Merge branch 'tm_colldetection_upgr'
This commit is contained in:
tamasmeszaros
commit
88f847c5bd
@ -15,7 +15,7 @@ namespace Slic3r {
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SLAAutoSupports::SLAAutoSupports(const TriangleMesh& mesh, const sla::EigenMesh3D& emesh, const std::vector<ExPolygons>& slices, const std::vector<float>& heights,
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const Config& config, std::function<void(void)> throw_on_cancel)
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: m_config(config), m_V(emesh.V), m_F(emesh.F), m_throw_on_cancel(throw_on_cancel)
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: m_config(config), m_V(emesh.V()), m_F(emesh.F()), m_throw_on_cancel(throw_on_cancel)
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{
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// FIXME: It might be safer to get rid of the rand() calls altogether, because it is probably
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// not always thread-safe and can be slow if it is.
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@ -332,4 +332,4 @@ void SLAAutoSupports::project_upward_onto_mesh(std::vector<Vec3d>& points) const
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}
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} // namespace Slic3r
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} // namespace Slic3r
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@ -28,7 +28,7 @@ std::array<double, 3> find_best_rotation(const ModelObject& modelobj,
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// We will use only one instance of this converted mesh to examine different
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// rotations
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EigenMesh3D emesh = to_eigenmesh(modelobj);
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EigenMesh3D emesh(modelobj.raw_mesh());
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// For current iteration number
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unsigned status = 0;
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@ -68,12 +68,12 @@ std::array<double, 3> find_best_rotation(const ModelObject& modelobj,
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// area. The current function is only an example of how to optimize.
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// Later we can add more criteria like the number of overhangs, etc...
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for(int i = 0; i < m.F.rows(); i++) {
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auto idx = m.F.row(i);
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for(int i = 0; i < m.F().rows(); i++) {
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auto idx = m.F().row(i);
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Vec3d p1 = m.V.row(idx(0));
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Vec3d p2 = m.V.row(idx(1));
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Vec3d p3 = m.V.row(idx(2));
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Vec3d p1 = m.V().row(idx(0));
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Vec3d p2 = m.V().row(idx(1));
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Vec3d p3 = m.V().row(idx(2));
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Eigen::Vector3d U = p2 - p1;
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Eigen::Vector3d V = p3 - p1;
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@ -13,6 +13,7 @@
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#include <libslic3r/Model.hpp>
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#include <boost/log/trivial.hpp>
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#include <tbb/parallel_for.h>
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/**
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* Terminology:
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@ -510,7 +511,6 @@ struct CompactBridge {
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// A wrapper struct around the base pool (pad)
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struct Pad {
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// Contour3D mesh;
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TriangleMesh tmesh;
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PoolConfig cfg;
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double zlevel = 0;
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@ -543,23 +543,6 @@ struct Pad {
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bool empty() const { return tmesh.facets_count() == 0; }
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};
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EigenMesh3D to_eigenmesh(const Contour3D& cntr) {
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EigenMesh3D emesh;
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auto& V = emesh.V;
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auto& F = emesh.F;
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V.resize(Eigen::Index(cntr.points.size()), 3);
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F.resize(Eigen::Index(cntr.indices.size()), 3);
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for (int i = 0; i < V.rows(); ++i) {
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V.row(i) = cntr.points[size_t(i)];
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F.row(i) = cntr.indices[size_t(i)];
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}
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return emesh;
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}
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// The minimum distance for two support points to remain valid.
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static const double /*constexpr*/ D_SP = 0.1;
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@ -567,46 +550,6 @@ enum { // For indexing Eigen vectors as v(X), v(Y), v(Z) instead of numbers
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X, Y, Z
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};
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EigenMesh3D to_eigenmesh(const TriangleMesh& tmesh) {
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const stl_file& stl = tmesh.stl;
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EigenMesh3D outmesh;
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auto&& bb = tmesh.bounding_box();
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outmesh.ground_level += bb.min(Z);
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auto& V = outmesh.V;
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auto& F = outmesh.F;
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V.resize(3*stl.stats.number_of_facets, 3);
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F.resize(stl.stats.number_of_facets, 3);
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for (unsigned int i = 0; i < stl.stats.number_of_facets; ++i) {
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const stl_facet* facet = stl.facet_start+i;
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V(3*i+0, 0) = double(facet->vertex[0](0));
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V(3*i+0, 1) = double(facet->vertex[0](1));
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V(3*i+0, 2) = double(facet->vertex[0](2));
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V(3*i+1, 0) = double(facet->vertex[1](0));
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V(3*i+1, 1) = double(facet->vertex[1](1));
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V(3*i+1, 2) = double(facet->vertex[1](2));
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V(3*i+2, 0) = double(facet->vertex[2](0));
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V(3*i+2, 1) = double(facet->vertex[2](1));
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V(3*i+2, 2) = double(facet->vertex[2](2));
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F(i, 0) = int(3*i+0);
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F(i, 1) = int(3*i+1);
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F(i, 2) = int(3*i+2);
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}
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return outmesh;
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}
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EigenMesh3D to_eigenmesh(const ModelObject& modelobj) {
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return to_eigenmesh(modelobj.raw_mesh());
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}
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PointSet to_point_set(const std::vector<Vec3d> &v)
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{
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PointSet ret(v.size(), 3);
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@ -618,9 +561,170 @@ Vec3d model_coord(const ModelInstance& object, const Vec3f& mesh_coord) {
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return object.transform_vector(mesh_coord.cast<double>());
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}
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double ray_mesh_intersect(const Vec3d& s,
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const Vec3d& dir,
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const EigenMesh3D& m);
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inline double ray_mesh_intersect(const Vec3d& s,
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const Vec3d& dir,
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const EigenMesh3D& m)
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{
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return m.query_ray_hit(s, dir).distance();
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}
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// This function will test if a future pinhead would not collide with the model
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// geometry. It does not take a 'Head' object because those are created after
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// this test.
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// Parameters:
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// s: The touching point on the model surface.
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// dir: This is the direction of the head from the pin to the back
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// r_pin, r_back: the radiuses of the pin and the back sphere
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// width: This is the full width from the pin center to the back center
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// m: The object mesh
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//
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// Optional:
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// samples: how many rays will be shot
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// safety distance: This will be added to the radiuses to have a safety distance
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// from the mesh.
