mirror of
https://github.com/SoftFever/OrcaSlicer.git
synced 2025-11-02 12:41:18 -07:00
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_
|
|
#define slic3r_MotionPlanner_hpp_
|
|
|
|
#include "libslic3r.h"
|
|
#include "BoundingBox.hpp"
|
|
#include "ClipperUtils.hpp"
|
|
#include "ExPolygonCollection.hpp"
|
|
#include "Polyline.hpp"
|
|
#include <map>
|
|
#include <utility>
|
|
#include <memory>
|
|
#include <vector>
|
|
|
|
#define MP_INNER_MARGIN scale_(1.0)
|
|
#define MP_OUTER_MARGIN scale_(2.0)
|
|
|
|
namespace Slic3r {
|
|
|
|
class MotionPlanner;
|
|
|
|
class MotionPlannerEnv
|
|
{
|
|
friend class MotionPlanner;
|
|
|
|
public:
|
|
MotionPlannerEnv() {};
|
|
MotionPlannerEnv(const ExPolygon &island) : m_island(island), m_island_bbox(get_extents(island)) {};
|
|
Point nearest_env_point(const Point &from, const Point &to) const;
|
|
bool island_contains(const Point &pt) const
|
|
{ return m_island_bbox.contains(pt) && m_island.contains(pt); }
|
|
bool island_contains_b(const Point &pt) const
|
|
{ return m_island_bbox.contains(pt) && m_island.contains_b(pt); }
|
|
|
|
private:
|
|
ExPolygon m_island;
|
|
BoundingBox m_island_bbox;
|
|
// Region, where the travel is allowed.
|
|
ExPolygonCollection m_env;
|
|
};
|
|
|
|
// A 2D directed graph for searching a shortest path using the famous Dijkstra algorithm.
|
|
class MotionPlannerGraph
|
|
{
|
|
public:
|
|
// Add a directed edge into the graph.
|
|
size_t add_node(const Point &p) { m_nodes.emplace_back(p); return m_nodes.size() - 1; }
|
|
void add_edge(size_t from, size_t to, double weight);
|
|
size_t find_closest_node(const Point &point) const { return point.nearest_point_index(m_nodes); }
|
|
|
|
bool empty() const { return m_adjacency_list.empty(); }
|
|
Polyline shortest_path(size_t from, size_t to) const;
|
|
Polyline shortest_path(const Point &from, const Point &to) const
|
|
{ return this->shortest_path(this->find_closest_node(from), this->find_closest_node(to)); }
|
|
|
|
private:
|
|
typedef int node_t;
|
|
typedef double weight_t;
|
|
struct Neighbor {
|
|
Neighbor(node_t target, weight_t weight) : target(target), weight(weight) {}
|
|
node_t target;
|
|
weight_t weight;
|
|
};
|
|
Points m_nodes;
|
|
std::vector<std::vector<Neighbor>> m_adjacency_list;
|
|
};
|
|
|
|
class MotionPlanner
|
|
{
|
|
public:
|
|
MotionPlanner(const ExPolygons &islands);
|
|
~MotionPlanner() {}
|
|
|
|
Polyline shortest_path(const Point &from, const Point &to);
|
|
size_t islands_count() const { return m_islands.size(); }
|
|
|
|
private:
|
|
bool m_initialized;
|
|
std::vector<MotionPlannerEnv> m_islands;
|
|
MotionPlannerEnv m_outer;
|
|
// 0th graph is the graph for m_outer. Other graphs are 1 indexed.
|
|
std::vector<std::unique_ptr<MotionPlannerGraph>> m_graphs;
|
|
|
|
void initialize();
|
|
const MotionPlannerGraph& init_graph(int island_idx);
|
|
const MotionPlannerEnv& get_env(int island_idx) const
|
|
{ return (island_idx == -1) ? m_outer : m_islands[island_idx]; }
|
|
};
|
|
|
|
}
|
|
|
|
#endif
|