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282 lines
11 KiB
Perl
282 lines
11 KiB
Perl
package Slic3r::GCode::MotionPlanner;
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use Moo;
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has 'islands' => (is => 'ro', required => 1);
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has 'no_internal' => (is => 'ro');
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has 'last_crossings'=> (is => 'rw');
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has '_inner' => (is => 'rw', default => sub { [] }); # arrayref of arrayrefs of expolygons
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has '_outer' => (is => 'rw', default => sub { [] }); # arrayref of arrayrefs of polygons
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has '_contours_ex' => (is => 'rw', default => sub { [] }); # arrayref of arrayrefs of expolygons
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has '_pointmap' => (is => 'rw', default => sub { {} }); # { id => $point }
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has '_edges' => (is => 'rw', default => sub { {} }); # node_idx => { node_idx => distance, ... }
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has '_crossing_edges' => (is => 'rw', default => sub { {} }); # edge_idx => bool
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use List::Util qw(first);
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use Slic3r::Geometry qw(A B scale epsilon nearest_point);
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use Slic3r::Geometry::Clipper qw(diff_ex JT_MITER);
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# clearance (in mm) from the perimeters
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has '_inner_margin' => (is => 'ro', default => sub { scale 0.5 });
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has '_outer_margin' => (is => 'ro', default => sub { scale 2 });
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# this factor weigths the crossing of a perimeter
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# vs. the alternative path. a value of 5 means that
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# a perimeter will be crossed if the alternative path
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# is >= 5x the length of the straight line we could
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# follow if we decided to cross the perimeter.
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# a nearly-infinite value for this will only permit
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# perimeter crossing when there's no alternative path.
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use constant CROSSING_FACTOR => 20;
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use constant INFINITY => 'inf';
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# setup our configuration space
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sub BUILD {
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my $self = shift;
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my $edges = $self->_edges;
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my $crossing_edges = $self->_crossing_edges;
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my $tolerance = scale epsilon;
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# given an expolygon, this subroutine connects all its visible points
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my $add_expolygon = sub {
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my ($expolygon, $crosses_perimeter) = @_;
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my @points = map @$_, @$expolygon;
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for my $i (0 .. $#points) {
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for my $j (($i+1) .. $#points) {
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my $line = Slic3r::Line->new($points[$i], $points[$j]);
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if ($expolygon->encloses_line($line, $tolerance)) {
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my $dist = $line->length * ($crosses_perimeter ? CROSSING_FACTOR : 1);
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$edges->{$points[$i]}{$points[$j]} = $dist;
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$edges->{$points[$j]}{$points[$i]} = $dist;
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$crossing_edges->{$points[$i]}{$points[$j]} = 1;
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$crossing_edges->{$points[$j]}{$points[$i]} = 1;
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}
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}
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}
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};
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# process individual islands
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for my $i (0 .. $#{$self->islands}) {
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# simplify the island's contours
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$self->islands->[$i]->simplify($self->_inner_margin);
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# offset the island inwards to make the boundaries for internal movements
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# so that no motion along external perimeters happens
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$self->_inner->[$i] = [ $self->islands->[$i]->offset_ex(-$self->_inner_margin) ]
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if !$self->no_internal;
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# offset the island outwards to make the boundaries for external movements
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$self->_outer->[$i] = [ $self->islands->[$i]->contour->offset($self->_outer_margin) ];
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# further simplification (isn't this a duplication of the one above?)
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$_->simplify($self->_inner_margin) for @{$self->_inner->[$i]}, @{$self->_outer->[$i]};
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# if internal motion is enabled, build a set of utility expolygons representing
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# the outer boundaries (as contours) and the inner boundaries (as holes). whenever
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# we jump from a hole to a contour or viceversa, we know we're crossing a perimeter
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if (!$self->no_internal) {
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$self->_contours_ex->[$i] = diff_ex(
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$self->_outer->[$i],
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[ map $_->contour, @{$self->_inner->[$i]} ],
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);
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# lines enclosed in inner expolygons are visible
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$add_expolygon->($_) for @{ $self->_inner->[$i] };
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# lines enclosed in expolygons covering perimeters are visible
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# (but discouraged)
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$add_expolygon->($_, 1) for @{ $self->_contours_ex->[$i] };
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}
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}
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my $intersects = sub {
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my ($polygon, $line) = @_;
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@{Boost::Geometry::Utils::polygon_multi_linestring_intersection([$polygon], [$line])} > 0;
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};
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{
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my @outer = (map @$_, @{$self->_outer});
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# lines of outer polygons connect visible points
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for my $i (0 .. $#outer) {
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foreach my $line ($outer[$i]->lines) {
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my $dist = $line->length;
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$edges->{$line->[A]}{$line->[B]} = $dist;
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$edges->{$line->[B]}{$line->[A]} = $dist;
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}
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}
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# lines connecting outer polygons are visible
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for my $i (0 .. $#outer) {
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for my $j (($i+1) .. $#outer) {
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for my $m (0 .. $#{$outer[$i]}) {
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for my $n (0 .. $#{$outer[$j]}) {
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my $line = Slic3r::Line->new($outer[$i][$m], $outer[$j][$n]);
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if (!first { $intersects->($_, $line) } @outer) {
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# this line does not cross any polygon
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my $dist = $line->length;
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$edges->{$outer[$i][$m]}{$outer[$j][$n]} = $dist;
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$edges->{$outer[$j][$n]}{$outer[$i][$m]} = $dist;
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}
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}
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}
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}
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}
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}
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# lines connecting inner polygons contours are visible but discouraged
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if (!$self->no_internal) {
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my @inner = (map $_->contour, map @$_, @{$self->_inner});
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for my $i (0 .. $#inner) {
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for my $j (($i+1) .. $#inner) {
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for my $m (0 .. $#{$inner[$i]}) {
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for my $n (0 .. $#{$inner[$j]}) {
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my $line = Slic3r::Line->new($inner[$i][$m], $inner[$j][$n]);
