mirror of
https://github.com/SoftFever/OrcaSlicer.git
synced 2025-10-31 04:31:15 -06:00
447 lines
15 KiB
C++
447 lines
15 KiB
C++
#include "IndexedMesh.hpp"
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#include "Concurrency.hpp"
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#include <libslic3r/AABBTreeIndirect.hpp>
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#include <libslic3r/TriangleMesh.hpp>
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#include <numeric>
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#ifdef SLIC3R_HOLE_RAYCASTER
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#include <libslic3r/SLA/Hollowing.hpp>
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#endif
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namespace Slic3r {
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namespace sla {
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class IndexedMesh::AABBImpl {
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private:
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AABBTreeIndirect::Tree3f m_tree;
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public:
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void init(const indexed_triangle_set &its)
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{
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m_tree = AABBTreeIndirect::build_aabb_tree_over_indexed_triangle_set(
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its.vertices, its.indices);
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}
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void intersect_ray(const indexed_triangle_set &its,
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const Vec3d & s,
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const Vec3d & dir,
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igl::Hit & hit)
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{
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AABBTreeIndirect::intersect_ray_first_hit(its.vertices, its.indices,
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m_tree, s, dir, hit);
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}
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void intersect_ray(const indexed_triangle_set &its,
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const Vec3d & s,
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const Vec3d & dir,
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std::vector<igl::Hit> & hits)
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{
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AABBTreeIndirect::intersect_ray_all_hits(its.vertices, its.indices,
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m_tree, s, dir, hits);
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}
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double squared_distance(const indexed_triangle_set & its,
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const Vec3d & point,
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int & i,
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Eigen::Matrix<double, 1, 3> &closest)
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{
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size_t idx_unsigned = 0;
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Vec3d closest_vec3d(closest);
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double dist =
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AABBTreeIndirect::squared_distance_to_indexed_triangle_set(
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its.vertices, its.indices, m_tree, point, idx_unsigned,
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closest_vec3d);
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i = int(idx_unsigned);
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closest = closest_vec3d;
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return dist;
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}
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};
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template<class M> void IndexedMesh::init(const M &mesh)
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{
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BoundingBoxf3 bb = bounding_box(mesh);
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m_ground_level += bb.min(Z);
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// Build the AABB accelaration tree
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m_aabb->init(*m_tm);
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}
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IndexedMesh::IndexedMesh(const indexed_triangle_set& tmesh)
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: m_aabb(new AABBImpl()), m_tm(&tmesh)
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{
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init(tmesh);
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}
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IndexedMesh::IndexedMesh(const TriangleMesh &mesh)
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: m_aabb(new AABBImpl()), m_tm(&mesh.its)
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{
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init(mesh);
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}
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IndexedMesh::~IndexedMesh() {}
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IndexedMesh::IndexedMesh(const IndexedMesh &other):
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m_tm(other.m_tm), m_ground_level(other.m_ground_level),
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m_aabb( new AABBImpl(*other.m_aabb) ) {}
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IndexedMesh &IndexedMesh::operator=(const IndexedMesh &other)
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{
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m_tm = other.m_tm;
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m_ground_level = other.m_ground_level;
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m_aabb.reset(new AABBImpl(*other.m_aabb)); return *this;
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}
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IndexedMesh &IndexedMesh::operator=(IndexedMesh &&other) = default;
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IndexedMesh::IndexedMesh(IndexedMesh &&other) = default;
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const std::vector<Vec3f>& IndexedMesh::vertices() const
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{
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return m_tm->vertices;
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}
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const std::vector<Vec3i>& IndexedMesh::indices() const
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{
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return m_tm->indices;
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}
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const Vec3f& IndexedMesh::vertices(size_t idx) const
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{
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return m_tm->vertices[idx];
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}
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const Vec3i& IndexedMesh::indices(size_t idx) const
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{
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return m_tm->indices[idx];
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}
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Vec3d IndexedMesh::normal_by_face_id(int face_id) const {
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return its_unnormalized_normal(*m_tm, face_id).cast<double>().normalized();
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}
