mirror of
https://github.com/SoftFever/OrcaSlicer.git
synced 2025-07-11 16:57:53 -06:00
Merge branch 'master' into lm_sla_supports_auto2
This commit is contained in:
Lukas Matena
commit
d154e75ad7
23 changed files with 810 additions and 473 deletions
|
|
@ -13,6 +13,7 @@
|
|||
#include <libslic3r/Model.hpp>
|
||||
|
||||
#include <boost/log/trivial.hpp>
|
||||
#include <tbb/parallel_for.h>
|
||||
|
||||
/**
|
||||
* Terminology:
|
||||
|
|
@ -510,7 +511,6 @@ struct CompactBridge {
|
|||
|
||||
// A wrapper struct around the base pool (pad)
|
||||
struct Pad {
|
||||
// Contour3D mesh;
|
||||
TriangleMesh tmesh;
|
||||
PoolConfig cfg;
|
||||
double zlevel = 0;
|
||||
|
|
@ -543,23 +543,6 @@ struct Pad {
|
|||
bool empty() const { return tmesh.facets_count() == 0; }
|
||||
};
|
||||
|
||||
EigenMesh3D to_eigenmesh(const Contour3D& cntr) {
|
||||
EigenMesh3D emesh;
|
||||
|
||||
auto& V = emesh.V;
|
||||
auto& F = emesh.F;
|
||||
|
||||
V.resize(Eigen::Index(cntr.points.size()), 3);
|
||||
F.resize(Eigen::Index(cntr.indices.size()), 3);
|
||||
|
||||
for (int i = 0; i < V.rows(); ++i) {
|
||||
V.row(i) = cntr.points[size_t(i)];
|
||||
F.row(i) = cntr.indices[size_t(i)];
|
||||
}
|
||||
|
||||
return emesh;
|
||||
}
|
||||
|
||||
// The minimum distance for two support points to remain valid.
|
||||
static const double /*constexpr*/ D_SP = 0.1;
|
||||
|
||||
|
|
@ -567,46 +550,6 @@ enum { // For indexing Eigen vectors as v(X), v(Y), v(Z) instead of numbers
|
|||
X, Y, Z
|
||||
};
|
||||
|
||||
EigenMesh3D to_eigenmesh(const TriangleMesh& tmesh) {
|
||||
|
||||
const stl_file& stl = tmesh.stl;
|
||||
|
||||
EigenMesh3D outmesh;
|
||||
|
||||
auto&& bb = tmesh.bounding_box();
|
||||
outmesh.ground_level += bb.min(Z);
|
||||
|
||||
auto& V = outmesh.V;
|
||||
auto& F = outmesh.F;
|
||||
|
||||
V.resize(3*stl.stats.number_of_facets, 3);
|
||||
F.resize(stl.stats.number_of_facets, 3);
|
||||
for (unsigned int i = 0; i < stl.stats.number_of_facets; ++i) {
|
||||
const stl_facet* facet = stl.facet_start+i;
|
||||
V(3*i+0, 0) = double(facet->vertex[0](0));
|
||||
V(3*i+0, 1) = double(facet->vertex[0](1));
|
||||
V(3*i+0, 2) = double(facet->vertex[0](2));
|
||||
|
||||
V(3*i+1, 0) = double(facet->vertex[1](0));
|
||||
V(3*i+1, 1) = double(facet->vertex[1](1));
|
||||
V(3*i+1, 2) = double(facet->vertex[1](2));
|
||||
|
||||
V(3*i+2, 0) = double(facet->vertex[2](0));
|
||||
V(3*i+2, 1) = double(facet->vertex[2](1));
|
||||
V(3*i+2, 2) = double(facet->vertex[2](2));
|
||||
|
||||
F(i, 0) = int(3*i+0);
|
||||
F(i, 1) = int(3*i+1);
|
||||
F(i, 2) = int(3*i+2);
|
||||
}
|
||||
|
||||
return outmesh;
|
||||
}
|
||||
|
||||
EigenMesh3D to_eigenmesh(const ModelObject& modelobj) {
|
||||
return to_eigenmesh(modelobj.raw_mesh());
|
||||
}
|
||||
|
||||
PointSet to_point_set(const std::vector<SupportPoint> &v)
|
||||
{
|
||||
PointSet ret(v.size(), 5);
|
||||
|
|
@ -626,9 +569,171 @@ Vec3d model_coord(const ModelInstance& object, const Vec3f& mesh_coord) {
|
|||
return object.transform_vector(mesh_coord.cast<double>());
|
||||
}
|
||||
|
||||
double ray_mesh_intersect(const Vec3d& s,
|
||||
const Vec3d& dir,
|
||||
const EigenMesh3D& m);
|
||||
inline double ray_mesh_intersect(const Vec3d& s,
|
||||
const Vec3d& dir,
|
||||
const EigenMesh3D& m)
|
||||
{
|
||||
return m.query_ray_hit(s, dir).distance();
|
||||
}
|
||||
|
||||
// This function will test if a future pinhead would not collide with the model
|
||||
// geometry. It does not take a 'Head' object because those are created after
|
||||
// this test.
