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Renamed CustomSeam to SeamPlacer, move to a separate file

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This commit is contained in:
Lukas Matena 2020-09-09 13:21:39 +02:00
parent a1fadaf955
commit e78221409a
5 changed files with 586 additions and 517 deletions
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2
src/libslic3r/CMakeLists.txt
View file

@ -95,6 +95,8 @@ add_library(libslic3r STATIC
GCode/PrintExtents.hpp
GCode/SpiralVase.cpp
GCode/SpiralVase.hpp
GCode/SeamPlacer.cpp
GCode/SeamPlacer.hpp
GCode/ToolOrdering.cpp
GCode/ToolOrdering.hpp
GCode/WipeTower.cpp

505
src/libslic3r/GCode.cpp
View file

@ -176,38 +176,6 @@ namespace Slic3r {
}
void CustomSeam::get_indices(size_t layer_id,
const Polygon& polygon,
std::vector<size_t>& enforcers_idxs,
std::vector<size_t>& blockers_idxs) const
{
enforcers_idxs.clear();
blockers_idxs.clear();
// FIXME: This is quadratic and it should be improved, maybe by building
// an AABB tree (or at least utilize bounding boxes).
for (size_t i=0; i<polygon.points.size(); ++i) {
if (! enforcers.empty()) {
assert(layer_id < enforcers.size());
for (const ExPolygon& explg : enforcers[layer_id]) {
if (explg.contains(polygon.points[i]))
enforcers_idxs.push_back(i);
}
}
if (! blockers.empty()) {
assert(layer_id < blockers.size());
for (const ExPolygon& explg : blockers[layer_id]) {
if (explg.contains(polygon.points[i]))
blockers_idxs.push_back(i);
}
}
}
}
std::string OozePrevention::pre_toolchange(GCode& gcodegen)
{
std::string gcode;
@ -1017,22 +985,6 @@ namespace DoExport {
}
static void collect_custom_seam(const Print& print, CustomSeam& custom_seam)
{
custom_seam = CustomSeam();
for (const PrintObject* po : print.objects()) {
po->project_and_append_custom_facets(true, EnforcerBlockerType::ENFORCER, custom_seam.enforcers);
po->project_and_append_custom_facets(true, EnforcerBlockerType::BLOCKER, custom_seam.blockers);
}
const std::vector<double>& nozzle_dmrs = print.config().nozzle_diameter.values;
float max_nozzle_dmr = *std::max_element(nozzle_dmrs.begin(), nozzle_dmrs.end());
for (ExPolygons& explgs : custom_seam.enforcers)
explgs = Slic3r::offset_ex(explgs, scale_(max_nozzle_dmr));
for (ExPolygons& explgs : custom_seam.blockers)
explgs = Slic3r::offset_ex(explgs, scale_(max_nozzle_dmr));
}
static void init_ooze_prevention(const Print &print, OozePrevention &ooze_prevention)
{
// Calculate wiping points if needed
@ -1487,7 +1439,7 @@ void GCode::_do_export(Print& print, FILE* file, ThumbnailsGeneratorCallback thu
print.throw_if_canceled();
// Collect custom seam data from all objects.
DoExport::collect_custom_seam(print, m_custom_seam);
m_seam_placer.init(print);
if (! (has_wipe_tower && print.config().single_extruder_multi_material_priming)) {
// Set initial extruder only after custom start G-code.
@ -2602,293 +2554,7 @@ std::string GCode::change_layer(coordf_t print_z)
return gcode;
}
// Return a value in <0, 1> of a cubic B-spline kernel centered around zero.
// The B-spline is re-scaled so it has value 1 at zero.
static inline float bspline_kernel(float x)
{
x = std::abs(x);
if (x < 1.f) {
return 1.f - (3.f / 2.f) * x * x + (3.f / 4.f) * x * x * x;
}
else if (x < 2.f) {
x -= 1.f;
float x2 = x * x;
float x3 = x2 * x;
return (1.f / 4.f) - (3.f / 4.f) * x + (3.f / 4.f) * x2 - (1.f / 4.f) * x3;
}
else
return 0;
}
static float extrudate_overlap_penalty(float nozzle_r, float weight_zero, float overlap_distance)
{
// The extrudate is not fully supported by the lower layer. Fit a polynomial penalty curve.
// Solved by sympy package:
/*
from sympy import *
(x,a,b,c,d,r,z)=symbols('x a b c d r z')
p = a + b*x + c*x*x + d*x*x*x
p2 = p.subs(solve([p.subs(x, -r), p.diff(x).subs(x, -r), p.diff(x,x).subs(x, -r), p.subs(x, 0)-z], [a, b, c, d]))
from sympy.plotting import plot
plot(p2.subs(r,0.2).subs(z,1.), (x, -1, 3), adaptive=False, nb_of_points=400)
*/
if (overlap_distance < - nozzle_r) {
// The extrudate is fully supported by the lower layer. This is the ideal case, therefore zero penalty.
return 0.f;
} else {
float x = overlap_distance / nozzle_r;
float x2 = x * x;
float x3 = x2 * x;
return weight_zero * (1.f + 3.f * x + 3.f * x2 + x3);
}
}
static Points::const_iterator project_point_to_polygon_and_insert(Polygon &polygon, const Point &pt, double eps)
{
assert(polygon.points.size() >= 2);
if (polygon.points.size() <= 1)
if (polygon.points.size() == 1)
return polygon.points.begin();
Point pt_min;
double d_min = std::numeric_limits<double>::max();
size_t i_min = size_t(-1);
for (size_t i = 0; i < polygon.points.size(); ++ i) {
size_t j = i + 1;
if (j == polygon.points.size())
j = 0;
const Point &p1 = polygon.points[i];
const Point &p2 = polygon.points[j];
const Slic3r::Point v_seg = p2 - p1;
const Slic3r::Point v_pt = pt - p1;
const int64_t l2_seg = int64_t(v_seg(0)) * int64_t(v_seg(0)) + int64_t(v_seg(1)) * int64_t(v_seg(1));
int64_t t_pt = int64_t(v_seg(0)) * int64_t(v_pt(0)) + int64_t(v_seg(1)) * int64_t(v_pt(1));
if (t_pt < 0) {
// Closest to p1.
