mirror of
https://github.com/SoftFever/OrcaSlicer.git
synced 2025-07-14 10:17:55 -06:00
ENH: new seam strategy from prusa2.5
As title. Thanks @Prusa Signed-off-by: salt.wei <salt.wei@bambulab.com> Change-Id: I2fa177e27ac53211952ea9b6c62e98182b8f05ce
This commit is contained in:
salt.wei
Lane.Wei
parent
ce082f6e2a
commit
d73142c2f9
23 changed files with 3105 additions and 1323 deletions
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@ -446,6 +446,57 @@ namespace detail {
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}
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}
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// Real-time collision detection, Ericson, Chapter 5
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template<typename Vector>
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static inline Vector closest_point_to_triangle(const Vector &p, const Vector &a, const Vector &b, const Vector &c)
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{
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using Scalar = typename Vector::Scalar;
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// Check if P in vertex region outside A
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Vector ab = b - a;
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Vector ac = c - a;
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Vector ap = p - a;
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Scalar d1 = ab.dot(ap);
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Scalar d2 = ac.dot(ap);
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if (d1 <= 0 && d2 <= 0)
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return a;
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// Check if P in vertex region outside B
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Vector bp = p - b;
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Scalar d3 = ab.dot(bp);
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Scalar d4 = ac.dot(bp);
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if (d3 >= 0 && d4 <= d3)
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return b;
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// Check if P in edge region of AB, if so return projection of P onto AB
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Scalar vc = d1*d4 - d3*d2;
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if (a != b && vc <= 0 && d1 >= 0 && d3 <= 0) {
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Scalar v = d1 / (d1 - d3);
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return a + v * ab;
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}
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// Check if P in vertex region outside C
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Vector cp = p - c;
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Scalar d5 = ab.dot(cp);
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Scalar d6 = ac.dot(cp);
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if (d6 >= 0 && d5 <= d6)
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return c;
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// Check if P in edge region of AC, if so return projection of P onto AC
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Scalar vb = d5*d2 - d1*d6;
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if (vb <= 0 && d2 >= 0 && d6 <= 0) {
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Scalar w = d2 / (d2 - d6);
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return a + w * ac;
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}
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// Check if P in edge region of BC, if so return projection of P onto BC
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Scalar va = d3*d6 - d5*d4;
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if (va <= 0 && (d4 - d3) >= 0 && (d5 - d6) >= 0) {
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Scalar w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
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return b + w * (c - b);
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}
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// P inside face region. Compute Q through its barycentric coordinates (u,v,w)
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Scalar denom = Scalar(1.0) / (va + vb + vc);
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Scalar v = vb * denom;
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Scalar w = vc * denom;
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return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = 1.0-v-w
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};
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// Nothing to do with COVID-19 social distancing.
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template<typename AVertexType, typename AIndexedFaceType, typename ATreeType, typename AVectorType>
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struct IndexedTriangleSetDistancer {
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@ -453,74 +504,36 @@ namespace detail {
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using IndexedFaceType = AIndexedFaceType;
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using TreeType = ATreeType;
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using VectorType = AVectorType;
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using ScalarType = typename VectorType::Scalar;
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const std::vector<VertexType> &vertices;
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const std::vector<IndexedFaceType> &faces;
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const TreeType &tree;
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const VectorType origin;
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inline VectorType closest_point_to_origin(size_t primitive_index,
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ScalarType& squared_distance){
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const auto &triangle = this->faces[primitive_index];
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VectorType closest_point = closest_point_to_triangle<VectorType>(origin,
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this->vertices[triangle(0)].template cast<ScalarType>(),
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this->vertices[triangle(1)].template cast<ScalarType>(),
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this->vertices[triangle(2)].template cast<ScalarType>());
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squared_distance = (origin - closest_point).squaredNorm();
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return closest_point;
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}
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};
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// Real-time collision detection, Ericson, Chapter 5
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template<typename Vector>
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static inline Vector closest_point_to_triangle(const Vector &p, const Vector &a, const Vector &b, const Vector &c)