|
||||
// Parameters:
|
||||
// s: The touching point on the model surface.
|
||||
// dir: This is the direction of the head from the pin to the back
|
||||
// r_pin, r_back: the radiuses of the pin and the back sphere
|
||||
// width: This is the full width from the pin center to the back center
|
||||
// m: The object mesh
|
||||
//
|
||||
// Optional:
|
||||
// samples: how many rays will be shot
|
||||
// safety distance: This will be added to the radiuses to have a safety distance
|
||||
// from the mesh.
|
||||
double pinhead_mesh_intersect(const Vec3d& s,
|
||||
const Vec3d& dir,
|
||||
double r_pin,
|
||||
double r_back,
|
||||
double width,
|
||||
const EigenMesh3D& m,
|
||||
unsigned samples = 8,
|
||||
double safety_distance = 0.001)
|
||||
{
|
||||
// method based on:
|
||||
// https://math.stackexchange.com/questions/73237/parametric-equation-of-a-circle-in-3d-space
|
||||
|
||||
|
||||
// We will shoot multiple rays from the head pinpoint in the direction of
|
||||
// the pinhead robe (side) surface. The result will be the smallest hit
|
||||
// distance.
|
||||
|
||||
// Move away slightly from the touching point to avoid raycasting on the
|
||||
// inner surface of the mesh.
|
||||
Vec3d v = dir; // Our direction (axis)
|
||||
Vec3d c = s + width * dir;
|
||||
const double& sd = safety_distance;
|
||||
|
||||
// Two vectors that will be perpendicular to each other and to the axis.
|
||||
// Values for a(X) and a(Y) are now arbitrary, a(Z) is just a placeholder.
|
||||
Vec3d a(0, 1, 0), b;
|
||||
|
||||
// The portions of the circle (the head-back circle) for which we will shoot
|
||||
// rays.
|
||||
std::vector<double> phis(samples);
|
||||
for(size_t i = 0; i < phis.size(); ++i) phis[i] = i*2*PI/phis.size();
|
||||
|
||||
a(Z) = -(v(X)*a(X) + v(Y)*a(Y)) / v(Z);
|
||||
|
||||
b = a.cross(v);
|
||||
|
||||
// Now a and b vectors are perpendicular to v and to each other. Together
|
||||
// they define the plane where we have to iterate with the given angles
|
||||
// in the 'phis' vector
|
||||
|
||||
tbb::parallel_for(size_t(0), phis.size(),
|
||||
[&phis, &m, sd, r_pin, r_back, s, a, b, c](size_t i)
|
||||
{
|
||||
double& phi = phis[i];
|
||||
double sinphi = std::sin(phi);
|
||||
double cosphi = std::cos(phi);
|
||||
|
||||
// Let's have a safety coefficient for the radiuses.
|
||||
double rpscos = (sd + r_pin) * cosphi;
|
||||
double rpssin = (sd + r_pin) * sinphi;
|
||||
double rpbcos = (sd + r_back) * cosphi;
|
||||
double rpbsin = (sd + r_back) * sinphi;
|
||||
|
||||
// Point on the circle on the pin sphere
|
||||
Vec3d ps(s(X) + rpscos * a(X) + rpssin * b(X),
|
||||
s(Y) + rpscos * a(Y) + rpssin * b(Y),
|
||||
s(Z) + rpscos * a(Z) + rpssin * b(Z));
|
||||
|
||||
// Point ps is not on mesh but can be inside or outside as well. This
|
||||
// would cause many problems with ray-casting. So we query the closest
|
||||
// point on the mesh to this.