double dabs = sqrt(int64_t(v_pt(0)) * int64_t(v_pt(0)) + int64_t(v_pt(1)) * int64_t(v_pt(1)));
if (dabs < d_min) {
d_min = dabs;
i_min = i;
pt_min = p1;
}
}
else if (t_pt > l2_seg) {
// Closest to p2. Then p2 is the starting point of another segment, which shall be discovered in the next step.
continue;
} else {
// Closest to the segment.
assert(t_pt >= 0 && t_pt <= l2_seg);
int64_t d_seg = int64_t(v_seg(1)) * int64_t(v_pt(0)) - int64_t(v_seg(0)) * int64_t(v_pt(1));
double d = double(d_seg) / sqrt(double(l2_seg));
double dabs = std::abs(d);
if (dabs < d_min) {
d_min = dabs;
i_min = i;
// Evaluate the foot point.
pt_min = p1;
double linv = double(d_seg) / double(l2_seg);
pt_min(0) = pt(0) - coord_t(floor(double(v_seg(1)) * linv + 0.5));
pt_min(1) = pt(1) + coord_t(floor(double(v_seg(0)) * linv + 0.5));
assert(Line(p1, p2).distance_to(pt_min) < scale_(1e-5));
}
}
}
assert(i_min != size_t(-1));
if ((pt_min - polygon.points[i_min]).cast<double>().norm() > eps) {
// Insert a new point on the segment i_min, i_min+1.
return polygon.points.insert(polygon.points.begin() + (i_min + 1), pt_min);
}
return polygon.points.begin() + i_min;
}
std::vector<float> polygon_angles_at_vertices(const Polygon &polygon, const std::vector<float> &lengths, float min_arm_length)
{
assert(polygon.points.size() + 1 == lengths.size());
if (min_arm_length > 0.25f * lengths.back())
min_arm_length = 0.25f * lengths.back();
// Find the initial prev / next point span.
size_t idx_prev = polygon.points.size();
size_t idx_curr = 0;
size_t idx_next = 1;
while (idx_prev > idx_curr && lengths.back() - lengths[idx_prev] < min_arm_length)
-- idx_prev;
while (idx_next < idx_prev && lengths[idx_next] < min_arm_length)
++ idx_next;
std::vector<float> angles(polygon.points.size(), 0.f);
for (; idx_curr < polygon.points.size(); ++ idx_curr) {
// Move idx_prev up until the distance between idx_prev and idx_curr is lower than min_arm_length.
if (idx_prev >= idx_curr) {
while (idx_prev < polygon.points.size() && lengths.back() - lengths[idx_prev] + lengths[idx_curr] > min_arm_length)
++ idx_prev;
if (idx_prev == polygon.points.size())
idx_prev = 0;
}
while (idx_prev < idx_curr && lengths[idx_curr] - lengths[idx_prev] > min_arm_length)
++ idx_prev;
// Move idx_prev one step back.
if (idx_prev == 0)
idx_prev = polygon.points.size() - 1;
else
-- idx_prev;
// Move idx_next up until the distance between idx_curr and idx_next is greater than min_arm_length.
if (idx_curr <= idx_next) {
while (idx_next < polygon.points.size() && lengths[idx_next] - lengths[idx_curr] < min_arm_length)
++ idx_next;
if (idx_next == polygon.points.size())
idx_next = 0;
}
while (idx_next < idx_curr && lengths.back() - lengths[idx_curr] + lengths[idx_next] < min_arm_length)
++ idx_next;
// Calculate angle between idx_prev, idx_curr, idx_next.
const Point &p0 = polygon.points[idx_prev];
const Point &p1 = polygon.points[idx_curr];
const Point &p2 = polygon.points[idx_next];
const Point v1 = p1 - p0;
const Point v2 = p2 - p1;
int64_t dot = int64_t(v1(0))*int64_t(v2(0)) + int64_t(v1(1))*int64_t(v2(1));
int64_t cross = int64_t(v1(0))*int64_t(v2(1)) - int64_t(v1(1))*int64_t(v2(0));
float angle = float(atan2(double(cross), double(dot)));
angles[idx_curr] = angle;
}
return angles;
}
// Go through the polygon, identify points inside support enforcers and return
// indices of points in the middle of each enforcer (measured along the contour).
static std::vector<size_t> find_enforcer_centers(const Polygon& polygon,
const std::vector<float>& lengths,
const std::vector<size_t>& enforcers_idxs)
{
std::vector<size_t> out;
assert(polygon.points.size()+1 == lengths.size());
assert(std::is_sorted(enforcers_idxs.begin(), enforcers_idxs.end()));
if (polygon.size() < 2 || enforcers_idxs.empty())
return out;
auto get_center_idx = [&polygon, &lengths](size_t start_idx, size_t end_idx) -> size_t {
assert(end_idx >= start_idx);
if (start_idx == end_idx)
return start_idx;
float t_c = lengths[start_idx] + 0.5f * (lengths[end_idx] - lengths[start_idx]);
auto it = std::lower_bound(lengths.begin() + start_idx, lengths.begin() + end_idx, t_c);
int ret = it - lengths.begin();
return ret;
};
int last_enforcer_start_idx = enforcers_idxs.front();
bool last_pt_in_list = enforcers_idxs.back() == polygon.points.size() - 1;
for (size_t i=0; i<enforcers_idxs.size()-1; ++i) {
if ((i == enforcers_idxs.size() - 1)
|| enforcers_idxs[i+1] != enforcers_idxs[i] + 1) {
// i is last point of current enforcer
out.push_back(get_center_idx(last_enforcer_start_idx, enforcers_idxs[i]));
last_enforcer_start_idx = enforcers_idxs[i+1];
}
}
if (last_pt_in_list) {
// last point is an enforcer - not yet accounted for.
if (enforcers_idxs.front() != 0) {
size_t center_idx = get_center_idx(last_enforcer_start_idx, enforcers_idxs.back());
out.push_back(center_idx);
} else {
// Wrap-around. Update first center already found.
if (out.empty()) {
// Probably an enforcer around the whole contour. Return nothing.