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IndexedMesh::hit_result
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IndexedMesh::query_ray_hit(const Vec3d &s, const Vec3d &dir) const
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{
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assert(is_approx(dir.norm(), 1.));
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igl::Hit hit{-1, -1, 0.f, 0.f, 0.f};
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hit.t = std::numeric_limits<float>::infinity();
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#ifdef SLIC3R_HOLE_RAYCASTER
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if (! m_holes.empty()) {
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// If there are holes, the hit_results will be made by
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// query_ray_hits (object) and filter_hits (holes):
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return filter_hits(query_ray_hits(s, dir));
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}
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#endif
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m_aabb->intersect_ray(*m_tm, s, dir, hit);
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hit_result ret(*this);
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ret.m_t = double(hit.t);
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ret.m_dir = dir;
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ret.m_source = s;
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if(!std::isinf(hit.t) && !std::isnan(hit.t)) {
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ret.m_normal = this->normal_by_face_id(hit.id);
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ret.m_face_id = hit.id;
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}
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return ret;
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}
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std::vector<IndexedMesh::hit_result>
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IndexedMesh::query_ray_hits(const Vec3d &s, const Vec3d &dir) const
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{
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std::vector<IndexedMesh::hit_result> outs;
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std::vector<igl::Hit> hits;
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m_aabb->intersect_ray(*m_tm, s, dir, hits);
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// The sort is necessary, the hits are not always sorted.
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std::sort(hits.begin(), hits.end(),
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[](const igl::Hit& a, const igl::Hit& b) { return a.t < b.t; });
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// Remove duplicates. They sometimes appear, for example when the ray is cast
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// along an axis of a cube due to floating-point approximations in igl (?)
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hits.erase(std::unique(hits.begin(), hits.end(),
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[](const igl::Hit& a, const igl::Hit& b)
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{ return a.t == b.t; }),
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hits.end());
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// Convert the igl::Hit into hit_result
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outs.reserve(hits.size());
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for (const igl::Hit& hit : hits) {
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outs.emplace_back(IndexedMesh::hit_result(*this));
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outs.back().m_t = double(hit.t);
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outs.back().m_dir = dir;
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outs.back().m_source = s;
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if(!std::isinf(hit.t) && !std::isnan(hit.t)) {
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outs.back().m_normal = this->normal_by_face_id(hit.id);
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outs.back().m_face_id = hit.id;
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}
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}
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return outs;
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}
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#ifdef SLIC3R_HOLE_RAYCASTER
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IndexedMesh::hit_result IndexedMesh::filter_hits(
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const std::vector<IndexedMesh::hit_result>& object_hits) const
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{
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assert(! m_holes.empty());
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hit_result out(*this);
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if (object_hits.empty())
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return out;
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const Vec3d& s = object_hits.front().source();
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const Vec3d& dir = object_hits.front().direction();
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// A helper struct to save an intersetion with a hole
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struct HoleHit {
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HoleHit(float t_p, const Vec3d& normal_p, bool entry_p) :
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t(t_p), normal(normal_p), entry(entry_p) {}
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float t;
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Vec3d normal;
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bool entry;
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};
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std::vector<HoleHit> hole_isects;
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hole_isects.reserve(m_holes.size());
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auto sf = s.cast<float>();
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auto dirf = dir.cast<float>();
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// Collect hits on all holes, preserve information about entry/exit
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for (const sla::DrainHole& hole : m_holes) {
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std::array<std::pair<float, Vec3d>, 2> isects;
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if (hole.get_intersections(sf, dirf, isects)) {
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// Ignore hole hits behind the source
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if (isects[0].first > 0.f) hole_isects.emplace_back(isects[0].first, isects[0].second, true);
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if (isects[1].first > 0.f) hole_isects.emplace_back(isects[1].first, isects[1].second, false);
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}
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}
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// Holes can intersect each other, sort the hits by t
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std::sort(hole_isects.begin(), hole_isects.end(),
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[](const HoleHit& a, const HoleHit& b) { return a.t < b.t; });
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// Now inspect the intersections with object and holes, in the order of
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// increasing distance. Keep track how deep are we nested in mesh/holes and
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// pick the correct intersection.