|
||||
// auto psq = m.signed_distance(ps);
|
||||
|
||||
// This is the point on the circle on the back sphere
|
||||
Vec3d p(c(X) + rpbcos * a(X) + rpbsin * b(X),
|
||||
c(Y) + rpbcos * a(Y) + rpbsin * b(Y),
|
||||
c(Z) + rpbcos * a(Z) + rpbsin * b(Z));
|
||||
|
||||
// Vec3d n = (p - psq.point_on_mesh()).normalized();
|
||||
// phi = m.query_ray_hit(psq.point_on_mesh() + sd*n, n);
|
||||
|
||||
Vec3d n = (p - ps).normalized();
|
||||
auto hr = m.query_ray_hit(ps + sd*n, n);
|
||||
|
||||
if(hr.is_inside()) { // the hit is inside the model
|
||||
if(hr.distance() > 2*r_pin) phi = 0;
|
||||
else {
|
||||
// re-cast the ray from the outside of the object
|
||||
auto hr2 = m.query_ray_hit(ps + (hr.distance() + 2*sd)*n, n);
|
||||
phi = hr2.distance();
|
||||
}
|
||||
} else phi = hr.distance();
|
||||
});
|
||||
|
||||
auto mit = std::min_element(phis.begin(), phis.end());
|
||||
|
||||
return *mit;
|
||||
}
|
||||
|
||||
|
||||
// Checking bridge (pillar and stick as well) intersection with the model. If
|
||||
// the function is used for headless sticks, the ins_check parameter have to be
|
||||
// true as the beginning of the stick might be inside the model geometry.
|
||||
double bridge_mesh_intersect(const Vec3d& s,
|
||||
const Vec3d& dir,
|
||||
double r,
|
||||
const EigenMesh3D& m,
|
||||
bool ins_check = false,
|
||||
unsigned samples = 4,
|
||||
double safety_distance = 0.001)
|
||||
{
|
||||
// helper vector calculations
|
||||
Vec3d a(0, 1, 0), b;
|
||||
const double& sd = safety_distance;
|
||||
|
||||
a(Z) = -(dir(X)*a(X) + dir(Y)*a(Y)) / dir(Z);
|
||||
b = a.cross(dir);
|
||||
|
||||
// circle portions
|
||||
std::vector<double> phis(samples);
|
||||
for(size_t i = 0; i < phis.size(); ++i) phis[i] = i*2*PI/phis.size();
|
||||
|
||||
tbb::parallel_for(size_t(0), phis.size(),
|
||||
[&phis, &m, a, b, sd, dir, r, s, ins_check](size_t i)
|
||||
{
|
||||
double& phi = phis[i];
|
||||
double sinphi = std::sin(phi);
|
||||
double cosphi = std::cos(phi);
|
||||
|
||||
// Let's have a safety coefficient for the radiuses.
|
||||
double rcos = (sd + r) * cosphi;
|
||||
double rsin = (sd + r) * sinphi;
|
||||
|
||||
// Point on the circle on the pin sphere
|
||||
Vec3d p (s(X) + rcos * a(X) + rsin * b(X),
|
||||
s(Y) + rcos * a(Y) + rsin * b(Y),
|
||||
s(Z) + rcos * a(Z) + rsin * b(Z));
|
||||
|
||||
auto hr = m.query_ray_hit(p + sd*dir, dir);
|
||||
|
||||
if(ins_check && hr.is_inside()) {
|
||||
if(hr.distance() > 2*r) phi = 0;
|
||||
else {
|
||||
// re-cast the ray from the outside of the object
|
||||
auto hr2 = m.query_ray_hit(p + (hr.distance() + 2*sd)*dir, dir);
|
||||
phi = hr2.distance();
|
||||
}
|
||||
} else phi = hr.distance();
|
||||
});
|
||||
|
||||
auto mit = std::min_element(phis.begin(), phis.end());
|
||||
|
||||
return *mit;
|
||||
}
|
||||
|
||||
PointSet normals(const PointSet& points, const EigenMesh3D& mesh,
|
||||
double eps = 0.05, // min distance from edges
|
||||
|
|
@ -648,6 +753,19 @@ ClusteredPoints cluster(
|
|||
std::function<bool(const SpatElement&, const SpatElement&)> pred,
|
||||
unsigned max_points = 0);
|
||||
|
||||
// This class will hold the support tree meshes with some additional bookkeeping
|
||||
// as well. Various parts of the support geometry are stored separately and are
|
||||
// merged when the caller queries the merged mesh. The merged result is cached
|
||||
// for fast subsequent delivery of the merged mesh which can be quite complex.