return out;
}
// find last point of the enforcer at the beginning:
size_t idx = 0;
while (enforcers_idxs[idx]+1 == enforcers_idxs[idx+1])
++idx;
float t_s = lengths[last_enforcer_start_idx];
float t_e = lengths[idx];
float half_dist = 0.5f * (t_e + lengths.back() - t_s);
float t_c = (half_dist > t_e) ? t_s + half_dist : t_e - half_dist;
auto it = std::lower_bound(lengths.begin(), lengths.end(), t_c);
out[0] = it - lengths.begin();
if (out[0] == lengths.size() - 1)
--out[0];
assert(out[0] < lengths.size() - 1);
}
}
return out;
}
void CustomSeam::penalize_polygon(const Polygon& polygon,
std::vector<float>& penalties,
const std::vector<float>& lengths,
int layer_id) const
{
std::vector<size_t> enforcers_idxs;
std::vector<size_t> blockers_idxs;
this->get_indices(layer_id, polygon, enforcers_idxs, blockers_idxs);
for (size_t i : enforcers_idxs) {
assert(i < penalties.size());
penalties[i] -= float(ENFORCER_BLOCKER_PENALTY);
}
for (size_t i : blockers_idxs) {
assert(i < penalties.size());
penalties[i] += float(ENFORCER_BLOCKER_PENALTY);
}
std::vector<size_t> enf_centers = find_enforcer_centers(polygon, lengths, enforcers_idxs);
for (size_t idx : enf_centers) {
assert(idx < penalties.size());
penalties[idx] -= 1000.f;
}
// //////////////////////
// std::ostringstream os;
// os << std::setw(3) << std::setfill('0') << layer_id;
// int a = scale_(15.);
// SVG svg("custom_seam" + os.str() + ".svg", BoundingBox(Point(-a, -a), Point(a, a)));
// /*if (! m_custom_seam.enforcers.empty())
// svg.draw(m_custom_seam.enforcers[layer_id], "blue");
// if (! m_custom_seam.blockers.empty())
// svg.draw(m_custom_seam.blockers[layer_id], "red");*/
// size_t min_idx = std::min_element(penalties.begin(), penalties.end()) - penalties.begin();
// //svg.draw(polygon.points[idx_min], "red", 6e5);
// for (size_t i=0; i<polygon.points.size(); ++i) {
// std::string fill;
// coord_t size = 0;
// if (min_idx == i) {
// fill = "yellow";
// size = 5e5;
// } else {
// fill = (std::find(enforcers_idxs.begin(), enforcers_idxs.end(), i) != enforcers_idxs.end() ? "green" : "black");
// if (std::find(enf_centers.begin(), enf_centers.end(), i) != enf_centers.end()) {
// size = 5e5;
// fill = "blue";
// }
// }
// if (i != 0)
// svg.draw(polygon.points[i], fill, size);
// else
// svg.draw(polygon.points[i], "red", 5e5);
// }
// ////////////////////
}
std::string GCode::extrude_loop(ExtrusionLoop loop, std::string description, double speed, std::unique_ptr<EdgeGrid::Grid> *lower_layer_edge_grid)
{
@ -2928,167 +2594,18 @@ std::string GCode::extrude_loop(ExtrusionLoop loop, std::string description, dou
Point last_pos = this->last_pos();
if (m_config.spiral_vase) {
loop.split_at(last_pos, false);
} else if (seam_position == spNearest || seam_position == spAligned || seam_position == spRear) {
Polygon polygon = loop.polygon();
const coordf_t nozzle_dmr = EXTRUDER_CONFIG(nozzle_diameter);
const coord_t nozzle_r = coord_t(scale_(0.5 * nozzle_dmr) + 0.5);
if (m_custom_seam.is_on_layer(m_layer->id())) {
// Seam enf/blockers can begin and end in between the original vertices.
// Let add extra points in between and update the leghths.
polygon.densify(scale_(0.2f));
}
// Retrieve the last start position for this object.
float last_pos_weight = 1.f;
if (seam_position == spAligned) {
// Seam is aligned to the seam at the preceding layer.
if (m_layer != NULL && m_seam_position.count(m_layer->object()) > 0) {
last_pos = m_seam_position[m_layer->object()];
last_pos_weight = 1.f;
}
}
else if (seam_position == spRear) {
// Object is centered around (0,0) in its current coordinate system.
last_pos.x() = 0;
last_pos.y() += coord_t(3. * m_layer->object()->bounding_box().radius());
last_pos_weight = 5.f;
}
// Insert a projection of last_pos into the polygon.
size_t last_pos_proj_idx;
{
auto it = project_point_to_polygon_and_insert(polygon, last_pos, 0.1 * nozzle_r);
last_pos_proj_idx = it - polygon.points.begin();
}
// Parametrize the polygon by its length.
std::vector<float> lengths = polygon.parameter_by_length();
// For each polygon point, store a penalty.
// First calculate the angles, store them as penalties. The angles are caluculated over a minimum arm length of nozzle_r.
std::vector<float> penalties = polygon_angles_at_vertices(polygon, lengths, float(nozzle_r));
// No penalty for reflex points, slight penalty for convex points, high penalty for flat surfaces.
const float penaltyConvexVertex = 1.f;
const float penaltyFlatSurface = 5.f;
const float penaltyOverhangHalf = 10.f;
// Penalty for visible seams.
for (size_t i = 0; i < polygon.points.size(); ++ i) {
float ccwAngle = penalties[i];
if (was_clockwise)
ccwAngle = - ccwAngle;
float penalty = 0;
if (ccwAngle <- float(0.6 * PI))
// Sharp reflex vertex. We love that, it hides the seam perfectly.
penalty = 0.f;
else if (ccwAngle > float(0.6 * PI))
// Seams on sharp convex vertices are more visible than on reflex vertices.
penalty = penaltyConvexVertex;
else if (ccwAngle < 0.f) {
// Interpolate penalty between maximum and zero.
penalty = penaltyFlatSurface * bspline_kernel(ccwAngle * float(PI * 2. / 3.));
} else {
assert(ccwAngle >= 0.f);
// Interpolate penalty between maximum and the penalty for a convex vertex.
penalty = penaltyConvexVertex + (penaltyFlatSurface - penaltyConvexVertex) * bspline_kernel(ccwAngle * float(PI * 2. / 3.));
}
// Give a negative penalty for points close to the last point or the prefered seam location.
