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Bugfixes for support generator

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* Fix support heads floating in air
* Fix failing tests for the bridge mesh intersection
* Fix failing assertions
WIP refactoring support tree gen, as its a mess.
This commit is contained in:
tamasmeszaros 2020-06-15 16:02:47 +02:00
parent ed460a3e7e
commit 2ff04e6f68
4 changed files with 371 additions and 271 deletions
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277
src/libslic3r/SLA/SupportTreeBuilder.cpp
View File

@ -214,6 +214,56 @@ Contour3D pinhead(double r_pin, double r_back, double length, size_t steps)
return mesh; return mesh;
} }
Contour3D pedestal(const Vec3d &endpt, double baseheight, double radius, size_t steps)
{
if(baseheight <= 0) return {};
assert(steps >= 0);
auto last = int(steps - 1);
Contour3D base;
double a = 2*PI/steps;
double z = endpt(Z) + baseheight;
for(size_t i = 0; i < steps; ++i) {
double phi = i*a;
double x = endpt(X) + radius * std::cos(phi);
double y = endpt(Y) + radius * std::sin(phi);
base.points.emplace_back(x, y, z);
}
for(size_t i = 0; i < steps; ++i) {
double phi = i*a;
double x = endpt(X) + radius*std::cos(phi);
double y = endpt(Y) + radius*std::sin(phi);
base.points.emplace_back(x, y, z - baseheight);
}
auto ep = endpt; ep(Z) += baseheight;
base.points.emplace_back(endpt);
base.points.emplace_back(ep);
auto& indices = base.faces3;
auto hcenter = int(base.points.size() - 1);
auto lcenter = int(base.points.size() - 2);
auto offs = int(steps);
for(int i = 0; i < last; ++i) {
indices.emplace_back(i, i + offs, offs + i + 1);
indices.emplace_back(i, offs + i + 1, i + 1);
indices.emplace_back(i, i + 1, hcenter);
indices.emplace_back(lcenter, offs + i + 1, offs + i);
}
indices.emplace_back(0, last, offs);
indices.emplace_back(last, offs + last, offs);
indices.emplace_back(hcenter, last, 0);
indices.emplace_back(offs, offs + last, lcenter);
return base;
}
Head::Head(double r_big_mm, Head::Head(double r_big_mm,
double r_small_mm, double r_small_mm,
double length_mm, double length_mm,
@ -229,77 +279,76 @@ Head::Head(double r_big_mm,
, width_mm(length_mm) , width_mm(length_mm)
, penetration_mm(penetration) , penetration_mm(penetration)
{ {
mesh = pinhead(r_pin_mm, r_back_mm, width_mm, steps); // mesh = pinhead(r_pin_mm, r_back_mm, width_mm, steps);
// To simplify further processing, we translate the mesh so that the // To simplify further processing, we translate the mesh so that the
// last vertex of the pointing sphere (the pinpoint) will be at (0,0,0) // last vertex of the pointing sphere (the pinpoint) will be at (0,0,0)
for(auto& p : mesh.points) p.z() -= (fullwidth() - r_back_mm); // for(auto& p : mesh.points) p.z() -= (fullwidth() - r_back_mm);
} }
Pillar::Pillar(const Vec3d &jp, const Vec3d &endp, double radius, size_t st): //Pillar::Pillar(const Vec3d &endp, double h, double radius, size_t st):
r(radius), steps(st), endpt(endp), starts_from_head(false) // height{h}, r(radius), steps(st), endpt(endp), starts_from_head(false)
{ //{
assert(steps > 0); // assert(steps > 0);
height = jp(Z) - endp(Z); // if(height > EPSILON) { // Endpoint is below the starting point
if(height > EPSILON) { // Endpoint is below the starting point
// We just create a bridge geometry with the pillar parameters and // // We just create a bridge geometry with the pillar parameters and
// move the data. // // move the data.