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double pinhead_mesh_intersect(const Vec3d& s,
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const Vec3d& dir,
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double r_pin,
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double r_back,
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double width,
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const EigenMesh3D& m,
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unsigned samples = 8,
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double safety_distance = 0.001)
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{
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// method based on:
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// https://math.stackexchange.com/questions/73237/parametric-equation-of-a-circle-in-3d-space
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// We will shoot multiple rays from the head pinpoint in the direction of
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// the pinhead robe (side) surface. The result will be the smallest hit
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// distance.
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// Move away slightly from the touching point to avoid raycasting on the
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// inner surface of the mesh.
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Vec3d v = dir; // Our direction (axis)
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Vec3d c = s + width * dir;
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const double& sd = safety_distance;
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// Two vectors that will be perpendicular to each other and to the axis.
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// Values for a(X) and a(Y) are now arbitrary, a(Z) is just a placeholder.
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Vec3d a(0, 1, 0), b;
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// The portions of the circle (the head-back circle) for which we will shoot
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// rays.
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std::vector<double> phis(samples);
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for(size_t i = 0; i < phis.size(); ++i) phis[i] = i*2*PI/phis.size();
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a(Z) = -(v(X)*a(X) + v(Y)*a(Y)) / v(Z);
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b = a.cross(v);
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// Now a and b vectors are perpendicular to v and to each other. Together
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// they define the plane where we have to iterate with the given angles
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// in the 'phis' vector
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tbb::parallel_for(size_t(0), phis.size(),
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[&phis, &m, sd, r_pin, r_back, s, a, b, c](size_t i)
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{
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double& phi = phis[i];
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double sinphi = std::sin(phi);
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double cosphi = std::cos(phi);
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// Let's have a safety coefficient for the radiuses.
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double rpscos = (sd + r_pin) * cosphi;
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double rpssin = (sd + r_pin) * sinphi;
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double rpbcos = (sd + r_back) * cosphi;
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double rpbsin = (sd + r_back) * sinphi;
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// Point on the circle on the pin sphere
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Vec3d ps(s(X) + rpscos * a(X) + rpssin * b(X),
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s(Y) + rpscos * a(Y) + rpssin * b(Y),
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s(Z) + rpscos * a(Z) + rpssin * b(Z));
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// Point ps is not on mesh but can be inside or outside as well. This
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// would cause many problems with ray-casting. So we query the closest
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// point on the mesh to this.
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// auto psq = m.signed_distance(ps);
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// This is the point on the circle on the back sphere
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Vec3d p(c(X) + rpbcos * a(X) + rpbsin * b(X),
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c(Y) + rpbcos * a(Y) + rpbsin * b(Y),
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c(Z) + rpbcos * a(Z) + rpbsin * b(Z));
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// Vec3d n = (p - psq.point_on_mesh()).normalized();
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// phi = m.query_ray_hit(psq.point_on_mesh() + sd*n, n);
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Vec3d n = (p - ps).normalized();
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auto hr = m.query_ray_hit(ps + sd*n, n);
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if(hr.is_inside()) { // the hit is inside the model
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if(hr.distance() > 2*r_pin) phi = 0;
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else {
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// re-cast the ray from the outside of the object
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auto hr2 = m.query_ray_hit(ps + (hr.distance() + 2*sd)*n, n);
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phi = hr2.distance();
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}
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} else phi = hr.distance();
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});
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auto mit = std::min_element(phis.begin(), phis.end());
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return *mit;
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}
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// Checking bridge (pillar and stick as well) intersection with the model. If
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// the function is used for headless sticks, the ins_check parameter have to be
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// true as the beginning of the stick might be inside the model geometry.
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double bridge_mesh_intersect(const Vec3d& s,
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const Vec3d& dir,
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double r,
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const EigenMesh3D& m,
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bool ins_check = false,
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unsigned samples = 4,
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double safety_distance = 0.001)
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{
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// helper vector calculations
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Vec3d a(0, 1, 0), b;
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const double& sd = safety_distance;
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a(Z) = -(dir(X)*a(X) + dir(Y)*a(Y)) / dir(Z);
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b = a.cross(dir);
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// circle portions
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std::vector<double> phis(samples);
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for(size_t i = 0; i < phis.size(); ++i) phis[i] = i*2*PI/phis.size();
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tbb::parallel_for(size_t(0), phis.size(),
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[&phis, &m, a, b, sd, dir, r, s, ins_check](size_t i)
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{
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double& phi = phis[i];
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double sinphi = std::sin(phi);
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double cosphi = std::cos(phi);
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// Let's have a safety coefficient for the radiuses.
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double rcos = (sd + r) * cosphi;
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double rsin = (sd + r) * sinphi;
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// Point on the circle on the pin sphere
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Vec3d p (s(X) + rcos * a(X) + rsin * b(X),
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s(Y) + rcos * a(Y) + rsin * b(Y),
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s(Z) + rcos * a(Z) + rsin * b(Z));
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auto hr = m.query_ray_hit(p + sd*dir, dir);
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if(ins_check && hr.is_inside()) {
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if(hr.distance() > 2*r) phi = 0;
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else {
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// re-cast the ray from the outside of the object
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auto hr2 = m.query_ray_hit(p + (hr.distance() + 2*sd)*dir, dir);
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phi = hr2.distance();
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}
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} else phi = hr.distance();
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});
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auto mit = std::min_element(phis.begin(), phis.end());
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return *mit;
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}
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PointSet normals(const PointSet& points, const EigenMesh3D& mesh,
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double eps = 0.05, // min distance from edges
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@ -640,6 +744,19 @@ ClusteredPoints cluster(
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std::function<bool(const SpatElement&, const SpatElement&)> pred,
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unsigned max_points = 0);
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// This class will hold the support tree meshes with some additional bookkeeping
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// as well. Various parts of the support geometry are stored separately and are
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// merged when the caller queries the merged mesh. The merged result is cached
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// for fast subsequent delivery of the merged mesh which can be quite complex.
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// An object of this class will be used as the result type during the support
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// generation algorithm. Parts will be added with the appropriate methods such
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// as add_head or add_pillar which forwards the constructor arguments and fills
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// the IDs of these substructures. The IDs are basically indices into the arrays
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// of the appropriate type (heads, pillars, etc...). One can later query e.g. a
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// pillar for a specific head...