float dist_to_last_pos_proj = (i < last_pos_proj_idx) ?
std::min(lengths[last_pos_proj_idx] - lengths[i], lengths.back() - lengths[last_pos_proj_idx] + lengths[i]) :
std::min(lengths[i] - lengths[last_pos_proj_idx], lengths.back() - lengths[i] + lengths[last_pos_proj_idx]);
float dist_max = 0.1f * lengths.back(); // 5.f * nozzle_dmr
penalty -= last_pos_weight * bspline_kernel(dist_to_last_pos_proj / dist_max);
penalties[i] = std::max(0.f, penalty);
}
// Penalty for overhangs.
if (lower_layer_edge_grid && (*lower_layer_edge_grid)) {
// Use the edge grid distance field structure over the lower layer to calculate overhangs.
coord_t nozzle_r = coord_t(std::floor(scale_(0.5 * nozzle_dmr) + 0.5));
coord_t search_r = coord_t(std::floor(scale_(0.8 * nozzle_dmr) + 0.5));
for (size_t i = 0; i < polygon.points.size(); ++ i) {
const Point &p = polygon.points[i];
coordf_t dist;
// Signed distance is positive outside the object, negative inside the object.
// The point is considered at an overhang, if it is more than nozzle radius
// outside of the lower layer contour.
[[maybe_unused]] bool found = (*lower_layer_edge_grid)->signed_distance(p, search_r, dist);
// If the approximate Signed Distance Field was initialized over lower_layer_edge_grid,
// then the signed distnace shall always be known.
assert(found);
penalties[i] += extrudate_overlap_penalty(float(nozzle_r), penaltyOverhangHalf, float(dist));
}
}
// Penalty according to custom seam selection. This one is huge compared to
// the others so that points outside enforcers/inside blockers never win.
m_custom_seam.penalize_polygon(polygon, penalties, lengths, m_layer->id());
// Find a point with a minimum penalty.
size_t idx_min = std::min_element(penalties.begin(), penalties.end()) - penalties.begin();
// For all (aligned, nearest, rear) seams:
{
// Very likely the weight of idx_min is very close to the weight of last_pos_proj_idx.
// In that case use last_pos_proj_idx instead.
float penalty_aligned = penalties[last_pos_proj_idx];
float penalty_min = penalties[idx_min];
float penalty_diff_abs = std::abs(penalty_min - penalty_aligned);
float penalty_max = std::max(penalty_min, penalty_aligned);
float penalty_diff_rel = (penalty_max == 0.f) ? 0.f : penalty_diff_abs / penalty_max;
// printf("Align seams, penalty aligned: %f, min: %f, diff abs: %f, diff rel: %f\n", penalty_aligned, penalty_min, penalty_diff_abs, penalty_diff_rel);
if (std::abs(penalty_diff_rel) < 0.05) {
// Penalty of the aligned point is very close to the minimum penalty.
// Align the seams as accurately as possible.
idx_min = last_pos_proj_idx;
}
m_seam_position[m_layer->object()] = polygon.points[idx_min];
}
// Export the contour into a SVG file.
#if 0
{
static int iRun = 0;
SVG svg(debug_out_path("GCode_extrude_loop-%d.svg", iRun ++));
if (m_layer->lower_layer != NULL)
svg.draw(m_layer->lower_layer->slices);
for (size_t i = 0; i < loop.paths.size(); ++ i)
svg.draw(loop.paths[i].as_polyline(), "red");
Polylines polylines;
for (size_t i = 0; i < loop.paths.size(); ++ i)
polylines.push_back(loop.paths[i].as_polyline());
Slic3r::Polygons polygons;
coordf_t nozzle_dmr = EXTRUDER_CONFIG(nozzle_diameter);
coord_t delta = scale_(0.5*nozzle_dmr);
Slic3r::offset(polylines, &polygons, delta);
// for (size_t i = 0; i < polygons.size(); ++ i) svg.draw((Polyline)polygons[i], "blue");
svg.draw(last_pos, "green", 3);
svg.draw(polygon.points[idx_min], "yellow", 3);
svg.Close();
}
#endif
} else {
const EdgeGrid::Grid* edge_grid_ptr = (lower_layer_edge_grid && *lower_layer_edge_grid)
? lower_layer_edge_grid->get()
: nullptr;
Point seam = m_seam_placer.get_seam(m_layer->id(), seam_position, loop,
last_pos, EXTRUDER_CONFIG(nozzle_diameter),
(m_layer == NULL ? nullptr : m_layer->object()),
was_clockwise, edge_grid_ptr);
// Split the loop at the point with a minium penalty.
if (!loop.split_at_vertex(polygon.points[idx_min]))
if (!loop.split_at_vertex(seam))
// The point is not in the original loop. Insert it.
loop.split_at(polygon.points[idx_min], true);
} else if (seam_position == spRandom) {
if (loop.loop_role() == elrContourInternalPerimeter) {
// This loop does not contain any other loop. Set a random position.
// The other loops will get a seam close to the random point chosen
// on the inner most contour.
//FIXME This works correctly for inner contours first only.
//FIXME Better parametrize the loop by its length.
Polygon polygon = loop.polygon();
Point centroid = polygon.centroid();
last_pos = Point(polygon.bounding_box().max(0), centroid(1));
last_pos.rotate(fmod((float)rand()/16.0, 2.0*PI), centroid);
}
// Find the closest point, avoid overhangs.
loop.split_at(last_pos, true);
loop.split_at(seam, true);
}
// clip the path to avoid the extruder to get exactly on the first point of the loop;

25
src/libslic3r/GCode.hpp
View file

@ -13,6 +13,7 @@
#include "GCode/SpiralVase.hpp"
#include "GCode/ToolOrdering.hpp"
#include "GCode/WipeTower.hpp"
#include "GCode/SeamPlacer.hpp"
#if ENABLE_GCODE_VIEWER
#include "GCode/GCodeProcessor.hpp"
#else
@ -70,27 +71,6 @@ private:
};
struct CustomSeam {
std::vector<ExPolygons> enforcers;
std::vector<ExPolygons> blockers;
// Get indices of points inside enforcers and blockers.
void get_indices(size_t layer_id,
const Polygon& polygon,
std::vector<size_t>& enforcers_idxs,
std::vector<size_t>& blockers_idxs) const;
bool is_on_layer(size_t layer_id) const {
return ! ((enforcers.empty() || enforcers[layer_id].empty())
&& (blockers.empty() || blockers[layer_id].empty()));
}
void penalize_polygon(const Polygon& polygon,
std::vector<float>& penalties,
const std::vector<float>& lengths,
int layer_id) const;
static constexpr float ENFORCER_BLOCKER_PENALTY = 1e6;
};
class OozePrevention {
public:
bool enable;
@ -361,7 +341,7 @@ private:
std::string set_extruder(unsigned int extruder_id, double print_z);
// Cache for custom seam enforcers/blockers for each layer.