Contour3D body = cylinder(radius, height, st, endp); // Contour3D body = cylinder(radius, height, st, endp);
mesh.points.swap(body.points); // mesh.points.swap(body.points);
mesh.faces3.swap(body.faces3); // mesh.faces3.swap(body.faces3);
} // }
} //}
Pillar &Pillar::add_base(double baseheight, double radius) //Pillar &Pillar::add_base(double baseheight, double radius)
{ //{
if(baseheight <= 0) return *this; // if(baseheight <= 0) return *this;
if(baseheight > height) baseheight = height; // if(baseheight > height) baseheight = height;
assert(steps >= 0); // assert(steps >= 0);
auto last = int(steps - 1); // auto last = int(steps - 1);
if(radius < r ) radius = r; // if(radius < r ) radius = r;
double a = 2*PI/steps; // double a = 2*PI/steps;
double z = endpt(Z) + baseheight; // double z = endpt(Z) + baseheight;
for(size_t i = 0; i < steps; ++i) { // for(size_t i = 0; i < steps; ++i) {
double phi = i*a; // double phi = i*a;
double x = endpt(X) + r*std::cos(phi); // double x = endpt(X) + r*std::cos(phi);
double y = endpt(Y) + r*std::sin(phi); // double y = endpt(Y) + r*std::sin(phi);
base.points.emplace_back(x, y, z); // base.points.emplace_back(x, y, z);
} // }
for(size_t i = 0; i < steps; ++i) { // for(size_t i = 0; i < steps; ++i) {
double phi = i*a; // double phi = i*a;
double x = endpt(X) + radius*std::cos(phi); // double x = endpt(X) + radius*std::cos(phi);
double y = endpt(Y) + radius*std::sin(phi); // double y = endpt(Y) + radius*std::sin(phi);
base.points.emplace_back(x, y, z - baseheight); // base.points.emplace_back(x, y, z - baseheight);
} // }
auto ep = endpt; ep(Z) += baseheight; // auto ep = endpt; ep(Z) += baseheight;
base.points.emplace_back(endpt); // base.points.emplace_back(endpt);
base.points.emplace_back(ep); // base.points.emplace_back(ep);
auto& indices = base.faces3; // auto& indices = base.faces3;
auto hcenter = int(base.points.size() - 1); // auto hcenter = int(base.points.size() - 1);
auto lcenter = int(base.points.size() - 2); // auto lcenter = int(base.points.size() - 2);
auto offs = int(steps); // auto offs = int(steps);
for(int i = 0; i < last; ++i) { // for(int i = 0; i < last; ++i) {
indices.emplace_back(i, i + offs, offs + i + 1); // indices.emplace_back(i, i + offs, offs + i + 1);
indices.emplace_back(i, offs + i + 1, i + 1); // indices.emplace_back(i, offs + i + 1, i + 1);
indices.emplace_back(i, i + 1, hcenter); // indices.emplace_back(i, i + 1, hcenter);
indices.emplace_back(lcenter, offs + i + 1, offs + i); // indices.emplace_back(lcenter, offs + i + 1, offs + i);
} // }
indices.emplace_back(0, last, offs); // indices.emplace_back(0, last, offs);
indices.emplace_back(last, offs + last, offs); // indices.emplace_back(last, offs + last, offs);
indices.emplace_back(hcenter, last, 0); // indices.emplace_back(hcenter, last, 0);
indices.emplace_back(offs, offs + last, lcenter); // indices.emplace_back(offs, offs + last, lcenter);
return *this; // return *this;
} //}
Bridge::Bridge(const Vec3d &j1, const Vec3d &j2, double r_mm, size_t steps): Bridge::Bridge(const Vec3d &j1, const Vec3d &j2, double r_mm, size_t steps):
r(r_mm), startp(j1), endp(j2) r(r_mm), startp(j1), endp(j2)
@ -423,7 +472,7 @@ const TriangleMesh &SupportTreeBuilder::merged_mesh() const
for (auto &head : m_heads) { for (auto &head : m_heads) {
if (ctl().stopcondition()) break; if (ctl().stopcondition()) break;
if (head.is_valid()) merged.merge(head.mesh); if (head.is_valid()) merged.merge(get_mesh(head));
} }
for (auto &stick : m_pillars) { for (auto &stick : m_pillars) {
@ -512,119 +561,5 @@ static Hit min_hit(const C &hits)
return *mit; return *mit;
} }
EigenMesh3D::hit_result query_hit(const SupportableMesh &msh, const Head &h)
{
static const size_t SAMPLES = 8;
// Move away slightly from the touching point to avoid raycasting on the
// inner surface of the mesh.
