3DPrinting/PrusaSlicer-NonPlainar
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Refactoring of adaptive cubic / support cubic:

Browse Source 
1) Octree is built directly from the triangle mesh by checking
   overlap of a triangle with an octree cell. This shall produce
   a tighter octree with less dense cells.
2) The same method is used for both the adaptive / support cubic infill,
   where for the support cubic infill the non-overhang triangles are
   ignored.
The AABB tree is no more used.
3) Optimized extraction of continuous infill lines in O(1) instead of O(n^2)
This commit is contained in:
Vojtech Bubnik 2020-09-17 18:39:28 +02:00
parent acdd5716bd
commit 37c5fe9923
16 changed files with 658 additions and 554 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
src/admesh/stl.h
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@ -255,18 +255,24 @@ extern void its_transform(indexed_triangle_set &its, T *trafo3x4)
}
template<typename T>
inline void its_transform(indexed_triangle_set &its, const Eigen::Transform<T, 3, Eigen::Affine, Eigen::DontAlign>& t)
inline void its_transform(indexed_triangle_set &its, const Eigen::Transform<T, 3, Eigen::Affine, Eigen::DontAlign>& t, bool fix_left_handed = false)
{
//const Eigen::Matrix<double, 3, 3, Eigen::DontAlign> r = t.matrix().template block<3, 3>(0, 0);
for (stl_vertex &v : its.vertices)
v = (t * v.template cast<T>()).template cast<float>().eval();
if (fix_left_handed && t.matrix().block(0, 0, 3, 3).determinant() < 0.)
for (stl_triangle_vertex_indices &i : its.indices)
std::swap(i[0], i[1]);
}
template<typename T>
inline void its_transform(indexed_triangle_set &its, const Eigen::Matrix<T, 3, 3, Eigen::DontAlign>& m)
inline void its_transform(indexed_triangle_set &its, const Eigen::Matrix<T, 3, 3, Eigen::DontAlign>& m, bool fix_left_handed = false)
{
for (stl_vertex &v : its.vertices)
for (stl_vertex &v : its.vertices)
v = (m * v.template cast<T>()).template cast<float>().eval();
if (fix_left_handed && m.determinant() < 0.)
for (stl_triangle_vertex_indices &i : its.indices)
std::swap(i[0], i[1]);
}
extern void its_rotate_x(indexed_triangle_set &its, float angle);

8
src/libslic3r/AABBTreeIndirect.hpp
View File

@ -283,7 +283,7 @@ namespace detail {
template<typename V, typename W>
std::enable_if_t<std::is_same<typename V::Scalar, double>::value && std::is_same<typename W::Scalar, double>::value, bool>
intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W v2, double &t, double &u, double &v) {
intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W &v2, double &t, double &u, double &v) {
return intersect_triangle1(const_cast<double*>(origin.data()), const_cast<double*>(dir.data()),
const_cast<double*>(v0.data()), const_cast<double*>(v1.data()), const_cast<double*>(v2.data()),
&t, &u, &v);
@ -291,7 +291,7 @@ namespace detail {
template<typename V, typename W>
std::enable_if_t<std::is_same<typename V::Scalar, double>::value && !std::is_same<typename W::Scalar, double>::value, bool>
intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W v2, double &t, double &u, double &v) {
intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W &v2, double &t, double &u, double &v) {
using Vector = Eigen::Matrix<double, 3, 1>;
Vector w0 = v0.template cast<double>();
Vector w1 = v1.template cast<double>();
@ -302,7 +302,7 @@ namespace detail {
template<typename V, typename W>
std::enable_if_t<! std::is_same<typename V::Scalar, double>::value && std::is_same<typename W::Scalar, double>::value, bool>
intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W v2, double &t, double &u, double &v) {
intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W &v2, double &t, double &u, double &v) {
using Vector = Eigen::Matrix<double, 3, 1>;
Vector o = origin.template cast<double>();
Vector d = dir.template cast<double>();
@ -311,7 +311,7 @@ namespace detail {
template<typename V, typename W>
std::enable_if_t<! std::is_same<typename V::Scalar, double>::value && ! std::is_same<typename W::Scalar, double>::value, bool>
intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W v2, double &t, double &u, double &v) {
intersect_triangle(const V &origin, const V &dir, const W &v0, const W &v1, const W &v2, double &t, double &u, double &v) {
using Vector = Eigen::Matrix<double, 3, 1>;
Vector o = origin.template cast<double>();
Vector d = dir.template cast<double>();

8
src/libslic3r/BoundingBox.cpp
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@ -75,6 +75,7 @@ BoundingBoxBase<PointClass>::merge(const PointClass &point)
}
}
template void BoundingBoxBase<Point>::merge(const Point &point);
template void BoundingBoxBase<Vec2f>::merge(const Vec2f &point);
template void BoundingBoxBase<Vec2d>::merge(const Vec2d &point);
template <class PointClass> void
@ -101,6 +102,7 @@ BoundingBoxBase<PointClass>::merge(const BoundingBoxBase<PointClass> &bb)
}
}
template void BoundingBoxBase<Point>::merge(const BoundingBoxBase<Point> &bb);
template void BoundingBoxBase<Vec2f>::merge(const BoundingBoxBase<Vec2f> &bb);
template void BoundingBoxBase<Vec2d>::merge(const BoundingBoxBase<Vec2d> &bb);
template <class PointClass> void
@ -115,6 +117,7 @@ BoundingBox3Base<PointClass>::merge(const PointClass &point)
this->defined = true;
}
}
template void BoundingBox3Base<Vec3f>::merge(const Vec3f &point);
template void BoundingBox3Base<Vec3d>::merge(const Vec3d &point);
template <class PointClass> void
@ -147,6 +150,7 @@ BoundingBoxBase<PointClass>::size() const
return PointClass(this->max(0) - this->min(0), this->max(1) - this->min(1));
}
template Point BoundingBoxBase<Point>::size() const;
template Vec2f BoundingBoxBase<Vec2f>::size() const;
template Vec2d BoundingBoxBase<Vec2d>::size() const;
template <class PointClass> PointClass
@ -154,6 +158,7 @@ BoundingBox3Base<PointClass>::size() const
{
return PointClass(this->max(0) - this->min(0), this->max(1) - this->min(1), this->max(2) - this->min(2));
}
template Vec3f BoundingBox3Base<Vec3f>::size() const;
template Vec3d BoundingBox3Base<Vec3d>::size() const;
template <class PointClass> double BoundingBoxBase<PointClass>::radius() const
@ -200,6 +205,7 @@ BoundingBoxBase<PointClass>::center() const
return (this->min + this->max) / 2;
}
template Point BoundingBoxBase<Point>::center() const;
template Vec2f BoundingBoxBase<Vec2f>::center() const;
template Vec2d BoundingBoxBase<Vec2d>::center() const;
template <class PointClass> PointClass
@ -207,6 +213,7 @@ BoundingBox3Base<PointClass>::center() const
{
return (this->min + this->max) / 2;
}
template Vec3f BoundingBox3Base<Vec3f>::center() const;
template Vec3d BoundingBox3Base<Vec3d>::center() const;
template <class PointClass> coordf_t
@ -215,6 +222,7 @@ BoundingBox3Base<PointClass>::max_size() const
PointClass s = size();
return std::max(s(0), std::max(s(1), s(2)));
}
template coordf_t BoundingBox3Base<Vec3f>::max_size() const;
template coordf_t BoundingBox3Base<Vec3d>::max_size() const;
// Align a coordinate to a grid. The coordinate may be negative,