|
||||
// An object of this class will be used as the result type during the support
|
||||
// generation algorithm. Parts will be added with the appropriate methods such
|
||||
// as add_head or add_pillar which forwards the constructor arguments and fills
|
||||
// the IDs of these substructures. The IDs are basically indices into the arrays
|
||||
// of the appropriate type (heads, pillars, etc...). One can later query e.g. a
|
||||
// pillar for a specific head...
|
||||
//
|
||||
// The support pad is considered an auxiliary geometry and is not part of the
|
||||
// merged mesh. It can be retrieved using a dedicated method (pad())
|
||||
class SLASupportTree::Impl {
|
||||
std::vector<Head> m_heads;
|
||||
std::vector<Pillar> m_pillars;
|
||||
|
|
@ -1009,16 +1127,22 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
// Indices of those who don't touch the ground
|
||||
IndexSet noground_heads;
|
||||
|
||||
// Groups of the 'ground_head' indices that belong into one cluster. These
|
||||
// are candidates to be connected to one pillar.
|
||||
ClusteredPoints ground_connectors;
|
||||
|
||||
// A help function to translate ground head index to the actual coordinates.
|
||||
auto gnd_head_pt = [&ground_heads, &head_positions] (size_t idx) {
|
||||
return Vec3d(head_positions.row(ground_heads[idx]));
|
||||
};
|
||||
|
||||
// This algorithm uses the Impl class as its output stream. It will be
|
||||
// filled gradually with support elements (heads, pillars, bridges, ...)
|
||||
using Result = SLASupportTree::Impl;
|
||||
|
||||
Result& result = *m_impl;
|
||||
|
||||
// Let's define the individual steps of the processing. We can experiment
|
||||
// later with the ordering and the dependencies between them.
|
||||
enum Steps {
|
||||
BEGIN,
|
||||
FILTER,
|
||||
|
|
@ -1034,14 +1158,15 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
//...
|
||||
};
|
||||
|
||||
// Debug:
|
||||
// for(int pn = 0; pn < points.rows(); ++pn) {
|
||||
// std::cout << "p " << pn << " " << points.row(pn) << std::endl;
|
||||
// }
|
||||
|
||||
|
||||
// t-hrow i-f c-ance-l-ed: It will be called many times so a shorthand will
|
||||
// come in handy.
|
||||
auto& tifcl = ctl.cancelfn;
|
||||
|
||||
// Filtering step: here we will discard inappropriate support points and
|
||||
// decide the future of the appropriate ones. We will check if a pinhead
|
||||
// is applicable and adjust its angle at each support point.
|
||||
// We will also merge the support points that are just too close and can be
|
||||
// considered as one.
|
||||
auto filterfn = [tifcl] (
|
||||
const SupportConfig& cfg,
|
||||
const PointSet& points,
|
||||
|
|
@ -1052,10 +1177,6 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
PointSet& headless_pos,
|
||||
PointSet& headless_norm)
|
||||
{
|
||||
/* ******************************************************** */
|
||||
/* Filtering step */
|
||||
/* ******************************************************** */
|
||||
|
||||
// Get the points that are too close to each other and keep only the
|
||||
// first one
|
||||
auto aliases =
|
||||
|
|
@ -1116,6 +1237,8 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
std::sin(azimuth) * std::sin(polar),
|
||||
std::cos(polar));
|
||||
|
||||
nn.normalize();
|
||||
|
||||
// save the head (pinpoint) position
|
||||
Vec3d hp = filt_pts.row(i);
|
||||
|
||||
|
|
@ -1126,11 +1249,15 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
|
||||
// We should shoot a ray in the direction of the pinhead and
|
||||
// see if there is enough space for it
|
||||
double t = ray_mesh_intersect(hp + 0.1*nn, nn, mesh);
|
||||
|
||||
if(t > 2*w || std::isinf(t)) {
|
||||
// 2*w because of lower and upper pinhead
|
||||
double t = pinhead_mesh_intersect(
|
||||
hp, // touching point
|
||||
nn,
|
||||
cfg.head_front_radius_mm, // approx the radius
|
||||
cfg.head_back_radius_mm,
|
||||
w,
|
||||
mesh);
|
||||
|
||||
if(t > w || std::isinf(t)) {
|
||||
head_pos.row(pcount) = hp;
|
||||
|
||||
// save the verified and corrected normal
|
||||
|
|
@ -1152,7 +1279,8 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
headless_norm.conservativeResize(hlcount, Eigen::NoChange);
|
||||
};
|
||||
|
||||
// Function to write the pinheads into the result
|
||||
// Pinhead creation: based on the filtering results, the Head objects will
|
||||
// be constructed (together with their triangle meshes).
