From b5f38dd23f413b06e87ebf005a658bf85bb70af6 Mon Sep 17 00:00:00 2001
From: bubnikv <bubnikv@gmail.com>
Date: Fri, 2 Jun 2017 13:33:19 +0200
Subject: [PATCH] Fixed the "avoid crossing perimeters" bug introduced in
Slic3r 1.34.1.24 https://github.com/prusa3d/Slic3r/issues/311
https://github.com/prusa3d/Slic3r/issues/317
https://github.com/prusa3d/Slic3r/issues/323
---
xs/src/libslic3r/ClipperUtils.hpp | 10 +-
xs/src/libslic3r/GCode.cpp | 38 +++--
xs/src/libslic3r/GCode.hpp | 2 +-
xs/src/libslic3r/MotionPlanner.cpp | 239 ++++++++++++++++-------------
xs/src/libslic3r/MotionPlanner.hpp | 56 ++++---
xs/src/libslic3r/Point.cpp | 32 ----
xs/src/libslic3r/Point.hpp | 2 -
7 files changed, 191 insertions(+), 188 deletions(-)
diff --git a/xs/src/libslic3r/ClipperUtils.hpp b/xs/src/libslic3r/ClipperUtils.hpp
index b14232d90..3c0bec1ec 100644
--- a/xs/src/libslic3r/ClipperUtils.hpp
+++ b/xs/src/libslic3r/ClipperUtils.hpp
@@ -170,12 +170,18 @@ intersection_pl(const Slic3r::Polylines &subject, const Slic3r::Polygons &clip,
return _clipper_pl(ClipperLib::ctIntersection, subject, clip, safety_offset_);
}
-inline Slic3r::Lines
-intersection_ln(const Slic3r::Lines &subject, const Slic3r::Polygons &clip, bool safety_offset_ = false)
+inline Slic3r::Lines intersection_ln(const Slic3r::Lines &subject, const Slic3r::Polygons &clip, bool safety_offset_ = false)
{
return _clipper_ln(ClipperLib::ctIntersection, subject, clip, safety_offset_);
}
+inline Slic3r::Lines intersection_ln(const Slic3r::Line &subject, const Slic3r::Polygons &clip, bool safety_offset_ = false)
+{
+ Slic3r::Lines lines;
+ lines.emplace_back(subject);
+ return _clipper_ln(ClipperLib::ctIntersection, lines, clip, safety_offset_);
+}
+
// union
inline Slic3r::Polygons
union_(const Slic3r::Polygons &subject, bool safety_offset_ = false)
diff --git a/xs/src/libslic3r/GCode.cpp b/xs/src/libslic3r/GCode.cpp
index a443c3544..40cdb1393 100644
--- a/xs/src/libslic3r/GCode.cpp
+++ b/xs/src/libslic3r/GCode.cpp
@@ -26,13 +26,18 @@
namespace Slic3r {
-Polyline AvoidCrossingPerimeters::travel_to(GCode &gcodegen, Point point)
+// Plan a travel move while minimizing the number of perimeter crossings.
+// point is in unscaled coordinates, in the coordinate system of the current active object
+// (set by gcodegen.set_origin()).
+Polyline AvoidCrossingPerimeters::travel_to(const GCode &gcodegen, const Point &point)
{
+ // If use_external, then perform the path planning in the world coordinate system (correcting for the gcodegen offset).
+ // Otherwise perform the path planning in the coordinate system of the active object.
bool use_external = this->use_external_mp || this->use_external_mp_once;
- Point scaled_origin = use_external ? Point(0, 0) : Point::new_scale(gcodegen.origin().x, gcodegen.origin().y);
+ Point scaled_origin = use_external ? Point::new_scale(gcodegen.origin().x, gcodegen.origin().y) : Point(0, 0);
Polyline result = (use_external ? m_external_mp.get() : m_layer_mp.get())->
shortest_path(gcodegen.last_pos() + scaled_origin, point + scaled_origin);
- if (! use_external)
+ if (use_external)
result.translate(scaled_origin.negative());
return result;
}
@@ -489,25 +494,18 @@ bool GCode::do_export(FILE *file, Print &print)
// Initialize a motion planner for object-to-object travel moves.
if (print.config.avoid_crossing_perimeters.value) {
- //coord_t distance_from_objects = coord_t(scale_(1.));
- // Compute the offsetted convex hull for each object and repeat it for each copy.
