463 lines
14 KiB
C++
463 lines
14 KiB
C++
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#include "SLASupportTreeBuilder.hpp"
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#include "SLASupportTreeAlgorithm.hpp"
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namespace Slic3r {
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namespace sla {
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Contour3D sphere(double rho, Portion portion, double fa) {
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Contour3D ret;
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// prohibit close to zero radius
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if(rho <= 1e-6 && rho >= -1e-6) return ret;
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auto& vertices = ret.points;
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auto& facets = ret.indices;
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// Algorithm:
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// Add points one-by-one to the sphere grid and form facets using relative
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// coordinates. Sphere is composed effectively of a mesh of stacked circles.
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// adjust via rounding to get an even multiple for any provided angle.
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double angle = (2*PI / floor(2*PI / fa));
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// Ring to be scaled to generate the steps of the sphere
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std::vector<double> ring;
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for (double i = 0; i < 2*PI; i+=angle) ring.emplace_back(i);
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const auto sbegin = size_t(2*std::get<0>(portion)/angle);
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const auto send = size_t(2*std::get<1>(portion)/angle);
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const size_t steps = ring.size();
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const double increment = 1.0 / double(steps);
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// special case: first ring connects to 0,0,0
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// insert and form facets.
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if(sbegin == 0)
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vertices.emplace_back(Vec3d(0.0, 0.0, -rho + increment*sbegin*2.0*rho));
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auto id = coord_t(vertices.size());
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for (size_t i = 0; i < ring.size(); i++) {
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// Fixed scaling
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const double z = -rho + increment*rho*2.0 * (sbegin + 1.0);
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// radius of the circle for this step.
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const double r = std::sqrt(std::abs(rho*rho - z*z));
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Vec2d b = Eigen::Rotation2Dd(ring[i]) * Eigen::Vector2d(0, r);
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vertices.emplace_back(Vec3d(b(0), b(1), z));
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if (sbegin == 0)
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facets.emplace_back((i == 0) ?
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Vec3crd(coord_t(ring.size()), 0, 1) :
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Vec3crd(id - 1, 0, id));
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++id;
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}
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// General case: insert and form facets for each step,
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// joining it to the ring below it.
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for (size_t s = sbegin + 2; s < send - 1; s++) {
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const double z = -rho + increment*double(s*2.0*rho);
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const double r = std::sqrt(std::abs(rho*rho - z*z));
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for (size_t i = 0; i < ring.size(); i++) {
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Vec2d b = Eigen::Rotation2Dd(ring[i]) * Eigen::Vector2d(0, r);
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vertices.emplace_back(Vec3d(b(0), b(1), z));
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auto id_ringsize = coord_t(id - int(ring.size()));
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if (i == 0) {
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// wrap around
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facets.emplace_back(Vec3crd(id - 1, id,
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id + coord_t(ring.size() - 1)));
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facets.emplace_back(Vec3crd(id - 1, id_ringsize, id));
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} else {
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facets.emplace_back(Vec3crd(id_ringsize - 1, id_ringsize, id));
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facets.emplace_back(Vec3crd(id - 1, id_ringsize - 1, id));
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}
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id++;
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}
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}
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// special case: last ring connects to 0,0,rho*2.0
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// only form facets.
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if(send >= size_t(2*PI / angle)) {
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vertices.emplace_back(Vec3d(0.0, 0.0, -rho + increment*send*2.0*rho));
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for (size_t i = 0; i < ring.size(); i++) {
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auto id_ringsize = coord_t(id - int(ring.size()));
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if (i == 0) {
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// third vertex is on the other side of the ring.
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facets.emplace_back(Vec3crd(id - 1, id_ringsize, id));
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} else {
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auto ci = coord_t(id_ringsize + coord_t(i));
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facets.emplace_back(Vec3crd(ci - 1, ci, id));
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}
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}
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}
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id++;
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return ret;
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}
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Contour3D cylinder(double r, double h, size_t ssteps, const Vec3d &sp)
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{
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Contour3D ret;
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auto steps = int(ssteps);
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auto& points = ret.points;
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auto& indices = ret.indices;
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points.reserve(2*ssteps);
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double a = 2*PI/steps;
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Vec3d jp = sp;
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Vec3d endp = {sp(X), sp(Y), sp(Z) + h};
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// Upper circle points
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for(int i = 0; i < steps; ++i) {
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double phi = i*a;
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double ex = endp(X) + r*std::cos(phi);
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double ey = endp(Y) + r*std::sin(phi);
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points.emplace_back(ex, ey, endp(Z));
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}
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// Lower circle points
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for(int i = 0; i < steps; ++i) {
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double phi = i*a;
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double x = jp(X) + r*std::cos(phi);
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double y = jp(Y) + r*std::sin(phi);
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points.emplace_back(x, y, jp(Z));
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}
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// Now create long triangles connecting upper and lower circles
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indices.reserve(2*ssteps);
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auto offs = steps;
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for(int i = 0; i < steps - 1; ++i) {
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indices.emplace_back(i, i + offs, offs + i + 1);
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indices.emplace_back(i, offs + i + 1, i + 1);
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}
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// Last triangle connecting the first and last vertices
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auto last = steps - 1;
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indices.emplace_back(0, last, offs);
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indices.emplace_back(last, offs + last, offs);
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// According to the slicing algorithms, we need to aid them with generating
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// a watertight body. So we create a triangle fan for the upper and lower
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// ending of the cylinder to close the geometry.