|
||||
auto pinheadfn = [tifcl] (
|
||||
const SupportConfig& cfg,
|
||||
PointSet& head_pos,
|
||||
|
|
@ -1178,8 +1306,13 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
}
|
||||
};
|
||||
|
||||
// &filtered_points, &head_positions, &result, &mesh,
|
||||
// &gndidx, &gndheight, &nogndidx, cfg
|
||||
// Further classification of the support points with pinheads. If the
|
||||
// ground is directly reachable through a vertical line parallel to the Z
|
||||
// axis we consider a support point as pillar candidate. If touches the
|
||||
// model geometry, it will be marked as non-ground facing and further steps
|
||||
// will process it. Also, the pillars will be grouped into clusters that can
|
||||
// be interconnected with bridges. Elements of these groups may or may not
|
||||
// be interconnected. Here we only run the clustering algorithm.
|
||||
auto classifyfn = [tifcl] (
|
||||
const SupportConfig& cfg,
|
||||
const EigenMesh3D& mesh,
|
||||
|
|
@ -1200,23 +1333,81 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
gndidx.reserve(size_t(head_pos.rows()));
|
||||
nogndidx.reserve(size_t(head_pos.rows()));
|
||||
|
||||
// First we search decide which heads reach the ground and can be full
|
||||
// pillars and which shall be connected to the model surface (or search
|
||||
// a suitable path around the surface that leads to the ground -- TODO)
|
||||
for(unsigned i = 0; i < head_pos.rows(); i++) {
|
||||
tifcl();
|
||||
auto& head = result.heads()[i];
|
||||
auto& head = result.head(i);
|
||||
|
||||
Vec3d dir(0, 0, -1);
|
||||
Vec3d startpoint = head.junction_point();
|
||||
bool accept = false;
|
||||
int ri = 1;
|
||||
double t = std::numeric_limits<double>::infinity();
|
||||
double hw = head.width_mm;
|
||||
|
||||
double t = ray_mesh_intersect(startpoint, dir, mesh);
|
||||
// We will try to assign a pillar to all the pinheads. If a pillar
|
||||
// would pierce the model surface, we will try to adjust slightly
|
||||
// the head with so that the pillar can be deployed.
|
||||
while(!accept && head.width_mm > 0) {
|
||||
|
||||
Vec3d startpoint = head.junction_point();
|
||||
|
||||
// Collision detection
|
||||
t = bridge_mesh_intersect(startpoint, dir, head.r_back_mm, mesh);
|
||||
|
||||
// Precise distance measurement
|
||||
double tprec = ray_mesh_intersect(startpoint, dir, mesh);
|
||||
|
||||
if(std::isinf(tprec) && !std::isinf(t)) {
|
||||
// This is a damned case where the pillar melds into the
|
||||
// model but its center ray can reach the ground. We can
|
||||
// not route this to the ground nor to the model surface.
|
||||
head.width_mm = hw + (ri % 2? -1 : 1) * ri * head.r_back_mm;
|
||||
} else {
|
||||
accept = true; t = tprec;
|
||||
|
||||
auto id = head.id;
|
||||
// We need to regenerate the head geometry
|
||||
head = Head(head.r_back_mm,
|
||||
head.r_pin_mm,
|
||||
head.width_mm,
|
||||
head.penetration_mm,
|
||||
head.dir,
|
||||
head.tr);
|
||||
head.id = id;
|
||||
}
|
||||
|
||||
ri++;
|
||||
}
|
||||
|
||||
// Save the distance from a surface in the Z axis downwards. It may
|
||||
// be infinity but that is telling us that it touches the ground.