- Polygons islands_p;
- for (const PrintObject *object : print.objects) {
- // Discard objects only containing thin walls (offset would fail on an empty polygon).
- Polygons polygons;
+ // Collect outer contours of all objects over all layers.
+ // Discard objects only containing thin walls (offset would fail on an empty polygon).
+ Polygons islands;
+ for (const PrintObject *object : print.objects)
for (const Layer *layer : object->layers)
for (const ExPolygon &expoly : layer->slices.expolygons)
- polygons.push_back(expoly.contour);
- if (! polygons.empty()) {
- // Translate convex hull for each object copy and append it to the islands array.
- for (const Point © : object->_shifted_copies)
- for (Polygon poly : polygons) {
- poly.translate(copy);
- islands_p.emplace_back(std::move(poly));
+ for (const Point © : object->_shifted_copies) {
+ islands.emplace_back(expoly.contour);
+ islands.back().translate(copy);
}
- }
- }
- m_avoid_crossing_perimeters.init_external_mp(union_ex(islands_p));
+ //FIXME Mege the islands in parallel.
+ m_avoid_crossing_perimeters.init_external_mp(union_ex(islands));
}
// Calculate wiping points if needed
@@ -1022,7 +1020,7 @@ void GCode::process_layer(
// Extrude brim with the extruder of the 1st region.
if (! m_brim_done) {
- this->set_origin(0.f, 0.f);
+ this->set_origin(0., 0.);
m_avoid_crossing_perimeters.use_external_mp = true;
for (const ExtrusionEntity *ee : print.brim.entities)
gcode += this->extrude_loop(*dynamic_cast<const ExtrusionLoop*>(ee), "brim", m_config.support_material_speed.value);
diff --git a/xs/src/libslic3r/GCode.hpp b/xs/src/libslic3r/GCode.hpp
index 548b3bcda..baf37e9c6 100644
--- a/xs/src/libslic3r/GCode.hpp
+++ b/xs/src/libslic3r/GCode.hpp
@@ -42,7 +42,7 @@ public:
void init_external_mp(const ExPolygons &islands) { m_external_mp = Slic3r::make_unique<MotionPlanner>(islands); }
void init_layer_mp(const ExPolygons &islands) { m_layer_mp = Slic3r::make_unique<MotionPlanner>(islands); }
- Polyline travel_to(GCode &gcodegen, Point point);
+ Polyline travel_to(const GCode &gcodegen, const Point &point);
private:
std::unique_ptr<MotionPlanner> m_external_mp;
diff --git a/xs/src/libslic3r/MotionPlanner.cpp b/xs/src/libslic3r/MotionPlanner.cpp
index edd3bc8f2..e8605d68c 100644
--- a/xs/src/libslic3r/MotionPlanner.cpp
+++ b/xs/src/libslic3r/MotionPlanner.cpp
@@ -12,13 +12,13 @@ using boost::polygon::voronoi_diagram;
namespace Slic3r {
-MotionPlanner::MotionPlanner(const ExPolygons &islands) : initialized(false)
+MotionPlanner::MotionPlanner(const ExPolygons &islands) : m_initialized(false)
{
ExPolygons expp;
for (const ExPolygon &island : islands) {
island.simplify(SCALED_EPSILON, &expp);
for (ExPolygon &island : expp)
- this->islands.push_back(MotionPlannerEnv(island));
+ m_islands.emplace_back(MotionPlannerEnv(island));
expp.clear();
}
}
@@ -26,18 +26,18 @@ MotionPlanner::MotionPlanner(const ExPolygons &islands) : initialized(false)
void MotionPlanner::initialize()
{
// prevent initialization of empty BoundingBox
- if (this->initialized || this->islands.empty())
+ if (m_initialized || m_islands.empty())
return;
-
- // loop through islands in order to create inner expolygons and collect their contours
+
+ // loop through islands in order to create inner expolygons and collect their contours.
