diff --git a/src/libslic3r/CMakeLists.txt b/src/libslic3r/CMakeLists.txt index 6aa197417..66602e06d 100644 --- a/src/libslic3r/CMakeLists.txt +++ b/src/libslic3r/CMakeLists.txt @@ -178,6 +178,11 @@ add_library(libslic3r STATIC SLA/SLABoilerPlate.hpp SLA/SLAPad.hpp SLA/SLAPad.cpp + SLA/SLASupportTreeBuilder.hpp + SLA/SLASupportTreeAlgorithm.hpp + SLA/SLASupportTreeAlgorithm.cpp + SLA/SLASupportTreeBuilder.cpp + SLA/SLAConcurrency.hpp SLA/SLASupportTree.hpp SLA/SLASupportTree.cpp SLA/SLASupportTreeIGL.cpp diff --git a/src/libslic3r/SLA/SLACommon.hpp b/src/libslic3r/SLA/SLACommon.hpp index 3a3f8bdcc..97b459676 100644 --- a/src/libslic3r/SLA/SLACommon.hpp +++ b/src/libslic3r/SLA/SLACommon.hpp @@ -1,8 +1,9 @@ #ifndef SLACOMMON_HPP #define SLACOMMON_HPP -#include #include +#include +#include // #define SLIC3R_SLA_NEEDS_WINDTREE @@ -69,6 +70,8 @@ struct SupportPoint } }; +using SupportPoints = std::vector; + /// An index-triangle structure for libIGL functions. Also serves as an /// alternative (raw) input format for the SLASupportTree class EigenMesh3D { diff --git a/src/libslic3r/SLA/SLAConcurrency.hpp b/src/libslic3r/SLA/SLAConcurrency.hpp new file mode 100644 index 000000000..cd45ce83e --- /dev/null +++ b/src/libslic3r/SLA/SLAConcurrency.hpp @@ -0,0 +1,56 @@ +#ifndef SLACONCURRENCY_H +#define SLACONCURRENCY_H + +#include +#include +#include + +namespace Slic3r { +namespace sla { + +// Set this to true to enable full parallelism in this module. +// Only the well tested parts will be concurrent if this is set to false. +const constexpr bool USE_FULL_CONCURRENCY = false; + +template struct _ccr {}; + +template<> struct _ccr +{ + using SpinningMutex = tbb::spin_mutex; + using BlockingMutex = tbb::mutex; + + template + static inline void enumerate(It from, It to, Fn fn) + { + auto iN = to - from; + size_t N = iN < 0 ? 0 : size_t(iN); + + tbb::parallel_for(size_t(0), N, [from, fn](size_t n) { + fn(*(from + decltype(iN)(n)), n); + }); + } +}; + +template<> struct _ccr +{ +private: + struct _Mtx { inline void lock() {} inline void unlock() {} }; + +public: + using SpinningMutex = _Mtx; + using BlockingMutex = _Mtx; + + template + static inline void enumerate(It from, It to, Fn fn) + { + for (auto it = from; it != to; ++it) fn(*it, size_t(it - from)); + } +}; + +using ccr = _ccr; +using ccr_seq = _ccr; +using ccr_par = _ccr; + +}} // namespace Slic3r::sla + +#endif // SLACONCURRENCY_H diff --git a/src/libslic3r/SLA/SLARasterWriter.cpp b/src/libslic3r/SLA/SLARasterWriter.cpp index 3e6f015d4..4c2296a23 100644 --- a/src/libslic3r/SLA/SLARasterWriter.cpp +++ b/src/libslic3r/SLA/SLARasterWriter.cpp @@ -10,7 +10,7 @@ namespace Slic3r { namespace sla { -std::string SLARasterWriter::createIniContent(const std::string& projectname) const +std::string RasterWriter::createIniContent(const std::string& projectname) const { std::string out("action = print\njobDir = "); out += projectname + "\n"; @@ -21,7 +21,7 @@ std::string SLARasterWriter::createIniContent(const std::string& projectname) co return out; } -void SLARasterWriter::flpXY(ClipperLib::Polygon &poly) +void RasterWriter::flpXY(ClipperLib::Polygon &poly) { for(auto& p : poly.Contour) std::swap(p.X, p.Y); std::reverse(poly.Contour.begin(), poly.Contour.end()); @@ -32,7 +32,7 @@ void SLARasterWriter::flpXY(ClipperLib::Polygon &poly) } } -void SLARasterWriter::flpXY(ExPolygon &poly) +void RasterWriter::flpXY(ExPolygon &poly) { for(auto& p : poly.contour.points) p = Point(p.y(), p.x()); std::reverse(poly.contour.points.begin(), poly.contour.points.end()); @@ -43,7 +43,7 @@ void SLARasterWriter::flpXY(ExPolygon &poly) } } -SLARasterWriter::SLARasterWriter(const Raster::Resolution &res, +RasterWriter::RasterWriter(const Raster::Resolution &res, const Raster::PixelDim &pixdim, const std::array &mirror, double gamma) @@ -53,7 +53,7 @@ SLARasterWriter::SLARasterWriter(const Raster::Resolution &res, m_mirror[1] = !m_mirror[1]; } -void SLARasterWriter::save(const std::string &fpath, const std::string &prjname) +void RasterWriter::save(const std::string &fpath, const std::string &prjname) { try { Zipper zipper(fpath); // zipper with no compression @@ -103,7 +103,7 @@ std::string get_cfg_value(const DynamicPrintConfig &cfg, const std::string &key) } // namespace -void SLARasterWriter::set_config(const DynamicPrintConfig &cfg) +void RasterWriter::set_config(const DynamicPrintConfig &cfg) { m_config["layerHeight"] = get_cfg_value(cfg, "layer_height"); m_config["expTime"] = get_cfg_value(cfg, "exposure_time"); @@ -118,7 +118,7 @@ void SLARasterWriter::set_config(const DynamicPrintConfig &cfg) m_config["prusaSlicerVersion"] = SLIC3R_BUILD_ID; } -void SLARasterWriter::set_statistics(const PrintStatistics &stats) +void RasterWriter::set_statistics(const PrintStatistics &stats) { m_config["usedMaterial"] = std::to_string(stats.used_material); m_config["numFade"] = std::to_string(stats.num_fade); diff --git a/src/libslic3r/SLA/SLARasterWriter.hpp b/src/libslic3r/SLA/SLARasterWriter.hpp index b9202c464..e6a1fd0d1 100644 --- a/src/libslic3r/SLA/SLARasterWriter.hpp +++ b/src/libslic3r/SLA/SLARasterWriter.hpp @@ -22,7 +22,7 @@ namespace Slic3r { namespace sla { // each layer can be written and compressed independently (in parallel). // At the end when all layers where written, the save method can be used to // write out the result into a zipped archive. -class SLARasterWriter +class RasterWriter { public: enum Orientation { @@ -73,15 +73,15 @@ private: static void flpXY(ExPolygon& poly); public: - SLARasterWriter(const Raster::Resolution &res, + RasterWriter(const Raster::Resolution &res, const Raster::PixelDim &pixdim, const std::array &mirror, double gamma = 1.); - SLARasterWriter(const SLARasterWriter& ) = delete; - SLARasterWriter& operator=(const SLARasterWriter&) = delete; - SLARasterWriter(SLARasterWriter&& m) = default; - SLARasterWriter& operator=(SLARasterWriter&&) = default; + RasterWriter(const RasterWriter& ) = delete; + RasterWriter& operator=(const RasterWriter&) = delete; + RasterWriter(RasterWriter&& m) = default; + RasterWriter& operator=(RasterWriter&&) = default; inline void layers(unsigned cnt) { if(cnt > 0) m_layers_rst.resize(cnt); } inline unsigned layers() const { return unsigned(m_layers_rst.size()); } diff --git a/src/libslic3r/SLA/SLASupportTree.cpp b/src/libslic3r/SLA/SLASupportTree.cpp index dda858453..7bc003609 100644 --- a/src/libslic3r/SLA/SLASupportTree.cpp +++ b/src/libslic3r/SLA/SLASupportTree.cpp @@ -7,7 +7,8 @@ #include "SLASupportTree.hpp" #include "SLABoilerPlate.hpp" #include "SLASpatIndex.hpp" -#include "SLAPad.hpp" +#include "SLASupportTreeBuilder.hpp" +#include "SLASupportTreeAlgorithm.hpp" #include #include @@ -25,45 +26,6 @@ //! return same string #define L(s) Slic3r::I18N::translate(s) -/** - * Terminology: - * - * Support point: - * The point on the model surface that needs support. - * - * Pillar: - * A thick column that spans from a support point to the ground and has - * a thick cone shaped base where it touches the ground. - * - * Ground facing support point: - * A support point that can be directly connected with the ground with a pillar - * that does not collide or cut through the model. - * - * Non ground facing support point: - * A support point that cannot be directly connected with the ground (only with - * the model surface). - * - * Head: - * The pinhead that connects to the model surface with the sharp end end - * to a pillar or bridge stick with the dull end. - * - * Headless support point: - * A support point on the model surface for which there is not enough place for - * the head. It is either in a hole or there is some barrier that would collide - * with the head geometry. The headless support point can be ground facing and - * non ground facing as well. - * - * Bridge: - * A stick that connects two pillars or a head with a pillar. - * - * Junction: - * A small ball in the intersection of two or more sticks (pillar, bridge, ...) - * - * CompactBridge: - * A bridge that connects a headless support point with the model surface or a - * nearby pillar. - */ - namespace Slic3r { namespace sla { @@ -82,2446 +44,16 @@ const unsigned SupportConfig::optimizer_max_iterations = 1000; const unsigned SupportConfig::pillar_cascade_neighbors = 3; const unsigned SupportConfig::max_bridges_on_pillar = 3; -using Coordf = double; -using Portion = std::tuple; - -// Set this to true to enable full parallelism in this module. -// Only the well tested parts will be concurrent if this is set to false. -const constexpr bool USE_FULL_CONCURRENCY = false; - -template struct _ccr {}; - -template<> struct _ccr -{ - using SpinningMutex = tbb::spin_mutex; - using LockingMutex = tbb::mutex; - - template - static inline void enumerate(It from, It to, Fn fn) - { - auto iN = to - from; - size_t N = iN < 0 ? 0 : size_t(iN); - - tbb::parallel_for(size_t(0), N, [from, fn](size_t n) { - fn(*(from + decltype(iN)(n)), n); - }); - } -}; - -template<> struct _ccr -{ -private: - struct _Mtx { inline void lock() {} inline void unlock() {} }; - -public: - using SpinningMutex = _Mtx; - using LockingMutex = _Mtx; - - template - static inline void enumerate(It from, It to, Fn fn) - { - for (auto it = from; it != to; ++it) fn(*it, size_t(it - from)); - } -}; - -using ccr = _ccr; -using ccr_seq = _ccr; -using ccr_par = _ccr; - -inline Portion make_portion(double a, double b) { - return std::make_tuple(a, b); +void SupportTree::retrieve_full_mesh(TriangleMesh &outmesh) const { + outmesh.merge(retrieve_mesh(MeshType::Support)); + outmesh.merge(retrieve_mesh(MeshType::Pad)); } -template double distance(const Vec& p) { - return std::sqrt(p.transpose() * p); -} - -template double distance(const Vec& pp1, const Vec& pp2) { - auto p = pp2 - pp1; - return distance(p); -} - -namespace { - -Contour3D sphere(double rho, Portion portion = make_portion(0.0, 2.0*PI), - double fa=(2*PI/360)) { - - Contour3D ret; - - // prohibit close to zero radius - if(rho <= 1e-6 && rho >= -1e-6) return ret; - - auto& vertices = ret.points; - auto& facets = ret.indices; - - // Algorithm: - // Add points one-by-one to the sphere grid and form facets using relative - // coordinates. Sphere is composed effectively of a mesh of stacked circles. - - // adjust via rounding to get an even multiple for any provided angle. - double angle = (2*PI / floor(2*PI / fa)); - - // Ring to be scaled to generate the steps of the sphere - std::vector ring; - - for (double i = 0; i < 2*PI; i+=angle) ring.emplace_back(i); - - const auto sbegin = size_t(2*std::get<0>(portion)/angle); - const auto send = size_t(2*std::get<1>(portion)/angle); - - const size_t steps = ring.size(); - const double increment = 1.0 / double(steps); - - // special case: first ring connects to 0,0,0 - // insert and form facets. - if(sbegin == 0) - vertices.emplace_back(Vec3d(0.0, 0.0, -rho + increment*sbegin*2.0*rho)); - - auto id = coord_t(vertices.size()); - for (size_t i = 0; i < ring.size(); i++) { - // Fixed scaling - const double z = -rho + increment*rho*2.0 * (sbegin + 1.0); - // radius of the circle for this step. - const double r = std::sqrt(std::abs(rho*rho - z*z)); - Vec2d b = Eigen::Rotation2Dd(ring[i]) * Eigen::Vector2d(0, r); - vertices.emplace_back(Vec3d(b(0), b(1), z)); - - if (sbegin == 0) - facets.emplace_back((i == 0) ? - Vec3crd(coord_t(ring.size()), 0, 1) : - Vec3crd(id - 1, 0, id)); - ++id; - } - - // General case: insert and form facets for each step, - // joining it to the ring below it. - for (size_t s = sbegin + 2; s < send - 1; s++) { - const double z = -rho + increment*double(s*2.0*rho); - const double r = std::sqrt(std::abs(rho*rho - z*z)); - - for (size_t i = 0; i < ring.size(); i++) { - Vec2d b = Eigen::Rotation2Dd(ring[i]) * Eigen::Vector2d(0, r); - vertices.emplace_back(Vec3d(b(0), b(1), z)); - auto id_ringsize = coord_t(id - int(ring.size())); - if (i == 0) { - // wrap around - facets.emplace_back(Vec3crd(id - 1, id, - id + coord_t(ring.size() - 1))); - facets.emplace_back(Vec3crd(id - 1, id_ringsize, id)); - } else { - facets.emplace_back(Vec3crd(id_ringsize - 1, id_ringsize, id)); - facets.emplace_back(Vec3crd(id - 1, id_ringsize - 1, id)); - } - id++; - } - } - - // special case: last ring connects to 0,0,rho*2.0 - // only form facets. - if(send >= size_t(2*PI / angle)) { - vertices.emplace_back(Vec3d(0.0, 0.0, -rho + increment*send*2.0*rho)); - for (size_t i = 0; i < ring.size(); i++) { - auto id_ringsize = coord_t(id - int(ring.size())); - if (i == 0) { - // third vertex is on the other side of the ring. - facets.emplace_back(Vec3crd(id - 1, id_ringsize, id)); - } else { - auto ci = coord_t(id_ringsize + coord_t(i)); - facets.emplace_back(Vec3crd(ci - 1, ci, id)); - } - } - } - id++; - - return ret; -} - -// Down facing cylinder in Z direction with arguments: -// r: radius -// h: Height -// ssteps: how many edges will create the base circle -// sp: starting point -Contour3D cylinder(double r, double h, size_t ssteps, const Vec3d &sp = {0,0,0}) -{ - Contour3D ret; - - auto steps = int(ssteps); - auto& points = ret.points; - auto& indices = ret.indices; - points.reserve(2*ssteps); - double a = 2*PI/steps; - - Vec3d jp = sp; - Vec3d endp = {sp(X), sp(Y), sp(Z) + h}; - - // Upper circle points - for(int i = 0; i < steps; ++i) { - double phi = i*a; - double ex = endp(X) + r*std::cos(phi); - double ey = endp(Y) + r*std::sin(phi); - points.emplace_back(ex, ey, endp(Z)); - } - - // Lower circle points - for(int i = 0; i < steps; ++i) { - double phi = i*a; - double x = jp(X) + r*std::cos(phi); - double y = jp(Y) + r*std::sin(phi); - points.emplace_back(x, y, jp(Z)); - } - - // Now create long triangles connecting upper and lower circles - indices.reserve(2*ssteps); - auto offs = steps; - for(int i = 0; i < steps - 1; ++i) { - indices.emplace_back(i, i + offs, offs + i + 1); - indices.emplace_back(i, offs + i + 1, i + 1); - } - - // Last triangle connecting the first and last vertices - auto last = steps - 1; - indices.emplace_back(0, last, offs); - indices.emplace_back(last, offs + last, offs); - - // According to the slicing algorithms, we need to aid them with generating - // a watertight body. So we create a triangle fan for the upper and lower - // ending of the cylinder to close the geometry. - points.emplace_back(jp); int ci = int(points.size() - 1); - for(int i = 0; i < steps - 1; ++i) - indices.emplace_back(i + offs + 1, i + offs, ci); - - indices.emplace_back(offs, steps + offs - 1, ci); - - points.emplace_back(endp); ci = int(points.size() - 1); - for(int i = 0; i < steps - 1; ++i) - indices.emplace_back(ci, i, i + 1); - - indices.emplace_back(steps - 1, 0, ci); - - return ret; -} - -const constexpr long ID_UNSET = -1; - -struct Head { - Contour3D mesh; - - size_t steps = 45; - Vec3d dir = {0, 0, -1}; - Vec3d tr = {0, 0, 0}; - - double r_back_mm = 1; - double r_pin_mm = 0.5; - double width_mm = 2; - double penetration_mm = 0.5; - - // For identification purposes. This will be used as the index into the - // container holding the head structures. See SLASupportTree::Impl - long id = ID_UNSET; - - // If there is a pillar connecting to this head, then the id will be set. - long pillar_id = ID_UNSET; - - inline void invalidate() { id = ID_UNSET; } - inline bool is_valid() const { return id >= 0; } - - Head(double r_big_mm, - double r_small_mm, - double length_mm, - double penetration, - const Vec3d &direction = {0, 0, -1}, // direction (normal to the dull end) - const Vec3d &offset = {0, 0, 0}, // displacement - const size_t circlesteps = 45): - steps(circlesteps), dir(direction), tr(offset), - r_back_mm(r_big_mm), r_pin_mm(r_small_mm), width_mm(length_mm), - penetration_mm(penetration) - { - - // We create two spheres which will be connected with a robe that fits - // both circles perfectly. - - // Set up the model detail level - const double detail = 2*PI/steps; - - // We don't generate whole circles. Instead, we generate only the - // portions which are visible (not covered by the robe) To know the - // exact portion of the bottom and top circles we need to use some - // rules of tangent circles from which we can derive (using simple - // triangles the following relations: - - // The height of the whole mesh - const double h = r_big_mm + r_small_mm + width_mm; - double phi = PI/2 - std::acos( (r_big_mm - r_small_mm) / h ); - - // To generate a whole circle we would pass a portion of (0, Pi) - // To generate only a half horizontal circle we can pass (0, Pi/2) - // The calculated phi is an offset to the half circles needed to smooth - // the transition from the circle to the robe geometry - - auto&& s1 = sphere(r_big_mm, make_portion(0, PI/2 + phi), detail); - auto&& s2 = sphere(r_small_mm, make_portion(PI/2 + phi, PI), detail); - - for(auto& p : s2.points) p.z() += h; - - mesh.merge(s1); - mesh.merge(s2); - - for(size_t idx1 = s1.points.size() - steps, idx2 = s1.points.size(); - idx1 < s1.points.size() - 1; - idx1++, idx2++) - { - coord_t i1s1 = coord_t(idx1), i1s2 = coord_t(idx2); - coord_t i2s1 = i1s1 + 1, i2s2 = i1s2 + 1; - - mesh.indices.emplace_back(i1s1, i2s1, i2s2); - mesh.indices.emplace_back(i1s1, i2s2, i1s2); - } - - auto i1s1 = coord_t(s1.points.size()) - coord_t(steps); - auto i2s1 = coord_t(s1.points.size()) - 1; - auto i1s2 = coord_t(s1.points.size()); - auto i2s2 = coord_t(s1.points.size()) + coord_t(steps) - 1; - - mesh.indices.emplace_back(i2s2, i2s1, i1s1); - mesh.indices.emplace_back(i1s2, i2s2, i1s1); - - // 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) - for(auto& p : mesh.points) p.z() -= (h + r_small_mm - penetration_mm); - } - - void transform() - { - using Quaternion = Eigen::Quaternion; - - // 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 + tr; - } - - double fullwidth() const { - return 2 * r_pin_mm + width_mm + 2*r_back_mm - penetration_mm; - } - - Vec3d junction_point() const { - return tr + ( 2 * r_pin_mm + width_mm + r_back_mm - penetration_mm)*dir; - } - - double request_pillar_radius(double radius) const { - const double rmax = r_back_mm; - return radius > 0 && radius < rmax ? radius : rmax; - } -}; - -struct Junction { - Contour3D mesh; - double r = 1; - size_t steps = 45; - Vec3d pos; - - long id = ID_UNSET; - - Junction(const Vec3d& tr, double r_mm, size_t stepnum = 45): - r(r_mm), steps(stepnum), pos(tr) - { - mesh = sphere(r_mm, make_portion(0, PI), 2*PI/steps); - for(auto& p : mesh.points) p += tr; - } -}; - -struct Pillar { - Contour3D mesh; - Contour3D base; - double r = 1; - size_t steps = 0; - Vec3d endpt; - double height = 0; - - long id = ID_UNSET; - - // If the pillar connects to a head, this is the id of that head - bool starts_from_head = true; // Could start from a junction as well - long start_junction_id = ID_UNSET; - - // How many bridges are connected to this pillar - unsigned bridges = 0; - - // How many pillars are cascaded with this one - unsigned links = 0; - - Pillar(const Vec3d& jp, const Vec3d& endp, - double radius = 1, size_t st = 45): - r(radius), steps(st), endpt(endp), starts_from_head(false) - { - assert(steps > 0); - - height = jp(Z) - endp(Z); - if(height > EPSILON) { // Endpoint is below the starting point - - // We just create a bridge geometry with the pillar parameters and - // move the data. - Contour3D body = cylinder(radius, height, st, endp); - mesh.points.swap(body.points); - mesh.indices.swap(body.indices); - } - } - - 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 - { - return {endpt(X), endpt(Y), endpt(Z) + height}; - } - - inline const Vec3d& endpoint() const { return endpt; } - - Pillar& add_base(double baseheight = 3, double radius = 2) - { - if(baseheight <= 0) return *this; - if(baseheight > height) baseheight = height; - - assert(steps >= 0); - auto last = int(steps - 1); - - if(radius < r ) radius = r; - - 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) + r*std::cos(phi); - double y = endpt(Y) + r*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.indices; - 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 *this; - } -}; - -// A Bridge between two pillars (with junction endpoints) -struct Bridge { - Contour3D mesh; - double r = 0.8; - - long id = ID_UNSET; - long start_jid = ID_UNSET; - long end_jid = ID_UNSET; - - // We should reduce the radius a tiny bit to help the convex hull algorithm - Bridge(const Vec3d& j1, const Vec3d& j2, - double r_mm = 0.8, size_t steps = 45): - r(r_mm) - { - using Quaternion = Eigen::Quaternion; - Vec3d dir = (j2 - j1).normalized(); - double d = distance(j2, j1); - - mesh = cylinder(r, d, steps); - - auto quater = Quaternion::FromTwoVectors(Vec3d{0,0,1}, dir); - for(auto& p : mesh.points) p = quater * p + j1; - } -}; - -// A bridge that spans from model surface to model surface with small connecting -// edges on the endpoints. Used for headless support points. -struct CompactBridge { - Contour3D mesh; - long id = ID_UNSET; - - CompactBridge(const Vec3d& sp, - const Vec3d& ep, - const Vec3d& n, - double r, - bool endball = true, - size_t steps = 45) - { - Vec3d startp = sp + r * n; - Vec3d dir = (ep - startp).normalized(); - Vec3d endp = ep - r * dir; - - Bridge br(startp, endp, r, steps); - mesh.merge(br.mesh); - - // now add the pins - double fa = 2*PI/steps; - auto upperball = sphere(r, Portion{PI / 2 - fa, PI}, fa); - for(auto& p : upperball.points) p += startp; - - if(endball) { - auto lowerball = sphere(r, Portion{0, PI/2 + 2*fa}, fa); - for(auto& p : lowerball.points) p += endp; - mesh.merge(lowerball); - } - - mesh.merge(upperball); - } -}; - -// A wrapper struct around the base pool (pad) -struct Pad { - TriangleMesh tmesh; - PadConfig cfg; - double