12
src/libslic3r/BoundingBox.hpp
View File

@ -19,6 +19,8 @@ public:
BoundingBoxBase() : min(PointClass::Zero()), max(PointClass::Zero()), defined(false) {}
BoundingBoxBase(const PointClass &pmin, const PointClass &pmax) :
min(pmin), max(pmax), defined(pmin(0) < pmax(0) && pmin(1) < pmax(1)) {}
BoundingBoxBase(const PointClass &p1, const PointClass &p2, const PointClass &p3) :
min(p1), max(p1), defined(false) { merge(p2); merge(p3); }
BoundingBoxBase(const std::vector<PointClass>& points) : min(PointClass::Zero()), max(PointClass::Zero())
{
if (points.empty()) {
@ -66,6 +68,8 @@ public:
BoundingBox3Base(const PointClass &pmin, const PointClass &pmax) :
BoundingBoxBase<PointClass>(pmin, pmax)
{ if (pmin(2) >= pmax(2)) BoundingBoxBase<PointClass>::defined = false; }
BoundingBox3Base(const PointClass &p1, const PointClass &p2, const PointClass &p3) :
BoundingBoxBase<PointClass>(p1, p1) { merge(p2); merge(p3); }
BoundingBox3Base(const std::vector<PointClass>& points)
{
if (points.empty())
@ -110,24 +114,32 @@ extern template void BoundingBoxBase<Vec3d>::scale(double factor);
extern template void BoundingBoxBase<Point>::offset(coordf_t delta);
extern template void BoundingBoxBase<Vec2d>::offset(coordf_t delta);
extern template void BoundingBoxBase<Point>::merge(const Point &point);
extern template void BoundingBoxBase<Vec2f>::merge(const Vec2f &point);
extern template void BoundingBoxBase<Vec2d>::merge(const Vec2d &point);
extern template void BoundingBoxBase<Point>::merge(const Points &points);
extern template void BoundingBoxBase<Vec2d>::merge(const Pointfs &points);
extern template void BoundingBoxBase<Point>::merge(const BoundingBoxBase<Point> &bb);
extern template void BoundingBoxBase<Vec2f>::merge(const BoundingBoxBase<Vec2f> &bb);
extern template void BoundingBoxBase<Vec2d>::merge(const BoundingBoxBase<Vec2d> &bb);
extern template Point BoundingBoxBase<Point>::size() const;
extern template Vec2f BoundingBoxBase<Vec2f>::size() const;
extern template Vec2d BoundingBoxBase<Vec2d>::size() const;
extern template double BoundingBoxBase<Point>::radius() const;
extern template double BoundingBoxBase<Vec2d>::radius() const;
extern template Point BoundingBoxBase<Point>::center() const;
extern template Vec2f BoundingBoxBase<Vec2f>::center() const;
extern template Vec2d BoundingBoxBase<Vec2d>::center() const;
extern template void BoundingBox3Base<Vec3f>::merge(const Vec3f &point);
extern template void BoundingBox3Base<Vec3d>::merge(const Vec3d &point);
extern template void BoundingBox3Base<Vec3d>::merge(const Pointf3s &points);
extern template void BoundingBox3Base<Vec3d>::merge(const BoundingBox3Base<Vec3d> &bb);
extern template Vec3f BoundingBox3Base<Vec3f>::size() const;
extern template Vec3d BoundingBox3Base<Vec3d>::size() const;
extern template double BoundingBox3Base<Vec3d>::radius() const;
extern template void BoundingBox3Base<Vec3d>::offset(coordf_t delta);
extern template Vec3f BoundingBox3Base<Vec3f>::center() const;
extern template Vec3d BoundingBox3Base<Vec3d>::center() const;
extern template coordf_t BoundingBox3Base<Vec3f>::max_size() const;
extern template coordf_t BoundingBox3Base<Vec3d>::max_size() const;
class BoundingBox : public BoundingBoxBase<Point>

3
src/libslic3r/Fill/Fill.cpp
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@ -345,8 +345,7 @@ void Layer::make_fills(FillAdaptive_Internal::Octree* adaptive_fill_octree, Fill
f->layer_id = this->id();
f->z = this->print_z;
f->angle = surface_fill.params.angle;
f->adapt_fill_octree = adaptive_fill_octree;
f->support_fill_octree = support_fill_octree;
f->adapt_fill_octree = (surface_fill.params.pattern == ipSupportCubic) ? support_fill_octree : adaptive_fill_octree;
// calculate flow spacing for infill pattern generation
bool using_internal_flow = ! surface_fill.surface.is_solid() && ! surface_fill.params.flow.bridge;