const double& sd = msh.cfg.safety_distance_mm;
auto& m = msh.emesh;
using HitResult = EigenMesh3D::hit_result;
// Hit results
std::array<HitResult, SAMPLES> hits;
Vec3d s1 = h.pos, s2 = h.junction_point();
struct Rings {
double rpin;
double rback;
Vec3d spin;
Vec3d sback;
PointRing<SAMPLES> ring;
Vec3d backring(size_t idx) { return ring.get(idx, sback, rback); }
Vec3d pinring(size_t idx) { return ring.get(idx, spin, rpin); }
} rings {h.r_pin_mm + sd, h.r_back_mm + sd, s1, s2, h.dir};
// We will shoot multiple rays from the head pinpoint in the direction
// of the pinhead robe (side) surface. The result will be the smallest
// hit distance.
auto hitfn = [&m, &rings, sd](HitResult &hit, size_t i) {
// Point on the circle on the pin sphere
Vec3d ps = rings.pinring(i);
// This is the point on the circle on the back sphere
Vec3d p = rings.backring(i);
// Point ps is not on mesh but can be inside or
// outside as well. This would cause many problems
// with ray-casting. To detect the position we will
// use the ray-casting result (which has an is_inside
// predicate).
Vec3d n = (p - ps).normalized();
auto q = m.query_ray_hit(ps + sd * n, n);
if (q.is_inside()) { // the hit is inside the model
if (q.distance() > rings.rpin) {
// If we are inside the model and the hit
// distance is bigger than our pin circle
// diameter, it probably indicates that the
// support point was already inside the
// model, or there is really no space
// around the point. We will assign a zero
// hit distance to these cases which will
// enforce the function return value to be
// an invalid ray with zero hit distance.
// (see min_element at the end)
hit = HitResult(0.0);
} else {
// re-cast the ray from the outside of the
// object. The starting point has an offset
// of 2*safety_distance because the
// original ray has also had an offset
auto q2 = m.query_ray_hit(ps + (q.distance() + 2 * sd) * n, n);
hit = q2;
}
} else
hit = q;
};
ccr::enumerate(hits.begin(), hits.end(), hitfn);
return min_hit(hits);
}
EigenMesh3D::hit_result query_hit(const SupportableMesh &msh, const Bridge &br, double safety_d)
{
static const size_t SAMPLES = 8;
Vec3d dir = (br.endp - br.startp).normalized();
PointRing<SAMPLES> ring{dir};
using Hit = EigenMesh3D::hit_result;
// Hit results
std::array<Hit, SAMPLES> hits;
const double sd = std::isnan(safety_d) ? msh.cfg.safety_distance_mm : safety_d;
bool ins_check = sd < msh.cfg.safety_distance_mm;
auto hitfn = [&br, &ring, &msh, dir, sd, ins_check](Hit & hit, size_t i) {
// Point on the circle on the pin sphere
Vec3d p = ring.get(i, br.startp, br.r + sd);
auto hr = msh.emesh.query_ray_hit(p + sd * dir, dir);
if (ins_check && hr.is_inside()) {
if (hr.distance() > 2 * br.r + sd)
hit = Hit(0.0);
else {
// re-cast the ray from the outside of the object
hit = msh.emesh.query_ray_hit(p + (hr.distance() + 2 * sd) * dir,
dir);
}
} else
hit = hr;
};
ccr::enumerate(hits.begin(), hits.end(), hitfn);
return min_hit(hits);
}
}} // namespace Slic3r::sla }} // namespace Slic3r::sla

144
src/libslic3r/SLA/SupportTreeBuilder.hpp
View File

@ -74,10 +74,12 @@ Contour3D sphere(double rho, Portion portion = make_portion(0.0, 2.0*PI),
// h: Height // h: Height
// ssteps: how many edges will create the base circle // ssteps: how many edges will create the base circle
// sp: starting point // sp: starting point
Contour3D cylinder(double r, double h, size_t ssteps = 45, const Vec3d &sp = {0,0,0}); Contour3D cylinder(double r, double h, size_t steps = 45, const Vec3d &sp = Vec3d::Zero());
