mirror of
https://github.com/SoftFever/OrcaSlicer.git
synced 2025-10-31 12:41:20 -06:00
317 lines
11 KiB
Perl
317 lines
11 KiB
Perl
package Slic3r::GCode::MotionPlanner;
|
|
use Moo;
|
|
|
|
has 'islands' => (is => 'ro', required => 1); # arrayref of ExPolygons
|
|
has 'internal' => (is => 'ro', default => sub { 1 });
|
|
has '_space' => (is => 'ro', default => sub { Slic3r::GCode::MotionPlanner::ConfigurationSpace->new });
|
|
has '_inner' => (is => 'ro', default => sub { [] }); # arrayref of ExPolygons
|
|
|
|
use List::Util qw(first max);
|
|
use Slic3r::Geometry qw(A B scale epsilon);
|
|
use Slic3r::Geometry::Clipper qw(offset offset_ex diff_ex intersection_pl);
|
|
|
|
# clearance (in mm) from the perimeters
|
|
has '_inner_margin' => (is => 'ro', default => sub { scale 1 });
|
|
has '_outer_margin' => (is => 'ro', default => sub { scale 2 });
|
|
|
|
# this factor weigths the crossing of a perimeter
|
|
# vs. the alternative path. a value of 5 means that
|
|
# a perimeter will be crossed if the alternative path
|
|
# is >= 5x the length of the straight line we could
|
|
# follow if we decided to cross the perimeter.
|
|
# a nearly-infinite value for this will only permit
|
|
# perimeter crossing when there's no alternative path.
|
|
use constant CROSSING_PENALTY => 20;
|
|
|
|
use constant POINT_DISTANCE => 10; # unscaled
|
|
|
|
# setup our configuration space
|
|
sub BUILD {
|
|
my $self = shift;
|
|
|
|
my $point_distance = scale POINT_DISTANCE;
|
|
my $nodes = $self->_space->nodes;
|
|
my $edges = $self->_space->edges;
|
|
|
|
# process individual islands
|
|
for my $i (0 .. $#{$self->islands}) {
|
|
my $expolygon = $self->islands->[$i];
|
|
|
|
# find external margin
|
|
my $outer = offset([ @$expolygon ], +$self->_outer_margin);
|
|
my @outer_points = map @{$_->equally_spaced_points($point_distance)}, @$outer;
|
|
|
|
# add outer points to graph
|
|
my $o_outer = $self->_space->add_nodes(@outer_points);
|
|
|
|
# find pairs of visible outer points and add them to the graph
|
|
for my $i (0 .. $#outer_points) {
|
|
for my $j (($i+1) .. $#outer_points) {
|
|
my ($a, $b) = ($outer_points[$i], $outer_points[$j]);
|
|
my $line = Slic3r::Polyline->new($a, $b);
|
|
# outer points are visible when their line has empty intersection with islands
|
|
my $intersection = intersection_pl(
|
|
[ $line ],
|
|
[ map @$_, @{$self->islands} ],
|
|
);
|
|
if (!@$intersection) {
|
|
$self->_space->add_edge($i+$o_outer, $j+$o_outer, $line->length);
|
|
}
|
|
}
|
|
}
|
|
|
|
if ($self->internal) {
|
|
# find internal margin
|
|
my $inner = offset_ex([ @$expolygon ], -$self->_inner_margin);
|
|
push @{ $self->_inner }, @$inner;
|
|
my @inner_points = map @{$_->equally_spaced_points($point_distance)}, map @$_, @$inner;
|
|
|
|
# add points to graph and get their offset
|
|
my $o_inner = $self->_space->add_nodes(@inner_points);
|
|
|
|
# find pairs of visible inner points and add them to the graph
|
|
for my $i (0 .. $#inner_points) {
|
|
for my $j (($i+1) .. $#inner_points) {
|
|
my ($a, $b) = ($inner_points[$i], $inner_points[$j]);
|
|
my $line = Slic3r::Line->new($a, $b);
|
|
# turn $inner into an ExPolygonCollection and use $inner->contains_line()
|
|
if (first { $_->contains_line($line) } @$inner) {
|
|
$self->_space->add_edge($i+$o_inner, $j+$o_inner, $line->length);
