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https://github.com/SoftFever/OrcaSlicer.git
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0558b53493
The XS was left only for the unit / integration tests, and it links libslic3r only. No wxWidgets are allowed to be used from Perl starting from now.
91 lines
2.9 KiB
C++
91 lines
2.9 KiB
C++
#ifndef slic3r_MotionPlanner_hpp_
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#define slic3r_MotionPlanner_hpp_
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#include "libslic3r.h"
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#include "BoundingBox.hpp"
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#include "ClipperUtils.hpp"
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#include "ExPolygonCollection.hpp"
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#include "Polyline.hpp"
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#include <map>
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#include <utility>
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#include <memory>
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#include <vector>
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#define MP_INNER_MARGIN scale_(1.0)
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#define MP_OUTER_MARGIN scale_(2.0)
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namespace Slic3r {
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class MotionPlanner;
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class MotionPlannerEnv
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{
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friend class MotionPlanner;
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public:
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MotionPlannerEnv() {};
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MotionPlannerEnv(const ExPolygon &island) : m_island(island), m_island_bbox(get_extents(island)) {};
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Point nearest_env_point(const Point &from, const Point &to) const;
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bool island_contains(const Point &pt) const
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{ return m_island_bbox.contains(pt) && m_island.contains(pt); }
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bool island_contains_b(const Point &pt) const
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{ return m_island_bbox.contains(pt) && m_island.contains_b(pt); }
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private:
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ExPolygon m_island;
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BoundingBox m_island_bbox;
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// Region, where the travel is allowed.
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ExPolygonCollection m_env;
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};
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// A 2D directed graph for searching a shortest path using the famous Dijkstra algorithm.
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class MotionPlannerGraph
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{
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public:
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// Add a directed edge into the graph.
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size_t add_node(const Point &p) { m_nodes.emplace_back(p); return m_nodes.size() - 1; }
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void add_edge(size_t from, size_t to, double weight);
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size_t find_closest_node(const Point &point) const { return point.nearest_point_index(m_nodes); }
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bool empty() const { return m_adjacency_list.empty(); }
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Polyline shortest_path(size_t from, size_t to) const;
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Polyline shortest_path(const Point &from, const Point &to) const
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{ return this->shortest_path(this->find_closest_node(from), this->find_closest_node(to)); }
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private:
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typedef int node_t;
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typedef double weight_t;
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struct Neighbor {
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Neighbor(node_t target, weight_t weight) : target(target), weight(weight) {}
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node_t target;
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weight_t weight;
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};
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Points m_nodes;
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std::vector<std::vector<Neighbor>> m_adjacency_list;
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};
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class MotionPlanner
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{
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public:
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MotionPlanner(const ExPolygons &islands);
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~MotionPlanner() {}
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Polyline shortest_path(const Point &from, const Point &to);
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size_t islands_count() const { return m_islands.size(); }
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private:
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bool m_initialized;
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std::vector<MotionPlannerEnv> m_islands;
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MotionPlannerEnv m_outer;
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// 0th graph is the graph for m_outer. Other graphs are 1 indexed.
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std::vector<std::unique_ptr<MotionPlannerGraph>> m_graphs;
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void initialize();
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const MotionPlannerGraph& init_graph(int island_idx);
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const MotionPlannerEnv& get_env(int island_idx) const
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{ return (island_idx == -1) ? m_outer : m_islands[island_idx]; }
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};
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}
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#endif
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