904
src/libslic3r/Fill/FillAdaptive.cpp
View File

@ -2,16 +2,211 @@
#include "../ExPolygon.hpp"
#include "../Surface.hpp"
#include "../Geometry.hpp"
#include "../AABBTreeIndirect.hpp"
#include "../Layer.hpp"
#include "../Print.hpp"
#include "../ShortestPath.hpp"
#include "FillAdaptive.hpp"
// for indexed_triangle_set
#include <admesh/stl.h>
#include <cstdlib>
#include <cmath>
// Boost pool: Don't use mutexes to synchronize memory allocation.
#define BOOST_POOL_NO_MT
#include <boost/pool/object_pool.hpp>
namespace Slic3r {
std::pair<double, double> adaptive_fill_line_spacing(const PrintObject &print_object)
// Derived from https://github.com/juj/MathGeoLib/blob/master/src/Geometry/Triangle.cpp
// The AABB-Triangle test implementation is based on the pseudo-code in
// Christer Ericson's Real-Time Collision Detection, pp. 169-172. It is
// practically a standard SAT test.
//
// Original MathGeoLib benchmark:
// Best: 17.282 nsecs / 46.496 ticks, Avg: 17.804 nsecs, Worst: 18.434 nsecs
//
//FIXME Vojtech: The MathGeoLib contains a vectorized implementation.
template<typename Vector>
bool triangle_AABB_intersects(const Vector &a, const Vector &b, const Vector &c, const BoundingBoxBase<Vector> &aabb)
{
using Scalar = typename Vector::Scalar;
Vector tMin = a.cwiseMin(b.cwiseMin(c));
Vector tMax = a.cwiseMax(b.cwiseMax(c));
if (tMin.x() >= aabb.max.x() || tMax.x() <= aabb.min.x()
|| tMin.y() >= aabb.max.y() || tMax.y() <= aabb.min.y()
|| tMin.z() >= aabb.max.z() || tMax.z() <= aabb.min.z())
return false;
Vector center = (aabb.min + aabb.max) * 0.5f;
Vector h = aabb.max - center;
const Vector t[3] { b-a, c-a, c-b };
Vector ac = a - center;
Vector n = t[0].cross(t[1]);
Scalar s = n.dot(ac);
Scalar r = std::abs(h.dot(n.cwiseAbs()));
if (abs(s) >= r)
return false;
const Vector at[3] = { t[0].cwiseAbs(), t[1].cwiseAbs(), t[2].cwiseAbs() };
Vector bc = b - center;
Vector cc = c - center;
// SAT test all cross-axes.
// The following is a fully unrolled loop of this code, stored here for reference:
/*
Scalar d1, d2, a1, a2;
const Vector e[3] = { DIR_VEC(1, 0, 0), DIR_VEC(0, 1, 0), DIR_VEC(0, 0, 1) };
for(int i = 0; i < 3; ++i)
for(int j = 0; j < 3; ++j)
{
Vector axis = Cross(e[i], t[j]);
ProjectToAxis(axis, d1, d2);
aabb.ProjectToAxis(axis, a1, a2);
if (d2 <= a1 || d1 >= a2) return false;
}
*/
// eX <cross> t[0]
Scalar d1 = t[0].y() * ac.z() - t[0].z() * ac.y();
Scalar d2 = t[0].y() * cc.z() - t[0].z() * cc.y();
Scalar tc = (d1 + d2) * 0.5f;
r = std::abs(h.y() * at[0].z() + h.z() * at[0].y());
if (r + std::abs(tc - d1) < std::abs(tc))
return false;
// eX <cross> t[1]
d1 = t[1].y() * ac.z() - t[1].z() * ac.y();
d2 = t[1].y() * bc.z() - t[1].z() * bc.y();
tc = (d1 + d2) * 0.5f;
r = std::abs(h.y() * at[1].z() + h.z() * at[1].y());
if (r + std::abs(tc - d1) < std::abs(tc))
return false;
// eX <cross> t[2]
d1 = t[2].y() * ac.z() - t[2].z() * ac.y();
d2 = t[2].y() * bc.z() - t[2].z() * bc.y();
tc = (d1 + d2) * 0.5f;
r = std::abs(h.y() * at[2].z() + h.z() * at[2].y());
if (r + std::abs(tc - d1) < std::abs(tc))
return false;
// eY <cross> t[0]
d1 = t[0].z() * ac.x() - t[0].x() * ac.z();
d2 = t[0].z() * cc.x() - t[0].x() * cc.z();
tc = (d1 + d2) * 0.5f;
r = std::abs(h.x() * at[0].z() + h.z() * at[0].x());
if (r + std::abs(tc - d1) < std::abs(tc))
return false;
// eY <cross> t[1]
d1 = t[1].z() * ac.x() - t[1].x() * ac.z();
d2 = t[1].z() * bc.x() - t[1].x() * bc.z();
tc = (d1 + d2) * 0.5f;
r = std::abs(h.x() * at[1].z() + h.z() * at[1].x());
if (r + std::abs(tc - d1) < std::abs(tc))
return false;
// eY <cross> t[2]
d1 = t[2].z() * ac.x() - t[2].x() * ac.z();
d2 = t[2].z() * bc.x() - t[2].x() * bc.z();
tc = (d1 + d2) * 0.5f;
r = std::abs(h.x() * at[2].z() + h.z() * at[2].x());
if (r + std::abs(tc - d1) < std::abs(tc))
return false;
// eZ <cross> t[0]
d1 = t[0].x() * ac.y() - t[0].y() * ac.x();
d2 = t[0].x() * cc.y() - t[0].y() * cc.x();
tc = (d1 + d2) * 0.5f;
r = std::abs(h.y() * at[0].x() + h.x() * at[0].y());
if (r + std::abs(tc - d1) < std::abs(tc))
return false;
// eZ <cross> t[1]
d1 = t[1].x() * ac.y() - t[1].y() * ac.x();
d2 = t[1].x() * bc.y() - t[1].y() * bc.x();
tc = (d1 + d2) * 0.5f;
r = std::abs(h.y() * at[1].x() + h.x() * at[1].y());
if (r + std::abs(tc - d1) < std::abs(tc))
return false;
// eZ <cross> t[2]
d1 = t[2].x() * ac.y() - t[2].y() * ac.x();
d2 = t[2].x() * bc.y() - t[2].y() * bc.x();
tc = (d1 + d2) * 0.5f;
r = std::abs(h.y() * at[2].x() + h.x() * at[2].y());
if (r + std::abs(tc - d1) < std::abs(tc))
return false;
// No separating axis exists, the AABB and triangle intersect.
return true;
}
// Ordering of children cubes.
static const std::array<Vec3d, 8> child_centers {
Vec3d(-1, -1, -1), Vec3d( 1, -1, -1), Vec3d(-1, 1, -1), Vec3d( 1, 1, -1),
Vec3d(-1, -1, 1), Vec3d( 1, -1, 1), Vec3d(-1, 1, 1), Vec3d( 1, 1, 1)
};
// Traversal order of octree children cells for three infill directions,
// so that a single line will be discretized in a strictly monotonous order.
static constexpr std::array<std::array<int, 8>, 3> child_traversal_order {
std::array<int, 8>{ 2, 3, 0, 1, 6, 7, 4, 5 },
std::array<int, 8>{ 4, 0, 6, 2, 5, 1, 7, 3 },
std::array<int, 8>{ 1, 5, 0, 4, 3, 7, 2, 6 },
};
namespace FillAdaptive_Internal
{
struct Cube
{
Vec3d center;
#ifndef NDEBUG
Vec3d center_octree;
#endif // NDEBUG
std::array<Cube*, 8> children {}; // initialized to nullptrs
Cube(const Vec3d &center) : center(center) {}
};
struct CubeProperties
{
double edge_length; // Lenght of edge of a cube
double height; // Height of rotated cube (standing on the corner)
double diagonal_length; // Length of diagonal of a cube a face
double line_z_distance; // Defines maximal distance from a center of a cube on Z axis on which lines will be created
double line_xy_distance;// Defines maximal distance from a center of a cube on X and Y axis on which lines will be created
};
struct Octree
{
// Octree will allocate its Cubes from the pool. The pool only supports deletion of the complete pool,
// perfect for building up our octree.
boost::object_pool<Cube> pool;
Cube* root_cube { nullptr };
Vec3d origin;
std::vector<CubeProperties> cubes_properties;
Octree(const Vec3d &origin, const std::vector<CubeProperties> &cubes_properties)
: root_cube(pool.construct(origin)), origin(origin), cubes_properties(cubes_properties) {}
void insert_triangle(const Vec3d &a, const Vec3d &b, const Vec3d &c, Cube *current_cube, const BoundingBoxf3 &current_bbox, int depth);
};
void OctreeDeleter::operator()(Octree *p) {
delete p;
}
}; // namespace FillAdaptive_Internal
std::pair<double, double> FillAdaptive_Internal::adaptive_fill_line_spacing(const PrintObject &print_object)
{
// Output, spacing for icAdaptiveCubic and icSupportCubic
double adaptive_line_spacing = 0.;
@ -90,431 +285,392 @@ std::pair<double, double> adaptive_fill_line_spacing(const PrintObject &print_ob
return std::make_pair(adaptive_line_spacing, support_line_spacing);
}
void FillAdaptive::_fill_surface_single(const FillParams & params,
unsigned int thickness_layers,
const std::pair<float, Point> &direction,
ExPolygon & expolygon,
Polylines & polylines_out)
// Context used by generate_infill_lines() when recursively traversing an octree in a DDA fashion
// (Digital Differential Analyzer).
struct FillContext
{
if(this->adapt_fill_octree != nullptr)
this->generate_infill(params, thickness_layers, direction, expolygon, polylines_out, this->adapt_fill_octree);
// The angles have to agree with child_traversal_order.
static constexpr double direction_angles[3] {
0.,
(2.0 * M_PI) / 3.0,
-(2.0 * M_PI) / 3.0
};
FillContext(const FillAdaptive_Internal::Octree &octree, double z_position, int direction_idx) :
origin_world(octree.origin),
cubes_properties(octree.cubes_properties),
z_position(z_position),
traversal_order(child_traversal_order[direction_idx]),
cos_a(cos(direction_angles[direction_idx])),
sin_a(sin(direction_angles[direction_idx]))
{
static constexpr auto unused = std::numeric_limits<coord_t>::max();
temp_lines.assign((1 << octree.cubes_properties.size()) - 1, Line(Point(unused, unused), Point(unused, unused)));
}
// Rotate the point, uses the same convention as Point::rotate().
Vec2d rotate(const Vec2d& v) { return Vec2d(this->cos_a * v.x() - this->sin_a * v.y(), this->sin_a * v.x() + this->cos_a * v.y()); }
// Center of the root cube in the Octree coordinate system.