zlevel = 0; - - Pad() = default; - - Pad(const TriangleMesh &support_mesh, - const ExPolygons & model_contours, - double ground_level, - const PadConfig & pcfg, - ThrowOnCancel thr) - : cfg(pcfg) - , zlevel(ground_level + pcfg.full_height() - pcfg.required_elevation()) - { - thr(); - - ExPolygons sup_contours; - - float zstart = float(zlevel); - float zend = zstart + float(pcfg.full_height() + EPSILON); - - pad_blueprint(support_mesh, sup_contours, grid(zstart, zend, 0.1f), thr); - create_pad(sup_contours, model_contours, tmesh, pcfg); - - tmesh.translate(0, 0, float(zlevel)); - if (!tmesh.empty()) tmesh.require_shared_vertices(); - } - - bool empty() const { return tmesh.facets_count() == 0; } -}; - -// The minimum distance for two support points to remain valid. -const double /*constexpr*/ D_SP = 0.1; - -} // namespace - -enum { // For indexing Eigen vectors as v(X), v(Y), v(Z) instead of numbers - X, Y, Z -}; - -inline Vec2d to_vec2(const Vec3d& v3) { - return {v3(X), v3(Y)}; -} - - -// This class will hold the support tree meshes with some additional bookkeeping -// as well. Various parts of the support geometry are stored separately and are -// merged when the caller queries the merged mesh. The merged result is cached -// for fast subsequent delivery of the merged mesh which can be quite complex. -// An object of this class will be used as the result type during the support -// generation algorithm. Parts will be added with the appropriate methods such -// as add_head or add_pillar which forwards the constructor arguments and fills -// the IDs of these substructures. The IDs are basically indices into the arrays -// of the appropriate type (heads, pillars, etc...). One can later query e.g. a -// pillar for a specific head... -// -// The support pad is considered an auxiliary geometry and is not part of the -// merged mesh. It can be retrieved using a dedicated method (pad()) -class SLASupportTree::Impl { - // For heads it is beneficial to use the same IDs as for the support points. - std::vector m_heads; - std::vector m_head_indices; - std::vector m_pillars; - std::vector m_junctions; - std::vector m_bridges; - std::vector m_compact_bridges; - Pad m_pad; - - Controller m_ctl; - - using Mutex = ccr::SpinningMutex; - - mutable TriangleMesh m_meshcache; - mutable Mutex m_mutex; - mutable bool m_meshcache_valid = false; - mutable double m_model_height = 0; // the full height of the model - -public: - double ground_level = 0; - - Impl() = default; - inline Impl(const Controller& ctl): m_ctl(ctl) {} - - const Controller& ctl() const { return m_ctl; } - - template Head& add_head(unsigned id, Args&&... args) - { - std::lock_guard lk(m_mutex); - m_heads.emplace_back(std::forward(args)...); - m_heads.back().id = id; - - if (id >= m_head_indices.size()) m_head_indices.resize(id + 1); - m_head_indices[id] = m_heads.size() - 1; - - m_meshcache_valid = false; - return m_heads.back(); - } - - template Pillar& add_pillar(unsigned headid, Args&&... args) - { - std::lock_guard lk(m_mutex); - - assert(headid < m_head_indices.size()); - Head &head = m_heads[m_head_indices[headid]]; - - m_pillars.emplace_back(head, std::forward(args)...); - Pillar& pillar = m_pillars.back(); - pillar.id = long(m_pillars.size() - 1); - head.pillar_id = pillar.id; - pillar.start_junction_id = head.id; - pillar.starts_from_head = true; - - m_meshcache_valid = false; - return m_pillars.back(); - } - - void increment_bridges(const Pillar& pillar) - { - std::lock_guard lk(m_mutex); - assert(pillar.id >= 0 && size_t(pillar.id) < m_pillars.size()); - - if(pillar.id >= 0 && size_t(pillar.id) < m_pillars.size()) - m_pillars[size_t(pillar.id)].bridges++; - } - - void increment_links(const Pillar& pillar) - { - std::lock_guard lk(m_mutex); - assert(pillar.id >= 0 && size_t(pillar.id) < m_pillars.size()); - - if(pillar.id >= 0 && size_t(pillar.id) < m_pillars.size()) - m_pillars[size_t(pillar.id)].links++; - } - - template Pillar& add_pillar(Args&&...args) - { - std::lock_guard lk(m_mutex); - m_pillars.emplace_back(std::forward(args)...); - Pillar& pillar = m_pillars.back(); - pillar.id = long(m_pillars.size() - 1); - pillar.starts_from_head = false; - m_meshcache_valid = false; - return m_pillars.back(); - } - - const Pillar& head_pillar(unsigned headid) const - { - std::lock_guard lk(m_mutex); - assert(headid < m_head_indices.size()); - - const Head& h = m_heads[m_head_indices[headid]]; - assert(h.pillar_id >= 0 && h.pillar_id < long(m_pillars.size())); - - return m_pillars[size_t(h.pillar_id)]; - } - - template const Junction& add_junction(Args&&... args) - { - std::lock_guard lk(m_mutex); - m_junctions.emplace_back(std::forward(args)...); - m_junctions.back().id = long(m_junctions.size() - 1); - m_meshcache_valid = false; - return m_junctions.back(); - } - - template const Bridge& add_bridge(Args&&... args) - { - std::lock_guard lk(m_mutex); - m_bridges.emplace_back(std::forward(args)...); - m_bridges.back().id = long(m_bridges.size() - 1); - m_meshcache_valid = false; - return m_bridges.back(); - } - - template const CompactBridge& add_compact_bridge(Args&&...args) - { - std::lock_guard lk(m_mutex); - m_compact_bridges.emplace_back(std::forward(args)...); - m_compact_bridges.back().id = long(m_compact_bridges.size() - 1); - m_meshcache_valid = false; - return m_compact_bridges.back(); - } - - Head &head(unsigned id) - { - std::lock_guard lk(m_mutex); - assert(id < m_head_indices.size()); - - m_meshcache_valid = false; - return m_heads[m_head_indices[id]]; - } - - inline size_t pillarcount() const { - std::lock_guard lk(m_mutex); - return m_pillars.size(); - } - - template inline IntegerOnly pillar(T id) const - { - std::lock_guard lk(m_mutex); - assert(id >= 0 && size_t(id) < m_pillars.size() && - size_t(id) < std::numeric_limits::max()); - - return m_pillars[size_t(id)]; - } - - const Pad &create_pad(const TriangleMesh &object_supports, - const ExPolygons & modelbase, - const PadConfig & cfg) - { - m_pad = Pad{object_supports, modelbase, ground_level, cfg, m_ctl.cancelfn}; - - return m_pad; - } - - void remove_pad() { m_pad = Pad(); } - - const Pad& pad() const { return m_pad; } - - // WITHOUT THE PAD!!! - const TriangleMesh &merged_mesh() const - { - if (m_meshcache_valid) return m_meshcache; - - Contour3D merged; - - for (auto &head : m_heads) { - if (m_ctl.stopcondition()) break; - if (head.is_valid()) merged.merge(head.mesh); - } - - for (auto &stick : m_pillars) { - if (m_ctl.stopcondition()) break; - merged.merge(stick.mesh); - merged.merge(stick.base); - } - - for (auto &j : m_junctions) { - if (m_ctl.stopcondition()) break; - merged.merge(j.mesh); - } - - for (auto &cb : m_compact_bridges) { - if (m_ctl.stopcondition()) break; - merged.merge(cb.mesh); - } - - for (auto &bs : m_bridges) { - if (m_ctl.stopcondition()) break; - merged.merge(bs.mesh); - } - - if (m_ctl.stopcondition()) { - // In case of failure we have to return an empty mesh - m_meshcache = TriangleMesh(); - return m_meshcache; - } - - m_meshcache = mesh(merged); - - // The mesh will be passed by const-pointer to TriangleMeshSlicer, - // which will need this. - if (!m_meshcache.empty()) m_meshcache.require_shared_vertices(); - - BoundingBoxf3 &&bb = m_meshcache.bounding_box(); - m_model_height = bb.max(Z) - bb.min(Z); - - m_meshcache_valid = true; - return m_meshcache; - } - - // WITH THE PAD - double full_height() const - { - if (merged_mesh().empty() && !pad().empty()) - return pad().cfg.full_height(); - - double h = mesh_height(); - if (!pad().empty()) h += pad().cfg.required_elevation(); - return h; - } - - // WITHOUT THE PAD!!! - double mesh_height() const - { - if (!m_meshcache_valid) merged_mesh(); - return m_model_height; - } - - // Intended to be called after the generation is fully complete - void merge_and_cleanup() - { - merged_mesh(); // in case the mesh is not generated, it should be... - - // Doing clear() does not garantee to release the memory. - m_heads = {}; - m_head_indices = {}; - m_pillars = {}; - m_junctions = {}; - m_bridges = {}; - m_compact_bridges = {}; - } -}; - -// This function returns the position of the centroid in the input 'clust' -// vector of point indices. -template -long cluster_centroid(const ClusterEl& clust, - const std::function &pointfn, - DistFn df) -{ - switch(clust.size()) { - case 0: /* empty cluster */ return ID_UNSET; - case 1: /* only one element */ return 0; - case 2: /* if two elements, there is no center */ return 0; - default: ; - } - - // The function works by calculating for each point the average distance - // from all the other points in the cluster. We create a selector bitmask of - // the same size as the cluster. The bitmask will have two true bits and - // false bits for the rest of items and we will loop through all the - // permutations of the bitmask (combinations of two points). Get the - // distance for the two points and add the distance to the averages. - // The point with the smallest average than wins. - - // The complexity should be O(n^2) but we will mostly apply this function - // for small clusters only (cca 3 elements) - - std::vector sel(clust.size(), false); // create full zero bitmask - std::fill(sel.end() - 2, sel.end(), true); // insert the two ones - std::vector avgs(clust.size(), 0.0); // store the average distances - - do { - std::array idx; - for(size_t i = 0, j = 0; i < clust.size(); i++) if(sel[i]) idx[j++] = i; - - double d = df(pointfn(clust[idx[0]]), - pointfn(clust[idx[1]])); - - // add the distance to the sums for both associated points - for(auto i : idx) avgs[i] += d; - - // now continue with the next permutation of the bitmask with two 1s - } while(std::next_permutation(sel.begin(), sel.end())); - - // Divide by point size in the cluster to get the average (may be redundant) - for(auto& a : avgs) a /= clust.size(); - - // get the lowest average distance and return the index - auto minit = std::min_element(avgs.begin(), avgs.end()); - return long(minit - avgs.begin()); -} - -inline Vec3d dirv(const Vec3d& startp, const Vec3d& endp) { - return (endp - startp).normalized(); -} - -class SLASupportTree::Algorithm { - const SupportConfig& m_cfg; - const EigenMesh3D& m_mesh; - const std::vector& m_support_pts; - - using PtIndices = std::vector; - - PtIndices m_iheads; // support points with pinhead - PtIndices m_iheadless; // headless support points - - // supp. pts. connecting to model: point index and the ray hit data - std::vector> m_iheads_onmodel; - - // normals for support points from model faces. - PointSet m_support_nmls; - - // Clusters of points which can reach the ground directly and can be - // bridged to one central pillar - std::vector m_pillar_clusters; - - // This algorithm uses the Impl class as its output stream. It will be - // filled gradually with support elements (heads, pillars, bridges, ...) - using Result = SLASupportTree::Impl; - - Result& m_result; - - // support points in Eigen/IGL format - PointSet m_points; - - // throw if canceled: It will be called many times so a shorthand will - // come in handy. - ThrowOnCancel m_thr; - - // A spatial index to easily find strong pillars to connect to. - - class PillarIndex { - PointIndex m_index; - mutable ccr::LockingMutex m_mutex; - - public: - - template inline void guarded_insert(Args&&...args) - { - std::lock_guard lck(m_mutex); - m_index.insert(std::forward(args)...); - } - - template - inline std::vector guarded_query(Args&&...args) const - { - std::lock_guard lck(m_mutex); - return m_index.query(std::forward(args)...); - } - - template inline void insert(Args&&...args) - { - m_index.insert(std::forward(args)...); - } - - template - inline std::vector query(Args&&...args) const - { - return m_index.query(std::forward(args)...); - } - - template inline void foreach(Fn fn) { m_index.foreach(fn); } - template inline void guarded_foreach(Fn fn) - { - std::lock_guard lck(m_mutex); - m_index.foreach(fn); - } - - PointIndex guarded_clone() - { - std::lock_guard lck(m_mutex); - return m_index; - } - - } m_pillar_index; - - - inline double ray_mesh_intersect(const Vec3d& s, - const Vec3d& dir) - { - return m_mesh.query_ray_hit(s, dir).distance(); - } - - // This function will test if a future pinhead would not collide with the - // model geometry. It does not take a 'Head' object because those are - // created after this test. Parameters: s: The touching point on the model - // surface. dir: This is the direction of the head from the pin to the back - // r_pin, r_back: the radiuses of the pin and the back sphere width: This - // is the full width from the pin center to the back center m: The object - // mesh. - // The return value is the hit result from the ray casting. If the starting - // point was inside the model, an "invalid" hit_result will be returned - // with a zero distance value instead of a NAN. This way the result can - // be used safely for comparison with other distances. - EigenMesh3D::hit_result pinhead_mesh_intersect( - const Vec3d& s, - const Vec3d& dir, - double r_pin, - double r_back, - double width) - { - static const size_t SAMPLES = 8; - - // method based on: - // https://math.stackexchange.com/questions/73237/parametric-equation-of-a-circle-in-3d-space - - // 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. - - // Move away slightly from the touching point to avoid raycasting on the - // inner surface of the mesh. - Vec3d v = dir; // Our direction (axis) - Vec3d c = s + width * dir; - const double& sd = m_cfg.safety_distance_mm; - - // 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. - Vec3d a(0, 1, 0), b; - - // The portions of the circle (the head-back circle) for which we will - // shoot rays. - std::array phis; - for(size_t i = 0; i < phis.size(); ++i) phis[i] = i*2*PI/phis.size(); - - auto& m = m_mesh; - using HitResult = EigenMesh3D::hit_result; - - // Hit results - std::array hits; - - // 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' - auto chk1 = [] (double val) { - return std::abs(std::abs(val) - 1) < 1e-20; - }; - - if(chk1(v(X)) || chk1(v(Y)) || chk1(v(Z))) { - a = {v(Z), v(X), v(Y)}; - b = {v(Y), v(Z), v(X)}; - } - else { - a(Z) = -(v(Y)*a(Y)) / v(Z); a.normalize(); - b = a.cross(v); - } - - // Now a and b vectors are perpendicular to v and to each other. - // Together they define the plane where we have to iterate with the - // given angles in the 'phis' vector - ccr_par::enumerate(phis.begin(), phis.end(), - [&hits, &m, sd, r_pin, r_back, s, a, b, c] - (double phi, size_t i) - { - double sinphi = std::sin(phi); - double cosphi = std::cos(phi); - - // Let's have a safety coefficient for the radiuses. - double rpscos = (sd + r_pin) * cosphi; - double rpssin = (sd + r_pin) * sinphi; - double rpbcos = (sd + r_back) * cosphi; - double rpbsin = (sd + r_back) * sinphi; - - // Point on the circle on the pin sphere - Vec3d ps(s(X) + rpscos * a(X) + rpssin * b(X), - s(Y) + rpscos * a(Y) + rpssin * b(Y), - s(Z) + rpscos * a(Z) + rpssin * b(Z)); - - // 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). - - // This is the point on the circle on the back sphere - Vec3d p(c(X) + rpbcos * a(X) + rpbsin * b(X), - c(Y) + rpbcos * a(Y) + rpbsin * b(Y), - c(Z) + rpbcos * a(Z) + rpbsin * b(Z)); - - 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() > r_pin + sd) { - // 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) - hits[i] = 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); - hits[i] = q2; - } - } else hits[i] = q; - }); - - auto mit = std::min_element(hits.begin(), hits.end()); - - return *mit; - } - - // Checking bridge (pillar and stick as well) intersection with the model. - // If the function is used for headless sticks, the ins_check parameter - // have to be true as the beginning of the stick might be inside the model - // geometry. - // The return value is the hit result from the ray casting. If the starting - // point was inside the model, an "invalid" hit_result will be returned - // with a zero distance value instead of a NAN. This way the result can - // be used safely for comparison with other distances. - EigenMesh3D::hit_result bridge_mesh_intersect( - const Vec3d& s, - const Vec3d& dir, - double r, - bool ins_check = false) - { - static const size_t SAMPLES = 8; - - // helper vector calculations - Vec3d a(0, 1, 0), b; - const double& sd = m_cfg.safety_distance_mm; - - // INFO: for explanation of the method used here, see the previous - // method's comments. - - auto chk1 = [] (double val) { - return std::abs(std::abs(val) - 1) < 1e-20; - }; - - if(chk1(dir(X)) || chk1(dir(Y)) || chk1(dir(Z))) { - a = {dir(Z), dir(X), dir(Y)}; - b = {dir(Y), dir(Z), dir(X)}; - } - else { - a(Z) = -(dir(Y)*a(Y)) / dir(Z); a.normalize(); - b = a.cross(dir); - } - - // circle portions - std::array phis; - for(size_t i = 0; i < phis.size(); ++i) phis[i] = i*2*PI/phis.size(); - - auto& m = m_mesh; - using HitResult = EigenMesh3D::hit_result; - - // Hit results - std::array hits; - - ccr_par::enumerate(phis.begin(), phis.end(), - [&m, a, b, sd, dir, r, s, ins_check, &hits] - (double phi, size_t i) - { - double sinphi = std::sin(phi); - double cosphi = std::cos(phi); - - // Let's have a safety coefficient for the radiuses. - double rcos = (sd + r) * cosphi; - double rsin = (sd + r) * sinphi; - - // Point on the circle on the pin sphere - Vec3d p (s(X) + rcos * a(X) + rsin * b(X), - s(Y) + rcos * a(Y) + rsin * b(Y), - s(Z) + rcos * a(Z) + rsin * b(Z)); - - auto hr = m.query_ray_hit(p + sd*dir, dir); - - if(ins_check && hr.is_inside()) { - if(hr.distance() > 2 * r + sd) hits[i] = HitResult(0.0); - else { - // re-cast the ray from the outside of the object - auto hr2 = - m.query_ray_hit(p + (hr.distance() + 2*sd)*dir, dir); - - hits[i] = hr2; - } - } else hits[i] = hr; - }); - - auto mit = std::min_element(hits.begin(), hits.end()); - - return *mit; - } - - // Helper function for interconnecting two pillars with zig-zag bridges. - bool interconnect(const Pillar& pillar, const Pillar& nextpillar) - { - // We need to get the starting point of the zig-zag pattern. We have to - // be aware that the two head junctions are at different heights. We - // may start from the lowest junction and call it a day but this - // strategy would leave unconnected a lot of pillar duos where the - // shorter pillar is too short to start a new bridge but the taller - // pillar could still be bridged with the shorter one. - bool was_connected = false; - - Vec3d supper = pillar.startpoint(); - Vec3d slower = nextpillar.startpoint(); - Vec3d eupper = pillar.endpoint(); - Vec3d elower = nextpillar.endpoint(); - - double zmin = m_result.ground_level + m_cfg.base_height_mm; - eupper(Z) = std::max(eupper(Z), zmin); - elower(Z) = std::max(elower(Z), zmin); - - // The usable length of both pillars should be positive - if(slower(Z) - elower(Z) < 0) return false; - if(supper(Z) - eupper(Z) < 0) return false; - - double pillar_dist = distance(Vec2d{slower(X), slower(Y)}, - Vec2d{supper(X), supper(Y)}); - double bridge_distance = pillar_dist / std::cos(-m_cfg.bridge_slope); - double zstep = pillar_dist * std::tan(-m_cfg.bridge_slope); - - if(pillar_dist < 2 * m_cfg.head_back_radius_mm || - pillar_dist > m_cfg.max_pillar_link_distance_mm) return false; - - if(supper(Z) < slower(Z)) supper.swap(slower); - if(eupper(Z) < elower(Z)) eupper.swap(elower); - - double startz = 0, endz = 0; - - startz = slower(Z) - zstep < supper(Z) ? slower(Z) - zstep : slower(Z); - endz = eupper(Z) + zstep > elower(Z) ? eupper(Z) + zstep : eupper(Z); - - if(slower(Z) - eupper(Z) < std::abs(zstep)) { - // no space for even one cross - - // Get max available space - startz = std::min(supper(Z), slower(Z) - zstep); - endz = std::max(eupper(Z) + zstep, elower(Z)); - - // Align to center - double available_dist = (startz - endz); - double rounds = std::floor(available_dist / std::abs(zstep)); - startz -= 0.5 * (available_dist - rounds * std::abs(zstep)); - } - - auto pcm = m_cfg.pillar_connection_mode; - bool docrosses = - pcm == PillarConnectionMode::cross || - (pcm == PillarConnectionMode::dynamic && - pillar_dist > 2*m_cfg.base_radius_mm); - - // 'sj' means starting junction, 'ej' is the end junction of a bridge. - // They will be swapped in every iteration thus the zig-zag pattern. - // According to a config parameter, a second bridge may be added which - // results in a cross connection between the pillars. - Vec3d sj = supper, ej = slower; sj(Z) = startz; ej(Z) = sj(Z) + zstep; - - // TODO: This is a workaround to not have a faulty last bridge - while(ej(Z) >= eupper(Z) /*endz*/) { - if(bridge_mesh_intersect(sj, - dirv(sj, ej), - pillar.r) >= bridge_distance) - { - m_result.add_bridge(sj, ej, pillar.r); - was_connected = true; - } - - // double bridging: (crosses) - if(docrosses) { - Vec3d sjback(ej(X), ej(Y), sj(Z)); - Vec3d ejback(sj(X), sj(Y), ej(Z)); - if(sjback(Z) <= slower(Z) && ejback(Z) >= eupper(Z) && - bridge_mesh_intersect(sjback, - dirv(sjback, ejback), - pillar.r) >= bridge_distance) - { - // need to check collision for the cross stick - m_result.add_bridge(sjback, ejback, pillar.r); - was_connected = true; - } - } - - sj.swap(ej); - ej(Z) = sj(Z) + zstep; - } - - return was_connected; - } - - // For connecting a head to a nearby pillar. - bool connect_to_nearpillar(const Head& head, long nearpillar_id) { - - auto nearpillar = [this, nearpillar_id]() { - return m_result.pillar(nearpillar_id); - }; - - if (nearpillar().bridges > m_cfg.max_bridges_on_pillar) return false; - - Vec3d headjp = head.junction_point(); - Vec3d nearjp_u = nearpillar().startpoint(); - Vec3d nearjp_l = nearpillar().endpoint(); - - double