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OrcaSlicer/src/libslic3r/AABBTreeLines.hpp
igiannakas 61437b2c76
Detection of curled edges to enhance slowdown for overhangs algorithm (#2056) 
* Overhang perimeter handling

Updated code to handle overhang perimeters as an overhang and not as a bridge.

* Preparing to add curled extrusions identification

* Porting curling calculations from Prusa Slier 2.6.1

* Prototype 1 - slowdown extended to detect curled edges and further reduce speed

First prototype of the code submitted.

* Working prototype - 2

Code is now finally working - external perimeters are slowed down as needed when there is likelyhood of curling up.

ToDo:
1. Reslicing the model causes the algorithm not to run - need to find where this fails to trigger the call for this.
2. Slowdown of internal perimeters not working yet.

* Updated to use overhang wall speed instead of bridging speed for this algorithm

* Fixed bug in speed calculation and tweaked parameters for high speed printer

Fixed bug in speed calculation and tweaked parameters for high speed printer

* Attempting to fix "set started" not being set

* Parameter tweak after print tests

* Fixed estimation not running when model is re-sliced.

* Removing debug printf statements and fixed threading flag.

* Fixed threading

* Parameter tweaks following print tests

* Made this as an option in the GUI

* Reintroduced handling of bridges as per original design

* UI line toggling when option makes sense to be visible.