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// This needs to be done twice - first to find out how deep in the structure
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// the source is, then to pick the correct intersection.
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int hole_nested = 0;
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int object_nested = 0;
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for (int dry_run=1; dry_run>=0; --dry_run) {
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hole_nested = -hole_nested;
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object_nested = -object_nested;
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bool is_hole = false;
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bool is_entry = false;
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const HoleHit* next_hole_hit = hole_isects.empty() ? nullptr : &hole_isects.front();
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const hit_result* next_mesh_hit = &object_hits.front();
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while (next_hole_hit || next_mesh_hit) {
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if (next_hole_hit && next_mesh_hit) // still have hole and obj hits
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is_hole = (next_hole_hit->t < next_mesh_hit->m_t);
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else
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is_hole = next_hole_hit; // one or the other ran out
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// Is this entry or exit hit?
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is_entry = is_hole ? next_hole_hit->entry : ! next_mesh_hit->is_inside();
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if (! dry_run) {
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if (! is_hole && hole_nested == 0) {
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// This is a valid object hit
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return *next_mesh_hit;
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}
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if (is_hole && ! is_entry && object_nested != 0) {
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// This holehit is the one we seek
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out.m_t = next_hole_hit->t;
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out.m_normal = next_hole_hit->normal;
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out.m_source = s;
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out.m_dir = dir;
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return out;
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}
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}
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// Increase/decrease the counter
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(is_hole ? hole_nested : object_nested) += (is_entry ? 1 : -1);
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// Advance the respective pointer
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if (is_hole && next_hole_hit++ == &hole_isects.back())
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next_hole_hit = nullptr;
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if (! is_hole && next_mesh_hit++ == &object_hits.back())
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next_mesh_hit = nullptr;
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}
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}
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// if we got here, the ray ended up in infinity
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return out;
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}
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#endif
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double IndexedMesh::squared_distance(const Vec3d &p, int& i, Vec3d& c) const {
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double sqdst = 0;
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Eigen::Matrix<double, 1, 3> pp = p;
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Eigen::Matrix<double, 1, 3> cc;
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sqdst = m_aabb->squared_distance(*m_tm, pp, i, cc);
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c = cc;
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return sqdst;
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}
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static bool point_on_edge(const Vec3d& p, const Vec3d& e1, const Vec3d& e2,
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double eps = 0.05)
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{
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using Line3D = Eigen::ParametrizedLine<double, 3>;
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auto line = Line3D::Through(e1, e2);
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double d = line.distance(p);
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return std::abs(d) < eps;
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}
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PointSet normals(const PointSet& points,
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const IndexedMesh& mesh,
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double eps,
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std::function<void()> thr, // throw on cancel
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const std::vector<unsigned>& pt_indices)
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{
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if (points.rows() == 0 || mesh.vertices().empty() || mesh.indices().empty())
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return {};
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std::vector<unsigned> range = pt_indices;
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if (range.empty()) {
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range.resize(size_t(points.rows()), 0);
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std::iota(range.begin(), range.end(), 0);
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}
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PointSet ret(range.size(), 3);
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// for (size_t ridx = 0; ridx < range.size(); ++ridx)
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ccr::for_each(size_t(0), range.size(),
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[&ret, &mesh, &points, thr, eps, &range](size_t ridx) {
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thr();
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unsigned el = range[ridx];
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auto eidx = Eigen::Index(el);
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int faceid = 0;
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Vec3d p;
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mesh.squared_distance(points.row(eidx), faceid, p);
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auto trindex = mesh.indices(faceid);
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const Vec3d &p1 = mesh.vertices(trindex(0)).cast<double>();
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const Vec3d &p2 = mesh.vertices(trindex(1)).cast<double>();
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const Vec3d &p3 = mesh.vertices(trindex(2)).cast<double>();
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// We should check if the point lies on an edge of the hosting
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// triangle. If it does then all the other triangles using the
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// same two points have to be searched and the final normal should
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// be some kind of aggregation of the participating triangle
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// normals. We should also consider the cases where the support
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// point lies right on a vertex of its triangle. The procedure is
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// the same, get the neighbor triangles and calculate an average
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// normal.