Contour3D pinhead(double r_pin, double r_back, double length, size_t steps = 45); Contour3D pinhead(double r_pin, double r_back, double length, size_t steps = 45);
Contour3D pedestal(const Vec3d &pt, double baseheight, double radius, size_t steps = 45);
const constexpr long ID_UNSET = -1; const constexpr long ID_UNSET = -1;
struct Head { struct Head {
@ -114,15 +116,7 @@ struct Head {
void transform() void transform()
{ {
using Quaternion = Eigen::Quaternion<double>; // TODO: remove occurences
// We rotate the head to the specified direction The head's pointing
// side is facing upwards so this means that it would hold a support
// point with a normal pointing straight down. This is the reason of
// the -1 z coordinate
auto quatern = Quaternion::FromTwoVectors(Vec3d{0, 0, -1}, dir);
for(auto& p : mesh.points) p = quatern * p + pos;
} }
inline double real_width() const inline double real_width() const
@ -164,8 +158,8 @@ struct Junction {
}; };
struct Pillar { struct Pillar {
Contour3D mesh; // Contour3D mesh;
Contour3D base; // Contour3D base;
double r = 1; double r = 1;
size_t steps = 0; size_t steps = 0;
Vec3d endpt; Vec3d endpt;
@ -182,27 +176,42 @@ struct Pillar {
// How many pillars are cascaded with this one // How many pillars are cascaded with this one
unsigned links = 0; unsigned links = 0;
Pillar(const Vec3d& jp, const Vec3d& endp, Pillar(const Vec3d &endp, double h, double radius = 1, size_t st = 45):
double radius = 1, size_t st = 45); height{h}, r(radius), steps(st), endpt(endp), starts_from_head(false) {}
Pillar(const Junction &junc, const Vec3d &endp)
: Pillar(junc.pos, endp, junc.r, junc.steps) // Pillar(const Junction &junc, const Vec3d &endp)
{} // : Pillar(junc.pos, endp, junc.r, junc.steps)
// {}
Pillar(const Head &head, const Vec3d &endp, double radius = 1)
: Pillar(head.junction_point(), endp,
head.request_pillar_radius(radius), head.steps)
{}
inline Vec3d startpoint() const inline Vec3d startpoint() const
{ {
return {endpt(X), endpt(Y), endpt(Z) + height}; return {endpt.x(), endpt.y(), endpt.z() + height};
} }
inline const Vec3d& endpoint() const { return endpt; } inline const Vec3d& endpoint() const { return endpt; }
Pillar& add_base(double baseheight = 3, double radius = 2); // Pillar& add_base(double baseheight = 3, double radius = 2);
};
struct Pedestal {
Vec3d pos;
double height, radius;
size_t steps = 45;
Pedestal() = default;
Pedestal(const Vec3d &p, double h = 3., double r = 2., size_t stps = 45)
: pos{p}, height{h}, radius{r}, steps{stps}
{}
Pedestal(const Pillar &p, double h = 3., double r = 2.)
: Pedestal{p.endpt, std::min(h, p.height), std::max(r, p.r), p.steps}
{}
};
struct PinJoin {
}; };
// A Bridge between two pillars (with junction endpoints) // A Bridge between two pillars (with junction endpoints)
@ -241,66 +250,39 @@ struct Pad {
bool empty() const { return tmesh.facets_count() == 0; } bool empty() const { return tmesh.facets_count() == 0; }
}; };
// Give points on a 3D ring with given center, radius and orientation inline Contour3D get_mesh(const Head &h)
// method based on: {
// https://math.stackexchange.com/questions/73237/parametric-equation-of-a-circle-in-3d-space Contour3D mesh = pinhead(h.r_pin_mm, h.r_back_mm, h.width_mm, h.steps);
template<size_t N>
class PointRing {
std::array<double, N> m_phis;
// Two vectors that will be perpendicular to each other and to the using Quaternion = Eigen::Quaternion<double>;
// axis. Values for a(X) and a(Y) are now arbitrary, a(Z) is just a
// placeholder.