* Fixed bug in field visibility & made it default to off

* Code optimisation

---------

Co-authored-by: SoftFever <softfeverever@gmail.com>
2023-09-16 22:24:18 +08:00

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#ifndef SRC_LIBSLIC3R_AABBTREELINES_HPP_
#define SRC_LIBSLIC3R_AABBTREELINES_HPP_
#include "Point.hpp"
#include "Utils.hpp"
#include "libslic3r.h"
#include "libslic3r/AABBTreeIndirect.hpp"
#include "libslic3r/Line.hpp"
#include <algorithm>
#include <cmath>
#include <type_traits>
#include <vector>
namespace Slic3r {
namespace AABBTreeLines {
namespace detail {
template <typename ALineType, typename ATreeType, typename AVectorType>
struct IndexedLinesDistancer {
using LineType = ALineType;
using TreeType = ATreeType;
using VectorType = AVectorType;
using ScalarType = typename VectorType::Scalar;
const std::vector<LineType>& lines;
const TreeType& tree;
const VectorType origin;
inline VectorType closest_point_to_origin(size_t primitive_index, ScalarType& squared_distance) const
{
Vec<LineType::Dim, typename LineType::Scalar> nearest_point;
const LineType& line = lines[primitive_index];
squared_distance = line_alg::distance_to_squared(line, origin.template cast<typename LineType::Scalar>(), &nearest_point);
return nearest_point.template cast<ScalarType>();
}
};
// returns number of intersections of ray starting in ray_origin and following the specified coordinate line with lines in tree
// first number is hits in positive direction of ray, second number hits in negative direction. returns neagtive numbers when ray_origin is
// on some line exactly.
template <typename LineType, typename TreeType, typename VectorType, int coordinate>
inline std::tuple<int, int> coordinate_aligned_ray_hit_count(size_t node_idx,
const TreeType& tree,
const std::vector<LineType>& lines,
const VectorType& ray_origin)
{
static constexpr int other_coordinate = (coordinate + 1) % 2;
using Scalar = typename LineType::Scalar;
using Floating = typename std::conditional<std::is_floating_point<Scalar>::value, Scalar, double>::type;
const auto& node = tree.node(node_idx);
assert(node.is_valid());
if (node.is_leaf()) {
const LineType& line = lines[node.idx];
if (ray_origin[other_coordinate] < std::min(line.a[other_coordinate], line.b[other_coordinate]) || ray_origin[other_coordinate] >= std::max(line.a[other_coordinate], line.b[other_coordinate])) {
// the second inequality is nonsharp for a reason
// without it, we may count contour border twice when the lines meet exactly at the spot of intersection. this prevents is
return { 0, 0 };
}
Scalar line_max = std::max(line.a[coordinate], line.b[coordinate]);
Scalar line_min = std::min(line.a[coordinate], line.b[coordinate]);
if (ray_origin[coordinate] > line_max) {
return { 1, 0 };
} else if (ray_origin[coordinate] < line_min) {
return { 0, 1 };
} else {
// find intersection of ray with line
// that is when ( line.a + t * (line.b - line.a) )[other_coordinate] == ray_origin[other_coordinate]
// t = ray_origin[oc] - line.a[oc] / (line.b[oc] - line.a[oc]);
// then we want to get value of intersection[ coordinate]
// val_c = line.a[c] + t * (line.b[c] - line.a[c]);
// Note that ray and line may overlap, when (line.b[oc] - line.a[oc]) is zero
// In that case, we return negative number
Floating distance_oc = line.b[other_coordinate] - line.a[other_coordinate];
Floating t = (ray_origin[other_coordinate] - line.a[other_coordinate]) / distance_oc;
Floating val_c = line.a[coordinate] + t * (line.b[coordinate] - line.a[coordinate]);
if (ray_origin[coordinate] > val_c) {
return { 1, 0 };
} else if (ray_origin[coordinate] < val_c) {
return { 0, 1 };
} else { // ray origin is on boundary
return { -1, -1 };
}
}
} else {
int intersections_above = 0;
int intersections_below = 0;
size_t left_node_idx = node_idx * 2 + 1;
size_t right_node_idx = left_node_idx + 1;
const auto& node_left = tree.node(left_node_idx);
const auto& node_right = tree.node(right_node_idx);
assert(node_left.is_valid());
assert(node_right.is_valid());
if (node_left.bbox.min()[other_coordinate] <= ray_origin[other_coordinate] && node_left.bbox.max()[other_coordinate] >= ray_origin[other_coordinate]) {
auto [above, below] = coordinate_aligned_ray_hit_count<LineType, TreeType, VectorType, coordinate>(left_node_idx, tree, lines,
ray_origin);
if (above < 0 || below < 0)
return { -1, -1 };
intersections_above += above;
intersections_below += below;
}
if (node_right.bbox.min()[other_coordinate] <= ray_origin[other_coordinate] && node_right.bbox.max()[other_coordinate] >= ray_origin[other_coordinate]) {