Polygons outer_holes;
- for (MotionPlannerEnv &island : this->islands) {
- // generate the internal env boundaries by shrinking the island
+ for (MotionPlannerEnv &island : m_islands) {
+ // Generate the internal env boundaries by shrinking the island
// we'll use these inner rings for motion planning (endpoints of the Voronoi-based
- // graph, visibility check) in order to avoid moving too close to the boundaries
- island.env = ExPolygonCollection(offset_ex(island.island, -MP_INNER_MARGIN));
- // island contours are holes of our external environment
- outer_holes.push_back(island.island.contour);
+ // graph, visibility check) in order to avoid moving too close to the boundaries.
+ island.m_env = ExPolygonCollection(offset_ex(island.m_island, -MP_INNER_MARGIN));
+ // Island contours are holes of our external environment.
+ outer_holes.push_back(island.m_island.contour);
}
// Generate a box contour around everyting.
@@ -46,30 +46,37 @@ void MotionPlanner::initialize()
// make expolygon for outer environment
ExPolygons outer = diff_ex(contour, outer_holes);
assert(outer.size() == 1);
- //FIXME What if some of the islands are nested? Then the front contour may not be the outmost contour!
- this->outer.island = outer.front();
- this->outer.env = ExPolygonCollection(diff_ex(contour, offset(outer_holes, +MP_OUTER_MARGIN)));
- this->graphs.resize(this->islands.size() + 1);
- this->initialized = true;
+ // If some of the islands are nested, then the 0th contour is the outer contour due to the order of conversion
+ // from Clipper data structure into the Slic3r expolygons inside diff_ex().
+ m_outer = MotionPlannerEnv(outer.front());
+ m_outer.m_env = ExPolygonCollection(diff_ex(contour, offset(outer_holes, +MP_OUTER_MARGIN)));
+ m_graphs.resize(m_islands.size() + 1);
+ m_initialized = true;
}
Polyline MotionPlanner::shortest_path(const Point &from, const Point &to)
{
// If we have an empty configuration space, return a straight move.
- if (this->islands.empty())
+ if (m_islands.empty())
return Line(from, to);
// Are both points in the same island?
- int island_idx = -1;
- for (MotionPlannerEnv &island : islands) {
- if (island.island_bbox.contains(from) && island.island_bbox.contains(to) &&
- island.island.contains(from) && island.island.contains(to)) {
+ int island_idx_from = -1;
+ int island_idx_to = -1;
+ int island_idx = -1;
+ for (MotionPlannerEnv &island : m_islands) {
+ int idx = &island - m_islands.data();
+ if (island.island_contains(from))
+ island_idx_from = idx;
+ if (island.island_contains(to))
+ island_idx_to = idx;
+ if (island_idx_from == idx && island_idx_to == idx) {
// Since both points are in the same island, is a direct move possible?
// If so, we avoid generating the visibility environment.
- if (island.island.contains(Line(from, to)))
+ if (island.m_island.contains(Line(from, to)))
return Line(from, to);
// Both points are inside a single island, but the straight line crosses the island boundary.
- island_idx = &island - this->islands.data();
+ island_idx = idx;
break;
}
}
@@ -77,9 +84,10 @@ Polyline MotionPlanner::shortest_path(const Point &from, const Point &to)
// lazy generation of configuration space.
this->initialize();
- // get environment
+ // Get environment. If the from / to points do not share an island, then they cross an open space,
+ // therefore island_idx == -1 and env will be set to the environment of the empty space.
const MotionPlannerEnv &env = this->get_env(island_idx);
- if (env.env.expolygons.empty()) {
+ if (env.m_env.expolygons.empty()) {
// if this environment is empty (probably because it's too small), perform straight move
// and avoid running the algorithms on empty dataset
return Line(from, to);
@@ -90,32 +98,32 @@ Polyline MotionPlanner::shortest_path(const Point &from, const Point &to)
Point inner_to = to;
if (island_idx == -1) {
+ // The end points do not share the same island. In that case some of the travel
+ // will be likely performed inside the empty space.