const Vec3d origin_world;
const std::vector<FillAdaptive_Internal::CubeProperties> &cubes_properties;
// Top of the current layer.
const double z_position;
// Order of traversal for this line direction.
const std::array<int, 8> traversal_order;
// Rotation of the generated line for this line direction.
const double cos_a;
const double sin_a;
// Linearized tree spanning a single Octree wall, used to connect lines spanning
// neighboring Octree cells. Unused lines have the Line::a::x set to infinity.
std::vector<Line> temp_lines;
// Final output
std::vector<Line> output_lines;
};
static constexpr double octree_rot[3] = { 5.0 * M_PI / 4.0, Geometry::deg2rad(215.264), M_PI / 6.0 };
Eigen::Quaterniond FillAdaptive_Internal::adaptive_fill_octree_transform_to_world()
{
return Eigen::AngleAxisd(octree_rot[2], Vec3d::UnitZ()) * Eigen::AngleAxisd(octree_rot[1], Vec3d::UnitY()) * Eigen::AngleAxisd(octree_rot[0], Vec3d::UnitX());
}
void FillAdaptive::generate_infill(const FillParams & params,
unsigned int thickness_layers,
const std::pair<float, Point> &direction,
ExPolygon & expolygon,
Polylines & polylines_out,
FillAdaptive_Internal::Octree *octree)
Eigen::Quaterniond FillAdaptive_Internal::adaptive_fill_octree_transform_to_octree()
{
Vec3d rotation = Vec3d((5.0 * M_PI) / 4.0, Geometry::deg2rad(215.264), M_PI / 6.0);
Transform3d rotation_matrix = Geometry::assemble_transform(Vec3d::Zero(), rotation, Vec3d::Ones(), Vec3d::Ones());
return Eigen::AngleAxisd(- octree_rot[0], Vec3d::UnitX()) * Eigen::AngleAxisd(- octree_rot[1], Vec3d::UnitY()) * Eigen::AngleAxisd(- octree_rot[2], Vec3d::UnitZ());
}
// Store grouped lines by its direction (multiple of 120°)
std::vector<Lines> infill_lines_dir(3);
this->generate_infill_lines(octree->root_cube.get(),
this->z, octree->origin, rotation_matrix,
infill_lines_dir, octree->cubes_properties,
int(octree->cubes_properties.size()) - 1);
#ifndef NDEBUG
// Verify that the traversal order of the octree children matches the line direction,
// therefore the infill line may get extended with O(1) time & space complexity.
static bool verify_traversal_order(
FillContext &context,
const FillAdaptive_Internal::Cube *cube,
int depth,
const Vec2d &line_from,
const Vec2d &line_to)
{
std::array<Vec3d, 8> c;
Eigen::Quaterniond to_world = FillAdaptive_Internal::adaptive_fill_octree_transform_to_world();
for (int i = 0; i < 8; ++i) {
int j = context.traversal_order[i];
Vec3d cntr = to_world * (cube->center_octree + (child_centers[j] * (context.cubes_properties[depth].edge_length / 4.)));
assert(!cube->children[j] || cube->children[j]->center.isApprox(cntr));
c[i] = cntr;
}
std::array<Vec3d, 10> dirs = {
c[1] - c[0], c[2] - c[0], c[3] - c[1], c[3] - c[2], c[3] - c[0],
c[5] - c[4], c[6] - c[4], c[7] - c[5], c[7] - c[6], c[7] - c[4]
};
assert(std::abs(dirs[4].z()) < 0.001);
assert(std::abs(dirs[9].z()) < 0.001);
assert(dirs[0].isApprox(dirs[3]));
assert(dirs[1].isApprox(dirs[2]));
assert(dirs[5].isApprox(dirs[8]));
assert(dirs[6].isApprox(dirs[7]));
Vec3d line_dir = Vec3d(line_to.x() - line_from.x(), line_to.y() - line_from.y(), 0.).normalized();
for (auto& dir : dirs) {
double d = dir.normalized().dot(line_dir);
assert(d > 0.7);
}
return true;
}
#endif // NDEBUG
static void generate_infill_lines_recursive(
FillContext &context,
const FillAdaptive_Internal::Cube *cube,
// Address of this wall in the octree, used to address context.temp_lines.
int address,
int depth)
{
assert(cube != nullptr);
const std::vector<FillAdaptive_Internal::CubeProperties> &cubes_properties = context.cubes_properties;
const double z_diff = context.z_position - cube->center.z();
const double z_diff_abs = std::abs(z_diff);
if (z_diff_abs > cubes_properties[depth].height / 2.)
return;
if (z_diff_abs < cubes_properties[depth].line_z_distance) {
// Discretize a single wall splitting the cube into two.
const double zdist = cubes_properties[depth].line_z_distance;
Vec2d from(
0.5 * cubes_properties[depth].diagonal_length * (zdist - z_diff_abs) / zdist,
cubes_properties[depth].line_xy_distance - (zdist + z_diff) / sqrt(2.));
Vec2d to(-from.x(), from.y());
from = context.rotate(from);
to = context.rotate(to);
// Relative to cube center
Vec2d offset(cube->center.x() - context.origin_world.x(), cube->center.y() - context.origin_world.y());
from += offset;
to += offset;
// Verify that the traversal order of the octree children matches the line direction,
// therefore the infill line may get extended with O(1) time & space complexity.
assert(verify_traversal_order(context, cube, depth, from, to));
// Either extend an existing line or start a new one.
Line &last_line = context.temp_lines[address];
Line new_line(Point::new_scale(from), Point::new_scale(to));
if (last_line.a.x() == std::numeric_limits<coord_t>::max()) {
last_line.a = new_line.a;
} else if ((new_line.a - last_line.b).cwiseAbs().maxCoeff() > 300) { // SCALED_EPSILON is 100 and it is not enough) {
context.output_lines.emplace_back(last_line);
last_line.a = new_line.a;
}
last_line.b = new_line.b;
}
// left child index
address = address * 2 + 1;
-- depth;
size_t i = 0;
for (const int child_idx : context.traversal_order) {
const FillAdaptive_Internal::Cube *child = cube->children[child_idx];
if (child != nullptr)
generate_infill_lines_recursive(context, child, address, depth);
if (++ i == 4)
// right child index
++ address;
}
}
#ifndef NDEBUG
// #define ADAPTIVE_CUBIC_INFILL_DEBUG_OUTPUT
#endif
#ifdef ADAPTIVE_CUBIC_INFILL_DEBUG_OUTPUT
static void export_infill_lines_to_svg(const ExPolygon &expoly, const Polylines &polylines, const std::string &path)
{
BoundingBox bbox = get_extents(expoly);
bbox.offset(scale_(3.));
::Slic3r::SVG svg(path, bbox);
svg.draw(expoly);
svg.draw_outline(expoly, "green");
svg.draw(polylines, "red");
static constexpr double trim_length = scale_(0.4);
for (Polyline polyline : polylines) {
Vec2d a = polyline.points.front().cast<double>();
Vec2d d = polyline.points.back().cast<double>();
if (polyline.size() == 2) {
Vec2d v = d - a;
double l = v.norm();
if (l > 2. * trim_length) {
a += v * trim_length / l;
d -= v * trim_length / l;
polyline.points.front() = a.cast<coord_t>();
polyline.points.back() = d.cast<coord_t>();
} else
polyline.points.clear();
} else if (polyline.size() > 2) {
Vec2d b = polyline.points[1].cast<double>();
Vec2d c = polyline.points[polyline.points.size() - 2].cast<double>();
Vec2d v = b - a;
double l = v.norm();
if (l > trim_length) {
a += v * trim_length / l;
polyline.points.front() = a.cast<coord_t>();
} else
polyline.points.erase(polyline.points.begin());
v = d - c;
l = v.norm();
if (l > trim_length)
polyline.points.back() = (d - v * trim_length / l).cast<coord_t>();
else
polyline.points.pop_back();
}
svg.draw(polyline, "black");
}
}
#endif /* ADAPTIVE_CUBIC_INFILL_DEBUG_OUTPUT */
void FillAdaptive::_fill_surface_single(
const FillParams & params,
unsigned int thickness_layers,
const std::pair<float, Point> &direction,
ExPolygon &expolygon,
Polylines &polylines_out)
{
assert (this->adapt_fill_octree);
Polylines all_polylines;
all_polylines.reserve(infill_lines_dir[0].size() * 3);
for (Lines &infill_lines : infill_lines_dir)
{
for (const Line &line : infill_lines)
{
all_polylines.emplace_back(line.a, line.b);
// 3 contexts for three directions of infill lines
std::array<FillContext, 3> contexts {
FillContext { *adapt_fill_octree, this->z, 0 },
FillContext { *adapt_fill_octree, this->z, 1 },
FillContext { *adapt_fill_octree, this->z, 2 }
};
// Generate the infill lines along the octree cells, merge touching lines of the same direction.
size_t num_lines = 0;
for (auto &context : contexts) {
generate_infill_lines_recursive(context, adapt_fill_octree->root_cube, 0, int(adapt_fill_octree->cubes_properties.size()) - 1);
num_lines += context.output_lines.size() + context.temp_lines.size();
}
// Collect the lines.
std::vector<Line> lines;
lines.reserve(num_lines);
for (auto &context : contexts) {
append(lines, context.output_lines);
for (const Line &line : context.temp_lines)
if (line.a.x() != std::numeric_limits<coord_t>::max())
lines.emplace_back(line);
}
// Convert lines to polylines.
all_polylines.reserve(lines.size());
std::transform(lines.begin(), lines.end(), std::back_inserter(all_polylines), [](const Line& l) { return Polyline{ l.a, l.b }; });
}
// Crop all polylines
all_polylines = intersection_pl(std::move(all_polylines), to_polygons(expolygon));