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points.emplace_back(jp); int ci = int(points.size() - 1);
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for(int i = 0; i < steps - 1; ++i)
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indices.emplace_back(i + offs + 1, i + offs, ci);
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indices.emplace_back(offs, steps + offs - 1, ci);
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points.emplace_back(endp); ci = int(points.size() - 1);
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for(int i = 0; i < steps - 1; ++i)
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indices.emplace_back(ci, i, i + 1);
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indices.emplace_back(steps - 1, 0, ci);
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return ret;
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}
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Head::Head(double r_big_mm,
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double r_small_mm,
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double length_mm,
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double penetration,
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const Vec3d &direction,
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const Vec3d &offset,
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const size_t circlesteps)
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: steps(circlesteps)
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, dir(direction)
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, tr(offset)
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, r_back_mm(r_big_mm)
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, r_pin_mm(r_small_mm)
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, width_mm(length_mm)
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, penetration_mm(penetration)
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{
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// We create two spheres which will be connected with a robe that fits
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// both circles perfectly.
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// Set up the model detail level
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const double detail = 2*PI/steps;
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// We don't generate whole circles. Instead, we generate only the
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// portions which are visible (not covered by the robe) To know the
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// exact portion of the bottom and top circles we need to use some
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// rules of tangent circles from which we can derive (using simple
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// triangles the following relations:
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// The height of the whole mesh
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const double h = r_big_mm + r_small_mm + width_mm;
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double phi = PI/2 - std::acos( (r_big_mm - r_small_mm) / h );
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// To generate a whole circle we would pass a portion of (0, Pi)
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// To generate only a half horizontal circle we can pass (0, Pi/2)
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// The calculated phi is an offset to the half circles needed to smooth
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// the transition from the circle to the robe geometry
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auto&& s1 = sphere(r_big_mm, make_portion(0, PI/2 + phi), detail);
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auto&& s2 = sphere(r_small_mm, make_portion(PI/2 + phi, PI), detail);
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for(auto& p : s2.points) p.z() += h;
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mesh.merge(s1);
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mesh.merge(s2);
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for(size_t idx1 = s1.points.size() - steps, idx2 = s1.points.size();
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idx1 < s1.points.size() - 1;
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idx1++, idx2++)
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{
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coord_t i1s1 = coord_t(idx1), i1s2 = coord_t(idx2);
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coord_t i2s1 = i1s1 + 1, i2s2 = i1s2 + 1;
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mesh.indices.emplace_back(i1s1, i2s1, i2s2);
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mesh.indices.emplace_back(i1s1, i2s2, i1s2);
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}
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auto i1s1 = coord_t(s1.points.size()) - coord_t(steps);
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auto i2s1 = coord_t(s1.points.size()) - 1;
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auto i1s2 = coord_t(s1.points.size());
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auto i2s2 = coord_t(s1.points.size()) + coord_t(steps) - 1;
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mesh.indices.emplace_back(i2s2, i2s1, i1s1);
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mesh.indices.emplace_back(i1s2, i2s2, i1s1);
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// To simplify further processing, we translate the mesh so that the
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// last vertex of the pointing sphere (the pinpoint) will be at (0,0,0)
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for(auto& p : mesh.points) p.z() -= (h + r_small_mm - penetration_mm);
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}
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Pillar::Pillar(const Vec3d &jp, const Vec3d &endp, double radius, size_t st):
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r(radius), steps(st), endpt(endp), starts_from_head(false)
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{
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assert(steps > 0);
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height = jp(Z) - endp(Z);
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if(height > EPSILON) { // Endpoint is below the starting point
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// We just create a bridge geometry with the pillar parameters and
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// move the data.