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//
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// The support pad is considered an auxiliary geometry and is not part of the
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// merged mesh. It can be retrieved using a dedicated method (pad())
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class SLASupportTree::Impl {
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std::vector<Head> m_heads;
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std::vector<Pillar> m_pillars;
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@ -1001,16 +1118,22 @@ bool SLASupportTree::generate(const PointSet &points,
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// Indices of those who don't touch the ground
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IndexSet noground_heads;
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// Groups of the 'ground_head' indices that belong into one cluster. These
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// are candidates to be connected to one pillar.
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ClusteredPoints ground_connectors;
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// A help function to translate ground head index to the actual coordinates.
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auto gnd_head_pt = [&ground_heads, &head_positions] (size_t idx) {
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return Vec3d(head_positions.row(ground_heads[idx]));
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};
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// This algorithm uses the Impl class as its output stream. It will be
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// filled gradually with support elements (heads, pillars, bridges, ...)
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using Result = SLASupportTree::Impl;
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Result& result = *m_impl;
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// Let's define the individual steps of the processing. We can experiment
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// later with the ordering and the dependencies between them.
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enum Steps {
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BEGIN,
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FILTER,
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@ -1026,14 +1149,15 @@ bool SLASupportTree::generate(const PointSet &points,
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//...
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};
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// Debug:
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// for(int pn = 0; pn < points.rows(); ++pn) {
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// std::cout << "p " << pn << " " << points.row(pn) << std::endl;
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// }
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// t-hrow i-f c-ance-l-ed: It will be called many times so a shorthand will
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// come in handy.
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auto& tifcl = ctl.cancelfn;
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// Filtering step: here we will discard inappropriate support points and
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// decide the future of the appropriate ones. We will check if a pinhead
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// is applicable and adjust its angle at each support point.
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// We will also merge the support points that are just too close and can be
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// considered as one.
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auto filterfn = [tifcl] (
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const SupportConfig& cfg,
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const PointSet& points,
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@ -1044,10 +1168,6 @@ bool SLASupportTree::generate(const PointSet &points,
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PointSet& headless_pos,
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PointSet& headless_norm)
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{
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/* ******************************************************** */
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/* Filtering step */
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/* ******************************************************** */
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// Get the points that are too close to each other and keep only the
|
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// first one
|
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auto aliases =
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@ -1108,6 +1228,8 @@ bool SLASupportTree::generate(const PointSet &points,
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std::sin(azimuth) * std::sin(polar),
|
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std::cos(polar));
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nn.normalize();
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// save the head (pinpoint) position
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Vec3d hp = filt_pts.row(i);
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@ -1118,11 +1240,15 @@ bool SLASupportTree::generate(const PointSet &points,
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// We should shoot a ray in the direction of the pinhead and
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// see if there is enough space for it
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double t = ray_mesh_intersect(hp + 0.1*nn, nn, mesh);
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if(t > 2*w || std::isinf(t)) {
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// 2*w because of lower and upper pinhead
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double t = pinhead_mesh_intersect(
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hp, // touching point
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nn,
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cfg.head_front_radius_mm, // approx the radius
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cfg.head_back_radius_mm,
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w,
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mesh);
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if(t > w || std::isinf(t)) {
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head_pos.row(pcount) = hp;
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// save the verified and corrected normal
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@ -1144,7 +1270,8 @@ bool SLASupportTree::generate(const PointSet &points,
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headless_norm.conservativeResize(hlcount, Eigen::NoChange);
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};
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// Function to write the pinheads into the result
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// Pinhead creation: based on the filtering results, the Head objects will
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// be constructed (together with their triangle meshes).
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auto pinheadfn = [tifcl] (
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const SupportConfig& cfg,
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PointSet& head_pos,
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@ -1170,8 +1297,13 @@ bool SLASupportTree::generate(const PointSet &points,
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}
|
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};
|
||||
|
||||
// &filtered_points, &head_positions, &result, &mesh,
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// &gndidx, &gndheight, &nogndidx, cfg
|
||||
// Further classification of the support points with pinheads. If the
|
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// ground is directly reachable through a vertical line parallel to the Z
|
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// 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.
|
||||
auto classifyfn = [tifcl] (
|
||||
const SupportConfig& cfg,
|
||||
const EigenMesh3D& mesh,
|
||||
@ -1192,23 +1324,81 @@ bool SLASupportTree::generate(const PointSet &points,
|
||||
gndidx.reserve(size_t(head_pos.rows()));
|
||||
nogndidx.reserve(size_t(head_pos.rows()));
|
||||
|
||||
// First we search 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 = 0; i < head_pos.rows(); i++) {
|
||||
tifcl();
|
||||
auto& head = result.heads()[i];
|
||||
auto& head = result.head(i);
|
||||
|
||||
Vec3d dir(0, 0, -1);
|
||||
Vec3d startpoint = head.junction_point();
|
||||
bool accept = false;
|
||||
int ri = 1;
|
||||
double t = std::numeric_limits<double>::infinity();
|
||||
double hw = head.width_mm;
|
||||
|
||||
double t = ray_mesh_intersect(startpoint, dir, mesh);
|
||||
// We will try to assign a pillar to all the pinheads. If a pillar
|
||||
// would pierce the model surface, we will try to adjust slightly
|
||||
// the head with so that the pillar can be deployed.
|
||||
while(!accept && head.width_mm > 0) {
|
||||
|
||||
Vec3d startpoint = head.junction_point();
|
||||
|
||||
// Collision detection
|
||||
t = bridge_mesh_intersect(startpoint, dir, head.r_back_mm, mesh);
|
||||
|
||||
// Precise distance measurement
|
||||
double tprec = ray_mesh_intersect(startpoint, dir, mesh);
|
||||
|
||||
if(std::isinf(tprec) && !std::isinf(t)) {
|
||||
// This is a damned case where the pillar melds into the
|
||||
// model but its center ray can reach the ground. We can
|
||||
// not route this to the ground nor to the model surface.
|
||||
head.width_mm = hw + (ri % 2? -1 : 1) * ri * head.r_back_mm;
|
||||
} else {
|
||||
accept = true; t = tprec;
|
||||
|
||||
auto id = head.id;
|
||||
// We need to regenerate the head geometry
|
||||
head = Head(head.r_back_mm,
|
||||
head.r_pin_mm,
|
||||
head.width_mm,
|
||||
head.penetration_mm,
|
||||
head.dir,
|
||||
head.tr);
|
||||
head.id = id;
|
||||
}
|
||||
|
||||
ri++;
|
||||
}
|
||||
|
||||
// Save the distance from a surface in the Z axis downwards. It may
|
||||
// be infinity but that is telling us that it touches the ground.