#ifdef ADAPTIVE_CUBIC_INFILL_DEBUG_OUTPUT
{
static int iRun = 0;
export_infill_lines_to_svg(expolygon, all_polylines, debug_out_path("FillAdaptive-initial-%d.svg", iRun++));
}
#endif /* ADAPTIVE_CUBIC_INFILL_DEBUG_OUTPUT */
if (params.dont_connect)
{
// Crop all polylines
polylines_out = intersection_pl(all_polylines, to_polygons(expolygon));
}
else
{
// Crop all polylines
all_polylines = intersection_pl(all_polylines, to_polygons(expolygon));
append(polylines_out, std::move(all_polylines));
else {
Polylines boundary_polylines;
Polylines non_boundary_polylines;
for (const Polyline &polyline : all_polylines)
{
// connect_infill required all polylines to touch the boundary.
if(polyline.lines().size() == 1 && expolygon.has_boundary_point(polyline.lines().front().a) && expolygon.has_boundary_point(polyline.lines().front().b))
{
if (polyline.lines().size() == 1 && expolygon.has_boundary_point(polyline.lines().front().a) && expolygon.has_boundary_point(polyline.lines().front().b))
boundary_polylines.push_back(polyline);
}
else
{
non_boundary_polylines.push_back(polyline);
}
}
if(!boundary_polylines.empty())
{
if (!boundary_polylines.empty()) {
boundary_polylines = chain_polylines(boundary_polylines);
FillAdaptive::connect_infill(std::move(boundary_polylines), expolygon, polylines_out, this->spacing, params);
}
polylines_out.insert(polylines_out.end(), non_boundary_polylines.begin(), non_boundary_polylines.end());
append(polylines_out, std::move(non_boundary_polylines));
}
#ifdef SLIC3R_DEBUG_SLICE_PROCESSING
#ifdef ADAPTIVE_CUBIC_INFILL_DEBUG_OUTPUT
{
static int iRuna = 0;
BoundingBox bbox_svg = this->bounding_box;
{
::Slic3r::SVG svg(debug_out_path("FillAdaptive-%d.svg", iRuna), bbox_svg);
for (const Polyline &polyline : polylines_out)
{
for (const Line &line : polyline.lines())
{
Point from = line.a;
Point to = line.b;
Point diff = to - from;
float shrink_length = scale_(0.4);
float line_slope = (float)diff.y() / diff.x();
float shrink_x = shrink_length / (float)std::sqrt(1.0 + (line_slope * line_slope));
float shrink_y = line_slope * shrink_x;
to.x() -= shrink_x;
to.y() -= shrink_y;
from.x() += shrink_x;
from.y() += shrink_y;
svg.draw(Line(from, to));
}
}
}
iRuna++;
static int iRun = 0;
export_infill_lines_to_svg(expolygon, polylines_out, debug_out_path("FillAdaptive-final-%d.svg", iRun ++));
}
#endif /* SLIC3R_DEBUG */
#endif /* ADAPTIVE_CUBIC_INFILL_DEBUG_OUTPUT */
}
void FillAdaptive::generate_infill_lines(
FillAdaptive_Internal::Cube *cube,
double z_position,
const Vec3d &origin,
const Transform3d &rotation_matrix,
std::vector<Lines> &dir_lines_out,
const std::vector<FillAdaptive_Internal::CubeProperties> &cubes_properties,
int depth)
static double bbox_max_radius(const BoundingBoxf3 &bbox, const Vec3d &center)
{
using namespace FillAdaptive_Internal;
if(cube == nullptr)
{
return;
}
Vec3d cube_center_tranformed = rotation_matrix * cube->center;
double z_diff = std::abs(z_position - cube_center_tranformed.z());
if (z_diff > cubes_properties[depth].height / 2)
{
return;
}
if (z_diff < cubes_properties[depth].line_z_distance)
{
Point from(
scale_((cubes_properties[depth].diagonal_length / 2) * (cubes_properties[depth].line_z_distance - z_diff) / cubes_properties[depth].line_z_distance),
scale_(cubes_properties[depth].line_xy_distance - ((z_position - (cube_center_tranformed.z() - cubes_properties[depth].line_z_distance)) / sqrt(2))));
Point to(-from.x(), from.y());
// Relative to cube center
double rotation_angle = (2.0 * M_PI) / 3.0;
for (Lines &lines : dir_lines_out)
{
Vec3d offset = cube_center_tranformed - (rotation_matrix * origin);
Point from_abs(from), to_abs(to);
from_abs.x() += int(scale_(offset.x()));
from_abs.y() += int(scale_(offset.y()));
to_abs.x() += int(scale_(offset.x()));
to_abs.y() += int(scale_(offset.y()));
// lines.emplace_back(from_abs, to_abs);
this->connect_lines(lines, Line(from_abs, to_abs));
from.rotate(rotation_angle);
to.rotate(rotation_angle);
}
}
for(const std::unique_ptr<Cube> &child : cube->children)
{
if(child != nullptr)
{
generate_infill_lines(child.get(), z_position, origin, rotation_matrix, dir_lines_out, cubes_properties, depth - 1);
}
}
const auto p = (bbox.min - center);
const auto s = bbox.size();
double r2max = 0.;
for (int i = 0; i < 8; ++ i)
r2max = std::max(r2max, (p + Vec3d(s.x() * double(i & 1), s.y() * double(i & 2), s.z() * double(i & 4))).squaredNorm());
return sqrt(r2max);
}
void FillAdaptive::connect_lines(Lines &lines, Line new_line)
static std::vector<FillAdaptive_Internal::CubeProperties> make_cubes_properties(double max_cube_edge_length, double line_spacing)
{
auto eps = int(scale_(0.10));
for (size_t i = 0; i < lines.size(); ++i)
max_cube_edge_length += EPSILON;
std::vector<FillAdaptive_Internal::CubeProperties> cubes_properties;
for (double edge_length = line_spacing * 2.;; edge_length *= 2.)
{
if (std::abs(new_line.a.x() - lines[i].b.x()) < eps && std::abs(new_line.a.y() - lines[i].b.y()) < eps)
{
new_line.a = lines[i].a;
lines.erase(lines.begin() + i);
--i;
continue;
}
if (std::abs(new_line.b.x() - lines[i].a.x()) < eps && std::abs(new_line.b.y() - lines[i].a.y()) < eps)
{
new_line.b = lines[i].b;
lines.erase(lines.begin() + i);
--i;
continue;
}
}
lines.emplace_back(new_line.a, new_line.b);
}
std::unique_ptr<FillAdaptive_Internal::Octree> FillAdaptive::build_octree(
TriangleMesh &triangle_mesh,
coordf_t line_spacing,
const Vec3d &cube_center)
{
using namespace FillAdaptive_Internal;
if(line_spacing <= 0 || std::isnan(line_spacing))
{
return nullptr;
}
Vec3d bb_size = triangle_mesh.bounding_box().size();
// The furthest point from the center of the bottom of the mesh bounding box.
double furthest_point = std::sqrt(((bb_size.x() * bb_size.x()) / 4.0) +
((bb_size.y() * bb_size.y()) / 4.0) +
(bb_size.z() * bb_size.z()));
double max_cube_edge_length = furthest_point * 2;
std::vector<CubeProperties> cubes_properties;
for (double edge_length = (line_spacing * 2); edge_length < (max_cube_edge_length * 2); edge_length *= 2)
{
CubeProperties props{};
FillAdaptive_Internal::CubeProperties props{};
props.edge_length = edge_length;
props.height = edge_length * sqrt(3);
props.diagonal_length = edge_length * sqrt(2);
props.line_z_distance = edge_length / sqrt(3);
props.line_xy_distance = edge_length / sqrt(6);
cubes_properties.push_back(props);
cubes_properties.emplace_back(props);
if (edge_length > max_cube_edge_length)
break;
}
return cubes_properties;
}
if (triangle_mesh.its.vertices.empty())
{
triangle_mesh.require_shared_vertices();
static inline bool is_overhang_triangle(const Vec3d &a, const Vec3d &b, const Vec3d &c, const Vec3d &up)
{
// Calculate triangle normal.
auto n = (b - a).cross(c - b);
return n.dot(up) > 0.707 * n.norm();
}
static void transform_center(FillAdaptive_Internal::Cube *current_cube, const Eigen::Matrix3d &rot)
{
#ifndef NDEBUG
current_cube->center_octree = current_cube->center;
#endif // NDEBUG
current_cube->center = rot * current_cube->center;
for (auto *child : current_cube->children)
if (child)
transform_center(child, rot);
}
FillAdaptive_Internal::OctreePtr FillAdaptive_Internal::build_octree(const indexed_triangle_set &triangle_mesh, const Vec3d &up_vector, coordf_t line_spacing, bool support_overhangs_only)
{
assert(line_spacing > 0);
assert(! std::isnan(line_spacing));
BoundingBox3Base<Vec3f> bbox(triangle_mesh.vertices);
Vec3d cube_center = bbox.center().cast<double>();
std::vector<CubeProperties> cubes_properties = make_cubes_properties(double(bbox.size().maxCoeff()), line_spacing);
auto octree = OctreePtr(new Octree(cube_center, cubes_properties));
if (cubes_properties.size() > 1) {
for (auto &tri : triangle_mesh.indices) {
auto a = triangle_mesh.vertices[tri[0]].cast<double>();
auto b = triangle_mesh.vertices[tri[1]].cast<double>();
auto c = triangle_mesh.vertices[tri[2]].cast<double>();
if (support_overhangs_only && ! is_overhang_triangle(a, b, c, up_vector))
continue;
double edge_length_half = 0.5 * cubes_properties.back().edge_length;
Vec3d diag_half(edge_length_half, edge_length_half, edge_length_half);
octree->insert_triangle(
a, b, c,
octree->root_cube,
BoundingBoxf3(octree->root_cube->center - diag_half, octree->root_cube->center + diag_half),
int(cubes_properties.size()) - 1);
}
{
// Transform the octree to world coordinates to reduce computation when extracting infill lines.