|
||||
gndheight.emplace_back(t);
|
||||
|
||||
if(std::isinf(t)) gndidx.emplace_back(i);
|
||||
else nogndidx.emplace_back(i);
|
||||
if(accept) {
|
||||
if(std::isinf(t)) gndidx.emplace_back(i);
|
||||
else nogndidx.emplace_back(i);
|
||||
} else {
|
||||
// This is a serious issue. There was no way to deploy a pillar
|
||||
// for the given pinhead. The whole thing has to be discarded
|
||||
// leaving the model potentially unprintable.
|
||||
//
|
||||
// TODO: In the future this has to be solved by searching for
|
||||
// a path in 3D space from this support point to a suitable
|
||||
// pillar position or an existing pillar.
|
||||
// As a workaround we could mark this head as "sidehead only"
|
||||
// let it go trough the nearby pillar search in the next step.
|
||||
BOOST_LOG_TRIVIAL(warning) << "A support point at "
|
||||
<< head.tr.transpose()
|
||||
<< " had to be discarded as there is"
|
||||
<< " nowhere to route it.";
|
||||
head.invalidate();
|
||||
}
|
||||
}
|
||||
|
||||
// Transform the ground facing point indices top actual coordinates.
|
||||
PointSet gnd(gndidx.size(), 3);
|
||||
|
||||
for(size_t i = 0; i < gndidx.size(); i++)
|
||||
gnd.row(long(i)) = head_pos.row(gndidx[i]);
|
||||
|
||||
|
|
@ -1236,7 +1427,8 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
}, 3); // max 3 heads to connect to one centroid
|
||||
};
|
||||
|
||||
// Helper function for interconnecting two pillars with zig-zag bridges
|
||||
// Helper function for interconnecting two pillars with zig-zag bridges.
|
||||
// This is not an individual step.
|
||||
auto interconnect = [&cfg](
|
||||
const Pillar& pillar,
|
||||
const Pillar& nextpillar,
|
||||
|
|
@ -1254,7 +1446,7 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
double zstep = pillar_dist * std::tan(-cfg.tilt);
|
||||
ej(Z) = sj(Z) + zstep;
|
||||
|
||||
double chkd = ray_mesh_intersect(sj, dirv(sj, ej), emesh);
|
||||
double chkd = bridge_mesh_intersect(sj, dirv(sj, ej), pillar.r, emesh);
|
||||
double bridge_distance = pillar_dist / std::cos(-cfg.tilt);
|
||||
|
||||
// If the pillars are so close that they touch each other,
|
||||
|
|
@ -1262,7 +1454,7 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
if(pillar_dist > 2*cfg.head_back_radius_mm &&
|
||||
bridge_distance < cfg.max_bridge_length_mm)
|
||||
while(sj(Z) > pillar.endpoint(Z) + cfg.base_radius_mm &&
|
||||
ej(Z) > nextpillar.endpoint(Z) + + cfg.base_radius_mm)
|
||||
ej(Z) > nextpillar.endpoint(Z) + cfg.base_radius_mm)
|
||||
{
|
||||
if(chkd >= bridge_distance) {
|
||||
result.add_bridge(sj, ej, pillar.r);
|
||||
|
|
@ -1280,9 +1472,11 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
Vec3d bej(sj(X), sj(Y), ej(Z));
|
||||
|
||||
// need to check collision for the cross stick
|
||||
double backchkd = ray_mesh_intersect(bsj,
|
||||
dirv(bsj, bej),
|
||||
emesh);
|
||||
double backchkd = bridge_mesh_intersect(bsj,
|
||||
dirv(bsj, bej),
|
||||
pillar.r,
|
||||
emesh);
|
||||
|
||||
|
||||
if(backchkd >= bridge_distance) {
|
||||
result.add_bridge(bsj, bej, pillar.r);
|
||||
|
|
@ -1291,10 +1485,15 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
}
|
||||
sj.swap(ej);
|
||||
ej(Z) = sj(Z) + zstep;
|
||||
chkd = ray_mesh_intersect(sj, dirv(sj, ej), emesh);
|
||||
chkd = bridge_mesh_intersect(sj, dirv(sj, ej), pillar.r, emesh);
|
||||
}
|
||||
};
|
||||
|
||||
// Step: Routing the ground connected pinheads, and interconnecting them
|
||||
// with additional (angled) bridges. Not all of these pinheads will be
|
||||
// a full pillar (ground connected). Some will connect to a nearby pillar
|
||||
// using a bridge. The max number of such side-heads for a central pillar
|
||||
// is limited to avoid bad weight distribution.