|
||||
gndheight.emplace_back(t);
|
||||
|
||||
if(std::isinf(t)) gndidx.emplace_back(i);
|
||||
else nogndidx.emplace_back(i);
|
||||
if(accept) {
|
||||
if(std::isinf(t)) gndidx.emplace_back(i);
|
||||
else nogndidx.emplace_back(i);
|
||||
} else {
|
||||
// This is a serious issue. There was no way to deploy a pillar
|
||||
// for the given pinhead. The whole thing has to be discarded
|
||||
// leaving the model potentially unprintable.
|
||||
//
|
||||
// TODO: In the future this has to be solved by searching for
|
||||
// a path in 3D space from this support point to a suitable
|
||||
// pillar position or an existing pillar.
|
||||
// As a workaround we could mark this head as "sidehead only"
|
||||
// let it go trough the nearby pillar search in the next step.
|
||||
BOOST_LOG_TRIVIAL(warning) << "A support point at "
|
||||
<< head.tr.transpose()
|
||||
<< " had to be discarded as there is"
|
||||
<< " nowhere to route it.";
|
||||
head.invalidate();
|
||||
}
|
||||
}
|
||||
|
||||
// Transform the ground facing point indices top actual coordinates.
|
||||
PointSet gnd(gndidx.size(), 3);
|
||||
|
||||
for(size_t i = 0; i < gndidx.size(); i++)
|
||||
gnd.row(long(i)) = head_pos.row(gndidx[i]);
|
||||
|
||||
@ -1228,7 +1418,8 @@ bool SLASupportTree::generate(const PointSet &points,
|
||||
}, 3); // max 3 heads to connect to one centroid
|
||||
};
|
||||
|
||||
// Helper function for interconnecting two pillars with zig-zag bridges
|
||||
// Helper function for interconnecting two pillars with zig-zag bridges.
|
||||
// This is not an individual step.
|
||||
auto interconnect = [&cfg](
|
||||
const Pillar& pillar,
|
||||
const Pillar& nextpillar,
|
||||
@ -1246,7 +1437,7 @@ bool SLASupportTree::generate(const PointSet &points,
|
||||
double zstep = pillar_dist * std::tan(-cfg.tilt);
|
||||
ej(Z) = sj(Z) + zstep;
|
||||
|
||||
double chkd = ray_mesh_intersect(sj, dirv(sj, ej), emesh);
|
||||
double chkd = bridge_mesh_intersect(sj, dirv(sj, ej), pillar.r, emesh);
|
||||
double bridge_distance = pillar_dist / std::cos(-cfg.tilt);
|
||||
|
||||
// If the pillars are so close that they touch each other,
|
||||
@ -1254,7 +1445,7 @@ bool SLASupportTree::generate(const PointSet &points,
|
||||
if(pillar_dist > 2*cfg.head_back_radius_mm &&
|
||||
bridge_distance < cfg.max_bridge_length_mm)
|
||||
while(sj(Z) > pillar.endpoint(Z) + cfg.base_radius_mm &&
|
||||
ej(Z) > nextpillar.endpoint(Z) + + cfg.base_radius_mm)
|
||||
ej(Z) > nextpillar.endpoint(Z) + cfg.base_radius_mm)
|
||||
{
|
||||
if(chkd >= bridge_distance) {
|
||||
result.add_bridge(sj, ej, pillar.r);
|
||||
@ -1272,9 +1463,11 @@ bool SLASupportTree::generate(const PointSet &points,
|
||||
Vec3d bej(sj(X), sj(Y), ej(Z));
|
||||
|
||||
// need to check collision for the cross stick
|
||||
double backchkd = ray_mesh_intersect(bsj,
|
||||
dirv(bsj, bej),
|
||||
emesh);
|
||||
double backchkd = bridge_mesh_intersect(bsj,
|
||||
dirv(bsj, bej),
|
||||
pillar.r,
|
||||
emesh);
|
||||
|
||||
|
||||
if(backchkd >= bridge_distance) {
|
||||
result.add_bridge(bsj, bej, pillar.r);
|
||||
@ -1283,10 +1476,15 @@ bool SLASupportTree::generate(const PointSet &points,
|
||||
}
|
||||
sj.swap(ej);
|
||||
ej(Z) = sj(Z) + zstep;
|
||||
chkd = ray_mesh_intersect(sj, dirv(sj, ej), emesh);
|
||||
chkd = bridge_mesh_intersect(sj, dirv(sj, ej), pillar.r, emesh);
|
||||
}
|
||||
};
|
||||
|
||||
// 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.
|
||||
auto routing_ground_fn = [gnd_head_pt, interconnect, tifcl](
|
||||
const SupportConfig& cfg,
|
||||
const ClusteredPoints& gnd_clusters,
|
||||
@ -1361,12 +1559,12 @@ bool SLASupportTree::generate(const PointSet &points,
|
||||
// is distributed more effectively on the pillar.