auto rot = adaptive_fill_octree_transform_to_world().toRotationMatrix();
transform_center(octree->root_cube, rot);
octree->origin = rot * octree->origin;
}
}
AABBTreeIndirect::Tree3f aabbTree = AABBTreeIndirect::build_aabb_tree_over_indexed_triangle_set(
triangle_mesh.its.vertices, triangle_mesh.its.indices);
auto octree = std::make_unique<Octree>(std::make_unique<Cube>(cube_center), cube_center, cubes_properties);
FillAdaptive::expand_cube(octree->root_cube.get(), cubes_properties, aabbTree, triangle_mesh, int(cubes_properties.size()) - 1);
return octree;
}
void FillAdaptive::expand_cube(
FillAdaptive_Internal::Cube *cube,
const std::vector<FillAdaptive_Internal::CubeProperties> &cubes_properties,
const AABBTreeIndirect::Tree3f &distance_tree,
const TriangleMesh &triangle_mesh, int depth)
void FillAdaptive_Internal::Octree::insert_triangle(const Vec3d &a, const Vec3d &b, const Vec3d &c, Cube *current_cube, const BoundingBoxf3 &current_bbox, int depth)
{
using namespace FillAdaptive_Internal;
assert(current_cube);
assert(depth > 0);
if (cube == nullptr || depth == 0)
{
return;
}
std::vector<Vec3d> child_centers = {
Vec3d(-1, -1, -1), Vec3d( 1, -1, -1), Vec3d(-1, 1, -1), Vec3d( 1, 1, -1),
Vec3d(-1, -1, 1), Vec3d( 1, -1, 1), Vec3d(-1, 1, 1), Vec3d( 1, 1, 1)
};
double cube_radius_squared = (cubes_properties[depth].height * cubes_properties[depth].height) / 16;
for (size_t i = 0; i < 8; ++i)
{
for (size_t i = 0; i < 8; ++ i) {
const Vec3d &child_center = child_centers[i];
Vec3d child_center_transformed = cube->center + (child_center * (cubes_properties[depth].edge_length / 4));
if(AABBTreeIndirect::is_any_triangle_in_radius(triangle_mesh.its.vertices, triangle_mesh.its.indices,
distance_tree, child_center_transformed, cube_radius_squared))
{
cube->children[i] = std::make_unique<Cube>(child_center_transformed);
FillAdaptive::expand_cube(cube->children[i].get(), cubes_properties, distance_tree, triangle_mesh, depth - 1);
}
}
}
void FillAdaptive_Internal::Octree::propagate_point(
Vec3d point,
FillAdaptive_Internal::Cube * current,
int depth,
const std::vector<FillAdaptive_Internal::CubeProperties> &cubes_properties)
{
using namespace FillAdaptive_Internal;
if(depth <= 0)
{
return;
}
size_t octant_idx = Octree::find_octant(point, current->center);
Cube * child = current->children[octant_idx].get();
// Octant not exists, then create it
if(child == nullptr) {
std::vector<Vec3d> child_centers = {
Vec3d(-1, -1, -1), Vec3d( 1, -1, -1), Vec3d(-1, 1, -1), Vec3d( 1, 1, -1),
Vec3d(-1, -1, 1), Vec3d( 1, -1, 1), Vec3d(-1, 1, 1), Vec3d( 1, 1, 1)
};
const Vec3d &child_center = child_centers[octant_idx];
Vec3d child_center_transformed = current->center + (child_center * (cubes_properties[depth].edge_length / 4));
current->children[octant_idx] = std::make_unique<Cube>(child_center_transformed);
child = current->children[octant_idx].get();
}
Octree::propagate_point(point, child, (depth - 1), cubes_properties);
}
std::unique_ptr<FillAdaptive_Internal::Octree> FillSupportCubic::build_octree(
TriangleMesh & triangle_mesh,
coordf_t line_spacing,
const Vec3d & cube_center,
const Transform3d &rotation_matrix)
{
using namespace FillAdaptive_Internal;
if(line_spacing <= 0 || std::isnan(line_spacing))
{
return nullptr;
}
Vec3d bb_size = triangle_mesh.bounding_box().size();
// The furthest point from the center of the bottom of the mesh bounding box.
double furthest_point = std::sqrt(((bb_size.x() * bb_size.x()) / 4.0) +
((bb_size.y() * bb_size.y()) / 4.0) +
(bb_size.z() * bb_size.z()));
double max_cube_edge_length = furthest_point * 2;
std::vector<CubeProperties> cubes_properties;
for (double edge_length = (line_spacing * 2); edge_length < (max_cube_edge_length * 2); edge_length *= 2)
{
CubeProperties props{};
props.edge_length = edge_length;
props.height = edge_length * sqrt(3);
props.diagonal_length = edge_length * sqrt(2);
props.line_z_distance = edge_length / sqrt(3);
props.line_xy_distance = edge_length / sqrt(6);
cubes_properties.push_back(props);
}
if (triangle_mesh.its.vertices.empty())
{
triangle_mesh.require_shared_vertices();
}
AABBTreeIndirect::Tree3f aabbTree = AABBTreeIndirect::build_aabb_tree_over_indexed_triangle_set(
triangle_mesh.its.vertices, triangle_mesh.its.indices);
auto octree = std::make_unique<Octree>(std::make_unique<Cube>(cube_center), cube_center, cubes_properties);
double cube_edge_length = line_spacing / 2.0;
int max_depth = int(octree->cubes_properties.size()) - 1;
BoundingBoxf3 mesh_bb = triangle_mesh.bounding_box();
Vec3f vertical(0, 0, 1);
for (size_t facet_idx = 0; facet_idx < triangle_mesh.stl.facet_start.size(); ++facet_idx)
{
if(triangle_mesh.stl.facet_start[facet_idx].normal.dot(vertical) <= 0.707)
{
// The angle is smaller than PI/4, than infill don't to be there
continue;
}
stl_vertex v_1 = triangle_mesh.stl.facet_start[facet_idx].vertex[0];
stl_vertex v_2 = triangle_mesh.stl.facet_start[facet_idx].vertex[1];
stl_vertex v_3 = triangle_mesh.stl.facet_start[facet_idx].vertex[2];
std::vector<Vec3d> triangle_vertices =
{Vec3d(v_1.x(), v_1.y(), v_1.z()),
Vec3d(v_2.x(), v_2.y(), v_2.z()),
Vec3d(v_3.x(), v_3.y(), v_3.z())};
BoundingBoxf3 triangle_bb(triangle_vertices);
Vec3d triangle_start_relative = triangle_bb.min - mesh_bb.min;
Vec3d triangle_end_relative = triangle_bb.max - mesh_bb.min;
Vec3crd triangle_start_idx = Vec3crd(
int(std::floor(triangle_start_relative.x() / cube_edge_length)),
int(std::floor(triangle_start_relative.y() / cube_edge_length)),
int(std::floor(triangle_start_relative.z() / cube_edge_length)));
Vec3crd triangle_end_idx = Vec3crd(
int(std::floor(triangle_end_relative.x() / cube_edge_length)),
int(std::floor(triangle_end_relative.y() / cube_edge_length)),
int(std::floor(triangle_end_relative.z() / cube_edge_length)));
for (int z = triangle_start_idx.z(); z <= triangle_end_idx.z(); ++z)
{
for (int y = triangle_start_idx.y(); y <= triangle_end_idx.y(); ++y)
{
for (int x = triangle_start_idx.x(); x <= triangle_end_idx.x(); ++x)
{
Vec3d cube_center_relative(x * cube_edge_length + (cube_edge_length / 2.0), y * cube_edge_length + (cube_edge_length / 2.0), z * cube_edge_length);
Vec3d cube_center_absolute = cube_center_relative + mesh_bb.min;
double cube_center_absolute_arr[3] = {cube_center_absolute.x(), cube_center_absolute.y(), cube_center_absolute.z()};
double distance = 0, cord_u = 0, cord_v = 0;
double dir[3] = {0.0, 0.0, 1.0};
double vert_0[3] = {triangle_vertices[0].x(),
triangle_vertices[0].y(),
triangle_vertices[0].z()};
double vert_1[3] = {triangle_vertices[1].x(),
triangle_vertices[1].y(),
triangle_vertices[1].z()};
double vert_2[3] = {triangle_vertices[2].x(),
triangle_vertices[2].y(),
triangle_vertices[2].z()};
if(intersect_triangle(cube_center_absolute_arr, dir, vert_0, vert_1, vert_2, &distance, &cord_u, &cord_v) && distance > 0 && distance <= cube_edge_length)
{
Vec3d cube_center_transformed(cube_center_absolute.x(), cube_center_absolute.y(), cube_center_absolute.z() + (cube_edge_length / 2.0));
Octree::propagate_point(rotation_matrix * cube_center_transformed, octree->root_cube.get(), max_depth, octree->cubes_properties);
}
}
// Calculate a slightly expanded bounding box of a child cube to cope with triangles touching a cube wall and other numeric errors.
// We will rather densify the octree a bit more than necessary instead of missing a triangle.
BoundingBoxf3 bbox;
for (int k = 0; k < 3; ++ k) {
if (child_center[k] == -1.) {
bbox.min[k] = current_bbox.min[k];
bbox.max[k] = current_cube->center[k] + EPSILON;
} else {
bbox.min[k] = current_cube->center[k] - EPSILON;
bbox.max[k] = current_bbox.max[k];
}
}
if (triangle_AABB_intersects(a, b, c, bbox)) {
if (! current_cube->children[i])
current_cube->children[i] = this->pool.construct(current_cube->center + (child_center * (this->cubes_properties[depth].edge_length / 4)));
if (depth > 1)
this->insert_triangle(a, b, c, current_cube->children[i], bbox, depth - 1);
}
}
return octree;
}
void FillSupportCubic::_fill_surface_single(const FillParams & params,
unsigned int thickness_layers,
const std::pair<float, Point> &direction,
ExPolygon & expolygon,
Polylines & polylines_out)
{
if (this->support_fill_octree != nullptr)
this->generate_infill(params, thickness_layers, direction, expolygon, polylines_out, this->support_fill_octree);
}
} // namespace Slic3r