// TODO: instead of using the nearest_env_point() logic, we should
// create a temporary graph where we connect 'from' and 'to' to the
// nodes which don't require more than one crossing, and let Dijkstra
// figure out the entire path - this should also replace the call to
// find_node() below
- if (! env.island_bbox.contains(inner_from) || ! env.island.contains(inner_from)) {
- // Find the closest inner point to start from.
+ if (island_idx_from != -1)
+ // The start point is inside some island. Find the closest point at the empty space to start from.
inner_from = env.nearest_env_point(from, to);
- }
- if (! env.island_bbox.contains(inner_to) || ! env.island.contains(inner_to)) {
- // Find the closest inner point to start from.
+ if (island_idx_to != -1)
+ // The start point is inside some island. Find the closest point at the empty space to start from.
inner_to = env.nearest_env_point(to, inner_from);
- }
}
-
- // perform actual path search
+
+ // Perform a path search either in the open space, or in a common island of from/to.
const MotionPlannerGraph &graph = this->init_graph(island_idx);
- Polyline polyline = graph.shortest_path(graph.find_closest_node(inner_from), graph.find_closest_node(inner_to));
-
+ // If no path exists without crossing perimeters, returns a straight segment.
+ Polyline polyline = graph.shortest_path(inner_from, inner_to);
polyline.points.insert(polyline.points.begin(), from);
- polyline.points.push_back(to);
+ polyline.points.emplace_back(to);
{
// grow our environment slightly in order for simplify_by_visibility()
// to work best by considering moves on boundaries valid as well
- ExPolygonCollection grown_env(offset_ex(env.env.expolygons, +SCALED_EPSILON));
+ ExPolygonCollection grown_env(offset_ex(env.m_env.expolygons, float(+SCALED_EPSILON)));
if (island_idx == -1) {
/* If 'from' or 'to' are not inside our env, they were connected using the
@@ -128,14 +136,17 @@ Polyline MotionPlanner::shortest_path(const Point &from, const Point &to)
if (! grown_env.contains(from)) {
// delete second point while the line connecting first to third crosses the
// boundaries as many times as the current first to second
- while (polyline.points.size() > 2 && intersection_ln((Lines)Line(from, polyline.points[2]), grown_env).size() == 1)
+ while (polyline.points.size() > 2 && intersection_ln(Line(from, polyline.points[2]), grown_env).size() == 1)
polyline.points.erase(polyline.points.begin() + 1);
}
- if (! grown_env.contains(to)) {
- while (polyline.points.size() > 2 && intersection_ln((Lines)Line(*(polyline.points.end() - 3), to), grown_env).size() == 1)
+ if (! grown_env.contains(to))
+ while (polyline.points.size() > 2 && intersection_ln(Line(*(polyline.points.end() - 3), to), grown_env).size() == 1)
polyline.points.erase(polyline.points.end() - 2);
- }
}
+
+ // Perform some quick simplification (simplify_by_visibility() would make this
+ // unnecessary, but this is much faster)
+ polyline.simplify(MP_INNER_MARGIN/10);
// remove unnecessary vertices
// Note: this is computationally intensive and does not look very necessary
@@ -169,64 +180,73 @@ Polyline MotionPlanner::shortest_path(const Point &from, const Point &to)
const MotionPlannerGraph& MotionPlanner::init_graph(int island_idx)
{
- if (! this->graphs[island_idx + 1]) {
- // if this graph doesn't exist, initialize it
- this->graphs[island_idx + 1] = make_unique<MotionPlannerGraph>();
- MotionPlannerGraph* graph = this->graphs[island_idx + 1].get();
+ // 0th graph is the graph for m_outer. Other graphs are 1 indexed.
+ MotionPlannerGraph *graph = m_graphs[island_idx + 1].get();
+ if (graph == nullptr) {
+ // If this graph doesn't exist, initialize it.
+ m_graphs[island_idx + 1] = make_unique<MotionPlannerGraph>();
+ graph = m_graphs[island_idx + 1].get();
/* We don't add polygon boundaries as graph edges, because we'd need to connect
them to the Voronoi-generated edges by recognizing coinciding nodes. */
typedef voronoi_diagram<double> VD;
VD vd;
-
- // mapping between Voronoi vertices and graph nodes
- typedef std::map<const VD::vertex_type*,size_t> t_vd_vertices;
- t_vd_vertices vd_vertices;
-
+ // Mapping between Voronoi vertices and graph nodes.