|
||||
|
||||
auto search_nearest =
|
||||
[&cfg, &result, &emesh, maxbridgelen, gndlvl]
|
||||
[&tifcl, &cfg, &result, &emesh, maxbridgelen, gndlvl, pradius]
|
||||
(SpatIndex& spindex, const Vec3d& jsh)
|
||||
{
|
||||
long nearest_id = -1;
|
||||
const double max_len = maxbridgelen / 2;
|
||||
while(nearest_id < 0 && !spindex.empty()) {
|
||||
while(nearest_id < 0 && !spindex.empty()) { tifcl();
|
||||
// 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)
|
||||
@ -1391,10 +1589,13 @@ bool SLASupportTree::generate(const PointSet &points,
|
||||
}
|
||||
|
||||
double d = distance(jp, jn);
|
||||
if(jn(Z) <= (gndlvl + 2*cfg.head_width_mm) || d > max_len)
|
||||
|
||||
if(jn(Z) <= gndlvl + 2*cfg.head_width_mm || d > max_len)
|
||||
break;
|
||||
|
||||
double chkd = ray_mesh_intersect(jp, dirv(jp, jn), emesh);
|
||||
double chkd = bridge_mesh_intersect(jp, dirv(jp, jn),
|
||||
pradius,
|
||||
emesh);
|
||||
if(chkd >= d) nearest_id = ne.second;
|
||||
|
||||
spindex.remove(ne);
|
||||
@ -1480,7 +1681,7 @@ bool SLASupportTree::generate(const PointSet &points,
|
||||
if(!ring.empty()) {
|
||||
// inner ring is now in 'newring' and outer ring is in 'ring'
|
||||
SpatIndex innerring;
|
||||
for(unsigned i : newring) {
|
||||
for(unsigned i : newring) { tifcl();
|
||||
const Pillar& pill = result.head_pillar(gndidx[i]);
|
||||
assert(pill.id >= 0);
|
||||
innerring.insert(pill.endpoint, unsigned(pill.id));
|
||||
@ -1489,7 +1690,7 @@ bool SLASupportTree::generate(const PointSet &points,
|
||||
// For all pillars in the outer ring find the closest in the
|
||||
// inner ring and connect them. This will create the spider web
|
||||
// fashioned connections between pillars
|
||||
for(unsigned i : ring) {
|
||||
for(unsigned i : ring) { tifcl();
|
||||
const Pillar& outerpill = result.head_pillar(gndidx[i]);
|
||||
auto res = innerring.nearest(outerpill.endpoint, 1);
|
||||
if(res.empty()) continue;
|
||||
@ -1515,6 +1716,7 @@ bool SLASupportTree::generate(const PointSet &points,
|
||||
next != ring.end();
|
||||
++it, ++next)
|
||||
{
|
||||
tifcl();
|
||||
const Pillar& pillar = result.head_pillar(gndidx[*it]);
|
||||
const Pillar& nextpillar = result.head_pillar(gndidx[*next]);
|
||||
interconnect(pillar, nextpillar, emesh, result);
|
||||
@ -1529,6 +1731,11 @@ bool SLASupportTree::generate(const PointSet &points,
|
||||
}
|
||||
};
|
||||
|
||||
// Step: routing the pinheads that are 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.
|
||||
auto routing_nongnd_fn = [tifcl](
|
||||
const SupportConfig& cfg,
|
||||
const std::vector<double>& gndheight,
|
||||
@ -1590,6 +1797,9 @@ bool SLASupportTree::generate(const PointSet &points,
|
||||
}
|
||||
};
|
||||
|
||||
// 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).
|
||||
auto process_headless = [tifcl](
|
||||
const SupportConfig& cfg,
|
||||
const PointSet& headless_pts,
|
||||
@ -1606,32 +1816,48 @@ bool SLASupportTree::generate(const PointSet &points,
|
||||
// We will sink the pins into the model surface for a distance of 1/3 of
|
||||
// the pin radius
|
||||
for(int i = 0; i < headless_pts.rows(); i++) { tifcl();
|
||||
Vec3d sp = headless_pts.row(i);
|
||||
|
||||
Vec3d n = headless_norm.row(i);
|
||||
sp = sp - n * HWIDTH_MM;
|
||||
Vec3d sph = headless_pts.row(i); // Exact support position
|
||||
Vec3d n = headless_norm.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;
|
||||
Vec3d sj = sp + R * n; // stick start point
|
||||
|
||||
// This is only for checking
|
||||
double idist = bridge_mesh_intersect(sph, dir, R, emesh, true);
|
||||
double dist = ray_mesh_intersect(sj, dir, emesh);
|
||||
|
||||
if(std::isinf(dist) || std::isnan(dist) || dist < 2*R) continue;
|
||||
if(std::isinf(idist) || std::isnan(idist) || idist < 2*R ||
|
||||
std::isinf(dist) || 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;
|
||||
result.add_compact_bridge(sp, ej, n, R);
|
||||
}
|
||||
};
|
||||
|
||||
using std::ref;
|
||||
using std::cref;
|
||||
// Now that the individual blocks are defined, lets connect the wires. We
|
||||
// will create an array of functions which represents a program. Place the
|
||||
// step methods in the array and bind the right arguments to the methods
|
||||
// This way the data dependencies will be easily traceable between
|
||||
// individual steps.
|
||||
// There will be empty steps as well like the begin step or the done or
|
||||
// abort steps. These are slots for future initialization or cleanup.
|
||||
|
||||
using std::cref; // Bind inputs with cref (read-only)
|
||||
using std::ref; // Bind outputs with ref (writable)
|
||||
using std::bind;
|
||||
|
||||
// Here we can easily track what goes in and what comes out of each step:
|
||||
// (see the cref-s as inputs and ref-s as outputs)
|
||||
std::array<std::function<void()>, NUM_STEPS> program = {
|
||||
[] () {
|
||||
// Begin
|
||||
// clear up the shared data
|
||||
// Begin...
|
||||
// Potentially clear up the shared data (not needed for now)
|
||||
},
|
||||
|
||||
// Filtering unnecessary support points
|
||||
@ -1674,6 +1900,7 @@ bool SLASupportTree::generate(const PointSet &points,
|
||||
|
||||
Steps pc = BEGIN, pc_prev = BEGIN;
|
||||
|
||||
// Let's define a simple automaton that will run our program.
|
||||
auto progress = [&ctl, &pc, &pc_prev] () {
|
||||
static const std::array<std::string, NUM_STEPS> stepstr {
|
||||
"Starting",
|
||||
@ -1795,7 +2022,7 @@ SLASupportTree::SLASupportTree(const PointSet &points,
|
||||
const Controller &ctl):
|
||||
m_impl(new Impl(ctl))
|
||||
{
|
||||
m_impl->ground_level = emesh.ground_level - cfg.object_elevation_mm;
|
||||
m_impl->ground_level = emesh.ground_level() - cfg.object_elevation_mm;
|
||||
generate(points, emesh, cfg, ctl);
|
||||
}
|
||||
|
||||
|
||||
@ -78,7 +78,7 @@ struct SupportConfig {
|
||||
double object_elevation_mm = 10;
|
||||
|
||||
// The max Z angle for a normal at which it will get completely ignored.