r = head.r_back_mm; - double d2d = distance(to_2d(headjp), to_2d(nearjp_u)); - double d3d = distance(headjp, nearjp_u); - - double hdiff = nearjp_u(Z) - headjp(Z); - double slope = std::atan2(hdiff, d2d); - - Vec3d bridgestart = headjp; - Vec3d bridgeend = nearjp_u; - double max_len = m_cfg.max_bridge_length_mm; - double max_slope = m_cfg.bridge_slope; - double zdiff = 0.0; - - // check the default situation if feasible for a bridge - if(d3d > max_len || slope > -max_slope) { - // not feasible to connect the two head junctions. We have to search - // for a suitable touch point. - - double Zdown = headjp(Z) + d2d * std::tan(-max_slope); - Vec3d touchjp = bridgeend; touchjp(Z) = Zdown; - double D = distance(headjp, touchjp); - zdiff = Zdown - nearjp_u(Z); - - if(zdiff > 0) { - Zdown -= zdiff; - bridgestart(Z) -= zdiff; - touchjp(Z) = Zdown; - - double t = bridge_mesh_intersect(headjp, {0,0,-1}, r); - - // We can't insert a pillar under the source head to connect - // with the nearby pillar's starting junction - if(t < zdiff) return false; - } - - if(Zdown <= nearjp_u(Z) && Zdown >= nearjp_l(Z) && D < max_len) - bridgeend(Z) = Zdown; - else - return false; - } - - // There will be a minimum distance from the ground where the - // bridge is allowed to connect. This is an empiric value. - double minz = m_result.ground_level + 2 * m_cfg.head_width_mm; - if(bridgeend(Z) < minz) return false; - - double t = bridge_mesh_intersect(bridgestart, - dirv(bridgestart, bridgeend), r); - - // Cannot insert the bridge. (further search might not worth the hassle) - if(t < distance(bridgestart, bridgeend)) return false; - - // A partial pillar is needed under the starting head. - if(zdiff > 0) { - m_result.add_pillar(unsigned(head.id), bridgestart, r); - m_result.add_junction(bridgestart, r); - } - - m_result.add_bridge(bridgestart, bridgeend, r); - m_result.increment_bridges(nearpillar()); - - return true; - } - - bool search_pillar_and_connect(const Head& head) { - PointIndex spindex = m_pillar_index.guarded_clone(); - - long nearest_id = ID_UNSET; - - Vec3d querypoint = head.junction_point(); - - while(nearest_id < 0 && !spindex.empty()) { m_thr(); - // loop until a suitable head is not found - // if there is a pillar closer than the cluster center - // (this may happen as the clustering is not perfect) - // than we will bridge to this closer pillar - - Vec3d qp(querypoint(X), querypoint(Y), m_result.ground_level); - auto qres = spindex.nearest(qp, 1); - if(qres.empty()) break; - - auto ne = qres.front(); - nearest_id = ne.second; - - if(nearest_id >= 0) { - auto nearpillarID = unsigned(nearest_id); - if(nearpillarID < m_result.pillarcount()) { - if(!connect_to_nearpillar(head, nearpillarID)) { - nearest_id = ID_UNSET; // continue searching - spindex.remove(ne); // without the current pillar - } - } - } - } - - return nearest_id >= 0; - } - - // This is a proxy function for pillar creation which will mind the gap - // between the pad and the model bottom in zero elevation mode. - void create_ground_pillar(const Vec3d &jp, - const Vec3d &sourcedir, - double radius, - long head_id = ID_UNSET) - { - // People were killed for this number (seriously) - static const double SQR2 = std::sqrt(2.0); - static const Vec3d DOWN = {0.0, 0.0, -1.0}; - - double gndlvl = m_result.ground_level; - Vec3d endp = {jp(X), jp(Y), gndlvl}; - double sd = m_cfg.pillar_base_safety_distance_mm; - long pillar_id = ID_UNSET; - double min_dist = sd + m_cfg.base_radius_mm + EPSILON; - double dist = 0; - bool can_add_base = true; - bool normal_mode = true; - - if (m_cfg.object_elevation_mm < EPSILON - && (dist = std::sqrt(m_mesh.squared_distance(endp))) < min_dist) { - // Get the distance from the mesh. This can be later optimized - // to get the distance in 2D plane because we are dealing with - // the ground level only. - - normal_mode = false; - double mind = min_dist - dist; - double azimuth = std::atan2(sourcedir(Y), sourcedir(X)); - double sinpolar = std::sin(PI - m_cfg.bridge_slope); - double cospolar = std::cos(PI - m_cfg.bridge_slope); - double cosazm = std::cos(azimuth); - double sinazm = std::sin(azimuth); - - auto dir = Vec3d(cosazm * sinpolar, sinazm * sinpolar, cospolar) - .normalized(); - - using namespace libnest2d::opt; - StopCriteria scr; - scr.stop_score = min_dist; - SubplexOptimizer solver(scr); - - auto result = solver.optimize_max( - [this, dir, jp, gndlvl](double mv) { - Vec3d endpt = jp + SQR2 * mv * dir; - endpt(Z) = gndlvl; - return std::sqrt(m_mesh.squared_distance(endpt)); - }, - initvals(mind), bound(0.0, 2 * min_dist)); - - mind = std::get<0>(result.optimum); - endp = jp + SQR2 * mind * dir; - Vec3d pgnd = {endp(X), endp(Y), gndlvl}; - can_add_base = result.score > min_dist; - - double gnd_offs = m_mesh.ground_level_offset(); - auto abort_in_shame = - [gnd_offs, &normal_mode, &can_add_base, &endp, jp, gndlvl]() - { - normal_mode = true; - can_add_base = false; // Nothing left to do, hope for the best - endp = {jp(X), jp(Y), gndlvl - gnd_offs }; - }; - - // We have to check if the bridge is feasible. - if (bridge_mesh_intersect(jp, dir, radius) < (endp - jp).norm()) - abort_in_shame(); - else { - // If the new endpoint is below ground, do not make a pillar - if (endp(Z) < gndlvl) - endp = endp - SQR2 * (gndlvl - endp(Z)) * dir; // back off - else { - - auto hit = bridge_mesh_intersect(endp, DOWN, radius); - if (!std::isinf(hit.distance())) abort_in_shame(); - - Pillar &plr = m_result.add_pillar(endp, pgnd, radius); - - if (can_add_base) - plr.add_base(m_cfg.base_height_mm, - m_cfg.base_radius_mm); - - pillar_id = plr.id; - } - - m_result.add_bridge(jp, endp, radius); - m_result.add_junction(endp, radius); - - // Add a degenerated pillar and the bridge. - // The degenerate pillar will have zero length and it will - // prevent from queries of head_pillar() to have non-existing - // pillar when the head should have one. - if (head_id >= 0) - m_result.add_pillar(unsigned(head_id), jp, radius); - } - } - - if (normal_mode) { - Pillar &plr = head_id >= 0 - ? m_result.add_pillar(unsigned(head_id), - endp, - radius) - : m_result.add_pillar(jp, endp, radius); - - if (can_add_base) - plr.add_base(m_cfg.base_height_mm, m_cfg.base_radius_mm); - - pillar_id = plr.id; - } - - if(pillar_id >= 0) // Save the pillar endpoint in the spatial index - m_pillar_index.guarded_insert(endp, unsigned(pillar_id)); - } - -public: - - Algorithm(const SupportConfig& config, - const EigenMesh3D& emesh, - const std::vector& support_pts, - Result& result, - ThrowOnCancel thr) : - m_cfg(config), - m_mesh(emesh), - m_support_pts(support_pts), - m_support_nmls(support_pts.size(), 3), - m_result(result), - m_points(support_pts.size(), 3), - m_thr(thr) - { - // Prepare the support points in Eigen/IGL format as well, we will use - // it mostly in this form. - - long i = 0; - for(const SupportPoint& sp : m_support_pts) { - m_points.row(i)(X) = double(sp.pos(X)); - m_points.row(i)(Y) = double(sp.pos(Y)); - m_points.row(i)(Z) = double(sp.pos(Z)); - ++i; - } - } - - - // Now let's define the individual steps of the support generation algorithm - - // Filtering step: here we will discard inappropriate support points - // and decide the future of the appropriate ones. We will check if a - // pinhead is applicable and adjust its angle at each support point. We - // will also merge the support points that are just too close and can - // be considered as one. - void filter() { - // Get the points that are too close to each other and keep only the - // first one - auto aliases = cluster(m_points, D_SP, 2); - - PtIndices filtered_indices; - filtered_indices.reserve(aliases.size()); - m_iheads.reserve(aliases.size()); - m_iheadless.reserve(aliases.size()); - for(auto& a : aliases) { - // Here we keep only the front point of the cluster. - filtered_indices.emplace_back(a.front()); - } - - // calculate the normals to the triangles for filtered points - auto nmls = sla::normals(m_points, m_mesh, m_cfg.head_front_radius_mm, - m_thr, filtered_indices); - - // Not all of the support points have to be a valid position for - // support creation. The angle may be inappropriate or there may - // not be enough space for the pinhead. Filtering is applied for - // these reasons. - - using libnest2d::opt::bound; - using libnest2d::opt::initvals; - using libnest2d::opt::GeneticOptimizer; - using libnest2d::opt::StopCriteria; - - ccr::SpinningMutex mutex; - auto addfn = [&mutex](PtIndices &container, unsigned val) { - std::lock_guard lk(mutex); - container.emplace_back(val); - }; - - ccr::enumerate(filtered_indices.begin(), filtered_indices.end(), - [this, &nmls, addfn](unsigned fidx, size_t i) - { - m_thr(); - - auto n = nmls.row(Eigen::Index(i)); - - // for all normals we generate the spherical coordinates and - // saturate the polar angle to 45 degrees from the bottom then - // convert back to standard coordinates to get the new normal. - // Then we just create a quaternion from the two normals - // (Quaternion::FromTwoVectors) and apply the rotation to the - // arrow head. - - double z = n(2); - double r = 1.0; // for normalized vector - double polar = std::acos(z / r); - double azimuth = std::atan2(n(1), n(0)); - - // skip if the tilt is not sane - if(polar >= PI - m_cfg.normal_cutoff_angle) { - - // We saturate the polar angle to 3pi/4 - polar = std::max(polar, 3*PI / 4); - - // save the head (pinpoint) position - Vec3d hp = m_points.row(fidx); - - double w = m_cfg.head_width_mm + - m_cfg.head_back_radius_mm + - 2*m_cfg.head_front_radius_mm; - - double pin_r = double(m_support_pts[fidx].head_front_radius); - - // Reassemble the now corrected normal - auto nn = Vec3d(std::cos(azimuth) * std::sin(polar), - std::sin(azimuth) * std::sin(polar), - std::cos(polar)).normalized(); - - // check available distance - EigenMesh3D::hit_result t - = pinhead_mesh_intersect(hp, // touching point - nn, // normal - pin_r, - m_cfg.head_back_radius_mm, - w); - - if(t.distance() <= w) { - - // Let's try to optimize this angle, there might be a - // viable normal that doesn't collide with the model - // geometry and its very close to the default. - - StopCriteria stc; - stc.max_iterations = m_cfg.optimizer_max_iterations; - stc.relative_score_difference = m_cfg.optimizer_rel_score_diff; - stc.stop_score = w; // space greater than w is enough - GeneticOptimizer solver(stc); - solver.seed(0); // we want deterministic behavior - - auto oresult = solver.optimize_max( - [this, pin_r, w, hp](double plr, double azm) - { - auto dir = Vec3d(std::cos(azm) * std::sin(plr), - std::sin(azm) * std::sin(plr), - std::cos(plr)).normalized(); - - double score = pinhead_mesh_intersect( - hp, dir, pin_r, m_cfg.head_back_radius_mm, w); - - return score; - }, - initvals(polar, azimuth), // start with what we have - bound(3 * PI / 4, - PI), // Must not exceed the tilt limit - bound(-PI, PI) // azimuth can be a full search - ); - - if(oresult.score > w) { - polar = std::get<0>(oresult.optimum); - azimuth = std::get<1>(oresult.optimum); - nn = Vec3d(std::cos(azimuth) * std::sin(polar), - std::sin(azimuth) * std::sin(polar), - std::cos(polar)).normalized(); - t = oresult.score; - } - } - - // save the verified and corrected normal - m_support_nmls.row(fidx) = nn; - - if (t.distance() > w) { - // Check distance from ground, we might have zero elevation. - if (hp(Z) + w * nn(Z) < m_result.ground_level) { - addfn(m_iheadless, fidx); - } else { - // mark the point for needing a head. - addfn(m_iheads, fidx); - } - } else if (polar >= 3 * PI / 4) { - // Headless supports do not tilt like the headed ones - // so the normal should point almost to the ground. - addfn(m_iheadless, fidx); - } - } - }); - - m_thr(); - } - - // Pinhead creation: based on the filtering results, the Head objects - // will be constructed (together with their triangle meshes). - void add_pinheads() - { - for (unsigned i : m_iheads) { - m_thr(); - m_result.add_head( - i, - m_cfg.head_back_radius_mm, - m_support_pts[i].head_front_radius, - m_cfg.head_width_mm, - m_cfg.head_penetration_mm, - m_support_nmls.row(i), // dir - m_support_pts[i].pos.cast() // displacement - ); - } - } - - // Further classification of the support points with pinheads. If the - // ground is directly reachable through a vertical line parallel to the - // Z axis we consider a support point as pillar candidate. If touches - // the model geometry, it will be marked as non-ground facing and - // further steps will process it. Also, the pillars will be grouped - // into clusters that can be interconnected with bridges. Elements of - // these groups may or may not be interconnected. Here we only run the - // clustering algorithm. - void classify() - { - // We should first get the heads that reach the ground directly - PtIndices ground_head_indices; - ground_head_indices.reserve(m_iheads.size()); - m_iheads_onmodel.reserve(m_iheads.size()); - - // First we decide which heads reach the ground and can be full - // pillars and which shall be connected to the model surface (or - // search a suitable path around the surface that leads to the - // ground -- TODO) - for(unsigned i : m_iheads) { - m_thr(); - - auto& head = m_result.head(i); - Vec3d n(0, 0, -1); - double r = head.r_back_mm; - Vec3d headjp = head.junction_point(); - - // collision check - auto hit = bridge_mesh_intersect(headjp, n, r); - - if(std::isinf(hit.distance())) ground_head_indices.emplace_back(i); - else if(m_cfg.ground_facing_only) head.invalidate(); - else m_iheads_onmodel.emplace_back(std::make_pair(i, hit)); - } - - // We want to search for clusters of points that are far enough - // from each other in the XY plane to not cross their pillar bases - // These clusters of support points will join in one pillar, - // possibly in their centroid support point. - - auto pointfn = [this](unsigned i) { - return m_result.head(i).junction_point(); - }; - - auto predicate = [this](const PointIndexEl &e1, - const PointIndexEl &e2) { - double d2d = distance(to_2d(e1.first), to_2d(e2.first)); - double d3d = distance(e1.first, e2.first); - return d2d < 2 * m_cfg.base_radius_mm - && d3d < m_cfg.max_bridge_length_mm; - }; - - m_pillar_clusters = cluster(ground_head_indices, - pointfn, - predicate, - m_cfg.max_bridges_on_pillar); - } - - // Step: Routing the ground connected pinheads, and interconnecting - // them with additional (angled) bridges. Not all of these pinheads - // will be a full pillar (ground connected). Some will connect to a - // nearby pillar using a bridge. The max number of such side-heads for - // a central pillar is limited to avoid bad weight distribution. - void routing_to_ground() - { - const double pradius = m_cfg.head_back_radius_mm; - // const double gndlvl = m_result.ground_level; - - ClusterEl cl_centroids; - cl_centroids.reserve(m_pillar_clusters.size()); - - for(auto& cl : m_pillar_clusters) { - m_thr(); - - // place all the centroid head positions into the index. We - // will query for alternative pillar positions. If a sidehead - // cannot connect to the cluster centroid, we have to search - // for another head with a full pillar. Also when there are two - // elements in the cluster, the centroid is arbitrary and the - // sidehead is allowed to connect to a nearby pillar to - // increase structural stability. - - if(cl.empty()) continue; - - // get the current cluster centroid - auto& thr = m_thr; const auto& points = m_points; - long lcid = cluster_centroid(cl, - [&points](size_t idx) { return points.row(long(idx)); }, - [thr](const Vec3d& p1, const Vec3d& p2) - { - thr(); - return distance(Vec2d(p1(X), p1(Y)), Vec2d(p2(X), p2(Y))); - }); - - assert(lcid >= 0); - unsigned hid = cl[size_t(lcid)]; // Head ID - - cl_centroids.emplace_back(hid); - - Head& h = m_result.head(hid); - h.transform(); - - create_ground_pillar(h.junction_point(), h.dir, h.r_back_mm, h.id); - } - - // now we will go through the clusters ones again and connect the - // sidepoints with the cluster centroid (which is a ground pillar) - // or a nearby pillar if the centroid is unreachable. - size_t ci = 0; - for(auto cl : m_pillar_clusters) { - m_thr(); - - auto cidx = cl_centroids[ci++]; - - // TODO: don't consider the cluster centroid but calculate a - // central position where the pillar can be placed. this way - // the weight is distributed more effectively on the pillar. - - auto centerpillarID = m_result.head_pillar(cidx).id; - - for(auto c : cl) { m_thr(); - if(c == cidx) continue; - - auto& sidehead = m_result.head(c); - sidehead.transform(); - - if(!connect_to_nearpillar(sidehead, centerpillarID) && - !search_pillar_and_connect(sidehead)) - { - Vec3d pstart = sidehead.junction_point(); - //Vec3d pend = Vec3d{pstart(X), pstart(Y), gndlvl}; - // Could not find a pillar, create one - create_ground_pillar(pstart, - sidehead.dir, - pradius, - sidehead.id); - } - } - } - } - - // Step: routing the pinheads that would connect to the model surface - // along the Z axis downwards. For now these will actually be connected with - // the model surface with a flipped pinhead. In the future here we could use - // some smart algorithms to search for a safe path to the ground or to a - // nearby pillar that can hold the supported weight. - void routing_to_model() - { - - // We need to check if there is an easy way out to the bed surface. - // If it can be routed there with a bridge shorter than - // min_bridge_distance. - - // First we want to index the available pillars. The best is to connect - // these points to the available pillars - - auto routedown = [this](Head& head, const Vec3d& dir, double dist) - { - head.transform(); - Vec3d hjp = head.junction_point(); - Vec3d endp = hjp + dist * dir; - m_result.add_bridge(hjp, endp, head.r_back_mm); - m_result.add_junction(endp, head.r_back_mm); - - this->create_ground_pillar(endp, dir, head.r_back_mm); - }; - - std::vector modelpillars; - ccr::SpinningMutex mutex; - - // TODO: connect these to the ground pillars if possible - ccr::enumerate(m_iheads_onmodel.begin(), m_iheads_onmodel.end(), - [this, routedown, &modelpillars, &mutex] - (const std::pair &el, - size_t) - { - m_thr(); - unsigned idx = el.first; - EigenMesh3D::hit_result hit = el.second; - - auto& head = m_result.head(idx); - Vec3d hjp = head.junction_point(); - - // ///////////////////////////////////////////////////////////////// - // Search nearby pillar - // ///////////////////////////////////////////////////////////////// - - if(search_pillar_and_connect(head)) { head.transform(); return; } - - // ///////////////////////////////////////////////////////////////// - // Try straight path - // ///////////////////////////////////////////////////////////////// - - // Cannot connect to nearby pillar. We will try to search for - // a route to the ground. - - double t = bridge_mesh_intersect(hjp, head.dir, head.r_back_mm); - double d = 0, tdown = 0; - Vec3d dirdown(0.0, 0.0, -1.0); - - t = std::min(t, m_cfg.max_bridge_length_mm); - - while(d < t && !std::isinf(tdown = bridge_mesh_intersect( - hjp + d*head.dir, - dirdown, head.r_back_mm))) { - d += head.r_back_mm; - } - - if(std::isinf(tdown)) { // we heave found a route to the ground - routedown(head, head.dir, d); return; - } - - // ///////////////////////////////////////////////////////////////// - // Optimize bridge direction - // ///////////////////////////////////////////////////////////////// - - // Straight path failed so we will try to search for a suitable - // direction out of the cavity. - - // Get the spherical representation of the normal. its easier to - // work with. - double z = head.dir(Z); - double r = 1.0; // for normalized vector - double polar = std::acos(z / r); - double azimuth = std::atan2(head.dir(Y), head.dir(X)); - - using libnest2d::opt::bound; - using libnest2d::opt::initvals; - using libnest2d::opt::GeneticOptimizer; - using libnest2d::opt::StopCriteria; - - StopCriteria stc; - stc.max_iterations = m_cfg.optimizer_max_iterations; - stc.relative_score_difference = m_cfg.optimizer_rel_score_diff; - stc.stop_score = 1e6; - GeneticOptimizer solver(stc); - solver.seed(0); // we want deterministic behavior - - double r_back = head.r_back_mm; - - auto oresult = solver.optimize_max( - [this, hjp, r_back](double plr, double azm) - { - Vec3d n = Vec3d(std::cos(azm) * std::sin(plr), - std::sin(azm) * std::sin(plr), - std::cos(plr)).normalized(); - return bridge_mesh_intersect(hjp, n, r_back); - }, - initvals(polar, azimuth), // let's start with what we have - bound(3*PI/4, PI), // Must not exceed the slope limit - bound(-PI, PI) // azimuth can be a full range search - ); - - d = 0; t = oresult.score; - - polar = std::get<0>(oresult.optimum); - azimuth = std::get<1>(oresult.optimum); - Vec3d bridgedir = Vec3d(std::cos(azimuth) * std::sin(polar), - std::sin(azimuth) * std::sin(polar), - std::cos(polar)).normalized(); - - t = std::min(t, m_cfg.max_bridge_length_mm); - - while(d < t && !std::isinf(tdown = bridge_mesh_intersect( - hjp + d*bridgedir, - dirdown, - head.r_back_mm))) { - d += head.r_back_mm; - } - - if(std::isinf(tdown)) { // we heave found a route to the ground - routedown(head, bridgedir, d); return; - } - - // ///////////////////////////////////////////////////////////////// - // Route to model body - // ///////////////////////////////////////////////////////////////// - - double zangle = std::asin(hit.direction()(Z)); - zangle = std::max(zangle, PI/4); - double h = std::sin(zangle) * head.fullwidth(); - - // The width of the tail head that we would like to have... - h = std::min(hit.distance() - head.r_back_mm, h); - - if(h > 0) { - Vec3d