CustomSeam m_custom_seam;
SeamPlacer m_seam_placer;
/* Origin of print coordinates expressed in unscaled G-code coordinates.
This affects the input arguments supplied to the extrude*() and travel_to()
@ -401,7 +381,6 @@ private:
// Current layer processed. Insequential printing mode, only a single copy will be printed.
// In non-sequential mode, all its copies will be printed.
const Layer* m_layer;
std::map<const PrintObject*,Point> m_seam_position;
double m_volumetric_speed;
// Support for the extrusion role markers. Which marker is active?
ExtrusionRole m_last_extrusion_role;

520
src/libslic3r/GCode/SeamPlacer.cpp Normal file
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@ -0,0 +1,520 @@
#include "SeamPlacer.hpp"
#include "libslic3r/ExtrusionEntity.hpp"
#include "libslic3r/Print.hpp"
#include "libslic3r/BoundingBox.hpp"
#include "libslic3r/EdgeGrid.hpp"
#include "libslic3r/ClipperUtils.hpp"
namespace Slic3r {
static float extrudate_overlap_penalty(float nozzle_r, float weight_zero, float overlap_distance)
{
// The extrudate is not fully supported by the lower layer. Fit a polynomial penalty curve.
// Solved by sympy package:
/*
from sympy import *
(x,a,b,c,d,r,z)=symbols('x a b c d r z')
p = a + b*x + c*x*x + d*x*x*x
p2 = p.subs(solve([p.subs(x, -r), p.diff(x).subs(x, -r), p.diff(x,x).subs(x, -r), p.subs(x, 0)-z], [a, b, c, d]))
from sympy.plotting import plot
plot(p2.subs(r,0.2).subs(z,1.), (x, -1, 3), adaptive=False, nb_of_points=400)
*/
if (overlap_distance < - nozzle_r) {
// The extrudate is fully supported by the lower layer. This is the ideal case, therefore zero penalty.
return 0.f;
} else {
float x = overlap_distance / nozzle_r;
float x2 = x * x;
float x3 = x2 * x;
return weight_zero * (1.f + 3.f * x + 3.f * x2 + x3);
}
}
// Return a value in <0, 1> of a cubic B-spline kernel centered around zero.
// The B-spline is re-scaled so it has value 1 at zero.
static inline float bspline_kernel(float x)
{
x = std::abs(x);
if (x < 1.f) {
return 1.f - (3.f / 2.f) * x * x + (3.f / 4.f) * x * x * x;
}
else if (x < 2.f) {
x -= 1.f;
float x2 = x * x;
float x3 = x2 * x;
return (1.f / 4.f) - (3.f / 4.f) * x + (3.f / 4.f) * x2 - (1.f / 4.f) * x3;
}
else
return 0;
}
static Points::const_iterator project_point_to_polygon_and_insert(Polygon &polygon, const Point &pt, double eps)
{
assert(polygon.points.size() >= 2);
if (polygon.points.size() <= 1)
if (polygon.points.size() == 1)
return polygon.points.begin();
Point pt_min;
double d_min = std::numeric_limits<double>::max();
size_t i_min = size_t(-1);
for (size_t i = 0; i < polygon.points.size(); ++ i) {
size_t j = i + 1;
if (j == polygon.points.size())
j = 0;
const Point &p1 = polygon.points[i];
const Point &p2 = polygon.points[j];
const Slic3r::Point v_seg = p2 - p1;
const Slic3r::Point v_pt = pt - p1;
const int64_t l2_seg = int64_t(v_seg(0)) * int64_t(v_seg(0)) + int64_t(v_seg(1)) * int64_t(v_seg(1));
int64_t t_pt = int64_t(v_seg(0)) * int64_t(v_pt(0)) + int64_t(v_seg(1)) * int64_t(v_pt(1));
if (t_pt < 0) {
// Closest to p1.
double dabs = sqrt(int64_t(v_pt(0)) * int64_t(v_pt(0)) + int64_t(v_pt(1)) * int64_t(v_pt(1)));
if (dabs < d_min) {
d_min = dabs;
i_min = i;
pt_min = p1;
}
}
else if (t_pt > l2_seg) {
// Closest to p2. Then p2 is the starting point of another segment, which shall be discovered in the next step.
continue;
} else {
// Closest to the segment.
assert(t_pt >= 0 && t_pt <= l2_seg);
int64_t d_seg = int64_t(v_seg(1)) * int64_t(v_pt(0)) - int64_t(v_seg(0)) * int64_t(v_pt(1));
double d = double(d_seg) / sqrt(double(l2_seg));
double dabs = std::abs(d);
if (dabs < d_min) {
d_min = dabs;
i_min = i;
// Evaluate the foot point.
pt_min = p1;
double linv = double(d_seg) / double(l2_seg);
pt_min(0) = pt(0) - coord_t(floor(double(v_seg(1)) * linv + 0.5));
pt_min(1) = pt(1) + coord_t(floor(double(v_seg(0)) * linv + 0.5));
assert(Line(p1, p2).distance_to(pt_min) < scale_(1e-5));
}
}
}
assert(i_min != size_t(-1));
if ((pt_min - polygon.points[i_min]).cast<double>().norm() > eps) {
// Insert a new point on the segment i_min, i_min+1.