+ std::map<const VD::vertex_type*, size_t> vd_vertices;
// get boundaries as lines
const MotionPlannerEnv &env = this->get_env(island_idx);
- Lines lines = env.env.lines();
+ Lines lines = env.m_env.lines();
boost::polygon::construct_voronoi(lines.begin(), lines.end(), &vd);
-
// traverse the Voronoi diagram and generate graph nodes and edges
- for (VD::const_edge_iterator edge = vd.edges().begin(); edge != vd.edges().end(); ++edge) {
- if (edge->is_infinite()) continue;
-
- const VD::vertex_type* v0 = edge->vertex0();
- const VD::vertex_type* v1 = edge->vertex1();
- Point p0 = Point(v0->x(), v0->y());
- Point p1 = Point(v1->x(), v1->y());
-
- // skip edge if any of its endpoints is outside our configuration space
+ for (const VD::edge_type &edge : vd.edges()) {
+ if (edge.is_infinite())
+ continue;
+ const VD::vertex_type* v0 = edge.vertex0();
+ const VD::vertex_type* v1 = edge.vertex1();
+ Point p0(v0->x(), v0->y());
+ Point p1(v1->x(), v1->y());
+ // Insert only Voronoi edges fully contained in the island.
//FIXME This test has a terrible O(n^2) time complexity.
- if (!env.island.contains_b(p0) || !env.island.contains_b(p1)) continue;
-
- t_vd_vertices::const_iterator i_v0 = vd_vertices.find(v0);
- size_t v0_idx;
- if (i_v0 == vd_vertices.end()) {
- graph->nodes.push_back(p0);
- vd_vertices[v0] = v0_idx = graph->nodes.size()-1;
- } else {
- v0_idx = i_v0->second;
+ if (env.island_contains_b(p0) && env.island_contains_b(p1)) {
+ // Find v0 in the graph, allocate a new node if v0 does not exist in the graph yet.
+ auto i_v0 = vd_vertices.find(v0);
+ size_t v0_idx;
+ if (i_v0 == vd_vertices.end())
+ vd_vertices[v0] = v0_idx = graph->add_node(p0);
+ else
+ v0_idx = i_v0->second;
+ // Find v1 in the graph, allocate a new node if v0 does not exist in the graph yet.
+ auto i_v1 = vd_vertices.find(v1);
+ size_t v1_idx;
+ if (i_v1 == vd_vertices.end())
+ vd_vertices[v1] = v1_idx = graph->add_node(p1);
+ else
+ v1_idx = i_v1->second;
+ // Euclidean distance is used as weight for the graph edge
+ graph->add_edge(v0_idx, v1_idx, p0.distance_to(p1));
}
-
- t_vd_vertices::const_iterator i_v1 = vd_vertices.find(v1);
- size_t v1_idx;
- if (i_v1 == vd_vertices.end()) {
- graph->nodes.push_back(p1);
- vd_vertices[v1] = v1_idx = graph->nodes.size()-1;
- } else {
- v1_idx = i_v1->second;
- }
-
- // Euclidean distance is used as weight for the graph edge
- double dist = graph->nodes[v0_idx].distance_to(graph->nodes[v1_idx]);
- graph->add_edge(v0_idx, v1_idx, dist);
}
}
- return *this->graphs[island_idx + 1].get();
+ return *graph;
+}
+
+// Find a middle point on the path from start_point to end_point with the shortest path.
