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WIP on pillar grouping for sla branching supports

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This commit is contained in:
tamasmeszaros 2022-11-08 08:30:02 +01:00
parent e62873ff13
commit b4b5e8eb8e
4 changed files with 37 additions and 28 deletions
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5
src/libslic3r/BranchingTree/PointCloud.hpp
View file

@ -286,6 +286,11 @@ template<class PC, class Fn> void traverse(PC &&pc, size_t root, Fn &&fn)
void build_tree(PointCloud &pcloud, Builder &builder);
inline void build_tree(PointCloud &&pc, Builder &builder)
{
build_tree(pc, builder);
}
}} // namespace Slic3r::branchingtree
#endif // POINTCLOUD_HPP

54
src/libslic3r/SLA/BranchingTreeSLA.cpp
View file

@ -122,7 +122,7 @@ class BranchingTreeBuilder: public branchingtree::Builder {
std::optional<PointIndexEl> &res;
Output &operator*() { return *this; }
void operator=(const PointIndexEl &el) { res = el; }
Output &operator=(const PointIndexEl &el) { res = el; return *this; }
Output &operator++() { return *this; }
};
@ -245,20 +245,12 @@ bool BranchingTreeBuilder::add_ground_bridge(const branchingtree::Node &from,
namespace bgi = boost::geometry::index;
struct Output {
std::optional<PointIndexEl> &res;
Output& operator *() { return *this; }
void operator=(const PointIndexEl &el) { res = el; }
Output& operator++() { return *this; }
};
auto it = m_ground_mem.find(from.id);
if (it == m_ground_mem.end()) {
std::optional<PointIndexEl> result = search_for_existing_pillar(from);
// std::optional<PointIndexEl> result = search_for_existing_pillar(from);
sla::Junction j{from.pos.cast<double>(), get_radius(from)};
if (!result) {
// if (!result) {
auto conn = optimize_ground_connection(
ex_tbb,
m_builder,
@ -268,21 +260,21 @@ bool BranchingTreeBuilder::add_ground_bridge(const branchingtree::Node &from,
if (conn) {
// build_ground_connection(m_builder, m_sm, conn);
Junction connlast = conn.path.back();
branchingtree::Node n{connlast.pos.cast<float>(), float(connlast.r)};
n.left = from.id;
m_pillars.emplace_back(n);
m_pillar_index.insert({n.pos, m_pillars.size() - 1});
// Junction connlast = conn.path.back();
// branchingtree::Node n{connlast.pos.cast<float>(), float(connlast.r)};
// n.left = from.id;
m_pillars.emplace_back(from);
// m_pillar_index.insert({n.pos, m_pillars.size() - 1});
m_gnd_connections[m_pillars.size() - 1] = conn;
ret = true;
}
} else {
const auto &resnode = m_pillars[result->second];
m_builder.add_diffbridge(j.pos, resnode.pos.cast<double>(), j.r, get_radius(resnode));
m_pillars[result->second].right = from.id;
ret = true;
}
// } else {
// const auto &resnode = m_pillars[result->second];
// m_builder.add_diffbridge(j.pos, resnode.pos.cast<double>(), j.r, get_radius(resnode));
// m_pillars[result->second].right = from.id;
// ret = true;
// }
// Remember that this node was tested if can go to ground, don't
// test it with any other destination ground point because
@ -353,7 +345,7 @@ void create_branching_tree(SupportTreeBuilder &builder, const SupportableMesh &s
for (auto &h : heads)
if (h && h->is_valid()) {
leafs.emplace_back(h->junction_point().cast<float>(), h->r_back_mm);
h->id = leafs.size() - 1;
h->id = long(leafs.size() - 1);
builder.add_head(h->id, *h);
}
@ -372,7 +364,7 @@ void create_branching_tree(SupportTreeBuilder &builder, const SupportableMesh &s
props.sampling_radius());
auto bedpts = branchingtree::sample_bed(props.bed_shape(),
props.ground_level(),
float(props.ground_level()),
props.sampling_radius());
branchingtree::PointCloud nodes{std::move(meshpts), std::move(bedpts),
@ -388,11 +380,23 @@ void create_branching_tree(SupportTreeBuilder &builder, const SupportableMesh &s
bedleafs.emplace_back(n);
}
props.max_branch_length(20.f);
props.max_branch_length(50.f);
auto gndsm = sm;
branchingtree::PointCloud gndnodes{{}, nodes.get_bedpoints(), bedleafs, props};
BranchingTreeBuilder gndbuilder{builder, sm, gndnodes};
branchingtree::build_tree(gndnodes, gndbuilder);
// All leafs of gndbuilder are nodes that already proved to be routable
// to the ground. gndbuilder should not encounter any unroutable nodes
// assert(gndbuilder.unroutable_pinheads().empty());
// for (size_t pill_id = 0; pill_id < vbuilder.pillars().size(); ++pill_id) {
// auto * conn = vbuilder.ground_conn(pill_id);
// if (conn)
// build_ground_connection(builder, sm, *conn);
// }
for (size_t pill_id = 0; pill_id < gndbuilder.pillars().size(); ++pill_id) {
auto * conn = gndbuilder.ground_conn(pill_id);
if (conn)

4
src/libslic3r/SLA/SupportTree.hpp
View file

@ -96,8 +96,8 @@ struct SupportTreeConfig
static const double constexpr max_solo_pillar_height_mm = 15.0;
static const double constexpr max_dual_pillar_height_mm = 35.0;
static const double constexpr optimizer_rel_score_diff = 1e-10;
static const unsigned constexpr optimizer_max_iterations = 2000;
static const double constexpr optimizer_rel_score_diff = 1e-16;
static const unsigned constexpr optimizer_max_iterations = 20000;
static const unsigned constexpr pillar_cascade_neighbors = 3;
};

2
src/libslic3r/SLA/SupportTreeUtils.hpp
View file

@ -875,7 +875,7 @@ GroundConnection optimize_ground_connection(
Optimizer<AlgNLoptGenetic> solver(get_criteria(sm.cfg).stop_score(1e6));
solver.seed(0); // we want deterministic behavior
auto sd = j.r * sm.cfg.safety_distance_mm / sm.cfg.head_back_radius_mm;
auto sd = /*j.r **/ sm.cfg.safety_distance_mm /*/ sm.cfg.head_back_radius_mm*/;
auto oresult = solver.to_max().optimize(
[&j, sd, &policy, &sm, &downdst, &end_radius](const opt::Input<2> &input) {
auto &[plr, azm] = input;