|
|
}
|
|
}
|
|
}
|
|
|
|
# generate the stripe around slice contours
|
|
my $contour = diff_ex(
|
|
$outer,
|
|
[ map @$_, @$inner ],
|
|
);
|
|
|
|
# find pairs of visible points in this area and add them to the graph
|
|
for my $i (0 .. $#inner_points) {
|
|
for my $j (0 .. $#outer_points) {
|
|
my ($a, $b) = ($inner_points[$i], $outer_points[$j]);
|
|
my $line = Slic3r::Line->new($a, $b);
|
|
# turn $contour into an ExPolygonCollection and use $contour->contains_line()
|
|
if (first { $_->contains_line($line) } @$contour) {
|
|
$self->_space->add_edge($i+$o_inner, $j+$o_outer, $line->length * CROSSING_PENALTY);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
# since Perl has no infinity symbol and we don't want to overcomplicate
|
|
# the Dijkstra algorithm with string constants or -1 values
|
|
$self->_space->_infinity(10 * (max(map values %$_, values %{$self->_space->edges}) // 0));
|
|
|
|
if (0) {
|
|
require "Slic3r/SVG.pm";
|
|
Slic3r::SVG::output("space.svg",
|
|
no_arrows => 1,
|
|
expolygons => $self->islands,
|
|
lines => $self->_space->get_lines,
|
|
points => $self->_space->nodes,
|
|
);
|
|
printf "%d islands\n", scalar @{$self->islands};
|
|
|
|
eval "use Devel::Size";
|
|
print "MEMORY USAGE:\n";
|
|
printf " %-19s = %.1fMb\n", $_, Devel::Size::total_size($self->$_)/1024/1024
|
|
for qw(_space islands);
|
|
printf " %-19s = %.1fMb\n", $_, Devel::Size::total_size($self->_space->$_)/1024/1024
|
|
for qw(nodes edges);
|
|
printf " %-19s = %.1fMb\n", 'self', Devel::Size::total_size($self)/1024/1024;
|
|
|
|
exit if $self->internal;
|
|
}
|
|
}
|
|
|
|
sub shortest_path {
|
|
my $self = shift;
|
|
my ($from, $to) = @_;
|
|
|
|
return Slic3r::Polyline->new($from, $to)
|
|
if !@{$self->_space->nodes};
|
|
|
|
# create a temporary configuration space
|
|
my $space = $self->_space->clone;
|
|
|
|
# add from/to points to the temporary configuration space
|
|
my $node_from = $self->_add_point_to_space($from, $space);
|
|
my $node_to = $self->_add_point_to_space($to, $space);
|
|
|
|
# compute shortest path
|
|
my $path = $space->shortest_path($node_from, $node_to);
|
|
|
|
if (!$path->is_valid) {
|
|
Slic3r::debugf "Failed to compute shortest path.\n";
|
|
return Slic3r::Polyline->new($from, $to);
|
|
}
|
|
|
|
if (0) {
|
|
require "Slic3r/SVG.pm";
|
|
Slic3r::SVG::output("path.svg",
|
|
no_arrows => 1,
|
|
expolygons => $self->islands,
|
|
lines => $space->get_lines,
|
|
red_points => [$from, $to],
|
|
red_polylines => [$path],
|
|
);
|
|
exit;
|
|
}
|
|
|
|
return $path;
|
|
}
|
|
|
|
# returns the index of the new node
|
|
sub _add_point_to_space {
|
|
my ($self, $point, $space) = @_;
|
|
|
|
my $n = $space->add_nodes($point);
|
|
|
|
# check whether we are inside an island or outside
|
|
my $inside = defined first { $self->islands->[$_]->contains_point($point) } 0..$#{$self->islands};
|
|
|
|
# find candidates by checking visibility from $from to them
|
|
foreach my $idx (0..$#{$space->nodes}) {
|
|
my $line = Slic3r::Line->new($point, $space->nodes->[$idx]);
|
|
# if $point is inside an island, it is visible from $idx when island contains their line
|
|
# if $point is outside an island, it is visible from $idx when their line does not cross any island
|
|
if (
|
|
($inside && defined first { $_->contains_line($line) } @{$self->_inner})