|
||||
double normal_cutoff_angle = 110.0 * M_PI / 180.0;
|
||||
double normal_cutoff_angle = 150.0 * M_PI / 180.0;
|
||||
|
||||
};
|
||||
|
||||
@ -104,18 +104,90 @@ struct Controller {
|
||||
|
||||
/// An index-triangle structure for libIGL functions. Also serves as an
|
||||
/// alternative (raw) input format for the SLASupportTree
|
||||
struct EigenMesh3D {
|
||||
Eigen::MatrixXd V;
|
||||
Eigen::MatrixXi F;
|
||||
double ground_level = 0;
|
||||
class EigenMesh3D {
|
||||
class AABBImpl;
|
||||
|
||||
Eigen::MatrixXd m_V;
|
||||
Eigen::MatrixXi m_F;
|
||||
double m_ground_level = 0;
|
||||
|
||||
std::unique_ptr<AABBImpl> m_aabb;
|
||||
public:
|
||||
|
||||
EigenMesh3D(const TriangleMesh&);
|
||||
EigenMesh3D(const EigenMesh3D& other);
|
||||
EigenMesh3D& operator=(const EigenMesh3D&);
|
||||
|
||||
~EigenMesh3D();
|
||||
|
||||
inline double ground_level() const { return m_ground_level; }
|
||||
|
||||
inline const Eigen::MatrixXd& V() const { return m_V; }
|
||||
inline const Eigen::MatrixXi& F() const { return m_F; }
|
||||
|
||||
// Result of a raycast
|
||||
class hit_result {
|
||||
double m_t = std::numeric_limits<double>::infinity();
|
||||
int m_face_id = -1;
|
||||
const EigenMesh3D& m_mesh;
|
||||
Vec3d m_dir;
|
||||
inline hit_result(const EigenMesh3D& em): m_mesh(em) {}
|
||||
friend class EigenMesh3D;
|
||||
public:
|
||||
|
||||
inline double distance() const { return m_t; }
|
||||
|
||||
inline int face() const { return m_face_id; }
|
||||
|
||||
inline Vec3d normal() const {
|
||||
if(m_face_id < 0) return {};
|
||||
auto trindex = m_mesh.m_F.row(m_face_id);
|
||||
const Vec3d& p1 = m_mesh.V().row(trindex(0));
|
||||
const Vec3d& p2 = m_mesh.V().row(trindex(1));
|
||||
const Vec3d& p3 = m_mesh.V().row(trindex(2));
|
||||
Eigen::Vector3d U = p2 - p1;
|
||||
Eigen::Vector3d V = p3 - p1;
|
||||
return U.cross(V).normalized();
|
||||
}
|
||||
|
||||
inline bool is_inside() {
|
||||
return m_face_id >= 0 && normal().dot(m_dir) > 0;
|
||||
}
|
||||
};
|
||||
|
||||
// Casting a ray on the mesh, returns the distance where the hit occures.
|
||||
hit_result query_ray_hit(const Vec3d &s, const Vec3d &dir) const;
|
||||
|
||||
class si_result {
|
||||
double m_value;
|
||||
int m_fidx;
|
||||
Vec3d m_p;
|
||||
si_result(double val, int i, const Vec3d& c):
|
||||
m_value(val), m_fidx(i), m_p(c) {}
|
||||
friend class EigenMesh3D;
|
||||
public:
|
||||
|
||||
si_result() = delete;
|
||||
|
||||
double value() const { return m_value; }
|
||||
operator double() const { return m_value; }
|
||||
const Vec3d& point_on_mesh() const { return m_p; }
|
||||
int F_idx() const { return m_fidx; }
|
||||
};
|
||||
|
||||
// The signed distance from a point to the mesh. Outputs the distance,
|
||||
// the index of the triangle and the closest point in mesh coordinate space.
|
||||
si_result signed_distance(const Vec3d& p) const;
|
||||
|
||||
bool inside(const Vec3d& p) const;
|
||||
};
|
||||
|
||||
using PointSet = Eigen::MatrixXd;
|
||||
|
||||
EigenMesh3D to_eigenmesh(const TriangleMesh& m);
|
||||
//EigenMesh3D to_eigenmesh(const TriangleMesh& m);
|
||||
|
||||
// needed for find best rotation
|
||||
EigenMesh3D to_eigenmesh(const ModelObject& model);
|
||||
//EigenMesh3D to_eigenmesh(const ModelObject& model);
|
||||
|
||||
// Simple conversion of 'vector of points' to an Eigen matrix
|
||||
PointSet to_point_set(const std::vector<Vec3d>&);
|
||||
|
||||
@ -3,6 +3,9 @@
|
||||
#include "SLA/SLABoilerPlate.hpp"
|
||||
#include "SLA/SLASpatIndex.hpp"
|
||||
|
||||
// Workaround: IGL signed_distance.h will define PI in the igl namespace.
|
||||
#undef PI
|
||||
|
||||
// HEAVY headers... takes eternity to compile
|
||||
|
||||
// for concave hull merging decisions
|
||||
@ -12,6 +15,7 @@
|
||||
#include <igl/ray_mesh_intersect.h>
|
||||
#include <igl/point_mesh_squared_distance.h>
|
||||
#include <igl/remove_duplicate_vertices.h>
|
||||
#include <igl/signed_distance.h>
|
||||
|
||||
#include "SLASpatIndex.hpp"
|
||||
#include "ClipperUtils.hpp"
|
||||
@ -19,6 +23,13 @@
|
||||
namespace Slic3r {
|
||||
namespace sla {
|
||||
|
||||
// Bring back PI from the igl namespace
|
||||
using igl::PI;
|
||||
|
||||
/* **************************************************************************
|
||||
* SpatIndex implementation
|
||||
* ************************************************************************** */
|
||||
|
||||
class SpatIndex::Impl {
|
||||
public:
|
||||
using BoostIndex = boost::geometry::index::rtree< SpatElement,
|
||||
@ -78,6 +89,101 @@ size_t SpatIndex::size() const
|
||||
return m_impl->m_store.size();
|
||||
}
|
||||
|
||||
/* ****************************************************************************
|
||||
* EigenMesh3D implementation
|
||||
* ****************************************************************************/
|
||||
|
||||
class EigenMesh3D::AABBImpl: public igl::AABB<Eigen::MatrixXd, 3> {
|
||||
public:
|
||||
igl::WindingNumberAABB<Vec3d, Eigen::MatrixXd, Eigen::MatrixXi> windtree;
|
||||
};
|
||||
|
||||
EigenMesh3D::EigenMesh3D(const TriangleMesh& tmesh): m_aabb(new AABBImpl()) {
|
||||
static const double dEPS = 1e-6;
|
||||
|
||||
const stl_file& stl = tmesh.stl;
|
||||
|
||||
auto&& bb = tmesh.bounding_box();
|
||||
m_ground_level += bb.min(Z);
|
||||
|
||||
Eigen::MatrixXd V;
|
||||
Eigen::MatrixXi F;
|
||||
|
||||
V.resize(3*stl.stats.number_of_facets, 3);
|
||||
F.resize(stl.stats.number_of_facets, 3);
|
||||
for (unsigned int i = 0; i < stl.stats.number_of_facets; ++i) {
|
||||
const stl_facet* facet = stl.facet_start+i;
|
||||
V(3*i+0, 0) = double(facet->vertex[0](0));
|
||||
V(3*i+0, 1) = double(facet->vertex[0](1));
|
||||
V(3*i+0, 2) = double(facet->vertex[0](2));
|
||||
|
||||
V(3*i+1, 0) = double(facet->vertex[1](0));
|
||||
V(3*i+1, 1) = double(facet->vertex[1](1));
|
||||
V(3*i+1, 2) = double(facet->vertex[1](2));
|
||||
|
||||
V(3*i+2, 0) = double(facet->vertex[2](0));
|
||||
V(3*i+2, 1) = double(facet->vertex[2](1));
|
||||
V(3*i+2, 2) = double(facet->vertex[2](2));
|
||||
|
||||
F(i, 0) = int(3*i+0);
|
||||
F(i, 1) = int(3*i+1);
|
||||
F(i, 2) = int(3*i+2);
|
||||
}
|
||||
|
||||
// We will convert this to a proper 3d mesh with no duplicate points.