endp{hjp(X), hjp(Y), hjp(Z) - hit.distance() + h}; - auto center_hit = m_mesh.query_ray_hit(hjp, dirdown); - - double hitdiff = center_hit.distance() - hit.distance(); - Vec3d hitp = std::abs(hitdiff) < 2*head.r_back_mm? - center_hit.position() : hit.position(); - - head.transform(); - - Pillar& pill = m_result.add_pillar(unsigned(head.id), - endp, - head.r_back_mm); - - Vec3d taildir = endp - hitp; - double dist = distance(endp, hitp) + m_cfg.head_penetration_mm; - double w = dist - 2 * head.r_pin_mm - head.r_back_mm; - - Head tailhead(head.r_back_mm, - head.r_pin_mm, - w, - m_cfg.head_penetration_mm, - taildir, - hitp); - - tailhead.transform(); - pill.base = tailhead.mesh; - - // Experimental: add the pillar to the index for cascading - std::lock_guard lk(mutex); - modelpillars.emplace_back(unsigned(pill.id)); - return; - } - - // We have failed to route this head. - BOOST_LOG_TRIVIAL(warning) - << "Failed to route model facing support point." - << " ID: " << idx; - head.invalidate(); - }); - - for(auto pillid : modelpillars) { - auto& pillar = m_result.pillar(pillid); - m_pillar_index.insert(pillar.endpoint(), pillid); - } - } - - // Helper function for interconnect_pillars where pairs of already connected - // pillars should be checked for not to be processed again. This can be done - // in O(log) or even constant time with a set or an unordered set of hash - // values uniquely representing a pair of integers. The order of numbers - // within the pair should not matter, it has the same unique hash. - template static IntegerOnly pairhash(I a, I b) - { - using std::ceil; using std::log2; using std::max; using std::min; - - I g = min(a, b), l = max(a, b); - - auto bits_g = g ? int(ceil(log2(g))) : 0; - - // Assume the hash will fit into the output variable - assert((l ? (ceil(log2(l))) : 0) + bits_g < int(sizeof(I) * CHAR_BIT)); - - return (l << bits_g) + g; - } - - void interconnect_pillars() { - // Now comes the algorithm that connects pillars with each other. - // Ideally every pillar should be connected with at least one of its - // neighbors if that neighbor is within max_pillar_link_distance - - // Pillars with height exceeding H1 will require at least one neighbor - // to connect with. Height exceeding H2 require two neighbors. - double H1 = m_cfg.max_solo_pillar_height_mm; - double H2 = m_cfg.max_dual_pillar_height_mm; - double d = m_cfg.max_pillar_link_distance_mm; - - //A connection between two pillars only counts if the height ratio is - // bigger than 50% - double min_height_ratio = 0.5; - - std::set pairs; - - // A function to connect one pillar with its neighbors. THe number of - // neighbors is given in the configuration. This function if called - // for every pillar in the pillar index. A pair of pillar will not - // be connected multiple times this is ensured by the 'pairs' set which - // remembers the processed pillar pairs - auto cascadefn = - [this, d, &pairs, min_height_ratio, H1] (const PointIndexEl& el) - { - Vec3d qp = el.first; // endpoint of the pillar - - const Pillar& pillar = m_result.pillar(el.second); // actual pillar - - // Get the max number of neighbors a pillar should connect to - unsigned neighbors = m_cfg.pillar_cascade_neighbors; - - // connections are already enough for the pillar - if(pillar.links >= neighbors) return; - - // Query all remaining points within reach - auto qres = m_pillar_index.query([qp, d](const PointIndexEl& e){ - return distance(e.first, qp) < d; - }); - - // sort the result by distance (have to check if this is needed) - std::sort(qres.begin(), qres.end(), - [qp](const PointIndexEl& e1, const PointIndexEl& e2){ - return distance(e1.first, qp) < distance(e2.first, qp); - }); - - for(auto& re : qres) { // process the queried neighbors - - if(re.second == el.second) continue; // Skip self - - auto a = el.second, b = re.second; - - // Get unique hash for the given pair (order doesn't matter) - auto hashval = pairhash(a, b); - - // Search for the pair amongst the remembered pairs - if(pairs.find(hashval) != pairs.end()) continue; - - const Pillar& neighborpillar = m_result.pillar(re.second); - - // this neighbor is occupied, skip - if(neighborpillar.links >= neighbors) continue; - - if(interconnect(pillar, neighborpillar)) { - pairs.insert(hashval); - - // If the interconnection length between the two pillars is - // less than 50% of the longer pillar's height, don't count - if(pillar.height < H1 || - neighborpillar.height / pillar.height > min_height_ratio) - m_result.increment_links(pillar); - - if(neighborpillar.height < H1 || - pillar.height / neighborpillar.height > min_height_ratio) - m_result.increment_links(neighborpillar); - - } - - // connections are enough for one pillar - if(pillar.links >= neighbors) break; - } - }; - - // Run the cascade for the pillars in the index - m_pillar_index.foreach(cascadefn); - - // We would be done here if we could allow some pillars to not be - // connected with any neighbors. But this might leave the support tree - // unprintable. - // - // The current solution is to insert additional pillars next to these - // lonely pillars. One or even two additional pillar might get inserted - // depending on the length of the lonely pillar. - - size_t pillarcount = m_result.pillarcount(); - - // Again, go through all pillars, this time in the whole support tree - // not just the index. - for(size_t pid = 0; pid < pillarcount; pid++) { - auto pillar = [this, pid]() { return m_result.pillar(pid); }; - - // Decide how many additional pillars will be needed: - - unsigned needpillars = 0; - if (pillar().bridges > m_cfg.max_bridges_on_pillar) - needpillars = 3; - else if (pillar().links < 2 && pillar().height > H2) { - // Not enough neighbors to support this pillar - needpillars = 2 - pillar().links; - } else if (pillar().links < 1 && pillar().height > H1) { - // No neighbors could be found and the pillar is too long. - needpillars = 1; - } - - // Search for new pillar locations: - - bool found = false; - double alpha = 0; // goes to 2Pi - double r = 2 * m_cfg.base_radius_mm; - Vec3d pillarsp = pillar().startpoint(); - - // temp value for starting point detection - Vec3d sp(pillarsp(X), pillarsp(Y), pillarsp(Z) - r); - - // A vector of bool for placement feasbility - std::vector canplace(needpillars, false); - std::vector spts(needpillars); // vector of starting points - - double gnd = m_result.ground_level; - double min_dist = m_cfg.pillar_base_safety_distance_mm + - m_cfg.base_radius_mm + EPSILON; - - while(!found && alpha < 2*PI) { - for (unsigned n = 0; - n < needpillars && (!n || canplace[n - 1]); - n++) - { - double a = alpha + n * PI / 3; - Vec3d s = sp; - s(X) += std::cos(a) * r; - s(Y) += std::sin(a) * r; - spts[n] = s; - - // Check the path vertically down - auto hr = bridge_mesh_intersect(s, {0, 0, -1}, pillar().r); - Vec3d gndsp{s(X), s(Y), gnd}; - - // If the path is clear, check for pillar base collisions - canplace[n] = std::isinf(hr.distance()) && - std::sqrt(m_mesh.squared_distance(gndsp)) > - min_dist; - } - - found = std::all_of(canplace.begin(), canplace.end(), - [](bool v) { return v; }); - - // 20 angles will be tried... - alpha += 0.1 * PI; - } - - std::vector newpills; - newpills.reserve(needpillars); - - if(found) for(unsigned n = 0; n < needpillars; n++) { - Vec3d s = spts[n]; - Pillar p(s, Vec3d(s(X), s(Y), gnd), pillar().r); - p.add_base(m_cfg.base_height_mm, m_cfg.base_radius_mm); - - if(interconnect(pillar(), p)) { - Pillar& pp = m_result.add_pillar(p); - m_pillar_index.insert(pp.endpoint(), unsigned(pp.id)); - - m_result.add_junction(s, pillar().r); - double t = bridge_mesh_intersect(pillarsp, - dirv(pillarsp, s), - pillar().r); - if(distance(pillarsp, s) < t) - m_result.add_bridge(pillarsp, s, pillar().r); - - if(pillar().endpoint()(Z) > m_result.ground_level) - m_result.add_junction(pillar().endpoint(), pillar().r); - - newpills.emplace_back(pp.id); - m_result.increment_links(pillar()); - } - } - - if(!newpills.empty()) { - for(auto it = newpills.begin(), nx = std::next(it); - nx != newpills.end(); ++it, ++nx) { - const Pillar& itpll = m_result.pillar(*it); - const Pillar& nxpll = m_result.pillar(*nx); - if(interconnect(itpll, nxpll)) { - m_result.increment_links(itpll); - m_result.increment_links(nxpll); - } - } - - m_pillar_index.foreach(cascadefn); - } - } - } - - // Step: process the support points where there is not enough space for a - // full pinhead. In this case we will use a rounded sphere as a touching - // point and use a thinner bridge (let's call it a stick). - void routing_headless () - { - // For now we will just generate smaller headless sticks with a sharp - // ending point that connects to the mesh surface. - - // We will sink the pins into the model surface for a distance of 1/3 of - // the pin radius - for(unsigned i : m_iheadless) { - m_thr(); - - const auto R = double(m_support_pts[i].head_front_radius); - const double HWIDTH_MM = R/3; - - // Exact support position - Vec3d sph = m_support_pts[i].pos.cast(); - Vec3d n = m_support_nmls.row(i); // mesh outward normal - Vec3d sp = sph - n * HWIDTH_MM; // stick head start point - - Vec3d dir = {0, 0, -1}; - Vec3d sj = sp + R * n; // stick start point - - // This is only for checking - double idist = bridge_mesh_intersect(sph, dir, R, true); - double dist = ray_mesh_intersect(sj, dir); - if (std::isinf(dist)) - dist = sph(Z) - m_mesh.ground_level() - + m_mesh.ground_level_offset(); - - if(std::isnan(idist) || idist < 2*R || - std::isnan(dist) || dist < 2*R) - { - BOOST_LOG_TRIVIAL(warning) << "Can not find route for headless" - << " support stick at: " - << sj.transpose(); - continue; - } - - Vec3d ej = sj + (dist + HWIDTH_MM)* dir; - m_result.add_compact_bridge(sp, ej, n, R, !std::isinf(dist)); - } - } - - void merge_result() { m_result.merge_and_cleanup(); } -}; - -bool SLASupportTree::generate(const std::vector &support_points, - const EigenMesh3D& mesh, - const SupportConfig &cfg, - const Controller &ctl) -{ - if(support_points.empty()) return false; - - Algorithm alg(cfg, mesh, support_points, *m_impl, ctl.cancelfn); - - // Let's define the individual steps of the processing. We can experiment - // later with the ordering and the dependencies between them. - enum Steps { - BEGIN, - FILTER, - PINHEADS, - CLASSIFY, - ROUTING_GROUND, - ROUTING_NONGROUND, - CASCADE_PILLARS, - HEADLESS, - MERGE_RESULT, - DONE, - ABORT, - NUM_STEPS - //... - }; - - // Collect the algorithm steps into a nice sequence - std::array, NUM_STEPS> program = { - [] () { - // Begin... - // Potentially clear up the shared data (not needed for now) - }, - - std::bind(&Algorithm::filter, &alg), - - std::bind(&Algorithm::add_pinheads, &alg), - - std::bind(&Algorithm::classify, &alg), - - std::bind(&Algorithm::routing_to_ground, &alg), - - std::bind(&Algorithm::routing_to_model, &alg), - - std::bind(&Algorithm::interconnect_pillars, &alg), - - std::bind(&Algorithm::routing_headless, &alg), - - std::bind(&Algorithm::merge_result, &alg), - - [] () { - // Done - }, - - [] () { - // Abort - } - }; - - Steps pc = BEGIN; - - if(cfg.ground_facing_only) { - program[ROUTING_NONGROUND] = []() { - BOOST_LOG_TRIVIAL(info) - << "Skipping model-facing supports as requested."; - }; - program[HEADLESS] = []() { - BOOST_LOG_TRIVIAL(info) << "Skipping headless stick generation as" - " requested."; - }; - } - - // Let's define a simple automaton that will run our program. - auto progress = [&ctl, &pc] () { - static const std::array stepstr { - "Starting", - "Filtering", - "Generate pinheads", - "Classification", - "Routing to ground", - "Routing supports to model surface", - "Interconnecting pillars", - "Processing small holes", - "Merging support mesh", - "Done", - "Abort" - }; - - static const std::array stepstate { - 0, - 10, - 30, - 50, - 60, - 70, - 80, - 85, - 99, - 100, - 0 - }; - - if(ctl.stopcondition()) pc = ABORT; - - switch(pc) { - case BEGIN: pc = FILTER; break; - case FILTER: pc = PINHEADS; break; - case PINHEADS: pc = CLASSIFY; break; - case CLASSIFY: pc = ROUTING_GROUND; break; - case ROUTING_GROUND: pc = ROUTING_NONGROUND; break; - case ROUTING_NONGROUND: pc = CASCADE_PILLARS; break; - case CASCADE_PILLARS: pc = HEADLESS; break; - case HEADLESS: pc = MERGE_RESULT; break; - case MERGE_RESULT: pc = DONE; break; - case DONE: - case ABORT: break; - default: ; - } - - ctl.statuscb(stepstate[pc], stepstr[pc]); - }; - - // Just here we run the computation... - while(pc < DONE) { - progress(); - program[pc](); - } - - return pc == ABORT; -} - -SLASupportTree::SLASupportTree(double gnd_lvl): m_impl(new Impl()) { - m_impl->ground_level = gnd_lvl; -} - -const TriangleMesh &SLASupportTree::merged_mesh() const -{ - return m_impl->merged_mesh(); -} - -void SLASupportTree::merged_mesh_with_pad(TriangleMesh &outmesh) const { - outmesh.merge(merged_mesh()); - outmesh.merge(get_pad()); -} - -std::vector SLASupportTree::slice( +std::vector SupportTree::slice( const std::vector &grid, float cr) const { - const TriangleMesh &sup_mesh = m_impl->merged_mesh(); - const TriangleMesh &pad_mesh = get_pad(); + const TriangleMesh &sup_mesh = retrieve_mesh(MeshType::Support); + const TriangleMesh &pad_mesh = retrieve_mesh(MeshType::Pad); using Slices = std::vector; auto slices = reserve_vector(2); @@ -2530,7 +62,7 @@ std::vector SLASupportTree::slice( slices.emplace_back(); TriangleMeshSlicer sup_slicer(&sup_mesh); - sup_slicer.slice(grid, cr, &slices.back(), m_impl->ctl().cancelfn); + sup_slicer.slice(grid, cr, &slices.back(), ctl().cancelfn); } if (!pad_mesh.empty()) { @@ -2544,7 +76,7 @@ std::vector SLASupportTree::slice( std::copy(grid.begin(), maxzit, std::back_inserter(padgrid)); TriangleMeshSlicer pad_slicer(&pad_mesh); - pad_slicer.slice(padgrid, cr, &slices.back(), m_impl->ctl().cancelfn); + pad_slicer.slice(padgrid, cr, &slices.back(), ctl().cancelfn); } size_t len = grid.size(); @@ -2566,36 +98,20 @@ std::vector SLASupportTree::slice( return mrg; } -const TriangleMesh &SLASupportTree::add_pad(const ExPolygons& modelbase, - const PadConfig& pcfg) const +SupportTree::UPtr SupportTree::create(const SupportableMesh &sm, + const JobController & ctl) { - return m_impl->create_pad(merged_mesh(), modelbase, pcfg).tmesh; + auto builder = make_unique(); + builder->m_ctl = ctl; + + if (sm.cfg.enabled) { + builder->build(sm); + builder->merge_and_cleanup(); // clean metadata, leave only the meshes. + } else { + builder->ground_level = sm.emesh.ground_level(); + } + + return std::move(builder); } -const TriangleMesh &SLASupportTree::get_pad() const -{ - return m_impl->pad().tmesh; -} - -void SLASupportTree::remove_pad() -{ - m_impl->remove_pad(); -} - -SLASupportTree::SLASupportTree(const std::vector &points, - const EigenMesh3D& emesh, - const SupportConfig &cfg, - const Controller &ctl): - m_impl(new Impl(ctl)) -{ - m_impl->ground_level = emesh.ground_level() - cfg.object_elevation_mm; - generate(points, emesh, cfg, ctl); -} - -SLASupportTree::SLASupportTree(SLASupportTree &&o) = default; -SLASupportTree &SLASupportTree::operator=(SLASupportTree &&o) = default; - -SLASupportTree::~SLASupportTree() {} - -} -} +}} // namespace Slic3r::sla diff --git a/src/libslic3r/SLA/SLASupportTree.hpp b/src/libslic3r/SLA/SLASupportTree.hpp index d2797f5f6..322b29251 100644 --- a/src/libslic3r/SLA/SLASupportTree.hpp +++ b/src/libslic3r/SLA/SLASupportTree.hpp @@ -2,23 +2,14 @@ #define SLASUPPORTTREE_HPP #include -#include -#include #include #include #include "SLACommon.hpp" +#include "SLAPad.hpp" namespace Slic3r { -// Needed types from Point.hpp -typedef int32_t coord_t; -typedef Eigen::Matrix Vec3d; -typedef Eigen::Matrix Vec3f; -typedef Eigen::Matrix Vec3crd; -typedef std::vector Pointf3s; -typedef std::vector Points3; - class TriangleMesh; class Model; class ModelInstance; @@ -31,13 +22,17 @@ using ExPolygons = std::vector; namespace sla { -enum class PillarConnectionMode { +enum class PillarConnectionMode +{ zigzag, cross, dynamic }; -struct SupportConfig { +struct SupportConfig +{ + bool enabled = true; + // Radius in mm of the pointing side of the head. double head_front_radius_mm = 0.2; @@ -108,93 +103,78 @@ struct SupportConfig { static const unsigned max_bridges_on_pillar; }; -struct PadConfig; +enum class MeshType { Support, Pad }; /// A Control structure for the support calculation. Consists of the status /// indicator callback and the stop condition predicate. -struct Controller { - +struct JobController +{ + using StatusFn = std::function; + using StopCond = std::function; + using CancelFn = std::function; + // This will signal the status of the calculation to the front-end - std::function statuscb = - [](unsigned, const std::string&){}; - + StatusFn statuscb = [](unsigned, const std::string&){}; + // Returns true if the calculation should be aborted. - std::function stopcondition = [](){ return false; }; - + StopCond stopcondition = [](){ return false; }; + // Similar to cancel callback. This should check the stop condition and // if true, throw an appropriate exception. (TriangleMeshSlicer needs this) // consider it a hard abort. stopcondition is permits the algorithm to // terminate itself - std::function cancelfn = [](){}; + CancelFn cancelfn = [](){}; }; -/* ************************************************************************** */ +struct SupportableMesh +{ + EigenMesh3D emesh; + SupportPoints pts; + SupportConfig cfg; + + explicit SupportableMesh(const TriangleMesh & trmsh, + const SupportPoints &sp, + const SupportConfig &c) + : emesh{trmsh}, pts{sp}, cfg{c} + {} + + explicit SupportableMesh(const EigenMesh3D &em, + const SupportPoints &sp, + const SupportConfig &c) + : emesh{em}, pts{sp}, cfg{c} + {} +}; /// The class containing mesh data for the generated supports. -class SLASupportTree { - class Impl; // persistent support data - std::unique_ptr m_impl; - - Impl& get() { return *m_impl; } - const Impl& get() const { return *m_impl; } - - friend void add_sla_supports(Model&, - const SupportConfig&, - const Controller&); - - // The generation algorithm is quite long and will be captured in a separate - // class with private data, helper methods, etc... This data is only needed - // during the calculation whereas the Impl class contains the persistent - // data, mostly the meshes. - class Algorithm; - - // Generate the 3D supports for a model intended for SLA print. This - // will instantiate the Algorithm class and call its appropriate methods - // with status indication. - bool generate(const std::vector& pts, - const EigenMesh3D& mesh, - const SupportConfig& cfg = {}, - const Controller& ctl = {}); - +class SupportTree +{ + JobController m_ctl; public: - - SLASupportTree(double ground_level = 0.0); - - SLASupportTree(const std::vector& pts, - const EigenMesh3D& em, - const SupportConfig& cfg = {}, - const Controller& ctl = {}); + using UPtr = std::unique_ptr; - SLASupportTree(const SLASupportTree&) = delete; - SLASupportTree& operator=(const SLASupportTree&) = delete; - - SLASupportTree(SLASupportTree &&o); - SLASupportTree &operator=(SLASupportTree &&o); + static UPtr create(const SupportableMesh &input, + const JobController &ctl = {}); - ~SLASupportTree(); + virtual ~SupportTree() = default; - /// Get the whole mesh united into the output TriangleMesh - /// WITHOUT THE PAD - const TriangleMesh& merged_mesh() const; + virtual const TriangleMesh &retrieve_mesh(MeshType meshtype) const = 0; - void merged_mesh_with_pad(TriangleMesh&) const; - - std::vector slice(const std::vector &, - float closing_radius) const; - - /// Adding the "pad" (base pool) under the supports + /// Adding the "pad" under the supports. /// modelbase will be used according to the embed_object flag in PoolConfig. - /// If set, the plate will interpreted as the model's intrinsic pad. + /// If set, the plate will be interpreted as the model's intrinsic pad. /// Otherwise, the modelbase will be unified with the base plate calculated /// from the supports. - const TriangleMesh& add_pad(const ExPolygons& modelbase, - const PadConfig& pcfg) const; - - /// Get the pad geometry - const TriangleMesh& get_pad() const; - - void remove_pad(); - + virtual const TriangleMesh &add_pad(const ExPolygons &modelbase, + const PadConfig & pcfg) = 0; + + virtual void remove_pad() = 0; + + std::vector slice(const std::vector &, + float closing_radius) const; + + void retrieve_full_mesh(TriangleMesh &outmesh) const; + + const JobController &ctl() const { return m_ctl; } }; } diff --git a/src/libslic3r/SLA/SLASupportTreeAlgorithm.cpp b/src/libslic3r/SLA/SLASupportTreeAlgorithm.cpp new file mode 100644 index 000000000..2f4a0c645 --- /dev/null +++ b/src/libslic3r/SLA/SLASupportTreeAlgorithm.cpp @@ -0,0 +1,1383 @@ +#include "SLASupportTreeAlgorithm.hpp" + +#include +#include +#include + +namespace Slic3r { +namespace sla { + +SupportTreeAlgorithm::SupportTreeAlgorithm(SupportTreeBuilder & builder, + const SupportableMesh &sm) + : m_cfg(sm.cfg) + , m_mesh(sm.emesh) + , m_support_pts(sm.pts) + , m_support_nmls(sm.pts.size(), 3) + , m_builder(builder) + , m_points(sm.pts.size(), 3) + , m_thr(builder.ctl().cancelfn) +{ + // Prepare the support points in Eigen/IGL format as well, we will use + // it mostly in this form. + + long i = 0; + for (const SupportPoint &sp : m_support_pts) { + m_points.row(i)(X) = double(sp.pos(X)); + m_points.row(i)(Y) = double(sp.pos(Y)); + m_points.row(i)(Z) = double(sp.pos(Z)); + ++i; + } +} + +bool SupportTreeAlgorithm::execute(SupportTreeBuilder & builder, + const SupportableMesh &sm) +{ + if(sm.pts.empty()) return false; + + SupportTreeAlgorithm alg(builder, sm); + + // Let's define the individual steps of the