return polygon.points.insert(polygon.points.begin() + (i_min + 1), pt_min);
}
return polygon.points.begin() + i_min;
}
static std::vector<float> polygon_angles_at_vertices(const Polygon &polygon, const std::vector<float> &lengths, float min_arm_length)
{
assert(polygon.points.size() + 1 == lengths.size());
if (min_arm_length > 0.25f * lengths.back())
min_arm_length = 0.25f * lengths.back();
// Find the initial prev / next point span.
size_t idx_prev = polygon.points.size();
size_t idx_curr = 0;
size_t idx_next = 1;
while (idx_prev > idx_curr && lengths.back() - lengths[idx_prev] < min_arm_length)
-- idx_prev;
while (idx_next < idx_prev && lengths[idx_next] < min_arm_length)
++ idx_next;
std::vector<float> angles(polygon.points.size(), 0.f);
for (; idx_curr < polygon.points.size(); ++ idx_curr) {
// Move idx_prev up until the distance between idx_prev and idx_curr is lower than min_arm_length.
if (idx_prev >= idx_curr) {
while (idx_prev < polygon.points.size() && lengths.back() - lengths[idx_prev] + lengths[idx_curr] > min_arm_length)
++ idx_prev;
if (idx_prev == polygon.points.size())
idx_prev = 0;
}
while (idx_prev < idx_curr && lengths[idx_curr] - lengths[idx_prev] > min_arm_length)
++ idx_prev;
// Move idx_prev one step back.
if (idx_prev == 0)
idx_prev = polygon.points.size() - 1;
else
-- idx_prev;
// Move idx_next up until the distance between idx_curr and idx_next is greater than min_arm_length.
if (idx_curr <= idx_next) {
while (idx_next < polygon.points.size() && lengths[idx_next] - lengths[idx_curr] < min_arm_length)
++ idx_next;
if (idx_next == polygon.points.size())
idx_next = 0;
}
while (idx_next < idx_curr && lengths.back() - lengths[idx_curr] + lengths[idx_next] < min_arm_length)
++ idx_next;
// Calculate angle between idx_prev, idx_curr, idx_next.
const Point &p0 = polygon.points[idx_prev];
const Point &p1 = polygon.points[idx_curr];
const Point &p2 = polygon.points[idx_next];
const Point v1 = p1 - p0;
const Point v2 = p2 - p1;
int64_t dot = int64_t(v1(0))*int64_t(v2(0)) + int64_t(v1(1))*int64_t(v2(1));
int64_t cross = int64_t(v1(0))*int64_t(v2(1)) - int64_t(v1(1))*int64_t(v2(0));
float angle = float(atan2(double(cross), double(dot)));
angles[idx_curr] = angle;
}
return angles;
}
void SeamPlacer::init(const Print& print)
{
m_enforcers.clear();
m_blockers.clear();
m_last_seam_position.clear();
for (const PrintObject* po : print.objects()) {
po->project_and_append_custom_facets(true, EnforcerBlockerType::ENFORCER, m_enforcers);
po->project_and_append_custom_facets(true, EnforcerBlockerType::BLOCKER, m_blockers);
}
const std::vector<double>& nozzle_dmrs = print.config().nozzle_diameter.values;
float max_nozzle_dmr = *std::max_element(nozzle_dmrs.begin(), nozzle_dmrs.end());
for (ExPolygons& explgs : m_enforcers)
explgs = Slic3r::offset_ex(explgs, scale_(max_nozzle_dmr));
for (ExPolygons& explgs : m_blockers)
explgs = Slic3r::offset_ex(explgs, scale_(max_nozzle_dmr));
}
Point SeamPlacer::get_seam(const size_t layer_idx, const SeamPosition seam_position,
const ExtrusionLoop& loop, Point last_pos, coordf_t nozzle_dmr,
const PrintObject* po, bool was_clockwise, const EdgeGrid::Grid* lower_layer_edge_grid)
{
if (seam_position == spNearest || seam_position == spAligned || seam_position == spRear) {
Polygon polygon = loop.polygon();
const coord_t nozzle_r = coord_t(scale_(0.5 * nozzle_dmr) + 0.5);
if (this->is_custom(layer_idx)) {
// Seam enf/blockers can begin and end in between the original vertices.
// Let add extra points in between and update the leghths.
polygon.densify(scale_(0.2f));
}
// Retrieve the last start position for this object.
float last_pos_weight = 1.f;
if (seam_position == spAligned) {
// Seam is aligned to the seam at the preceding layer.
if (po != nullptr && m_last_seam_position.count(po) > 0) {
last_pos = m_last_seam_position[po];
last_pos_weight = 1.f;
}
}
else if (seam_position == spRear) {
// Object is centered around (0,0) in its current coordinate system.
last_pos.x() = 0;
last_pos.y() += coord_t(3. * po->bounding_box().radius());
last_pos_weight = 5.f;
}
// Insert a projection of last_pos into the polygon.
size_t last_pos_proj_idx;
{
auto it = project_point_to_polygon_and_insert(polygon, last_pos, 0.1 * nozzle_r);
last_pos_proj_idx = it - polygon.points.begin();
}
// Parametrize the polygon by its length.
std::vector<float> lengths = polygon.parameter_by_length();
// For each polygon point, store a penalty.
// First calculate the angles, store them as penalties. The angles are caluculated over a minimum arm length of nozzle_r.
std::vector<float> penalties = polygon_angles_at_vertices(polygon, lengths, float(nozzle_r));
// No penalty for reflex points, slight penalty for convex points, high penalty for flat surfaces.
const float penaltyConvexVertex = 1.f;
const float penaltyFlatSurface = 5.f;
const float penaltyOverhangHalf = 10.f;
// Penalty for visible seams.
for (size_t i = 0; i < polygon.points.size(); ++ i) {
float ccwAngle = penalties[i];
if (was_clockwise)
ccwAngle = - ccwAngle;
float penalty = 0;
if (ccwAngle <- float(0.6 * PI))
// Sharp reflex vertex. We love that, it hides the seam perfectly.
penalty = 0.f;
else if (ccwAngle > float(0.6 * PI))
// Seams on sharp convex vertices are more visible than on reflex vertices.
penalty = penaltyConvexVertex;
else if (ccwAngle < 0.f) {
// Interpolate penalty between maximum and zero.