|
|
|| (!$inside && !@{intersection_pl(
|
|
[ $line->as_polyline ],
|
|
[ map @$_, @{$self->islands} ],
|
|
)})
|
|
) {
|
|
# $n ($point) and $idx are visible
|
|
$space->add_edge($n, $idx, $line->length);
|
|
}
|
|
}
|
|
|
|
# if we found no visibility, retry with larger margins
|
|
if (!exists $space->edges->{$n} && $inside) {
|
|
foreach my $idx (0..$#{$space->nodes}) {
|
|
my $line = Slic3r::Line->new($point, $space->nodes->[$idx]);
|
|
if (defined first { $_->contains_line($line) } @{$self->islands}) {
|
|
# $n ($point) and $idx are visible
|
|
$space->add_edge($n, $idx, $line->length);
|
|
}
|
|
}
|
|
}
|
|
|
|
warn "Temporary node is not visible from any other node"
|
|
if !exists $space->edges->{$n};
|
|
|
|
return $n;
|
|
}
|
|
|
|
package Slic3r::GCode::MotionPlanner::ConfigurationSpace;
|
|
use Moo;
|
|
|
|
has 'nodes' => (is => 'rw', default => sub { [] }); # [ Point, ... ]
|
|
has 'edges' => (is => 'rw', default => sub { {} }); # node_idx => { node_idx => distance, ... }
|
|
has '_infinity' => (is => 'rw');
|
|
|
|
sub clone {
|
|
my $self = shift;
|
|
|
|
return (ref $self)->new(
|
|
nodes => [ map $_->clone, @{$self->nodes} ],
|
|
edges => { map { $_ => { %{$self->edges->{$_}} } } keys %{$self->edges} },
|
|
_infinity => $self->_infinity,
|
|
);
|
|
}
|
|
|
|
sub nodes_count {
|
|
my $self = shift;
|
|
return scalar(@{ $self->nodes });
|
|
}
|
|
|
|
sub add_nodes {
|
|
my ($self, @nodes) = @_;
|
|
|
|
my $offset = $self->nodes_count;
|
|
push @{ $self->nodes }, @nodes;
|
|
return $offset;
|
|
}
|
|
|
|
sub add_edge {
|
|
my ($self, $a, $b, $dist) = @_;
|
|
$self->edges->{$a}{$b} = $self->edges->{$b}{$a} = $dist;
|
|
}
|
|
|
|
sub shortest_path {
|
|
my ($self, $node_from, $node_to) = @_;
|
|
|
|
my $edges = $self->edges;
|
|
my (%dist, %visited, %prev);
|
|
$dist{$_} = $self->_infinity for keys %$edges;
|
|
$dist{$node_from} = 0;
|
|
|
|
my @queue = ($node_from);
|
|
while (@queue) {
|
|
my $u = -1;
|
|
{
|
|
# find node in @queue with smallest distance in %dist and has not been visited
|
|
my $d = -1;
|
|
foreach my $n (@queue) {
|
|
next if $visited{$n};
|
|
if ($u == -1 || $dist{$n} < $d) {
|
|
$u = $n;
|
|
$d = $dist{$n};
|
|
}
|
|
}
|
|
}
|
|
last if $u == $node_to;
|
|
|
|
# remove $u from @queue
|
|
@queue = grep $_ != $u, @queue;
|
|
$visited{$u} = 1;
|
|
|
|
# loop through neighbors of $u
|
|
foreach my $v (keys %{ $edges->{$u} }) {
|
|
my $alt = $dist{$u} + $edges->{$u}{$v};
|
|
if ($alt < $dist{$v}) {
|
|
$dist{$v} = $alt;
|
|
$prev{$v} = $u;
|
|
if (!$visited{$v}) {
|
|
push @queue, $v;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
my @points = ();
|
|
{
|
|
my $u = $node_to;
|
|
while (exists $prev{$u}) {
|
|
unshift @points, $self->nodes->[$u];
|
|
$u = $prev{$u};
|
|
}
|
|
unshift @points, $self->nodes->[$node_from];
|
|
}
|
|
|
|
return Slic3r::Polyline->new(@points);
|
|
}
|
|
|
|
# for debugging purposes
|
|
sub get_lines {
|
|
my $self = shift;
|
|
|
|
my @lines = ();
|
|
my %lines = ();
|
|
for my $i (keys %{$self->edges}) {
|
|
for my $j (keys %{$self->edges->{$i}}) {
|
|
my $line_id = join '_', sort $i, $j;
|
|
next if $lines{$line_id};
|
|
$lines{$line_id} = 1;
|
|
push @lines, Slic3r::Line->new(map $self->nodes->[$_], $i, $j);
|
|
}
|
|
}
|
|
|
|
return [@lines];
|
|
}
|
|
|
|
1;
|