130
src/libslic3r/Fill/FillAdaptive.hpp
View File

@ -1,3 +1,13 @@
// Adaptive cubic infill was inspired by the work of @mboerwinkle
// as implemented for Cura.
// https://github.com/Ultimaker/CuraEngine/issues/381
// https://github.com/Ultimaker/CuraEngine/pull/401
//
// Our implementation is more accurate (discretizes a bit less cubes than Cura's)
// by splitting only such cubes which contain a triangle.
// Our line extraction is time optimal instead of O(n^2) when connecting extracted lines,
// and we also implemented adaptivity for supporting internal overhangs only.
#ifndef slic3r_FillAdaptive_hpp_
#define slic3r_FillAdaptive_hpp_
@ -5,49 +15,39 @@
#include "FillBase.hpp"
struct indexed_triangle_set;
namespace Slic3r {
class PrintObject;
class TriangleMesh;
namespace FillAdaptive_Internal
{
struct CubeProperties
{
double edge_length; // Lenght of edge of a cube
double height; // Height of rotated cube (standing on the corner)
double diagonal_length; // Length of diagonal of a cube a face
double line_z_distance; // Defines maximal distance from a center of a cube on Z axis on which lines will be created
double line_xy_distance;// Defines maximal distance from a center of a cube on X and Y axis on which lines will be created
struct Octree;
// To keep the definition of Octree opaque, we have to define a custom deleter.
struct OctreeDeleter {
void operator()(Octree *p);
};
using OctreePtr = std::unique_ptr<Octree, OctreeDeleter>;
struct Cube
{
Vec3d center;
std::unique_ptr<Cube> children[8] = {};
Cube(const Vec3d &center) : center(center) {}
};
// Calculate line spacing for
// 1) adaptive cubic infill
// 2) adaptive internal support cubic infill
// Returns zero for a particular infill type if no such infill is to be generated.
std::pair<double, double> adaptive_fill_line_spacing(const PrintObject &print_object);
struct Octree
{
std::unique_ptr<Cube> root_cube;
Vec3d origin;
std::vector<CubeProperties> cubes_properties;
// Rotation of the octree to stand on one of its corners.
Eigen::Quaterniond adaptive_fill_octree_transform_to_world();
// Inverse roation of the above.
Eigen::Quaterniond adaptive_fill_octree_transform_to_octree();
Octree(std::unique_ptr<Cube> rootCube, const Vec3d &origin, const std::vector<CubeProperties> &cubes_properties)
: root_cube(std::move(rootCube)), origin(origin), cubes_properties(cubes_properties) {}
inline static int find_octant(const Vec3d &i_cube, const Vec3d &current)
{
return (i_cube.z() > current.z()) * 4 + (i_cube.y() > current.y()) * 2 + (i_cube.x() > current.x());
}
static void propagate_point(
Vec3d point,
FillAdaptive_Internal::Cube *current_cube,
int depth,
const std::vector<FillAdaptive_Internal::CubeProperties> &cubes_properties);
};
FillAdaptive_Internal::OctreePtr build_octree(
// Mesh is rotated to the coordinate system of the octree.
const indexed_triangle_set &triangle_mesh,
// Up vector of the mesh rotated to the coordinate system of the octree.
const Vec3d &up_vector,
coordf_t line_spacing,
// If true, octree is densified below internal overhangs only.
bool support_overhangs_only);
}; // namespace FillAdaptive_Internal
//
@ -70,70 +70,8 @@ protected:
Polylines &polylines_out);
virtual bool no_sort() const { return true; }
void generate_infill_lines(
FillAdaptive_Internal::Cube *cube,
double z_position,
const Vec3d & origin,
const Transform3d & rotation_matrix,
std::vector<Lines> & dir_lines_out,
const std::vector<FillAdaptive_Internal::CubeProperties> &cubes_properties,
int depth);
static void connect_lines(Lines &lines, Line new_line);
void generate_infill(const FillParams & params,
unsigned int thickness_layers,
const std::pair<float, Point> &direction,
ExPolygon & expolygon,
Polylines & polylines_out,
FillAdaptive_Internal::Octree *octree);
public:
static std::unique_ptr<FillAdaptive_Internal::Octree> build_octree(
TriangleMesh &triangle_mesh,
coordf_t line_spacing,
const Vec3d & cube_center);
static void expand_cube(
FillAdaptive_Internal::Cube *cube,
const std::vector<FillAdaptive_Internal::CubeProperties> &cubes_properties,
const AABBTreeIndirect::Tree3f &distance_tree,
const TriangleMesh & triangle_mesh,
int depth);
};
class FillSupportCubic : public FillAdaptive
{
public:
virtual ~FillSupportCubic() = default;
protected:
virtual Fill* clone() const { return new FillSupportCubic(*this); };
virtual bool no_sort() const { return true; }
virtual void _fill_surface_single(
const FillParams &params,
unsigned int thickness_layers,
const std::pair<float, Point> &direction,
ExPolygon &expolygon,
Polylines &polylines_out);
public:
static std::unique_ptr<FillAdaptive_Internal::Octree> build_octree(
TriangleMesh & triangle_mesh,
coordf_t line_spacing,
const Vec3d & cube_center,
const Transform3d &rotation_matrix);
};
// Calculate line spacing for
// 1) adaptive cubic infill
// 2) adaptive internal support cubic infill
// Returns zero for a particular infill type if no such infill is to be generated.
std::pair<double, double> adaptive_fill_line_spacing(const PrintObject &print_object);
} // namespace Slic3r
#endif // slic3r_FillAdaptive_hpp_

2
src/libslic3r/Fill/FillBase.cpp
View File

@ -39,7 +39,7 @@ Fill* Fill::new_from_type(const InfillPattern type)
case ipHilbertCurve: return new FillHilbertCurve();
case ipOctagramSpiral: return new FillOctagramSpiral();
case ipAdaptiveCubic: return new FillAdaptive();
case ipSupportCubic: return new FillSupportCubic();
case ipSupportCubic: return new FillAdaptive();
default: throw Slic3r::InvalidArgument("unknown type");
}
}

2
src/libslic3r/Fill/FillBase.hpp
View File

@ -77,8 +77,6 @@ public:
// Octree builds on mesh for usage in the adaptive cubic infill
FillAdaptive_Internal::Octree* adapt_fill_octree = nullptr;
// Octree builds on mesh for usage in the support cubic infill
FillAdaptive_Internal::Octree* support_fill_octree = nullptr;
public:
virtual ~Fill() {}

2
src/libslic3r/Geometry.hpp
View File

@ -281,7 +281,7 @@ bool directions_parallel(double angle1, double angle2, double max_diff = 0);
template<class T> bool contains(const std::vector<T> &vector, const Point &point);
template<typename T> T rad2deg(T angle) { return T(180.0) * angle / T(PI); }
double rad2deg_dir(double angle);
template<typename T> T deg2rad(T angle) { return T(PI) * angle / T(180.0); }
template<typename T> constexpr T deg2rad(const T angle) { return T(PI) * angle / T(180.0); }
template<typename T> T angle_to_0_2PI(T angle)
{
static const T TWO_PI = T(2) * T(PI);

32
src/libslic3r/Model.cpp
View File

@ -777,6 +777,38 @@ TriangleMesh ModelObject::raw_mesh() const
return mesh;
}
// Non-transformed (non-rotated, non-scaled, non-translated) sum of non-modifier object volumes.
// Currently used by ModelObject::mesh(), to calculate the 2D envelope for 2D plater
// and to display the object statistics at ModelObject::print_info().
indexed_triangle_set ModelObject::raw_indexed_triangle_set() const
{
size_t num_vertices = 0;
size_t num_faces = 0;
for (const ModelVolume *v : this->volumes)
if (v->is_model_part()) {
num_vertices += v->mesh().its.vertices.size();
num_faces += v->mesh().its.indices.size();
}
indexed_triangle_set out;
out.vertices.reserve(num_vertices);
out.indices.reserve(num_faces);
for (const ModelVolume *v : this->volumes)
if (v->is_model_part()) {
size_t i = out.vertices.size();
size_t j = out.indices.size();
append(out.vertices, v->mesh().its.vertices);
append(out.indices, v->mesh().its.indices);
auto m = v->get_matrix();
for (; i < out.vertices.size(); ++ i)
out.vertices[i] = (m * out.vertices[i].cast<double>()).cast<float>().eval();
if (v->is_left_handed()) {
for (; j < out.indices.size(); ++ j)
std::swap(out.indices[j][0], out.indices[j][1]);
}
}
return out;
}
// Non-transformed (non-rotated, non-scaled, non-translated) sum of all object volumes.
TriangleMesh ModelObject::full_raw_mesh() const
{

