3DPrinting/PrusaSlicer-NonPlainar
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fix AABB tree query, add new fast query for point outside, which uses axis aligned rays

Browse Source
This commit is contained in:
PavelMikus 2022-11-25 15:57:59 +01:00 committed by Pavel Mikuš
parent f4f1958cac
commit 11b03804dc
2 changed files with 144 additions and 59 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

165
src/libslic3r/AABBTreeLines.hpp
View File

@ -8,78 +8,121 @@
#include <type_traits>
#include <vector>
namespace Slic3r {
namespace AABBTreeLines {
namespace Slic3r { namespace AABBTreeLines {
namespace detail {
template<typename ALineType, typename ATreeType, typename AVectorType>
struct IndexedLinesDistancer {
using LineType = ALineType;
using TreeType = ATreeType;
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 TreeType &tree;
const VectorType origin;
inline VectorType closest_point_to_origin(size_t primitive_index,
ScalarType &squared_distance) const {
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];
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>();
}
};
// !!! NOTE: algorithm expects the BoundingBoxes to be snug, no epsilon is allowed
template<typename LineType, typename TreeType, typename VectorType, int coordinate>
inline std::tuple<size_t, size_t> coordinate_aligned_ray_hit_count(size_t node_idx, const TreeType &tree, 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()) {
if (ray_origin[coordinate] > node.bbox.max()[coordinate]) {
return {1, 0};
} else if (ray_origin[coordinate] < node.bbox.min()[coordinate]) {
return {0, 1};
} else {
auto sizes = node.bbox.sizes();
Floating t = (ray_origin[other_coordinate] - node.bbox.min()[other_coordinate]) /
(sizes[other_coordinate] > 0 ? sizes[other_coordinate] : 1);
auto intersection = node.bbox.min()[coordinate] + t * sizes[coordinate];
if (ray_origin[coordinate] > intersection) {
return {1, 0};
} else if (ray_origin[coordinate] < intersection) {
return {0, 1};
} else { // ray origin is on boundary
return {1, 1};
}
}
} else {
size_t intersections_above = 0;
size_t 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]) { // sharp inequality, beacuse we do not want to count point common to two lines more than once
auto [above, below] = coordinate_aligned_ray_hit_count<LineType, TreeType, VectorType, coordinate>(left_node_idx, tree,
ray_origin);
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,
ray_origin);
intersections_above += above;
intersections_below += below;
}
return {intersections_above, intersections_below};
}
}
} // 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,
//FIXME do we want to apply an epsilon?
const double eps = 0)
{
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 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;
}
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;
size_t m_idx;
BoundingBox m_bbox;
VectorType m_centroid;
VectorType m_centroid;
};
std::vector<InputType> input;
input.reserve(lines.size());
const VectorType veps(eps, eps);
for (size_t i = 0; i < lines.size(); ++i) {
const LineType &line = lines[i];
InputType n;
n.m_idx = 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 = BoundingBox(line.a, line.a);
n.m_bbox.extend(line.b);
n.m_bbox.min() -= veps;
n.m_bbox.max() += veps;
input.emplace_back(n);
}
@ -112,7 +155,7 @@ 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)
typename VectorType::Scalar max_distance_squared)
{
auto distancer = detail::IndexedLinesDistancer<LineType, TreeType, VectorType>{lines, tree, point};
@ -123,6 +166,30 @@ inline std::vector<size_t> all_lines_in_radius(const std::vector<LineType> &line
return found_lines;
}
// return 1 if true, -1 if false, 0 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, point);
std::cout << "hits_above: " << hits_above << " hits_below: " << hits_below << std::endl;
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, point);
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<typename LineType> class LinesDistancer
{
private:
@ -144,6 +211,9 @@ public:
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
std::tuple<Floating, size_t, Vec<2, Floating>> signed_distance_from_lines_extra(const Vec<2, Scalar> &point) const
{
@ -153,25 +223,8 @@ public:
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);
const LineType &line = lines[nearest_line_index_out];
Vec<2, Floating> v1 = (line.b - line.a).template cast<Floating>();
Vec<2, Floating> v2 = (point - line.a).template cast<Floating>();
auto d1 = (v1.x() * v2.y()) - (v1.y() * v2.x());
LineType second_line = line;
if ((line.a.template cast<Floating>() - nearest_point_out).squaredNorm() < SCALED_EPSILON) {
second_line = lines[prev_idx_modulo(nearest_line_index_out, lines.size())];
} else {
second_line = lines[next_idx_modulo(nearest_line_index_out, lines.size())];
}
v1 = (second_line.b - second_line.a).template cast<Floating>();
v2 = (point - second_line.a).template cast<Floating>();
auto d2 = (v1.x() * v2.y()) - (v1.y() * v2.x());
auto d = abs(d1) > abs(d2) ? d1 : d2;
if (d > 0.0) { distance *= -1.0; }
distance = sqrt(distance);
distance *= outside(point);
return {distance, nearest_line_index_out, nearest_point_out};
}

36
src/libslic3r/GCode/ExtrusionProcessor.hpp
View File

@ -7,6 +7,10 @@
#include "../ExtrusionEntity.hpp"
#include "../Layer.hpp"
#include "../Point.hpp"
#include "../SVG.hpp"
#include "../BoundingBox.hpp"
#include "../Polygon.hpp"
#include "../ClipperUtils.hpp"
#include <algorithm>
#include <cmath>
@ -62,7 +66,7 @@ public:
class CurvatureEstimator
{
static const size_t sliders_count = 3;
SlidingWindowCurvatureAccumulator sliders[sliders_count] = {{2.0},{4.0}, {8.0}};
SlidingWindowCurvatureAccumulator sliders[sliders_count] = {{2.0}, {4.0}, {8.0}};
public:
void add_point(float distance, float angle)
@ -101,6 +105,34 @@ public:
}
prev_layer_boundary = next_layer_boundary;
next_layer_boundary = AABBTreeLines::LinesDistancer<Linef>{std::move(layer_lines)};
#if 0 // EXPORT DEBUG FILES
Lines scaled_lines;
for (const Linef &lf : layer_lines) { scaled_lines.push_back({Point::new_scale(lf.a), Point::new_scale(lf.b)}); }
BoundingBox bb = get_extents(scaled_lines);
Points inside;
for (const Layer *layer : layers) {
if (layer == nullptr) continue;
auto in = to_points(to_polygons(offset_ex(layer->lslices, -scale_(0.4))));
inside.insert(inside.end(), in.begin(), in.end());
}
::Slic3r::SVG svg(debug_out_path(("path_jps" + std::to_string(rand() % 1000)).c_str()).c_str(), bb);
svg.draw(scaled_lines, "black", scale_(0.10));
for (Point p : inside) {
auto [distance, line_idx, nearest_point] = next_layer_boundary.signed_distance_from_lines_extra(unscaled(p));
if (distance > 0) {
svg.draw(p, "red", scale_(0.2));
svg.draw(Point::new_scale(nearest_point.x(), nearest_point.y()), "blue", scale_(0.2));
auto li = next_layer_boundary.get_line(line_idx);
Line ls{Point::new_scale(li.a), Point::new_scale(li.b)};
svg.draw(ls, "yellow", scale_(0.2));
}
}
#endif
}
std::vector<float> estimate_extrusion_quality(const ExtrusionPath &path)
@ -121,7 +153,7 @@ public:
double dist_from_prev_layer = prev_layer_boundary.signed_distance_from_lines(p.cast<double>()) + flow_width * 0.5f;
float default_dist_quality = 0.5f;
float default_dist_quality = 0.3f;
float distance_quality = 1.0f;
if (dist_from_prev_layer < min_malformation_dist) {
distance_quality = 1.0f;