auto [above, below] = coordinate_aligned_ray_hit_count<LineType, TreeType, VectorType, coordinate>(right_node_idx, tree, lines,
ray_origin);
if (above < 0 || below < 0)
return { -1, -1 };
intersections_above += above;
intersections_below += below;
}
return { intersections_above, intersections_below };
}
}
template <typename LineType, typename TreeType, typename VectorType>
inline std::vector<std::pair<VectorType, size_t>> get_intersections_with_line(size_t node_idx,
const TreeType& tree,
const std::vector<LineType>& lines,
const LineType& line,
const typename TreeType::BoundingBox& line_bb)
{
const auto& node = tree.node(node_idx);
assert(node.is_valid());
if (node.is_leaf()) {
VectorType intersection_pt;
if (line_alg::intersection(line, lines[node.idx], &intersection_pt)) {
return { std::pair<VectorType, size_t>(intersection_pt, node.idx) };
} else {
return {};
}
} else {
size_t left_node_idx = node_idx * 2 + 1;
size_t right_node_idx = left_node_idx + 1;
const auto& node_left = tree.node(left_node_idx);
const auto& node_right = tree.node(right_node_idx);
assert(node_left.is_valid());
assert(node_right.is_valid());
std::vector<std::pair<VectorType, size_t>> result;
if (node_left.bbox.intersects(line_bb)) {
std::vector<std::pair<VectorType, size_t>> intersections = get_intersections_with_line<LineType, TreeType, VectorType>(left_node_idx, tree, lines, line, line_bb);
result.insert(result.end(), intersections.begin(), intersections.end());
}
if (node_right.bbox.intersects(line_bb)) {
std::vector<std::pair<VectorType, size_t>> intersections = get_intersections_with_line<LineType, TreeType, VectorType>(right_node_idx, tree, lines, line, line_bb);
result.insert(result.end(), intersections.begin(), intersections.end());
}
return result;
}
}
} // namespace detail
// Build a balanced AABB Tree over a vector of lines, balancing the tree
// on centroids of the lines.
// Epsilon is applied to the bounding boxes of the AABB Tree to cope with numeric inaccuracies
// during tree traversal.
template <typename LineType>
inline AABBTreeIndirect::Tree<2, typename LineType::Scalar> build_aabb_tree_over_indexed_lines(const std::vector<LineType>& lines)
{
using TreeType = AABBTreeIndirect::Tree<2, typename LineType::Scalar>;
// using CoordType = typename TreeType::CoordType;
using VectorType = typename TreeType::VectorType;
using BoundingBox = typename TreeType::BoundingBox;
struct InputType {
size_t idx() const { return m_idx; }
const BoundingBox& bbox() const { return m_bbox; }
const VectorType& centroid() const { return m_centroid; }
size_t m_idx;
BoundingBox m_bbox;
VectorType m_centroid;
};
std::vector<InputType> input;
input.reserve(lines.size());
for (size_t i = 0; i < lines.size(); ++i) {
const LineType& line = lines[i];
InputType n;
n.m_idx = i;
n.m_centroid = (line.a + line.b) * 0.5;
n.m_bbox = BoundingBox(line.a, line.a);
n.m_bbox.extend(line.b);
input.emplace_back(n);
}
TreeType out;
out.build(std::move(input));
return out;
}
// Finding a closest line, its closest point and squared distance to the closest point
// Returns squared distance to the closest point or -1 if the input is empty.
// or no closer point than max_sq_dist
template <typename LineType, typename TreeType, typename VectorType>
inline typename VectorType::Scalar squared_distance_to_indexed_lines(
const std::vector<LineType>& lines,
const TreeType& tree,
const VectorType& point,
size_t& hit_idx_out,
Eigen::PlainObjectBase<VectorType>& hit_point_out,
typename VectorType::Scalar max_sqr_dist = std::numeric_limits<typename VectorType::Scalar>::infinity())
{
using Scalar = typename VectorType::Scalar;
if (tree.empty())
return Scalar(-1);
auto distancer = detail::IndexedLinesDistancer<LineType, TreeType, VectorType> { lines, tree, point };
return AABBTreeIndirect::detail::squared_distance_to_indexed_primitives_recursive(distancer, size_t(0), Scalar(0), max_sqr_dist,
hit_idx_out, hit_point_out);
}
// Returns all lines within the given radius limit
template <typename LineType, typename TreeType, typename VectorType>
inline std::vector<size_t> all_lines_in_radius(const std::vector<LineType>& lines,
const TreeType& tree,
const VectorType& point,
typename VectorType::Scalar max_distance_squared)
{
auto distancer = detail::IndexedLinesDistancer<LineType, TreeType, VectorType> { lines, tree, point };
if (tree.empty()) {
return {};
}
std::vector<size_t> found_lines {};
AABBTreeIndirect::detail::indexed_primitives_within_distance_squared_recurisve(distancer, size_t(0), max_distance_squared, found_lines);
return found_lines;
}
// return 1 if true, -1 if false, 0 for point on contour (or if cannot be determined)
