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Selection of shortest path around polygon boundary

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This commit is contained in:
Lukáš Hejl 2020-09-21 14:49:22 +02:00
parent 7a4ba7d131
commit 6573bc15a5
2 changed files with 59 additions and 10 deletions
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60
src/libslic3r/GCode.cpp
View file

@ -176,7 +176,7 @@ namespace Slic3r {
return islands;
}
Matrix2d rotation_by_direction(const Point &direction)
static Matrix2d rotation_by_direction(const Point &direction)
{
Matrix2d rotation;
rotation.block<1, 2>(0, 0) = direction.cast<double>() / direction.cast<double>().norm();
@ -186,6 +186,33 @@ namespace Slic3r {
return rotation;
}
AvoidCrossingPerimeters2::Direction AvoidCrossingPerimeters2::get_shortest_direction(const Lines &lines,
const size_t start_idx,
const size_t end_idx,
const Point &intersection_first,
const Point &intersection_last)
{
double total_length_forward = (lines[start_idx].b - intersection_first).cast<double>().norm();
double total_length_backward = (lines[start_idx].a - intersection_first).cast<double>().norm();
for (int line_idx = int(start_idx) + 1; line_idx != int(end_idx); ++line_idx) {
if (line_idx == int(lines.size())) line_idx = 0;
total_length_forward += lines[line_idx].length();
}
for (int line_idx = int(start_idx) - 1; line_idx != int(end_idx); --line_idx) {
if (line_idx < 0) line_idx = int(lines.size()) - 1;
total_length_backward += lines[line_idx].length();
}
total_length_forward += (lines[end_idx].a - intersection_last).cast<double>().norm();
total_length_backward += (lines[end_idx].b - intersection_last).cast<double>().norm();
return (total_length_forward < total_length_backward) ? Direction::Forward : Direction::Backward;
}
Polyline AvoidCrossingPerimeters2::travel_to(const GCode &gcodegen, const Point &point)
{
const Point &start = gcodegen.last_pos();
@ -213,7 +240,7 @@ namespace Slic3r {
for (size_t line_idx = 0; line_idx < border_lines.size(); ++line_idx) {
const Line &border_line = border_lines[line_idx];
Line border_line_transformed((transform_to_x_axis * border_line.a.cast<double>()).cast<coord_t>(),
Line border_line_transformed((transform_to_x_axis * border_line.a.cast<double>()).cast<coord_t>(),
(transform_to_x_axis * border_line.b.cast<double>()).cast<coord_t>());
Point intersection_transformed;
@ -226,32 +253,45 @@ namespace Slic3r {
// Sort intersections from the nearest to the farthest
std::sort(intersections.begin(), intersections.end());
// Polyline result(start, end);
// Polyline result(start, end);
Polyline result;
result.append(start);
for (auto it_first = intersections.begin(); it_first != intersections.end(); ++it_first) {
const Intersection &intersection_first = *it_first;
Point intersection_first_point((transform_from_x_axis * intersection_first.point.cast<double>()).cast<coord_t>());
for (auto it_second = it_first + 1; it_second != intersections.end(); ++it_second) {
const Intersection &intersection_second = *it_second;
Point intersection_second_point(
(transform_from_x_axis * intersection_second.point.cast<double>()).cast<coord_t>());
if (intersection_first.border_idx == intersection_second.border_idx) {
Lines border_lines = borders[intersection_first.border_idx].lines();
// Append the nearest intersection into the path
result.append((transform_from_x_axis * intersection_first.point.cast<double>()).cast<coord_t>());
result.append(intersection_first_point);
Direction shortest_direction = get_shortest_direction(border_lines, intersection_first.line_idx,
intersection_second.line_idx, intersection_first_point,
intersection_second_point);
// Append the path around the border into the path
for (size_t line_idx = intersection_first.line_idx; line_idx != intersection_second.line_idx;) {
result.append(border_lines[line_idx].b);
if (shortest_direction == Direction::Forward) {
for (int line_idx = intersection_first.line_idx; line_idx != int(intersection_second.line_idx); ++line_idx) {
if (line_idx == int(border_lines.size())) line_idx = 0;
if (++line_idx == border_lines.size()) line_idx = 0;
result.append(border_lines[line_idx].b);
}
} else {
for (int line_idx = intersection_first.line_idx; line_idx != int(intersection_second.line_idx);
--line_idx) {
if (line_idx < 0) line_idx = int(border_lines.size()) - 1;
result.append(border_lines[line_idx].a);
}
}
// Append the farthest intersection into the path
result.append((transform_from_x_axis * intersection_second.point.cast<double>()).cast<coord_t>());
result.append(intersection_second_point);
// Skip intersections in between
it_first = it_second;
break;

9
src/libslic3r/GCode.hpp
View file

@ -77,6 +77,15 @@ protected:
inline bool operator<(const Intersection &other) const { return this->point.x() < other.point.x(); }
};
enum class Direction { Forward, Backward };
private:
static Direction get_shortest_direction(const Lines &lines,
const size_t start_idx,
const size_t end_idx,
const Point &intersection_first,
const Point &intersection_last);
public:
AvoidCrossingPerimeters2() : AvoidCrossingPerimeters() {}