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if (!first { $intersects->($_, $line) } @inner) {
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# this line does not cross any polygon
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my $dist = $line->length * CROSSING_FACTOR;
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$edges->{$inner[$i][$m]}{$inner[$j][$n]} = $dist;
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$edges->{$inner[$j][$n]}{$inner[$i][$m]} = $dist;
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$crossing_edges->{$inner[$i][$m]}{$inner[$j][$n]} = 1;
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$crossing_edges->{$inner[$j][$n]}{$inner[$i][$m]} = 1;
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}
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}
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}
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}
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}
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}
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$self->_pointmap({
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map +("$_" => $_),
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(map @$_, map @$_, map @$_, @{$self->_inner}),
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(map @$_, map @$_, @{$self->_outer}),
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(map @$_, map @$_, map @$_, @{$self->_contours_ex}),
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});
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if (0) {
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my @lines = ();
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my %lines = ();
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for my $i (keys %{$self->_edges}) {
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for my $j (keys %{$self->_edges->{$i}}) {
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next if $lines{join '_', sort $i, $j};
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push @lines, [ map $self->_pointmap->{$_}, $i, $j ];
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$lines{join '_', sort $i, $j} = 1;
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}
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}
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require "Slic3r/SVG.pm";
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Slic3r::SVG::output("space.svg",
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lines => \@lines,
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points => [ values %{$self->_pointmap} ],
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no_arrows => 1,
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polygons => [ map @$_, @{$self->islands} ],
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#red_polygons => [ map $_->holes, map @$_, @{$self->_inner} ],
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#white_polygons => [ map @$_, @{$self->_outer} ],
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);
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printf "%d islands\n", scalar @{$self->islands};
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}
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}
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sub find_node {
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my $self = shift;
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my ($point, $near_to) = @_;
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# for optimal pathing, we should check visibility from $point to all $candidates, and then
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# choose the one that is nearest to $near_to among the visible ones; however this is probably too slow
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# if we're inside a hole, move to a point on hole;
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{
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my $polygon = first { $_->encloses_point($point) } (map $_->holes, map @$_, @{$self->_inner});
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return nearest_point($point, $polygon) if $polygon;
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}
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# if we're inside an expolygon move to a point on contour or holes
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{
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my $expolygon = first { $_->encloses_point_quick($point) } (map @$_, @{$self->_inner});
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return nearest_point($point, [ map @$_, @$expolygon ]) if $expolygon;
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}
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{
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my $outer_polygon_idx;
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if (!$self->no_internal) {
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# look for an outer expolygon whose contour contains our point
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$outer_polygon_idx = first { first { $_->contour->encloses_point($point) } @{$self->_contours_ex->[$_]} }
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0 .. $#{ $self->_contours_ex };
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} else {
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# # look for an outer expolygon containing our point
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$outer_polygon_idx = first { first { $_->encloses_point($point) } @{$self->_outer->[$_]} }
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0 .. $#{ $self->_outer };
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}
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my $candidates = defined $outer_polygon_idx
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? [ map @{$_->contour}, @{$self->_inner->[$outer_polygon_idx]} ]
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: [ map @$_, map @$_, @{$self->_outer} ];
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$candidates = [ map @$_, @{$self->_outer->[$outer_polygon_idx]} ]
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if @$candidates == 0;
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return nearest_point($point, $candidates);
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}
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}
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sub shortest_path {
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my $self = shift;
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my ($from, $to) = @_;
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return Slic3r::Polyline->new($from, $to) if !@{$self->islands};
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# find nearest nodes
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my $new_from = $self->find_node($from, $to);
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my $new_to = $self->find_node($to, $from);
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my $root = "$new_from";
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my $target = "$new_to";
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my $edges = $self->_edges;
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my %dist = map { $_ => INFINITY } keys %$edges;
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$dist{$root} = 0;
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my %prev = map { $_ => undef } keys %$edges;
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my @unsolved = keys %$edges;
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my %crossings = (); # node_idx => bool
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while (@unsolved) {
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# sort unsolved by distance from root
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# using a sorting option that accounts for infinity
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@unsolved = sort {
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$dist{$a} eq INFINITY ? +1 :
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$dist{$b} eq INFINITY ? -1 :
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$dist{$a} <=> $dist{$b};
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} @unsolved;
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# we'll solve the closest node
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last if $dist{$unsolved[0]} eq INFINITY;
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my $n = shift @unsolved;
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# stop search
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last if $n eq $target;
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# now, look at all the nodes connected to n
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foreach my $n2 (keys %{$edges->{$n}}) {
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# .. and find out if any of their estimated distances
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# can be improved if we go through n
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if ( ($dist{$n2} eq INFINITY) || ($dist{$n2} > ($dist{$n} + $edges->{$n}{$n2})) ) {
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$dist{$n2} = $dist{$n} + $edges->{$n}{$n2};
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$prev{$n2} = $n;
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$crossings{$n} = 1 if $self->_crossing_edges->{$n}{$n2};
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}
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}
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}
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my @points = ();
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my $crossings = 0;
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{
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my $pointmap = $self->_pointmap;
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my $u = $target;
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while (defined $prev{$u}) {
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unshift @points, $pointmap->{$u};
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$crossings++ if $crossings{$u};
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$u = $prev{$u};
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}
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}
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$self->last_crossings($crossings);
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return Slic3r::Polyline->new($from, $new_from, @points, $to); # @points already includes $new_to
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}
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1;
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