processing. We can experiment + // later with the ordering and the dependencies between them. + enum Steps { + BEGIN, + FILTER, + PINHEADS, + CLASSIFY, + ROUTING_GROUND, + ROUTING_NONGROUND, + CASCADE_PILLARS, + HEADLESS, + MERGE_RESULT, + DONE, + ABORT, + NUM_STEPS + //... + }; + + // Collect the algorithm steps into a nice sequence + std::array, NUM_STEPS> program = { + [] () { + // Begin... + // Potentially clear up the shared data (not needed for now) + }, + + std::bind(&SupportTreeAlgorithm::filter, &alg), + + std::bind(&SupportTreeAlgorithm::add_pinheads, &alg), + + std::bind(&SupportTreeAlgorithm::classify, &alg), + + std::bind(&SupportTreeAlgorithm::routing_to_ground, &alg), + + std::bind(&SupportTreeAlgorithm::routing_to_model, &alg), + + std::bind(&SupportTreeAlgorithm::interconnect_pillars, &alg), + + std::bind(&SupportTreeAlgorithm::routing_headless, &alg), + + std::bind(&SupportTreeAlgorithm::merge_result, &alg), + + [] () { + // Done + }, + + [] () { + // Abort + } + }; + + Steps pc = BEGIN; + + if(sm.cfg.ground_facing_only) { + program[ROUTING_NONGROUND] = []() { + BOOST_LOG_TRIVIAL(info) + << "Skipping model-facing supports as requested."; + }; + program[HEADLESS] = []() { + BOOST_LOG_TRIVIAL(info) << "Skipping headless stick generation as" + " requested."; + }; + } + + // Let's define a simple automaton that will run our program. + auto progress = [&builder, &pc] () { + static const std::array stepstr { + "Starting", + "Filtering", + "Generate pinheads", + "Classification", + "Routing to ground", + "Routing supports to model surface", + "Interconnecting pillars", + "Processing small holes", + "Merging support mesh", + "Done", + "Abort" + }; + + static const std::array stepstate { + 0, + 10, + 30, + 50, + 60, + 70, + 80, + 85, + 99, + 100, + 0 + }; + + if(builder.ctl().stopcondition()) pc = ABORT; + + switch(pc) { + case BEGIN: pc = FILTER; break; + case FILTER: pc = PINHEADS; break; + case PINHEADS: pc = CLASSIFY; break; + case CLASSIFY: pc = ROUTING_GROUND; break; + case ROUTING_GROUND: pc = ROUTING_NONGROUND; break; + case ROUTING_NONGROUND: pc = CASCADE_PILLARS; break; + case CASCADE_PILLARS: pc = HEADLESS; break; + case HEADLESS: pc = MERGE_RESULT; break; + case MERGE_RESULT: pc = DONE; break; + case DONE: + case ABORT: break; + default: ; + } + + builder.ctl().statuscb(stepstate[pc], stepstr[pc]); + }; + + // Just here we run the computation... + while(pc < DONE) { + progress(); + program[pc](); + } + + return pc == ABORT; +} + +EigenMesh3D::hit_result SupportTreeAlgorithm::pinhead_mesh_intersect( + const Vec3d &s, const Vec3d &dir, double r_pin, double r_back, double width) +{ + static const size_t SAMPLES = 8; + + // method based on: + // https://math.stackexchange.com/questions/73237/parametric-equation-of-a-circle-in-3d-space + + // 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. + + // Move away slightly from the touching point to avoid raycasting on the + // inner surface of the mesh. + Vec3d v = dir; // Our direction (axis) + Vec3d c = s + width * dir; + const double& sd = m_cfg.safety_distance_mm; + + // 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. + Vec3d a(0, 1, 0), b; + + // The portions of the circle (the head-back circle) for which we will + // shoot rays. + std::array phis; + for(size_t i = 0; i < phis.size(); ++i) phis[i] = i*2*PI/phis.size(); + + auto& m = m_mesh; + using HitResult = EigenMesh3D::hit_result; + + // Hit results + std::array hits; + + // 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' + auto chk1 = [] (double val) { + return std::abs(std::abs(val) - 1) < 1e-20; + }; + + if(chk1(v(X)) || chk1(v(Y)) || chk1(v(Z))) { + a = {v(Z), v(X), v(Y)}; + b = {v(Y), v(Z), v(X)}; + } + else { + a(Z) = -(v(Y)*a(Y)) / v(Z); a.normalize(); + b = a.cross(v); + } + + // Now a and b vectors are perpendicular to v and to each other. + // Together they define the plane where we have to iterate with the + // given angles in the 'phis' vector + ccr_par::enumerate( + phis.begin(), phis.end(), + [&hits, &m, sd, r_pin, r_back, s, a, b, c](double phi, size_t i) { + double sinphi = std::sin(phi); + double cosphi = std::cos(phi); + + // Let's have a safety coefficient for the radiuses. + double rpscos = (sd + r_pin) * cosphi; + double rpssin = (sd + r_pin) * sinphi; + double rpbcos = (sd + r_back) * cosphi; + double rpbsin = (sd + r_back) * sinphi; + + // Point on the circle on the pin sphere + Vec3d ps(s(X) + rpscos * a(X) + rpssin * b(X), + s(Y) + rpscos * a(Y) + rpssin * b(Y), + s(Z) + rpscos * a(Z) + rpssin * b(Z)); + + // 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). + + // This is the point on the circle on the back sphere + Vec3d p(c(X) + rpbcos * a(X) + rpbsin * b(X), + c(Y) + rpbcos * a(Y) + rpbsin * b(Y), + c(Z) + rpbcos * a(Z) + rpbsin * b(Z)); + + 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() > r_pin + sd) { + // 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) + hits[i] = 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); + hits[i] = q2; + } + } else + hits[i] = q; + }); + + auto mit = std::min_element(hits.begin(), hits.end()); + + return *mit; +} + +EigenMesh3D::hit_result SupportTreeAlgorithm::bridge_mesh_intersect( + const Vec3d &s, const Vec3d &dir, double r, bool ins_check) +{ + static const size_t SAMPLES = 8; + + // helper vector calculations + Vec3d a(0, 1, 0), b; + const double& sd = m_cfg.safety_distance_mm; + + // INFO: for explanation of the method used here, see the previous + // method's comments. + + auto chk1 = [] (double val) { + return std::abs(std::abs(val) - 1) < 1e-20; + }; + + if(chk1(dir(X)) || chk1(dir(Y)) || chk1(dir(Z))) { + a = {dir(Z), dir(X), dir(Y)}; + b = {dir(Y), dir(Z), dir(X)}; + } + else { + a(Z) = -(dir(Y)*a(Y)) / dir(Z); a.normalize(); + b = a.cross(dir); + } + + // circle portions + std::array phis; + for(size_t i = 0; i < phis.size(); ++i) phis[i] = i*2*PI/phis.size(); + + auto& m = m_mesh; + using HitResult = EigenMesh3D::hit_result; + + // Hit results + std::array hits; + + ccr_par::enumerate( + phis.begin(), phis.end(), + [&m, a, b, sd, dir, r, s, ins_check, &hits] (double phi, size_t i) { + double sinphi = std::sin(phi); + double cosphi = std::cos(phi); + + // Let's have a safety coefficient for the radiuses. + double rcos = (sd + r) * cosphi; + double rsin = (sd + r) * sinphi; + + // Point on the circle on the pin sphere + Vec3d p (s(X) + rcos * a(X) + rsin * b(X), + s(Y) + rcos * a(Y) + rsin * b(Y), + s(Z) + rcos * a(Z) + rsin * b(Z)); + + auto hr = m.query_ray_hit(p + sd*dir, dir); + + if(ins_check && hr.is_inside()) { + if(hr.distance() > 2 * r + sd) hits[i] = HitResult(0.0); + else { + // re-cast the ray from the outside of the object + auto hr2 = + m.query_ray_hit(p + (hr.distance() + 2*sd)*dir, dir); + + hits[i] = hr2; + } + } else hits[i] = hr; + }); + + auto mit = std::min_element(hits.begin(), hits.end()); + + return *mit; +} + +bool SupportTreeAlgorithm::interconnect(const Pillar &pillar, + const Pillar &nextpillar) +{ + // We need to get the starting point of the zig-zag pattern. We have to + // be aware that the two head junctions are at different heights. We + // may start from the lowest junction and call it a day but this + // strategy would leave unconnected a lot of pillar duos where the + // shorter pillar is too short to start a new bridge but the taller + // pillar could still be bridged with the shorter one. + bool was_connected = false; + + Vec3d supper = pillar.startpoint(); + Vec3d slower = nextpillar.startpoint(); + Vec3d eupper = pillar.endpoint(); + Vec3d elower = nextpillar.endpoint(); + + double zmin = m_builder.ground_level + m_cfg.base_height_mm; + eupper(Z) = std::max(eupper(Z), zmin); + elower(Z) = std::max(elower(Z), zmin); + + // The usable length of both pillars should be positive + if(slower(Z) - elower(Z) < 0) return false; + if(supper(Z) - eupper(Z) < 0) return false; + + double pillar_dist = distance(Vec2d{slower(X), slower(Y)}, + Vec2d{supper(X), supper(Y)}); + double bridge_distance = pillar_dist / std::cos(-m_cfg.bridge_slope); + double zstep = pillar_dist * std::tan(-m_cfg.bridge_slope); + + if(pillar_dist < 2 * m_cfg.head_back_radius_mm || + pillar_dist > m_cfg.max_pillar_link_distance_mm) return false; + + if(supper(Z) < slower(Z)) supper.swap(slower); + if(eupper(Z) < elower(Z)) eupper.swap(elower); + + double startz = 0, endz = 0; + + startz = slower(Z) - zstep < supper(Z) ? slower(Z) - zstep : slower(Z); + endz = eupper(Z) + zstep > elower(Z) ? eupper(Z) + zstep : eupper(Z); + + if(slower(Z) - eupper(Z) < std::abs(zstep)) { + // no space for even one cross + + // Get max available space + startz = std::min(supper(Z), slower(Z) - zstep); + endz = std::max(eupper(Z) + zstep, elower(Z)); + + // Align to center + double available_dist = (startz - endz); + double rounds = std::floor(available_dist / std::abs(zstep)); + startz -= 0.5 * (available_dist - rounds * std::abs(zstep)); + } + + auto pcm = m_cfg.pillar_connection_mode; + bool docrosses = + pcm == PillarConnectionMode::cross || + (pcm == PillarConnectionMode::dynamic && + pillar_dist > 2*m_cfg.base_radius_mm); + + // 'sj' means starting junction, 'ej' is the end junction of a bridge. + // They will be swapped in every iteration thus the zig-zag pattern. + // According to a config parameter, a second bridge may be added which + // results in a cross connection between the pillars. + Vec3d sj = supper, ej = slower; sj(Z) = startz; ej(Z) = sj(Z) + zstep; + + // TODO: This is a workaround to not have a faulty last bridge + while(ej(Z) >= eupper(Z) /*endz*/) { + if(bridge_mesh_intersect(sj, dirv(sj, ej), pillar.r) >= bridge_distance) + { + m_builder.add_crossbridge(sj, ej, pillar.r); + was_connected = true; + } + + // double bridging: (crosses) + if(docrosses) { + Vec3d sjback(ej(X), ej(Y), sj(Z)); + Vec3d ejback(sj(X), sj(Y), ej(Z)); + if (sjback(Z) <= slower(Z) && ejback(Z) >= eupper(Z) && + bridge_mesh_intersect(sjback, dirv(sjback, ejback), + pillar.r) >= bridge_distance) { + // need to check collision for the cross stick + m_builder.add_crossbridge(sjback, ejback, pillar.r); + was_connected = true; + } + } + + sj.swap(ej); + ej(Z) = sj(Z) + zstep; + } + + return was_connected; +} + +bool SupportTreeAlgorithm::connect_to_nearpillar(const Head &head, + long nearpillar_id) +{ + auto nearpillar = [this, nearpillar_id]() { + return m_builder.pillar(nearpillar_id); + }; + + if (nearpillar().bridges > m_cfg.max_bridges_on_pillar) return false; + + Vec3d headjp = head.junction_point(); + Vec3d nearjp_u = nearpillar().startpoint(); + Vec3d nearjp_l = nearpillar().endpoint(); + + double r = head.r_back_mm; + double d2d = distance(to_2d(headjp), to_2d(nearjp_u)); + double d3d = distance(headjp, nearjp_u); + + double hdiff = nearjp_u(Z) - headjp(Z); + double slope = std::atan2(hdiff, d2d); + + Vec3d bridgestart = headjp; + Vec3d bridgeend = nearjp_u; + double max_len = m_cfg.max_bridge_length_mm; + double max_slope = m_cfg.bridge_slope; + double zdiff = 0.0; + + // check the default situation if feasible for a bridge + if(d3d > max_len || slope > -max_slope) { + // not feasible to connect the two head junctions. We have to search + // for a suitable touch point. + + double Zdown = headjp(Z) + d2d * std::tan(-max_slope); + Vec3d touchjp = bridgeend; touchjp(Z) = Zdown; + double D = distance(headjp, touchjp); + zdiff = Zdown - nearjp_u(Z); + + if(zdiff > 0) { + Zdown -= zdiff; + bridgestart(Z) -= zdiff; + touchjp(Z) = Zdown; + + double t = bridge_mesh_intersect(headjp, {0,0,-1}, r); + + // We can't insert a pillar under the source head to connect + // with the nearby pillar's starting junction + if(t < zdiff) return false; + } + + if(Zdown <= nearjp_u(Z) && Zdown >= nearjp_l(Z) && D < max_len) + bridgeend(Z) = Zdown; + else + return false; + } + + // There will be a minimum distance from the ground where the + // bridge is allowed to connect. This is an empiric value. + double minz = m_builder.ground_level + 2 * m_cfg.head_width_mm; + if(bridgeend(Z) < minz) return false; + + double t = bridge_mesh_intersect(bridgestart, + dirv(bridgestart, bridgeend), r); + + // Cannot insert the bridge. (further search might not worth the hassle) + if(t < distance(bridgestart, bridgeend)) return false; + + // A partial pillar is needed under the starting head. + if(zdiff > 0) { + m_builder.add_pillar(unsigned(head.id), bridgestart, r); + m_builder.add_junction(bridgestart, r); + } + + m_builder.add_bridge(bridgestart, bridgeend, r); + m_builder.increment_bridges(nearpillar()); + + return true; +} + +bool SupportTreeAlgorithm::search_pillar_and_connect(const Head &head) +{ + PointIndex spindex = m_pillar_index.guarded_clone(); + + long nearest_id = ID_UNSET; + + Vec3d querypoint = head.junction_point(); + + while(nearest_id < 0 && !spindex.empty()) { m_thr(); + // loop until a suitable head is not found + // if there is a pillar closer than the cluster center + // (this may happen as the clustering is not perfect) + // than we will bridge to this closer pillar + + Vec3d qp(querypoint(X), querypoint(Y), m_builder.ground_level); + auto qres = spindex.nearest(qp, 1); + if(qres.empty()) break; + + auto ne = qres.front(); + nearest_id = ne.second; + + if(nearest_id >= 0) { + auto nearpillarID = unsigned(nearest_id); + if(nearpillarID < m_builder.pillarcount()) { + if(!connect_to_nearpillar(head, nearpillarID)) { + nearest_id = ID_UNSET; // continue searching + spindex.remove(ne); // without the current pillar + } + } + } + } + + return nearest_id >= 0; +} + +void SupportTreeAlgorithm::create_ground_pillar(const Vec3d &jp, + const Vec3d &sourcedir, + double radius, + long head_id) +{ + // People were killed for this number (seriously) + static const double SQR2 = std::sqrt(2.0); + static const Vec3d DOWN = {0.0, 0.0, -1.0}; + + double gndlvl = m_builder.ground_level; + Vec3d endp = {jp(X), jp(Y), gndlvl}; + double sd = m_cfg.pillar_base_safety_distance_mm; + long pillar_id = ID_UNSET; + double min_dist = sd + m_cfg.base_radius_mm + EPSILON; + double dist = 0; + bool can_add_base = true; + bool normal_mode = true; + + if (m_cfg.object_elevation_mm < EPSILON + && (dist = std::sqrt(m_mesh.squared_distance(endp))) < min_dist) { + // Get the distance from the mesh. This can be later optimized + // to get the distance in 2D plane because we are dealing with + // the ground level only. + + normal_mode = false; + double mind = min_dist - dist; + double azimuth = std::atan2(sourcedir(Y), sourcedir(X)); + double sinpolar = std::sin(PI - m_cfg.bridge_slope); + double cospolar = std::cos(PI - m_cfg.bridge_slope); + double cosazm = std::cos(azimuth); + double sinazm = std::sin(azimuth); + + auto dir = Vec3d(cosazm * sinpolar, sinazm * sinpolar, cospolar) + .normalized(); + + using namespace libnest2d::opt; + StopCriteria scr; + scr.stop_score = min_dist; + SubplexOptimizer solver(scr); + + auto result = solver.optimize_max( + [this, dir, jp, gndlvl](double mv) { + Vec3d endpt = jp + SQR2 * mv * dir; + endpt(Z) = gndlvl; + return std::sqrt(m_mesh.squared_distance(endpt)); + }, + initvals(mind), bound(0.0, 2 * min_dist)); + + mind = std::get<0>(result.optimum); + endp = jp + SQR2 * mind * dir; + Vec3d pgnd = {endp(X), endp(Y), gndlvl}; + can_add_base = result.score > min_dist; + + double gnd_offs = m_mesh.ground_level_offset(); + auto abort_in_shame = + [gnd_offs, &normal_mode, &can_add_base, &endp, jp, gndlvl]() + { + normal_mode = true; + can_add_base = false; // Nothing left to do, hope for the best + endp = {jp(X), jp(Y), gndlvl - gnd_offs }; + }; + + // We have to check if the bridge is feasible. + if (bridge_mesh_intersect(jp, dir, radius) < (endp - jp).norm()) + abort_in_shame(); + else { + // If the new endpoint is below ground, do not make a pillar + if (endp(Z) < gndlvl) + endp = endp - SQR2 * (gndlvl - endp(Z)) * dir; // back off + else { + + auto hit = bridge_mesh_intersect(endp, DOWN, radius); + if (!std::isinf(hit.distance())) abort_in_shame(); + + Pillar &plr = m_builder.add_pillar(endp, pgnd, radius); + + if (can_add_base) + plr.add_base(m_cfg.base_height_mm, + m_cfg.base_radius_mm); + + pillar_id = plr.id; + } + + m_builder.add_bridge(jp, endp, radius); + m_builder.add_junction(endp, radius); + + // Add a degenerated pillar and the bridge. + // The degenerate pillar will have zero length and it will + // prevent from queries of head_pillar() to have non-existing + // pillar when the head should have one. + if (head_id >= 0) + m_builder.add_pillar(unsigned(head_id), jp, radius); + } + } + + if (normal_mode) { + Pillar &plr = head_id >= 0 + ? m_builder.add_pillar(unsigned(head_id), + endp, + radius) + : m_builder.add_pillar(jp, endp, radius); + + if (can_add_base) + plr.add_base(m_cfg.base_height_mm, m_cfg.base_radius_mm); + + pillar_id = plr.id; + } + + if(pillar_id >= 0) // Save the pillar endpoint in the spatial index + m_pillar_index.guarded_insert(endp, unsigned(pillar_id)); +} + +void SupportTreeAlgorithm::filter() +{ + // Get the points that are too close to each other and keep only the + // first one + auto aliases = cluster(m_points, D_SP, 2); + + PtIndices filtered_indices; + filtered_indices.reserve(aliases.size()); + m_iheads.reserve(aliases.size()); + m_iheadless.reserve(aliases.size()); + for(auto& a : aliases) { + // Here we keep only the front point of the cluster. + filtered_indices.emplace_back(a.front()); + } + + // calculate the normals to the triangles for filtered points + auto nmls = sla::normals(m_points, m_mesh, m_cfg.head_front_radius_mm, + m_thr, filtered_indices); + + // Not all of the support points have to be a valid position for + // support creation. The angle may be inappropriate or there may + // not be enough space for the pinhead. Filtering is applied for + // these reasons. + + using libnest2d::opt::bound; + using libnest2d::opt::initvals; + using libnest2d::opt::GeneticOptimizer; + using libnest2d::opt::StopCriteria; + + ccr::SpinningMutex mutex; + auto addfn = [&mutex](PtIndices &container, unsigned val) { + std::lock_guard lk(mutex); + container.emplace_back(val); + }; + + auto filterfn = [this, &nmls, addfn](unsigned fidx, size_t i) { + m_thr(); + + auto n = nmls.row(Eigen::Index(i)); + + // for all normals we generate the spherical coordinates and + // saturate the polar angle to 45 degrees from the bottom then + // convert back to standard coordinates to get the new normal. + // Then we just create a quaternion from the two normals + // (Quaternion::FromTwoVectors) and apply the rotation to the + // arrow head. + + double z = n(2); + double r = 1.0; // for normalized vector + double polar = std::acos(z / r); + double azimuth = std::atan2(n(1), n(0)); + + // skip if the tilt is not sane + if(polar >= PI - m_cfg.normal_cutoff_angle) { + + // We saturate the polar angle to 3pi/4 + polar = std::max(polar, 3*PI / 4); + + // save the head (pinpoint) position + Vec3d hp = m_points.row(fidx); + + double w = m_cfg.head_width_mm + + m_cfg.head_back_radius_mm + + 2*m_cfg.head_front_radius_mm; + + double pin_r = double(m_support_pts[fidx].head_front_radius); + + // Reassemble the now corrected normal + auto nn = Vec3d(std::cos(azimuth) * std::sin(polar), + std::sin(azimuth) * std::sin(polar), + std::cos(polar)).normalized(); + + // check available distance + EigenMesh3D::hit_result t + = pinhead_mesh_intersect(hp, // touching point + nn, // normal + pin_r, + m_cfg.head_back_radius_mm, + w); + + if(t.distance() <= w) { + + // Let's try to optimize this angle, there might be a + // viable normal that doesn't collide with the model + // geometry and its very close to the default. + + StopCriteria stc; + stc.max_iterations = m_cfg.optimizer_max_iterations; + stc.relative_score_difference = m_cfg.optimizer_rel_score_diff; + stc.stop_score = w; // space greater than w is enough + GeneticOptimizer solver(stc); + solver.seed(0); // we want deterministic behavior + + auto oresult = solver.optimize_max( + [this, pin_r, w, hp](double plr, double azm) + { + auto dir = Vec3d(std::cos(azm) * std::sin(plr), + std::sin(azm) * std::sin(plr), + std::cos(plr)).normalized(); + + double score = pinhead_mesh_intersect( + hp, dir, pin_r, m_cfg.head_back_radius_mm, w); + + return score; + }, + initvals(polar, azimuth), // start with what we have + bound(3 * PI / 4, + PI), // Must not exceed the tilt limit + bound(-PI, PI) // azimuth can be a full search + ); + + if(oresult.score > w) { + polar = std::get<0>(oresult.optimum); + azimuth = std::get<1>(oresult.optimum); + nn = Vec3d(std::cos(azimuth) * std::sin(polar), + std::sin(azimuth) * std::sin(polar), + std::cos(polar)).normalized(); + t = oresult.score; + } + } + + // save the verified and corrected normal + m_support_nmls.row(fidx) = nn; + + if (t.distance() > w) { + // Check distance from ground, we might have zero elevation. + if (hp(Z) + w * nn(Z) < m_builder.ground_level) { + addfn(m_iheadless, fidx); + } else { + // mark the point for needing a head. + addfn(m_iheads, fidx); + } + } else if (polar >= 3 * PI / 4) { + // Headless supports do not tilt like the headed ones + // so the normal should point almost to the ground. + addfn(m_iheadless, fidx); + } + } + }; + + ccr::enumerate(filtered_indices.begin(), filtered_indices.end(), filterfn); + + m_thr(); +} + +void SupportTreeAlgorithm::add_pinheads() +{ + for (unsigned i : m_iheads) { + m_thr(); + m_builder.add_head( + i, + m_cfg.head_back_radius_mm, + m_support_pts[i].head_front_radius, + m_cfg.head_width_mm, + m_cfg.head_penetration_mm, + m_support_nmls.row(i), // dir + m_support_pts[i].pos.cast() // displacement + ); + } +} + +void SupportTreeAlgorithm::classify() +{ + // We should