// a and b vectors are perpendicular to the ring direction and to each other.
// Together they define the plane where we have to iterate with the
// given angles in the 'm_phis' vector
Vec3d a = {0, 1, 0}, b;
double m_radius = 0.;
static inline bool constexpr is_one(double val) // We rotate the head to the specified direction The head's pointing
{ // side is facing upwards so this means that it would hold a support
return std::abs(std::abs(val) - 1) < 1e-20; // point with a normal pointing straight down. This is the reason of
// the -1 z coordinate
auto quatern = Quaternion::FromTwoVectors(Vec3d{0, 0, -1}, h.dir);
for(auto& p : mesh.points) p = quatern * p + h.pos;
}
inline Contour3D get_mesh(const Pillar &p)
{
assert(p.steps > 0);
if(p.height > EPSILON) { // Endpoint is below the starting point
// We just create a bridge geometry with the pillar parameters and
// move the data.
return cylinder(p.r, p.height, p.steps, p.endpoint());
} }
public: return {};
}
PointRing(const Vec3d &n) inline Contour3D get_mesh(const Pedestal &p, double h, double r)
{ {
m_phis = linspace_array<N>(0., 2 * PI); return pedestal(p.pos, p.height, p.radius, p.steps);
}
// We have to address the case when the direction vector v (same as
// dir) is coincident with one of the world axes. In this case two of
// its components will be completely zero and one is 1.0. Our method
// becomes dangerous here due to division with zero. Instead, vector
// 'a' can be an element-wise rotated version of 'v'
if(is_one(n(X)) || is_one(n(Y)) || is_one(n(Z))) {
a = {n(Z), n(X), n(Y)};
b = {n(Y), n(Z), n(X)};
}
else {
a(Z) = -(n(Y)*a(Y)) / n(Z); a.normalize();
b = a.cross(n);
}
}
Vec3d get(size_t idx, const Vec3d src, double r) const
{
double phi = m_phis[idx];
double sinphi = std::sin(phi);
double cosphi = std::cos(phi);
double rpscos = r * cosphi;
double rpssin = r * sinphi;
// Point on the sphere
return {src(X) + rpscos * a(X) + rpssin * b(X),
src(Y) + rpscos * a(Y) + rpssin * b(Y),
src(Z) + rpscos * a(Z) + rpssin * b(Z)};
}
};
EigenMesh3D::hit_result query_hit(const SupportableMesh &msh, const Bridge &br, double safety_d = std::nan(""));
EigenMesh3D::hit_result query_hit(const SupportableMesh &msh, const Head &br, double safety_d = std::nan(""));
// This class will hold the support tree meshes with some additional // This class will hold the support tree meshes with some additional
// bookkeeping as well. Various parts of the support geometry are stored // bookkeeping as well. Various parts of the support geometry are stored

149
src/libslic3r/SLA/SupportTreeBuildsteps.cpp
View File

@ -15,6 +15,119 @@ using libnest2d::opt::StopCriteria;
using libnest2d::opt::GeneticOptimizer; using libnest2d::opt::GeneticOptimizer;
using libnest2d::opt::SubplexOptimizer; using libnest2d::opt::SubplexOptimizer;
EigenMesh3D::hit_result query_hit(const SupportableMesh &msh, const Head &h)
{
static const size_t SAMPLES = 8;
// Move away slightly from the touching point to avoid raycasting on the
// inner surface of the mesh.