|
||||
Eigen::VectorXi SVI, SVJ;
|
||||
igl::remove_duplicate_vertices(V, F, dEPS, m_V, SVI, SVJ, m_F);
|
||||
|
||||
// Build the AABB accelaration tree
|
||||
m_aabb->init(m_V, m_F);
|
||||
m_aabb->windtree.set_mesh(m_V, m_F);
|
||||
}
|
||||
|
||||
EigenMesh3D::~EigenMesh3D() {}
|
||||
|
||||
EigenMesh3D::EigenMesh3D(const EigenMesh3D &other):
|
||||
m_V(other.m_V), m_F(other.m_F), m_ground_level(other.m_ground_level),
|
||||
m_aabb( new AABBImpl(*other.m_aabb) ) {}
|
||||
|
||||
EigenMesh3D &EigenMesh3D::operator=(const EigenMesh3D &other)
|
||||
{
|
||||
m_V = other.m_V;
|
||||
m_F = other.m_F;
|
||||
m_ground_level = other.m_ground_level;
|
||||
m_aabb.reset(new AABBImpl(*other.m_aabb)); return *this;
|
||||
}
|
||||
|
||||
EigenMesh3D::hit_result
|
||||
EigenMesh3D::query_ray_hit(const Vec3d &s, const Vec3d &dir) const
|
||||
{
|
||||
igl::Hit hit;
|
||||
hit.t = std::numeric_limits<float>::infinity();
|
||||
m_aabb->intersect_ray(m_V, m_F, s, dir, hit);
|
||||
|
||||
hit_result ret(*this);
|
||||
ret.m_t = double(hit.t);
|
||||
ret.m_dir = dir;
|
||||
if(!std::isinf(hit.t) && !std::isnan(hit.t)) ret.m_face_id = hit.id;
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
EigenMesh3D::si_result EigenMesh3D::signed_distance(const Vec3d &p) const {
|
||||
double sign = 0; double sqdst = 0; int i = 0; Vec3d c;
|
||||
igl::signed_distance_winding_number(*m_aabb, m_V, m_F, m_aabb->windtree,
|
||||
p, sign, sqdst, i, c);
|
||||
|
||||
return si_result(sign * std::sqrt(sqdst), i, c);
|
||||
}
|
||||
|
||||
bool EigenMesh3D::inside(const Vec3d &p) const {
|
||||
return m_aabb->windtree.inside(p);
|
||||
}
|
||||
|
||||
/* ****************************************************************************
|
||||
* Misc functions
|
||||
* ****************************************************************************/
|
||||
|
||||
bool point_on_edge(const Vec3d& p, const Vec3d& e1, const Vec3d& e2,
|
||||
double eps = 0.05)
|
||||
{
|
||||
@ -93,35 +199,27 @@ template<class Vec> double distance(const Vec& pp1, const Vec& pp2) {
|
||||
return std::sqrt(p.transpose() * p);
|
||||
}
|
||||
|
||||
PointSet normals(const PointSet& points, const EigenMesh3D& emesh,
|
||||
PointSet normals(const PointSet& points, const EigenMesh3D& mesh,
|
||||
double eps,
|
||||
std::function<void()> throw_on_cancel) {
|
||||
if(points.rows() == 0 || emesh.V.rows() == 0 || emesh.F.rows() == 0)
|
||||
if(points.rows() == 0 || mesh.V().rows() == 0 || mesh.F().rows() == 0)
|
||||
return {};
|
||||
|
||||
Eigen::VectorXd dists;
|
||||
Eigen::VectorXi I;
|
||||
PointSet C;
|
||||
|
||||
// We need to remove duplicate vertices and have a true index triangle
|
||||
// structure
|
||||
EigenMesh3D mesh;
|
||||
Eigen::VectorXi SVI, SVJ;
|
||||
static const double dEPS = 1e-6;
|
||||
igl::remove_duplicate_vertices(emesh.V, emesh.F, dEPS,
|
||||
mesh.V, SVI, SVJ, mesh.F);
|
||||
|
||||
igl::point_mesh_squared_distance( points, mesh.V, mesh.F, dists, I, C);
|
||||
igl::point_mesh_squared_distance( points, mesh.V(), mesh.F(), dists, I, C);
|
||||
|
||||
PointSet ret(I.rows(), 3);
|
||||
for(int i = 0; i < I.rows(); i++) {
|
||||
throw_on_cancel();
|
||||
auto idx = I(i);
|
||||
auto trindex = mesh.F.row(idx);
|
||||
auto trindex = mesh.F().row(idx);
|
||||
|
||||
const Vec3d& p1 = mesh.V.row(trindex(0));
|
||||
const Vec3d& p2 = mesh.V.row(trindex(1));
|
||||
const Vec3d& p3 = mesh.V.row(trindex(2));
|
||||
const Vec3d& p1 = mesh.V().row(trindex(0));
|
||||
const Vec3d& p2 = mesh.V().row(trindex(1));
|
||||
const Vec3d& p3 = mesh.V().row(trindex(2));
|
||||
|
||||
// We should check if the point lies on an edge of the hosting triangle.
