diff --git a/src/libslic3r/Fill/FillAdaptive.hpp b/src/libslic3r/Fill/FillAdaptive.hpp index dd7394384..23786530e 100644 --- a/src/libslic3r/Fill/FillAdaptive.hpp +++ b/src/libslic3r/Fill/FillAdaptive.hpp @@ -4,6 +4,7 @@ #include "../AABBTreeIndirect.hpp" #include "FillBase.hpp" +#include "TriangleMesh.hpp" namespace Slic3r { diff --git a/src/libslic3r/SLA/Rotfinder.cpp b/src/libslic3r/SLA/Rotfinder.cpp index db8c0b9a8..937897766 100644 --- a/src/libslic3r/SLA/Rotfinder.cpp +++ b/src/libslic3r/SLA/Rotfinder.cpp @@ -1,11 +1,10 @@ #include -#include -//#include -#include #include #include +#include + #include "libslic3r/SLAPrint.hpp" #include "libslic3r/PrintConfig.hpp" @@ -61,23 +60,25 @@ std::array get_transformed_triangle(const TriangleMesh &mesh, } // Get area and normal of a triangle -struct Face { Vec3d normal; double area; }; -inline Face facestats(const std::array &triangle) -{ - Vec3d U = triangle[1] - triangle[0]; - Vec3d V = triangle[2] - triangle[0]; - Vec3d C = U.cross(V); - Vec3d N = C.normalized(); - double area = 0.5 * C.norm(); +struct Facestats { + Vec3d normal; + double area; - return {N, area}; -} + explicit Facestats(const std::array &triangle) + { + Vec3d U = triangle[1] - triangle[0]; + Vec3d V = triangle[2] - triangle[0]; + Vec3d C = U.cross(V); + normal = C.normalized(); + area = 0.5 * C.norm(); + } +}; inline const Vec3d DOWN = {0., 0., -1.}; constexpr double POINTS_PER_UNIT_AREA = 1.; // The score function for a particular face -inline double get_score(const Face &fc) +inline double get_score(const Facestats &fc) { // Simply get the angle (acos of dot product) between the face normal and // the DOWN vector. @@ -110,7 +111,7 @@ double get_model_supportedness(const TriangleMesh &mesh, const Transform3d &tr) if (mesh.its.vertices.empty()) return std::nan(""); auto accessfn = [&mesh, &tr](size_t fi) { - Face fc = facestats(get_transformed_triangle(mesh, tr, fi)); + Facestats fc{get_transformed_triangle(mesh, tr, fi)}; return get_score(fc); }; @@ -131,7 +132,7 @@ double get_model_supportedness_onfloor(const TriangleMesh &mesh, auto accessfn = [&mesh, &tr, zlvl](size_t fi) { std::array tri = get_transformed_triangle(mesh, tr, fi); - Face fc = facestats(tri); + Facestats fc{tri}; if (tri[0].z() <= zlvl && tri[1].z() <= zlvl && tri[2].z() <= zlvl) return -fc.area * POINTS_PER_UNIT_AREA; @@ -161,56 +162,91 @@ XYRotation from_transform3d(const Transform3d &tr) } // Find the best score from a set of function inputs. Evaluate for every point. -template -std::array find_min_score(Fn &&fn, Cmp &&cmp, It from, It to) +template +std::array find_min_score(Fn &&fn, It from, It to, StopCond &&stopfn) { std::array ret; double score = std::numeric_limits::max(); - for (auto it = from; it != to; ++it) { - double sc = fn(*it); - if (cmp(sc, score)) { - score = sc; - ret = *it; - } - } + size_t Nthreads = std::thread::hardware_concurrency(); + size_t dist = std::distance(from, to); + std::vector scores(dist, score); + + ccr_par::for_each(size_t(0), dist, [&stopfn, &scores, &fn, &from](size_t i) { + if (stopfn()) return; + + scores[i] = fn(*(from + i)); + }, dist / Nthreads); + + auto it = std::min_element(scores.begin(), scores.end()); + + if (it != scores.end()) ret = *(from + std::distance(scores.begin(), it)); return ret; } // collect the rotations for each face of the convex hull -std::vector get_chull_rotations(const TriangleMesh &mesh) +std::vector get_chull_rotations(const TriangleMesh &mesh, size_t max_count) { TriangleMesh chull = mesh.convex_hull_3d(); chull.require_shared_vertices(); double chull2d_area = chull.convex_hull().area(); - double area_threshold = chull2d_area / (scaled(1e3) * scaled(1.)); + double area_threshold = chull2d_area / (scaled(1e3) * scaled(1.)); size_t facecount = chull.its.indices.size(); - auto inputs = reserve_vector(facecount); + + struct RotArea { XYRotation rot; double area; }; + + auto inputs = reserve_vector(facecount); + + auto rotcmp = [](const RotArea &r1, const RotArea &r2) { + double xdiff = r1.rot[X] - r2.rot[X], ydiff = r1.rot[Y] - r2.rot[Y]; + return std::abs(xdiff) < EPSILON ? ydiff < 0. : xdiff < 0.; + }; + + auto eqcmp = [](const XYRotation &r1, const XYRotation &r2) { + double xdiff = r1[X] - r2[X], ydiff = r1[Y] - r2[Y]; + return std::abs(xdiff) < EPSILON && std::abs(ydiff) < EPSILON; + }; for (size_t fi = 0; fi < facecount; ++fi) { - Face fc = facestats(get_triangle_vertices(chull, fi)); + Facestats fc{get_triangle_vertices(chull, fi)}; if (fc.area > area_threshold) { auto q = Eigen::Quaterniond{}.FromTwoVectors(fc.normal, DOWN); - inputs.emplace_back(from_transform3d(Transform3d::Identity() * q)); + XYRotation rot = from_transform3d(Transform3d::Identity() * q); + RotArea ra = {rot, fc.area}; + + auto it = std::lower_bound(inputs.begin(), inputs.end(), ra, rotcmp); + + if (it == inputs.end() || !eqcmp(it->rot, rot)) + inputs.insert(it, ra); } } - return inputs; + inputs.shrink_to_fit(); + if (!max_count) max_count = inputs.size(); + std::sort(inputs.begin(), inputs.end(), + [](const RotArea &ra, const RotArea &rb) { + return ra.area > rb.area; + }); + + auto ret = reserve_vector(std::min(max_count, inputs.size())); + for (const RotArea &ra : inputs) ret.emplace_back(ra.rot); + + return ret; } -XYRotation find_best_rotation(const SLAPrintObject & po, - float accuracy, - std::function statuscb, - std::function stopcond) +Vec2d find_best_rotation(const SLAPrintObject & po, + float accuracy, + std::function statuscb, + std::function stopcond) { - static const unsigned MAX_TRIES = 10000; + static const unsigned MAX_TRIES = 1000; // return value - std::array rot; + XYRotation rot; // We will use only one instance of this converted mesh to examine different // rotations @@ -226,7 +262,7 @@ XYRotation find_best_rotation(const SLAPrintObject & po, // call status callback with zero, because we are at the start statuscb(status); - auto statusfn = [&statuscb, &status, max_tries] { + auto statusfn = [&statuscb, &status, &max_tries] { // report status statuscb(unsigned(++status * 100.0/max_tries) ); }; @@ -234,29 +270,26 @@ XYRotation find_best_rotation(const SLAPrintObject & po, // Different search methods have to be used depending on the model elevation if (is_on_floor(po)) { + std::vector inputs = get_chull_rotations(mesh, max_tries); + max_tries = inputs.size(); + // If the model can be placed on the bed directly, we only need to // check the 3D convex hull face rotations. - auto inputs = get_chull_rotations(mesh); - - auto cmpfn = [](double a, double b) { return a < b; }; auto objfn = [&mesh, &statusfn](const XYRotation &rot) { statusfn(); - // We actually need the reverserotation to make the object lie on - // this face Transform3d tr = to_transform3d(rot); return get_model_supportedness_onfloor(mesh, tr); }; - rot = find_min_score<2>(objfn, cmpfn, inputs.begin(), inputs.end()); + rot = find_min_score<2>(objfn, inputs.begin(), inputs.end(), stopcond); } else { - // Preparing the optimizer. - size_t grid_size = std::sqrt(max_tries); + size_t gridsize = std::sqrt(max_tries); // 2D grid has gridsize^2 calls opt::Optimizer solver(opt::StopCriteria{} - .max_iterations(max_tries) - .stop_condition(stopcond), - grid_size); + .max_iterations(max_tries) + .stop_condition(stopcond), + gridsize); // We are searching rotations around only two axes x, y. Thus the // problem becomes a 2 dimensional optimization task. @@ -272,11 +305,9 @@ XYRotation find_best_rotation(const SLAPrintObject & po, // Save the result and fck off rot = result.optimum; - - std::cout << "best score: " << result.score << std::endl; } - return rot; + return {rot[0], rot[1]}; } double get_model_supportedness(const SLAPrintObject &po, const Transform3d &tr) diff --git a/src/libslic3r/SLA/Rotfinder.hpp b/src/libslic3r/SLA/Rotfinder.hpp index 4fa529600..96561a890 100644 --- a/src/libslic3r/SLA/Rotfinder.hpp +++ b/src/libslic3r/SLA/Rotfinder.hpp @@ -27,7 +27,7 @@ namespace sla { * * @return Returns the rotations around each axis (x, y, z) */ -std::array find_best_rotation( +Vec2d find_best_rotation( const SLAPrintObject& modelobj, float accuracy = 1.0f, std::function statuscb = [] (unsigned) {}, diff --git a/src/slic3r/GUI/Jobs/RotoptimizeJob.cpp b/src/slic3r/GUI/Jobs/RotoptimizeJob.cpp index 10c09275c..978ccf8fc 100644 --- a/src/slic3r/GUI/Jobs/RotoptimizeJob.cpp +++ b/src/slic3r/GUI/Jobs/RotoptimizeJob.cpp @@ -13,7 +13,7 @@ namespace Slic3r { namespace GUI { void RotoptimizeJob::process() { int obj_idx = m_plater->get_selected_object_idx(); - if (obj_idx < 0 || m_plater->sla_print().objects().size() <= obj_idx) + if (obj_idx < 0 || int(m_plater->sla_print().objects().size()) <= obj_idx) return; ModelObject *o = m_plater->model().objects[size_t(obj_idx)]; @@ -35,15 +35,12 @@ void RotoptimizeJob::process() // std::cout << "Model supportedness before: " << score << std::endl; // } - auto r = sla::find_best_rotation( - *po, - 1.f, + Vec2d r = sla::find_best_rotation(*po, 0.75f, [this](unsigned s) { if (s < 100) - update_status(int(s), - _(L("Searching for optimal orientation"))); + update_status(int(s), _(L("Searching for optimal orientation"))); }, - [this]() { return was_canceled(); }); + [this] () { return was_canceled(); }); double mindist = 6.0; // FIXME