const double& sd = msh.cfg.safety_distance_mm;
auto& m = msh.emesh;
using HitResult = EigenMesh3D::hit_result;
// Hit results
std::array<HitResult, SAMPLES> hits;
Vec3d s1 = h.pos, s2 = h.junction_point();
struct Rings {
double rpin;
double rback;
Vec3d spin;
Vec3d sback;
PointRing<SAMPLES> ring;
Vec3d backring(size_t idx) { return ring.get(idx, sback, rback); }
Vec3d pinring(size_t idx) { return ring.get(idx, spin, rpin); }
} rings {h.r_pin_mm + sd, h.r_back_mm + sd, s1, s2, h.dir};
// We will shoot multiple rays from the head pinpoint in the direction
// of the pinhead robe (side) surface. The result will be the smallest
// hit distance.
auto hitfn = [&m, &rings, sd](HitResult &hit, size_t i) {
// Point on the circle on the pin sphere
Vec3d ps = rings.pinring(i);
// This is the point on the circle on the back sphere
Vec3d p = rings.backring(i);
// Point ps is not on mesh but can be inside or
// outside as well. This would cause many problems
// with ray-casting. To detect the position we will
// use the ray-casting result (which has an is_inside
// predicate).
Vec3d n = (p - ps).normalized();
auto q = m.query_ray_hit(ps + sd * n, n);
if (q.is_inside()) { // the hit is inside the model
if (q.distance() > rings.rpin) {
// If we are inside the model and the hit
// distance is bigger than our pin circle
// diameter, it probably indicates that the
// support point was already inside the
// model, or there is really no space
// around the point. We will assign a zero
// hit distance to these cases which will
// enforce the function return value to be
// an invalid ray with zero hit distance.
// (see min_element at the end)
hit = HitResult(0.0);
} else {
// re-cast the ray from the outside of the
// object. The starting point has an offset
// of 2*safety_distance because the
// original ray has also had an offset
auto q2 = m.query_ray_hit(ps + (q.distance() + 2 * sd) * n, n);
hit = q2;
}
} else
hit = q;
};
ccr::enumerate(hits.begin(), hits.end(), hitfn);
return min_hit(hits);
}
EigenMesh3D::hit_result query_hit(const SupportableMesh &msh, const Bridge &br, double safety_d)
{
static const size_t SAMPLES = 8;
Vec3d dir = (br.endp - br.startp).normalized();
PointRing<SAMPLES> ring{dir};
using Hit = EigenMesh3D::hit_result;
// Hit results
std::array<Hit, SAMPLES> hits;
double sd = std::isnan(safety_d) ? msh.cfg.safety_distance_mm : safety_d;
auto hitfn = [&msh, &br, &ring, dir, sd] (Hit &hit, size_t i) {
// Point on the circle on the pin sphere
Vec3d p = ring.get(i, br.startp, br.r + sd);
auto hr = msh.emesh.query_ray_hit(p + br.r * dir, dir);
if(hr.is_inside()) {
if(hr.distance() > 2 * br.r + sd) hit = Hit(0.0);
else {
// re-cast the ray from the outside of the object
hit = msh.emesh.query_ray_hit(p + (hr.distance() + 2 * sd) * dir, dir);
}
} else hit = hr;
};
ccr::enumerate(hits.begin(), hits.end(), hitfn);
return min_hit(hits);
}
SupportTreeBuildsteps::SupportTreeBuildsteps(SupportTreeBuilder & builder, SupportTreeBuildsteps::SupportTreeBuildsteps(SupportTreeBuilder & builder,
const SupportableMesh &sm) const SupportableMesh &sm)
: m_cfg(sm.cfg) : m_cfg(sm.cfg)
@ -246,7 +359,7 @@ EigenMesh3D::hit_result SupportTreeBuildsteps::pinhead_mesh_intersect(
} }
EigenMesh3D::hit_result SupportTreeBuildsteps::bridge_mesh_intersect( EigenMesh3D::hit_result SupportTreeBuildsteps::bridge_mesh_intersect(
