Merge branch 'master' into lm_sla_supports_auto2

src/libslic3r/SLA/SLACommon.hpp

@@ -6,9 +6,11 @@
 
 namespace Slic3r {
     
-// Typedef from Point.hpp
+// Typedefs from Point.hpp
 typedef Eigen::Matrix<float, 3, 1, Eigen::DontAlign> Vec3f;
+typedef Eigen::Matrix<double, 3, 1, Eigen::DontAlign> Vec3d;
 
+class TriangleMesh;
 namespace sla {
     
 struct SupportPoint {
@@ -34,13 +36,95 @@ struct SupportPoint {
 
 /// An index-triangle structure for libIGL functions. Also serves as an
 /// alternative (raw) input format for the SLASupportTree
-struct EigenMesh3D {
+/*struct EigenMesh3D {
     Eigen::MatrixXd V;
     Eigen::MatrixXi F;
     double ground_level = 0;
+};*/
+
+/// An index-triangle structure for libIGL functions. Also serves as an
+/// alternative (raw) input format for the SLASupportTree
+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(const TriangleMesh&);
+    EigenMesh3D(const EigenMesh3D& other);
+    EigenMesh3D& operator=(const EigenMesh3D&);
+
+    ~EigenMesh3D();
+
+    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; }
+
+    // Result of a raycast
+    class hit_result {
+        double m_t = std::numeric_limits<double>::infinity();
+        int m_face_id = -1;
+        const EigenMesh3D& m_mesh;
+        Vec3d m_dir;
+        inline hit_result(const EigenMesh3D& em): m_mesh(em) {}
+        friend class EigenMesh3D;
+    public:
+
+        inline double distance() const { return m_t; }
+
+        inline int face() const { return m_face_id; }
+
+        inline Vec3d normal() const {
+            if(m_face_id < 0) return {};
+            auto trindex    = m_mesh.m_F.row(m_face_id);
+            const Vec3d& p1 = m_mesh.V().row(trindex(0));
+            const Vec3d& p2 = m_mesh.V().row(trindex(1));
+            const Vec3d& p3 = m_mesh.V().row(trindex(2));
+            Eigen::Vector3d U = p2 - p1;
+            Eigen::Vector3d V = p3 - p1;
+            return U.cross(V).normalized();
+        }
+
+        inline bool is_inside() {
+            return m_face_id >= 0 && normal().dot(m_dir) > 0;
+        }
+    };
+
+    // Casting a ray on the mesh, returns the distance where the hit occures.
+    hit_result query_ray_hit(const Vec3d &s, const Vec3d &dir) const;
+
+    class si_result {
+        double m_value;
+        int m_fidx;
+        Vec3d m_p;
+        si_result(double val, int i, const Vec3d& c):
+            m_value(val), m_fidx(i), m_p(c) {}
+        friend class EigenMesh3D;
+    public:
+
+        si_result() = delete;
+
+        double value() const { return m_value; }
+        operator double() const { return m_value; }
+        const Vec3d& point_on_mesh() const { return m_p; }
+        int F_idx() const { return m_fidx; }
+    };
+
+    // The signed distance from a point to the mesh. Outputs the distance,
+    // the index of the triangle and the closest point in mesh coordinate space.
+    si_result signed_distance(const Vec3d& p) const;
+
+    bool inside(const Vec3d& p) const;
 };
 
 
+
+
 } // namespace sla
 } // namespace Slic3r