) = b(0);
il.b(1) = b(1);
il.a_id = a_id;
il.b_id = b_id;
assert(il.a != il.b);
// This edge will not be used as a seed for loop extraction if it was added due to a fold of two overlapping horizontal faces.
il.set_no_seed((IntersectionLine::EDGE0_FOLD << j) != 0);
(*lines)[layer_idx].emplace_back(il);
}
// Ignore horizontal triangles. Any valid horizontal triangle must have a vertical triangle connected, otherwise the part has zero volume.
} else
(*lines)[layer_idx].emplace_back(il);
}
@ -934,21 +913,20 @@ TriangleMeshSlicer::FacetSliceType TriangleMeshSlicer::slice_facet(
// This is needed to get all intersection lines in a consistent order
// (external on the right of the line)
const int *vertices = this->mesh->stl.v_indices[facet_idx].vertex;
int i = (facet.vertex[1](2) == min_z) ? 1 : ((facet.vertex[2](2) == min_z) ? 2 : 0);
for (int j = i; j - i < 3; ++j ) { // loop through facet edges
int edge_id = this->facets_edges[facet_idx * 3 + (j % 3)];
int a_id = vertices[j % 3];
int b_id = vertices[(j+1) % 3];
const stl_vertex &a = this->v_scaled_shared[a_id];
const stl_vertex &b = this->v_scaled_shared[b_id];
int i = (facet.vertex[1].z() == min_z) ? 1 : ((facet.vertex[2].z() == min_z) ? 2 : 0);
for (int j = i; j - i < 3; ++j) { // loop through facet edges
int edge_id = this->facets_edges[facet_idx * 3 + (j % 3)];
int a_id = vertices[j % 3];
int b_id = vertices[(j+1) % 3];
const stl_vertex *a = &this->v_scaled_shared[a_id];
const stl_vertex *b = &this->v_scaled_shared[b_id];
// Is edge or face aligned with the cutting plane?
if (a(2) == slice_z && b(2) == slice_z) {
if (a->z() == slice_z && b->z() == slice_z) {
// Edge is horizontal and belongs to the current layer.
const stl_vertex &v0 = this->v_scaled_shared[vertices[0]];
const stl_vertex &v1 = this->v_scaled_shared[vertices[1]];
const stl_vertex &v2 = this->v_scaled_shared[vertices[2]];
bool swap = false;
const stl_normal &normal = this->mesh->stl.facet_start[facet_idx].normal;
// We may ignore this edge for slicing purposes, but we may still use it for object cutting.
FacetSliceType result = Slicing;
@ -956,157 +934,85 @@ TriangleMeshSlicer::FacetSliceType TriangleMeshSlicer::slice_facet(
if (min_z == max_z) {
// All three vertices are aligned with slice_z.
line_out->edge_type = feHorizontal;
// Mark neighbor edges, which do not have a neighbor.
uint32_t edges = 0;
for (int nbr_idx = 0; nbr_idx != 3; ++ nbr_idx) {
// If the neighbor with an edge starting with a vertex idx (nbr_idx - 2) shares no
// opposite face, add it to the edges to process when slicing.
if (nbr.neighbor[nbr_idx] == -1) {
// Mark this edge to be added to the slice.
edges |= (IntersectionLine::EDGE0_NO_NEIGHBOR << nbr_idx);
}
#if 1
else if (normal(2) > 0) {
// Produce edges for opposite faced overlapping horizontal faces aka folds.
// This method often produces connecting lines (noise) at the cutting plane.
// Produce the edges for the top facing face of the pair of top / bottom facing faces.
// Index of a neighbor face.
const int nbr_face = nbr.neighbor[nbr_idx];
const int *nbr_vertices = this->mesh->stl.v_indices[nbr_face].vertex;
int idx_vertex_opposite = nbr_vertices[nbr.which_vertex_not[nbr_idx]];
const stl_vertex &c2 = this->v_scaled_shared[idx_vertex_opposite];
if (c2(2) == slice_z) {
// Edge shared by facet_idx and nbr_face.
int a_id = vertices[nbr_idx];
int b_id = vertices[(nbr_idx + 1) % 3];
int c1_id = vertices[(nbr_idx + 2) % 3];
const stl_vertex &a = this->v_scaled_shared[a_id];
const stl_vertex &b = this->v_scaled_shared[b_id];
const stl_vertex &c1 = this->v_scaled_shared[c1_id];
// Verify that the two neighbor faces share a common edge.
