3DPrinting/PrusaSlicer-NonPlainar
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Add astar algorithm

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Fix windows build
This commit is contained in:
tamasmeszaros 2022-05-11 12:06:07 +02:00
parent b2890b983b
commit 6b23e90424
5 changed files with 261 additions and 6 deletions
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1
tests/libslic3r/CMakeLists.txt
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@ -26,6 +26,7 @@ add_executable(${_TEST_NAME}_tests
test_png_io.cpp
test_timeutils.cpp
test_indexed_triangle_set.cpp
test_astar.cpp
../libnest2d/printer_parts.cpp
)

71
tests/libslic3r/test_astar.cpp Normal file
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@ -0,0 +1,71 @@
#include <catch2/catch.hpp>
#include "libslic3r/BoundingBox.hpp"
#include "libslic3r/AStar.hpp"
#include "libslic3r/Execution/ExecutionSeq.hpp"
#include "libslic3r/PointGrid.hpp"
using namespace Slic3r;
struct PointGridTracer {
using Node = size_t;
const PointGrid<float> &grid;
size_t final;
PointGridTracer(const PointGrid<float> &g, size_t goal) :
grid{g}, final{goal} {}
template<class Fn>
void foreach_reachable(size_t from, Fn &&fn) const
{
Vec3i from_crd = grid.get_coord(from);
REQUIRE(grid.get_idx(from_crd) == from);
if (size_t i = grid.get_idx(from_crd + Vec3i{ 1, 0, 0}); i < grid.point_count()) fn(i);
if (size_t i = grid.get_idx(from_crd + Vec3i{ 0, 1, 0}); i < grid.point_count()) fn(i);
if (size_t i = grid.get_idx(from_crd + Vec3i{ 0, 0, 1}); i < grid.point_count()) fn(i);
if (size_t i = grid.get_idx(from_crd + Vec3i{ 1, 1, 0}); i < grid.point_count()) fn(i);
if (size_t i = grid.get_idx(from_crd + Vec3i{ 0, 1, 1}); i < grid.point_count()) fn(i);
if (size_t i = grid.get_idx(from_crd + Vec3i{ 1, 1, 1}); i < grid.point_count()) fn(i);
if (size_t i = grid.get_idx(from_crd + Vec3i{-1, 0, 0}); from_crd.x() > 0 && i < grid.point_count()) fn(i);
if (size_t i = grid.get_idx(from_crd + Vec3i{ 0, -1, 0}); from_crd.y() > 0 && i < grid.point_count()) fn(i);
if (size_t i = grid.get_idx(from_crd + Vec3i{ 0, 0, -1}); from_crd.z() > 0 && i < grid.point_count()) fn(i);
if (size_t i = grid.get_idx(from_crd + Vec3i{-1, -1, 0}); from_crd.x() > 0 && from_crd.y() > 0 && i < grid.point_count()) fn(i);
if (size_t i = grid.get_idx(from_crd + Vec3i{ 0, -1, -1}); from_crd.y() > 0 && from_crd.z() && i < grid.point_count()) fn(i);
if (size_t i = grid.get_idx(from_crd + Vec3i{-1, -1, -1}); from_crd.x() > 0 && from_crd.y() > 0 && from_crd.z() && i < grid.point_count()) fn(i);
}
float distance(size_t a, size_t b) const
{
return (grid.get(a) - grid.get(b)).squaredNorm();
}
float goal_heuristic(size_t n) const
{
return n == final ? -1.f : (grid.get(n) - grid.get(final)).squaredNorm();
}
size_t unique_id(size_t n) const { return n; }
};
TEST_CASE("astar algorithm test over 3D point grid", "[AStar]") {
auto vol = BoundingBox3Base<Vec3f>{{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}};
auto pgrid = point_grid(ex_seq, vol, {0.1f, 0.1f, 0.1f});
size_t target = pgrid.point_count() - 1;
std::cout << "Tracing route to " << pgrid.get_coord(target).transpose() << std::endl;
PointGridTracer pgt{pgrid, pgrid.point_count() - 1};
std::vector<size_t> out;
bool found = astar::search_route(pgt, size_t(0), std::back_inserter(out));
std::cout << "Route taken: ";
for (size_t i : out) {
std::cout << "(" << pgrid.get_coord(i).transpose() << ") ";
}
std::cout << std::endl;
REQUIRE(found);
}