template <typename LineType, typename TreeType, typename VectorType>
inline int point_outside_closed_contours(const std::vector<LineType>& lines, const TreeType& tree, const VectorType& point)
{
if (tree.empty()) {
return 1;
}
auto [hits_above, hits_below] = detail::coordinate_aligned_ray_hit_count<LineType, TreeType, VectorType, 0>(0, tree, lines, point);
if (hits_above < 0 || hits_below < 0) {
return 0;
} else if (hits_above % 2 == 1 && hits_below % 2 == 1) {
return -1;
} else if (hits_above % 2 == 0 && hits_below % 2 == 0) {
return 1;
} else { // this should not happen with closed contours. lets check it in Y direction
auto [hits_above, hits_below] = detail::coordinate_aligned_ray_hit_count<LineType, TreeType, VectorType, 1>(0, tree, lines, point);
if (hits_above < 0 || hits_below < 0) {
return 0;
} else if (hits_above % 2 == 1 && hits_below % 2 == 1) {
return -1;
} else if (hits_above % 2 == 0 && hits_below % 2 == 0) {
return 1;
} else { // both results were unclear
return 0;
}
}
}
template <bool sorted, typename VectorType, typename LineType, typename TreeType>
inline std::vector<std::pair<VectorType, size_t>> get_intersections_with_line(const std::vector<LineType>& lines,
const TreeType& tree,
const LineType& line)
{
if (tree.empty()) {
return {};
}
auto line_bb = typename TreeType::BoundingBox(line.a, line.a);
line_bb.extend(line.b);
auto intersections = detail::get_intersections_with_line<LineType, TreeType, VectorType>(0, tree, lines, line, line_bb);
if (sorted) {
using Floating =
typename std::conditional<std::is_floating_point<typename LineType::Scalar>::value, typename LineType::Scalar, double>::type;
std::vector<std::pair<Floating, std::pair<VectorType, size_t>>> points_with_sq_distance {};
for (const auto& p : intersections) {
points_with_sq_distance.emplace_back((p.first - line.a).template cast<Floating>().squaredNorm(), p);
}
std::sort(points_with_sq_distance.begin(), points_with_sq_distance.end(),
[](const std::pair<Floating, std::pair<VectorType, size_t>>& left,
std::pair<Floating, std::pair<VectorType, size_t>>& right) { return left.first < right.first; });
for (size_t i = 0; i < points_with_sq_distance.size(); i++) {
intersections[i] = points_with_sq_distance[i].second;
}
}
return intersections;
}
template <typename LineType>
class LinesDistancer {
public:
using Scalar = typename LineType::Scalar;
using Floating = typename std::conditional<std::is_floating_point<Scalar>::value, Scalar, double>::type;
private:
std::vector<LineType> lines;
AABBTreeIndirect::Tree<2, Scalar> tree;
public:
explicit LinesDistancer(const std::vector<LineType>& lines)
: lines(lines)
{
tree = AABBTreeLines::build_aabb_tree_over_indexed_lines(this->lines);
}
explicit LinesDistancer(std::vector<LineType>&& lines)
: lines(lines)
{
tree = AABBTreeLines::build_aabb_tree_over_indexed_lines(this->lines);
}
LinesDistancer() = default;
// 1 true, -1 false, 0 cannot determine
int outside(const Vec<2, Scalar>& point) const { return point_outside_closed_contours(lines, tree, point); }
// negative sign means inside
template <bool SIGNED_DISTANCE>
std::tuple<Floating, size_t, Vec<2, Floating>> distance_from_lines_extra(const Vec<2, Scalar>& point) const
{
size_t nearest_line_index_out = size_t(-1);
Vec<2, Floating> nearest_point_out = Vec<2, Floating>::Zero();
Vec<2, Floating> p = point.template cast<Floating>();
auto distance = AABBTreeLines::squared_distance_to_indexed_lines(lines, tree, p, nearest_line_index_out, nearest_point_out);
if (distance < 0) {
return { std::numeric_limits<Floating>::infinity(), nearest_line_index_out, nearest_point_out };
}
distance = sqrt(distance);
if (SIGNED_DISTANCE) {
distance *= outside(point);
}
return { distance, nearest_line_index_out, nearest_point_out };
}
template <bool SIGNED_DISTANCE>
Floating distance_from_lines(const Vec<2, typename LineType::Scalar>& point) const
{
auto [dist, idx, np] = distance_from_lines_extra<SIGNED_DISTANCE>(point);
return dist;
}
std::vector<size_t> all_lines_in_radius(const Vec<2, Scalar> &point, Floating radius)
{
return AABBTreeLines::all_lines_in_radius(this->lines, this->tree, point.template cast<Floating>(), radius * radius);
}
template <bool sorted>
std::vector<std::pair<Vec<2, Scalar>, size_t>> intersections_with_line(const LineType& line) const
{
return get_intersections_with_line<sorted, Vec<2, Scalar>>(lines, tree, line);
}
const LineType& get_line(size_t line_idx) const { return lines[line_idx]; }
const std::vector<LineType>& get_lines() const { return lines; }
};
}
} // namespace Slic3r::AABBTreeLines
#endif /* SRC_LIBSLIC3R_AABBTREELINES_HPP_ */
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