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improve bed adhesion estimation, comupute weight factor sign

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This commit is contained in:
PavelMikus 2022-08-15 17:27:06 +02:00
parent 970c9e033d
commit 6114b04594
1 changed files with 41 additions and 11 deletions
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52
src/libslic3r/SupportSpotsGenerator.cpp
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@ -555,9 +555,18 @@ std::tuple<LayerIslands, PixelGrid> reckon_islands(
island.sticking_area += sticking_area;
Vec2f middle = Vec2f((line.a + line.b) / 2.0f);
island.sticking_centroid_accumulator += sticking_area * to_3d(middle, float(layer->slice_z));
island.sticking_second_moment_of_area_accumulator += sticking_area * middle.cwiseProduct(middle);
island.sticking_second_moment_of_area_covariance_accumulator += sticking_area * middle.x()
* middle.y();
// Bottom infill lines can be quite long, and algined, so the middle approximaton used above does not work
Vec2f dir = (line.b - line.a).normalized();
float segment_length = flow_width; // segments of size flow_width
for (float segment_middle_dist = std::min(line.len, segment_length * 0.5f); segment_middle_dist < line.len;
segment_middle_dist += segment_length) {
Vec2f segment_middle = line.a + segment_middle_dist * dir;
island.sticking_second_moment_of_area_accumulator += segment_length * flow_width
* segment_middle.cwiseProduct(segment_middle);
island.sticking_second_moment_of_area_covariance_accumulator += segment_length * flow_width
* segment_middle.x()
* segment_middle.y();
}
} else if (layer_lines[lidx].support_point_generated) {
float sticking_area = line.len * flow_width;
island.sticking_area += sticking_area;
@ -662,9 +671,8 @@ public:
* position.x() * position.y();
}
float compute_elastic_section_modulus(
float compute_directional_xy_variance(
const Vec2f &line_dir,
const Vec3f &extreme_point,
const Vec3f &centroid_accumulator,
const Vec2f &second_moment_of_area_accumulator,
const float &second_moment_of_area_covariance_accumulator,
@ -678,7 +686,6 @@ public:
float directional_xy_variance = line_dir.x() * line_dir.x() * variance.x()
+ line_dir.y() * line_dir.y() * variance.y() +
2.0f * line_dir.x() * line_dir.y() * covariance;
#ifdef DETAILED_DEBUG_LOGS
BOOST_LOG_TRIVIAL(debug)
<< "centroid: " << centroid.x() << " " << centroid.y() << " " << centroid.z();
@ -689,10 +696,27 @@ public:
BOOST_LOG_TRIVIAL(debug)
<< "directional_xy_variance: " << directional_xy_variance;
#endif
return directional_xy_variance;
}
float compute_elastic_section_modulus(
const Vec2f &line_dir,
const Vec3f &extreme_point,
const Vec3f &centroid_accumulator,
const Vec2f &second_moment_of_area_accumulator,
const float &second_moment_of_area_covariance_accumulator,
const float &area) const {
float directional_xy_variance = compute_directional_xy_variance(
line_dir,
centroid_accumulator,
second_moment_of_area_accumulator,
second_moment_of_area_covariance_accumulator,
area);
if (directional_xy_variance < EPSILON) {
return 0.0f;
}
Vec3f centroid = centroid_accumulator / area;
float extreme_fiber_dist = line_alg::distance_to(
Linef(centroid.head<2>().cast<double>(), (centroid.head<2>() + Vec2f(line_dir.y(), -line_dir.x())).cast<double>()),
extreme_point.head<2>().cast<double>());
@ -731,7 +755,7 @@ public:
return 1.0f;
Vec3f bed_centroid = this->sticking_centroid_accumulator / this->sticking_area;
float bed_yield_torque = compute_elastic_section_modulus(
float bed_yield_torque = - compute_elastic_section_modulus(
line_dir,
extreme_point,
this->sticking_centroid_accumulator,
@ -740,8 +764,14 @@ public:
this->sticking_area)
* params.get_bed_adhesion_yield_strength();
float bed_weight_arm = (bed_centroid.head<2>() - mass_centroid.head<2>()).norm();
float bed_weight_torque = bed_weight_arm * weight;
Vec2f bed_weight_arm = (mass_centroid.head<2>() - bed_centroid.head<2>());
float bed_weight_arm_len = bed_weight_arm.norm();
float bed_weight_dir_xy_variance = compute_directional_xy_variance(bed_weight_arm, this->sticking_centroid_accumulator,
this->sticking_second_moment_of_area_accumulator,
this->sticking_second_moment_of_area_covariance_accumulator,
this->sticking_area);
float bed_weight_sign = bed_weight_arm_len < 2.0f * sqrt(bed_weight_dir_xy_variance) ? -1.0f : 1.0f;
float bed_weight_torque = bed_weight_sign * bed_weight_arm_len * weight;
float bed_movement_arm = std::max(0.0f, mass_centroid.z() - bed_centroid.z());
float bed_movement_torque = movement_force * bed_movement_arm;
@ -750,7 +780,7 @@ public:
float bed_extruder_conflict_torque = extruder_conflict_force * bed_conflict_torque_arm;
float bed_total_torque = bed_movement_torque + bed_extruder_conflict_torque + bed_weight_torque
- bed_yield_torque;
+ bed_yield_torque;
#ifdef DETAILED_DEBUG_LOGS
BOOST_LOG_TRIVIAL(debug)