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// mark the vertex indices of the edge. ia and ib marks and edge
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// ic will mark a single vertex.
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int ia = -1, ib = -1, ic = -1;
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if (std::abs((p - p1).norm()) < eps) {
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ic = trindex(0);
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} else if (std::abs((p - p2).norm()) < eps) {
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ic = trindex(1);
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} else if (std::abs((p - p3).norm()) < eps) {
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ic = trindex(2);
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} else if (point_on_edge(p, p1, p2, eps)) {
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ia = trindex(0);
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ib = trindex(1);
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} else if (point_on_edge(p, p2, p3, eps)) {
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ia = trindex(1);
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ib = trindex(2);
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} else if (point_on_edge(p, p1, p3, eps)) {
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ia = trindex(0);
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ib = trindex(2);
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}
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// vector for the neigboring triangles including the detected one.
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std::vector<size_t> neigh;
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if (ic >= 0) { // The point is right on a vertex of the triangle
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for (size_t n = 0; n < mesh.indices().size(); ++n) {
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thr();
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Vec3i ni = mesh.indices(n);
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if ((ni(X) == ic || ni(Y) == ic || ni(Z) == ic))
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neigh.emplace_back(n);
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}
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} else if (ia >= 0 && ib >= 0) { // the point is on and edge
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// now get all the neigboring triangles
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for (size_t n = 0; n < mesh.indices().size(); ++n) {
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thr();
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Vec3i ni = mesh.indices(n);
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if ((ni(X) == ia || ni(Y) == ia || ni(Z) == ia) &&
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(ni(X) == ib || ni(Y) == ib || ni(Z) == ib))
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neigh.emplace_back(n);
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}
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}
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// Calculate the normals for the neighboring triangles
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std::vector<Vec3d> neighnorms;
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neighnorms.reserve(neigh.size());
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for (size_t &tri_id : neigh)
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neighnorms.emplace_back(mesh.normal_by_face_id(tri_id));
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// Throw out duplicates. They would cause trouble with summing. We
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// will use std::unique which works on sorted ranges. We will sort
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// by the coefficient-wise sum of the normals. It should force the
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// same elements to be consecutive.
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std::sort(neighnorms.begin(), neighnorms.end(),
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[](const Vec3d &v1, const Vec3d &v2) {
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return v1.sum() < v2.sum();
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});
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auto lend = std::unique(neighnorms.begin(), neighnorms.end(),
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[](const Vec3d &n1, const Vec3d &n2) {
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// Compare normals for equivalence.
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// This is controvers stuff.
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auto deq = [](double a, double b) {
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return std::abs(a - b) < 1e-3;
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};
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return deq(n1(X), n2(X)) &&
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deq(n1(Y), n2(Y)) &&
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deq(n1(Z), n2(Z));
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});
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if (!neighnorms.empty()) { // there were neighbors to count with
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// sum up the normals and then normalize the result again.
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// This unification seems to be enough.
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Vec3d sumnorm(0, 0, 0);
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sumnorm = std::accumulate(neighnorms.begin(), lend, sumnorm);
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sumnorm.normalize();
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ret.row(long(ridx)) = sumnorm;
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} else { // point lies safely within its triangle
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Eigen::Vector3d U = p2 - p1;
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Eigen::Vector3d V = p3 - p1;
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ret.row(long(ridx)) = U.cross(V).normalized();
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}
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});
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return ret;
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}
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}} // namespace Slic3r::sla
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