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Contour3D body = cylinder(radius, height, st, endp);
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mesh.points.swap(body.points);
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mesh.indices.swap(body.indices);
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}
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}
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Pillar &Pillar::add_base(double baseheight, double radius)
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{
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if(baseheight <= 0) return *this;
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if(baseheight > height) baseheight = height;
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assert(steps >= 0);
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auto last = int(steps - 1);
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if(radius < r ) radius = r;
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double a = 2*PI/steps;
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double z = endpt(Z) + baseheight;
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for(size_t i = 0; i < steps; ++i) {
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double phi = i*a;
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double x = endpt(X) + r*std::cos(phi);
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double y = endpt(Y) + r*std::sin(phi);
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base.points.emplace_back(x, y, z);
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}
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for(size_t i = 0; i < steps; ++i) {
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double phi = i*a;
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double x = endpt(X) + radius*std::cos(phi);
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double y = endpt(Y) + radius*std::sin(phi);
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base.points.emplace_back(x, y, z - baseheight);
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}
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auto ep = endpt; ep(Z) += baseheight;
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base.points.emplace_back(endpt);
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base.points.emplace_back(ep);
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auto& indices = base.indices;
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auto hcenter = int(base.points.size() - 1);
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auto lcenter = int(base.points.size() - 2);
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auto offs = int(steps);
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for(int i = 0; i < last; ++i) {
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indices.emplace_back(i, i + offs, offs + i + 1);
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indices.emplace_back(i, offs + i + 1, i + 1);
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indices.emplace_back(i, i + 1, hcenter);
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indices.emplace_back(lcenter, offs + i + 1, offs + i);
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}
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indices.emplace_back(0, last, offs);
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indices.emplace_back(last, offs + last, offs);
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indices.emplace_back(hcenter, last, 0);
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indices.emplace_back(offs, offs + last, lcenter);
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return *this;
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}
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Bridge::Bridge(const Vec3d &j1, const Vec3d &j2, double r_mm, size_t steps):
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r(r_mm), startp(j1), endp(j2)
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{
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using Quaternion = Eigen::Quaternion<double>;
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Vec3d dir = (j2 - j1).normalized();
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double d = distance(j2, j1);
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mesh = cylinder(r, d, steps);
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auto quater = Quaternion::FromTwoVectors(Vec3d{0,0,1}, dir);
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for(auto& p : mesh.points) p = quater * p + j1;
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}
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CompactBridge::CompactBridge(const Vec3d &sp,
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const Vec3d &ep,
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const Vec3d &n,
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double r,
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bool endball,
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size_t steps)
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{
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Vec3d startp = sp + r * n;
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Vec3d dir = (ep - startp).normalized();
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Vec3d endp = ep - r * dir;
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Bridge br(startp, endp, r, steps);