+static inline size_t nearest_waypoint_index(const Point &start_point, const Points &middle_points, const Point &end_point)
+{
+ size_t idx = size_t(-1);
+ double dmin = std::numeric_limits<double>::infinity();
+ for (const Point &p : middle_points) {
+ double d = start_point.distance_to(p) + p.distance_to(end_point);
+ if (d < dmin) {
+ idx = &p - middle_points.data();
+ dmin = d;
+ if (dmin < EPSILON)
+ break;
+ }
+ }
+ return idx;
}
Point MotionPlannerEnv::nearest_env_point(const Point &from, const Point &to) const
@@ -240,7 +260,7 @@ Point MotionPlannerEnv::nearest_env_point(const Point &from, const Point &to) co
// get the points of the hole containing 'from', if any
Points pp;
- for (const ExPolygon &ex : this->env.expolygons) {
+ for (const ExPolygon &ex : m_env.expolygons) {
for (const Polygon &hole : ex.holes)
if (hole.contains(from))
pp = hole;
@@ -248,19 +268,17 @@ Point MotionPlannerEnv::nearest_env_point(const Point &from, const Point &to) co
break;
}
- /* If 'from' is not inside a hole, it's outside of all contours, so take all
- contours' points */
+ // If 'from' is not inside a hole, it's outside of all contours, so take all contours' points.
if (pp.empty())
- for (const ExPolygon &ex : this->env.expolygons)
+ for (const ExPolygon &ex : m_env.expolygons)
append(pp, ex.contour.points);
- /* Find the candidate result and check that it doesn't cross too many boundaries. */
- while (pp.size() >= 2) {
+ // Find the candidate result and check that it doesn't cross too many boundaries.
+ while (pp.size() > 1) {
// find the point in pp that is closest to both 'from' and 'to'
- size_t result = from.nearest_waypoint_index(pp, to);
-
+ size_t result = nearest_waypoint_index(from, pp, to);
// as we assume 'from' is outside env, any node will require at least one crossing
- if (intersection_ln((Lines)Line(from, pp[result]), this->island).size() > 1) {
+ if (intersection_ln(Line(from, pp[result]), m_island).size() > 1) {
// discard result
pp.erase(pp.begin() + result);
} else
@@ -277,34 +295,35 @@ Point MotionPlannerEnv::nearest_env_point(const Point &from, const Point &to) co
void MotionPlannerGraph::add_edge(size_t from, size_t to, double weight)
{
// Extend adjacency list until this start node.
- if (this->adjacency_list.size() < from + 1) {
+ if (m_adjacency_list.size() < from + 1) {
// Reserve in powers of two to avoid repeated reallocation.
- this->adjacency_list.reserve(std::max<size_t>(8, next_highest_power_of_2(from + 1)));
+ m_adjacency_list.reserve(std::max<size_t>(8, next_highest_power_of_2(from + 1)));
// Allocate new empty adjacency vectors.
- this->adjacency_list.resize(from + 1);
+ m_adjacency_list.resize(from + 1);
}
- this->adjacency_list[from].emplace_back(Neighbor(node_t(to), weight));
+ m_adjacency_list[from].emplace_back(Neighbor(node_t(to), weight));
}
// Dijkstra's shortest path in a weighted graph from node_start to node_end.
// The returned path contains the end points.
+// If no path exists from node_start to node_end, a straight segment is returned.
Polyline MotionPlannerGraph::shortest_path(size_t node_start, size_t node_end) const
{
// This prevents a crash in case for some reason we got here with an empty adjacency list.
- if (this->adjacency_list.empty())
+ if (this->empty())
return Polyline();
// Dijkstra algorithm, previous node of the current node 'u' in the shortest path towards node_start.
- std::vector<node_t> previous(this->adjacency_list.size(), -1);
- std::vector<weight_t> distance(this->adjacency_list.size(), std::numeric_limits<weight_t>::infinity());
- std::vector<size_t> map_node_to_queue_id(this->adjacency_list.size(), size_t(-1));
+ std::vector<node_t> previous(m_adjacency_list.size(), -1);
+ std::vector<weight_t> distance(m_adjacency_list.size(), std::numeric_limits<weight_t>::infinity());
+ std::vector<size_t> map_node_to_queue_id(m_adjacency_list.size(), size_t(-1));
distance[node_start] = 0.;
auto queue = make_mutable_priority_queue<node_t>(
- [&map_node_to_queue_id](const node_t &node, size_t idx) { map_node_to_queue_id[node] = idx; },
- [&distance](const node_t &node1, const node_t &node2) { return distance[node1] < distance[node2]; });
- queue.reserve(this->adjacency_list.size());
- for (size_t i = 0; i < this->adjacency_list.size(); ++ i)
+ [&map_node_to_queue_id](const node_t node, size_t idx) { map_node_to_queue_id[node] = idx; },
+ [&distance](const node_t node1, const node_t node2) { return distance[node1] < distance[node2]; });
+ queue.reserve(m_adjacency_list.size());
+ for (size_t i = 0; i < m_adjacency_list.size(); ++ i)
queue.push(node_t(i));
while (! queue.empty()) {
@@ -316,7 +335,7 @@ Polyline MotionPlannerGraph::shortest_path(size_t node_start, size_t node_end) c
if (u == node_end)
break;
// Visit each edge starting at node u.