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{
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using Scalar = typename Vector::Scalar;
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// Check if P in vertex region outside A
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Vector ab = b - a;
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Vector ac = c - a;
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Vector ap = p - a;
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Scalar d1 = ab.dot(ap);
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Scalar d2 = ac.dot(ap);
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if (d1 <= 0 && d2 <= 0)
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return a;
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// Check if P in vertex region outside B
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Vector bp = p - b;
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Scalar d3 = ab.dot(bp);
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Scalar d4 = ac.dot(bp);
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if (d3 >= 0 && d4 <= d3)
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return b;
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// Check if P in edge region of AB, if so return projection of P onto AB
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Scalar vc = d1*d4 - d3*d2;
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if (a != b && vc <= 0 && d1 >= 0 && d3 <= 0) {
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Scalar v = d1 / (d1 - d3);
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return a + v * ab;
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}
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// Check if P in vertex region outside C
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Vector cp = p - c;
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Scalar d5 = ab.dot(cp);
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Scalar d6 = ac.dot(cp);
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if (d6 >= 0 && d5 <= d6)
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return c;
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// Check if P in edge region of AC, if so return projection of P onto AC
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Scalar vb = d5*d2 - d1*d6;
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if (vb <= 0 && d2 >= 0 && d6 <= 0) {
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Scalar w = d2 / (d2 - d6);
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return a + w * ac;
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}
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// Check if P in edge region of BC, if so return projection of P onto BC
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Scalar va = d3*d6 - d5*d4;
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if (va <= 0 && (d4 - d3) >= 0 && (d5 - d6) >= 0) {
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Scalar w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
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return b + w * (c - b);
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}
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// P inside face region. Compute Q through its barycentric coordinates (u,v,w)
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Scalar denom = Scalar(1.0) / (va + vb + vc);
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Scalar v = vb * denom;
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Scalar w = vc * denom;
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return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = 1.0-v-w
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};
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template<typename IndexedTriangleSetDistancerType, typename Scalar>
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static inline Scalar squared_distance_to_indexed_triangle_set_recursive(
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IndexedTriangleSetDistancerType &distancer,
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template<typename IndexedPrimitivesDistancerType, typename Scalar>
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static inline Scalar squared_distance_to_indexed_primitives_recursive(
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IndexedPrimitivesDistancerType &distancer,
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size_t node_idx,
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Scalar low_sqr_d,
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Scalar up_sqr_d,
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size_t &i,
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Eigen::PlainObjectBase<typename IndexedTriangleSetDistancerType::VectorType> &c)
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Eigen::PlainObjectBase<typename IndexedPrimitivesDistancerType::VectorType> &c)
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{
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using Vector = typename IndexedTriangleSetDistancerType::VectorType;
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using Vector = typename IndexedPrimitivesDistancerType::VectorType;
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if (low_sqr_d > up_sqr_d)
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return low_sqr_d;
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@ -538,13 +551,9 @@ namespace detail {
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assert(node.is_valid());
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if (node.is_leaf())
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{
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const auto &triangle = distancer.faces[node.idx];
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Vector c_candidate = closest_point_to_triangle<Vector>(
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distancer.origin,
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distancer.vertices[triangle(0)].template cast<Scalar>(),
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distancer.vertices[triangle(1)].template cast<Scalar>(),
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distancer.vertices[triangle(2)].template cast<Scalar>());
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set_min((c_candidate - distancer.origin).squaredNorm(), node.idx, c_candidate);
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Scalar sqr_dist;
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Vector c_candidate = distancer.closest_point_to_origin(node.idx, sqr_dist);
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set_min(sqr_dist, node.idx, c_candidate);
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}
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else
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{
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@ -561,7 +570,7 @@ namespace detail {
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{
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size_t i_left;
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Vector c_left = c;