|
||||
auto routing_ground_fn = [gnd_head_pt, interconnect, tifcl](
|
||||
const SupportConfig& cfg,
|
||||
const ClusteredPoints& gnd_clusters,
|
||||
|
|
@ -1369,12 +1568,12 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
// is distributed more effectively on the pillar.
|
||||
|
||||
auto search_nearest =
|
||||
[&cfg, &result, &emesh, maxbridgelen, gndlvl]
|
||||
[&tifcl, &cfg, &result, &emesh, maxbridgelen, gndlvl, pradius]
|
||||
(SpatIndex& spindex, const Vec3d& jsh)
|
||||
{
|
||||
long nearest_id = -1;
|
||||
const double max_len = maxbridgelen / 2;
|
||||
while(nearest_id < 0 && !spindex.empty()) {
|
||||
while(nearest_id < 0 && !spindex.empty()) { tifcl();
|
||||
// loop until a suitable head is not found
|
||||
// if there is a pillar closer than the cluster center
|
||||
// (this may happen as the clustering is not perfect)
|
||||
|
|
@ -1399,10 +1598,13 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
}
|
||||
|
||||
double d = distance(jp, jn);
|
||||
if(jn(Z) <= (gndlvl + 2*cfg.head_width_mm) || d > max_len)
|
||||
|
||||
if(jn(Z) <= gndlvl + 2*cfg.head_width_mm || d > max_len)
|
||||
break;
|
||||
|
||||
double chkd = ray_mesh_intersect(jp, dirv(jp, jn), emesh);
|
||||
double chkd = bridge_mesh_intersect(jp, dirv(jp, jn),
|
||||
pradius,
|
||||
emesh);
|
||||
if(chkd >= d) nearest_id = ne.second;
|
||||
|
||||
spindex.remove(ne);
|
||||
|
|
@ -1488,7 +1690,7 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
if(!ring.empty()) {
|
||||
// inner ring is now in 'newring' and outer ring is in 'ring'
|
||||
SpatIndex innerring;
|
||||
for(unsigned i : newring) {
|
||||
for(unsigned i : newring) { tifcl();
|
||||
const Pillar& pill = result.head_pillar(gndidx[i]);
|
||||
assert(pill.id >= 0);
|
||||
innerring.insert(pill.endpoint, unsigned(pill.id));
|
||||
|
|
@ -1497,7 +1699,7 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
// For all pillars in the outer ring find the closest in the
|
||||
// inner ring and connect them. This will create the spider web
|
||||
// fashioned connections between pillars
|
||||
for(unsigned i : ring) {
|
||||
for(unsigned i : ring) { tifcl();
|
||||
const Pillar& outerpill = result.head_pillar(gndidx[i]);
|
||||
auto res = innerring.nearest(outerpill.endpoint, 1);
|
||||
if(res.empty()) continue;
|
||||
|
|
@ -1523,6 +1725,7 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
next != ring.end();
|
||||
++it, ++next)
|
||||
{
|
||||
tifcl();
|
||||
const Pillar& pillar = result.head_pillar(gndidx[*it]);
|
||||
const Pillar& nextpillar = result.head_pillar(gndidx[*next]);
|
||||
interconnect(pillar, nextpillar, emesh, result);
|
||||
|
|
@ -1537,6 +1740,11 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
}
|
||||
};
|
||||
|
||||
// Step: routing the pinheads that are would connect to the model surface
|
||||
// along the Z axis downwards. For now these will actually be connected with
|
||||
// the model surface with a flipped pinhead. In the future here we could use
|
||||
// some smart algorithms to search for a safe path to the ground or to a
|
||||
// nearby pillar that can hold the supported weight.