- for (const Neighbor& neighbor : this->adjacency_list[u])
+ for (const Neighbor& neighbor : m_adjacency_list[u])
if (map_node_to_queue_id[neighbor.target] != size_t(-1)) {
weight_t alt = distance[u] + neighbor.weight;
// If total distance through u is shorter than the previous
@@ -329,11 +348,13 @@ Polyline MotionPlannerGraph::shortest_path(size_t node_start, size_t node_end) c
}
}
+ // In case the end point was not reached, previous[node_end] contains -1
+ // and a straight line from node_start to node_end is returned.
Polyline polyline;
- polyline.points.reserve(previous.size());
+ polyline.points.reserve(m_adjacency_list.size());
for (node_t vertex = node_t(node_end); vertex != -1; vertex = previous[vertex])
- polyline.points.push_back(this->nodes[vertex]);
- polyline.points.push_back(this->nodes[node_start]);
+ polyline.points.emplace_back(m_nodes[vertex]);
+ polyline.points.emplace_back(m_nodes[node_start]);
polyline.reverse();
return polyline;
}
diff --git a/xs/src/libslic3r/MotionPlanner.hpp b/xs/src/libslic3r/MotionPlanner.hpp
index add1f79cf..e912f2fb4 100644
--- a/xs/src/libslic3r/MotionPlanner.hpp
+++ b/xs/src/libslic3r/MotionPlanner.hpp
@@ -23,34 +23,45 @@ class MotionPlannerEnv
friend class MotionPlanner;
public:
- ExPolygon island;
- BoundingBox island_bbox;
- ExPolygonCollection env;
MotionPlannerEnv() {};
- MotionPlannerEnv(const ExPolygon &island) : island(island), island_bbox(get_extents(island)) {};
+ MotionPlannerEnv(const ExPolygon &island) : m_island(island), m_island_bbox(get_extents(island)) {};
Point nearest_env_point(const Point &from, const Point &to) const;
+ bool island_contains(const Point &pt) const
+ { return m_island_bbox.contains(pt) && m_island.contains(pt); }
+ bool island_contains_b(const Point &pt) const
+ { return m_island_bbox.contains(pt) && m_island.contains_b(pt); }
+
+private:
+ ExPolygon m_island;
+ BoundingBox m_island_bbox;
+ // Region, where the travel is allowed.
+ ExPolygonCollection m_env;
};
+// A 2D directed graph for searching a shortest path using the famous Dijkstra algorithm.
class MotionPlannerGraph
-{
- friend class MotionPlanner;
-
+{
+public:
+ // Add a directed edge into the graph.