first get the heads that reach the ground directly + PtIndices ground_head_indices; + ground_head_indices.reserve(m_iheads.size()); + m_iheads_onmodel.reserve(m_iheads.size()); + + // First we decide which heads reach the ground and can be full + // pillars and which shall be connected to the model surface (or + // search a suitable path around the surface that leads to the + // ground -- TODO) + for(unsigned i : m_iheads) { + m_thr(); + + auto& head = m_builder.head(i); + Vec3d n(0, 0, -1); + double r = head.r_back_mm; + Vec3d headjp = head.junction_point(); + + // collision check + auto hit = bridge_mesh_intersect(headjp, n, r); + + if(std::isinf(hit.distance())) ground_head_indices.emplace_back(i); + else if(m_cfg.ground_facing_only) head.invalidate(); + else m_iheads_onmodel.emplace_back(std::make_pair(i, hit)); + } + + // We want to search for clusters of points that are far enough + // from each other in the XY plane to not cross their pillar bases + // These clusters of support points will join in one pillar, + // possibly in their centroid support point. + + auto pointfn = [this](unsigned i) { + return m_builder.head(i).junction_point(); + }; + + auto predicate = [this](const PointIndexEl &e1, + const PointIndexEl &e2) { + double d2d = distance(to_2d(e1.first), to_2d(e2.first)); + double d3d = distance(e1.first, e2.first); + return d2d < 2 * m_cfg.base_radius_mm + && d3d < m_cfg.max_bridge_length_mm; + }; + + m_pillar_clusters = cluster(ground_head_indices, + pointfn, + predicate, + m_cfg.max_bridges_on_pillar); +} + +void SupportTreeAlgorithm::routing_to_ground() +{ + const double pradius = m_cfg.head_back_radius_mm; + + ClusterEl cl_centroids; + cl_centroids.reserve(m_pillar_clusters.size()); + + for (auto &cl : m_pillar_clusters) { + m_thr(); + + // place all the centroid head positions into the index. We + // will query for alternative pillar positions. If a sidehead + // cannot connect to the cluster centroid, we have to search + // for another head with a full pillar. Also when there are two + // elements in the cluster, the centroid is arbitrary and the + // sidehead is allowed to connect to a nearby pillar to + // increase structural stability. + + if (cl.empty()) continue; + + // get the current cluster centroid + auto & thr = m_thr; + const auto &points = m_points; + long lcid = cluster_centroid( + cl, [&points](size_t idx) { return points.row(long(idx)); }, + [thr](const Vec3d &p1, const Vec3d &p2) { + thr(); + return distance(Vec2d(p1(X), p1(Y)), Vec2d(p2(X), p2(Y))); + }); + + assert(lcid >= 0); + unsigned hid = cl[size_t(lcid)]; // Head ID + + cl_centroids.emplace_back(hid); + + Head &h = m_builder.head(hid); + h.transform(); + + create_ground_pillar(h.junction_point(), h.dir, h.r_back_mm, h.id); + } + + // now we will go through the clusters ones again and connect the + // sidepoints with the cluster centroid (which is a ground pillar) + // or a nearby pillar if the centroid is unreachable. + size_t ci = 0; + for (auto cl : m_pillar_clusters) { + m_thr(); + + auto cidx = cl_centroids[ci++]; + + // TODO: don't consider the cluster centroid but calculate a + // central position where the pillar can be placed. this way + // the weight is distributed more effectively on the pillar. + + auto centerpillarID = m_builder.head_pillar(cidx).id; + + for (auto c : cl) { + m_thr(); + if (c == cidx) continue; + + auto &sidehead = m_builder.head(c); + sidehead.transform(); + + if (!connect_to_nearpillar(sidehead, centerpillarID) && + !search_pillar_and_connect(sidehead)) { + Vec3d pstart = sidehead.junction_point(); + // Vec3d pend = Vec3d{pstart(X), pstart(Y), gndlvl}; + // Could not find a pillar, create one + create_ground_pillar(pstart, sidehead.dir, pradius, sidehead.id); + } + } + } +} + +void SupportTreeAlgorithm::routing_to_model() +{ + // We need to check if there is an easy way out to the bed surface. + // If it can be routed there with a bridge shorter than + // min_bridge_distance. + + // First we want to index the available pillars. The best is to connect + // these points to the available pillars + + auto routedown = [this](Head& head, const Vec3d& dir, double dist) + { + head.transform(); + Vec3d hjp = head.junction_point(); + Vec3d endp = hjp + dist * dir; + m_builder.add_bridge(hjp, endp, head.r_back_mm); + m_builder.add_junction(endp, head.r_back_mm); + + this->create_ground_pillar(endp, dir, head.r_back_mm); + }; + + std::vector modelpillars; + ccr::SpinningMutex mutex; + + auto onmodelfn = + [this, routedown, &modelpillars, &mutex] + (const std::pair &el, size_t) + { + m_thr(); + unsigned idx = el.first; + EigenMesh3D::hit_result hit = el.second; + + auto& head = m_builder.head(idx); + Vec3d hjp = head.junction_point(); + + // ///////////////////////////////////////////////////////////////// + // Search nearby pillar + // ///////////////////////////////////////////////////////////////// + + if(search_pillar_and_connect(head)) { head.transform(); return; } + + // ///////////////////////////////////////////////////////////////// + // Try straight path + // ///////////////////////////////////////////////////////////////// + + // Cannot connect to nearby pillar. We will try to search for + // a route to the ground. + + double t = bridge_mesh_intersect(hjp, head.dir, head.r_back_mm); + double d = 0, tdown = 0; + Vec3d dirdown(0.0, 0.0, -1.0); + + t = std::min(t, m_cfg.max_bridge_length_mm); + + while(d < t && !std::isinf(tdown = bridge_mesh_intersect( + hjp + d*head.dir, + dirdown, head.r_back_mm))) { + d += head.r_back_mm; + } + + if(std::isinf(tdown)) { // we heave found a route to the ground + routedown(head, head.dir, d); return; + } + + // ///////////////////////////////////////////////////////////////// + // Optimize bridge direction + // ///////////////////////////////////////////////////////////////// + + // Straight path failed so we will try to search for a suitable + // direction out of the cavity. + + // Get the spherical representation of the normal. its easier to + // work with. + double z = head.dir(Z); + double r = 1.0; // for normalized vector + double polar = std::acos(z / r); + double azimuth = std::atan2(head.dir(Y), head.dir(X)); + + using libnest2d::opt::bound; + using libnest2d::opt::initvals; + using libnest2d::opt::GeneticOptimizer; + using libnest2d::opt::StopCriteria; + + StopCriteria stc; + stc.max_iterations = m_cfg.optimizer_max_iterations; + stc.relative_score_difference = m_cfg.optimizer_rel_score_diff; + stc.stop_score = 1e6; + GeneticOptimizer solver(stc); + solver.seed(0); // we want deterministic behavior + + double r_back = head.r_back_mm; + + auto oresult = solver.optimize_max( + [this, hjp, r_back](double plr, double azm) + { + Vec3d n = Vec3d(std::cos(azm) * std::sin(plr), + std::sin(azm) * std::sin(plr), + std::cos(plr)).normalized(); + return bridge_mesh_intersect(hjp, n, r_back); + }, + initvals(polar, azimuth), // let's start with what we have + bound(3*PI/4, PI), // Must not exceed the slope limit + bound(-PI, PI) // azimuth can be a full range search + ); + + d = 0; t = oresult.score; + + polar = std::get<0>(oresult.optimum); + azimuth = std::get<1>(oresult.optimum); + Vec3d bridgedir = Vec3d(std::cos(azimuth) * std::sin(polar), + std::sin(azimuth) * std::sin(polar), + std::cos(polar)).normalized(); + + t = std::min(t, m_cfg.max_bridge_length_mm); + + while(d < t && !std::isinf(tdown = bridge_mesh_intersect( + hjp + d*bridgedir, + dirdown, + head.r_back_mm))) { + d += head.r_back_mm; + } + + if(std::isinf(tdown)) { // we heave found a route to the ground + routedown(head, bridgedir, d); return; + } + + // ///////////////////////////////////////////////////////////////// + // Route to model body + // ///////////////////////////////////////////////////////////////// + + double zangle = std::asin(hit.direction()(Z)); + zangle = std::max(zangle, PI/4); + double h = std::sin(zangle) * head.fullwidth(); + + // The width of the tail head that we would like to have... + h = std::min(hit.distance() - head.r_back_mm, h); + + if(h > 0) { + Vec3d endp{hjp(X), hjp(Y), hjp(Z) - hit.distance() + h}; + auto center_hit = m_mesh.query_ray_hit(hjp, dirdown); + + double hitdiff = center_hit.distance() - hit.distance(); + Vec3d hitp = std::abs(hitdiff) < 2*head.r_back_mm? + center_hit.position() : hit.position(); + + head.transform(); + + Pillar& pill = m_builder.add_pillar(unsigned(head.id), + endp, + head.r_back_mm); + + Vec3d taildir = endp - hitp; + double dist = distance(endp, hitp) + m_cfg.head_penetration_mm; + double w = dist - 2 * head.r_pin_mm - head.r_back_mm; + + Head tailhead(head.r_back_mm, + head.r_pin_mm, + w, + m_cfg.head_penetration_mm, + taildir, + hitp); + + tailhead.transform(); + pill.base = tailhead.mesh; + + // Experimental: add the pillar to the index for cascading + std::lock_guard lk(mutex); + modelpillars.emplace_back(unsigned(pill.id)); + return; + } + + // We have failed to route this head. + BOOST_LOG_TRIVIAL(warning) + << "Failed to route model facing support point." + << " ID: " << idx; + head.invalidate(); + }; + + ccr::enumerate(m_iheads_onmodel.begin(), m_iheads_onmodel.end(), onmodelfn); + + for(auto pillid : modelpillars) { + auto& pillar = m_builder.pillar(pillid); + m_pillar_index.insert(pillar.endpoint(), pillid); + } +} + +void SupportTreeAlgorithm::interconnect_pillars() +{ + // Now comes the algorithm that connects pillars with each other. + // Ideally every pillar should be connected with at least one of its + // neighbors if that neighbor is within max_pillar_link_distance + + // Pillars with height exceeding H1 will require at least one neighbor + // to connect with. Height exceeding H2 require two neighbors. + double H1 = m_cfg.max_solo_pillar_height_mm; + double H2 = m_cfg.max_dual_pillar_height_mm; + double d = m_cfg.max_pillar_link_distance_mm; + + //A connection between two pillars only counts if the height ratio is + // bigger than 50% + double min_height_ratio = 0.5; + + std::set pairs; + + // A function to connect one pillar with its neighbors. THe number of + // neighbors is given in the configuration. This function if called + // for every pillar in the pillar index. A pair of pillar will not + // be connected multiple times this is ensured by the 'pairs' set which + // remembers the processed pillar pairs + auto cascadefn = + [this, d, &pairs, min_height_ratio, H1] (const PointIndexEl& el) + { + Vec3d qp = el.first; // endpoint of the pillar + + const Pillar& pillar = m_builder.pillar(el.second); // actual pillar + + // Get the max number of neighbors a pillar should connect to + unsigned neighbors = m_cfg.pillar_cascade_neighbors; + + // connections are already enough for the pillar + if(pillar.links >= neighbors) return; + + // Query all remaining points within reach + auto qres = m_pillar_index.query([qp, d](const PointIndexEl& e){ + return distance(e.first, qp) < d; + }); + + // sort the result by distance (have to check if this is needed) + std::sort(qres.begin(), qres.end(), + [qp](const PointIndexEl& e1, const PointIndexEl& e2){ + return distance(e1.first, qp) < distance(e2.first, qp); + }); + + for(auto& re : qres) { // process the queried neighbors + + if(re.second == el.second) continue; // Skip self + + auto a = el.second, b = re.second; + + // Get unique hash for the given pair (order doesn't matter) + auto hashval = pairhash(a, b); + + // Search for the pair amongst the remembered pairs + if(pairs.find(hashval) != pairs.end()) continue; + + const Pillar& neighborpillar = m_builder.pillar(re.second); + + // this neighbor is occupied, skip + if(neighborpillar.links >= neighbors) continue; + + if(interconnect(pillar, neighborpillar)) { + pairs.insert(hashval); + + // If the interconnection length between the two pillars is + // less than 50% of the longer pillar's height, don't count + if(pillar.height < H1 || + neighborpillar.height / pillar.height > min_height_ratio) + m_builder.increment_links(pillar); + + if(neighborpillar.height < H1 || + pillar.height / neighborpillar.height > min_height_ratio) + m_builder.increment_links(neighborpillar); + + } + + // connections are enough for one pillar + if(pillar.links >= neighbors) break; + } + }; + + // Run the cascade for the pillars in the index + m_pillar_index.foreach(cascadefn); + + // We would be done here if we could allow some pillars to not be + // connected with any neighbors. But this might leave the support tree + // unprintable. + // + // The current solution is to insert additional pillars next to these + // lonely pillars. One or even two additional pillar might get inserted + // depending on the length of the lonely pillar. + + size_t pillarcount = m_builder.pillarcount(); + + // Again, go through all pillars, this time in the whole support tree + // not just the index. + for(size_t pid = 0; pid < pillarcount; pid++) { + auto pillar = [this, pid]() { return m_builder.pillar(pid); }; + + // Decide how many additional pillars will be needed: + + unsigned needpillars = 0; + if (pillar().bridges > m_cfg.max_bridges_on_pillar) + needpillars = 3; + else if (pillar().links < 2 && pillar().height > H2) { + // Not enough neighbors to support this pillar + needpillars = 2 - pillar().links; + } else if (pillar().links < 1 && pillar().height > H1) { + // No neighbors could be found and the pillar is too long. + needpillars = 1; + } + + // Search for new pillar locations: + + bool found = false; + double alpha = 0; // goes to 2Pi + double r = 2 * m_cfg.base_radius_mm; + Vec3d pillarsp = pillar().startpoint(); + + // temp value for starting point detection + Vec3d sp(pillarsp(X), pillarsp(Y), pillarsp(Z) - r); + + // A vector of bool for placement feasbility + std::vector canplace(needpillars, false); + std::vector spts(needpillars); // vector of starting points + + double gnd = m_builder.ground_level; + double min_dist = m_cfg.pillar_base_safety_distance_mm + + m_cfg.base_radius_mm + EPSILON; + + while(!found && alpha < 2*PI) { + for (unsigned n = 0; + n < needpillars && (!n || canplace[n - 1]); + n++) + { + double a = alpha + n * PI / 3; + Vec3d s = sp; + s(X) += std::cos(a) * r; + s(Y) += std::sin(a) * r; + spts[n] = s; + + // Check the path vertically down + auto hr = bridge_mesh_intersect(s, {0, 0, -1}, pillar().r); + Vec3d gndsp{s(X), s(Y), gnd}; + + // If the path is clear, check for pillar base collisions + canplace[n] = std::isinf(hr.distance()) && + std::sqrt(m_mesh.squared_distance(gndsp)) > + min_dist; + } + + found = std::all_of(canplace.begin(), canplace.end(), + [](bool v) { return v; }); + + // 20 angles will be tried... + alpha += 0.1 * PI; + } + + std::vector newpills; + newpills.reserve(needpillars); + + if (found) + for (unsigned n = 0; n < needpillars; n++) { + Vec3d s = spts[n]; + Pillar p(s, Vec3d(s(X), s(Y), gnd), pillar().r); + p.add_base(m_cfg.base_height_mm, m_cfg.base_radius_mm); + + if (interconnect(pillar(), p)) { + Pillar &pp = m_builder.add_pillar(p); + m_pillar_index.insert(pp.endpoint(), unsigned(pp.id)); + + m_builder.add_junction(s, pillar().r); + double t = bridge_mesh_intersect(pillarsp, + dirv(pillarsp, s), + pillar().r); + if (distance(pillarsp, s) < t) + m_builder.add_bridge(pillarsp, s, pillar().r); + + if (pillar().endpoint()(Z) > m_builder.ground_level) + m_builder.add_junction(pillar().endpoint(), + pillar().r); + + newpills.emplace_back(pp.id); + m_builder.increment_links(pillar()); + } + } + + if(!newpills.empty()) { + for(auto it = newpills.begin(), nx = std::next(it); + nx != newpills.end(); ++it, ++nx) { + const Pillar& itpll = m_builder.pillar(*it); + const Pillar& nxpll = m_builder.pillar(*nx); + if(interconnect(itpll, nxpll)) { + m_builder.increment_links(itpll); + m_builder.increment_links(nxpll); + } + } + + m_pillar_index.foreach(cascadefn); + } + } +} + +void SupportTreeAlgorithm::routing_headless() +{ + // For now we will just generate smaller headless sticks with a sharp + // ending point that connects to the mesh surface. + + // We will sink the pins into the model surface for a distance of 1/3 of + // the pin radius + for(unsigned i : m_iheadless) { + m_thr(); + + const auto R = double(m_support_pts[i].head_front_radius); + const double HWIDTH_MM = R/3; + + // Exact support position + Vec3d sph = m_support_pts[i].pos.cast(); + Vec3d n = m_support_nmls.row(i); // mesh outward normal + Vec3d sp = sph - n * HWIDTH_MM; // stick head start point + + Vec3d dir = {0, 0, -1}; + Vec3d sj = sp + R * n; // stick start point + + // This is only for checking + double idist = bridge_mesh_intersect(sph, dir, R, true); + double dist = ray_mesh_intersect(sj, dir); + if (std::isinf(dist)) + dist = sph(Z) - m_mesh.ground_level() + + m_mesh.ground_level_offset(); + + if(std::isnan(idist) || idist < 2*R || + std::isnan(dist) || dist < 2*R) + { + BOOST_LOG_TRIVIAL(warning) << "Can not find route for headless" + << " support stick at: " + << sj.transpose(); + continue; + } + + Vec3d ej = sj + (dist + HWIDTH_MM)* dir; + m_builder.add_compact_bridge(sp, ej, n, R, !std::isinf(dist)); + } +} + +} +} diff --git a/src/libslic3r/SLA/SLASupportTreeAlgorithm.hpp b/src/libslic3r/SLA/SLASupportTreeAlgorithm.hpp new file mode 100644 index 000000000..716412a1c --- /dev/null +++ b/src/libslic3r/SLA/SLASupportTreeAlgorithm.hpp @@ -0,0 +1,292 @@ +#ifndef SLASUPPORTTREEALGORITHM_H +#define SLASUPPORTTREEALGORITHM_H + +#include + +#include "SLASupportTreeBuilder.hpp" + +namespace Slic3r { +namespace sla { + +// The minimum distance for two support points to remain valid. +const double /*constexpr*/ D_SP = 0.1; + +enum { // For indexing Eigen vectors as v(X), v(Y), v(Z) instead of numbers + X, Y, Z +}; + +inline Vec2d to_vec2(const Vec3d& v3) { + return {v3(X), v3(Y)}; +} + +// This function returns the position of the centroid in the input 'clust' +// vector of point indices. +template +long cluster_centroid(const ClusterEl& clust, + const std::function &pointfn, + DistFn df) +{ + switch(clust.size()) { + case 0: /* empty cluster */ return ID_UNSET; + case 1: /* only one element */ return 0; + case 2: /* if two elements, there is no center */ return 0; + default: ; + } + + // The function works by calculating for each point the average distance + // from all the other points in the cluster. We create a selector bitmask of + // the same size as the cluster. The bitmask will have two true bits and + // false bits for the rest of items and we will loop through all the + // permutations of the bitmask (combinations of two points). Get the + // distance for the two points and add the distance to the averages. + // The point with the smallest average than wins. + + // The complexity should be O(n^2) but we will mostly apply this function + // for small clusters only (cca 3 elements) + + std::vector sel(clust.size(), false); // create full zero bitmask + std::fill(sel.end() - 2, sel.end(), true); // insert the two ones + std::vector avgs(clust.size(), 0.0); // store the average distances + + do { + std::array idx; + for(size_t i = 0, j = 0; i < clust.size(); i++) if(sel[i]) idx[j++] = i; + + double d = df(pointfn(clust[idx[0]]), + pointfn(clust[idx[1]])); + + // add the distance to the sums for both associated points + for(auto i : idx) avgs[i] += d; + + // now continue with the next permutation of the bitmask with two 1s + } while(std::next_permutation(sel.begin(), sel.end())); + + // Divide by point size in the cluster to get the average (may be redundant) + for(auto& a : avgs) a /= clust.size(); + + // get the lowest average distance and return the index + auto minit = std::min_element(avgs.begin(), avgs.end()); + return long(minit - avgs.begin()); +} + +inline Vec3d dirv(const Vec3d& startp, const Vec3d& endp) { + return (endp - startp).normalized(); +} + +class PillarIndex { + PointIndex m_index; + using Mutex = ccr::BlockingMutex; + mutable Mutex m_mutex; + +public: + + template inline void guarded_insert(Args&&...args) + { + std::lock_guard lck(m_mutex); + m_index.insert(std::forward(args)...); + } + + template + inline std::vector guarded_query(Args&&...args) const + { + std::lock_guard lck(m_mutex); + return m_index.query(std::forward(args)...); + } + + template inline void insert(Args&&...args) + { + m_index.insert(std::forward(args)...); + } + + template + inline std::vector query(Args&&...args) const + { + return m_index.query(std::forward(args)...); + } + + template inline void foreach(Fn fn) { m_index.foreach(fn); } + template inline void guarded_foreach(Fn fn) + { + std::lock_guard lck(m_mutex); + m_index.foreach(fn); + } + + PointIndex guarded_clone() + { + std::lock_guard lck(m_mutex); + return m_index; + } +}; + +// Helper function for pillar interconnection where pairs of already connected +// pillars should be checked for not to be processed again. This can be done +// in constant time with a set of hash values uniquely representing a pair of +// integers. The order of numbers within the pair should not matter, it has +// the same unique hash. The hash value has to have twice as many bits as the +// arguments need. If the same integral type is used for args and return val, +// make sure the arguments use only the half of the type's bit depth. +template> +IntegerOnly pairhash(I a, I b) +{ + using std::ceil; using std::log2; using std::max; using std::min; + static const auto constexpr Ibits = int(sizeof(I) * CHAR_BIT); + static const auto constexpr DoubleIbits = int(sizeof(DoubleI) * CHAR_BIT); + static const auto constexpr shift = DoubleIbits / 2 < Ibits ? Ibits / 2 : Ibits; + + I g = min(a, b), l = max(a, b); + + // Assume the hash will fit into the output variable + assert((g ? (ceil(log2(g))) : 