|
||||
auto routing_nongnd_fn = [tifcl](
|
||||
const SupportConfig& cfg,
|
||||
const std::vector<double>& gndheight,
|
||||
|
|
@ -1598,6 +1806,9 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
}
|
||||
};
|
||||
|
||||
// Step: process the support points where there is not enough space for a
|
||||
// full pinhead. In this case we will use a rounded sphere as a touching
|
||||
// point and use a thinner bridge (let's call it a stick).
|
||||
auto process_headless = [tifcl](
|
||||
const SupportConfig& cfg,
|
||||
const PointSet& headless_pts,
|
||||
|
|
@ -1614,32 +1825,48 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
// We will sink the pins into the model surface for a distance of 1/3 of
|
||||
// the pin radius
|
||||
for(int i = 0; i < headless_pts.rows(); i++) { tifcl();
|
||||
Vec3d sp = headless_pts.row(i);
|
||||
|
||||
Vec3d n = headless_norm.row(i);
|
||||
sp = sp - n * HWIDTH_MM;
|
||||
Vec3d sph = headless_pts.row(i); // Exact support position
|
||||
Vec3d n = headless_norm.row(i); // mesh outward normal
|
||||
Vec3d sp = sph - n * HWIDTH_MM; // stick head start point
|
||||
|
||||
Vec3d dir = {0, 0, -1};
|
||||
Vec3d sj = sp + R * n;
|
||||
Vec3d sj = sp + R * n; // stick start point
|
||||
|
||||
// This is only for checking
|
||||
double idist = bridge_mesh_intersect(sph, dir, R, emesh, true);
|
||||
double dist = ray_mesh_intersect(sj, dir, emesh);
|
||||
|
||||
if(std::isinf(dist) || std::isnan(dist) || dist < 2*R) continue;
|
||||
if(std::isinf(idist) || std::isnan(idist) || idist < 2*R ||
|
||||
std::isinf(dist) || std::isnan(dist) || dist < 2*R) {
|
||||
BOOST_LOG_TRIVIAL(warning) << "Can not find route for headless"
|
||||
<< " support stick at: "
|
||||
<< sj.transpose();
|
||||
continue;
|
||||
}
|
||||
|
||||
Vec3d ej = sj + (dist + HWIDTH_MM)* dir;
|
||||
result.add_compact_bridge(sp, ej, n, R);
|
||||
}
|
||||
};
|
||||
|
||||
using std::ref;
|
||||
using std::cref;
|
||||
// Now that the individual blocks are defined, lets connect the wires. We
|
||||
// will create an array of functions which represents a program. Place the
|
||||
// step methods in the array and bind the right arguments to the methods
|
||||
// This way the data dependencies will be easily traceable between
|
||||
// individual steps.
|
||||
// There will be empty steps as well like the begin step or the done or
|
||||
// abort steps. These are slots for future initialization or cleanup.
|
||||
|
||||
using std::cref; // Bind inputs with cref (read-only)
|
||||
using std::ref; // Bind outputs with ref (writable)
|
||||
using std::bind;
|
||||
|
||||
// Here we can easily track what goes in and what comes out of each step:
|
||||
// (see the cref-s as inputs and ref-s as outputs)
|
||||
std::array<std::function<void()>, NUM_STEPS> program = {
|
||||
[] () {
|
||||
// Begin
|
||||
// clear up the shared data
|
||||
// Begin...
|
||||
// Potentially clear up the shared data (not needed for now)
|
||||
},
|
||||
|
||||
// Filtering unnecessary support points
|
||||
|
|
@ -1682,6 +1909,7 @@ bool SLASupportTree::generate(const PointSet &points,
|
|||
|
||||
Steps pc = BEGIN, pc_prev = BEGIN;
|
||||
|
||||
// Let's define a simple automaton that will run our program.
|
||||
auto progress = [&ctl, &pc, &pc_prev] () {
|
||||
static const std::array<std::string, NUM_STEPS> stepstr {
|
||||
"Starting",
|
||||
|
|
@ -1803,7 +2031,7 @@ SLASupportTree::SLASupportTree(const PointSet &points,
|
|||
const Controller &ctl):
|
||||
m_impl(new Impl(ctl))
|
||||
{
|
||||
m_impl->ground_level = emesh.ground_level - cfg.object_elevation_mm;
|
||||
m_impl->ground_level = emesh.ground_level() - cfg.object_elevation_mm;
|
||||
generate(points, emesh, cfg, ctl);
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue