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OrcaSlicer/src/libslic3r/GCode/ExtrusionProcessor.hpp
Ioannis Giannakas 7a8e1929ee
Fixed a bug that caused curled edge detection not to work as expected for left facing edges when using Arachne. Enabled fan speed control for curled overhangs (#3034) 
* Update malformation distance factors (curled edge detection)

* Updated curled detection logic from latest prusa 2.7 release, including updated estimate_points_properties algorithm

Updated curled detection logic from latest prusa 2.7 release, including updated estimate_points_properties algorithm

* Curled distance expansion const introduction

* Enable overhang fan speed logic for curled edges slow downs

* Reverted erroneous change
2023-12-09 09:17:49 +00:00

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#ifndef slic3r_ExtrusionProcessor_hpp_
#define slic3r_ExtrusionProcessor_hpp_
// This algorithm is copied from PrusaSlicer, original author is Pavel Mikus(pavel.mikus.mail@seznam.cz)
#include "../AABBTreeLines.hpp"
//#include "../SupportSpotsGenerator.hpp"
#include "../libslic3r.h"
#include "../ExtrusionEntity.hpp"
#include "../Layer.hpp"
#include "../Point.hpp"
#include "../SVG.hpp"
#include "../BoundingBox.hpp"
#include "../Polygon.hpp"
#include "../ClipperUtils.hpp"
#include "../Flow.hpp"
#include "../Config.hpp"
#include <algorithm>
#include <cmath>
#include <cstddef>
#include <limits>
#include <numeric>
#include <unordered_map>
#include <utility>
#include <vector>
namespace Slic3r {
struct ExtendedPoint
{
Vec2d position;
float distance;
float curvature;
};
template<bool SCALED_INPUT, bool ADD_INTERSECTIONS, bool PREV_LAYER_BOUNDARY_OFFSET, bool SIGNED_DISTANCE, typename POINTS, typename L>
std::vector<ExtendedPoint> estimate_points_properties(const POINTS &input_points,
const AABBTreeLines::LinesDistancer<L> &unscaled_prev_layer,
float flow_width,
float max_line_length = -1.0f)
{
bool looped = input_points.front() == input_points.back();
std::function<size_t(size_t,size_t)> get_prev_index = [](size_t idx, size_t count) {
if (idx > 0) {
return idx - 1;
} else
return idx;
};
if (looped) {
get_prev_index = [](size_t idx, size_t count) {
if (idx == 0)
idx = count;
return --idx;
};
};
std::function<size_t(size_t,size_t)> get_next_index = [](size_t idx, size_t size) {
if (idx + 1 < size) {
return idx + 1;
} else
return idx;
};
if (looped) {
get_next_index = [](size_t idx, size_t count) {
if (++idx == count)
idx = 0;
return idx;
};
};
using P = typename POINTS::value_type;
using AABBScalar = typename AABBTreeLines::LinesDistancer<L>::Scalar;
if (input_points.empty())
return {};
float boundary_offset = PREV_LAYER_BOUNDARY_OFFSET ? 0.5 * flow_width : 0.0f;
auto maybe_unscale = [](const P &p) { return SCALED_INPUT ? unscaled(p) : p.template cast<double>(); };
std::vector<ExtendedPoint> points;
points.reserve(input_points.size() * (ADD_INTERSECTIONS ? 1.5 : 1));
{
ExtendedPoint start_point{maybe_unscale(input_points.front())};
auto [distance, nearest_line,
x] = unscaled_prev_layer.template distance_from_lines_extra<SIGNED_DISTANCE>(start_point.position.cast<AABBScalar>());
start_point.distance = distance + boundary_offset;
points.push_back(start_point);
}
for (size_t i = 1; i < input_points.size(); i++) {
ExtendedPoint next_point{maybe_unscale(input_points[i])};
auto [distance, nearest_line,
x] = unscaled_prev_layer.template distance_from_lines_extra<SIGNED_DISTANCE>(next_point.position.cast<AABBScalar>());
next_point.distance = distance + boundary_offset;
if (ADD_INTERSECTIONS &&
((points.back().distance > boundary_offset + EPSILON) != (next_point.distance > boundary_offset + EPSILON))) {
const ExtendedPoint &prev_point = points.back();
auto intersections = unscaled_prev_layer.template intersections_with_line<true>(
L{prev_point.position.cast<AABBScalar>(), next_point.position.cast<AABBScalar>()});
for (const auto &intersection : intersections) {
ExtendedPoint p{};
p.position = intersection.first.template cast<double>();
p.distance = boundary_offset;
points.push_back(p);
}
}
points.push_back(next_point);
}
if (PREV_LAYER_BOUNDARY_OFFSET && ADD_INTERSECTIONS) {
std::vector<ExtendedPoint> new_points;
new_points.reserve(points.size() * 2);
new_points.push_back(points.front());
for (int point_idx = 0; point_idx < int(points.size()) - 1; ++point_idx) {
const ExtendedPoint &curr = points[point_idx];
const ExtendedPoint &next = points[point_idx + 1];
if ((curr.distance > -boundary_offset && curr.distance < boundary_offset + 2.0f) ||
(next.distance > -boundary_offset && next.distance < boundary_offset + 2.0f)) {
double line_len = (next.position - curr.position).norm();
if (line_len > 4.0f) {
double a0 = std::clamp((curr.distance + 3 * boundary_offset) / line_len, 0.0, 1.0);
double a1 = std::clamp(1.0f - (next.distance + 3 * boundary_offset) / line_len, 0.0, 1.0);
double t0 = std::min(a0, a1);
double t1 = std::max(a0, a1);
if (t0 < 1.0) {
auto p0 = curr.position + t0 * (next.position - curr.position);
auto [p0_dist, p0_near_l,
p0_x] = unscaled_prev_layer.template distance_from_lines_extra<SIGNED_DISTANCE>(p0.cast<AABBScalar>());
ExtendedPoint new_p{};
new_p.position = p0;
new_p.distance = float(p0_dist + boundary_offset);
new_points.push_back(new_p);
}
if (t1 > 0.0) {
auto p1 = curr.position + t1 * (next.position - curr.position);
auto [p1_dist, p1_near_l,
p1_x] = unscaled_prev_layer.template distance_from_lines_extra<SIGNED_DISTANCE>(p1.cast<AABBScalar>());
ExtendedPoint new_p{};
new_p.position = p1;
new_p.distance = float(p1_dist + boundary_offset);
new_points.push_back(new_p);
}
}
}
new_points.push_back(next);
}
points = std::move(new_points);
}
if (max_line_length > 0) {
std::vector<ExtendedPoint> new_points;
new_points.reserve(points.size() * 2);
{
for (size_t i = 0; i + 1 < points.size(); i++) {
const ExtendedPoint &curr = points[i];
const ExtendedPoint &next = points[i + 1];
new_points.push_back(curr);
double len = (next.position - curr.position).squaredNorm();
double t = sqrt((max_line_length * max_line_length) / len);
size_t new_point_count = 1.0 / t;
for (size_t j = 1; j < new_point_count + 1; j++) {
Vec2d pos = curr.position * (1.0 - j * t) + next.position * (j * t);
auto [p_dist, p_near_l,
p_x] = unscaled_prev_layer.template distance_from_lines_extra<SIGNED_DISTANCE>(pos.cast<AABBScalar>());
ExtendedPoint new_p{};
new_p.position = pos;
new_p.distance = float(p_dist + boundary_offset);
new_points.push_back(new_p);
}
}
new_points.push_back(points.back());
}
points = std::move(new_points);
}
float accumulated_distance = 0;
std::vector<float> distances_for_curvature(points.size());
for (size_t point_idx = 0; point_idx < points.size(); ++point_idx) {
const ExtendedPoint &a = points[point_idx];
const ExtendedPoint &b = points[get_prev_index(point_idx, points.size())];
distances_for_curvature[point_idx] = (b.position - a.position).norm();
accumulated_distance += distances_for_curvature[point_idx];
}
if (accumulated_distance > EPSILON)
for (float window_size : {3.0f, 9.0f, 16.0f}) {
for (int point_idx = 0; point_idx < int(points.size()); ++point_idx) {
ExtendedPoint &current = points[point_idx];
Vec2d back_position = current.position;
{
size_t back_point_index = point_idx;
float dist_backwards = 0;
while (dist_backwards < window_size * 0.5 && back_point_index != get_prev_index(back_point_index, points.size())) {
float line_dist = distances_for_curvature[get_prev_index(back_point_index, points.size())];
if (dist_backwards + line_dist > window_size * 0.5) {
back_position = points[back_point_index].position +
(window_size * 0.5 - dist_backwards) *
(points[get_prev_index(back_point_index, points.size())].position -
points[back_point_index].position)
.normalized();
dist_backwards += window_size * 0.5 - dist_backwards + EPSILON;
} else {
dist_backwards += line_dist;
back_point_index = get_prev_index(back_point_index, points.size());
}
}
}
Vec2d front_position = current.position;
{
size_t front_point_index = point_idx;
float dist_forwards = 0;
while (dist_forwards < window_size * 0.5 && front_point_index != get_next_index(front_point_index, points.size())) {
float line_dist = distances_for_curvature[front_point_index];
if (dist_forwards + line_dist > window_size * 0.5) {
front_position = points[front_point_index].position +
(window_size * 0.5 - dist_forwards) *
(points[get_next_index(front_point_index, points.size())].position -
points[front_point_index].position)
.normalized();
dist_forwards += window_size * 0.5 - dist_forwards + EPSILON;
} else {
dist_forwards += line_dist;
front_point_index = get_next_index(front_point_index, points.size());
}
}
}
float new_curvature = angle(current.position - back_position, front_position - current.position) / window_size;
if (abs(current.curvature) < abs(new_curvature)) {
current.curvature = new_curvature;
}
}
}
return points;
}
struct ProcessedPoint
{
Point p;
float speed = 1.0f;
float overlap = 1.0f;
};
class ExtrusionQualityEstimator
{
std::unordered_map<const PrintObject *, AABBTreeLines::LinesDistancer<Linef>> prev_layer_boundaries;
std::unordered_map<const PrintObject *, AABBTreeLines::LinesDistancer<Linef>> next_layer_boundaries;
std::unordered_map<const PrintObject *, AABBTreeLines::LinesDistancer<CurledLine>> prev_curled_extrusions;
std::unordered_map<const PrintObject *, AABBTreeLines::LinesDistancer<CurledLine>> next_curled_extrusions;
const PrintObject *current_object;
public:
void set_current_object(const PrintObject *object) { current_object = object; }
void prepare_for_new_layer(const PrintObject * obj, const Layer *layer)
{
if (layer == nullptr) return;
const PrintObject *object = obj;
prev_layer_boundaries[object] = next_layer_boundaries[object];
next_layer_boundaries[object] = AABBTreeLines::LinesDistancer<Linef>{to_unscaled_linesf(layer->lslices)};
prev_curled_extrusions[object] = next_curled_extrusions[object];
next_curled_extrusions[object] = AABBTreeLines::LinesDistancer<CurledLine>{layer->curled_lines};
}
std::vector<ProcessedPoint> estimate_extrusion_quality(const ExtrusionPath &path,
const ConfigOptionPercents &overlaps,
const ConfigOptionFloatsOrPercents &speeds,
float ext_perimeter_speed,
float original_speed,
bool slowdown_for_curled_edges)
{
size_t speed_sections_count = std::min(overlaps.values.size(), speeds.values.size());
std::vector<std::pair<float, float>> speed_sections;
for (size_t i = 0; i < speed_sections_count; i++) {
float distance = path.width * (1.0 - (overlaps.get_at(i) / 100.0));
float speed = speeds.get_at(i).percent ? (ext_perimeter_speed * speeds.get_at(i).value / 100.0) : speeds.get_at(i).value;
speed_sections.push_back({distance, speed});
}
std::sort(speed_sections.begin(), speed_sections.end(),
[](const std::pair<float, float> &a, const std::pair<float, float> &b) {
if (a.first == b.first) {
return a.second > b.second;
}
return a.first < b.first; });
std::pair<float, float> last_section{INFINITY, 0};
for (auto &section : speed_sections) {
if (section.first == last_section.first) {
section.second = last_section.second;
} else {
last_section = section;
}
}
std::vector<ExtendedPoint> extended_points =
estimate_points_properties<true, true, true, true>(path.polyline.points, prev_layer_boundaries[current_object], path.width);
const auto width_inv = 1.0f / path.width;
std::vector<ProcessedPoint> processed_points;
processed_points.reserve(extended_points.size());
for (size_t i = 0; i < extended_points.size(); i++) {
const ExtendedPoint &curr = extended_points[i];
const ExtendedPoint &next = extended_points[i + 1 < extended_points.size() ? i + 1 : i];
float artificial_distance_to_curled_lines = 0.0;
if(slowdown_for_curled_edges) {
// The following code artifically increases the distance to provide slowdown for extrusions that are over curled lines
const double dist_limit = 10.0 * path.width;
{
Vec2d middle = 0.5 * (curr.position + next.position);
auto line_indices = prev_curled_extrusions[current_object].all_lines_in_radius(Point::new_scale(middle), scale_(dist_limit));
if (!line_indices.empty()) {
double len = (next.position - curr.position).norm();
// For long lines, there is a problem with the additional slowdown. If by accident, there is small curled line near the middle of this long line
// The whole segment gets slower unnecesarily. For these long lines, we do additional check whether it is worth slowing down.
// NOTE that this is still quite rough approximation, e.g. we are still checking lines only near the middle point
// TODO maybe split the lines into smaller segments before running this alg? but can be demanding, and GCode will be huge
if (len > 8) {
Vec2d dir = Vec2d(next.position - curr.position) / len;
Vec2d right = Vec2d(-dir.y(), dir.x());
Polygon box_of_influence = {
scaled(Vec2d(curr.position + right * dist_limit)),
scaled(Vec2d(next.position + right * dist_limit)),
scaled(Vec2d(next.position - right * dist_limit)),
scaled(Vec2d(curr.position - right * dist_limit)),
};
double projected_lengths_sum = 0;
for (size_t idx : line_indices) {
const CurledLine &line = prev_curled_extrusions[current_object].get_line(idx);
Lines inside = intersection_ln({{line.a, line.b}}, {box_of_influence});
if (inside.empty())
continue;
double projected_length = abs(dir.dot(unscaled(Vec2d((inside.back().b - inside.back().a).cast<double>()))));
projected_lengths_sum += projected_length;
}
if (projected_lengths_sum < 0.4 * len) {
line_indices.clear();
}
}
for (size_t idx : line_indices) {
const CurledLine &line = prev_curled_extrusions[current_object].get_line(idx);
float distance_from_curled = unscaled(line_alg::distance_to(line, Point::new_scale(middle)));
float dist = path.width * (1.0 - (distance_from_curled / dist_limit)) *
(1.0 - (distance_from_curled / dist_limit)) *
(line.curled_height / (path.height * 10.0f)); // max_curled_height_factor from SupportSpotGenerator
artificial_distance_to_curled_lines = std::max(artificial_distance_to_curled_lines, dist);
}
}
}
}
auto calculate_speed = [&speed_sections, &original_speed](float distance) {
float final_speed;
if (distance <= speed_sections.front().first) {
final_speed = original_speed;
} else if (distance >= speed_sections.back().first) {
final_speed = speed_sections.back().second;
} else {
size_t section_idx = 0;
while (distance > speed_sections[section_idx + 1].first) {
section_idx++;
}
float t = (distance - speed_sections[section_idx].first) /
(speed_sections[section_idx + 1].first - speed_sections[section_idx].first);
t = std::clamp(t, 0.0f, 1.0f);
final_speed = (1.0f - t) * speed_sections[section_idx].second + t * speed_sections[section_idx + 1].second;
}
return final_speed;
};
float extrusion_speed = std::min(calculate_speed(curr.distance), calculate_speed(next.distance));
if(slowdown_for_curled_edges) {
float curled_speed = calculate_speed(artificial_distance_to_curled_lines);
extrusion_speed = std::min(curled_speed, extrusion_speed); // adjust extrusion speed based on what is smallest - the calculated overhang speed or the artificial curled speed
}
float overlap = std::min(1 - (curr.distance+artificial_distance_to_curled_lines) * width_inv, 1 - (next.distance+artificial_distance_to_curled_lines) * width_inv);
processed_points.push_back({ scaled(curr.position), extrusion_speed, overlap });
}
return processed_points;
}
};
} // namespace Slic3r
#endif // slic3r_ExtrusionProcessor_hpp_
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