|
||||
// If it does than all the other triangles using the same two points
|
||||
@ -159,18 +257,18 @@ PointSet normals(const PointSet& points, const EigenMesh3D& emesh,
|
||||
// vector for the neigboring triangles including the detected one.
|
||||
std::vector<Vec3i> neigh;
|
||||
if(ic >= 0) { // The point is right on a vertex of the triangle
|
||||
for(int n = 0; n < mesh.F.rows(); ++n) {
|
||||
for(int n = 0; n < mesh.F().rows(); ++n) {
|
||||
throw_on_cancel();
|
||||
Vec3i ni = mesh.F.row(n);
|
||||
Vec3i ni = mesh.F().row(n);
|
||||
if((ni(X) == ic || ni(Y) == ic || ni(Z) == ic))
|
||||
neigh.emplace_back(ni);
|
||||
}
|
||||
}
|
||||
else if(ia >= 0 && ib >= 0) { // the point is on and edge
|
||||
// now get all the neigboring triangles
|
||||
for(int n = 0; n < mesh.F.rows(); ++n) {
|
||||
for(int n = 0; n < mesh.F().rows(); ++n) {
|
||||
throw_on_cancel();
|
||||
Vec3i ni = mesh.F.row(n);
|
||||
Vec3i ni = mesh.F().row(n);
|
||||
if((ni(X) == ia || ni(Y) == ia || ni(Z) == ia) &&
|
||||
(ni(X) == ib || ni(Y) == ib || ni(Z) == ib))
|
||||
neigh.emplace_back(ni);
|
||||
@ -180,9 +278,9 @@ PointSet normals(const PointSet& points, const EigenMesh3D& emesh,
|
||||
// Calculate the normals for the neighboring triangles
|
||||
std::vector<Vec3d> neighnorms; neighnorms.reserve(neigh.size());
|
||||
for(const Vec3i& tri : neigh) {
|
||||
const Vec3d& pt1 = mesh.V.row(tri(0));
|
||||
const Vec3d& pt2 = mesh.V.row(tri(1));
|
||||
const Vec3d& pt3 = mesh.V.row(tri(2));
|
||||
const Vec3d& pt1 = mesh.V().row(tri(0));
|
||||
const Vec3d& pt2 = mesh.V().row(tri(1));
|
||||
const Vec3d& pt3 = mesh.V().row(tri(2));
|
||||
Eigen::Vector3d U = pt2 - pt1;
|
||||
Eigen::Vector3d V = pt3 - pt1;
|
||||
neighnorms.emplace_back(U.cross(V).normalized());
|
||||
@ -222,16 +320,6 @@ PointSet normals(const PointSet& points, const EigenMesh3D& emesh,
|
||||
return ret;
|
||||
}
|
||||
|
||||
double ray_mesh_intersect(const Vec3d& s,
|
||||
const Vec3d& dir,
|
||||
const EigenMesh3D& m)
|
||||
{
|
||||
igl::Hit hit;
|
||||
hit.t = std::numeric_limits<float>::infinity();
|
||||
igl::ray_mesh_intersect(s, dir, m.V, m.F, hit);
|
||||
return double(hit.t);
|
||||
}
|
||||
|
||||
// Clustering a set of points by the given criteria
|
||||
ClusteredPoints cluster(
|
||||
const sla::PointSet& points,
|
||||
@ -309,53 +397,5 @@ ClusteredPoints cluster(
|
||||
return result;
|
||||
}
|
||||
|
||||
using Segments = std::vector<std::pair<Vec2d, Vec2d>>;
|
||||
|
||||
Segments model_boundary(const EigenMesh3D& emesh, double offs)
|
||||
{
|
||||
Segments ret;
|
||||
Polygons pp;
|
||||
pp.reserve(size_t(emesh.F.rows()));
|
||||
|
||||
for (int i = 0; i < emesh.F.rows(); i++) {
|
||||
auto trindex = emesh.F.row(i);
|
||||
auto& p1 = emesh.V.row(trindex(0));
|
||||
auto& p2 = emesh.V.row(trindex(1));
|
||||
auto& p3 = emesh.V.row(trindex(2));
|
||||
|
||||
Polygon p;
|
||||
p.points.resize(3);
|
||||
p.points[0] = Point::new_scale(p1(X), p1(Y));
|
||||
p.points[1] = Point::new_scale(p2(X), p2(Y));
|
||||
p.points[2] = Point::new_scale(p3(X), p3(Y));
|
||||
p.make_counter_clockwise();
|
||||
pp.emplace_back(p);
|
||||
}
|
||||
|
||||
ExPolygons merged = union_ex(Slic3r::offset(pp, float(scale_(offs))), true);
|
||||
|
||||
for(auto& expoly : merged) {
|
||||
auto lines = expoly.lines();
|
||||
for(Line& l : lines) {
|
||||
Vec2d a(l.a(X) * SCALING_FACTOR, l.a(Y) * SCALING_FACTOR);
|
||||
Vec2d b(l.b(X) * SCALING_FACTOR, l.b(Y) * SCALING_FACTOR);
|
||||
ret.emplace_back(std::make_pair(a, b));
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
//struct SegmentIndex {
|
||||
|
||||
//};
|
||||
|
||||
//using SegmentIndexEl = std::pair<Segment, unsigned>;
|
||||
|
||||
//SegmentIndexEl
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@ -29,6 +29,8 @@ public:
|
||||
SupportTreePtr support_tree_ptr; // the supports
|
||||
SlicedSupports support_slices; // sliced supports
|
||||
std::vector<LevelID> level_ids;
|
||||
|
||||
inline SupportData(const TriangleMesh& trmesh): emesh(trmesh) {}
|
||||
};
|
||||
|
||||
namespace {
|
||||
@ -503,8 +505,8 @@ void SLAPrint::process()
|
||||
// support points. Then we sprinkle the rest of the mesh.
|
||||
auto support_points = [this, ilh](SLAPrintObject& po) {
|
||||
const ModelObject& mo = *po.m_model_object;
|
||||
po.m_supportdata.reset(new SLAPrintObject::SupportData());
|
||||
po.m_supportdata->emesh = sla::to_eigenmesh(po.transformed_mesh());
|
||||
po.m_supportdata.reset(
|
||||
new SLAPrintObject::SupportData(po.transformed_mesh()) );
|
||||
|
||||
// If supports are disabled, we can skip the model scan.
|
||||
if(!po.m_config.supports_enable.getBool()) return;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user