penalty = penaltyFlatSurface * bspline_kernel(ccwAngle * float(PI * 2. / 3.));
} else {
assert(ccwAngle >= 0.f);
// Interpolate penalty between maximum and the penalty for a convex vertex.
penalty = penaltyConvexVertex + (penaltyFlatSurface - penaltyConvexVertex) * bspline_kernel(ccwAngle * float(PI * 2. / 3.));
}
// Give a negative penalty for points close to the last point or the prefered seam location.
float dist_to_last_pos_proj = (i < last_pos_proj_idx) ?
std::min(lengths[last_pos_proj_idx] - lengths[i], lengths.back() - lengths[last_pos_proj_idx] + lengths[i]) :
std::min(lengths[i] - lengths[last_pos_proj_idx], lengths.back() - lengths[i] + lengths[last_pos_proj_idx]);
float dist_max = 0.1f * lengths.back(); // 5.f * nozzle_dmr
penalty -= last_pos_weight * bspline_kernel(dist_to_last_pos_proj / dist_max);
penalties[i] = std::max(0.f, penalty);
}
// Penalty for overhangs.
if (lower_layer_edge_grid) {
// Use the edge grid distance field structure over the lower layer to calculate overhangs.
coord_t nozzle_r = coord_t(std::floor(scale_(0.5 * nozzle_dmr) + 0.5));
coord_t search_r = coord_t(std::floor(scale_(0.8 * nozzle_dmr) + 0.5));
for (size_t i = 0; i < polygon.points.size(); ++ i) {
const Point &p = polygon.points[i];
coordf_t dist;
// Signed distance is positive outside the object, negative inside the object.
// The point is considered at an overhang, if it is more than nozzle radius
// outside of the lower layer contour.
[[maybe_unused]] bool found = lower_layer_edge_grid->signed_distance(p, search_r, dist);
// If the approximate Signed Distance Field was initialized over lower_layer_edge_grid,
// then the signed distnace shall always be known.
assert(found);
penalties[i] += extrudate_overlap_penalty(float(nozzle_r), penaltyOverhangHalf, float(dist));
}
}
// Penalty according to custom seam selection. This one is huge compared to
// the others so that points outside enforcers/inside blockers never win.
this->penalize_polygon(polygon, penalties, lengths, layer_idx);
// Find a point with a minimum penalty.
size_t idx_min = std::min_element(penalties.begin(), penalties.end()) - penalties.begin();
// For all (aligned, nearest, rear) seams:
{
// Very likely the weight of idx_min is very close to the weight of last_pos_proj_idx.
// In that case use last_pos_proj_idx instead.
float penalty_aligned = penalties[last_pos_proj_idx];
float penalty_min = penalties[idx_min];
float penalty_diff_abs = std::abs(penalty_min - penalty_aligned);
float penalty_max = std::max(penalty_min, penalty_aligned);
float penalty_diff_rel = (penalty_max == 0.f) ? 0.f : penalty_diff_abs / penalty_max;
// printf("Align seams, penalty aligned: %f, min: %f, diff abs: %f, diff rel: %f\n", penalty_aligned, penalty_min, penalty_diff_abs, penalty_diff_rel);
if (std::abs(penalty_diff_rel) < 0.05) {
// Penalty of the aligned point is very close to the minimum penalty.
// Align the seams as accurately as possible.
idx_min = last_pos_proj_idx;
}
m_last_seam_position[po] = polygon.points[idx_min];
}
// Export the contour into a SVG file.
#if 0
{
static int iRun = 0;
SVG svg(debug_out_path("GCode_extrude_loop-%d.svg", iRun ++));
if (m_layer->lower_layer != NULL)
svg.draw(m_layer->lower_layer->slices);
for (size_t i = 0; i < loop.paths.size(); ++ i)
svg.draw(loop.paths[i].as_polyline(), "red");
Polylines polylines;
for (size_t i = 0; i < loop.paths.size(); ++ i)
polylines.push_back(loop.paths[i].as_polyline());
Slic3r::Polygons polygons;
coordf_t nozzle_dmr = EXTRUDER_CONFIG(nozzle_diameter);
coord_t delta = scale_(0.5*nozzle_dmr);
Slic3r::offset(polylines, &polygons, delta);
// for (size_t i = 0; i < polygons.size(); ++ i) svg.draw((Polyline)polygons[i], "blue");
svg.draw(last_pos, "green", 3);
svg.draw(polygon.points[idx_min], "yellow", 3);
svg.Close();
}
#endif
return polygon.points[idx_min];
} else { // spRandom
if (loop.loop_role() == elrContourInternalPerimeter) {
// This loop does not contain any other loop. Set a random position.
// The other loops will get a seam close to the random point chosen
// on the inner most contour.
//FIXME This works correctly for inner contours first only.
//FIXME Better parametrize the loop by its length.
Polygon polygon = loop.polygon();
Point centroid = polygon.centroid();
last_pos = Point(polygon.bounding_box().max(0), centroid(1));
last_pos.rotate(fmod((float)rand()/16.0, 2.0*PI), centroid);
}
return last_pos;
}
}
void SeamPlacer::get_indices(size_t layer_id,
const Polygon& polygon,
std::vector<size_t>& enforcers_idxs,
std::vector<size_t>& blockers_idxs) const
{
enforcers_idxs.clear();
blockers_idxs.clear();
// FIXME: This is quadratic and it should be improved, maybe by building
// an AABB tree (or at least utilize bounding boxes).
for (size_t i=0; i<polygon.points.size(); ++i) {
if (! m_enforcers.empty()) {
assert(layer_id < m_enforcers.size());
for (const ExPolygon& explg : m_enforcers[layer_id]) {
if (explg.contains(polygon.points[i]))
enforcers_idxs.push_back(i);
}
}
if (! m_blockers.empty()) {
assert(layer_id < m_blockers.size());
for (const ExPolygon& explg : m_blockers[layer_id]) {
if (explg.contains(polygon.points[i]))
blockers_idxs.push_back(i);
}
}
}
}
// Go through the polygon, identify points inside support enforcers and return
// indices of points in the middle of each enforcer (measured along the contour).