assert(nbr_vertices[(nbr.which_vertex_not[nbr_idx] + 1) % 3] == b_id);
assert(nbr_vertices[(nbr.which_vertex_not[nbr_idx] + 2) % 3] == a_id);
double n1 = (double(c1(0)) - double(a(0))) * (double(b(1)) - double(a(1))) - (double(c1(1)) - double(a(1))) * (double(b(0)) - double(a(0)));
double n2 = (double(c2(0)) - double(a(0))) * (double(b(1)) - double(a(1))) - (double(c2(1)) - double(a(1))) * (double(b(0)) - double(a(0)));
if (n1 * n2 > 0)
// The two faces overlap. This indicates an invalid mesh geometry (non-manifold),
// but these are the real world objects, and leaving out these edges leads to missing contours.
edges |= (IntersectionLine::EDGE0_FOLD << nbr_idx);
}
}
#endif
}
// Use some edges of this triangle for slicing only if at least one of its edge does not have an opposite face.
result = (edges == 0) ? Cutting : Slicing;
line_out->flags |= edges;
if (normal(2) < 0) {
result = Cutting;
if (normal.z() < 0) {
// If normal points downwards this is a bottom horizontal facet so we reverse its point order.
swap = true;
std::swap(a, b);
std::swap(a_id, b_id);
}
} else {
// Two vertices are aligned with the cutting plane, the third vertex is below or above the cutting plane.
int nbr_idx = j % 3;
int nbr_face = nbr.neighbor[nbr_idx];
// Is the third vertex below the cutting plane?
bool third_below = v0(2) < slice_z || v1(2) < slice_z || v2(2) < slice_z;
// Is this a concave corner?
if (nbr_face == -1) {
#ifdef _DEBUG
printf("Face has no neighbor!\n");
#endif
} else {
assert(this->mesh->stl.v_indices[nbr_face].vertex[(nbr.which_vertex_not[nbr_idx] + 1) % 3] == b_id);
assert(this->mesh->stl.v_indices[nbr_face].vertex[(nbr.which_vertex_not[nbr_idx] + 2) % 3] == a_id);
int idx_vertex_opposite = this->mesh->stl.v_indices[nbr_face].vertex[nbr.which_vertex_not[nbr_idx]];
const stl_vertex &c = this->v_scaled_shared[idx_vertex_opposite];
if (c(2) == slice_z) {
double normal_nbr = (double(c(0)) - double(a(0))) * (double(b(1)) - double(a(1))) - (double(c(1)) - double(a(1))) * (double(b(0)) - double(a(0)));
#if 0
if ((normal_nbr < 0) == third_below) {
printf("Flipped normal?\n");
}
#endif
result =
// A vertical face shares edge with a horizontal face. Verify, whether the shared edge makes a convex or concave corner.
// Unfortunately too often there are flipped normals, which brake our assumption. Let's rather return every edge,
// and leth the code downstream hopefully handle it.
#if 1
// Ignore concave corners for slicing.
// This method has the unfortunate property, that folds in a horizontal plane create concave corners,
// leading to broken contours, if these concave corners are not replaced by edges of the folds, see above.
((normal_nbr < 0) == third_below) ? Cutting : Slicing;
#else
// Use concave corners for slicing. This leads to the test 01_trianglemesh.t "slicing a top tangent plane includes its area" failing,
// and rightly so.
Slicing;
#endif
} else {
// For a pair of faces touching exactly at the cutting plane, ignore one of them. An arbitrary rule is to ignore the face with a higher index.
result = (facet_idx < nbr_face) ? Slicing : Cutting;
}
}
bool third_below = v0.z() < slice_z || v1.z() < slice_z || v2.z() < slice_z;
// Two vertices on the cutting plane, the third vertex is below the plane. Consider the edge to be part of the slice
// only if it is the upper edge.
// (the bottom most edge resp. vertex of a triangle is not owned by the triangle, but the top most edge resp. vertex is part of the triangle
// in respect to the cutting plane).
result = third_below ? Slicing : Cutting;
if (third_below) {
line_out->edge_type = feTop;
swap = true;
std::swap(a, b);
std::swap(a_id, b_id);
} else
line_out->edge_type = feBottom;
}
line_out->a = to_2d(swap ? b : a).cast<coord_t>();
line_out->b = to_2d(swap ? a : b).cast<coord_t>();
line_out->a_id = swap ? b_id : a_id;
line_out->b_id = swap ? a_id : b_id;
line_out->a.x() = a->x();
line_out->a.y() = a->y();
line_out->b.x() = b->x();
line_out->b.y() = b->y();
line_out->a_id = a_id;
line_out->b_id = b_id;
assert(line_out->a != line_out->b);
return result;
}
if (a(2) == slice_z) {
if (a->z() == slice_z) {
// Only point a alings with the cutting plane.
if (point_on_layer == size_t(-1) || points[point_on_layer].point_id != a_id) {
point_on_layer = num_points;
IntersectionPoint &point = points[num_points ++];
point(0) = a(0);
point(1) = a(1);
point.point_id = a_id;
point.x() = a->x();
point.y() = a->y();
point.point_id = a_id;
}
} else if (b(2) == slice_z) {
} else if (b->z() == slice_z) {
// Only point b alings with the cutting plane.