const Vec3d &src, const Vec3d &dir, double r, double safety_d) const Vec3d &src, const Vec3d &dir, double r, double sd)
{ {
static const size_t SAMPLES = 8; static const size_t SAMPLES = 8;
PointRing<SAMPLES> ring{dir}; PointRing<SAMPLES> ring{dir};
@ -255,25 +368,20 @@ EigenMesh3D::hit_result SupportTreeBuildsteps::bridge_mesh_intersect(
// Hit results // Hit results
std::array<Hit, SAMPLES> hits; std::array<Hit, SAMPLES> hits;
double sd = std::isnan(safety_d) ? m_cfg.safety_distance_mm : safety_d;
sd = sd * r / m_cfg.head_back_radius_mm;
bool ins_check = sd < m_cfg.safety_distance_mm;
ccr::enumerate(hits.begin(), hits.end(), ccr::enumerate(hits.begin(), hits.end(),
[this, r, src, ins_check, &ring, dir, sd] (Hit &hit, size_t i) { [this, r, src, /*ins_check,*/ &ring, dir, sd] (Hit &hit, size_t i) {
// Point on the circle on the pin sphere // Point on the circle on the pin sphere
Vec3d p = ring.get(i, src, r + sd); Vec3d p = ring.get(i, src, r + sd);
auto hr = m_mesh.query_ray_hit(p + r * dir, dir); auto hr = m_mesh.query_ray_hit(p + r * dir, dir);
if(ins_check && hr.is_inside()) { if(/*ins_check && */hr.is_inside()) {
if(hr.distance() > 2 * r + sd) hit = Hit(0.0); if(hr.distance() > 2 * r + sd) hit = Hit(0.0);
else { else {
// re-cast the ray from the outside of the object // re-cast the ray from the outside of the object
hit = m_mesh.query_ray_hit(p + (hr.distance() + 2 * sd) * dir, dir); hit = m_mesh.query_ray_hit(p + (hr.distance() + EPSILON) * dir, dir);
} }
} else hit = hr; } else hit = hr;
}); });
@ -499,7 +607,7 @@ bool SupportTreeBuildsteps::create_ground_pillar(const Vec3d &jp,
normal_mode = false; normal_mode = false;
if (t > m_cfg.max_bridge_length_mm || endp(Z) < gndlvl) { if (t > m_cfg.max_bridge_length_mm || endp(Z) < gndlvl) {
m_builder.add_pillar(head_id, jp, radius); if (head_id >= 0) m_builder.add_pillar(head_id, jp, radius);
return false; return false;
} }
} }
@ -507,7 +615,7 @@ bool SupportTreeBuildsteps::create_ground_pillar(const Vec3d &jp,
// Check if the deduced route is sane and exit with error if not. // Check if the deduced route is sane and exit with error if not.
if (bridge_mesh_distance(jp, dir, radius) < (endp - jp).norm()) { if (bridge_mesh_distance(jp, dir, radius) < (endp - jp).norm()) {
m_builder.add_pillar(head_id, jp, radius); if (head_id >= 0) m_builder.add_pillar(head_id, jp, radius);
return false; return false;
} }
@ -798,13 +906,16 @@ void SupportTreeBuildsteps::routing_to_ground()
cl_centroids.emplace_back(hid); cl_centroids.emplace_back(hid);
Head &h = m_builder.head(hid); Head &h = m_builder.head(hid);
h.transform();
if (!create_ground_pillar(h.junction_point(), h.dir, h.r_back_mm, h.id)) { if (!create_ground_pillar(h.junction_point(), h.dir, h.r_back_mm, h.id)) {
BOOST_LOG_TRIVIAL(warning) BOOST_LOG_TRIVIAL(warning)
<< "Pillar cannot be created for support point id: " << hid; << "Pillar cannot be created for support point id: " << hid;
h.invalidate(); m_iheads_onmodel.emplace_back(h.id);
// h.invalidate();
continue;
} }
h.transform();
} }
// now we will go through the clusters ones again and connect the // now we will go through the clusters ones again and connect the
@ -854,12 +965,14 @@ bool SupportTreeBuildsteps::connect_to_ground(Head &head, const Vec3d &dir)
if(!std::isinf(tdown)) return false; if(!std::isinf(tdown)) return false;