2
src/libslic3r/Model.hpp
View File

@ -244,6 +244,8 @@ public:
// Non-transformed (non-rotated, non-scaled, non-translated) sum of non-modifier object volumes.
// Currently used by ModelObject::mesh() and to calculate the 2D envelope for 2D plater.
TriangleMesh raw_mesh() const;
// The same as above, but producing a lightweight indexed_triangle_set.
indexed_triangle_set raw_indexed_triangle_set() const;
// Non-transformed (non-rotated, non-scaled, non-translated) sum of all object volumes.
TriangleMesh full_raw_mesh() const;
// A transformed snug bounding box around the non-modifier object volumes, without the translation applied.

10
src/libslic3r/Point.cpp
View File

@ -44,16 +44,6 @@ Pointf3s transform(const Pointf3s& points, const Transform3d& t)
return ret_points;
}
void Point::rotate(double angle)
{
double cur_x = (double)(*this)(0);
double cur_y = (double)(*this)(1);
double s = ::sin(angle);
double c = ::cos(angle);
(*this)(0) = (coord_t)round(c * cur_x - s * cur_y);
(*this)(1) = (coord_t)round(c * cur_y + s * cur_x);
}
void Point::rotate(double angle, const Point &center)
{
double cur_x = (double)(*this)(0);

10
src/libslic3r/Point.hpp
View File

@ -105,6 +105,7 @@ public:
template<typename OtherDerived>
Point(const Eigen::MatrixBase<OtherDerived> &other) : Vec2crd(other) {}
static Point new_scale(coordf_t x, coordf_t y) { return Point(coord_t(scale_(x)), coord_t(scale_(y))); }
static Point new_scale(const Vec2d &v) { return Point(coord_t(scale_(v.x())), coord_t(scale_(v.y()))); }
// This method allows you to assign Eigen expressions to MyVectorType
template<typename OtherDerived>
@ -121,7 +122,14 @@ public:
Point& operator*=(const double &rhs) { (*this)(0) = coord_t((*this)(0) * rhs); (*this)(1) = coord_t((*this)(1) * rhs); return *this; }
Point operator*(const double &rhs) { return Point((*this)(0) * rhs, (*this)(1) * rhs); }
void rotate(double angle);
void rotate(double angle) { this->rotate(std::cos(angle), std::sin(angle)); }
void rotate(double cos_a, double sin_a) {
double cur_x = (double)(*this)(0);
double cur_y = (double)(*this)(1);
(*this)(0) = (coord_t)round(cos_a * cur_x - sin_a * cur_y);
(*this)(1) = (coord_t)round(cos_a * cur_y + sin_a * cur_x);
}
void rotate(double angle, const Point &center);
Point rotated(double angle) const { Point res(*this); res.rotate(angle); return res; }
Point rotated(double angle, const Point &center) const { Point res(*this); res.rotate(angle, center); return res; }

4
src/libslic3r/Print.hpp
View File

@ -32,6 +32,8 @@ class SupportLayer;
namespace FillAdaptive_Internal {
struct Octree;
struct OctreeDeleter;
using OctreePtr = std::unique_ptr<Octree, OctreeDeleter>;
};
// Print step IDs for keeping track of the print state.
@ -239,7 +241,7 @@ private:
void discover_horizontal_shells();
void combine_infill();
void _generate_support_material();
std::pair<std::unique_ptr<FillAdaptive_Internal::Octree>, std::unique_ptr<FillAdaptive_Internal::Octree>> prepare_adaptive_infill_data();
std::pair<FillAdaptive_Internal::OctreePtr, FillAdaptive_Internal::OctreePtr> prepare_adaptive_infill_data();
// XYZ in scaled coordinates
Vec3crd m_size;

71
src/libslic3r/PrintObject.cpp
View File

@ -434,74 +434,27 @@ void PrintObject::generate_support_material()
}
}
//#define ADAPTIVE_SUPPORT_SIMPLE
std::pair<std::unique_ptr<FillAdaptive_Internal::Octree>, std::unique_ptr<FillAdaptive_Internal::Octree>> PrintObject::prepare_adaptive_infill_data()
std::pair<FillAdaptive_Internal::OctreePtr, FillAdaptive_Internal::OctreePtr> PrintObject::prepare_adaptive_infill_data()
{
using namespace FillAdaptive_Internal;
auto [adaptive_line_spacing, support_line_spacing] = adaptive_fill_line_spacing(*this);
std::unique_ptr<Octree> adaptive_fill_octree = {}, support_fill_octree = {};
if (adaptive_line_spacing == 0. && support_line_spacing == 0.)
return std::make_pair(std::move(adaptive_fill_octree), std::move(support_fill_octree));
return std::make_pair(OctreePtr(), OctreePtr());
TriangleMesh mesh = this->model_object()->raw_mesh();
mesh.transform(m_trafo, true);
// Apply XY shift
mesh.translate(- unscale<float>(m_center_offset.x()), - unscale<float>(m_center_offset.y()), 0);
// Center of the first cube in octree
Vec3d mesh_origin = mesh.bounding_box().center();
#ifdef ADAPTIVE_SUPPORT_SIMPLE
if (mesh.its.vertices.empty())
indexed_triangle_set mesh = this->model_object()->raw_indexed_triangle_set();
Vec3d up;
{
mesh.require_shared_vertices();
}
Vec3f vertical(0, 0, 1);
indexed_triangle_set its_set;
its_set.vertices = mesh.its.vertices;
// Filter out non overhanging faces
for (size_t i = 0; i < mesh.its.indices.size(); ++i) {
stl_triangle_vertex_indices vertex_idx = mesh.its.indices[i];
auto its_calculate_normal = [](const stl_triangle_vertex_indices &index, const std::vector<stl_vertex> &vertices) {
stl_normal normal = (vertices[index.y()] - vertices[index.x()]).cross(vertices[index.z()] - vertices[index.x()]);
return normal;
};
stl_normal normal = its_calculate_normal(vertex_idx, mesh.its.vertices);
stl_normalize_vector(normal);
if(normal.dot(vertical) >= 0.707) {
its_set.indices.push_back(vertex_idx);
}
}
mesh = TriangleMesh(its_set);
#ifdef SLIC3R_DEBUG_SLICE_PROCESSING
Slic3r::store_stl(debug_out_path("overhangs.stl").c_str(), &mesh, false);
#endif /* SLIC3R_DEBUG_SLICE_PROCESSING */
#endif /* ADAPTIVE_SUPPORT_SIMPLE */
Vec3d rotation = Vec3d((5.0 * M_PI) / 4.0, Geometry::deg2rad(215.264), M_PI / 6.0);
Transform3d rotation_matrix = Geometry::assemble_transform(Vec3d::Zero(), rotation, Vec3d::Ones(), Vec3d::Ones()).inverse();
if (adaptive_line_spacing != 0.) {
auto m = adaptive_fill_octree_transform_to_octree().toRotationMatrix();
up = m * Vec3d(0., 0., 1.);
// Rotate mesh and build octree on it with axis-aligned (standart base) cubes
mesh.transform(rotation_matrix);
adaptive_fill_octree = FillAdaptive::build_octree(mesh, adaptive_line_spacing, rotation_matrix * mesh_origin);
Transform3d m2 = m_trafo;
m2.translate(Vec3d(- unscale<float>(m_center_offset.x()), - unscale<float>(m_center_offset.y()), 0));
its_transform(mesh, m * m2, true);
}
if (support_line_spacing != 0.)
support_fill_octree = FillSupportCubic::build_octree(mesh, support_line_spacing, rotation_matrix * mesh_origin, rotation_matrix);
return std::make_pair(std::move(adaptive_fill_octree), std::move(support_fill_octree));
return std::make_pair(
adaptive_line_spacing ? build_octree(mesh, up, adaptive_line_spacing, false) : OctreePtr(),
support_line_spacing ? build_octree(mesh, up, support_line_spacing, true) : OctreePtr());
}
void PrintObject::clear_layers()