static std::vector<size_t> find_enforcer_centers(const Polygon& polygon,
const std::vector<float>& lengths,
const std::vector<size_t>& enforcers_idxs)
{
std::vector<size_t> out;
assert(polygon.points.size()+1 == lengths.size());
assert(std::is_sorted(enforcers_idxs.begin(), enforcers_idxs.end()));
if (polygon.size() < 2 || enforcers_idxs.empty())
return out;
auto get_center_idx = [&polygon, &lengths](size_t start_idx, size_t end_idx) -> size_t {
assert(end_idx >= start_idx);
if (start_idx == end_idx)
return start_idx;
float t_c = lengths[start_idx] + 0.5f * (lengths[end_idx] - lengths[start_idx]);
auto it = std::lower_bound(lengths.begin() + start_idx, lengths.begin() + end_idx, t_c);
int ret = it - lengths.begin();
return ret;
};
int last_enforcer_start_idx = enforcers_idxs.front();
bool last_pt_in_list = enforcers_idxs.back() == polygon.points.size() - 1;
for (size_t i=0; i<enforcers_idxs.size()-1; ++i) {
if ((i == enforcers_idxs.size() - 1)
|| enforcers_idxs[i+1] != enforcers_idxs[i] + 1) {
// i is last point of current enforcer
out.push_back(get_center_idx(last_enforcer_start_idx, enforcers_idxs[i]));
last_enforcer_start_idx = enforcers_idxs[i+1];
}
}
if (last_pt_in_list) {
// last point is an enforcer - not yet accounted for.
if (enforcers_idxs.front() != 0) {
size_t center_idx = get_center_idx(last_enforcer_start_idx, enforcers_idxs.back());
out.push_back(center_idx);
} else {
// Wrap-around. Update first center already found.
if (out.empty()) {
// Probably an enforcer around the whole contour. Return nothing.
return out;
}
// find last point of the enforcer at the beginning:
size_t idx = 0;
while (enforcers_idxs[idx]+1 == enforcers_idxs[idx+1])
++idx;
float t_s = lengths[last_enforcer_start_idx];
float t_e = lengths[idx];
float half_dist = 0.5f * (t_e + lengths.back() - t_s);
float t_c = (half_dist > t_e) ? t_s + half_dist : t_e - half_dist;
auto it = std::lower_bound(lengths.begin(), lengths.end(), t_c);
out[0] = it - lengths.begin();
if (out[0] == lengths.size() - 1)
--out[0];
assert(out[0] < lengths.size() - 1);
}
}
return out;
}
void SeamPlacer::penalize_polygon(const Polygon& polygon,
std::vector<float>& penalties,
const std::vector<float>& lengths,
int layer_id) const
{
std::vector<size_t> enforcers_idxs;
std::vector<size_t> blockers_idxs;
this->get_indices(layer_id, polygon, enforcers_idxs, blockers_idxs);
for (size_t i : enforcers_idxs) {
assert(i < penalties.size());
penalties[i] -= float(ENFORCER_BLOCKER_PENALTY);
}
for (size_t i : blockers_idxs) {
assert(i < penalties.size());
penalties[i] += float(ENFORCER_BLOCKER_PENALTY);
}
std::vector<size_t> enf_centers = find_enforcer_centers(polygon, lengths, enforcers_idxs);
for (size_t idx : enf_centers) {
assert(idx < penalties.size());
penalties[idx] -= 1000.f;
}
// //////////////////////
// std::ostringstream os;
// os << std::setw(3) << std::setfill('0') << layer_id;
// int a = scale_(20.);
// SVG svg("custom_seam" + os.str() + ".svg", BoundingBox(Point(-a, -a), Point(a, a)));
// /*if (! m_enforcers.empty())
// svg.draw(m_enforcers[layer_id], "blue");
// if (! m_blockers.empty())
// svg.draw(m_blockers[layer_id], "red");*/
// size_t min_idx = std::min_element(penalties.begin(), penalties.end()) - penalties.begin();
// //svg.draw(polygon.points[idx_min], "red", 6e5);
// for (size_t i=0; i<polygon.points.size(); ++i) {
// std::string fill;
// coord_t size = 0;
// if (min_idx == i) {
// fill = "yellow";
// size = 5e5;
// } else {
// fill = (std::find(enforcers_idxs.begin(), enforcers_idxs.end(), i) != enforcers_idxs.end() ? "green" : "black");
// if (std::find(enf_centers.begin(), enf_centers.end(), i) != enf_centers.end()) {
// size = 5e5;
// fill = "blue";
// }
// }
// if (i != 0)
// svg.draw(polygon.points[i], fill, size);
// else
// svg.draw(polygon.points[i], "red", 5e5);
// }
// ////////////////////
}
}

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@ -0,0 +1,51 @@
#ifndef libslic3r_SeamPlacer_hpp_
#define libslic3r_SeamPlacer_hpp_
#include "libslic3r/ExPolygon.hpp"
#include "libslic3r/PrintConfig.hpp"
namespace Slic3r {
class PrintObject;
class ExtrusionLoop;
class Print;
namespace EdgeGrid { class Grid; }
class SeamPlacer {
public:
void init(const Print& print);
bool is_custom(size_t layer_id) const {
return ! ((m_enforcers.empty() || m_enforcers[layer_id].empty())
&& (m_blockers.empty() || m_blockers[layer_id].empty()));
}
Point get_seam(const size_t layer_idx, const SeamPosition seam_position,
const ExtrusionLoop& loop, Point last_pos,
coordf_t nozzle_diameter, const PrintObject* po,
bool was_clockwise, const EdgeGrid::Grid* lower_layer_edge_grid);
private:
std::vector<ExPolygons> m_enforcers;
std::vector<ExPolygons> m_blockers;
std::map<const PrintObject*, Point> m_last_seam_position;
// Get indices of points inside enforcers and blockers.
void get_indices(size_t layer_id,
const Polygon& polygon,
std::vector<size_t>& enforcers_idxs,
std::vector<size_t>& blockers_idxs) const;
void penalize_polygon(const Polygon& polygon,
std::vector<float>& penalties,
const std::vector<float>& lengths,
int layer_id) const;
static constexpr float ENFORCER_BLOCKER_PENALTY = 1e6;
};
}
#endif // libslic3r_SeamPlacer_hpp_