0) < shift); + assert((l ? (ceil(log2(l))) : 0) < shift); + + return (DoubleI(g) << shift) + l; +} + +class SupportTreeAlgorithm { + const SupportConfig& m_cfg; + const EigenMesh3D& m_mesh; + const std::vector& m_support_pts; + + using PtIndices = std::vector; + + PtIndices m_iheads; // support points with pinhead + PtIndices m_iheadless; // headless support points + + // supp. pts. connecting to model: point index and the ray hit data + std::vector> m_iheads_onmodel; + + // normals for support points from model faces. + PointSet m_support_nmls; + + // Clusters of points which can reach the ground directly and can be + // bridged to one central pillar + std::vector m_pillar_clusters; + + // This algorithm uses the SupportTreeBuilder class to fill gradually + // the support elements (heads, pillars, bridges, ...) + SupportTreeBuilder& m_builder; + + // support points in Eigen/IGL format + PointSet m_points; + + // throw if canceled: It will be called many times so a shorthand will + // come in handy. + ThrowOnCancel m_thr; + + // A spatial index to easily find strong pillars to connect to. + PillarIndex m_pillar_index; + + inline double ray_mesh_intersect(const Vec3d& s, + const Vec3d& dir) + { + return m_mesh.query_ray_hit(s, dir).distance(); + } + + // This function will test if a future pinhead would not collide with the + // model geometry. It does not take a 'Head' object because those are + // created after this test. Parameters: s: The touching point on the model + // surface. dir: This is the direction of the head from the pin to the back + // r_pin, r_back: the radiuses of the pin and the back sphere width: This + // is the full width from the pin center to the back center m: The object + // mesh. + // The return value is the hit result from the ray casting. If the starting + // point was inside the model, an "invalid" hit_result will be returned + // with a zero distance value instead of a NAN. This way the result can + // be used safely for comparison with other distances. + EigenMesh3D::hit_result pinhead_mesh_intersect( + const Vec3d& s, + const Vec3d& dir, + double r_pin, + double r_back, + double width); + + // Checking bridge (pillar and stick as well) intersection with the model. + // If the function is used for headless sticks, the ins_check parameter + // have to be true as the beginning of the stick might be inside the model + // geometry. + // The return value is the hit result from the ray casting. If the starting + // point was inside the model, an "invalid" hit_result will be returned + // with a zero distance value instead of a NAN. This way the result can + // be used safely for comparison with other distances. + EigenMesh3D::hit_result bridge_mesh_intersect( + const Vec3d& s, + const Vec3d& dir, + double r, + bool ins_check = false); + + // Helper function for interconnecting two pillars with zig-zag bridges. + bool interconnect(const Pillar& pillar, const Pillar& nextpillar); + + // For connecting a head to a nearby pillar. + bool connect_to_nearpillar(const Head& head, long nearpillar_id); + + bool search_pillar_and_connect(const Head& head); + + // This is a proxy function for pillar creation which will mind the gap + // between the pad and the model bottom in zero elevation mode. + void create_ground_pillar(const Vec3d &jp, + const Vec3d &sourcedir, + double radius, + long head_id = ID_UNSET); + + SupportTreeAlgorithm(SupportTreeBuilder & builder, const SupportableMesh &sm); + +public: + SupportTreeAlgorithm(const SupportTreeAlgorithm &) = delete; + SupportTreeAlgorithm(SupportTreeAlgorithm &&) = delete; + SupportTreeAlgorithm& operator=(const SupportTreeAlgorithm &) = delete; + SupportTreeAlgorithm& operator=(SupportTreeAlgorithm &&) = delete; + + // Now let's define the individual steps of the support generation algorithm + + // Filtering step: here we will discard inappropriate support points + // and decide the future of the appropriate ones. We will check if a + // pinhead is applicable and adjust its angle at each support point. We + // will also merge the support points that are just too close and can + // be considered as one. + void filter(); + + // Pinhead creation: based on the filtering results, the Head objects + // will be constructed (together with their triangle meshes). + void add_pinheads(); + + // Further classification of the support points with pinheads. If the + // ground is directly reachable through a vertical line parallel to the + // Z axis we consider a support point as pillar candidate. If touches + // the model geometry, it will be marked as non-ground facing and + // further steps will process it. Also, the pillars will be grouped + // into clusters that can be interconnected with bridges. Elements of + // these groups may or may not be interconnected. Here we only run the + // clustering algorithm. + void classify(); + + // Step: Routing the ground connected pinheads, and interconnecting + // them with additional (angled) bridges. Not all of these pinheads + // will be a full pillar (ground connected). Some will connect to a + // nearby pillar using a bridge. The max number of such side-heads for + // a central pillar is limited to avoid bad weight distribution. + void routing_to_ground(); + + // Step: routing the pinheads that would connect to the model surface + // along the Z axis downwards. For now these will actually be connected with + // the model surface with a flipped pinhead. In the future here we could use + // some smart algorithms to search for a safe path to the ground or to a + // nearby pillar that can hold the supported weight. + void routing_to_model(); + + void interconnect_pillars(); + + // Step: process the support points where there is not enough space for a + // full pinhead. In this case we will use a rounded sphere as a touching + // point and use a thinner bridge (let's call it a stick). + void routing_headless (); + + inline void merge_result() { m_builder.merged_mesh(); } + + static bool execute(SupportTreeBuilder & builder, const SupportableMesh &sm); +}; + +} +} + +#endif // SLASUPPORTTREEALGORITHM_H diff --git a/src/libslic3r/SLA/SLASupportTreeBuilder.cpp b/src/libslic3r/SLA/SLASupportTreeBuilder.cpp new file mode 100644 index 000000000..445340010 --- /dev/null +++ b/src/libslic3r/SLA/SLASupportTreeBuilder.cpp @@ -0,0 +1,462 @@ +#include "SLASupportTreeBuilder.hpp" +#include "SLASupportTreeAlgorithm.hpp" + +namespace Slic3r { +namespace sla { + +Contour3D sphere(double rho, Portion portion, double fa) { + + Contour3D ret; + + // prohibit close to zero radius + if(rho <= 1e-6 && rho >= -1e-6) return ret; + + auto& vertices = ret.points; + auto& facets = ret.indices; + + // Algorithm: + // Add points one-by-one to the sphere grid and form facets using relative + // coordinates. Sphere is composed effectively of a mesh of stacked circles. + + // adjust via rounding to get an even multiple for any provided angle. + double angle = (2*PI / floor(2*PI / fa)); + + // Ring to be scaled to generate the steps of the sphere + std::vector ring; + + for (double i = 0; i < 2*PI; i+=angle) ring.emplace_back(i); + + const auto sbegin = size_t(2*std::get<0>(portion)/angle); + const auto send = size_t(2*std::get<1>(portion)/angle); + + const size_t steps = ring.size(); + const double increment = 1.0 / double(steps); + + // special case: first ring connects to 0,0,0 + // insert and form facets. + if(sbegin == 0) + vertices.emplace_back(Vec3d(0.0, 0.0, -rho + increment*sbegin*2.0*rho)); + + auto id = coord_t(vertices.size()); + for (size_t i = 0; i < ring.size(); i++) { + // Fixed scaling + const double z = -rho + increment*rho*2.0 * (sbegin + 1.0); + // radius of the circle for this step. + const double r = std::sqrt(std::abs(rho*rho - z*z)); + Vec2d b = Eigen::Rotation2Dd(ring[i]) * Eigen::Vector2d(0, r); + vertices.emplace_back(Vec3d(b(0), b(1), z)); + + if (sbegin == 0) + facets.emplace_back((i == 0) ? + Vec3crd(coord_t(ring.size()), 0, 1) : + Vec3crd(id - 1, 0, id)); + ++id; + } + + // General case: insert and form facets for each step, + // joining it to the ring below it. + for (size_t s = sbegin + 2; s < send - 1; s++) { + const double z = -rho + increment*double(s*2.0*rho); + const double r = std::sqrt(std::abs(rho*rho - z*z)); + + for (size_t i = 0; i < ring.size(); i++) { + Vec2d b = Eigen::Rotation2Dd(ring[i]) * Eigen::Vector2d(0, r); + vertices.emplace_back(Vec3d(b(0), b(1), z)); + auto id_ringsize = coord_t(id - int(ring.size())); + if (i == 0) { + // wrap around + facets.emplace_back(Vec3crd(id - 1, id, + id + coord_t(ring.size() - 1))); + facets.emplace_back(Vec3crd(id - 1, id_ringsize, id)); + } else { + facets.emplace_back(Vec3crd(id_ringsize - 1, id_ringsize, id)); + facets.emplace_back(Vec3crd(id - 1, id_ringsize - 1, id)); + } + id++; + } + } + + // special case: last ring connects to 0,0,rho*2.0 + // only form facets. + if(send >= size_t(2*PI / angle)) { + vertices.emplace_back(Vec3d(0.0, 0.0, -rho + increment*send*2.0*rho)); + for (size_t i = 0; i < ring.size(); i++) { + auto id_ringsize = coord_t(id - int(ring.size())); + if (i == 0) { + // third vertex is on the other side of the ring. + facets.emplace_back(Vec3crd(id - 1, id_ringsize, id)); + } else { + auto ci = coord_t(id_ringsize + coord_t(i)); + facets.emplace_back(Vec3crd(ci - 1, ci, id)); + } + } + } + id++; + + return ret; +} + +Contour3D cylinder(double r, double h, size_t ssteps, const Vec3d &sp) +{ + Contour3D ret; + + auto steps = int(ssteps); + auto& points = ret.points; + auto& indices = ret.indices; + points.reserve(2*ssteps); + double a = 2*PI/steps; + + Vec3d jp = sp; + Vec3d endp = {sp(X), sp(Y), sp(Z) + h}; + + // Upper circle points + for(int i = 0; i < steps; ++i) { + double phi = i*a; + double ex = endp(X) + r*std::cos(phi); + double ey = endp(Y) + r*std::sin(phi); + points.emplace_back(ex, ey, endp(Z)); + } + + // Lower circle points + for(int i = 0; i < steps; ++i) { + double phi = i*a; + double x = jp(X) + r*std::cos(phi); + double y = jp(Y) + r*std::sin(phi); + points.emplace_back(x, y, jp(Z)); + } + + // Now create long triangles connecting upper and lower circles + indices.reserve(2*ssteps); + auto offs = steps; + for(int i = 0; i < steps - 1; ++i) { + indices.emplace_back(i, i + offs, offs + i + 1); + indices.emplace_back(i, offs + i + 1, i + 1); + } + + // Last triangle connecting the first and last vertices + auto last = steps - 1; + indices.emplace_back(0, last, offs); + indices.emplace_back(last, offs + last, offs); + + // According to the slicing algorithms, we need to aid them with generating + // a watertight body. So we create a triangle fan for the upper and lower + // ending of the cylinder to close the geometry. + points.emplace_back(jp); int ci = int(points.size() - 1); + for(int i = 0; i < steps - 1; ++i) + indices.emplace_back(i + offs + 1, i + offs, ci); + + indices.emplace_back(offs, steps + offs - 1, ci); + + points.emplace_back(endp); ci = int(points.size() - 1); + for(int i = 0; i < steps - 1; ++i) + indices.emplace_back(ci, i, i + 1); + + indices.emplace_back(steps - 1, 0, ci); + + return ret; +} + +Head::Head(double r_big_mm, + double r_small_mm, + double length_mm, + double penetration, + const Vec3d &direction, + const Vec3d &offset, + const size_t circlesteps) + : steps(circlesteps) + , dir(direction) + , tr(offset) + , r_back_mm(r_big_mm) + , r_pin_mm(r_small_mm) + , width_mm(length_mm) + , penetration_mm(penetration) +{ + + // We create two spheres which will be connected with a robe that fits + // both circles perfectly. + + // Set up the model detail level + const double detail = 2*PI/steps; + + // We don't generate whole circles. Instead, we generate only the + // portions which are visible (not covered by the robe) To know the + // exact portion of the bottom and top circles we need to use some + // rules of tangent circles from which we can derive (using simple + // triangles the following relations: + + // The height of the whole mesh + const double h = r_big_mm + r_small_mm + width_mm; + double phi = PI/2 - std::acos( (r_big_mm - r_small_mm) / h ); + + // To generate a whole circle we would pass a portion of (0, Pi) + // To generate only a half horizontal circle we can pass (0, Pi/2) + // The calculated phi is an offset to the half circles needed to smooth + // the transition from the circle to the robe geometry + + auto&& s1 = sphere(r_big_mm, make_portion(0, PI/2 + phi), detail); + auto&& s2 = sphere(r_small_mm, make_portion(PI/2 + phi, PI), detail); + + for(auto& p : s2.points) p.z() += h; + + mesh.merge(s1); + mesh.merge(s2); + + for(size_t idx1 = s1.points.size() - steps, idx2 = s1.points.size(); + idx1 < s1.points.size() - 1; + idx1++, idx2++) + { + coord_t i1s1 = coord_t(idx1), i1s2 = coord_t(idx2); + coord_t i2s1 = i1s1 + 1, i2s2 = i1s2 + 1; + + mesh.indices.emplace_back(i1s1, i2s1, i2s2); + mesh.indices.emplace_back(i1s1, i2s2, i1s2); + } + + auto i1s1 = coord_t(s1.points.size()) - coord_t(steps); + auto i2s1 = coord_t(s1.points.size()) - 1; + auto i1s2 = coord_t(s1.points.size()); + auto i2s2 = coord_t(s1.points.size()) + coord_t(steps) - 1; + + mesh.indices.emplace_back(i2s2, i2s1, i1s1); + mesh.indices.emplace_back(i1s2, i2s2, i1s1); + + // 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) + for(auto& p : mesh.points) p.z() -= (h + r_small_mm - penetration_mm); +} + +Pillar::Pillar(const Vec3d &jp, const Vec3d &endp, double radius, size_t st): + r(radius), steps(st), endpt(endp), starts_from_head(false) +{ + assert(steps > 0); + + height = jp(Z) - endp(Z); + if(height > EPSILON) { // Endpoint is below the starting point + + // We just create a bridge geometry with the pillar parameters and + // move the data. + Contour3D body = cylinder(radius, height, st, endp); + mesh.points.swap(body.points); + mesh.indices.swap(body.indices); + } +} + +Pillar &Pillar::add_base(double baseheight, double radius) +{ + if(baseheight <= 0) return *this; + if(baseheight > height) baseheight = height; + + assert(steps >= 0); + auto last = int(steps - 1); + + if(radius < r ) radius = r; + + 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) + r*std::cos(phi); + double y = endpt(Y) + r*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.indices; + 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 *this; +} + +Bridge::Bridge(const Vec3d &j1, const Vec3d &j2, double r_mm, size_t steps): + r(r_mm), startp(j1), endp(j2) +{ + using Quaternion = Eigen::Quaternion; + Vec3d dir = (j2 - j1).normalized(); + double d = distance(j2, j1); + + mesh = cylinder(r, d, steps); + + auto quater = Quaternion::FromTwoVectors(Vec3d{0,0,1}, dir); + for(auto& p : mesh.points) p = quater * p + j1; +} + +CompactBridge::CompactBridge(const Vec3d &sp, + const Vec3d &ep, + const Vec3d &n, + double r, + bool endball, + size_t steps) +{ + Vec3d startp = sp + r * n; + Vec3d dir = (ep - startp).normalized(); + Vec3d endp = ep - r * dir; + + Bridge br(startp, endp, r, steps); + mesh.merge(br.mesh); + + // now add the pins + double fa = 2*PI/steps; + auto upperball = sphere(r, Portion{PI / 2 - fa, PI}, fa); + for(auto& p : upperball.points) p += startp; + + if(endball) { + auto lowerball = sphere(r, Portion{0, PI/2 + 2*fa}, fa); + for(auto& p : lowerball.points) p += endp; + mesh.merge(lowerball); + } + + mesh.merge(upperball); +} + +Pad::Pad(const TriangleMesh &support_mesh, + const ExPolygons & model_contours, + double ground_level, + const PadConfig & pcfg, + ThrowOnCancel thr) + : cfg(pcfg) + , zlevel(ground_level + pcfg.full_height() - pcfg.required_elevation()) +{ + thr(); + + ExPolygons sup_contours; + + float zstart = float(zlevel); + float zend = zstart + float(pcfg.full_height() + EPSILON); + + pad_blueprint(support_mesh, sup_contours, grid(zstart, zend, 0.1f), thr); + create_pad(sup_contours, model_contours, tmesh, pcfg); + + tmesh.translate(0, 0, float(zlevel)); + if (!tmesh.empty()) tmesh.require_shared_vertices(); +} + +const TriangleMesh &SupportTreeBuilder::add_pad(const ExPolygons &modelbase, + const PadConfig & cfg) +{ + m_pad = Pad{merged_mesh(), modelbase, ground_level, cfg, ctl().cancelfn}; + return m_pad.tmesh; +} + +const TriangleMesh &SupportTreeBuilder::merged_mesh() const +{ + if (m_meshcache_valid) return m_meshcache; + + Contour3D merged; + + for (auto &head : m_heads) { + if (ctl().stopcondition()) break; + if (head.is_valid()) merged.merge(head.mesh); + } + + for (auto &stick : m_pillars) { + if (ctl().stopcondition()) break; + merged.merge(stick.mesh); + merged.merge(stick.base); + } + + for (auto &j : m_junctions) { + if (ctl().stopcondition()) break; + merged.merge(j.mesh); + } + + for (auto &cb : m_compact_bridges) { + if (ctl().stopcondition()) break; + merged.merge(cb.mesh); + } + + for (auto &bs : m_bridges) { + if (ctl().stopcondition()) break; + merged.merge(bs.mesh); + } + + for (auto &bs : m_crossbridges) { + if (ctl().stopcondition()) break; + merged.merge(bs.mesh); + } + + if (ctl().stopcondition()) { + // In case of failure we have to return an empty mesh + m_meshcache = TriangleMesh(); + return m_meshcache; + } + + m_meshcache = mesh(merged); + + // The mesh will be passed by const-pointer to TriangleMeshSlicer, + // which will need this. + if (!m_meshcache.empty()) m_meshcache.require_shared_vertices(); + + BoundingBoxf3 &&bb = m_meshcache.bounding_box(); + m_model_height = bb.max(Z) - bb.min(Z); + + m_meshcache_valid = true; + return m_meshcache; +} + +double SupportTreeBuilder::full_height() const +{ + if (merged_mesh().empty() && !pad().empty()) + return pad().cfg.full_height(); + + double h = mesh_height(); + if (!pad().empty()) h += pad().cfg.required_elevation(); + return h; +} + +const TriangleMesh &SupportTreeBuilder::merge_and_cleanup() +{ + // in case the mesh is not generated, it should be... + auto &ret = merged_mesh(); + + // Doing clear() does not garantee to release the memory. + m_heads = {}; + m_head_indices = {}; + m_pillars = {}; + m_junctions = {}; + m_bridges = {}; + m_compact_bridges = {}; + + return ret; +} + +const TriangleMesh &SupportTreeBuilder::retrieve_mesh(MeshType meshtype) const +{ + switch(meshtype) { + case MeshType::Support: return merged_mesh(); + case MeshType::Pad: return pad().tmesh; + } + + return m_meshcache; +} + +bool SupportTreeBuilder::build(const SupportableMesh &sm) +{ + ground_level = sm.emesh.ground_level() - sm.cfg.object_elevation_mm; + return SupportTreeAlgorithm::execute(*this, sm); +} + +} +} diff --git a/src/libslic3r/SLA/SLASupportTreeBuilder.hpp b/src/libslic3r/SLA/SLASupportTreeBuilder.hpp new file mode 100644 index 000000000..88ee3ffac --- /dev/null +++ b/src/libslic3r/SLA/SLASupportTreeBuilder.hpp @@ -0,0 +1,449 @@ +#ifndef SUPPORTTREEBUILDER_HPP +#define SUPPORTTREEBUILDER_HPP + +#include "SLAConcurrency.hpp" +#include "SLABoilerPlate.hpp" +#include "SLASupportTree.hpp" +#include "SLAPad.hpp" +#include + +namespace Slic3r { +namespace sla { + +/** + * Terminology: + * + * Support point: + * The point on the model surface that needs support. + * + * Pillar: + * A thick column that spans from a support point to the ground and has + * a thick cone shaped base where it touches the ground. + * + * Ground facing support point: + * A support point that can be directly connected with the ground with a pillar + * that does not collide or cut through the model. + * + * Non ground facing support point: + * A support point that cannot be directly connected with the ground (only with + * the model surface). + * + * Head: + * The pinhead that connects to the model surface with the sharp end end + * to a pillar or bridge stick with the dull end. + * + * Headless support point: + * A support point on the model surface for which there is not enough place for + * the head. It is either in a hole or there is some barrier that would collide + * with the head geometry. The headless support point can be ground facing and + * non ground facing as well. + * + * Bridge: + * A stick that connects two pillars or a head with a pillar. + * + * Junction: + * A small ball in the intersection of two or more sticks (pillar, bridge, ...) + * + * CompactBridge: + * A bridge that connects a headless support point with the model surface or a + * nearby pillar. + */ + +using Coordf = double; +using Portion = std::tuple; + +inline Portion make_portion(double a, double b) { + return std::make_tuple(a, b); +} + +template double distance(const Vec& p) { + return std::sqrt(p.transpose() * p); +} + +template double distance(const Vec& pp1, const Vec& pp2) { + auto p = pp2 - pp1; + return distance(p); +} + +Contour3D sphere(double rho, Portion portion = make_portion(0.0, 2.0*PI), + double fa=(2*PI/360)); + +// Down facing cylinder in Z direction with arguments: +// r: radius +// h: Height +// ssteps: how many edges will create the base circle +// sp: starting point +Contour3D cylinder(double r, double h, size_t ssteps, const Vec3d &sp = {0,0,0}); + +const constexpr long ID_UNSET = -1; + +struct Head { + Contour3D mesh; + + size_t steps = 45; + Vec3d dir = {0, 0, -1}; + Vec3d tr = {0, 0, 0}; + + double r_back_mm = 1; + double r_pin_mm = 0.5; + double width_mm = 2; + double penetration_mm = 0.5; + + // For identification purposes. This will be used as the index into the + // container holding the head structures. See SLASupportTree::Impl + long id = ID_UNSET; + + // If there is a pillar connecting to this head, then the id will be set. + long pillar_id = ID_UNSET; + + inline void invalidate() { id = ID_UNSET; } + inline bool is_valid() const { return id >= 0; } + + Head(double r_big_mm, + double r_small_mm, + double length_mm, + double penetration, + const Vec3d &direction = {0, 0, -1}, // direction (normal to the dull end) + const Vec3d &offset = {0, 0, 0}, // displacement + const size_t circlesteps = 45); + + void transform() + { + using Quaternion = Eigen::Quaternion; + + // 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 + tr; + } + + inline double fullwidth() const + { + return 2 * r_pin_mm + width_mm + 2*r_back_mm - penetration_mm; + } + + inline Vec3d junction_point() const + { + return tr + ( 2 * r_pin_mm + width_mm + r_back_mm - penetration_mm)*dir; + } + + inline double request_pillar_radius(double radius) const + { + const double rmax = r_back_mm; + return radius > 0 && radius < rmax ? radius : rmax; + } +}; + +struct Junction { + Contour3D mesh; + double r = 1; + size_t steps = 45; + Vec3d pos; + + long id = ID_UNSET; + + Junction(const Vec3d& tr, double r_mm, size_t stepnum = 45): + r(r_mm), steps(stepnum), pos(tr) + { + mesh = sphere(r_mm, make_portion(0, PI), 2*PI/steps); + for(auto& p : mesh.points) p += tr; + } +}; + +struct Pillar { + Contour3D mesh; + Contour3D base; + double r = 1; + size_t steps = 0; + Vec3d endpt; + double height = 0; + + long id = ID_UNSET; + + // If the pillar connects to a head, this is the id of that head + bool starts_from_head = true; // Could start from a junction as well + long start_junction_id = ID_UNSET; + + // How many bridges are connected to this pillar + unsigned bridges = 0; + + // How many pillars are cascaded with this one + unsigned links = 0; + + Pillar(const Vec3d& jp, const Vec3d& endp, + double radius = 1, size_t st = 45); + + 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 + { + return {endpt(X), endpt(Y), endpt(Z) + height}; + } + + inline const Vec3d& endpoint() const { return endpt; } + + Pillar& add_base(double baseheight = 3, double radius = 2); +}; + +// A Bridge between two pillars (with junction endpoints) +struct Bridge { + Contour3D mesh; + double r = 0.8; + long id = ID_UNSET; + Vec3d startp = Vec3d::Zero(), endp = Vec3d::Zero(); + + Bridge(const Vec3d &j1, + const Vec3d &j2, + double r_mm = 0.8, + size_t steps = 45); +}; + +// A bridge that spans from model surface to model surface with small connecting +// edges on the endpoints. Used for headless support points. +struct CompactBridge { + Contour3D mesh; + long id = ID_UNSET; + + CompactBridge(const Vec3d& sp, + const Vec3d& ep, + const Vec3d& n, + double r, + bool endball = true, + size_t steps = 45); +}; + +// A wrapper struct around the pad +struct Pad { + TriangleMesh tmesh; + PadConfig cfg; + double zlevel = 0; + + Pad() = default; + + Pad(const TriangleMesh &support_mesh, + const ExPolygons & model_contours, + double ground_level, + const PadConfig & pcfg, + ThrowOnCancel thr); + + bool empty() const { return tmesh.facets_count() == 0; } +}; + +// This class will hold the support tree meshes with some additional +// bookkeeping as well. Various parts of the support geometry are stored +// separately and are merged when the caller queries the merged mesh. The +// merged result is cached for fast subsequent delivery of the merged mesh +// which can be quite complex. The support tree creation algorithm can use an +// instance of this class as a somewhat higher level tool for crafting the 3D +// support mesh. Parts can be added with the appropriate methods such as +// add_head or add_pillar which forwards the constructor arguments and fills +// the IDs of these substructures. The IDs are basically indices into the +// arrays of the appropriate type (heads, pillars, etc...). One can later query +// e.g. a pillar for a specific head... +// +// The support pad is considered an auxiliary geometry and is not part of the +// merged mesh. It can be retrieved using a dedicated method (pad()) +class SupportTreeBuilder: public SupportTree { + // For heads it is beneficial to use the same IDs as for the support points. + std::vector m_heads; + std::vector m_head_indices; + std::vector m_pillars; + std::vector m_junctions; + std::vector m_bridges; + std::vector m_crossbridges; + std::vector m_compact_bridges; + Pad m_pad; + + using Mutex = ccr::SpinningMutex; + + mutable TriangleMesh m_meshcache; + mutable Mutex m_mutex; + mutable bool m_meshcache_valid = false; + mutable double m_model_height = 0; // the full height of the model + + template + const Bridge& _add_bridge(std::vector &br, Args&&... args) + { + std::lock_guard lk(m_mutex); + br.emplace_back(std::forward(args)...); + br.back().id = long(br.size() - 1); + m_meshcache_valid = false; + return br.back(); + } + +public: + double ground_level = 0; + + SupportTreeBuilder() = default; + + template Head& add_head(unsigned id, Args&&... args) + { + std::lock_guard lk(m_mutex); + m_heads.emplace_back(std::forward(args)...); + m_heads.back().id = id; + + if (id >= m_head_indices.size()) m_head_indices.resize(id + 1); + m_head_indices[id] = m_heads.size() - 1; + + m_meshcache_valid = false; + return m_heads.back(); + } + + template Pillar& add_pillar(unsigned headid, Args&&... args) + { + std::lock_guard lk(m_mutex); + + assert(headid < m_head_indices.size()); + Head &head = m_heads[m_head_indices[headid]]; + + m_pillars.emplace_back(head, std::forward(args)...); + Pillar& pillar = m_pillars.back(); + pillar.id = long(m_pillars.size() - 1); + head.pillar_id = pillar.id; + pillar.start_junction_id = head.id; + pillar.starts_from_head = true; + + m_meshcache_valid = false; + return m_pillars.back(); + } + + void increment_bridges(const Pillar& pillar) + { + std::lock_guard lk(m_mutex); + assert(pillar.id >= 0 && size_t(pillar.id) < m_pillars.size()); + + if(pillar.id >= 0 && size_t(pillar.id) < m_pillars.size()) + m_pillars[size_t(pillar.id)].bridges++; + } + + void increment_links(const Pillar& pillar) + { + std::lock_guard lk(m_mutex); + assert(pillar.id >= 0 && size_t(pillar.id) < m_pillars.size()); + + if(pillar.id >= 0 && size_t(pillar.id) < m_pillars.size()) + m_pillars[size_t(pillar.id)].links++; + } + + template Pillar& add_pillar(Args&&...args) + { + std::lock_guard lk(m_mutex); + m_pillars.emplace_back(std::forward(args)...); + Pillar& pillar = m_pillars.back(); + pillar.id = long(m_pillars.size() - 1); + pillar.starts_from_head = false; + m_meshcache_valid = false; + return m_pillars.back(); + } + + const Pillar& head_pillar(unsigned headid) const + { + std::lock_guard lk(m_mutex); + assert(headid < m_head_indices.size()); + + const Head& h = m_heads[m_head_indices[headid]]; + assert(h.pillar_id >= 0 && h.pillar_id < long(m_pillars.size())); + + return m_pillars[size_t(h.pillar_id)]; + } + + template const Junction& add_junction(Args&&... args) + { + std::lock_guard lk(m_mutex); + m_junctions.emplace_back(std::forward(args)...); + m_junctions.back().id = long(m_junctions.size() - 1); + m_meshcache_valid = false; + return m_junctions.back(); + } + + template const Bridge& add_bridge(Args&&... args) + { + return _add_bridge(m_bridges, std::forward(args)...); + } + + template const Bridge& add_crossbridge(Args&&... args) + { + return _add_bridge(m_crossbridges, std::forward(args)...); + } + + template const CompactBridge& add_compact_bridge(Args&&...args) + { + std::lock_guard lk(m_mutex); + m_compact_bridges.emplace_back(std::forward(args)...); + m_compact_bridges.back().id = long(m_compact_bridges.size() - 1); + m_meshcache_valid = false; + return m_compact_bridges.back(); + } + + Head &head(unsigned id) + { + std::lock_guard lk(m_mutex); + assert(id < m_head_indices.size()); + + m_meshcache_valid = false; + return m_heads[m_head_indices[id]]; + } + + inline size_t pillarcount() const { + std::lock_guard lk(m_mutex); + return m_pillars.size(); + } + + inline const std::vector &pillars() const { return m_pillars; } + inline const std::vector &heads() const { return m_heads; } + inline const std::vector &bridges() const { return m_bridges; } + inline const std::vector &crossbridges() const { return m_crossbridges; } + + template inline IntegerOnly pillar(T id) const + { + std::lock_guard lk(m_mutex); + assert(id >= 0 && size_t(id) < m_pillars.size() && + size_t(id) < std::numeric_limits::max()); + + return m_pillars[size_t(id)]; + } + + const Pad& pad() const { return m_pad; } + + // WITHOUT THE PAD!!! + const TriangleMesh &merged_mesh() const; + + // WITH THE PAD + double full_height() const; + + // WITHOUT THE PAD!!! + inline double mesh_height() const + { + if (!m_meshcache_valid) merged_mesh(); + return m_model_height; + } + + // Intended to be called after the generation is fully complete + const TriangleMesh & merge_and_cleanup(); + + // Implement SupportTree interface: + + const TriangleMesh &add_pad(const ExPolygons &modelbase, + const PadConfig & pcfg) override; + + void remove_pad() override { m_pad = Pad(); } + + virtual const TriangleMesh &retrieve_mesh( + MeshType meshtype = MeshType::Support) const override; + + bool build(const SupportableMesh &supportable_mesh); +}; + +}} // namespace Slic3r::sla + +#endif // SUPPORTTREEBUILDER_HPP diff --git a/src/libslic3r/SLAPrint.cpp b/src/libslic3r/SLAPrint.cpp index d7083baeb..9462e766c 100644 --- a/src/libslic3r/SLAPrint.cpp +++ b/src/libslic3r/SLAPrint.cpp @@ -32,17 +32,19 @@ namespace Slic3r { -using SupportTreePtr = std::unique_ptr; - -class SLAPrintObject::SupportData +class SLAPrintObject::SupportData : public sla::SupportableMesh { public: - sla::EigenMesh3D emesh; // index-triangle representation - std::vector support_points; // all the support points (manual/auto) - SupportTreePtr support_tree_ptr; // the supports + sla::SupportTree::UPtr support_tree_ptr; // the supports std::vector support_slices; // sliced supports - - inline SupportData(const TriangleMesh &trmesh) : emesh(trmesh) {} + + inline SupportData(const TriangleMesh &t): sla::SupportableMesh{t, {}, {}} {} + + sla::SupportTree::UPtr &create_support_tree(const sla::JobController &ctl) + { + support_tree_ptr = sla::SupportTree::create(*this, ctl); + return support_tree_ptr; + } }; namespace { @@ -583,7 +585,8 @@ bool is_zero_elevation(const SLAPrintObjectConfig &c) { // Compile the argument for support creation from the static print config. sla::SupportConfig make_support_cfg(const SLAPrintObjectConfig& c) { sla::SupportConfig scfg; - + + scfg.enabled = c.supports_enable.getBool(); scfg.head_front_radius_mm = 0.5*c.support_head_front_diameter.getFloat(); scfg.head_back_radius_mm = 0.5*c.support_pillar_diameter.getFloat(); scfg.head_penetration_mm = c.support_head_penetration.getFloat(); @@ -890,10 +893,10 @@ void SLAPrint::process() // Now let's extract the result. const std::vector& points = auto_supports.output(); this->throw_if_canceled(); - po.m_supportdata->support_points = points; + po.m_supportdata->pts = points; BOOST_LOG_TRIVIAL(debug) << "Automatic support points: " - << po.m_supportdata->support_points.size(); + << po.m_supportdata->pts.size(); // Using RELOAD_SLA_SUPPORT_POINTS to tell the Plater to pass // the update status to GLGizmoSlaSupports @@ -905,7 +908,7 @@ void SLAPrint::process() else { // There are either some points on the front-end, or the user // removed them on purpose. No calculation will be done. - po.m_supportdata->support_points = po.transformed_support_points(); + po.m_supportdata->pts = po.transformed_support_points(); } // If the zero elevation mode is engaged, we have to filter out all the @@ -915,7 +918,7 @@ void SLAPrint::process() ? po.m_config.pad_wall_thickness.getFloat() : po.m_config.support_base_height.getFloat(); - remove_bottom_points(po.m_supportdata->support_points, + remove_bottom_points(po.m_supportdata->pts, po.m_supportdata->emesh.ground_level(), tolerance); } @@ -929,42 +932,28 @@ void SLAPrint::process() sla::PadConfig pcfg = make_pad_cfg(po.m_config); if (pcfg.embed_object) - po.m_supportdata->emesh.ground_level_offset( - pcfg.wall_thickness_mm); - - if(!po.m_config.supports_enable.getBool()) { - - // Generate empty support tree. It can still host a pad - po.m_supportdata->support_tree_ptr.reset( - new SLASupportTree(po.m_supportdata->emesh.ground_level())); - - return; - } - - sla::SupportConfig scfg = make_support_cfg(po.m_config); - sla::Controller ctl; - + po.m_supportdata->emesh.ground_level_offset(pcfg.wall_thickness_mm); + + po.m_supportdata->cfg = make_support_cfg(po.m_config); + // scaling for the sub operations double d = ostepd * OBJ_STEP_LEVELS[slaposSupportTree] / 100.0; double init = m_report_status.status(); + JobController ctl; - ctl.statuscb = [this, d, init](unsigned st, const std::string &logmsg) - { + ctl.statuscb = [this, d, init](unsigned st, const std::string &logmsg) { double current = init + st * d; - if(std::round(m_report_status.status()) < std::round(current)) + if (std::round(m_report_status.status()) < std::round(current)) m_report_status(*this, current, OBJ_STEP_LABELS(slaposSupportTree), - SlicingStatus::DEFAULT, - logmsg); - + SlicingStatus::DEFAULT, logmsg); }; - - ctl.stopcondition = [this](){ return canceled(); }; + ctl.stopcondition = [this]() { return canceled(); }; ctl.cancelfn = [this]() { throw_if_canceled(); }; - - po.m_supportdata->support_tree_ptr.reset( - new SLASupportTree(po.m_supportdata->support_points, - po.m_supportdata->emesh, scfg, ctl)); + + po.m_supportdata->create_support_tree(ctl); + + if (!po.m_config.supports_enable.getBool()) return; throw_if_canceled(); @@ -973,10 +962,9 @@ void SLAPrint::process() // This is to prevent "Done." being displayed during merged_mesh() m_report_status(*this, -1, L("Visualizing supports")); - po.m_supportdata->support_tree_ptr->merged_mesh(); BOOST_LOG_TRIVIAL(debug) << "Processed support point count " - << po.m_supportdata->support_points.size(); + << po.m_supportdata->pts.size(); // Check the mesh for later troubleshooting. if(po.support_mesh().empty()) @@ -1014,7 +1002,7 @@ void SLAPrint::process() } po.m_supportdata->support_tree_ptr->add_pad(bp, pcfg); - auto &pad_mesh = po.m_supportdata->support_tree_ptr->get_pad(); + auto &pad_mesh = po.m_supportdata->support_tree_ptr->retrieve_mesh(MeshType::Pad); if (!validate_pad(pad_mesh, pcfg)) throw std::runtime_error( @@ -1393,7 +1381,7 @@ void SLAPrint::process() if(canceled()) return; // Set up the printer, allocate space for all the layers - sla::SLARasterWriter &printer = init_printer(); + sla::RasterWriter &printer = init_printer(); auto lvlcnt = unsigned(m_printer_input.size()); printer.layers(lvlcnt); @@ -1456,7 +1444,7 @@ void SLAPrint::process() tbb::parallel_for(0, lvlcnt, lvlfn); // Set statistics values to the printer - sla::SLARasterWriter::PrintStatistics stats; + sla::RasterWriter::PrintStatistics stats; stats.used_material = (m_print_statistics.objects_used_material + m_print_statistics.support_used_material) / 1000; @@ -1651,7 +1639,7 @@ bool SLAPrint::invalidate_state_by_config_options(const std::vectorset_config(m_full_print_config); return *m_printer; } @@ -1865,7 +1853,7 @@ const SliceRecord SliceRecord::EMPTY(0, std::nanf(""), 0.f); const std::vector& SLAPrintObject::get_support_points() const { - return m_supportdata? m_supportdata->support_points : EMPTY_SUPPORT_POINTS; + return m_supportdata? m_supportdata->pts : EMPTY_SUPPORT_POINTS; } const std::vector &SLAPrintObject::get_support_slices() const @@ -1916,18 +1904,20 @@ TriangleMesh SLAPrintObject::get_mesh(SLAPrintObjectStep step) const const TriangleMesh& SLAPrintObject::support_mesh() const { - if(m_config.supports_enable.getBool() && m_supportdata && - m_supportdata->support_tree_ptr) { - return m_supportdata->support_tree_ptr->merged_mesh(); - } - + sla::SupportTree::UPtr &stree = m_supportdata->support_tree_ptr; + + if(m_config.supports_enable.getBool() && m_supportdata && stree) + return stree->retrieve_mesh(sla::MeshType::Support); + return EMPTY_MESH; } const TriangleMesh& SLAPrintObject::pad_mesh() const { - if(m_config.pad_enable.getBool() && m_supportdata && m_supportdata->support_tree_ptr) - return m_supportdata->support_tree_ptr->get_pad(); + sla::SupportTree::UPtr &stree = m_supportdata->support_tree_ptr; + + if(m_config.pad_enable.getBool() && m_supportdata && stree) + return stree->retrieve_mesh(sla::MeshType::Pad); return EMPTY_MESH; } diff --git a/src/libslic3r/SLAPrint.hpp b/src/libslic3r/SLAPrint.hpp index a2cb517b2..c4eefffd7 100644 --- a/src/libslic3r/SLAPrint.hpp +++ b/src/libslic3r/SLAPrint.hpp @@ -440,7 +440,7 @@ private: std::vector m_printer_input; // The printer itself - std::unique_ptr m_printer; + std::unique_ptr m_printer; // Estimated print time, material consumed. SLAPrintStatistics m_print_statistics; @@ -459,14 +459,14 @@ private: double status() const { return m_st; } } m_report_status; - sla::SLARasterWriter &init_printer(); + sla::RasterWriter &init_printer(); - inline sla::SLARasterWriter::Orientation get_printer_orientation() const + inline sla::RasterWriter::Orientation get_printer_orientation() const { auto ro = m_printer_config.display_orientation.getInt(); - return ro == sla::SLARasterWriter::roPortrait ? - sla::SLARasterWriter::roPortrait : - sla::SLARasterWriter::roLandscape; + return ro == sla::RasterWriter::roPortrait ? + sla::RasterWriter::roPortrait : + sla::RasterWriter::roLandscape; } friend SLAPrintObject; diff --git a/tests/sla_print/sla_print_tests_main.cpp b/tests/sla_print/sla_print_tests_main.cpp index 098d88346..73e193f5c 100644 --- a/tests/sla_print/sla_print_tests_main.cpp +++ b/tests/sla_print/sla_print_tests_main.cpp @@ -1,3 +1,5 @@ +#include + #include #include "libslic3r/libslic3r.h" @@ -5,7 +7,8 @@ #include "libslic3r/SLAPrint.hpp" #include "libslic3r/TriangleMesh.hpp" #include "libslic3r/SLA/SLAPad.hpp" -#include "libslic3r/SLA/SLASupportTree.hpp" +#include "libslic3r/SLA/SLASupportTreeBuilder.hpp" +#include "libslic3r/SLA/SLASupportTreeAlgorithm.hpp" #include "libslic3r/SLA/SLAAutoSupports.hpp" #include "libslic3r/MTUtils.hpp" @@ -104,11 +107,52 @@ struct SupportByproducts { std::vector slicegrid; std::vector model_slices; - sla::SLASupportTree supporttree; + sla::SupportTreeBuilder supporttree; }; const constexpr float CLOSING_RADIUS = 0.005f; +void check_support_tree_integrity(const sla::SupportTreeBuilder &stree, + const sla::SupportConfig &cfg) +{ + double gnd = stree.ground_level; + double H1 = cfg.max_solo_pillar_height_mm; + double H2 = cfg.max_dual_pillar_height_mm; + + for (const sla::Pillar &pillar : stree.pillars()) { + if (std::abs(pillar.endpoint().z() - gnd) < EPSILON) { + double h = pillar.height; + + if (h > H1) ASSERT_GE(pillar.links, 1); + else if(h > H2) { ASSERT_GE(pillar.links, 2); } + } + + ASSERT_LE(pillar.links, cfg.pillar_cascade_neighbors); + ASSERT_LE(pillar.bridges, cfg.max_bridges_on_pillar); + } + + double max_bridgelen = 0.; + auto chck_bridge = [&cfg](const sla::Bridge &bridge, double &max_brlen) { + Vec3d n = bridge.endp - bridge.startp; + double d = sla::distance(n); + max_brlen = std::max(d, max_brlen); + + double z = n.z(); + double polar = std::acos(z / d); + double slope = -polar + PI / 2.; + ASSERT_TRUE(slope >= cfg.bridge_slope || slope <= -cfg.bridge_slope); + }; + + for (auto &bridge : stree.bridges()) chck_bridge(bridge, max_bridgelen); + ASSERT_LE(max_bridgelen, cfg.max_bridge_length_mm); + + max_bridgelen = 0; + for (auto &bridge : stree.crossbridges()) chck_bridge(bridge, max_bridgelen); + + double md = cfg.max_pillar_link_distance_mm / std::cos(-cfg.bridge_slope); + ASSERT_LE(max_bridgelen, md); +} + void test_supports(const std::string & obj_filename, const sla::SupportConfig &supportcfg, SupportByproducts & out) @@ -119,13 +163,13 @@ void test_supports(const std::string & obj_filename, ASSERT_FALSE(mesh.empty()); TriangleMeshSlicer slicer{&mesh}; - - auto bb = mesh.bounding_box(); - double zmin = bb.min.z(); - double zmax = bb.max.z(); - double gnd = zmin - supportcfg.object_elevation_mm; - auto layer_h = 0.05f; - + + auto bb = mesh.bounding_box(); + double zmin = bb.min.z(); + double zmax = bb.max.z(); + double gnd = zmin - supportcfg.object_elevation_mm; + auto layer_h = 0.05f; + out.slicegrid = grid(float(gnd), float(zmax), layer_h); slicer.slice(out.slicegrid , CLOSING_RADIUS, &out.model_slices, []{}); @@ -158,9 +202,12 @@ void test_supports(const std::string & obj_filename, } // Generate the actual support tree - sla::SLASupportTree supporttree(support_points, emesh, supportcfg); + sla::SupportTreeBuilder treebuilder; + treebuilder.build(sla::SupportableMesh{emesh, support_points, supportcfg}); - const TriangleMesh &output_mesh = supporttree.merged_mesh(); + check_support_tree_integrity(treebuilder, supportcfg); + + const TriangleMesh &output_mesh = treebuilder.retrieve_mesh(); check_validity(output_mesh, validityflags); @@ -171,7 +218,7 @@ void test_supports(const std::string & obj_filename, // Move out the support tree into the byproducts, we can examine it further // in various tests. - out.supporttree = std::move(supporttree); + out.supporttree = std::move(treebuilder); } void test_supports(const std::string & obj_filename, @@ -232,6 +279,33 @@ const char *const SUPPORT_TEST_MODELS[] = { } // namespace +template void test_pairhash() +{ + std::map > ints; + for (I i = 0; i < 1000; ++i) + for (I j = 0; j < 1000; ++j) { + if (j != i) { + II hash_ij = sla::pairhash(i, j); + II hash_ji = sla::pairhash(j, i); + ASSERT_EQ(hash_ij, hash_ji); + + auto it = ints.find(hash_ij); + + if (it != ints.end()) { + ASSERT_TRUE( + (it->second.first == i && it->second.second == j) || + (it->second.first == j && it->second.second == i)); + } else ints[hash_ij] = std::make_pair(i, j); + } + } +} + +TEST(SLASupportGeneration, PillarPairHashShouldBeUnique) { + test_pairhash(); + test_pairhash(); + test_pairhash(); +} + TEST(SLASupportGeneration, FlatPadGeometryIsValid) { sla::PadConfig padcfg;