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Use avoidance suggestion when ground point is too far

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This commit is contained in:
tamasmeszaros 2023-01-03 17:51:20 +01:00
parent 128db4b938
commit 816371f37c
3 changed files with 23 additions and 54 deletions
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11
src/libslic3r/BranchingTree/BranchingTree.cpp
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@ -83,21 +83,12 @@ void build_tree(PointCloud &nodes, Builder &builder)
break;
Node new_node {*avo, node.Rmin};
new_node.weight = nodes.get(node_id).weight + (node.pos - *avo).squaredNorm();
new_node.weight = nodes.get(node_id).weight + (node.pos - *avo).norm();
new_node.left = node.id;
if ((routed = builder.add_bridge(node, new_node))) {
size_t new_idx = nodes.insert_junction(new_node);
ptsqueue.push(new_idx);
}
// auto hl_br_len = float(nodes.properties().max_branch_length()) / 2.f;
// Node new_node {{node.pos.x(), node.pos.y(), node.pos.z() - hl_br_len}, node.Rmin};
// new_node.id = int(nodes.next_junction_id());
// new_node.weight = nodes.get(node_id).weight + hl_br_len;
// new_node.left = node.id;
// if ((routed = builder.add_bridge(node, new_node))) {
// size_t new_idx = nodes.insert_junction(new_node);
// ptsqueue.push(new_idx);
// }
} else if ((routed = builder.add_ground_bridge(node, closest_node))) {
closest_node.left = closest_node.right = node_id;
nodes.get(closest_node_id) = closest_node;

63
src/libslic3r/SLA/BranchingTreeSLA.cpp
View File

@ -20,12 +20,10 @@ class BranchingTreeBuilder: public branchingtree::Builder {
const SupportableMesh &m_sm;
const branchingtree::PointCloud &m_cloud;
std::set<int /*ground node_id that was already processed*/> m_ground_mem;
std::vector<branchingtree::Node> m_pillars; // to put an index over them
// cache succesfull ground connections
std::map<size_t, GroundConnection> m_gnd_connections;
std::map<int, GroundConnection> m_gnd_connections;
// Scaling of the input value 'widening_factor:<0, 1>' to produce resonable
// widening behaviour
@ -162,6 +160,7 @@ public:
// Discard all the support points connecting to this branch.
discard_subtree_rescure(j.id);
// discard_subtree(j.id);
}
const std::vector<size_t>& unroutable_pinheads() const
@ -177,7 +176,7 @@ public:
{
const GroundConnection *ret = nullptr;
auto it = m_gnd_connections.find(pillar);
auto it = m_gnd_connections.find(m_pillars[pillar].id);
if (it != m_gnd_connections.end())
ret = &it->second;
@ -230,25 +229,23 @@ bool BranchingTreeBuilder::add_ground_bridge(const branchingtree::Node &from,
namespace bgi = boost::geometry::index;
auto it = m_ground_mem.find(from.id);
if (it == m_ground_mem.end()) {
auto it = m_gnd_connections.find(from.id);
if (it == m_gnd_connections.end()) {
sla::Junction j{from.pos.cast<double>(), get_radius(from)};
Vec3d init_dir = (to.pos - from.pos).cast<double>().normalized();
auto conn = deepsearch_ground_connection(beam_ex_policy , m_sm, j,
get_radius(to), init_dir);
if (conn) {
m_pillars.emplace_back(from);
m_gnd_connections[m_pillars.size() - 1] = conn;
ret = true;
}
// Remember that this node was tested if can go to ground, don't
// test it with any other destination ground point because
// it is unlikely that search_ground_route would find a better solution
m_ground_mem.insert(from.id);
m_gnd_connections[from.id] = conn;
if (conn) {
m_pillars.emplace_back(from);
ret = true;
}
}
if (ret) {
@ -320,37 +317,17 @@ std::optional<Vec3f> BranchingTreeBuilder::suggest_avoidance(
dst.weight += from.pos.z() - glvl;
sla::Junction j{from.pos.cast<double>(), get_radius(from)};
// auto found_it = m_ground_mem.find(from.id);
// if (found_it != m_ground_mem.end()) {
// // TODO look up the conn object
// }
// else if (auto conn = deepsearch_ground_connection(
// beam_ex_policy , m_sm, j, get_radius(dst), sla::DOWN)) {
// ret = get_avoidance(conn, max_bridge_len);
// }
auto conn = deepsearch_ground_connection(
beam_ex_policy , m_sm, j, get_radius(dst), sla::DOWN);
ret = get_avoidance(conn, max_bridge_len);
auto found_it = m_gnd_connections.find(from.id);
if (found_it != m_gnd_connections.end()) {
ret = get_avoidance(found_it->second, max_bridge_len);
} else {
auto conn = deepsearch_ground_connection(
beam_ex_policy , m_sm, j, get_radius(dst), sla::DOWN);
m_gnd_connections[from.id] = conn;
ret = get_avoidance(conn, max_bridge_len);
}
return ret;
// double glvl = ground_level(m_sm);
// branchingtree::Node dst = from;
// dst.pos.z() = glvl;
// dst.weight += from.pos.z() - glvl;
// bool succ = add_ground_bridge(from, dst);
// std::optional<Vec3f> ret;
// if (succ) {
// auto it = m_gnd_connections.find(m_pillars.size() - 1);
// if (it != m_gnd_connections.end())
// ret = get_avoidance(it->second, max_bridge_len);
// }
// return ret;
}
inline void build_pillars(SupportTreeBuilder &builder,

3
src/libslic3r/SLA/SupportTreeUtils.hpp
View File

@ -646,6 +646,7 @@ GroundConnection deepsearch_ground_connection(
// Extract and apply the result
auto [plr, azm, bridge_l] = oresult.optimum;
Vec3d n = spheric_to_dir(plr, azm);
assert(std::abs(n.norm() - 1.) < EPSILON);
// Now the optimizer gave a possible route to ground with a bridge direction
// and length. This length can be shortened further by brute-force queries
@ -654,7 +655,7 @@ GroundConnection deepsearch_ground_connection(
// constraint, but it would not find quickly enough an accurate solution,
// and it would be very hard to define a stop score which is very useful in
// terminating the search as soon as the ground is found.
double l = 0., l_max = bridge_l;
double l = 0., l_max = sm.cfg.max_bridge_length_mm;
double zlvl = std::numeric_limits<double>::infinity();
while(zlvl > gndlvl && l <= l_max) {