Vec3d endp = hjp + d * dir; Vec3d endp = hjp + d * dir;
m_builder.add_bridge(head.id, endp); bool ret = false;
m_builder.add_junction(endp, head.r_back_mm);
if ((ret = create_ground_pillar(endp, dir, head.r_back_mm))) {
m_builder.add_bridge(head.id, endp);
m_builder.add_junction(endp, head.r_back_mm);
}
this->create_ground_pillar(endp, dir, head.r_back_mm); return ret;
return true;
} }
bool SupportTreeBuildsteps::connect_to_ground(Head &head) bool SupportTreeBuildsteps::connect_to_ground(Head &head)

72
src/libslic3r/SLA/SupportTreeBuildsteps.hpp
View File

@ -46,6 +46,68 @@ inline Vec3d spheric_to_dir(const std::pair<double, double> &v)
return spheric_to_dir(v.first, v.second); return spheric_to_dir(v.first, v.second);
} }
// Give points on a 3D ring with given center, radius and orientation
// method based on:
// https://math.stackexchange.com/questions/73237/parametric-equation-of-a-circle-in-3d-space
template<size_t N>
class PointRing {
std::array<double, N> m_phis;
// Two vectors that will be perpendicular to each other and to the
// axis. Values for a(X) and a(Y) are now arbitrary, a(Z) is just a
// placeholder.
// a and b vectors are perpendicular to the ring direction and to each other.
// Together they define the plane where we have to iterate with the
// given angles in the 'm_phis' vector
Vec3d a = {0, 1, 0}, b;
double m_radius = 0.;
static inline bool constexpr is_one(double val)
{
return std::abs(std::abs(val) - 1) < 1e-20;
}
public:
PointRing(const Vec3d &n)
{
m_phis = linspace_array<N>(0., 2 * PI);
// We have to address the case when the direction vector v (same as
// dir) is coincident with one of the world axes. In this case two of
// its components will be completely zero and one is 1.0. Our method
// becomes dangerous here due to division with zero. Instead, vector
// 'a' can be an element-wise rotated version of 'v'
if(is_one(n(X)) || is_one(n(Y)) || is_one(n(Z))) {
a = {n(Z), n(X), n(Y)};
b = {n(Y), n(Z), n(X)};
}
else {
a(Z) = -(n(Y)*a(Y)) / n(Z); a.normalize();
b = a.cross(n);
}
}
Vec3d get(size_t idx, const Vec3d src, double r) const
{
double phi = m_phis[idx];
double sinphi = std::sin(phi);
double cosphi = std::cos(phi);
double rpscos = r * cosphi;
double rpssin = r * sinphi;
// Point on the sphere
return {src(X) + rpscos * a(X) + rpssin * b(X),
src(Y) + rpscos * a(Y) + rpssin * b(Y),
src(Z) + rpscos * a(Z) + rpssin * b(Z)};
}
};
EigenMesh3D::hit_result query_hit(const SupportableMesh &msh, const Bridge &br, double safety_d = std::nan(""));
EigenMesh3D::hit_result query_hit(const SupportableMesh &msh, const Head &br, double safety_d = std::nan(""));
// This function returns the position of the centroid in the input 'clust' // This function returns the position of the centroid in the input 'clust'
// vector of point indices. // vector of point indices.
template<class DistFn> template<class DistFn>
@ -242,7 +304,15 @@ class SupportTreeBuildsteps {
const Vec3d& s, const Vec3d& s,
const Vec3d& dir, const Vec3d& dir,
double r, double r,
double safety_d = std::nan("")); double safety_d);
EigenMesh3D::hit_result bridge_mesh_intersect(
const Vec3d& s,
const Vec3d& dir,
double r)
{
return bridge_mesh_intersect(s, dir, r, m_cfg.safety_distance_mm);
}
template<class...Args> template<class...Args>
inline double bridge_mesh_distance(Args&&...args) { inline double bridge_mesh_distance(Args&&...args) {