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mesh.merge(br.mesh);
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// now add the pins
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double fa = 2*PI/steps;
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auto upperball = sphere(r, Portion{PI / 2 - fa, PI}, fa);
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for(auto& p : upperball.points) p += startp;
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if(endball) {
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auto lowerball = sphere(r, Portion{0, PI/2 + 2*fa}, fa);
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for(auto& p : lowerball.points) p += endp;
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mesh.merge(lowerball);
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}
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mesh.merge(upperball);
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}
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Pad::Pad(const TriangleMesh &support_mesh,
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const ExPolygons & model_contours,
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double ground_level,
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const PadConfig & pcfg,
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ThrowOnCancel thr)
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: cfg(pcfg)
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, zlevel(ground_level + pcfg.full_height() - pcfg.required_elevation())
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{
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thr();
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ExPolygons sup_contours;
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float zstart = float(zlevel);
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float zend = zstart + float(pcfg.full_height() + EPSILON);
|
||
|
|
|
||
|
|
pad_blueprint(support_mesh, sup_contours, grid(zstart, zend, 0.1f), thr);
|
||
|
|
create_pad(sup_contours, model_contours, tmesh, pcfg);
|
||
|
|
|
||
|
|
tmesh.translate(0, 0, float(zlevel));
|
||
|
|
if (!tmesh.empty()) tmesh.require_shared_vertices();
|
||
|
|
}
|
||
|
|
|
||
|
|
const TriangleMesh &SupportTreeBuilder::add_pad(const ExPolygons &modelbase,
|
||
|
|
const PadConfig & cfg)
|
||
|
|
{
|
||
|
|
m_pad = Pad{merged_mesh(), modelbase, ground_level, cfg, ctl().cancelfn};
|
||
|
|
return m_pad.tmesh;
|
||
|
|
}
|
||
|
|
|
||
|
|
const TriangleMesh &SupportTreeBuilder::merged_mesh() const
|
||
|
|
{
|
||
|
|
if (m_meshcache_valid) return m_meshcache;
|
||
|
|
|
||
|
|
Contour3D merged;
|
||
|
|
|
||
|
|
for (auto &head : m_heads) {
|
||
|
|
if (ctl().stopcondition()) break;
|
||
|
|
if (head.is_valid()) merged.merge(head.mesh);
|
||
|
|
}
|
||
|
|
|
||
|
|
for (auto &stick : m_pillars) {
|
||
|
|
if (ctl().stopcondition()) break;
|
||
|
|
merged.merge(stick.mesh);
|
||
|
|
merged.merge(stick.base);
|
||
|
|
}
|
||
|
|
|
||
|
|
for (auto &j : m_junctions) {
|
||
|
|
if (ctl().stopcondition()) break;
|
||
|
|
merged.merge(j.mesh);
|
||
|
|
}
|
||
|
|
|
||
|
|
for (auto &cb : m_compact_bridges) {
|
||
|
|
if (ctl().stopcondition()) break;
|
||
|
|
merged.merge(cb.mesh);
|
||
|
|
}
|
||
|
|
|
||
|
|
for (auto &bs : m_bridges) {
|
||
|
|
if (ctl().stopcondition()) break;
|
||
|
|
merged.merge(bs.mesh);
|
||
|
|
}
|
||
|
|
|
||
|
|
for (auto &bs : m_crossbridges) {
|
||
|
|
if (ctl().stopcondition()) break;
|
||
|
|
merged.merge(bs.mesh);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (ctl().stopcondition()) {
|
||
|
|
// In case of failure we have to return an empty mesh
|
||
|
|
m_meshcache = TriangleMesh();
|
||
|
|
return m_meshcache;
|
||
|
|
}
|
||
|
|
|
||
|
|
m_meshcache = mesh(merged);
|
||
|
|
|
||
|
|
// The mesh will be passed by const-pointer to TriangleMeshSlicer,
|
||
|
|
// which will need this.
|
||
|
|
if (!m_meshcache.empty()) m_meshcache.require_shared_vertices();
|
||
|
|
|
||
|
|
BoundingBoxf3 &&bb = m_meshcache.bounding_box();
|
||
|
|
m_model_height = bb.max(Z) - bb.min(Z);
|
||
|
|
|
||
|
|
m_meshcache_valid = true;
|
||
|
|
return m_meshcache;
|
||
|
|
}
|
||
|
|
|
||
|
|
double SupportTreeBuilder::full_height() const
|
||
|
|
{
|
||
|
|
if (merged_mesh().empty() && !pad().empty())
|
||
|
|
return pad().cfg.full_height();
|
||
|
|
|
||
|
|
double h = mesh_height();
|
||
|
|
if (!pad().empty()) h += pad().cfg.required_elevation();
|
||
|
|
return h;
|
||
|
|
}
|
||
|
|
|
||
|
|
const TriangleMesh &SupportTreeBuilder::merge_and_cleanup()
|
||
|
|
{
|
||
|
|
// in case the mesh is not generated, it should be...
|
||
|
|
auto &ret = merged_mesh();
|
||
|
|
|
||
|
|
// Doing clear() does not garantee to release the memory.
|
||
|
|
m_heads = {};
|
||
|
|
m_head_indices = {};
|
||
|
|
m_pillars = {};
|
||
|
|
m_junctions = {};
|
||
|
|
m_bridges = {};
|
||
|
|
m_compact_bridges = {};
|
||
|
|
|
||
|
|
return ret;
|
||
|
|
}
|
||
|
|
|
||
|
|
const TriangleMesh &SupportTreeBuilder::retrieve_mesh(MeshType meshtype) const
|
||
|
|
{
|
||
|
|
switch(meshtype) {
|
||
|
|
case MeshType::Support: return merged_mesh();
|
||
|
|
case MeshType::Pad: return pad().tmesh;
|
||
|
|
}
|
||
|
|
|
||
|
|
return m_meshcache;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool SupportTreeBuilder::build(const SupportableMesh &sm)
|
||
|
|
{
|
||
|
|
ground_level = sm.emesh.ground_level() - sm.cfg.object_elevation_mm;
|
||
|
|
return SupportTreeAlgorithm::execute(*this, sm);
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
}
|