+ size_t add_node(const Point &p) { m_nodes.emplace_back(p); return m_nodes.size() - 1; }
+ void add_edge(size_t from, size_t to, double weight);
+ size_t find_closest_node(const Point &point) const { return point.nearest_point_index(m_nodes); }
+
+ bool empty() const { return m_adjacency_list.empty(); }
+ Polyline shortest_path(size_t from, size_t to) const;
+ Polyline shortest_path(const Point &from, const Point &to) const
+ { return this->shortest_path(this->find_closest_node(from), this->find_closest_node(to)); }
+
private:
typedef int node_t;
typedef double weight_t;
struct Neighbor {
+ Neighbor(node_t target, weight_t weight) : target(target), weight(weight) {}
node_t target;
weight_t weight;
- Neighbor(node_t arg_target, weight_t arg_weight) : target(arg_target), weight(arg_weight) {}
};
- typedef std::vector<std::vector<Neighbor>> adjacency_list_t;
- adjacency_list_t adjacency_list;
-
-public:
- Points nodes;
- void add_edge(size_t from, size_t to, double weight);
- size_t find_closest_node(const Point &point) const { return point.nearest_point_index(this->nodes); }
- Polyline shortest_path(size_t from, size_t to) const;
+ Points m_nodes;
+ std::vector<std::vector<Neighbor>> m_adjacency_list;
};
class MotionPlanner
@@ -60,18 +71,19 @@ public:
~MotionPlanner() {}
Polyline shortest_path(const Point &from, const Point &to);
- size_t islands_count() const { return this->islands.size(); }
+ size_t islands_count() const { return m_islands.size(); }
private:
- bool initialized;
- std::vector<MotionPlannerEnv> islands;
- MotionPlannerEnv outer;
- std::vector<std::unique_ptr<MotionPlannerGraph>> graphs;
+ bool m_initialized;
+ std::vector<MotionPlannerEnv> m_islands;
+ MotionPlannerEnv m_outer;
+ // 0th graph is the graph for m_outer. Other graphs are 1 indexed.
+ std::vector<std::unique_ptr<MotionPlannerGraph>> m_graphs;
void initialize();
const MotionPlannerGraph& init_graph(int island_idx);
const MotionPlannerEnv& get_env(int island_idx) const
- { return (island_idx == -1) ? this->outer : this->islands[island_idx]; }
+ { return (island_idx == -1) ? m_outer : m_islands[island_idx]; }
};
}
diff --git a/xs/src/libslic3r/Point.cpp b/xs/src/libslic3r/Point.cpp
index a587e3406..ad25ba91a 100644
--- a/xs/src/libslic3r/Point.cpp
+++ b/xs/src/libslic3r/Point.cpp
@@ -119,29 +119,6 @@ int Point::nearest_point_index(const PointConstPtrs &points) const
return idx;
}
-/* This method finds the point that is closest to both this point and the supplied one */
-size_t Point::nearest_waypoint_index(const Points &points, const Point &dest) const
-{
- size_t idx = size_t(-1);
- double d2min = std::numeric_limits<double>::infinity(); // double because long is limited to 2147483647 on some platforms and it's not enough
-
- for (const Point &p : points) {
- double d2 =
- // distance from this to candidate
- sqr<double>(this->x - p.x) + sqr<double>(this->y - p.y) +
- // distance from candidate to dest
- sqr<double>(p.x - dest.x) + sqr<double>(p.y - dest.y);
- if (d2 < d2min) {
- idx = &p - points.data();
- d2min = d2;
- if (d2min < EPSILON)
- break;
- }
- }
-
- return idx;
-}
-
int
Point::nearest_point_index(const PointPtrs &points) const
{
@@ -161,15 +138,6 @@ Point::nearest_point(const Points &points, Point* point) const
return true;
}
-bool
-Point::nearest_waypoint(const Points &points, const Point &dest, Point* point) const
-{
- int idx = this->nearest_waypoint_index(points, dest);
- if (idx == -1) return false;
- *point = points.at(idx);
- return true;
-}
-
/* distance to the closest point of line */
double
Point::distance_to(const Line &line) const
diff --git a/xs/src/libslic3r/Point.hpp b/xs/src/libslic3r/Point.hpp
index 3cdc99bd3..8f11bd50a 100644
--- a/xs/src/libslic3r/Point.hpp
+++ b/xs/src/libslic3r/Point.hpp
@@ -60,9 +60,7 @@ class Point
int nearest_point_index(const Points &points) const;
int nearest_point_index(const PointConstPtrs &points) const;
int nearest_point_index(const PointPtrs &points) const;
- size_t nearest_waypoint_index(const Points &points, const Point &point) const;
bool nearest_point(const Points &points, Point* point) const;
- bool nearest_waypoint(const Points &points, const Point &dest, Point* point) const;
double distance_to(const Point &point) const { return sqrt(distance_to_sq(point)); }
double distance_to_sq(const Point &point) const { double dx = double(point.x - this->x); double dy = double(point.y - this->y); return dx*dx + dy*dy; }
double distance_to(const Line &line) const;