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EigenMesh upgraded with inside check capability.

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This commit is contained in:
tamasmeszaros 2019-01-17 16:44:26 +01:00
parent 7a677a673f
commit e160cf3ffb
3 changed files with 95 additions and 27 deletions
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88
src/libslic3r/SLA/SLASupportTree.cpp
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@ -639,12 +639,10 @@ double pinhead_mesh_intersect(const Vec3d& s_original,
c(Y) + rpbcos * a(Y) + rpbsin * b(Y),
c(Z) + rpbcos * a(Z) + rpbsin * b(Z));
Vec3d n = (p - ps).normalized();
phi = m.query_ray_hit(ps, n);
// TODO: this should be an inside check
if(phi < r_pin) phi = std::numeric_limits<double>::infinity();
if(m.inside(ps) && m.inside(p)) {
Vec3d n = (p - ps).normalized();
phi = m.query_ray_hit(ps, n);
} else phi = std::numeric_limits<double>::infinity();
std::cout << "t = " << phi << std::endl;
}
@ -684,7 +682,8 @@ double bridge_mesh_intersect(const Vec3d& s_original,
s(Y) + rcos * a(Y) + rsin * b(Y),
s(Z) + rcos * a(Z) + rsin * b(Z));
phi = m.query_ray_hit(p, dir);
if(m.inside(p)) phi = m.query_ray_hit(p, dir);
else phi = std::numeric_limits<double>::infinity();
}
auto mit = std::min_element(phis.begin(), phis.end());
@ -1195,9 +1194,7 @@ bool SLASupportTree::generate(const PointSet &points,
w,
mesh);
if(t > 2*w || std::isinf(t)) {
// 2*w because of lower and upper pinhead
if(t > w || std::isinf(t)) {
head_pos.row(pcount) = hp;
// save the verified and corrected normal
@ -1269,17 +1266,59 @@ bool SLASupportTree::generate(const PointSet &points,
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);
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. We have to
// modify the head or discard this support point.
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++;
}
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 {
BOOST_LOG_TRIVIAL(warning) << "A support point at "
<< head.tr.transpose()
<< " had to be discarded as there is"
<< " nowhere to route it.";
head.invalidate();
}
}
PointSet gnd(gndidx.size(), 3);
@ -1321,7 +1360,6 @@ 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);
@ -1348,10 +1386,6 @@ 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,
@ -1365,7 +1399,6 @@ 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);
}
};
@ -1444,7 +1477,7 @@ bool SLASupportTree::generate(const PointSet &points,
// is distributed more effectively on the pillar.
auto search_nearest =
[&cfg, &result, &emesh, maxbridgelen, gndlvl]
[&cfg, &result, &emesh, maxbridgelen, gndlvl, pradius]
(SpatIndex& spindex, const Vec3d& jsh)
{
long nearest_id = -1;
@ -1476,7 +1509,9 @@ bool SLASupportTree::generate(const PointSet &points,
double d = distance(jp, jn);
if(jn(Z) <= gndlvl || 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);
@ -1695,10 +1730,15 @@ bool SLASupportTree::generate(const PointSet &points,
Vec3d dir = {0, 0, -1};
Vec3d sj = sp + R * n;
double dist = ray_mesh_intersect(sj, dir, emesh);
// This is only for checking
double dist = bridge_mesh_intersect(sj, dir, R, emesh);
if(std::isinf(dist) || std::isnan(dist) || dist < 2*R) continue;
// This on the other hand will return the exact distance available
// measured through the center of the stick.
dist = ray_mesh_intersect(sj, dir, emesh);
Vec3d ej = sj + (dist + HWIDTH_MM)* dir;
result.add_compact_bridge(sp, ej, n, R);
}