if (point_on_layer == size_t(-1) || points[point_on_layer].point_id != b_id) {
point_on_layer = num_points;
IntersectionPoint &point = points[num_points ++];
point(0) = b(0);
point(1) = b(1);
point.point_id = b_id;
point.x() = b->x();
point.y() = b->y();
point.point_id = b_id;
}
} else if ((a(2) < slice_z && b(2) > slice_z) || (b(2) < slice_z && a(2) > slice_z)) {
} else if ((a->z() < slice_z && b->z() > slice_z) || (b->z() < slice_z && a->z() > slice_z)) {
// A general case. The face edge intersects the cutting plane. Calculate the intersection point.
assert(a_id != b_id);
// Sort the edge to give a consistent answer.
const stl_vertex *pa = &a;
const stl_vertex *pb = &b;
if (a_id > b_id) {
std::swap(a_id, b_id);
std::swap(pa, pb);
std::swap(a, b);
}
IntersectionPoint &point = points[num_points];
double t = (double(slice_z) - double((*pb)(2))) / (double((*pa)(2)) - double((*pb)(2)));
double t = (double(slice_z) - double(b->z())) / (double(a->z()) - double(b->z()));
if (t <= 0.) {
if (point_on_layer == size_t(-1) || points[point_on_layer].point_id != a_id) {
point(0) = (*pa)(0);
point(1) = (*pa)(1);
point.x() = a->x();
point.y() = a->y();
point_on_layer = num_points ++;
point.point_id = a_id;
}
} else if (t >= 1.) {
if (point_on_layer == size_t(-1) || points[point_on_layer].point_id != b_id) {
point(0) = (*pb)(0);
point(1) = (*pb)(1);
point.x() = b->x();
point.y() = b->y();
point_on_layer = num_points ++;
point.point_id = b_id;
}
} else {
point(0) = coord_t(floor(double((*pb)(0)) + (double((*pa)(0)) - double((*pb)(0))) * t + 0.5));
point(1) = coord_t(floor(double((*pb)(1)) + (double((*pa)(1)) - double((*pb)(1))) * t + 0.5));
point.x() = coord_t(floor(double(b->x()) + (double(a->x()) - double(b->x())) * t + 0.5));
point.y() = coord_t(floor(double(b->y()) + (double(a->y()) - double(b->y())) * t + 0.5));
point.edge_id = edge_id;
++ num_points;
}
@ -1140,7 +1046,7 @@ TriangleMeshSlicer::FacetSliceType TriangleMeshSlicer::slice_facet(
if (i == line_out->a_id || i == line_out->b_id)
i = vertices[2];
assert(i != line_out->a_id && i != line_out->b_id);
line_out->edge_type = (this->v_scaled_shared[i].z < slice_z) ? feTop : feBottom;
line_out->edge_type = (this->v_scaled_shared[i].z() < slice_z) ? feTop : feBottom;
}
#endif
return Slicing;
@ -1488,7 +1394,7 @@ static void chain_open_polylines_close_gaps(std::vector<OpenPolyline> &open_poly
std::pair<const OpenPolylineEnd*, double> next_start_and_dist = closest_end_point_lookup.find(end.point());
const OpenPolylineEnd *next_start = next_start_and_dist.first;
// Check whether we closed this loop.
double current_loop_closing_distance2 = (opl->points.back() - opl->points.front()).cast<double>().squaredNorm();
double current_loop_closing_distance2 = (opl->points.back() - opl->points.front()).cast<double>().squaredNorm();
bool loop_closed = current_loop_closing_distance2 < coordf_t(max_gap_scaled) * coordf_t(max_gap_scaled);
if (next_start != nullptr && loop_closed && current_loop_closing_distance2 < next_start_and_dist.second) {
// Heuristics to decide, whether to close the loop, or connect another polyline.

5
src/libslic3r/TriangleMesh.hpp
View file

@ -55,7 +55,8 @@ public:
TriangleMeshPtrs split() const;
void merge(const TriangleMesh &mesh);
ExPolygons horizontal_projection() const;
const float* first_vertex() const;
const float* first_vertex() const { return this->stl.facet_start ? &this->stl.facet_start->vertex[0](0) : nullptr; }
// 2D convex hull of a 3D mesh projected into the Z=0 plane.
Polygon convex_hull();
BoundingBoxf3 bounding_box() const;
// Returns the bbox of this TriangleMesh transformed by the given transformation
@ -74,7 +75,7 @@ public:
// Count disconnected triangle patches.
size_t number_of_patches() const;
mutable stl_file stl;
stl_file stl;
bool repaired;
private: