reworked bed adhesion model to use elastic section modulus
fixed units updated bed adhesion value
This commit is contained in:
PavelMikus
parent
3f7f5ec0ed
commit
2808e41238
@ -272,11 +272,11 @@ struct IslandConnection {
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struct Island {
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std::unordered_map<size_t, IslandConnection> connected_islands { };
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std::vector<Vec3f> pivot_points { }; // for support points present on this layer (or bed extrusions)
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float volume { };
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Vec3f volume_centroid_accumulator = Vec3f::Zero();
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float sticking_force { }; // for support points present on this layer (or bed extrusions)
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float sticking_area { }; // for support points present on this layer (or bed extrusions)
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Vec3f sticking_centroid_accumulator = Vec3f::Zero();
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Vec2f sticking_second_moment_of_area_accumulator = Vec2f::Zero();
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std::vector<ExtrusionLine> external_lines;
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};
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@ -473,8 +473,8 @@ std::tuple<LayerIslands, PixelGrid> reckon_islands(
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if (!layer_lines[extrusions[e].first].is_external_perimeter()) {
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bool island_assigned = false;
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for (size_t i = 0; i < islands.size(); ++i) {
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size_t _idx;
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Vec2f _pt;
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size_t _idx = 0;
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Vec2f _pt = Vec2f::Zero();
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if (islands[i].signed_distance_from_lines(layer_lines[extrusions[e].first].a, _idx, _pt) < 0) {
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island_extrusions[i].push_back(e);
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island_assigned = true;
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@ -530,22 +530,16 @@ std::tuple<LayerIslands, PixelGrid> reckon_islands(
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* volume;
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if (first_layer) {
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float sticking_force = line.len * flow_width * params.base_adhesion;
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island.sticking_force += sticking_force;
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island.sticking_centroid_accumulator += sticking_force
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* to_3d(Vec2f((line.a + line.b) / 2.0f), float(layer->slice_z));
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if (line.is_external_perimeter()) {
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island.pivot_points.push_back(to_3d(Vec2f(line.b), float(layer->slice_z)));
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}
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float sticking_area = line.len * flow_width;
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island.sticking_area += sticking_area;
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Vec2f middle = Vec2f((line.a + line.b) / 2.0f);
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island.sticking_centroid_accumulator += sticking_area * to_3d(middle, float(layer->slice_z));
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island.sticking_second_moment_of_area_accumulator += sticking_area * middle.cwiseProduct(middle);
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} else if (layer_lines[lidx].support_point_generated) {
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float support_interface_area = params.support_points_interface_radius
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* params.support_points_interface_radius
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* float(PI);
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float sticking_force = support_interface_area * params.support_adhesion;
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island.sticking_force += sticking_force;
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island.sticking_centroid_accumulator += sticking_force
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* to_3d(Vec2f(line.b), float(layer->slice_z));
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island.pivot_points.push_back(to_3d(Vec2f(line.b), float(layer->slice_z)));
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float sticking_area = line.len * flow_width;
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island.sticking_area += sticking_area;
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island.sticking_centroid_accumulator += sticking_area * to_3d(line.b, float(layer->slice_z));
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island.sticking_second_moment_of_area_accumulator += sticking_area * line.b.cwiseProduct(line.b);
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}
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}
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}
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@ -604,194 +598,157 @@ struct CoordinateFunctor {
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class ObjectPart {
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float volume { };
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Vec3f volume_centroid_accumulator = Vec3f::Zero();
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float sticking_force { };
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float sticking_area { };
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Vec3f sticking_centroid_accumulator = Vec3f::Zero();
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std::vector<Vec3f> pivot_points { };
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CoordinateFunctor pivots_coordinate_functor;
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bool is_pivot_tree_valid = false;
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KDTreeIndirect<3, float, CoordinateFunctor> pivot_tree { CoordinateFunctor { } };
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void check_pivot_tree() {
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if (!is_pivot_tree_valid) {
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this->pivots_coordinate_functor = CoordinateFunctor(&this->pivot_points);
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this->pivot_tree = { this->pivots_coordinate_functor };
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pivot_tree.build(pivot_points.size());
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is_pivot_tree_valid = true;
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}
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}
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Vec2f sticking_second_moment_of_area_accumulator = Vec2f::Zero();
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public:
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void add(const ObjectPart &other) {
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this->volume_centroid_accumulator += other.volume_centroid_accumulator;
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this->volume += other.volume;
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this->sticking_force += other.sticking_force;
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this->sticking_centroid_accumulator += other.sticking_centroid_accumulator;
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this->pivot_points.insert(this->pivot_points.end(), other.pivot_points.begin(), other.pivot_points.end());
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this->is_pivot_tree_valid = this->is_pivot_tree_valid && other.pivot_points.empty();
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}
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ObjectPart() = default;
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ObjectPart(const Island &island) {
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this->volume = island.volume;
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this->volume_centroid_accumulator = island.volume_centroid_accumulator;
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this->sticking_force = island.sticking_force;
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this->sticking_area = island.sticking_area;
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this->sticking_centroid_accumulator = island.sticking_centroid_accumulator;
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this->pivot_points = island.pivot_points;
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this->sticking_second_moment_of_area_accumulator = island.sticking_second_moment_of_area_accumulator;
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}
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ObjectPart() = default;
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std::tuple<float, Vec3f> is_stable_while_extruding(const ExtrusionLine &extruded_line, float layer_z,
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const Params ¶ms) {
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if (pivot_points.empty()) {
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return {this->volume * params.filament_density*params.gravity_constant,Vec3f {0.0f,0.0f,-1.0f}};
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void add(const ObjectPart &other) {
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this->volume_centroid_accumulator += other.volume_centroid_accumulator;
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this->volume += other.volume;
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this->sticking_area += other.sticking_area;
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this->sticking_centroid_accumulator += other.sticking_centroid_accumulator;
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this->sticking_second_moment_of_area_accumulator += other.sticking_second_moment_of_area_accumulator;
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}
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check_pivot_tree();
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Vec2f line_dir = (extruded_line.b - extruded_line.a).normalized();
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Vec3f pivot_site_search_point = to_3d(Vec2f(extruded_line.b + line_dir * 300.0f), layer_z);
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size_t pivot_idx = find_closest_point(this->pivot_tree, pivot_site_search_point);
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const Vec3f &pivot = pivot_points[pivot_idx];
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const Vec3f &sticking_centroid = this->sticking_centroid_accumulator / this->sticking_force;
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float sticking_arm = (pivot - sticking_centroid).norm();
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float sticking_torque = sticking_arm * this->sticking_force;
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float mass = this->volume * params.filament_density;
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const Vec3f &mass_centroid = this->volume_centroid_accumulator / this->volume;
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float weight = mass * params.gravity_constant;
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float weight_arm = (pivot.head<2>() - mass_centroid.head<2>()).norm();
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float weight_torque = weight_arm * weight;
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float bed_movement_arm = mass_centroid.z();
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float bed_movement_force = params.max_acceleration * mass;
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float bed_movement_torque = bed_movement_force * bed_movement_arm;
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Vec3f extruder_pressure_direction = to_3d(line_dir, 0.0f);
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extruder_pressure_direction.z() = -0.1f - extruded_line.malformation * 0.5f;
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extruder_pressure_direction.normalize();
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Vec3d endpoint = (to_3d(extruded_line.b, layer_z)).cast<double>();
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float conflict_torque_arm = line_alg::distance_to(
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Linef3(endpoint, endpoint + extruder_pressure_direction.cast<double>()), pivot.cast<double>());
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float extruder_conflict_force = params.standard_extruder_conflict_force +
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std::min(extruded_line.malformation, 1.0f) * params.malformations_additive_conflict_extruder_force;
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float extruder_conflict_torque = extruder_conflict_force * conflict_torque_arm;
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float total_torque = bed_movement_torque + extruder_conflict_torque - weight_torque - sticking_torque;
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#if 1
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BOOST_LOG_TRIVIAL(debug)
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<< "pivot: " << pivot.x() << " " << pivot.y() << " " << pivot.z();
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BOOST_LOG_TRIVIAL(debug)
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<< "sticking_centroid: " << sticking_centroid.x() << " " << sticking_centroid.y() << " "
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<< sticking_centroid.z();
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: sticking_force: " << sticking_force;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: sticking_arm: " << sticking_arm;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: sticking_torque: " << sticking_torque;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: weight_arm: " << weight_arm;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: weight_torque: " << weight_torque;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: bed_movement_arm: " << bed_movement_arm;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: bed_movement_torque: " << bed_movement_torque;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: conflict_torque_arm: " << conflict_torque_arm;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: extruder_conflict_torque: " << extruder_conflict_torque;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: total_torque: " << total_torque << " layer_z: " << layer_z;
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#endif
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return {total_torque / conflict_torque_arm, pivot_site_search_point};
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void add_support_point(const Vec3f &position, float sticking_area) {
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this->sticking_area += sticking_area;
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this->sticking_centroid_accumulator += sticking_area * position;
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this->sticking_second_moment_of_area_accumulator += sticking_area
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* position.head<2>().cwiseProduct(position.head<2>());
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}
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float is_strong_enough_while_extruding(
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float is_stable_while_extruding(
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const IslandConnection &connection,
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const ExtrusionLine &extruded_line,
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float layer_z,
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const Params ¶ms) const {
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Vec2f line_dir = (extruded_line.b - extruded_line.a).normalized();
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Vec3f centroid = connection.centroid_accumulator / connection.area;
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Vec2f variance = (connection.second_moment_of_area_accumulator / connection.area
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auto compute_elastic_section_modulus = [&line_dir](
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const Vec3f ¢roid_accumulator, const Vec2f &second_moment_of_area_accumulator, const float &area) {
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Vec3f centroid = centroid_accumulator / area;
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Vec2f variance = (second_moment_of_area_accumulator / area
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- centroid.head<2>().cwiseProduct(centroid.head<2>()));
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variance = variance.cwiseProduct(line_dir.cwiseAbs());
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float extreme_fiber_dist = variance.cwiseSqrt().norm();
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float elastic_section_modulus = connection.area * (variance.x() + variance.y()) / extreme_fiber_dist;
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float yield_torque = elastic_section_modulus * params.yield_strength;
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float elastic_section_modulus = area * (variance.x() + variance.y()) / extreme_fiber_dist;
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return elastic_section_modulus;
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};
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const Vec3f &mass_centroid = this->volume_centroid_accumulator / this->volume;
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float mass = this->volume * params.filament_density
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* ((2.0f * layer_z - centroid.z() - mass_centroid.z()) / (2.0f * layer_z));
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float mass = this->volume * params.filament_density;
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float weight = mass * params.gravity_constant;
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float weight_arm = (centroid.head<2>() - mass_centroid.head<2>()).norm();
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float weight_torque = weight_arm * weight;
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float bed_movement_arm = std::max(0.0f, mass_centroid.z() - centroid.z());
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float bed_movement_force = params.max_acceleration * mass;
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float bed_movement_torque = bed_movement_force * bed_movement_arm;
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float movement_force = params.max_acceleration * mass;
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Vec3f extruder_pressure_direction = to_3d(line_dir, 0.0f);
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extruder_pressure_direction.z() = -extruded_line.malformation * 0.5f;
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extruder_pressure_direction.normalize();
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Vec3d endpoint = (to_3d(extruded_line.b, layer_z)).cast<double>();
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float conflict_torque_arm = line_alg::distance_to(
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Linef3(endpoint, endpoint + extruder_pressure_direction.cast<double>()), centroid.cast<double>());
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float extruder_conflict_force = params.standard_extruder_conflict_force +
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std::min(extruded_line.malformation, 1.0f) * params.malformations_additive_conflict_extruder_force;
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float extruder_conflict_torque = extruder_conflict_force * conflict_torque_arm;
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float total_torque = bed_movement_torque + extruder_conflict_torque + weight_torque - yield_torque;
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// section for bed calculations
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{
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Vec3f bed_centroid = this->sticking_centroid_accumulator / this->sticking_area;
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float bed_yield_torque = compute_elastic_section_modulus(this->sticking_centroid_accumulator,
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this->sticking_second_moment_of_area_accumulator, this->sticking_area)
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* params.bed_adhesion_yield_strength;
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float bed_weight_arm = (bed_centroid.head<2>() - mass_centroid.head<2>()).norm();
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float bed_weight_torque = bed_weight_arm * weight;
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float bed_movement_arm = std::max(0.0f, mass_centroid.z() - bed_centroid.z());
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float bed_movement_torque = movement_force * bed_movement_arm;
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float bed_conflict_torque_arm = line_alg::distance_to(
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Linef3(endpoint, endpoint + extruder_pressure_direction.cast<double>()),
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bed_centroid.cast<double>());
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float bed_extruder_conflict_torque = extruder_conflict_force * bed_conflict_torque_arm;
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float bed_total_torque = bed_movement_torque + bed_extruder_conflict_torque + bed_weight_torque
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- bed_yield_torque;
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#if 1
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BOOST_LOG_TRIVIAL(debug)
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<< "centroid: " << centroid.x() << " " << centroid.y() << " " << centroid.z();
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<< "bed_centroid: " << bed_centroid.x() << " " << bed_centroid.y() << " " << bed_centroid.z();
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BOOST_LOG_TRIVIAL(debug)
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<< "mass_centroid: " << mass_centroid.x() << " " << mass_centroid.y() << " "
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<< mass_centroid.z();
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<< "SSG: bed_yield_torque: " << bed_yield_torque;
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BOOST_LOG_TRIVIAL(debug)
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<< "variance: " << variance.x() << " " << variance.y();
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<< "SSG: bed_weight_arm: " << bed_weight_arm;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: elastic_section_modulus: " << elastic_section_modulus;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: yield_torque: " << yield_torque;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: weight_arm: " << weight_arm;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: weight_torque: " << weight_torque;
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<< "SSG: bed_weight_torque: " << bed_weight_torque;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: bed_movement_arm: " << bed_movement_arm;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: bed_movement_torque: " << bed_movement_torque;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: conflict_torque_arm: " << conflict_torque_arm;
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<< "SSG: bed_conflict_torque_arm: " << bed_conflict_torque_arm;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: extruder_conflict_torque: " << extruder_conflict_torque;
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<< "SSG: bed_extruder_conflict_torque: " << bed_extruder_conflict_torque;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: total_torque: " << total_torque << " layer_z: " << layer_z;
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<< "SSG: total_torque: " << bed_total_torque << " layer_z: " << layer_z;
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#endif
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return total_torque / conflict_torque_arm;
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if (bed_total_torque > 0)
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return bed_total_torque / bed_conflict_torque_arm;
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}
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void add_pivot_point(const Vec3f pivot_point, float sticking_force) {
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this->pivot_points.push_back(pivot_point);
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this->sticking_force += sticking_force;
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this->sticking_centroid_accumulator += sticking_force * pivot_point;
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this->is_pivot_tree_valid = false;
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}
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//section for weak connection calculations
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{
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Vec3f conn_centroid = connection.centroid_accumulator / connection.area;
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float conn_yield_torque = compute_elastic_section_modulus(connection.centroid_accumulator,
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connection.second_moment_of_area_accumulator, connection.area) * params.material_yield_strength;
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void print() const {
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std::cout << "sticking_force: " << sticking_force << std::endl;
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std::cout << "volume: " << volume << std::endl;
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}
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float conn_weight_arm = (conn_centroid.head<2>() - mass_centroid.head<2>()).norm();
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float conn_weight_torque = conn_weight_arm * weight * (conn_centroid.z() / layer_z);
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float conn_movement_arm = std::max(0.0f, mass_centroid.z() - conn_centroid.z());
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float conn_movement_torque = movement_force * conn_movement_arm;
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float conn_conflict_torque_arm = line_alg::distance_to(
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Linef3(endpoint, endpoint + extruder_pressure_direction.cast<double>()),
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conn_centroid.cast<double>());
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float conn_extruder_conflict_torque = extruder_conflict_force * conn_conflict_torque_arm;
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float conn_total_torque = conn_movement_torque + conn_extruder_conflict_torque + conn_weight_torque
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- conn_yield_torque;
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#if 1
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BOOST_LOG_TRIVIAL(debug)
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<< "bed_centroid: " << conn_centroid.x() << " " << conn_centroid.y() << " " << conn_centroid.z();
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: conn_yield_torque: " << conn_yield_torque;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: conn_weight_arm: " << conn_weight_arm;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: conn_weight_torque: " << conn_weight_torque;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: conn_movement_arm: " << conn_movement_arm;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: conn_movement_torque: " << conn_movement_torque;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: conn_conflict_torque_arm: " << conn_conflict_torque_arm;
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BOOST_LOG_TRIVIAL(debug)
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<< "SSG: conn_extruder_conflict_torque: " << conn_extruder_conflict_torque;
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||||
BOOST_LOG_TRIVIAL(debug)
|
||||
<< "SSG: total_torque: " << conn_total_torque << " layer_z: " << layer_z;
|
||||
#endif
|
||||
|
||||
return conn_total_torque / conn_conflict_torque_arm;
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
void debug_print_graph(const std::vector<LayerIslands> &islands_graph) {
|
||||
@ -803,8 +760,7 @@ void debug_print_graph(const std::vector<LayerIslands> &islands_graph) {
|
||||
const Island &island = islands_graph[layer_idx].islands[island_idx];
|
||||
std::cout << " ISLAND " << island_idx << std::endl;
|
||||
std::cout << " volume: " << island.volume << std::endl;
|
||||
std::cout << " sticking_force: " << island.sticking_force << std::endl;
|
||||
std::cout << " pivot_points count: " << island.pivot_points.size() << std::endl;
|
||||
std::cout << " sticking_area: " << island.sticking_area << std::endl;
|
||||
std::cout << " connected_islands count: " << island.connected_islands.size() << std::endl;
|
||||
}
|
||||
}
|
||||
@ -885,7 +841,8 @@ Issues check_global_stability(SupportGridFilter supports_presence_grid,
|
||||
{
|
||||
std::unordered_set<size_t> parts_ids;
|
||||
for (const auto &connection : island.connected_islands) {
|
||||
size_t part_id = active_object_parts.get_flat_id(prev_island_to_object_part_mapping.at(connection.first));
|
||||
size_t part_id = active_object_parts.get_flat_id(
|
||||
prev_island_to_object_part_mapping.at(connection.first));
|
||||
parts_ids.insert(part_id);
|
||||
transfered_weakest_connection.add(prev_island_weakest_connection.at(connection.first));
|
||||
new_weakest_connection.add(connection.second);
|
||||
@ -932,7 +889,6 @@ Issues check_global_stability(SupportGridFilter supports_presence_grid,
|
||||
for (size_t island_idx = 0; island_idx < islands_graph[layer_idx].islands.size(); ++island_idx) {
|
||||
const Island &island = islands_graph[layer_idx].islands[island_idx];
|
||||
ObjectPart &part = active_object_parts.access(prev_island_to_object_part_mapping[island_idx]);
|
||||
part.print();
|
||||
IslandConnection &weakest_conn = prev_island_weakest_connection[island_idx];
|
||||
weakest_conn.print_info("weakest connection info: ");
|
||||
|
||||
@ -946,25 +902,22 @@ Issues check_global_stability(SupportGridFilter supports_presence_grid,
|
||||
unchecked_dist += line.len;
|
||||
} else {
|
||||
unchecked_dist = line.len;
|
||||
auto [force, pivot_site_search_point] = part.is_stable_while_extruding(line, layer_z, params);
|
||||
if (force <= 0) {
|
||||
force = part.is_strong_enough_while_extruding(weakest_conn, line, layer_z, params);
|
||||
}
|
||||
|
||||
auto force = part.is_stable_while_extruding(weakest_conn, line, layer_z, params);
|
||||
if (force > 0) {
|
||||
if (island_lines_dist.get_lines().empty()) {
|
||||
island_lines_dist = LinesDistancer(island.external_lines);
|
||||
}
|
||||
Vec2f target_point;
|
||||
size_t _idx;
|
||||
Vec3f pivot_site_search_point = to_3d(Vec2f(line.b + (line.b - line.a).normalized() * 300.0f),
|
||||
layer_z);
|
||||
island_lines_dist.signed_distance_from_lines(pivot_site_search_point.head<2>(), _idx,
|
||||
target_point);
|
||||
Vec3f support_point = to_3d(target_point, layer_z);
|
||||
if (!supports_presence_grid.position_taken(support_point)) {
|
||||
float area = params.support_points_interface_radius * params.support_points_interface_radius
|
||||
* float(PI);
|
||||
float sticking_force = area * params.support_adhesion;
|
||||
part.add_pivot_point(support_point, sticking_force);
|
||||
part.add_support_point(support_point, area);
|
||||
issues.support_points.emplace_back(support_point, force,
|
||||
to_3d(Vec2f(line.b - line.a).normalized(), 0.0f));
|
||||
supports_presence_grid.take_position(support_point);
|
||||
|
||||
@ -8,29 +8,24 @@ namespace Slic3r {
|
||||
namespace SupportSpotsGenerator {
|
||||
|
||||
struct Params {
|
||||
const float gravity_constant = 9806.65f; // mm/s^2; gravity acceleration on Earth's surface, algorithm assumes that printer is in upwards position.
|
||||
|
||||
// the algorithm should use the following units for all computations: distance [mm], mass [g], time [s], force [N]
|
||||
const float bridge_distance = 12.0f; //mm
|
||||
const float bridge_distance_decrease_by_curvature_factor = 5.0f; // allowed bridge distance = bridge_distance / (this factor * (curvature / PI) )
|
||||
|
||||
const float min_distance_between_support_points = 3.0f;
|
||||
|
||||
// Adhesion computation : from experiment, PLA holds about 3g per mm^2 of base area (with reserve); So it can withstand about 3*gravity_constant force per mm^2
|
||||
const float base_adhesion = 3.0f * gravity_constant; // adhesion per mm^2 of first layer
|
||||
const float support_adhesion = 1.0f * gravity_constant; // adhesion per mm^2 of support interface layer
|
||||
|
||||
const float min_distance_between_support_points = 3.0f; //mm
|
||||
const float support_points_interface_radius = 0.6f; // mm
|
||||
|
||||
const float gravity_constant = 9806.65f; // mm/s^2; gravity acceleration on Earth's surface, algorithm assumes that printer is in upwards position.
|
||||
const float max_acceleration = 9*1000.0f; // mm/s^2 ; max acceleration of object (bed) in XY (NOTE: The max hit is received by the object in the jerk phase, so the usual machine limits are too low)
|
||||
const float filament_density = 1.25f * 0.001f; // g/mm^3 ; Common filaments are very lightweight, so precise number is not that important
|
||||
const float yield_strength = 33000.0f; // mN/mm^2; 33 MPa is yield strength of ABS, which has the lowest yield strength from common materials.
|
||||
const float standard_extruder_conflict_force = 1.0f * gravity_constant; // force that can occasionally push the model due to various factors (filament leaks, small curling, ... ); current value corresponds to weight of X grams
|
||||
const float malformations_additive_conflict_extruder_force = 100.0f * gravity_constant; // for areas with possible high layered curled filaments
|
||||
|
||||
const float filament_density = 1.25e-3f ; // g/mm^3 ; Common filaments are very lightweight, so precise number is not that important
|
||||
const float bed_adhesion_yield_strength = 0.128f * 1e6f; //MPa * 1e^6 = (g*mm/s^2)/mm^2 = g/(mm*s^2); yield strength of the bed surface
|
||||
const float material_yield_strength = 33.0f * 1e6f; // (g*mm/s^2)/mm^2; 33 MPa is yield strength of ABS, which has the lowest yield strength from common materials.
|
||||
const float standard_extruder_conflict_force = 20.0f * gravity_constant; // force that can occasionally push the model due to various factors (filament leaks, small curling, ... );
|
||||
const float malformations_additive_conflict_extruder_force = 300.0f * gravity_constant; // for areas with possible high layered curled filaments
|
||||
};
|
||||
|
||||
struct SupportPoint {
|
||||
SupportPoint(const Vec3f &position, float force,const Vec3f& direction);
|
||||
SupportPoint(const Vec3f &position, float force, const Vec3f& direction);
|
||||
Vec3f position;
|
||||
float force;
|
||||
Vec3f direction;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user