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Scalar sqr_d_left = squared_distance_to_indexed_triangle_set_recursive(distancer, left_node_idx, low_sqr_d, up_sqr_d, i_left, c_left);
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Scalar sqr_d_left = squared_distance_to_indexed_primitives_recursive(distancer, left_node_idx, low_sqr_d, up_sqr_d, i_left, c_left);
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set_min(sqr_d_left, i_left, c_left);
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looked_left = true;
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};
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@ -569,13 +578,13 @@ namespace detail {
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{
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size_t i_right;
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Vector c_right = c;
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Scalar sqr_d_right = squared_distance_to_indexed_triangle_set_recursive(distancer, right_node_idx, low_sqr_d, up_sqr_d, i_right, c_right);
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Scalar sqr_d_right = squared_distance_to_indexed_primitives_recursive(distancer, right_node_idx, low_sqr_d, up_sqr_d, i_right, c_right);
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set_min(sqr_d_right, i_right, c_right);
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looked_right = true;
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};
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// must look left or right if in box
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using BBoxScalar = typename IndexedTriangleSetDistancerType::TreeType::BoundingBox::Scalar;
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using BBoxScalar = typename IndexedPrimitivesDistancerType::TreeType::BoundingBox::Scalar;
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if (node_left.bbox.contains(distancer.origin.template cast<BBoxScalar>()))
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look_left();
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if (node_right.bbox.contains(distancer.origin.template cast<BBoxScalar>()))
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@ -709,10 +718,15 @@ inline bool intersect_ray_all_hits(
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origin, dir, VectorType(dir.cwiseInverse()),
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eps }
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};
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if (! tree.empty()) {
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if (tree.empty()) {
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hits.clear();
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} else {
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// Reusing the output memory if there is some memory already pre-allocated.
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ray_intersector.hits = std::move(hits);
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ray_intersector.hits.clear();
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ray_intersector.hits.reserve(8);
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detail::intersect_ray_recursive_all_hits(ray_intersector, 0);
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std::swap(hits, ray_intersector.hits);
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hits = std::move(ray_intersector.hits);
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std::sort(hits.begin(), hits.end(), [](const auto &l, const auto &r) { return l.t < r.t; });
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}
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return ! hits.empty();
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@ -742,7 +756,7 @@ inline typename VectorType::Scalar squared_distance_to_indexed_triangle_set(
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auto distancer = detail::IndexedTriangleSetDistancer<VertexType, IndexedFaceType, TreeType, VectorType>
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{ vertices, faces, tree, point };
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return tree.empty() ? Scalar(-1) :
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detail::squared_distance_to_indexed_triangle_set_recursive(distancer, size_t(0), Scalar(0), std::numeric_limits<Scalar>::infinity(), hit_idx_out, hit_point_out);
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detail::squared_distance_to_indexed_primitives_recursive(distancer, size_t(0), Scalar(0), std::numeric_limits<Scalar>::infinity(), hit_idx_out, hit_point_out);
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}
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// Decides if exists some triangle in defined radius on a 3D indexed triangle set using a pre-built AABBTreeIndirect::Tree.
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@ -759,22 +773,22 @@ inline bool is_any_triangle_in_radius(
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const TreeType &tree,
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// Point to which the closest point on the indexed triangle set is searched for.
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const VectorType &point,
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// Maximum distance in which triangle is search for
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typename VectorType::Scalar &max_distance)
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//Square of maximum distance in which triangle is searched for
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typename VectorType::Scalar &max_distance_squared)
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{
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using Scalar = typename VectorType::Scalar;
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auto distancer = detail::IndexedTriangleSetDistancer<VertexType, IndexedFaceType, TreeType, VectorType>
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{ vertices, faces, tree, point };
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size_t hit_idx;
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VectorType hit_point = VectorType::Ones() * (std::nan(""));
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size_t hit_idx;
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VectorType hit_point = VectorType::Ones() * (NaN<typename VectorType::Scalar>);
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if(tree.empty())
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{
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return false;
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}
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detail::squared_distance_to_indexed_triangle_set_recursive(distancer, size_t(0), Scalar(0), max_distance, hit_idx, hit_point);
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detail::squared_distance_to_indexed_primitives_recursive(distancer, size_t(0), Scalar(0), max_distance_squared, hit_idx, hit_point);
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return hit_point.allFinite();
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}
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