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Still WIP on branching tree avoidance

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This commit is contained in:
tamasmeszaros 2023-01-02 17:48:41 +01:00
parent 234167534b
commit 128db4b938
2 changed files with 64 additions and 15 deletions
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24
src/libslic3r/BranchingTree/BranchingTree.cpp
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@ -76,16 +76,28 @@ void build_tree(PointCloud &nodes, Builder &builder)
switch (type) {
case BED: {
closest_node.weight = w;
if (closest_it->dst_branching > nodes.properties().max_branch_length()) {
auto hl_br_len = float(nodes.properties().max_branch_length()) / 2.f;
Node new_node {{node.pos.x(), node.pos.y(), node.pos.z() - hl_br_len}, node.Rmin};
new_node.id = int(nodes.next_junction_id());
new_node.weight = nodes.get(node_id).weight + hl_br_len;
new_node.left = node.id;
double max_br_len = nodes.properties().max_branch_length();
if (closest_it->dst_branching > max_br_len) {
std::optional<Vec3f> avo = builder.suggest_avoidance(node, max_br_len);
if (!avo)
break;
Node new_node {*avo, node.Rmin};
new_node.weight = nodes.get(node_id).weight + (node.pos - *avo).squaredNorm();
new_node.left = node.id;
if ((routed = builder.add_bridge(node, new_node))) {
size_t new_idx = nodes.insert_junction(new_node);
ptsqueue.push(new_idx);
}
// auto hl_br_len = float(nodes.properties().max_branch_length()) / 2.f;
// Node new_node {{node.pos.x(), node.pos.y(), node.pos.z() - hl_br_len}, node.Rmin};
// new_node.id = int(nodes.next_junction_id());
// new_node.weight = nodes.get(node_id).weight + hl_br_len;
// new_node.left = node.id;
// if ((routed = builder.add_bridge(node, new_node))) {
// size_t new_idx = nodes.insert_junction(new_node);
// ptsqueue.push(new_idx);
// }
} else if ((routed = builder.add_ground_bridge(node, closest_node))) {
closest_node.left = closest_node.right = node_id;
nodes.get(closest_node_id) = closest_node;

55
src/libslic3r/SLA/BranchingTreeSLA.cpp
View File

@ -146,7 +146,7 @@ public:
const branchingtree::Node &to) override;
std::optional<Vec3f> suggest_avoidance(const branchingtree::Node &from,
float max_bridge_len) override;;
float max_bridge_len) override;
void report_unroutable(const branchingtree::Node &j) override
{
@ -293,27 +293,64 @@ bool BranchingTreeBuilder::add_mesh_bridge(const branchingtree::Node &from,
static std::optional<Vec3f> get_avoidance(const GroundConnection &conn,
float maxdist)
{
return {};
std::optional<Vec3f> ret;
if (conn) {
if (conn.path.size() > 1) {
ret = conn.path[1].pos.cast<float>();
} else {
Vec3f pbeg = conn.path[0].pos.cast<float>();
Vec3f pend = conn.pillar_base->pos.cast<float>();
pbeg.z() = std::max(pbeg.z() - maxdist, pend.z());
ret = pbeg;
}
}
return ret;
}
std::optional<Vec3f> BranchingTreeBuilder::suggest_avoidance(
const branchingtree::Node &from, float max_bridge_len)
{
std::optional<Vec3f> ret;
double glvl = ground_level(m_sm);
branchingtree::Node dst = from;
dst.pos.z() = glvl;
dst.weight += from.pos.z() - glvl;
bool succ = add_ground_bridge(from, dst);
sla::Junction j{from.pos.cast<double>(), get_radius(from)};
std::optional<Vec3f> ret;
// auto found_it = m_ground_mem.find(from.id);
// if (found_it != m_ground_mem.end()) {
// // TODO look up the conn object
// }
// else if (auto conn = deepsearch_ground_connection(
// beam_ex_policy , m_sm, j, get_radius(dst), sla::DOWN)) {
// ret = get_avoidance(conn, max_bridge_len);
// }
if (succ) {
auto it = m_gnd_connections.find(from.id);
if (it != m_gnd_connections.end())
ret = get_avoidance(it->second, max_bridge_len);
}
auto conn = deepsearch_ground_connection(
beam_ex_policy , m_sm, j, get_radius(dst), sla::DOWN);
ret = get_avoidance(conn, max_bridge_len);
return ret;
// double glvl = ground_level(m_sm);
// branchingtree::Node dst = from;
// dst.pos.z() = glvl;
// dst.weight += from.pos.z() - glvl;
// bool succ = add_ground_bridge(from, dst);
// std::optional<Vec3f> ret;
// if (succ) {
// auto it = m_gnd_connections.find(m_pillars.size() - 1);
// if (it != m_gnd_connections.end())
// ret = get_avoidance(it->second, max_bridge_len);
// }
// return ret;
}
inline void build_pillars(SupportTreeBuilder &builder,